--- Step 0 ---
qpos:
[ 5.55416215e-05,-1.18645640e-05,-1.58557881e-04, 6.89935133e-05,
 -8.78898128e-05, 2.11778641e-05,-2.95618881e-04, 1.18246774e-04,
 -9.08625267e-05, 1.30342079e-05,-1.09515151e-04,-3.67362511e-04,
  1.97827314e-03, 3.48414109e-04, 1.25059342e-03, 2.75543638e-04,
  9.49965342e-02,-6.99996264e-02, 1.30009458e-01, 1.00000000e+00,
 -2.72456712e-06,-2.55013209e-05,-2.01690304e-07]

qacc:
[ 4.84090107e+02, 5.68778283e+02,-2.34342027e+03, 3.80100343e+03,
 -7.83183768e+02, 1.09958204e+03,-4.37611012e+03, 6.87591025e+03,
 -8.03622456e+02,-4.31706034e+02, 3.11746803e+03,-9.31198558e+03,
  6.68466400e+02, 3.85382500e+03, 1.01732154e+03,-8.74391507e+02,
 -8.66441899e-01, 9.34062860e-02, 2.36450460e+00,-1.36228356e+00,
 -1.27506604e+01,-1.00845152e-01]

qfrc_actuator:
[ 0.00284526,-0.00596957,-0.01038947, 0.00285808,-0.00452442,-0.00558633,
 -0.01802557, 0.00511711,-0.00466508,-0.00420119,-0.00804765,-0.01923256,
  0.12492858, 0.01748662, 0.09      , 0.02350782, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000999158122019148
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.73618513e-14, -7.71370665e-07,  1.00000000e+00, -1.33924228e-20,
        1.00000000e+00,  7.71370665e-07, -1.00000000e+00,  1.50463277e-36,
       -1.73618513e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10334595, -0.06970698,  0.06196912])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.85645657e-03,-5.89653650e-03,-1.03164281e-02, 2.89631921e-03,
 -4.52442209e-03,-5.51301651e-03,-1.79522481e-02, 5.15549394e-03,
 -4.67627630e-03,-4.12815385e-03,-7.97461107e-03,-1.91943214e-02,
  1.25417515e-01, 1.74829972e-02, 1.11111312e-01, 2.83376567e-02,
  0.00000000e+00, 0.00000000e+00,-1.21644000e+00,-1.78227161e-03,
 -3.07471645e-04, 0.00000000e+00]


--- Step 1 ---
qpos:
[ 1.11202019e-04,-6.06474290e-05,-3.33624065e-04, 1.32398024e-04,
 -1.76917850e-04,-3.29625727e-06,-6.13637269e-04, 2.26538616e-04,
 -1.82134706e-04,-5.61354013e-06,-2.41121880e-04,-7.37841486e-04,
  5.61285259e-03, 6.94010287e-04, 3.04349155e-03, 7.04275380e-04,
  9.49897527e-02,-6.99988953e-02, 1.30026235e-01, 9.99999997e-01,
 -8.05455568e-06,-7.53897868e-05,-5.96124173e-07]

qacc:
[ 1.15597087e+00,-1.41653560e+01, 3.30645878e+00,-4.64794813e+01,
 -9.94567262e+00,-1.82116733e+01, 1.94535119e+01,-1.22379633e+02,
 -3.75972834e+00, 1.34691505e+01,-9.55965392e+01, 1.00252322e+02,
  5.55882231e+02,-2.03477738e+01, 3.38190415e+02,-1.97014561e+01,
 -8.28937716e-01, 8.93620405e-02, 1.82983816e+00,-1.30271072e+00,
 -1.21935726e+01,-9.63717848e-02]

qfrc_actuator:
[ 0.00277003,-0.00594873,-0.01021149, 0.00281753,-0.00445528,-0.00562756,
 -0.01772729, 0.00497582,-0.00455446,-0.00418474,-0.00795005,-0.01885906,
  0.12474566, 0.0171381 , 0.09      , 0.02307827, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009892689881431753
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.10184001e-14,  1.44505673e-07,  1.00000000e+00, -1.02625617e-20,
        1.00000000e+00, -1.44505673e-07, -1.00000000e+00,  0.00000000e+00,
        7.10184001e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10334729, -0.06970715,  0.06196943])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.33262795e-06,-5.28051699e-03,-2.20876983e-03,-5.93693301e-04,
 -6.07922270e-05,-6.61070981e-03,-2.87006885e-03,-8.97783903e-04,
 -2.26732041e-05,-4.76209968e-03,-2.39941055e-03,-4.51682607e-04,
  2.62637082e-02,-2.84400514e-04, 4.85836700e-02, 1.41312022e-02,
 -3.25530455e-08, 7.53525539e-09,-1.21644051e+00,-1.78222910e-03,
 -3.07082361e-04, 1.08434573e-07]


--- Step 2 ---
qpos:
[ 1.66238545e-04,-1.33943013e-04,-5.15420141e-04, 1.92110239e-04,
 -2.64136182e-04,-5.97075952e-05,-9.38692233e-04, 3.30021939e-04,
 -2.71429373e-04,-4.75056181e-05,-3.80162215e-04,-1.10288572e-03,
  1.06085731e-02, 1.02861196e-03, 5.07584720e-03, 1.19734335e-03,
  9.49818739e-02,-7.00044206e-02, 1.30046969e-01, 9.99999991e-01,
  3.25890292e-05,-1.33640832e-04,-1.34614557e-08]

qacc:
[-5.28388049e+00,-2.11846485e+01, 4.41327319e+01,-7.92552086e+01,
  1.62517844e+01,-3.24834092e+01, 7.48192043e+01,-1.23224681e+02,
  1.75730946e+01, 1.21466895e+00,-7.18951381e+01, 1.94979221e+02,
  4.56860503e+02,-1.24862238e+02, 1.59162184e+02,-4.35484370e+01,
 -2.74328874e-01,-1.56409245e+00, 9.89127434e-01, 2.29868260e+01,
 -4.18127986e+00, 4.86781644e-01]

qfrc_actuator:
[ 0.00273806,-0.00589456,-0.01002477, 0.00275344,-0.00435976,-0.00565062,
 -0.01742543, 0.00488921,-0.00445133,-0.00418391,-0.0078256 ,-0.01846715,
  0.1244103 , 0.01677468, 0.09      , 0.0226814 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000972460646699768
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.83607064e-07,  2.83607074e-07,  1.00000000e+00, -8.04329695e-14,
        1.00000000e+00, -2.83607074e-07, -1.00000000e+00, -1.26217745e-29,
        2.83607064e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09780238, -0.04687292,  0.06196995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.32528850e-05,-3.37693994e-03,-1.19421451e-03,-3.77988195e-04,
  9.16499968e-05,-4.34679741e-03,-1.44445464e-03,-4.86124719e-04,
  1.00670323e-04,-3.17442593e-03,-1.16788770e-03, 9.71967846e-05,
 -5.68994327e-02,-5.03942548e-04, 2.14699520e-02, 6.07486575e-03,
 -1.24388939e-07, 2.88120612e-08,-1.21644196e+00,-1.78214516e-03,
 -3.06321014e-04, 3.37293198e-07]


--- Step 3 ---
qpos:
[ 2.20463382e-04,-2.22358990e-04,-7.00780281e-04, 2.48771075e-04,
 -3.48853389e-04,-1.36414460e-04,-1.26590982e-03, 4.29424438e-04,
 -3.59153929e-04,-1.04425785e-04,-5.22639491e-04,-1.46210088e-03,
  1.67076078e-02, 1.35301726e-03, 7.21418000e-03, 1.71297504e-03,
  9.49784510e-02,-7.00128932e-02, 1.30071558e-01, 9.99999983e-01,
  9.46903260e-05,-1.58859798e-04,-6.33548147e-07]

qacc:
[  -6.99794533, -16.29581278,  42.01139307, -78.01838   ,  22.29040231,
  -29.23292651,  82.45928688,-134.60323958,  13.97221522,   1.72168812,
  -59.60165299, 177.0653308 , 370.45656645,-127.00987048,  88.17286691,
  -81.77981106,   1.11399191,  -0.73683139,   0.96363833,  10.72877526,
   16.51601956,  -0.60334675]

qfrc_actuator:
[ 0.00269724,-0.00581803,-0.00987148, 0.00267556,-0.00423313,-0.00560498,
 -0.01711007, 0.00478098,-0.00437268,-0.00417046,-0.00769085,-0.018107  ,
  0.12397171, 0.01641163, 0.09      , 0.02220745, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009520494351687031
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.91535025e-14, -5.83070051e-14,  1.00000000e+00,  1.69985342e-27,
        1.00000000e+00,  5.83070051e-14, -1.00000000e+00,  0.00000000e+00,
        2.91535025e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08218969, -0.05831092,  0.06197058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.24740607e-05,-2.07030620e-03,-7.01642639e-04,-2.70825468e-04,
  1.27790445e-04,-2.69866339e-03,-7.73018892e-04,-3.53304012e-04,
  8.01034139e-05,-1.99508916e-03,-6.58619548e-04, 1.86812186e-04,
 -1.25378563e-01,-3.14504367e-04, 9.49569591e-03, 2.38308630e-03,
  3.43142787e-07, 1.99964720e-07,-1.21644392e+00,-1.78278289e-03,
 -3.05445524e-04,-8.57888183e-08]


--- Step 4 ---
qpos:
[ 2.73090844e-04,-3.20218944e-04,-8.87005909e-04, 3.03115804e-04,
 -4.31401074e-04,-2.25718834e-04,-1.59192225e-03, 5.24811430e-04,
 -4.45611329e-04,-1.70488133e-04,-6.66750136e-04,-1.81509409e-03,
  2.36856903e-02, 1.66946516e-03, 9.39970832e-03, 2.23000869e-03,
  9.49705437e-02,-7.00147517e-02, 1.30097547e-01, 9.99999970e-01,
  1.08859832e-04,-2.18165306e-04,-4.50421241e-06]

qacc:
[ -13.92429818, -14.80839991,  44.51169506, -76.30836767,  19.34510694,
  -28.33173262,  93.74018001,-155.80949417,  11.26150544,   5.27481138,
  -62.63298631, 179.67195667, 295.28080327,-109.10565607,  65.30463806,
 -127.96372249,  -1.12111257,   1.65353696,   0.35027727, -23.96614211,
  -17.04344001,  -1.61986771]

qfrc_actuator:
[ 0.00261604,-0.00576319,-0.00970323, 0.002608  ,-0.00412477,-0.00553473,
 -0.01677092, 0.00464322,-0.00430909,-0.00411285,-0.0075687 ,-0.01775072,
  0.12343474, 0.01610567, 0.09      , 0.02156127, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000928018658177307
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.99084241e-14, -1.04679484e-13,  1.00000000e+00,  3.13079842e-27,
        1.00000000e+00,  1.04679484e-13, -1.00000000e+00,  0.00000000e+00,
        2.99084241e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10836776, -0.0929138 ,  0.06197132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.26320064e-05,-1.25436711e-03,-3.52166841e-04,-1.85342390e-04,
  1.11095971e-04,-1.60723745e-03,-3.21214749e-04,-2.86335033e-04,
  6.47897953e-05,-1.18182890e-03,-3.61578969e-04, 2.52867744e-04,
 -1.81049413e-01,-1.08299270e-04, 4.19177097e-03, 6.06568586e-04,
  2.35358614e-07, 6.64625591e-07,-1.21644350e+00,-1.78371868e-03,
 -3.05037111e-04, 2.25862044e-07]


--- Step 5 ---
qpos:
[ 3.24341847e-04,-4.23817748e-04,-1.07268219e-03, 3.55296090e-04,
 -5.12356974e-04,-3.22701872e-04,-1.91451803e-03, 6.17004391e-04,
 -5.30990706e-04,-2.42065549e-04,-8.11154188e-04,-2.16128094e-03,
  3.13482737e-02, 1.97901740e-03, 1.16059928e-02, 2.74102662e-03,
  9.49624961e-02,-7.00146854e-02, 1.30126854e-01, 9.99999955e-01,
  1.08775788e-04,-2.78307669e-04,-8.49021063e-06]

qacc:
[-1.19986009e+01,-1.35573069e+01, 4.65084760e+01,-8.06603606e+01,
  1.42457395e+01,-2.63099006e+01, 9.25127736e+01,-1.47538374e+02,
  9.57694165e+00, 7.53049379e+00,-6.61811008e+01, 1.88515402e+02,
  2.30073763e+02,-1.00386799e+02, 4.86626599e+01,-1.26463916e+02,
 -3.50635569e-02, 4.81193448e-01, 8.29357618e-01,-7.12678543e+00,
 -4.18466152e-01,-5.60666189e-02]

qfrc_actuator:
[ 0.00254723,-0.00572097,-0.00954502, 0.00252936,-0.00404579,-0.00546706,
 -0.01641999, 0.00452482,-0.00425487,-0.00406413,-0.00745454,-0.01738173,
  0.12280855, 0.01580028, 0.09      , 0.02094816, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009014717324746214
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.98270183e-14,  9.34873123e-07,  1.00000000e+00,  2.78844778e-20,
        1.00000000e+00, -9.34873123e-07, -1.00000000e+00,  6.01853108e-36,
       -2.98270183e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09509818, -0.0753773 ,  0.06197214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.10866768e-05,-7.34520732e-04,-1.47536712e-04,-1.47671412e-04,
  8.16019973e-05,-9.02829375e-04,-2.58843853e-05,-2.03241298e-04,
  5.52293439e-05,-6.71408029e-04,-1.62591862e-04, 3.11993958e-04,
 -2.25587785e-01,-1.38004021e-05, 1.82351442e-03,-7.98018849e-05,
  5.81564857e-10, 1.92053461e-07,-1.21644294e+00,-1.78389221e-03,
 -3.04116154e-04, 6.45742185e-07]


--- Step 6 ---
qpos:
[ 3.75066292e-04,-5.30204412e-04,-1.25725894e-03, 4.05706217e-04,
 -5.92084171e-04,-4.24018978e-04,-2.23239203e-03, 7.06880944e-04,
 -6.15067051e-04,-3.16756186e-04,-9.54744061e-04,-2.50072658e-03,
  3.95271866e-02, 2.28222772e-03, 1.38211288e-02, 3.24504816e-03,
  9.49586411e-02,-7.00174318e-02, 1.30157675e-01, 9.99999944e-01,
  1.28910828e-04,-3.07096169e-04,-1.35418493e-05]

qacc:
[  -4.55213218, -10.39678928,  39.20904796, -69.56159773,  11.03415015,
  -23.72328896,  86.01006148,-130.40715402,  11.55039596,   7.47103163,
  -61.09533223, 178.77208165, 173.71095115, -94.1338814 ,  34.03808709,
 -100.78189758,   1.04813811,  -0.70318156,   0.37843424,  10.10926017,
   15.67695937,  -0.53733902]

qfrc_actuator:
[ 0.00252177,-0.00561525,-0.00939391, 0.00246261,-0.00398473,-0.00538306,
 -0.01606469, 0.00443658,-0.00418883,-0.00400296,-0.0073281 ,-0.01702595,
  0.12212535, 0.01547962, 0.09      , 0.02046825, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008741110519393802
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.17529169e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.17529169e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08217489, -0.05829808,  0.06197299])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.72131713e-05,-3.36217702e-04,-2.06766985e-05,-1.05685732e-04,
  6.30767735e-05,-4.27786384e-04, 1.63299693e-04,-1.31053483e-04,
  6.69247983e-05,-3.29699613e-04,-1.82758416e-05, 3.28695820e-04,
 -2.60450666e-01, 1.20819147e-05, 7.74624842e-04,-2.62807878e-04,
 -1.12935404e-07, 1.89992531e-07,-1.21644286e+00,-1.78388681e-03,
 -3.03221331e-04, 1.07077101e-06]


--- Step 7 ---
qpos:
[ 4.25443823e-04,-6.37243020e-04,-1.43974399e-03, 4.54580020e-04,
 -6.70461382e-04,-5.27105123e-04,-2.54539939e-03, 7.94662354e-04,
 -6.97363531e-04,-3.92786860e-04,-1.09687389e-03,-2.83352465e-03,
  4.80778478e-02, 2.58066316e-03, 1.60399923e-02, 3.74221002e-03,
  9.49588930e-02,-7.00229292e-02, 1.30189123e-01, 9.99999939e-01,
  1.68847301e-04,-3.05257451e-04,-1.96571359e-05]

qacc:
[-2.97640002e+00,-9.86848937e+00, 4.04284340e+01,-6.98856001e+01,
  1.20612515e+01,-2.02836101e+01, 7.77274214e+01,-1.20411334e+02,
  1.57359840e+01, 7.80842848e+00,-5.85170960e+01, 1.72251820e+02,
  1.25177511e+02,-7.43055105e+01, 2.60830806e+01,-8.38367501e+01,
  1.02672487e+00,-6.87743212e-01, 1.56931242e-01, 9.90034422e+00,
  1.53136747e+01,-5.36838463e-01]

qfrc_actuator:
[ 0.00250427,-0.00545434,-0.00921232, 0.00240345,-0.00391693,-0.00527177,
 -0.01574495, 0.00434907,-0.0040986 ,-0.00391676,-0.00719529,-0.01668075,
  0.1213931 , 0.01520524, 0.09      , 0.02007166, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008435588030239055
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.2902953e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        3.2902953e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08216908, -0.05829305,  0.06197393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.78650177e-05,-3.01718430e-05, 1.09176848e-04,-7.58061681e-05,
  6.94339466e-05,-9.25876146e-05, 2.51671958e-04,-1.02004582e-04,
  9.15479767e-05,-8.29631561e-05, 7.70476311e-05, 3.38066401e-04,
 -2.86950817e-01, 5.63842115e-05, 3.19370744e-04,-3.13882885e-04,
 -8.04725788e-11, 1.73655643e-07,-1.21644099e+00,-1.78421338e-03,
 -3.02736783e-04, 1.03108188e-06]


--- Step 8 ---
qpos:
[ 4.74883865e-04,-7.43622408e-04,-1.61979698e-03, 5.01829502e-04,
 -7.47417622e-04,-6.30566760e-04,-2.85331342e-03, 8.80523611e-04,
 -7.77948250e-04,-4.69298859e-04,-1.23664709e-03,-3.15975073e-03,
  5.68761364e-02, 2.87437816e-03, 1.82606262e-02, 4.23124957e-03,
  9.49631831e-02,-7.00311283e-02, 1.30220474e-01, 9.99999936e-01,
  2.28248154e-04,-2.73378301e-04,-2.68327942e-05]

qacc:
[-8.18467016e+00,-9.25786915e+00, 4.11544025e+01,-7.36620266e+01,
  1.26682766e+01,-1.87158016e+01, 7.40691005e+01,-1.15110675e+02,
  1.51495237e+01, 6.28240220e+00,-5.11087023e+01, 1.61468721e+02,
  8.35621191e+01,-6.91520497e+01, 2.70619981e+01,-9.13214820e+01,
  1.00955081e+00,-6.75414759e-01,-2.45171999e-02, 9.73173266e+00,
  1.50203167e+01,-5.35692709e-01]

qfrc_actuator:
[ 0.00245608,-0.00531458,-0.00904937, 0.00233158,-0.00384572,-0.00518046,
 -0.01544857, 0.00426271,-0.00401262,-0.00385157,-0.00704188,-0.0163445 ,
  0.12062053, 0.01490636, 0.09      , 0.01963896, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008111151669281669
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.84380634e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.84380634e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08216286, -0.05828773,  0.06197494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.81961932e-05, 1.47922473e-04, 1.70758659e-04,-7.03363770e-05,
  7.31509948e-05, 9.44017349e-05, 3.09403231e-04,-8.28730960e-05,
  8.80887924e-05, 5.41200527e-05, 1.60668939e-04, 3.43152844e-04,
 -3.06260720e-01,-2.33498168e-06, 1.19693745e-04,-4.08023873e-04,
 -2.04363243e-07, 2.90518719e-07,-1.21644125e+00,-1.78485321e-03,
 -3.02702817e-04, 1.20539281e-06]


--- Step 9 ---
qpos:
[ 5.23026539e-04,-8.48882817e-04,-1.79691603e-03, 5.48452741e-04,
 -8.22922405e-04,-7.33459856e-04,-3.15611896e-03, 9.64568982e-04,
 -8.56194750e-04,-5.45782435e-04,-1.37352918e-03,-3.47949119e-03,
  6.58161496e-02, 3.16313569e-03, 2.04821131e-02, 4.71187631e-03,
  9.49632868e-02,-7.00330841e-02, 1.30250703e-01, 9.99999932e-01,
  2.42839765e-04,-2.73760670e-04,-3.68094197e-05]

qacc:
[ -11.34217959,  -7.99115328,  33.31757513, -49.70564969,  12.91990652,
  -17.29596693,  70.37619463,-110.33189854,  20.6693747 ,   5.2733233 ,
  -46.18751875, 153.84366468,  48.06357684, -65.8403602 ,  26.63879545,
  -91.65353368,  -1.04658468,   1.56081462,  -0.28034611, -22.40456959,
  -16.13167897,  -1.39067678]

qfrc_actuator:
[ 0.0023902 ,-0.00520633,-0.00888105, 0.00230603,-0.00377306,-0.00508406,
 -0.01516839, 0.0041777 ,-0.00389431,-0.00379932,-0.00687758,-0.0160162 ,
  0.11982688, 0.01457686, 0.09      , 0.01920635, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007821986291488697
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.09681009e-14, -3.54840504e-14,  1.00000000e+00,  2.51823567e-27,
        1.00000000e+00,  3.54840504e-14, -1.00000000e+00,  0.00000000e+00,
        7.09681009e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10839811, -0.09297022,  0.06197583])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.66917910e-05, 2.28914250e-04, 2.20675700e-04,-1.41404415e-05,
  7.47623433e-05, 2.16756863e-04, 3.39556596e-04,-7.11454729e-05,
  1.20354949e-04, 1.35315881e-04, 2.10308247e-04, 3.44046689e-04,
 -3.19384608e-01,-9.45271865e-05, 1.81282858e-05,-4.38792227e-04,
 -7.08464742e-07, 5.32715385e-07,-1.21644351e+00,-1.78580092e-03,
 -3.03110823e-04, 1.57777844e-06]


--- Step 10 ---
qpos:
[ 5.69669691e-04,-9.52741792e-04,-1.97057944e-03, 5.95032584e-04,
 -8.96624642e-04,-8.34942498e-04,-3.45366835e-03, 1.04683385e-03,
 -9.32078566e-04,-6.22004919e-04,-1.50691431e-03,-3.79286005e-03,
  7.48083208e-02, 3.44754580e-03, 2.27041851e-02, 5.18303731e-03,
  9.49592673e-02,-7.00289064e-02, 1.30279154e-01, 9.99999929e-01,
  2.13364959e-04,-3.05796046e-04,-4.95883882e-05]

qacc:
[ -13.10821735,  -7.87223523,  30.98096499, -38.33089749,  15.99768831,
  -16.52881883,  69.09570975,-109.28368633,  20.89873659,   3.65185061,
  -39.47979312, 144.02460264,  17.95204583, -52.33773424,  29.49698849,
 -102.05595862,  -1.03081153,   1.53337697,  -0.44431879, -22.03300787,
  -15.82765373,  -1.3912963 ]

qfrc_actuator:
[ 0.00231444,-0.00509994,-0.00869321, 0.00230794,-0.00368238,-0.0049499 ,
 -0.01488223, 0.00409416,-0.00377568,-0.00375515,-0.00669048,-0.01569522,
  0.11900522, 0.01426664, 0.09      , 0.01872407, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007526375466871682
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10633235e-13,  5.53166177e-14,  1.00000000e+00, -6.11985638e-27,
        1.00000000e+00, -5.53166177e-14, -1.00000000e+00,  0.00000000e+00,
        1.10633235e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10840413, -0.09298174,  0.06197674])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.70784072e-05, 2.84978741e-04, 2.64963449e-04, 1.95935488e-05,
  9.28690911e-05, 3.29596162e-04, 3.74871985e-04,-6.31649213e-05,
  1.21629307e-04, 1.82905661e-04, 2.55982466e-04, 3.41924047e-04,
 -3.27240979e-01,-1.55736886e-04,-3.65974165e-05,-5.04338716e-04,
 -1.15368951e-07, 5.96666657e-08,-1.21644017e+00,-1.78598029e-03,
 -3.03225159e-04, 1.12315078e-06]


--- Step 11 ---
qpos:
[ 6.15396339e-04,-1.05507661e-03,-2.14035052e-03, 6.40544236e-04,
 -9.68666916e-04,-9.34730714e-04,-3.74538917e-03, 1.12773771e-03,
 -1.00630387e-03,-6.97314054e-04,-1.63719444e-03,-4.10066970e-03,
  8.37772198e-02, 3.72802499e-03, 2.49266499e-02, 5.64450463e-03,
  9.49511745e-02,-7.00186824e-02, 1.30305294e-01, 9.99999920e-01,
  1.40419925e-04,-3.68998374e-04,-6.51662940e-05]

qacc:
[  -7.96718151, -11.05186803,  46.86077029, -72.71351307,  14.75561565,
  -16.88714185,  69.15132742,-103.20833989,  14.67805339,   3.94870118,
  -35.83758616, 126.44816061,  -7.4285986 , -40.40525694,  29.9676049 ,
 -103.94042516,  -1.0183275 ,   1.51156541,  -0.57814216, -21.73476723,
  -15.58485245,  -1.38949718]

qfrc_actuator:
[ 0.00226898,-0.00501316,-0.00849537, 0.00225497,-0.00359957,-0.00482966,
 -0.01457691, 0.00402996,-0.00369332,-0.00368056,-0.00652697,-0.01541661,
  0.11818569, 0.01396935, 0.09      , 0.01823417, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 7.4188962 , -0.84861545, -7.37020167, -0.84861545, 14.94576686,
       -0.86665454, -7.37020167, -0.86665454,  7.51868403,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000721944575836464
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.68911535e-14, -1.92227884e-14,  1.00000000e+00,  1.47806237e-27,
        1.00000000e+00,  1.92227884e-14, -1.00000000e+00,  0.00000000e+00,
        7.68911535e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10841046, -0.09299364,  0.06197769])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.70659634e-05, 3.07229564e-04, 2.93121811e-04,-3.06985188e-05,
  8.55489666e-05, 3.86313685e-04, 4.21883423e-04,-3.76358024e-05,
  8.54173072e-05, 2.49220282e-04, 2.47724311e-04, 3.03105588e-04,
 -3.30617330e-01,-2.34654327e-04,-7.64308876e-05,-5.24355220e-04,
  8.50312100e-08, 5.36068243e-07,-1.21644154e+00,-1.78544611e-03,
 -3.02971467e-04, 1.45499663e-06]


--- Step 12 ---
qpos:
[ 6.60921438e-04,-1.15565806e-03,-2.30643626e-03, 6.84715819e-04,
 -1.03915610e-03,-1.03275361e-03,-4.03083183e-03, 1.20617820e-03,
 -1.07862802e-03,-7.71090048e-04,-1.76526606e-03,-4.40308627e-03,
  9.26599299e-02, 4.00517686e-03, 2.71491331e-02, 6.09858271e-03,
  9.49471208e-02,-7.00112751e-02, 1.30332023e-01, 9.99999912e-01,
  8.69591405e-05,-4.01066923e-04,-8.15231118e-05]

qacc:
[  -1.68775266, -10.74238977,  47.32331473, -77.69603163,  13.82669557,
  -20.31910744,  86.17962469,-140.08730782,  16.77295359,   6.92817379,
  -44.5771694 , 133.29534688, -28.6576925 , -26.20716088,  22.49306407,
  -78.42397835,   1.00976928,  -0.70416384,   0.14745608,   9.74096557,
   15.56746902,  -0.39523666]

qfrc_actuator:
[ 0.00225947,-0.00492107,-0.00831109, 0.00218787,-0.00352207,-0.00473637,
 -0.01426277, 0.00390663,-0.00359746,-0.00358848,-0.00641411,-0.01514741,
  0.11738299, 0.0136989 , 0.09      , 0.01786797, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006972699240565122
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.59224281e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.59224281e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08214257, -0.0582679 ,  0.06197845])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02641586e-05, 3.28555470e-04, 2.85819338e-04,-4.38896113e-05,
  8.00560562e-05, 4.01754634e-04, 4.49004199e-04,-9.22162117e-05,
  9.79238444e-05, 3.00337761e-04, 2.08343030e-04, 2.95477839e-04,
 -3.30206173e-01,-3.07693769e-04,-1.04792952e-04,-4.08655395e-04,
 -8.21313441e-08, 1.92208478e-06,-1.21644740e+00,-1.78420840e-03,
 -3.02354950e-04, 2.53924452e-06]


--- Step 13 ---
qpos:
[ 7.05642687e-04,-1.25430307e-03,-2.46933151e-03, 7.28105183e-04,
 -1.10782301e-03,-1.12868622e-03,-4.31029843e-03, 1.28183182e-03,
 -1.14959371e-03,-8.43383574e-04,-1.89072057e-03,-4.69923292e-03,
  1.01404361e-01, 4.27936107e-03, 2.93718801e-02, 6.54445063e-03,
  9.49470588e-02,-7.00066242e-02, 1.30358700e-01, 9.99999913e-01,
  5.27333601e-05,-4.02649960e-04,-9.87182649e-05]

qacc:
[-7.00432324e+00,-7.95746547e+00, 3.54086280e+01,-5.54917550e+01,
  1.61776309e+01,-1.97158321e+01, 8.60095180e+01,-1.45263624e+02,
  1.20121014e+01, 7.53423015e+00,-5.05189269e+01, 1.53774893e+02,
 -4.62553379e+01,-1.45895718e+01, 2.54083271e+01,-8.79239508e+01,
  9.97927965e-01,-6.89095741e-01,-1.28941423e-02, 9.61609021e+00,
  1.52435037e+01,-4.24350102e-01]

qfrc_actuator:
[ 0.00221792,-0.00482663,-0.00815405, 0.0021485 ,-0.00343055,-0.00462449,
 -0.01396388, 0.00376723,-0.0035299 ,-0.00350464,-0.00627874,-0.01483265,
  0.11659158, 0.01344551, 0.09      , 0.0174533 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 7.03180862, -3.09454071,  6.31428145, -3.09454071, 13.24223776,
        3.04364416,  6.31428145,  3.04364416,  8.5234559 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006726388580532566
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08213844, -0.05826343,  0.06197922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.12560642e-05, 3.40662257e-04, 2.61564948e-04,-1.57689670e-05,
  9.39210620e-05, 4.32104355e-04, 4.38313060e-04,-1.07763764e-04,
  6.99977588e-05, 3.12135932e-04, 2.36247968e-04, 3.41691791e-04,
 -3.26639162e-01,-3.93964104e-04,-1.12373194e-04,-4.55987385e-04,
  3.30325338e-07, 1.02986317e-06,-1.21644309e+00,-1.78348922e-03,
 -3.01742776e-04, 1.90150317e-06]


--- Step 14 ---
qpos:
[ 7.49527563e-04,-1.35098467e-03,-2.62903453e-03, 7.70690806e-04,
 -1.17520373e-03,-1.22226790e-03,-4.58436689e-03, 1.35593625e-03,
 -1.21955054e-03,-9.14102494e-04,-2.01354270e-03,-4.98964028e-03,
  1.09967879e-01, 4.55076849e-03, 3.15950092e-02, 6.98128325e-03,
  9.49509508e-02,-7.00046816e-02, 1.30384803e-01, 9.99999922e-01,
  3.75398106e-05,-3.74265495e-04,-1.16796824e-04]

qacc:
[  -7.2903823 ,  -7.97044335,  35.59850414, -56.07789448,  11.4398556 ,
  -15.19685469,  65.18963728,-102.31183037,   8.93451364,   6.52639844,
  -44.49907146, 138.46981222, -60.6790693 ,  -4.95860855,  28.14529428,
  -97.08024838,   0.98851271,  -0.67708945,  -0.14366465,   9.51445738,
   14.98466757,  -0.44632446]

qfrc_actuator:
[ 0.00217558,-0.00473168,-0.00799658, 0.00210799,-0.00336701,-0.00450249,
 -0.0136941 , 0.00369051,-0.00347955,-0.00342631,-0.00614891,-0.01454685,
  0.1158094 , 0.01320334, 0.09      , 0.01699558, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 6.82120094, -2.70059892,  6.26382852, -2.70059892, 18.14499084,
        4.88216027,  6.26382852,  4.88216027,  8.92610478,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006468135730277741
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.29112449e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.29112449e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08213394, -0.05825887,  0.06198001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.29286058e-05, 3.44035920e-04, 2.62423587e-04,-1.66886593e-05,
  6.63399340e-05, 4.56186838e-04, 4.13530355e-04,-4.44726846e-05,
  5.20105381e-05, 3.20865948e-04, 2.38125575e-04, 3.15081802e-04,
 -3.20459899e-01,-4.87125386e-04,-1.30075302e-04,-5.04651787e-04,
  4.39482910e-07, 2.89478616e-07,-1.21644090e+00,-1.78306963e-03,
 -3.01586375e-04, 1.47725988e-06]


--- Step 15 ---
qpos:
[ 7.92917644e-04,-1.44568889e-03,-2.78555645e-03, 8.12467732e-04,
 -1.24164323e-03,-1.31377332e-03,-4.85261559e-03, 1.42890851e-03,
 -1.28871240e-03,-9.83387703e-04,-2.13371649e-03,-5.27432421e-03,
  1.18315804e-01, 4.81879803e-03, 3.38185351e-02, 7.40864223e-03,
  9.49587677e-02,-7.00054095e-02, 1.30409907e-01, 9.99999940e-01,
  4.12161772e-05,-3.16322582e-04,-1.35792390e-04]

qacc:
[  -4.28614602,  -7.93686618,  35.51632594, -56.06302784,   8.42358711,
  -15.87359558,  65.32586031, -95.71429902,   7.05530437,   6.26653293,
  -43.76903516, 137.5357837 , -72.33036222,  -4.21061812,  29.54843185,
 -101.80735182,   0.98121301,  -0.66762572,  -0.24957511,   9.43305941,
   14.78030906,  -0.46258829]

qfrc_actuator:
[ 0.00215088,-0.00463721,-0.00784013, 0.00206714,-0.00332047,-0.00441102,
 -0.01340809, 0.00363352,-0.00343972,-0.00336972,-0.00602346,-0.01426265,
  0.11503625, 0.01293339, 0.09      , 0.01651612, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 6.60202737, -2.26629668,  6.20086   , -2.26629668, 30.88779051,
        8.87598566,  6.20086   ,  8.87598566,  9.84603173,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006203359654494423
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.94856244e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.94856244e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08212918, -0.05825429,  0.06198083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.53495926e-05, 3.45467840e-04, 2.62115817e-04,-1.68903451e-05,
  4.85778176e-05, 4.36561789e-04, 4.33783995e-04,-2.33493989e-05,
  4.09964974e-05, 3.03149064e-04, 2.34795431e-04, 3.13381600e-04,
 -3.12141508e-01,-6.17723511e-04,-1.51564862e-04,-5.33117564e-04,
  2.57298792e-07,-3.11557870e-07,-1.21644071e+00,-1.78294773e-03,
 -3.01876102e-04, 1.25288456e-06]


--- Step 16 ---
qpos:
[ 8.36027933e-04,-1.53841306e-03,-2.93892505e-03, 8.53440549e-04,
 -1.30700769e-03,-1.40331268e-03,-5.11546292e-03, 1.50103146e-03,
 -1.35686697e-03,-1.05082174e-03,-2.25159490e-03,-5.55270473e-03,
  1.26420745e-01, 5.08303659e-03, 3.60422751e-02, 7.82767764e-03,
  9.49704876e-02,-7.00087785e-02, 1.30433673e-01, 9.99999960e-01,
  6.36353707e-05,-2.29138864e-04,-1.55729322e-04]

qacc:
[ -2.39583266, -7.84995716, 35.18588332,-55.60402631,  9.58831345,
 -14.26915128, 58.19642399,-82.93644253,  8.9046695 ,  8.99619363,
 -55.15358862,159.21682104,-81.56033736, -1.83179098, 25.84186633,
 -89.09461908,  0.97575539, -0.66027493, -0.33462961,  9.36927865,
  14.62165535, -0.47425072]

qfrc_actuator:
[ 0.00213675,-0.00454383,-0.00768557, 0.0020264 ,-0.00326653,-0.00433854,
 -0.01315043, 0.00358856,-0.00338863,-0.00325565,-0.00590171,-0.01394619,
  0.11427815, 0.01264848, 0.09      , 0.0160987 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005936436696729608
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.87018422e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.87018422e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08212428, -0.05824975,  0.06198166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.42850370e-05, 3.45004896e-04, 2.60429646e-04,-1.67365980e-05,
  5.54565581e-05, 4.11544977e-04, 4.04516857e-04,-1.10522392e-05,
  5.19394258e-05, 3.49859803e-04, 2.26908388e-04, 3.44718320e-04,
 -3.02075649e-01,-7.33321645e-04,-1.71737676e-04,-4.77003457e-04,
 -2.07947887e-07,-7.82134262e-07,-1.21644243e+00,-1.78312187e-03,
 -3.02604472e-04, 1.21837356e-06]


--- Step 17 ---
qpos:
[ 8.78297413e-04,-1.62923829e-03,-3.08886818e-03, 8.93606643e-04,
 -1.37121714e-03,-1.49088595e-03,-5.37332225e-03, 1.57209641e-03,
 -1.42319720e-03,-1.11605294e-03,-2.36721888e-03,-5.82514955e-03,
  1.34261948e-01, 5.34388364e-03, 3.82661157e-02, 8.23985704e-03,
  9.49860951e-02,-7.00147663e-02, 1.30455830e-01, 9.99999973e-01,
  1.04700979e-04,-1.12955054e-04,-1.76624479e-04]

qacc:
[ -7.31952543, -8.71371747, 38.13765608,-58.99422207, 10.27737545,
 -13.54463652, 56.49202606,-84.18069332, 16.08319306,  8.80422186,
 -52.26712772,149.80054435,-88.69968387,  8.85343483, 21.27556185,
 -73.23309026,  0.97189989, -0.65468126, -0.40222692,  9.32083918,
  14.50146614, -0.48217124]

qfrc_actuator:
[ 0.00209345,-0.00445191,-0.00751562, 0.00198605,-0.00320866,-0.00426041,
 -0.01291168, 0.00353325,-0.00329581,-0.00312584,-0.00578289,-0.01364874,
  0.11356061, 0.01239187, 0.09      , 0.01575663, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005670866921514695
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.89441491e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.89441491e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08211933, -0.05824527,  0.06198248])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.31580696e-05, 3.42853317e-04, 2.75454206e-04,-1.64325751e-05,
  5.95691267e-05, 3.97548306e-04, 3.77166071e-04,-2.32706677e-05,
  9.40022564e-05, 3.91335183e-04, 2.33681987e-04, 3.28017682e-04,
 -2.90601378e-01,-8.00053094e-04,-1.80900765e-04,-4.02452434e-04,
 -9.51034812e-07,-1.12825979e-06,-1.21644601e+00,-1.78359065e-03,
 -3.03765769e-04, 1.36660626e-06]


--- Step 18 ---
qpos:
[ 9.19037982e-04,-1.71828379e-03,-3.23546668e-03, 9.33006301e-04,
 -1.43388861e-03,-1.57642327e-03,-5.62625108e-03, 1.64195313e-03,
 -1.48790614e-03,-1.17958037e-03,-2.48022655e-03,-6.09219592e-03,
  1.41823943e-01, 5.60156481e-03, 4.04903627e-02, 8.64379616e-03,
  9.49976407e-02,-7.00144882e-02, 1.30476390e-01, 9.99999974e-01,
  1.01802354e-04,-2.91969744e-05,-1.99774514e-04]

qacc:
[-13.37059946, -8.5505279 , 37.17766669,-57.14240111, 13.63986151,
 -13.60746843, 57.47284221,-87.70879532, 14.31618654,  6.02955303,
 -41.05845716,129.07914189,-94.04995967, 17.16815881, 25.97021549,
 -88.87721808, -1.01547372,  1.56646324, -0.39933514,-21.97937899,
 -16.21686582, -1.12326009]

qfrc_actuator:
[ 0.00201556,-0.00437931,-0.00735573, 0.00194625,-0.0031312 ,-0.00416193,
 -0.01266829, 0.00347227,-0.00321468,-0.00307645,-0.0056667 ,-0.01338261,
  0.1128727 , 0.01215335, 0.09      , 0.01533738, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005454605937267182
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.63269866e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.63269866e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1084428 , -0.09306517,  0.06198314])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.85760917e-05, 3.25319358e-04, 2.66754839e-04,-1.54498757e-05,
  7.92805306e-05, 4.03773199e-04, 3.75057902e-04,-3.07345152e-05,
  8.35341524e-05, 3.34702921e-04, 2.39807603e-04, 2.98363778e-04,
 -2.78061808e-01,-8.68739446e-04,-1.82713938e-04,-4.77963749e-04,
 -1.96930981e-06,-1.35360214e-06,-1.21645141e+00,-1.78435292e-03,
 -3.05355725e-04, 1.69276404e-06]


--- Step 19 ---
qpos:
[ 9.58191557e-04,-1.80563690e-03,-3.37914391e-03, 9.71672311e-04,
 -1.49479907e-03,-1.65991924e-03,-5.87454064e-03, 1.71125764e-03,
 -1.55149094e-03,-1.24166003e-03,-2.59100065e-03,-6.35389433e-03,
  1.49095605e-01, 5.85583704e-03, 4.27151194e-02, 9.03832224e-03,
  9.50051527e-02,-7.00080355e-02, 1.30494903e-01, 9.99999973e-01,
  5.53633511e-05, 2.27163267e-05,-2.25324405e-04]

qacc:
[ -13.89225133,  -7.41378067,  32.82081375, -51.47954156,  15.59021612,
  -11.43864976,  46.97506607, -65.39017664,   9.93523821,   6.66578413,
  -43.58926656, 131.51912203, -97.85919719,  19.87037201,  29.71574176,
 -101.65324958,  -1.00838376,   1.54365335,  -0.51155531, -21.76704236,
  -15.92686049,  -1.1976712 ]

qfrc_actuator:
[ 0.00193569,-0.00431896,-0.00722091, 0.00190708,-0.00304283,-0.00406985,
 -0.01244179, 0.00344397,-0.00315885,-0.00304017,-0.0055711 ,-0.01311935,
  0.11217617, 0.01190906, 0.09      , 0.01485818, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.82638313,  2.18026869, -5.40307032,  2.18026869, 44.58242336,
       15.63899338, -5.40307032, 15.63899338, 12.1370927 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000527039656474132
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.26631635e-14, -1.31657909e-13,  1.00000000e+00,  6.93352198e-27,
        1.00000000e+00,  1.31657909e-13, -1.00000000e+00,  0.00000000e+00,
        5.26631635e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10844574, -0.09307295,  0.06198371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.15725991e-05, 3.01409888e-04, 2.36963772e-04,-1.58739021e-05,
  9.07573557e-05, 3.99978490e-04, 3.58848004e-04, 1.97903363e-06,
  5.79343863e-05, 2.89802696e-04, 2.07181510e-04, 2.92677458e-04,
 -2.64759490e-01,-9.54543356e-04,-1.98376539e-04,-5.43764588e-04,
 -1.39996766e-07,-1.41765883e-06,-1.21644511e+00,-1.78421636e-03,
 -3.07049134e-04, 1.31891706e-07]


--- Step 20 ---
qpos:
[ 9.95746237e-04,-1.89135478e-03,-3.51997887e-03, 1.00958988e-03,
 -1.55417603e-03,-1.74166997e-03,-6.11767245e-03, 1.77935225e-03,
 -1.61391868e-03,-1.30236678e-03,-2.69935894e-03,-6.61038425e-03,
  1.56069782e-01, 6.10650145e-03, 4.49402776e-02, 9.42345599e-03,
  9.50086541e-02,-6.99954802e-02, 1.30511004e-01, 9.99999966e-01,
 -3.42782586e-05, 4.32489109e-05,-2.53387381e-04]

qacc:
[ -13.99748979,  -7.29874827,  32.36393433, -51.11093126,  13.60994664,
  -14.6301672 ,  60.56916537, -90.98409488,  10.23104519,   5.76947399,
  -39.94936247, 125.23044217,-100.33611622,  22.45318463,  29.52659366,
 -101.13176412,  -1.0026848 ,   1.52565175,  -0.60322832, -21.59773888,
  -15.69529483,  -1.25616529]

qfrc_actuator:
[ 0.00185531,-0.00424882,-0.0070843 , 0.00186855,-0.00296649,-0.00400018,
 -0.0121916 , 0.00338185,-0.00310059,-0.00297669,-0.00545302,-0.01285992,
  0.11151215, 0.01166283, 0.09      , 0.014383  , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.6690395 , -1.78623853,  5.38027516, -1.78623853, 36.14636579,
       10.11839967,  5.38027516, 10.11839967,  9.02832407,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005077739175141233
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10844907, -0.0930809 ,  0.06198431])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.21885326e-05, 2.91561735e-04, 2.30082685e-04,-1.73016020e-05,
  7.90392045e-05, 3.73375064e-04, 3.80807447e-04,-3.19452964e-05,
  5.96262860e-05, 2.84821274e-04, 2.16122836e-04, 2.85662197e-04,
 -2.50870245e-01,-1.03020233e-03,-2.17952852e-04,-5.46545832e-04,
  1.25677874e-06,-5.97669544e-07,-1.21644350e+00,-1.78338413e-03,
 -3.08350306e-04,-6.41224710e-07]


--- Step 21 ---
qpos:
[ 1.03274292e-03,-1.97551485e-03,-3.65770516e-03, 1.04675037e-03,
 -1.61286557e-03,-1.82182947e-03,-6.35568778e-03, 1.84551645e-03,
 -1.67482449e-03,-1.36167231e-03,-2.80535792e-03,-6.86244083e-03,
  1.62742301e-01, 6.35273528e-03, 4.71655709e-02, 9.80097597e-03,
  9.50108079e-02,-6.99887271e-02, 1.30526806e-01, 9.99999956e-01,
 -8.17175241e-05, 5.64078422e-05,-2.79637643e-04]

qacc:
[-4.83516742e+00,-8.18150295e+00, 3.53682287e+01,-5.45997795e+01,
  6.17394170e+00,-1.61878561e+01, 6.88940679e+01,-1.11625716e+02,
  1.34365838e+01, 4.36197257e+00,-3.16169837e+01, 1.03568241e+02,
 -1.01670470e+02, 1.77494218e+01, 2.37649938e+01,-8.14783839e+01,
 -3.36874672e-01,-1.45056075e+00,-7.44291041e-02, 2.11020664e+01,
 -3.68151057e+00, 9.07142317e-01]

qfrc_actuator:
[ 0.00182852,-0.00417343,-0.00692996, 0.00183071,-0.00293337,-0.00394448,
 -0.01194734, 0.00328256,-0.0030236 ,-0.00291514,-0.00534028,-0.0126403 ,
  0.11088938, 0.01138148, 0.09      , 0.01400272, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.52522123, -1.17354194,  5.39915447, -1.17354194, 47.68725101,
        9.16419611,  5.39915447,  9.16419611,  7.51711988,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004897559460645962
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.66722586e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.66722586e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09837533, -0.04631853,  0.06198487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.86217978e-05, 2.89736655e-04, 2.44840933e-04,-1.73027537e-05,
  3.54896262e-05, 3.47488014e-04, 3.70849715e-04,-7.01659656e-05,
  7.84059447e-05, 2.81563237e-04, 2.10559549e-04, 2.45796771e-04,
 -2.36584106e-01,-1.13107481e-03,-2.31122168e-04,-4.55151233e-04,
  2.25498659e-06, 1.09575931e-06,-1.21644640e+00,-1.78185877e-03,
 -3.09273285e-04,-6.54832241e-07]


--- Step 22 ---
qpos:
[ 1.06982804e-03,-2.05804895e-03,-3.79246726e-03, 1.08317734e-03,
 -1.67104637e-03,-1.89999121e-03,-6.58957501e-03, 1.91034932e-03,
 -1.73468531e-03,-1.41976957e-03,-2.90902487e-03,-7.10985836e-03,
  1.69112243e-01, 6.59432188e-03, 4.93909916e-02, 1.01717269e-02,
  9.50116680e-02,-6.99877011e-02, 1.30541818e-01, 9.99999948e-01,
 -8.74907396e-05, 6.20029019e-05,-3.04255316e-04]

qacc:
[   0.84256717,  -7.65006185,  33.48559477, -52.10818273,   4.56550789,
  -11.65034404,  50.97249488, -82.06261949,   9.24420286,   4.61508597,
  -33.74272797, 109.4222573 ,-102.02900675,  18.97984344,  21.21709268,
  -72.51745962,  -0.32343734,  -1.43176824,  -0.19775459,  20.83403573,
   -3.77617668,   0.81716146]

qfrc_actuator:
[ 0.00183349,-0.00409547,-0.00678413, 0.0017936 ,-0.00290818,-0.00384445,
 -0.01174414, 0.00321543,-0.00297171,-0.00287309,-0.00523165,-0.01241036,
  0.11028115, 0.01109909, 0.09      , 0.01366363, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.42471357, -0.65110093, -5.38549765, -0.65110093, 23.01947258,
       -2.12718764, -5.38549765, -2.12718764,  5.68188829,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004763046138734073
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.16545483e-13, -5.82727414e-14,  1.00000000e+00,  6.79142479e-27,
        1.00000000e+00,  5.82727414e-14, -1.00000000e+00,  0.00000000e+00,
        1.16545483e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09837768, -0.0463138 ,  0.06198528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.64786464e-06, 2.94267566e-04, 2.37714286e-04,-1.61563576e-05,
  2.63046893e-05, 3.73521798e-04, 3.21804377e-04,-4.02109854e-05,
  5.38506630e-05, 2.57317078e-04, 2.03656281e-04, 2.54983995e-04,
 -2.22076471e-01,-1.19188708e-03,-2.30156563e-04,-4.11274319e-04,
  1.05585138e-06, 2.44961739e-07,-1.21644179e+00,-1.78108921e-03,
 -3.08892882e-04,-4.12233461e-07]


--- Step 23 ---
qpos:
[ 1.10600189e-03,-2.13868539e-03,-3.92476617e-03, 1.11888371e-03,
 -1.72778311e-03,-1.97592415e-03,-6.81928673e-03, 1.97385072e-03,
 -1.79380972e-03,-1.47689016e-03,-3.01043341e-03,-7.35185078e-03,
  1.75181350e-01, 6.83146143e-03, 5.16165612e-02, 1.05362608e-02,
  9.50112769e-02,-6.99923421e-02, 1.30555634e-01, 9.99999943e-01,
 -5.20295393e-05, 5.98859365e-05,-3.27383180e-04]

qacc:
[  -7.9662    ,  -5.84645847,  27.55148039, -45.38253851,  12.78080637,
  -11.49372   ,  50.82997796, -82.13848813,   6.53274699,   6.1392195 ,
  -42.92771202, 132.48362472,-101.58332296,  24.09844564,  19.59740278,
  -66.74885895,  -0.31280362,  -1.41674769,  -0.29892148,  20.61833398,
   -3.84980473,   0.7458458 ]

qfrc_actuator:
[ 0.00178608,-0.0039989 ,-0.00666225, 0.0017572 ,-0.0028346 ,-0.00371885,
 -0.01153115, 0.00315002,-0.00293502,-0.00284309,-0.00512641,-0.01214071,
  0.10970323, 0.0108358 , 0.09      , 0.01335144, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.32171562, -0.8586621 , -5.25198596, -0.8586621 , 34.66152305,
       -4.79684844, -5.25198596, -4.79684844,  6.10596599,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046160604634833124
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.40513103e-13,  1.20256551e-13,  1.00000000e+00, -2.89232763e-26,
        1.00000000e+00, -1.20256551e-13, -1.00000000e+00,  0.00000000e+00,
        2.40513103e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09837976, -0.04630864,  0.06198574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.67925777e-05, 3.13903220e-04, 2.13799278e-04,-1.54823413e-05,
  7.44512868e-05, 4.04668253e-04, 3.31910234e-04,-3.85025166e-05,
  3.79608112e-05, 2.30577777e-04, 1.94681863e-04, 2.93582802e-04,
 -2.07494429e-01,-1.22277844e-03,-2.28230811e-04,-3.82561534e-04,
  9.65465319e-08, 7.84188451e-09,-1.21644002e+00,-1.78096169e-03,
 -3.08480202e-04,-2.82507347e-07]


--- Step 24 ---
qpos:
[ 1.14098906e-03,-2.21745401e-03,-4.05452971e-03, 1.15388247e-03,
 -1.78285161e-03,-2.04994046e-03,-7.04423793e-03, 2.03642907e-03,
 -1.85204084e-03,-1.53295769e-03,-3.11000830e-03,-7.58869083e-03,
  1.80953043e-01, 7.06394341e-03, 5.38423834e-02, 1.08942850e-02,
  9.50096680e-02,-7.00026028e-02, 1.30567925e-01, 9.99999938e-01,
  2.43241558e-05, 4.99404352e-05,-3.49134635e-04]

qacc:
[ -10.38378848,  -6.05613053,  28.19505125, -45.90302931,  14.77294396,
  -12.70416324,  52.81650469, -77.75511697,   7.89675849,   6.86322977,
  -44.21588428, 129.67945347,-100.47162815,  24.3206562 ,  20.65410034,
  -70.18017247,  -0.30443353,  -1.40493076,  -0.38140091,  20.44748651,
   -3.90760977,   0.68922483]

qfrc_actuator:
[ 0.00172596,-0.00390984,-0.00653769, 0.00172151,-0.00275087,-0.00363221,
 -0.01129622, 0.00310392,-0.00288979,-0.00280283,-0.00504181,-0.01188538,
  0.10916489, 0.01056789, 0.09      , 0.01302204, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.22011965, -1.11248312, -5.10019906, -1.11248312, 49.16909878,
       -9.58639006, -5.10019906, -9.58639006,  7.31115512,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044608471919678483
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.24440827e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.24440827e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09838164, -0.04630322,  0.06198622])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.09671576e-05, 3.12350141e-04, 2.17579056e-04,-1.47521552e-05,
  8.59788587e-05, 3.85182130e-04, 3.61508329e-04,-1.74826677e-05,
  4.60339518e-05, 2.25611727e-04, 1.68697982e-04, 2.78541342e-04,
 -1.92961812e-01,-1.26832559e-03,-2.26984999e-04,-3.98558460e-04,
 -6.41721977e-07, 3.61509885e-07,-1.21644102e+00,-1.78146930e-03,
 -3.08021027e-04,-2.67524228e-07]


--- Step 25 ---
qpos:
[ 1.17568079e-03,-2.29454739e-03,-4.18163857e-03, 1.18786004e-03,
 -1.83648768e-03,-2.12234320e-03,-7.26412566e-03, 2.09834178e-03,
 -1.90893846e-03,-1.58797519e-03,-3.20771420e-03,-7.82095755e-03,
  1.86433133e-01, 7.29259585e-03, 5.60685914e-02, 1.12446439e-02,
  9.50039636e-02,-7.00065917e-02, 1.30578957e-01, 9.99999929e-01,
  5.59323454e-05, 7.31296697e-06,-3.73366554e-04]

qacc:
[ -2.54252973, -7.30557436, 33.57770578,-56.7330731 , 12.71479563,
 -13.41733227, 53.6987579 ,-74.45208958, 11.76723288,  5.56018694,
 -37.14571598,112.55087842,-98.81425065, 35.05290022, 24.37347546,
 -82.85977489, -1.02388005,  1.56796074, -0.31452538,-22.36698424,
 -16.34882363, -1.24095175]

qfrc_actuator:
[ 0.00171211,-0.00384377,-0.00641256, 0.00166877,-0.0026796 ,-0.00356953,
 -0.01105039, 0.00306954,-0.00282215,-0.00275688,-0.00495231,-0.01165829,
  0.10863951, 0.01035245, 0.09      , 0.01263184, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004340457396760089
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.39461999e-14,  1.27892400e-13,  1.00000000e+00, -8.17823295e-27,
        1.00000000e+00, -1.27892400e-13, -1.00000000e+00,  0.00000000e+00,
        6.39461999e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10845986, -0.09311123,  0.06198659])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.51083391e-05, 2.89208091e-04, 2.18258887e-04,-3.17331344e-05,
  7.38321689e-05, 3.57228720e-04, 3.72685035e-04,-5.18409607e-06,
  6.86882718e-05, 2.22448746e-04, 1.68795445e-04, 2.48877808e-04,
 -1.78589057e-01,-1.25088742e-03,-2.30714851e-04,-4.60661655e-04,
 -1.17270218e-06, 1.29047445e-06,-1.21644471e+00,-1.78260656e-03,
 -3.07504786e-04,-3.68447853e-07]


--- Step 26 ---
qpos:
[ 1.21028836e-03,-2.36972299e-03,-4.30630956e-03, 1.22093252e-03,
 -1.88919661e-03,-2.19359826e-03,-7.47843781e-03, 2.15939575e-03,
 -1.96424410e-03,-1.64192890e-03,-3.30352958e-03,-8.04902681e-03,
  1.91627980e-01, 7.51730418e-03, 5.82951738e-02, 1.15866682e-02,
  9.49941847e-02,-7.00043856e-02, 1.30588298e-01, 9.99999917e-01,
  4.32801205e-05,-6.74548262e-05,-4.00169825e-04]

qacc:
[ -0.69632185, -6.14323443, 29.40229991,-50.37360827,  8.29932343,
 -15.85361577, 62.32187691,-86.90909721, 14.03927477,  4.73954018,
 -32.61530696,101.48167174,-96.72849074, 35.31272586, 26.39412897,
 -89.92903438, -1.01862746,  1.5487208 , -0.42285045,-22.12419608,
 -16.07849593, -1.28494022]

qfrc_actuator:
[ 0.00170785,-0.00373879,-0.00628824, 0.00162415,-0.002634  ,-0.00353943,
 -0.01078247, 0.00302455,-0.00274185,-0.00270793,-0.00486066,-0.01144963,
  0.10814274, 0.01013403, 0.09      , 0.01220891, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.08333775e+00, -1.16734093e-02,  5.08332434e+00, -1.16734093e-02,
        3.30407658e+01,  6.42017856e-02,  5.08332434e+00,  6.42017856e-02,
        5.08348518e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00])
  dim: 3
  dist: -0.00042332873777777
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.55650636e-14, -2.62260254e-13,  1.00000000e+00,  1.71951103e-26,
        1.00000000e+00,  2.62260254e-13, -1.00000000e+00,  0.00000000e+00,
        6.55650636e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10846116, -0.09311563,  0.06198692])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.22592017e-06, 3.14517312e-04, 2.12126153e-04,-2.49228648e-05,
  4.78123170e-05, 3.11724512e-04, 3.90725596e-04,-1.63813187e-05,
  8.19923944e-05, 2.22367737e-04, 1.69248216e-04, 2.29724433e-04,
 -1.64480156e-01,-1.27785485e-03,-2.41053803e-04,-4.97709955e-04,
 -4.26262880e-07, 1.05060118e-06,-1.21644240e+00,-1.78292619e-03,
 -3.07245570e-04,-3.25733754e-07]


--- Step 27 ---
qpos:
[ 1.24423772e-03,-2.44277507e-03,-4.42833619e-03, 1.25352380e-03,
 -1.94094866e-03,-2.26353441e-03,-7.68800996e-03, 2.21913680e-03,
 -2.01850791e-03,-1.69497407e-03,-3.39738909e-03,-8.27278832e-03,
  1.96545251e-01, 7.73826954e-03, 6.05217811e-02, 1.19223589e-02,
  9.49803479e-02,-6.99960465e-02, 1.30595590e-01, 9.99999893e-01,
 -1.32414959e-05,-1.73934165e-04,-4.29609867e-04]

qacc:
[ -5.73807531, -5.56552752, 25.96490377,-40.10064426,  8.52994931,
 -14.22741076, 58.76856864,-90.00540646,  9.20689546,  4.58822415,
 -32.82205333,103.58761434,-94.27497819, 38.40118124, 19.81926592,
 -67.66246462, -1.01449525,  1.53328826, -0.512351  ,-21.92843771,
 -15.86460664, -1.31622141]

qfrc_actuator:
[ 0.00167375,-0.00361138,-0.00614748, 0.00160244,-0.00258611,-0.00349355,
 -0.01055709, 0.00295589,-0.00269025,-0.00267537,-0.00476847,-0.01123572,
  0.10768905, 0.00993321, 0.09      , 0.01189436, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.01680539,  0.27278395,  5.00938372,  0.27278395, 46.76274745,
       -2.27325828,  5.00938372, -2.27325828,  5.14059475,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004113712080626858
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34941751e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.34941751e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10846295, -0.09312045,  0.06198729])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.37582895e-05, 3.50036934e-04, 2.33213477e-04,-1.01036420e-06,
  4.93425800e-05, 3.05184006e-04, 3.40542821e-04,-4.15976494e-05,
  5.36727180e-05, 2.05146498e-04, 1.69111173e-04, 2.34590870e-04,
 -1.50647859e-01,-1.28149345e-03,-2.50869946e-04,-3.92945143e-04,
 -1.03805559e-07, 1.74962027e-06,-1.21644483e+00,-1.78253294e-03,
 -3.06597371e-04, 5.13312196e-07]


--- Step 28 ---
qpos:
[ 1.27717667e-03,-2.51404641e-03,-4.54721506e-03, 1.28492618e-03,
 -1.99137929e-03,-2.33181822e-03,-7.89381008e-03, 2.27727983e-03,
 -2.07173714e-03,-1.74690222e-03,-3.48921467e-03,-8.49157058e-03,
  2.01193401e-01, 7.95562001e-03, 6.27488748e-02, 1.22486845e-02,
  9.49705890e-02,-6.99906588e-02, 1.30604121e-01, 9.99999862e-01,
 -5.03642778e-05,-2.48295183e-04,-4.59535087e-04]

qacc:
[  -8.8113235 ,  -8.87763597,  40.11398792, -67.05981914,  11.69416909,
  -11.67424214,  51.49756181, -86.35492682,   9.14194029,   6.02896318,
  -40.39153845, 122.49540231, -91.54036019,  40.38719699,  29.69596208,
 -101.20986762,   1.01949348,  -0.73786579,   0.30986985,   9.69247489,
   16.06332835,  -0.24406478]

qfrc_actuator:
[ 0.00162236,-0.00354249,-0.00599806, 0.00154116,-0.0025195 ,-0.00342109,
 -0.01037638, 0.00287383,-0.00263822,-0.00259966,-0.00465904,-0.01098495,
  0.10726546, 0.00974433, 0.09      , 0.01141538, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.9857101 , -2.85218239,  4.08929833, -2.85218239, 35.52457706,
       21.30008904,  4.08929833, 21.30008904, 19.84198468,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004055585696535191
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.89725681e-14, -1.36875794e-13,  1.00000000e+00,  9.44067502e-27,
        1.00000000e+00,  1.36875794e-13, -1.00000000e+00,  0.00000000e+00,
        6.89725681e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08209634, -0.0582101 ,  0.06198747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.18947818e-05, 3.16641941e-04, 2.52597756e-04,-3.78718103e-05,
  6.81111343e-05, 3.16566323e-04, 2.87397441e-04,-5.75146503e-05,
  5.33100190e-05, 2.38778918e-04, 1.82913291e-04, 2.70790407e-04,
 -1.37170410e-01,-1.28324746e-03,-2.43380955e-04,-5.52724356e-04,
 -1.74349619e-07, 3.36570135e-06,-1.21645183e+00,-1.78143197e-03,
 -3.05570617e-04, 2.12214430e-06]


--- Step 29 ---
qpos:
[ 1.30959509e-03,-2.58359431e-03,-4.66322340e-03, 1.31503869e-03,
 -2.04096401e-03,-2.39870223e-03,-8.09514868e-03, 2.33432685e-03,
 -2.12393453e-03,-1.79768298e-03,-3.57872381e-03,-8.70530832e-03,
  2.05580896e-01, 8.16878067e-03, 6.49762509e-02, 1.25657774e-02,
  9.49648767e-02,-6.99881511e-02, 1.30613328e-01, 9.99999835e-01,
 -6.82119187e-05,-2.91231732e-04,-4.90072707e-04]

qacc:
[ -4.51382525, -8.39479507, 38.69442138,-66.88718286,  7.54390794,
 -12.89316619, 53.25444536,-80.35587975,  9.12565873,  5.4137399 ,
 -38.41489252,121.17339872,-88.57974149, 34.57121407, 28.98741931,
 -99.17951473,  1.01166911, -0.72002018,  0.16908253,  9.63027288,
  15.71667685, -0.30780131]

qfrc_actuator:
[ 0.0015967 ,-0.00347372,-0.00586274, 0.0014748 ,-0.00247791,-0.0033513 ,
 -0.01015239, 0.00282006,-0.00258632,-0.00253413,-0.00454012,-0.01073221,
  0.10685317, 0.00952847, 0.09      , 0.01094982, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.95585797,  2.80208436, -4.0876462 ,  2.80208436, 17.00666196,
        8.26083464, -4.0876462 ,  8.26083464, 10.61866595,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003998346206671721
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04668785e-13, -2.77670559e-13,  1.00000000e+00,  2.90634399e-26,
        1.00000000e+00,  2.77670559e-13, -1.00000000e+00,  0.00000000e+00,
        1.04668785e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08209636, -0.05820811,  0.06198765])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.66881663e-05, 3.00174722e-04, 2.32649879e-04,-4.44461688e-05,
  4.36341817e-05, 3.08515442e-04, 3.25869974e-04,-3.09088179e-05,
  5.31723629e-05, 2.51731420e-04, 2.02254679e-04, 2.75365415e-04,
 -1.24106028e-01,-1.31838199e-03,-2.59221913e-04,-5.47584554e-04,
  1.66299048e-07, 2.23089760e-06,-1.21644575e+00,-1.78105296e-03,
 -3.04181825e-04, 1.54627152e-06]


--- Step 30 ---
qpos:
[ 1.34180528e-03,-2.65159714e-03,-4.77629768e-03, 1.34483799e-03,
 -2.09000918e-03,-2.46411783e-03,-8.29216114e-03, 2.38994956e-03,
 -2.17545452e-03,-1.84730947e-03,-3.66630234e-03,-8.91431256e-03,
  2.09716551e-01, 8.37703351e-03, 6.72031002e-02, 1.28795308e-02,
  9.49631849e-02,-6.99884662e-02, 1.30622744e-01, 9.99999816e-01,
 -6.68905075e-05,-3.03304276e-04,-5.21321698e-04]

qacc:
[-1.76402578e+00,-6.80171228e+00, 2.85407607e+01,-3.97924033e+01,
  4.84739731e+00,-1.30948567e+01, 5.55001252e+01,-8.81272418e+01,
  5.99750711e+00, 5.86700562e+00,-3.86946471e+01, 1.16671824e+02,
 -8.54226781e+01, 2.68251192e+01, 9.91633078e+00,-3.42296764e+01,
  1.00510348e+00,-7.05680415e-01, 5.20419041e-02, 9.57685837e+00,
  1.54367226e+01,-3.57421757e-01]

qfrc_actuator:
[ 0.0015864 ,-0.00340567,-0.00571911, 0.00145921,-0.00245138,-0.0032835 ,
 -0.00994014, 0.00274787,-0.00255268,-0.00249294,-0.0044521 ,-0.0104981 ,
  0.10644595, 0.00928071, 0.09      , 0.01079773, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.91700634,  2.65380248, -4.1393579 ,  2.65380248, 25.07916337,
       12.92625175, -4.1393579 , 12.92625175, 13.20421411,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003921621767645628
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.12327276e-13, -1.41551518e-13,  1.00000000e+00,  3.00552482e-26,
        1.00000000e+00,  1.41551518e-13, -1.00000000e+00,  0.00000000e+00,
        2.12327276e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08209575, -0.05820604,  0.06198788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06244027e-05, 2.85757020e-04, 2.34818235e-04, 4.80258393e-06,
  2.78681481e-05, 3.10985379e-04, 3.18064785e-04,-4.78166747e-05,
  3.49291426e-05, 2.38748375e-04, 1.76511766e-04, 2.58032126e-04,
 -1.11461099e-01,-1.35667497e-03,-2.65157320e-04,-2.35697734e-04,
  2.00183304e-07, 1.27162820e-06,-1.21644190e+00,-1.78096733e-03,
 -3.03268500e-04, 1.18794203e-06]


--- Step 31 ---
qpos:
[ 1.37399302e-03,-2.71821780e-03,-4.88661008e-03, 1.37460359e-03,
 -2.13835496e-03,-2.52778063e-03,-8.48535985e-03, 2.44324666e-03,
 -2.22583135e-03,-1.89535652e-03,-3.75279016e-03,-9.11921063e-03,
  2.13610419e-01, 8.58056298e-03, 6.94299476e-02, 1.31886642e-02,
  9.49654920e-02,-6.99915583e-02, 1.30631980e-01, 9.99999805e-01,
 -4.64886275e-05,-2.84962177e-04,-5.53358579e-04]

qacc:
[-1.33900043e-01,-5.96308477e+00, 2.40531382e+01,-3.00667961e+01,
  6.22875748e+00,-1.31457770e+01, 6.00267926e+01,-1.07636917e+02,
  1.00563965e+01, 7.47699111e+00,-4.09858992e+01, 1.09152421e+02,
 -8.21272498e+01, 2.82957848e+01, 1.45715886e+01,-4.93993676e+01,
  9.99730920e-01,-6.94233680e-01,-4.48474918e-02, 9.53218553e+00,
  1.52123199e+01,-3.95818932e-01]

qfrc_actuator:
[ 0.00158522,-0.00335632,-0.00558947, 0.00145588,-0.00241616,-0.00319979,
 -0.00975433, 0.00262991,-0.00249454,-0.00241357,-0.00440092,-0.01029462,
  0.10605568, 0.00905169, 0.09      , 0.01056522, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.87243169,  2.46981498, -4.20007197,  2.46981498, 36.1573795 ,
       18.39683545, -4.20007197, 18.39683545, 15.69052724,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003830278511633839
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08209466, -0.0582039 ,  0.06198816])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07075305e-06, 2.61471186e-04, 2.19778126e-04, 1.74636168e-05,
  3.61035556e-05, 3.25844075e-04, 2.90520784e-04,-9.40990880e-05,
  5.89111310e-05, 2.63536627e-04, 1.33176224e-04, 2.25595230e-04,
 -9.92410835e-02,-1.34029647e-03,-2.30983271e-04,-2.99007066e-04,
 -6.37525189e-08, 4.70933153e-07,-1.21644018e+00,-1.78117658e-03,
 -3.02818640e-04, 1.03588691e-06]


--- Step 32 ---
qpos:
[ 1.40557779e-03,-2.78347959e-03,-4.99493809e-03, 1.40416201e-03,
 -2.18555770e-03,-2.58978290e-03,-8.67475062e-03, 2.49473698e-03,
 -2.27546983e-03,-1.94210105e-03,-3.83784616e-03,-9.32039368e-03,
  2.17273309e-01, 8.78018916e-03, 7.16571955e-02, 1.34902916e-02,
  9.49717810e-02,-6.99973910e-02, 1.30640717e-01, 9.99999800e-01,
 -7.07789874e-06,-2.36561981e-04,-5.86241960e-04]

qacc:
[ -5.25832017, -4.16772326, 18.35705473,-26.13235939, 10.12442944,
 -12.19031076, 54.24011649,-92.78015803,  6.51353566,  5.35850884,
 -32.30179866, 93.34766312,-78.78150668, 36.09690936, 23.91571994,
 -81.22520889,  0.99547188, -0.68517699, -0.12468548,  9.49598563,
  15.03432577, -0.42525868]

qfrc_actuator:
[ 0.0015539 ,-0.00331864,-0.00550472, 0.001442  ,-0.00235836,-0.00312515,
 -0.00956786, 0.00253921,-0.00245795,-0.00236542,-0.00433628,-0.01011079,
  0.10568907, 0.00887121, 0.09      , 0.01018056, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003728332481542085
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48890024e-13, -1.48890024e-13,  1.00000000e+00,  2.21682392e-26,
        1.00000000e+00,  1.48890024e-13, -1.00000000e+00,  0.00000000e+00,
        1.48890024e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08209321, -0.05820173,  0.06198848])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.09553066e-05, 2.33573212e-04, 1.68403161e-04, 5.58569962e-06,
  5.89326778e-05, 3.17308095e-04, 2.89203791e-04,-6.80629933e-05,
  3.80682459e-05, 2.35757947e-04, 1.45266512e-04, 2.04862777e-04,
 -8.75013698e-02,-1.28459826e-03,-2.23493056e-04,-4.50564875e-04,
 -6.19086243e-07,-1.83506830e-07,-1.21644050e+00,-1.78168162e-03,
 -3.02822872e-04, 1.08160272e-06]


--- Step 33 ---
qpos:
[ 1.43585798e-03,-2.84735601e-03,-5.10190477e-03, 1.43337151e-03,
 -2.23135523e-03,-2.65054713e-03,-8.86020776e-03, 2.54513979e-03,
 -2.32428852e-03,-1.98787781e-03,-3.92132030e-03,-9.51706957e-03,
  2.20715173e-01, 8.97584559e-03, 7.38846634e-02, 1.37843362e-02,
  9.49820390e-02,-7.00059361e-02, 1.30648694e-01, 9.99999794e-01,
  5.12861971e-05,-1.58382443e-04,-6.20016097e-04]

qacc:
[-11.44148195, -2.67078506, 13.6899589 ,-22.96451063, 12.43610939,
 -11.62303712, 48.36372218,-74.33821077,  7.23981274,  6.12683314,
 -39.02687103,113.78511037,-75.42634033, 34.42292921, 23.87129972,
 -81.48416738,  0.99224011, -0.67809705, -0.1901423 ,  9.46784734,
  14.89522614, -0.44751436]

qfrc_actuator:
[ 0.00148732,-0.00327075,-0.00544723, 0.00142197,-0.00228774,-0.00309206,
 -0.0093825 , 0.00248303,-0.00241658,-0.00233637,-0.00426433,-0.00988674,
  0.10536569, 0.00868541, 0.09      , 0.00979812, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003619078941212578
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.66923741e-14, -3.06769497e-13,  1.00000000e+00, -2.35268810e-26,
        1.00000000e+00,  3.06769497e-13, -1.00000000e+00,  0.00000000e+00,
       -7.66923741e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08209149, -0.05819955,  0.06198882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.70667293e-05, 2.16989511e-04, 1.28600491e-04,-3.76941993e-06,
  7.24072534e-05, 2.71727926e-04, 2.86999635e-04,-3.34560893e-05,
  4.22463504e-05, 2.02661746e-04, 1.47566226e-04, 2.43892030e-04,
 -7.62603868e-02,-1.27522002e-03,-2.36614467e-04,-4.55769886e-04,
 -1.46160856e-06,-7.00364402e-07,-1.21644278e+00,-1.78248294e-03,
 -3.03273941e-04, 1.31884682e-06]


--- Step 34 ---
qpos:
[ 1.46511059e-03,-2.90975451e-03,-5.20710968e-03, 1.46208040e-03,
 -2.27594983e-03,-2.70999853e-03,-9.04193757e-03, 2.59449091e-03,
 -2.37154705e-03,-2.03274937e-03,-4.00263851e-03,-9.70954750e-03,
  2.23945934e-01, 9.16744303e-03, 7.61119588e-02, 1.40731968e-02,
  9.49962568e-02,-7.00171719e-02, 1.30655697e-01, 9.99999776e-01,
  1.28563327e-04,-5.06369033e-05,-6.54713661e-04]

qacc:
[ -8.99667352, -3.98507953, 19.18531026,-31.78378568, 10.65182209,
 -10.87018227, 45.67776582,-70.76427386, 13.76395045,  3.78962912,
 -29.53190703, 98.09448967,-72.0556946 , 32.24826994, 16.00761653,
 -54.85215583,  0.98994777, -0.67265405, -0.24351485,  9.44727667,
  14.78883686, -0.46397263]

qfrc_actuator:
[ 0.00143605,-0.00318179,-0.00535302, 0.00139847,-0.00222788,-0.0030309 ,
 -0.00919946, 0.00242982,-0.00233721,-0.00228346,-0.00415321,-0.00967635,
  0.10506502, 0.00849805, 0.09      , 0.00954435, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003505203589773548
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.91839187e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.91839187e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08208958, -0.05819738,  0.06198917])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.28044208e-05, 2.40085793e-04, 1.56648778e-04,-9.50546087e-06,
  6.19989501e-05, 2.75264551e-04, 2.76131786e-04,-3.18582788e-05,
  8.03504026e-05, 2.10104208e-04, 1.81489617e-04, 2.29645060e-04,
 -6.54953915e-02,-1.26407094e-03,-2.41168713e-04,-3.28605824e-04,
 -2.58906623e-06,-1.08539888e-06,-1.21644699e+00,-1.78358083e-03,
 -3.04166301e-04, 1.74322760e-06]


--- Step 35 ---
qpos:
[ 1.49352650e-03,-2.97065147e-03,-5.30983330e-03, 1.49023627e-03,
 -2.31948007e-03,-2.76776924e-03,-9.22046349e-03, 2.64316290e-03,
 -2.41783695e-03,-2.07665848e-03,-4.08162785e-03,-9.89870273e-03,
  2.26975835e-01, 9.35524741e-03, 7.83393376e-02, 1.43557501e-02,
  9.50063689e-02,-7.00218711e-02, 1.30662195e-01, 9.99999748e-01,
  1.60888598e-04, 2.31728787e-05,-6.91210587e-04]

qacc:
[ -7.29711955, -6.07659253, 26.90310372,-41.56982249,  9.41211988,
  -8.15103207, 35.1196536 ,-53.19670931,  8.56961545,  1.58914449,
 -17.86700988, 70.95139383,-68.70142691, 33.59329086, 19.7820439 ,
 -67.53338551, -1.02641076,  1.63413169, -0.12623335,-22.46486055,
 -16.98270651, -0.89636491]

qfrc_actuator:
[ 0.0013942 ,-0.00308658,-0.00521996, 0.0013732 ,-0.00217486,-0.0029357 ,
 -0.00903694, 0.00239653,-0.00228938,-0.0022343 ,-0.00403755,-0.00951115,
  0.10477438, 0.00832918, 0.09      , 0.00922639, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.71886237,  2.79508245, -3.80199634,  2.79508245, 29.64530719,
       18.3249699 , -3.80199634, 18.3249699 , 18.19068012,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003483977244172487
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.96663516e-14,  1.19499527e-13,  1.00000000e+00, -9.52009137e-27,
        1.00000000e+00, -1.19499527e-13, -1.00000000e+00,  0.00000000e+00,
        7.96663516e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10846438, -0.09315247,  0.06198923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.29733175e-05, 2.64725046e-04, 2.03484256e-04,-9.44976502e-06,
  5.48795093e-05, 3.09004696e-04, 2.55010784e-04,-1.21304673e-05,
  4.99117668e-05, 2.16854005e-04, 1.91206648e-04, 1.85652266e-04,
 -5.52175030e-02,-1.22995293e-03,-2.26578939e-04,-3.85716320e-04,
 -4.00094931e-06,-1.34199993e-06,-1.21645309e+00,-1.78497540e-03,
 -3.05495800e-04, 2.35187249e-06]


--- Step 36 ---
qpos:
[ 1.52157032e-03,-3.03018969e-03,-5.40977763e-03, 1.51787278e-03,
 -2.36203583e-03,-2.82400457e-03,-9.39532642e-03, 2.69174251e-03,
 -2.46319819e-03,-2.11945063e-03,-4.15886092e-03,-1.00847177e-02,
  2.29815866e-01, 9.54040565e-03, 8.05670860e-02, 1.46292822e-02,
  9.50123932e-02,-7.00201509e-02, 1.30667683e-01, 9.99999721e-01,
  1.48691416e-04, 6.38085006e-05,-7.29762243e-04]

qacc:
[ -3.20418494, -7.03702738, 29.89762287,-44.33785095,  8.63976852,
  -8.41625438, 33.31274048,-41.865792  ,  8.19723358,  3.01904087,
 -21.89737414, 72.62418285,-65.41636004, 43.79656661, 28.43167723,
 -97.18312422, -1.02194368,  1.60485252, -0.25236015,-22.24973136,
 -16.60262838, -1.02521146]

qfrc_actuator:
[ 0.00137598,-0.00302376,-0.00508277, 0.0013471 ,-0.00212627,-0.00285648,
 -0.00885218, 0.002393  ,-0.00224275,-0.00218783,-0.00395571,-0.00935611,
  0.10449644, 0.00822603, 0.09      , 0.00876661, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.70666203, -2.0152821 ,  4.25338754, -2.0152821 , 16.61018187,
        5.63996349,  4.25338754,  5.63996349,  7.37891265,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003454041798035684
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.03568030e-14, -2.00892007e-13,  1.00000000e+00,  1.61430395e-26,
        1.00000000e+00,  2.00892007e-13, -1.00000000e+00,  0.00000000e+00,
        8.03568030e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10846331, -0.09315485,  0.06198933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.90665810e-05, 2.55728491e-04, 2.18429493e-04,-7.59937318e-06,
  5.02511995e-05, 3.08275841e-04, 2.82236379e-04, 1.87177717e-05,
  4.78575530e-05, 2.17998597e-04, 1.58414999e-04, 1.75242323e-04,
 -4.54401227e-02,-1.14341434e-03,-2.25280828e-04,-5.28637579e-04,
 -1.56526090e-06,-1.58862926e-06,-1.21644460e+00,-1.78526584e-03,
 -3.07290085e-04, 6.27514576e-07]


--- Step 37 ---
qpos:
[ 1.54883822e-03,-3.08841949e-03,-5.50745430e-03, 1.54502952e-03,
 -2.40402265e-03,-2.87902766e-03,-9.56638722e-03, 2.73994173e-03,
 -2.50799746e-03,-2.16108338e-03,-4.23418201e-03,-1.02677751e-02,
  2.32475658e-01, 9.72311040e-03, 8.27946967e-02, 1.48961842e-02,
  9.50143455e-02,-7.00121060e-02, 1.30671741e-01, 9.99999696e-01,
  9.23274014e-05, 7.18840714e-05,-7.70567010e-04]

qacc:
[ -6.76571717, -5.58476985, 24.46835931,-37.38207787,  5.09037022,
  -9.81838145, 38.92008952,-52.45502249,  4.97910129,  2.26985665,
 -18.36338356, 65.63824051,-62.2331329 , 44.03435063, 20.42225788,
 -70.2884037 , -1.01799695,  1.58118392, -0.3577135 ,-22.07145862,
 -16.29630428, -1.12554297]

qfrc_actuator:
[ 0.0013363 ,-0.00298081,-0.0049799 , 0.0013207 ,-0.00209843,-0.00282288,
 -0.00867358, 0.00237151,-0.00221493,-0.00212574,-0.00385902,-0.00920832,
  0.10424301, 0.00812717, 0.09      , 0.00844   , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.68682266, -1.84947321,  4.30647831, -1.84947321, 23.69004385,
        8.1611809 ,  4.30647831,  8.1611809 ,  8.19174811,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034044917521236506
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.15263412e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.15263412e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10846302, -0.09315773,  0.06198948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.98557574e-05, 2.33909663e-04, 1.84110364e-04,-7.74463450e-06,
  2.93658734e-05, 2.69093682e-04, 2.80291233e-04, 2.25259592e-06,
  2.89882581e-05, 2.26961508e-04, 1.69069140e-04, 1.66694961e-04,
 -3.61890118e-02,-1.10993512e-03,-2.38822064e-04,-4.02854764e-04,
  3.57355818e-07,-9.37906772e-07,-1.21644110e+00,-1.78485382e-03,
 -3.08651222e-04,-2.51727110e-07]


--- Step 38 ---
qpos:
[ 1.57473403e-03,-3.14518230e-03,-5.60340272e-03, 1.57168195e-03,
 -2.44569390e-03,-2.93283006e-03,-9.73413548e-03, 2.78755009e-03,
 -2.55177472e-03,-2.20141681e-03,-4.30779741e-03,-1.04472823e-02,
  2.34995560e-01, 9.89726328e-03, 8.50214063e-02, 1.51606679e-02,
  9.50122393e-02,-6.99978123e-02, 1.30674016e-01, 9.99999668e-01,
 -7.91361193e-06, 4.78916321e-05,-8.13778027e-04]

qacc:
[-12.02047126, -3.90751715, 18.91370024,-31.52584974,  2.8515286 ,
  -8.86788486, 36.44344883,-52.85303996,  9.01189392,  4.24433247,
 -27.64763302, 85.413815  ,-45.7425107 ,-34.63924749,  6.31168437,
 -23.09889551, -1.01463615,  1.56218283, -0.44554459,-21.92605057,
 -16.05101622, -1.20322253]

qfrc_actuator:
[ 0.00126655,-0.00291479,-0.00489822, 0.00129428,-0.00208302,-0.00278144,
 -0.00851803, 0.00233956,-0.00216291,-0.00205478,-0.00377202,-0.00903044,
  0.10401559, 0.00788972, 0.09      , 0.00833653, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.66160537, -1.64443506,  4.36192595, -1.64443506, 33.30691928,
       10.79921099,  4.36192595, 10.79921099,  8.73288064,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003339879911913174
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.31035137e-14,  2.07758784e-13,  1.00000000e+00, -1.72654850e-26,
        1.00000000e+00, -2.07758784e-13, -1.00000000e+00,  0.00000000e+00,
        8.31035137e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10846334, -0.09316099,  0.06198968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.05353403e-05, 2.37617628e-04, 1.54141491e-04,-9.88992964e-06,
  1.63232338e-05, 2.53822747e-04, 2.48281423e-04,-1.02776913e-05,
  5.26697502e-05, 2.42607842e-04, 1.62198599e-04, 1.97352805e-04,
 -2.73943088e-02,-1.22466352e-03,-2.27460901e-04,-1.73626687e-04,
  1.81948119e-06, 6.08194613e-07,-1.21644239e+00,-1.78373950e-03,
 -3.09602544e-04,-3.21936083e-07]


--- Step 39 ---
qpos:
[ 1.59994260e-03,-3.20056275e-03,-5.69755699e-03, 1.59782253e-03,
 -2.48685657e-03,-2.98515938e-03,-9.89873460e-03, 2.83404676e-03,
 -2.59459250e-03,-2.24059107e-03,-4.38000314e-03,-1.06225188e-02,
  2.37410256e-01, 1.00629987e-02, 8.72475665e-02, 1.54217014e-02,
  9.50070922e-02,-6.99831730e-02, 1.30677697e-01, 9.99999627e-01,
 -1.10323399e-04, 3.55283366e-06,-8.57140617e-04]

qacc:
[-6.00240993e+00,-4.23086890e+00, 1.99158613e+01,-3.26797650e+01,
  4.53442500e+00,-9.15349269e+00, 4.01384115e+01,-6.54794261e+01,
  8.45550207e+00, 6.37189517e+00,-3.85386326e+01, 1.09341759e+02,
 -3.36201985e+01,-4.57553910e+01, 9.85368839e+00,-3.50183482e+01,
 -7.60239426e-01, 8.64246222e-02, 3.51379016e-01,-1.07610438e+00,
 -1.01740578e+01,-7.59238727e-02]

qfrc_actuator:
[ 0.00123291,-0.00285335,-0.00481187, 0.00126807,-0.0020573 ,-0.00270028,
 -0.00835959, 0.00228395,-0.00211479,-0.0020146 ,-0.00370915,-0.00881854,
  0.10379065, 0.00764722, 0.09      , 0.0081701 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.63126956, -1.01223781,  4.51929556, -1.01223781, 33.54197362,
        6.47545782,  4.51929556,  6.47545782,  6.08165119,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003259578965756849
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.34164700e-13, -1.03725153e-06,  1.00000000e+00, -2.42887692e-19,
        1.00000000e+00,  1.03725153e-06, -1.00000000e+00,  0.00000000e+00,
       -2.34164700e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10344257, -0.06973043,  0.06198993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.52931625e-05, 2.28744897e-04, 1.55778890e-04,-1.06063112e-05,
  2.62656773e-05, 2.77765124e-04, 2.43590809e-04,-3.59542889e-05,
  4.94426817e-05, 2.20404491e-04, 1.41472609e-04, 2.32394252e-04,
 -2.06125740e-02,-1.03929320e-03,-1.79298302e-04,-2.18343019e-04,
  2.86104289e-06, 3.04487811e-06,-1.21644832e+00,-1.78192352e-03,
 -3.10161451e-04, 3.89816352e-07]


--- Step 40 ---
qpos:
[ 1.62455692e-03,-3.25484715e-03,-5.78948108e-03, 1.62311241e-03,
 -2.52739088e-03,-3.03617807e-03,-1.00594778e-02, 2.87914884e-03,
 -2.63684982e-03,-2.27872189e-03,-4.45077296e-03,-1.07938260e-02,
  2.39745543e-01, 1.02225235e-02, 8.94732655e-02, 1.56792763e-02,
  9.50004750e-02,-6.99744807e-02, 1.30681808e-01, 9.99999581e-01,
 -1.69863799e-04,-4.76585524e-05,-8.98290180e-04]

qacc:
[ -5.16700009, -6.52784137, 28.98385959,-48.09470914,  5.60962151,
 -11.9282354 , 50.91098704,-82.15521039,  4.95265804,  5.44920824,
 -34.01893321, 98.94690791,-25.44165564,-32.09211234,  9.96473977,
 -35.35552356, -0.36751787, -1.48678352,  0.10741971, 21.43762718,
  -3.41804202,  1.10620798]

qfrc_actuator:
[ 0.00120306,-0.00281291,-0.00470572, 0.00122445,-0.00202571,-0.00263154,
 -0.00816507, 0.0022149 ,-0.00208713,-0.00197552,-0.00364339,-0.00862386,
  0.10357444, 0.00747598, 0.09      , 0.00800341, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.63298089, -1.16148901,  4.48502566, -1.16148901, 26.5850025 ,
        5.68492441,  4.48502566,  5.68492441,  6.10520819,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032641872960753604
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09841707, -0.04626428,  0.06198991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.05162858e-05, 2.03029303e-04, 1.73884027e-04,-2.83696578e-05,
  3.24299374e-05, 2.76584562e-04, 2.83096385e-04,-4.90391157e-05,
  2.89024000e-05, 2.04045103e-04, 1.38396350e-04, 2.14163794e-04,
 -1.55559794e-02,-7.89250666e-04,-1.49836667e-04,-2.12073015e-04,
  2.51602466e-06, 3.88155591e-06,-1.21644991e+00,-1.78017867e-03,
 -3.09534110e-04, 1.01598548e-06]


--- Step 41 ---
qpos:
[ 1.64828210e-03,-3.30812830e-03,-5.87903006e-03, 1.64769002e-03,
 -2.56688631e-03,-3.08593007e-03,-1.02162630e-02, 2.92307794e-03,
 -2.67776117e-03,-2.31596092e-03,-4.51979606e-03,-1.09614564e-02,
  2.42020754e-01, 1.03766744e-02, 9.16984601e-02, 1.59344411e-02,
  9.49924580e-02,-6.99716513e-02, 1.30685837e-01, 9.99999537e-01,
 -1.87070021e-04,-1.06094047e-04,-9.37497945e-04]

qacc:
[-7.74958535e+00,-6.76545451e+00, 2.90775824e+01,-4.59658224e+01,
  9.21352799e+00,-1.18225236e+01, 4.95021701e+01,-7.70288976e+01,
  1.18641383e+01, 3.84611203e+00,-2.75521617e+01, 8.77513278e+01,
 -1.89644515e+01,-3.06796917e+01, 6.67335466e+00,-2.40749534e+01,
 -3.49927577e-01,-1.46569654e+00,-2.02822337e-02, 2.11703709e+01,
 -3.59320333e+00, 9.69277203e-01]

qfrc_actuator:
[ 0.00115791,-0.0027676 ,-0.00458885, 0.00118866,-0.00197316,-0.00257067,
 -0.00796862, 0.00215627,-0.00201846,-0.00193744,-0.00355874,-0.00844089,
  0.10337558, 0.00731315, 0.09      , 0.0078912 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.6269718 , -0.14548556, -4.62468399, -0.14548556, 19.88296758,
       -0.47993055, -4.62468399, -0.47993055,  4.64206969,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032479631672317766
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.70910655e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.70910655e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09841953, -0.04626349,  0.06198996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.56958630e-05, 1.96449783e-04, 1.80875874e-04,-2.13513269e-05,
  5.35563946e-05, 2.75560193e-04, 2.89136130e-04,-3.75700312e-05,
  6.93240771e-05, 1.92405425e-04, 1.52866924e-04, 2.01283788e-04,
 -1.17725144e-02,-6.41064269e-04,-1.25632955e-04,-1.51150252e-04,
  1.22214444e-06, 2.68484646e-06,-1.21644511e+00,-1.77924326e-03,
 -3.07846114e-04, 8.14219790e-07]


--- Step 42 ---
qpos:
[ 1.67163140e-03,-3.36020659e-03,-5.96705419e-03, 1.67168626e-03,
 -2.60544485e-03,-3.13408273e-03,-1.03700784e-02, 2.96599556e-03,
 -2.71753561e-03,-2.35230991e-03,-4.58719335e-03,-1.11255688e-02,
  2.44250329e-01, 1.05247035e-02, 9.39235462e-02, 1.61852032e-02,
  9.49830968e-02,-6.99746158e-02, 1.30689359e-01, 9.99999497e-01,
 -1.62381631e-04,-1.72030587e-04,-9.74980830e-04]

qacc:
[ -3.27308258, -3.86379503, 18.54717834,-31.94176217,  8.28158799,
  -8.28582759, 36.85149721,-60.25126531, 10.02348135,  3.85851054,
 -26.92388749, 84.56515345,-13.52189849,-44.07506566, 13.23545371,
 -46.34329602, -0.33607602, -1.44847384, -0.12698207, 20.95090456,
  -3.73104418,  0.85951687]

qfrc_actuator:
[ 0.00113961,-0.0027197 ,-0.00451984, 0.00115779,-0.00192646,-0.00249726,
 -0.00782592, 0.00210422,-0.0019617 ,-0.00190024,-0.00348138,-0.00826626,
  0.1031776 , 0.00708601, 0.09      , 0.00767   , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.61376023, -0.26840822, -4.60594621, -0.26840822, 27.60527546,
       -1.33981408, -4.60594621, -1.33981408,  4.69183694,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003211867566725035
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0984216 , -0.04626205,  0.06199008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.92791780e-05, 1.97034267e-04, 1.32724510e-04,-1.63509661e-05,
  4.83143782e-05, 2.89190451e-04, 2.36260194e-04,-3.06058215e-05,
  5.85641297e-05, 1.87421636e-04, 1.44459600e-04, 1.92677720e-04,
 -8.95475717e-03,-5.98961929e-04,-9.98897631e-05,-2.51832390e-04,
  1.91093714e-07, 2.14713911e-06,-1.21644328e+00,-1.77895542e-03,
 -3.06153148e-04, 5.16782171e-07]


--- Step 43 ---
qpos:
[ 1.69492944e-03,-3.41107410e-03,-6.05380053e-03, 1.69480226e-03,
 -2.64348856e-03,-3.18046210e-03,-1.05210416e-02, 3.00829371e-03,
 -2.75632439e-03,-2.38761208e-03,-4.65312597e-03,-1.12866537e-02,
  2.46444940e-01, 1.06669687e-02, 9.61486289e-02, 1.64303242e-02,
  9.49740075e-02,-6.99833308e-02, 1.30692234e-01, 9.99999456e-01,
 -9.65592124e-05,-2.33902877e-04,-1.01188130e-03]

qacc:
[-4.31042164e-01,-3.78389030e+00, 1.95293781e+01,-3.76966479e+01,
  4.57347037e+00,-6.91290483e+00, 3.06476708e+01,-4.72166996e+01,
  8.68652697e+00, 3.50834107e+00,-2.33008381e+01, 7.25927794e+01,
 -9.87339684e+00,-4.44934360e+01, 1.71111287e+01,-5.97636262e+01,
  6.79986290e-02,-1.43764013e+00,-1.61566292e-01, 2.05650726e+01,
  2.05212901e+00, 2.88001502e-01]

qfrc_actuator:
[ 0.00113727,-0.00267085,-0.00446189, 0.00111227,-0.00190133,-0.0023994 ,
 -0.00768055, 0.00207418,-0.00191241,-0.00184616,-0.00340899,-0.00811571,
  0.10297036, 0.00685868, 0.09      , 0.00738635, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  4.59673325,  -2.96731577,  -3.51069704,  -2.96731577,
        25.02526525, -17.26662952,  -3.51069704, -17.26662952,
        19.19085557,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000316445641368443
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.75420812e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.75420812e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09342407, -0.04647678,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.57361694e-06, 1.88528757e-04, 1.15993121e-04,-3.25538318e-05,
  2.65995973e-05, 3.10537542e-04, 2.35415538e-04,-9.71185834e-06,
  5.07857698e-05, 1.99346070e-04, 1.37103225e-04, 1.67923240e-04,
 -6.86805828e-03,-5.19572590e-04,-9.44457377e-05,-3.15459984e-04,
 -6.00474636e-07, 2.23939884e-06,-1.21644434e+00,-1.77930918e-03,
 -3.04432823e-04, 1.15525409e-07]


--- Step 44 ---
qpos:
[ 1.71802314e-03,-3.46093087e-03,-6.13882778e-03, 1.71753846e-03,
 -2.68058981e-03,-3.22547170e-03,-1.06683203e-02, 3.04990332e-03,
 -2.79422451e-03,-2.42205045e-03,-4.71755417e-03,-1.14446482e-02,
  2.48612432e-01, 1.08058818e-02, 9.83735030e-02, 1.66707753e-02,
  9.49690190e-02,-6.99949377e-02, 1.30695453e-01, 9.99999414e-01,
 -1.17571063e-05,-2.65273608e-04,-1.04950107e-03]

qacc:
[ -1.75722345, -4.24847223, 18.69439009,-28.7642727 ,  8.35540658,
  -9.92214034, 40.88227273,-59.66716983,  7.83864571,  3.28661566,
 -23.12378956, 73.57256647, -8.15112613,-22.47322502, 13.88200362,
 -48.87987829,  1.02517259, -0.72296617,  0.08593506,  9.47432246,
  15.26040833, -0.36040449]

qfrc_actuator:
[ 0.00112658,-0.00262192,-0.00437543, 0.00109398,-0.00185359,-0.00234096,
 -0.00749915, 0.00203961,-0.00186792,-0.00181797,-0.00334006,-0.00796275,
  0.10275825, 0.00673985, 0.09      , 0.00715701, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  4.58263278,  -2.53175269,  -3.81978422,  -2.53175269,
        28.7869004 , -16.0425867 ,  -3.81978422, -16.0425867 ,
        15.215658  ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00031244019853093885
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.51114431e-14, -3.55339367e-13,  1.00000000e+00,  1.60298717e-26,
        1.00000000e+00,  3.55339367e-13, -1.00000000e+00,  0.00000000e+00,
        4.51114431e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08209368, -0.05817886,  0.06199035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04573806e-05, 1.79651809e-04, 1.40091513e-04,-6.57214085e-06,
  4.85965827e-05, 2.83684630e-04, 2.76424550e-04,-1.29607917e-05,
  4.57860289e-05, 1.77480328e-04, 1.34304916e-04, 1.70079919e-04,
 -5.31976173e-03,-3.49538248e-04,-9.46353031e-05,-2.62992797e-04,
 -1.30775271e-06, 2.68633280e-06,-1.21644684e+00,-1.78036332e-03,
 -3.02824659e-04,-2.41277475e-07]


--- Step 45 ---
qpos:
[ 1.74081397e-03,-3.50985922e-03,-6.22183291e-03, 1.74021797e-03,
 -2.71683023e-03,-3.26915565e-03,-1.08121490e-02, 3.09080364e-03,
 -2.83130034e-03,-2.45567307e-03,-4.78055246e-03,-1.15999024e-02,
  2.50758757e-01, 1.09415956e-02, 1.00598093e-01, 1.69075649e-02,
  9.49680979e-02,-7.00093838e-02, 1.30698652e-01, 9.99999368e-01,
  9.20245176e-05,-2.66478347e-04,-1.08792148e-03]

qacc:
[-2.61095732e+00,-4.53718328e+00, 1.82050311e+01,-2.31104715e+01,
  7.63247150e+00,-9.36572780e+00, 3.89039289e+01,-5.76431566e+01,
  7.27118213e+00, 2.71122072e+00,-1.96853885e+01, 6.42288304e+01,
 -6.08493299e+00,-2.33471046e+01, 1.06939938e+01,-3.79451091e+01,
  1.01687342e+00,-7.09808326e-01,-5.07022229e-03, 9.47381759e+00,
  1.50929511e+01,-4.02655582e-01]

qfrc_actuator:
[ 0.00111105,-0.00257322,-0.00427283, 0.0010919 ,-0.00181068,-0.00228871,
 -0.00733361, 0.00200264,-0.00182659,-0.0017878 ,-0.00327383,-0.00782739,
  0.10255441, 0.00661499, 0.09      , 0.00697928, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030802418318473523
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.8021686e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.8021686e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08209304, -0.05817714,  0.06199048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.55300582e-05, 1.80484947e-04, 1.58244828e-04, 1.05806427e-05,
  4.43923097e-05, 2.70718866e-04, 2.59899177e-04,-1.51691366e-05,
  4.24702047e-05, 1.66694000e-04, 1.26780885e-04, 1.51486494e-04,
 -4.15616761e-03,-3.06109132e-04,-8.48879411e-05,-2.07556206e-04,
 -2.07032578e-06, 2.40243351e-06,-1.21644668e+00,-1.78187708e-03,
 -3.02008711e-04, 2.59656415e-07]


--- Step 46 ---
qpos:
[ 1.76359097e-03,-3.55777365e-03,-6.30292366e-03, 1.76235161e-03,
 -2.75261914e-03,-3.31127702e-03,-1.09534336e-02, 3.13098211e-03,
 -2.86759622e-03,-2.48861475e-03,-4.84189911e-03,-1.17519677e-02,
  2.52888455e-01, 1.10742200e-02, 1.02822752e-01, 1.71386656e-02,
  9.49712176e-02,-7.00266278e-02, 1.30701528e-01, 9.99999313e-01,
  2.14786940e-04,-2.37785896e-04,-1.12720572e-03]

qacc:
[ -0.07879457, -5.13558757, 22.55870129,-35.81095163,  4.01090248,
  -6.54003808, 29.34831968,-47.04380211,  6.89100054,  2.8383416 ,
 -22.28854566, 74.33813227, -4.50741972,-24.03503085, 17.34714597,
 -60.49939509,  1.01019013, -0.699488  , -0.08072825,  9.47401555,
  14.95886958, -0.43582729]

qfrc_actuator:
[ 0.00111055,-0.00252499,-0.00417928, 0.00106386,-0.0017887 ,-0.00222292,
 -0.00721433, 0.00196452,-0.00178746,-0.00175674,-0.003192  ,-0.00766796,
  0.10237197, 0.00648771, 0.09      , 0.00669137, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003023944301139003
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83572003e-13,  1.83572003e-13,  1.00000000e+00, -3.36986803e-26,
        1.00000000e+00, -1.83572003e-13, -1.00000000e+00,  0.00000000e+00,
        1.83572003e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0820921 , -0.05817543,  0.06199066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.50662843e-07, 1.84914083e-04, 1.52159398e-04,-1.43852143e-05,
  2.33284401e-05, 2.73402144e-04, 2.08795053e-04,-1.74939924e-05,
  4.01841775e-05, 1.59152011e-04, 1.38554450e-04, 1.74456532e-04,
 -3.26874305e-03,-2.72713100e-04,-7.16129167e-05,-3.12804084e-04,
 -3.12250942e-06, 2.26262232e-06,-1.21644852e+00,-1.78368488e-03,
 -3.01638834e-04, 9.46681457e-07]


--- Step 47 ---
qpos:
[ 1.78618935e-03,-3.60463802e-03,-6.38220699e-03, 1.78363923e-03,
 -2.78786567e-03,-3.35235654e-03,-1.10919445e-02, 3.17114022e-03,
 -2.90314441e-03,-2.52093934e-03,-4.90198891e-03,-1.19005470e-02,
  2.55004836e-01, 1.12038931e-02, 1.05047505e-01, 1.73631593e-02,
  9.49702362e-02,-7.00372977e-02, 1.30704196e-01, 9.99999245e-01,
  2.92152601e-04,-2.43634412e-04,-1.16813917e-03]

qacc:
[-1.52939145e+00,-5.40414565e+00, 2.48573725e+01,-4.31648103e+01,
  4.82367562e+00,-6.42631477e+00, 2.49807572e+01,-3.05174681e+01,
  6.59623000e+00, 4.46964092e+00,-2.94776944e+01, 8.73378492e+01,
 -3.37544281e+00,-2.39553940e+01, 2.01524717e+01,-7.02930296e+01,
 -1.02527335e+00, 1.64354074e+00,-5.18215325e-02,-2.26790923e+01,
 -1.72962363e+01,-8.15503734e-01]

qfrc_actuator:
[ 0.00110115,-0.00247749,-0.00409186, 0.00102076,-0.00176147,-0.00220305,
 -0.00708778, 0.00196152,-0.00174994,-0.00174308,-0.00313711,-0.00749564,
  0.10217607, 0.00636015, 0.09      , 0.00635858, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.54543558,  2.78214409, -3.5945318 ,  2.78214409, 24.41097968,
       15.37580111, -3.5945318 , 15.37580111, 16.44620499,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030150562485525834
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84113153e-13, -9.20565765e-14,  1.00000000e+00,  1.69488265e-26,
        1.00000000e+00,  9.20565765e-14, -1.00000000e+00,  0.00000000e+00,
        1.84113153e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10845317, -0.09318074,  0.06199068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.13165230e-06, 1.84276468e-04, 1.45294270e-04,-2.99604211e-05,
  2.79844089e-05, 2.18247755e-04, 2.10203496e-04, 1.59148213e-05,
  3.85180297e-05, 1.40891617e-04, 1.12270736e-04, 1.87870129e-04,
 -2.62184450e-03,-2.45066201e-04,-7.62864642e-05,-3.61614526e-04,
 -4.46287307e-06, 2.26095721e-06,-1.21645232e+00,-1.78578845e-03,
 -3.01709757e-04, 1.81788743e-06]


--- Step 48 ---
qpos:
[ 1.80815878e-03,-3.65016194e-03,-6.46047415e-03, 1.80426700e-03,
 -2.82216639e-03,-3.39282197e-03,-1.12275335e-02, 3.21031120e-03,
 -2.93831506e-03,-2.55235090e-03,-4.96154322e-03,-1.20465724e-02,
  2.57110311e-01, 1.13310865e-02, 1.07272150e-01, 1.75818898e-02,
  9.49651622e-02,-7.00415127e-02, 1.30706130e-01, 9.99999174e-01,
  3.24608602e-04,-2.83193442e-04,-1.21099268e-03]

qacc:
[ -5.51119743, -2.41719288, 13.99221518,-28.04150661,  8.37061259,
  -9.40385319, 38.84584396,-61.02314629,  3.31755285,  4.96417223,
 -26.73086944, 69.39146598, -2.72274548,-20.0992864 , 17.29762232,
 -60.74170692, -1.02316653,  1.61374427, -0.18381239,-22.4353568 ,
 -16.88175547, -0.94963269]

qfrc_actuator:
[ 0.00106882,-0.00241313,-0.00404428, 0.00098689,-0.0017136 ,-0.00221082,
 -0.0069581 , 0.00190816,-0.0017314 ,-0.00170458,-0.00311639,-0.00737041,
  0.10197242, 0.00625127, 0.09      , 0.00607307, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.54799653, -1.50640015,  4.29127382, -1.50640015, 15.92750904,
        3.99464123,  4.29127382,  3.99464123,  5.95026736,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030227642032104596
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.83643670e-13,  9.18218351e-14,  1.00000000e+00,  1.68624988e-26,
        1.00000000e+00, -9.18218351e-14, -1.00000000e+00,  0.00000000e+00,
       -1.83643670e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10845094, -0.0931816 ,  0.06199066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.23013358e-05, 1.98644721e-04, 1.03903221e-04,-2.12989417e-05,
  4.87297672e-05, 1.61410521e-04, 2.03213596e-04,-3.61127953e-05,
  1.94754360e-05, 1.50634020e-04, 7.15162005e-05, 1.39334055e-04,
 -2.14823501e-03,-2.05626672e-04,-8.23004579e-05,-3.17291624e-04,
 -2.43293174e-06, 1.57048963e-06,-1.21644483e+00,-1.78670097e-03,
 -3.02348563e-04, 9.18871229e-07]


--- Step 49 ---
qpos:
[ 1.82922928e-03,-3.69422047e-03,-6.53789361e-03, 1.82398325e-03,
 -2.85528172e-03,-3.43263580e-03,-1.13601017e-02, 3.24749736e-03,
 -2.97368340e-03,-2.58304490e-03,-5.02003479e-03,-1.21899613e-02,
  2.59206641e-01, 1.14571549e-02, 1.09496720e-01, 1.77947823e-02,
  9.49560035e-02,-7.00393698e-02, 1.30706885e-01, 9.99999099e-01,
  3.12561375e-04,-3.55796299e-04,-1.25597333e-03]

qacc:
[ -7.88785217, -2.29484598, 14.86587639,-33.1018139 , 10.4716019 ,
 -11.68992899, 51.27331032,-90.89618137, -1.71301143,  3.4117972 ,
 -21.90280256, 65.27649789, -2.75783561, -6.8443846 , 17.59760288,
 -61.66711336, -1.02114632,  1.58945194, -0.29457367,-22.2318888 ,
 -16.54919205, -1.05191015]

qfrc_actuator:
[ 0.00102326,-0.00233935,-0.00400279, 0.00094096,-0.00165398,-0.00218192,
 -0.00681006, 0.00180781,-0.00174194,-0.00166946,-0.00306271,-0.0072384 ,
  0.10176969, 0.00620756, 0.09      , 0.00578223, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.54302881, -1.36753277,  4.33231634, -1.36753277, 22.39140854,
        5.63399396,  4.33231634,  5.63399396,  6.32144726,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030077871212033647
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.76837168e-13, -1.84558112e-13,  1.00000000e+00,  5.10925450e-26,
        1.00000000e+00,  1.84558112e-13, -1.00000000e+00,  0.00000000e+00,
        2.76837168e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10844965, -0.09318308,  0.06199071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.61926853e-05, 2.07847302e-04, 9.59628305e-05,-3.40098678e-05,
  6.10636937e-05, 1.62586681e-04, 2.07137742e-04,-8.67997369e-05,
 -1.01332086e-05, 1.42149462e-04, 9.97762666e-05, 1.44174989e-04,
 -1.79431081e-03,-1.24580178e-04,-7.84577693e-05,-3.20548923e-04,
 -9.51370408e-07, 1.80783861e-06,-1.21644239e+00,-1.78690415e-03,
 -3.02532902e-04, 8.87420844e-07]


--- Step 50 ---
qpos:
[ 1.84924922e-03,-3.73719893e-03,-6.61379632e-03, 1.84300324e-03,
 -2.88742469e-03,-3.47170135e-03,-1.14896255e-02, 3.28387401e-03,
 -3.00890665e-03,-2.61311942e-03,-5.07709551e-03,-1.23306554e-02,
  2.61295264e-01, 1.15808636e-02, 1.11720978e-01, 1.80038305e-02,
  9.49427674e-02,-7.00309479e-02, 1.30706090e-01, 9.99999012e-01,
  2.56346021e-04,-4.60911381e-04,-1.30323759e-03]

qacc:
[ -9.19009751, -4.22848584, 20.11707401,-35.41851658,  8.60343355,
  -9.20306443, 37.63679956,-57.03391258,  1.30969937,  2.36728738,
 -18.62309756, 62.50066616, -1.59359817,-20.23784093, 11.1656331 ,
 -39.76795417, -1.01937405,  1.56975187, -0.38741901,-22.06403102,
 -16.2841943 , -1.12887437]

qfrc_actuator:
[ 0.00097029,-0.00229609,-0.00392969, 0.00090606,-0.00160567,-0.00213129,
 -0.00665227, 0.00176942,-0.001734  ,-0.00163654,-0.00298999,-0.00710342,
  0.10157308, 0.00609607, 0.09      , 0.00559708, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.53225007, -1.19445113,  4.37202209, -1.19445113, 31.00045479,
        7.23120252,  4.37202209,  7.23120252,  6.50783891,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029749272229182
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.32983348e-14, -1.39947502e-13,  1.00000000e+00,  1.30568689e-26,
        1.00000000e+00,  1.39947502e-13, -1.00000000e+00,  0.00000000e+00,
        9.32983348e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10844908, -0.09318507,  0.06199081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.40076642e-05, 1.80226209e-04, 1.28038382e-04,-2.31079849e-05,
  5.01031647e-05, 1.83557523e-04, 2.15822567e-04,-2.56430125e-05,
  7.50628270e-06, 1.41193612e-04, 1.20685459e-04, 1.47842636e-04,
 -1.52285561e-03,-1.79044978e-04,-7.64717020e-05,-2.14409245e-04,
  4.31915757e-08, 2.96532546e-06,-1.21644479e+00,-1.78639940e-03,
 -3.02288936e-04, 1.68329518e-06]


--- Step 51 ---
qpos:
[ 1.86917244e-03,-3.77935116e-03,-6.68810907e-03, 1.86183443e-03,
 -2.91977290e-03,-3.51008255e-03,-1.16167407e-02, 3.31991078e-03,
 -3.04272984e-03,-2.64253580e-03,-5.13281770e-03,-1.24686258e-02,
  2.63377320e-01, 1.17017989e-02, 1.13944868e-01, 1.82106577e-02,
  9.49335606e-02,-7.00255928e-02, 1.30706965e-01, 9.99998922e-01,
  2.19512399e-04,-5.33026586e-04,-1.35071943e-03]

qacc:
[ -0.81298874, -3.73978662, 15.71763604,-22.13690023, -1.73464175,
  -6.52403444, 26.01469098,-36.25882977, 12.32344477,  2.7144457 ,
 -19.94551654, 64.48136108, -0.94222905,-25.00038768,  6.1506072 ,
 -22.3808684 ,  1.00734549, -0.76670748,  0.41741917,  9.66930351,
  16.51252324, -0.11748427]

qfrc_actuator:
[ 0.00096663,-0.00227135,-0.00385637, 0.00089569,-0.00161767,-0.00212124,
 -0.00654312, 0.00175008,-0.00166198,-0.00160513,-0.00292439,-0.00696777,
  0.10139632, 0.00596336, 0.09      , 0.00549344, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.52766122, -2.63261488,  3.68361983, -2.63261488, 24.09419015,
       13.98383588,  3.68361983, 13.98383588, 14.52164977,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002960783464730915
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.37440240e-14,  1.87488048e-13,  1.00000000e+00, -1.75758841e-26,
        1.00000000e+00, -1.87488048e-13, -1.00000000e+00,  0.00000000e+00,
        9.37440240e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08209738, -0.05816788,  0.06199085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.92827934e-06, 1.53305839e-04, 1.26842330e-04, 1.54812088e-06,
 -1.05128285e-05, 1.59053393e-04, 1.74659394e-04,-4.21706983e-06,
  7.20951478e-05, 1.43587196e-04, 1.16037371e-04, 1.49252973e-04,
 -1.30298947e-03,-1.92963570e-04,-6.26469382e-05,-1.26482873e-04,
  5.97117451e-07, 5.03301081e-06,-1.21645188e+00,-1.78518856e-03,
 -3.01635864e-04, 3.27645738e-06]


--- Step 52 ---
qpos:
[ 1.88890061e-03,-3.82075050e-03,-6.76091679e-03, 1.88110529e-03,
 -2.95201286e-03,-3.54794738e-03,-1.17417129e-02, 3.35582746e-03,
 -3.07474060e-03,-2.67119730e-03,-5.18704406e-03,-1.26039107e-02,
  2.65453607e-01, 1.18204603e-02, 1.16168736e-01, 1.84139273e-02,
  9.49283686e-02,-7.00232191e-02, 1.30708941e-01, 9.99998837e-01,
  2.02002041e-04,-5.72977607e-04,-1.39861272e-03]

qacc:
[ -1.6767027 , -2.30305812,  7.80467047, -3.16133493,  1.00688677,
  -5.55580118, 21.30324718,-27.18482827, 15.94618766,  2.31685115,
 -18.19368699, 61.75981395, -0.9063411 ,-20.130937  , 10.71964008,
 -37.60485241,  1.00367892, -0.74532628,  0.27519751,  9.63978933,
  16.09508148, -0.21440447]

qfrc_actuator:
[ 0.00095652,-0.00224013,-0.00378361, 0.00091755,-0.0016118 ,-0.00211802,
 -0.00644598, 0.00174201,-0.00157057,-0.00155716,-0.0028458 ,-0.00683282,
  0.10121566, 0.00585478, 0.09      , 0.00531435, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.53371101,  2.50463611, -3.77906516,  2.50463611, 14.07925684,
        6.32646376, -3.77906516,  6.32646376,  8.72667644,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002979410613966893
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.31579403e-14, -3.72631761e-13,  1.00000000e+00,  3.47136074e-26,
        1.00000000e+00,  3.72631761e-13, -1.00000000e+00,  0.00000000e+00,
        9.31579403e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08209956, -0.05816668,  0.06199079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.99256344e-06, 1.45497480e-04, 1.21403138e-04, 3.30625817e-05,
  5.61204356e-06, 1.30861501e-04, 1.53223159e-04, 5.00185554e-06,
  9.33241247e-05, 1.60568036e-04, 1.28976776e-04, 1.48503028e-04,
 -1.14398242e-03,-1.62039012e-04,-4.62713352e-05,-1.95206272e-04,
  6.57295804e-07, 3.40448046e-06,-1.21644567e+00,-1.78494224e-03,
 -3.00121703e-04, 2.69621986e-06]


--- Step 53 ---
qpos:
[ 1.90801336e-03,-3.86152552e-03,-6.83161990e-03, 1.90046701e-03,
 -2.98324232e-03,-3.58519099e-03,-1.18645513e-02, 3.39136121e-03,
 -3.10609955e-03,-2.69921722e-03,-5.23982780e-03,-1.27361526e-02,
  2.67524683e-01, 1.19358132e-02, 1.18392586e-01, 1.86134618e-02,
  9.49271776e-02,-7.00237578e-02, 1.30711540e-01, 9.99998763e-01,
  2.03758319e-04,-5.81439329e-04,-1.44706873e-03]

qacc:
[ -5.34408113, -4.86034463, 18.16062171,-20.43075589,  8.90928026,
  -5.94841121, 23.98700767,-34.45128749,  5.75781977,  3.07200002,
 -22.57597328, 72.45498521, -0.12773504,-30.89588569, 11.23406652,
 -39.46779139,  1.00026823, -0.72810524,  0.15593657,  9.61112355,
  15.75805049, -0.29005018]

qfrc_actuator:
[ 0.00092493,-0.0022053 ,-0.00367623, 0.00092269,-0.00155995,-0.0020835 ,
 -0.00633899, 0.00172288,-0.00153951,-0.00153512,-0.00277785,-0.0066816 ,
  0.10101685, 0.00569027, 0.09      , 0.00512773, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.531987  ,  2.42621641, -3.82784275,  2.42621641, 19.37719708,
        9.40939703, -3.82784275,  9.40939703, 10.49598159,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002974118925604674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.33236912e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.33236912e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08210089, -0.0581654 ,  0.06199081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.16290360e-05, 1.44933808e-04, 1.54805238e-04, 1.64310494e-05,
  5.20536767e-05, 1.42326630e-04, 1.54894248e-04,-7.84332002e-06,
  3.35865871e-05, 1.46737685e-04, 1.23374815e-04, 1.65929594e-04,
 -1.04312376e-03,-2.12012631e-04,-4.72976422e-05,-2.04677799e-04,
  4.10266518e-07, 1.98379488e-06,-1.21644180e+00,-1.78498228e-03,
 -2.99099095e-04, 2.33886272e-06]


--- Step 54 ---
qpos:
[ 1.92694749e-03,-3.90144948e-03,-6.90021411e-03, 1.91936840e-03,
 -3.01395251e-03,-3.62177684e-03,-1.19851547e-02, 3.42638273e-03,
 -3.13718967e-03,-2.72692897e-03,-5.29117578e-03,-1.28651545e-02,
  2.69590910e-01, 1.20489584e-02, 1.20616572e-01, 1.88078571e-02,
  9.49299756e-02,-7.00271536e-02, 1.30714364e-01, 9.99998699e-01,
  2.24729576e-04,-5.58954070e-04,-1.49620491e-03]

qacc:
[-1.51554206e+00,-5.71547650e+00, 2.39579438e+01,-3.59266664e+01,
  4.60780189e+00,-6.44073525e+00, 2.63728617e+01,-3.92793462e+01,
  2.40145361e+00, 3.06299346e+00,-2.40027521e+01, 7.75342483e+01,
 -5.84583599e-01,-1.96929609e+01, 1.57421515e+01,-5.48460966e+01,
  9.97255431e-01,-7.14293884e-01, 5.61540856e-02, 9.58488785e+00,
  1.54873077e+01,-3.48821926e-01]

qfrc_actuator:
[ 0.00091646,-0.00215071,-0.00356703, 0.00090023,-0.0015347 ,-0.00204826,
 -0.00622695, 0.00169742,-0.00152648,-0.00154658,-0.00271683,-0.00652204,
  0.10082329, 0.00558291, 0.09      , 0.00486717, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.52414439,  2.3228193 , -3.88231799,  2.3228193 , 26.54290172,
       13.17398386, -3.88231799, 13.17398386, 12.40623547,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002949880212070738
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.40905176e-14, -3.76362071e-13,  1.00000000e+00,  3.54121020e-26,
        1.00000000e+00,  3.76362071e-13, -1.00000000e+00,  0.00000000e+00,
        9.40905176e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08210154, -0.05816406,  0.06199089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.13748496e-06, 1.70506392e-04, 1.60015498e-04,-1.03758056e-05,
  2.67744174e-05, 1.49218707e-04, 1.62050796e-04,-1.38817630e-05,
  1.38612472e-05, 1.05028721e-04, 1.13470396e-04, 1.73808702e-04,
 -9.64730149e-04,-1.53058777e-04,-4.86350667e-05,-2.79229547e-04,
 -1.36496797e-07, 7.46600255e-07,-1.21644014e+00,-1.78531300e-03,
 -2.98552728e-04, 2.19299115e-06]


--- Step 55 ---
qpos:
[ 1.94563616e-03,-3.94010062e-03,-6.96764935e-03, 1.93786884e-03,
 -3.04343104e-03,-3.65781544e-03,-1.21033839e-02, 3.46049114e-03,
 -3.16788511e-03,-2.75401591e-03,-5.34142269e-03,-1.29915936e-02,
  2.71652624e-01, 1.21609434e-02, 1.22840688e-01, 1.89962689e-02,
  9.49367526e-02,-7.00333626e-02, 1.30717080e-01, 9.99998642e-01,
  2.64871202e-04,-5.05954466e-04,-1.54611189e-03]

qacc:
[-2.13899100e+00,-2.37905193e+00, 1.26223688e+01,-2.23575892e+01,
  1.08535740e+01,-7.81349541e+00, 3.27266893e+01,-5.26896546e+01,
  3.48955531e+00, 3.02013403e+00,-2.03903512e+01, 6.25139421e+01,
 -1.03605698e+00,-9.10048155e+00, 1.83177403e+01,-6.38067067e+01,
  9.94728342e-01,-7.03282365e-01,-2.71280422e-02, 9.56212794e+00,
  1.52714093e+01,-3.94176652e-01]

qfrc_actuator:
[ 0.0009039 ,-0.00208474,-0.00351085, 0.00087946,-0.00147208,-0.00203063,
 -0.00611282, 0.00165068,-0.00150638,-0.00150705,-0.00266054,-0.00639441,
  0.10064368, 0.00552783, 0.09      , 0.00456515, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.5116985 ,  2.19099452, -3.94397849,  2.19099452, 36.17502624,
       17.58989758, -3.94397849, 17.58989758, 14.28339714,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029108402682014034
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.53524517e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.53524517e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08210165, -0.05816267,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.25670141e-05, 1.96064108e-04, 1.11964812e-04,-7.92625051e-06,
  6.34351341e-05, 1.36626634e-04, 1.66196670e-04,-3.47289390e-05,
  2.03492132e-05, 1.30943584e-04, 9.91517310e-05, 1.39903980e-04,
 -8.90733648e-04,-9.68870567e-05,-5.78017588e-05,-3.25074119e-04,
 -9.77617446e-07,-3.24923675e-07,-1.21644057e+00,-1.78593740e-03,
 -2.98470665e-04, 2.24990902e-06]


--- Step 56 ---
qpos:
[ 1.96403293e-03,-3.97771345e-03,-7.03376613e-03, 1.95599973e-03,
 -3.07192951e-03,-3.69351526e-03,-1.22188912e-02, 3.49343703e-03,
 -3.19810437e-03,-2.78021747e-03,-5.39099547e-03,-1.31151688e-02,
  2.73710192e-01, 1.22710264e-02, 1.25064594e-01, 1.91805778e-02,
  9.49475005e-02,-7.00423499e-02, 1.30719410e-01, 9.99998583e-01,
  3.24146915e-04,-4.22782057e-04,-1.59685886e-03]

qacc:
[ -2.53717889, -3.06932535, 14.50265492,-23.77826091,  8.66340812,
  -9.57031673, 39.65135253,-64.34200066,  4.18698893,  5.17683616,
 -28.85133188, 76.67329625, -0.46503817,-16.82608485, 12.09250496,
 -42.8173697 ,  0.99273534, -0.69457436, -0.09645917,  9.54349282,
  15.10106267, -0.42882878]

qfrc_actuator:
[ 0.00088904,-0.00204822,-0.00345086, 0.00085985,-0.00142345,-0.00202372,
 -0.00598072, 0.0015918 ,-0.00148229,-0.00145512,-0.00262508,-0.00625103,
  0.10047259, 0.00543292, 0.09      , 0.00436542, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028604439302386264
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.94064812e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.94064812e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08210135, -0.05816126,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.49661094e-05, 1.71034516e-04, 1.15187162e-04,-7.30467486e-06,
  5.04801423e-05, 1.18798105e-04, 1.81319633e-04,-4.76919936e-05,
  2.45519465e-05, 1.53387847e-04, 8.07120234e-05, 1.55584147e-04,
 -8.25463687e-04,-1.32917105e-04,-6.68214923e-05,-2.26445957e-04,
 -2.10960333e-06,-1.24357693e-06,-1.21644302e+00,-1.78685752e-03,
 -2.98843650e-04, 2.50313787e-06]


--- Step 57 ---
qpos:
[ 1.98245730e-03,-4.01462430e-03,-7.09817844e-03, 1.97377511e-03,
 -3.10031318e-03,-3.72845138e-03,-1.23323677e-02, 3.52610995e-03,
 -3.22814781e-03,-2.80551406e-03,-5.44006302e-03,-1.32357010e-02,
  2.75763829e-01, 1.23797965e-02, 1.27288310e-01, 1.93613487e-02,
  9.49542144e-02,-7.00447294e-02, 1.30721192e-01, 9.99998513e-01,
  3.38887423e-04,-3.74142131e-04,-1.64881911e-03]

qacc:
[  0.28337644, -4.56962074, 19.13815587,-28.53036577,  1.05600341,
  -5.23013086, 21.26163833,-29.79172598,  1.54521981,  6.04915642,
 -32.67018039, 83.83615062, -0.71119474,-10.91750318, 10.42310426,
 -36.90220373, -1.008513  ,  1.65192477, -0.13690253,-22.24025375,
 -17.3019747 , -0.59163963]

qfrc_actuator:
[ 0.0008907 ,-0.00202964,-0.00337145, 0.00084105,-0.00141897,-0.00196999,
 -0.00587465, 0.00157949,-0.00147378,-0.00141401,-0.00260213,-0.00609954,
  0.10030141, 0.00536859, 0.09      , 0.00419207, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.48876057,  2.66267609, -3.61374148,  2.66267609, 19.71519215,
       11.21913551, -3.61374148, 11.21913551, 12.75524119,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002836950375192937
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95671915e-13, -9.78359574e-14,  1.00000000e+00,  1.91437491e-26,
        1.00000000e+00,  9.78359574e-14, -1.00000000e+00,  0.00000000e+00,
        1.95671915e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10843692, -0.09320092,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.46511203e-06, 1.39738175e-04, 1.29821009e-04,-7.44133902e-06,
  5.95937125e-06, 1.58167587e-04, 1.52996753e-04,-1.60915534e-06,
  9.09362650e-06, 1.51935253e-04, 7.10834977e-05, 1.64317855e-04,
 -7.78366148e-04,-1.01252530e-04,-5.89183835e-05,-1.95485165e-04,
 -3.53067145e-06,-2.01823913e-06,-1.21644745e+00,-1.78807474e-03,
 -2.99664573e-04, 2.94802434e-06]


--- Step 58 ---
qpos:
[ 2.00076173e-03,-4.05085168e-03,-7.16106009e-03, 1.99120529e-03,
 -3.12807724e-03,-3.76248900e-03,-1.24440227e-02, 3.55838287e-03,
 -3.25820362e-03,-2.82976748e-03,-5.48879238e-03,-1.33538226e-02,
  2.77813683e-01, 1.24862701e-02, 1.29511909e-01, 1.95386000e-02,
  9.49568912e-02,-7.00406261e-02, 1.30721963e-01, 9.99998439e-01,
  3.09393012e-04,-3.59192945e-04,-1.70236018e-03]

qacc:
[ -1.01574362, -4.08432725, 17.33323455,-26.25996784,  5.46793   ,
  -4.73751234, 20.28487147,-30.76152543, -0.11445703,  5.39914653,
 -27.4146701 , 67.79972631, -0.07385967,-20.86113723, 10.44958599,
 -36.90440301, -1.00926538,  1.62071646, -0.25290475,-22.08994663,
 -16.88208146, -0.77643003]

qfrc_actuator:
[ 0.0008843 ,-0.00200414,-0.00329907, 0.00082287,-0.00138724,-0.00192424,
 -0.00578458, 0.0015592 ,-0.00147451,-0.00136202,-0.00258679,-0.00598002,
  0.10011434, 0.00525177, 0.09      , 0.00401788, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.48944992, -2.13583989,  3.94884142, -2.13583989, 14.12088815,
        5.20942923,  3.94884142,  5.20942923,  7.30711352,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028392091382693774
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77581230e-14, -1.46637184e-13,  1.00000000e+00, -1.43349759e-26,
        1.00000000e+00,  1.46637184e-13, -1.00000000e+00,  0.00000000e+00,
       -9.77581230e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1084345 , -0.09320258,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.12955759e-06, 1.32124896e-04, 1.18107206e-04,-7.66019258e-06,
  3.19458977e-05, 1.68265210e-04, 1.43193675e-04,-7.99141897e-06,
 -5.87306975e-07, 1.60343031e-04, 6.22695852e-05, 1.32122275e-04,
 -7.58164883e-04,-1.51535592e-04,-5.20962723e-05,-1.93652485e-04,
 -8.84266246e-07,-1.41256180e-06,-1.21644158e+00,-1.78796091e-03,
 -3.01410813e-04, 1.72988840e-06]


--- Step 59 ---
qpos:
[ 2.01816089e-03,-4.08638810e-03,-7.22253540e-03, 2.00829349e-03,
 -3.15524505e-03,-3.79590470e-03,-1.25533171e-02, 3.59016472e-03,
 -3.28734747e-03,-2.85326004e-03,-5.53683149e-03,-1.34699173e-02,
  2.79859911e-01, 1.25891473e-02, 1.31735174e-01, 1.97143671e-02,
  9.49555301e-02,-7.00301407e-02, 1.30721332e-01, 9.99998356e-01,
  2.35916028e-04,-3.77259080e-04,-1.75776810e-03]

qacc:
[ -7.90786954, -3.70688193, 16.01160383,-24.71491217,  5.28441434,
  -6.79657696, 27.48152989,-40.19432883,  8.01296113,  3.23575831,
 -18.65280016, 52.07841166,  0.78379011,-34.01554201,  3.91780847,
 -14.62420605, -1.00947237,  1.59553069, -0.35022019,-21.9634842 ,
 -16.54536234, -0.92042327]

qfrc_actuator:
[ 0.00083771,-0.00197477,-0.0032314 , 0.0008052 ,-0.00135747,-0.00190146,
 -0.00566922, 0.00153435,-0.00142742,-0.0013395 ,-0.0025583 ,-0.00588025,
  0.09993383, 0.00506945, 0.09      , 0.00395109, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.48417528, -2.02921854,  3.99876232, -2.02921854, 19.00322532,
        7.36786114,  3.99876232,  7.36786114,  8.22308228,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002821863951695397
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.93436056e-13,  9.83590141e-14,  1.00000000e+00, -3.86979826e-26,
        1.00000000e+00, -9.83590141e-14, -1.00000000e+00,  0.00000000e+00,
        3.93436056e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.108433  , -0.09320463,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.65491421e-05, 1.29277923e-04, 1.10340241e-04,-7.89373550e-06,
  3.07350308e-05, 1.48591191e-04, 1.69114758e-04,-1.25815877e-05,
  4.69749626e-05, 1.32320044e-04, 7.49385131e-05, 1.11781317e-04,
 -7.38481089e-04,-2.18090786e-04,-4.91429071e-05,-8.53605181e-05,
  1.21487687e-06, 4.14283987e-08,-1.21644066e+00,-1.78715974e-03,
 -3.02693677e-04, 1.35908879e-06]


--- Step 60 ---
qpos:
[ 2.03486962e-03,-4.12103719e-03,-7.28273397e-03, 2.02433345e-03,
 -3.18218967e-03,-3.82852194e-03,-1.26603881e-02, 3.62104779e-03,
 -3.31501307e-03,-2.87636881e-03,-5.58424699e-03,-1.35838507e-02,
  2.81902528e-01, 1.26894058e-02, 1.33958477e-01, 1.98869305e-02,
  9.49539950e-02,-7.00178296e-02, 1.30722295e-01, 9.99998267e-01,
  1.48562909e-04,-3.95861328e-04,-1.81333181e-03]

qacc:
[-6.03121539e+00,-4.54340145e+00, 2.23454465e+01,-4.32014586e+01,
  2.00999110e+00,-7.01340737e+00, 3.03252586e+01,-5.00167167e+01,
  1.29863860e+01, 3.19067159e+00,-1.97983435e+01, 5.59496939e+01,
  2.15494622e-01,-2.40140761e+01, 9.70665095e+00,-3.40082996e+01,
 -4.34997977e-02, 4.56433761e-01, 3.98236594e-01,-6.93761365e+00,
 -2.80270664e-01,-7.52213272e-02]

qfrc_actuator:
[ 0.00080334,-0.00192559,-0.00316706, 0.00075246,-0.00134685,-0.00185705,
 -0.0055577 , 0.00148928,-0.00135255,-0.00135255,-0.00254016,-0.00577517,
  0.09975205, 0.00493882, 0.09      , 0.00378834, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.47469746, -2.57889705,  3.65680289, -2.57889705, 20.13802462,
       11.0462908 ,  3.65680289, 11.0462908 , 12.26490316,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027903314552102046
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63620785e-14,  2.90391090e-07,  1.00000000e+00,  2.79826890e-20,
        1.00000000e+00, -2.90391090e-07, -1.00000000e+00,  0.00000000e+00,
       -9.63620785e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09508929, -0.07544172,  0.06199138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.54852425e-05, 1.45821493e-04, 1.05446700e-04,-4.33578186e-05,
  1.15416067e-05, 1.64332836e-04, 1.64208421e-04,-3.28558260e-05,
  7.61021355e-05, 8.28021714e-05, 5.96362003e-05, 1.15928980e-04,
 -7.27627094e-04,-1.67917105e-04,-3.53507871e-05,-1.74823720e-04,
  2.82945565e-06, 2.35682086e-06,-1.21644451e+00,-1.78566698e-03,
 -3.03543201e-04, 1.80106868e-06]


--- Step 61 ---
qpos:
[ 2.05138437e-03,-4.15482080e-03,-7.34169504e-03, 2.03997083e-03,
 -3.20879695e-03,-3.86086939e-03,-1.27647365e-02, 3.65118882e-03,
 -3.34122364e-03,-2.89925105e-03,-5.63099441e-03,-1.36952667e-02,
  2.83941498e-01, 1.27876949e-02, 1.36181814e-01, 2.00558628e-02,
  9.49564055e-02,-7.00085106e-02, 1.30724119e-01, 9.99998177e-01,
  8.02773903e-05,-3.82071571e-04,-1.86912924e-03]

qacc:
[ -1.67727239, -3.14118879, 14.5640446 ,-24.15175543,  3.03396098,
  -8.78583045, 34.96618455,-52.35054394, 12.78638507,  3.59246599,
 -23.03340531, 65.3881376 , -0.17945952,-17.37286296, 11.01506021,
 -38.54661205,  0.98641775, -0.7480444 ,  0.21541871,  9.50436857,
  16.21324454, -0.12304203]

qfrc_actuator:
[ 0.0007942 ,-0.00188275,-0.00310514, 0.00073278,-0.00132984,-0.00187109,
 -0.00543154, 0.00145042,-0.00127969,-0.00135137,-0.00251068,-0.00565009,
  0.099559  , 0.00483967, 0.09      , 0.00360584, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.47983306, -2.66138464,  3.60360043, -2.66138464, 15.93973367,
        8.4635364 ,  3.60360043,  8.4635364 , 10.73044996,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028074764575822253
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.88630752e-14,  1.97726150e-13,  1.00000000e+00, -1.95478153e-26,
        1.00000000e+00, -1.97726150e-13, -1.00000000e+00,  0.00000000e+00,
        9.88630752e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08210873, -0.05815395,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.93437283e-06, 1.46159431e-04, 1.04586712e-04,-1.04504641e-05,
  1.73966946e-05, 1.12739063e-04, 1.80761115e-04,-2.65329700e-05,
  7.49006474e-05, 6.63521898e-05, 5.89850187e-05, 1.33347845e-04,
 -7.29063306e-04,-1.35162739e-04,-4.02839168e-05,-1.98093854e-04,
  3.38532047e-06, 2.79844189e-06,-1.21644625e+00,-1.78432375e-03,
 -3.03611473e-04, 1.88184136e-06]


--- Step 62 ---
qpos:
[ 2.06766429e-03,-4.18786019e-03,-7.39967410e-03, 2.05563281e-03,
 -3.23499332e-03,-3.89303528e-03,-1.28663786e-02, 3.68133798e-03,
 -3.36635964e-03,-2.92174944e-03,-5.67652900e-03,-1.38043672e-02,
  2.85976894e-01, 1.28840478e-02, 1.38404948e-01, 2.02226218e-02,
  9.49627656e-02,-7.00021113e-02, 1.30726376e-01, 9.99998089e-01,
  3.10432358e-05,-3.36592684e-04,-1.92534066e-03]

qacc:
[ -2.04124603, -1.70670273,  7.4151212 , -9.1139682 ,  3.67928416,
  -7.31319813, 26.37755126,-30.68581226,  9.4617709 ,  1.86803434,
 -15.72109856, 53.58521531, -0.15173911,-17.05750329,  6.2467482 ,
 -22.3776223 ,  0.98737044, -0.72992573,  0.10822805,  9.4959702 ,
  15.86232494, -0.21189696]

qfrc_actuator:
[ 0.00078222,-0.00186181,-0.0030629 , 0.00073271,-0.00130919,-0.00186674,
 -0.00529799, 0.001451  ,-0.00122637,-0.00130614,-0.00243919,-0.00553199,
  0.09938061, 0.00474204, 0.09      , 0.00350195, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.47815482,  2.29364086, -3.84617761,  2.29364086, 18.31499426,
        8.25150149, -3.84617761,  8.25150149,  9.39887946,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028018891935195633
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.90602187e-14, -1.98120437e-13,  1.00000000e+00,  1.96258538e-26,
        1.00000000e+00,  1.98120437e-13, -1.00000000e+00,  0.00000000e+00,
        9.90602187e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08211044, -0.05815249,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20449417e-05, 1.25653099e-04, 8.59858553e-05, 9.78009946e-06,
  2.11794220e-05, 1.05934190e-04, 1.79723649e-04, 1.13850797e-05,
  5.53311848e-05, 1.01797320e-04, 9.81070741e-05, 1.25977200e-04,
 -7.14287781e-04,-1.33350076e-04,-4.51653434e-05,-1.21411765e-04,
  3.03890469e-06, 7.80384527e-07,-1.21644352e+00,-1.78364901e-03,
 -3.03344455e-04, 1.16575982e-06]


--- Step 63 ---
qpos:
[ 2.08367722e-03,-4.22008086e-03,-7.45670015e-03, 2.07116809e-03,
 -3.26073896e-03,-3.92434289e-03,-1.29657694e-02, 3.70982663e-03,
 -3.39100841e-03,-2.94369442e-03,-5.72036201e-03,-1.39112527e-02,
  2.88008824e-01, 1.29784922e-02, 1.40628544e-01, 2.03824596e-02,
  9.49730775e-02,-6.99985735e-02, 1.30728708e-01, 9.99998002e-01,
  8.39416740e-07,-2.59984414e-04,-1.98210524e-03]

qacc:
[-2.32551760e+00,-1.83819097e+00, 8.66633574e+00,-1.29929057e+01,
  4.00084876e+00,-8.58451255e+00, 3.92506319e+01,-7.22066471e+01,
  4.32043152e+00, 5.28986854e-01,-1.01813889e+01, 4.53849839e+01,
 -1.45100779e-01,-1.65872403e+01, 2.16179711e+01,-7.47181095e+01,
  9.87965830e-01,-7.15359410e-01, 1.85199122e-02, 9.48508910e+00,
  1.55829729e+01,-2.80270463e-01]

qfrc_actuator:
[ 0.00076867,-0.00181872,-0.00301495, 0.00072639,-0.00128657,-0.00179812,
 -0.00517883, 0.00136827,-0.00120272,-0.00125248,-0.0023433 ,-0.00541887,
  0.09921115, 0.00464608, 0.09      , 0.00314343, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.47139948,  2.20785394, -3.88828938,  2.20785394, 24.39032417,
       11.31039177, -3.88828938, 11.31039177, 10.89368201,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000277924651856179
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98672677e-14,  1.99734535e-13,  1.00000000e+00,  1.99469423e-26,
        1.00000000e+00, -1.99734535e-13, -1.00000000e+00,  0.00000000e+00,
       -9.98672677e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08211143, -0.05815103,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.36975162e-05, 1.33316958e-04, 8.58448699e-05, 2.39513394e-06,
  2.32557265e-05, 1.67777067e-04, 1.65080296e-04,-7.15172985e-05,
  2.51150712e-05, 1.37775850e-04, 1.34364880e-04, 1.23707671e-04,
 -6.94336290e-04,-1.31498939e-04,-3.83047603e-05,-3.72267983e-04,
  2.39993769e-06,-1.04871595e-06,-1.21644295e+00,-1.78325937e-03,
 -3.03563161e-04, 6.66675496e-07]


--- Step 64 ---
qpos:
[ 2.09975105e-03,-4.25136495e-03,-7.51277629e-03, 2.08684007e-03,
 -3.28566849e-03,-3.95452530e-03,-1.30630586e-02, 3.73673687e-03,
 -3.41552910e-03,-2.96528724e-03,-5.76225837e-03,-1.40162798e-02,
  2.90037290e-01, 1.30714227e-02, 1.42852209e-01, 2.05360912e-02,
  9.49873432e-02,-6.99978504e-02, 1.30730814e-01, 9.99997908e-01,
 -1.03560278e-05,-1.52688787e-04,-2.03952955e-03]

qacc:
[ 5.48023274e-01,-1.13684509e+00, 5.27027004e+00,-5.10990670e+00,
  7.18973419e+00,-7.65060696e+00, 3.60752085e+01,-6.75556861e+01,
  1.17966043e+00,-1.12250307e+00,-3.16526780e+00, 3.19635639e+01,
 -3.78219550e-01,-1.26207563e+01, 1.88794471e+01,-6.59563344e+01,
  9.88437418e-01,-7.03697474e-01,-5.63898598e-02, 9.47366977e+00,
  1.53624853e+01,-3.32355280e-01]

qfrc_actuator:
[ 0.00077204,-0.00176272,-0.00296394, 0.00073422,-0.00124521,-0.00172718,
 -0.00506892, 0.00129048,-0.00119671,-0.00124734,-0.0022515 ,-0.00532733,
  0.09903118, 0.00456963, 0.09      , 0.00283304, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.46081987,  2.09868966, -3.93629466,  2.09868966, 32.47067792,
       14.93384121, -3.93629466, 14.93384121, 12.42300279,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002743282884023618
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01176498e-13, -2.02352997e-13,  1.00000000e+00,  2.04733676e-26,
        1.00000000e+00,  2.02352997e-13, -1.00000000e+00,  0.00000000e+00,
        1.01176498e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08211184, -0.05814959,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.18446825e-06, 1.50131631e-04, 9.01946073e-05, 1.67138271e-05,
  4.20724132e-05, 1.98039952e-04, 1.63888380e-04,-6.60517021e-05,
  6.62323205e-06, 1.16709591e-04, 1.42064337e-04, 1.04877968e-04,
 -6.90222643e-04,-1.11523264e-04,-6.48010306e-05,-3.37636632e-04,
  1.47131183e-06,-2.70834270e-06,-1.21644444e+00,-1.78315871e-03,
 -3.04254097e-04, 3.74776388e-07]


--- Step 65 ---
qpos:
[ 2.11608835e-03,-4.28186745e-03,-7.56770873e-03, 2.10214790e-03,
 -3.30990838e-03,-3.98350173e-03,-1.31589217e-02, 3.76358211e-03,
 -3.43944468e-03,-2.98637939e-03,-5.80294210e-03,-1.41196987e-02,
  2.92062228e-01, 1.31627571e-02, 1.45075502e-01, 2.06864386e-02,
  9.50055646e-02,-6.99999051e-02, 1.30732444e-01, 9.99997800e-01,
 -2.56325385e-06,-1.50506294e-05,-2.09769415e-03]

qacc:
[  2.33243973, -2.91856661, 13.43375435,-22.13038346,  6.06048333,
  -2.53718854, 11.61305828,-15.88363038,  5.33934691,  0.57413551,
  -7.88737931, 33.41756911, -0.32454402,-13.43243972,  9.37168023,
 -33.64988523,  0.98895099, -0.69441482, -0.11879806,  9.46309053,
  15.19060006, -0.37144933]

qfrc_actuator:
[ 0.00078536,-0.00173492,-0.00291148, 0.00071481,-0.00121092,-0.00167322,
 -0.00500083, 0.00128725,-0.00116562,-0.00123584,-0.00219858,-0.00524927,
  0.09883439, 0.00448749, 0.09      , 0.00267783, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026970998706336846
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55167424e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.55167424e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08211181, -0.05814815,  0.06199167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.36035705e-05, 1.32805088e-04, 9.61336607e-05,-9.37423038e-06,
  3.55609473e-05, 1.97918778e-04, 1.28334166e-04, 9.86194402e-06,
  3.11748281e-05, 1.12038575e-04, 9.91051963e-05, 9.03940501e-05,
 -7.03293746e-04,-1.16962007e-04,-7.16939062e-05,-1.83589342e-04,
  2.54508041e-07,-4.21252104e-06,-1.21644792e+00,-1.78334966e-03,
 -3.05406920e-04, 2.82653316e-07]


--- Step 66 ---
qpos:
[ 2.13177154e-03,-4.31188363e-03,-7.62113706e-03, 2.11712047e-03,
 -3.33389328e-03,-4.01141551e-03,-1.32531303e-02, 3.78984134e-03,
 -3.46280415e-03,-3.00693807e-03,-5.84346083e-03,-1.42213003e-02,
  2.94083538e-01, 1.32524475e-02, 1.47298658e-01, 2.08330209e-02,
  9.50198498e-02,-6.99954620e-02, 1.30733408e-01, 9.99997669e-01,
 -3.80605965e-05, 8.83559686e-05,-2.15687644e-03]

qacc:
[ -5.69637859, -4.24099969, 17.48776755,-26.0723664 ,  2.26516006,
  -4.43045326, 20.30102794,-33.86288945,  4.87594634,  3.97789997,
 -20.83928978, 51.63250668, -0.32685651,-13.74239535, 11.17431129,
 -39.45606816, -0.98406786,  1.62441622, -0.16674369,-21.60911471,
 -17.16114598, -0.5085851 ]

qfrc_actuator:
[ 0.00075114,-0.00172426,-0.00284096, 0.00069726,-0.00119881,-0.00162998,
 -0.00492249, 0.00125686,-0.00113777,-0.00123855,-0.00220454,-0.00516202,
  0.09862763, 0.00440263, 0.09      , 0.00249104, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.43845472,  2.645148  , -3.56413697,  2.645148  , 17.38103712,
        9.60542377, -3.56413697,  9.60542377, 11.56718397,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002665129393496001
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.29461595e-07, -1.29461912e-07,  1.00000000e+00, -1.67603456e-14,
        1.00000000e+00,  1.29461912e-07, -1.00000000e+00,  0.00000000e+00,
       -1.29461595e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10830239, -0.09267099,  0.06199176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.36309366e-05, 1.06046220e-04, 1.10414582e-04,-8.56353120e-06,
  1.31851467e-05, 1.82980101e-04, 1.36778805e-04,-1.70602939e-05,
  2.86465100e-05, 8.56880512e-05, 3.34436153e-05, 9.75931334e-05,
 -7.23099559e-04,-1.20992461e-04,-5.67271858e-05,-2.07260520e-04,
 -1.25033353e-06,-5.57106066e-06,-1.21645336e+00,-1.78383398e-03,
 -3.07013794e-04, 3.84870567e-07]


--- Step 67 ---
qpos:
[ 2.14658094e-03,-4.34134864e-03,-7.67356807e-03, 2.13214173e-03,
 -3.35720105e-03,-4.03888105e-03,-1.33448266e-02, 3.81590158e-03,
 -3.48634016e-03,-3.02715343e-03,-5.88364576e-03,-1.43210446e-02,
  2.96101266e-01, 1.33418126e-02, 1.49521753e-01, 2.09755137e-02,
  9.50326815e-02,-6.99967604e-02, 1.30734278e-01, 9.99997532e-01,
 -3.05473650e-05, 1.84876840e-04,-2.21381776e-03]

qacc:
[-7.63915415e+00,-1.94408184e+00, 7.80854976e+00,-8.99335301e+00,
  5.99718342e+00,-6.84943972e+00, 2.61018853e+01,-3.38721470e+01,
 -1.54305078e+00, 3.34938899e+00,-1.91095645e+01, 5.04394674e+01,
 -1.17535841e+00,-6.93933545e-01, 1.23143914e+01,-4.31711639e+01,
 -3.63390883e-01,-1.43536394e+00,-2.33236244e-02, 2.15125637e+01,
 -3.39651369e+00, 1.12224047e+00]

qfrc_actuator:
[ 0.00070698,-0.00170615,-0.00279593, 0.00069869,-0.00116435,-0.00162901,
 -0.00480328, 0.00124622,-0.00114755,-0.00123227,-0.00219201,-0.00507013,
  0.09845763, 0.00438784, 0.09      , 0.00228708, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.44220733, -1.09006959,  4.30638529, -1.09006959, 20.19559658,
        3.98763452,  4.30638529,  3.98763452,  5.45159197,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026784521800142513
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.07250858e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.07250858e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09848324, -0.04625532,  0.06199172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.49395176e-05, 1.01469164e-04, 8.11633239e-05, 9.78324347e-06,
  3.48928485e-05, 1.32878140e-04, 1.74630075e-04, 1.82103919e-06,
 -9.06749538e-06, 6.66622121e-05, 3.86434086e-05, 9.89804008e-05,
 -7.01186288e-04,-5.25427805e-05,-5.35841290e-05,-2.24070124e-04,
  1.85287835e-06,-4.01728930e-06,-1.21644813e+00,-1.78291064e-03,
 -3.09743511e-04,-1.21236090e-06]


--- Step 68 ---
qpos:
[ 2.16109330e-03,-4.37003682e-03,-7.72538139e-03, 2.14671845e-03,
 -3.37956974e-03,-4.06572872e-03,-1.34343379e-02, 3.84129145e-03,
 -3.50946790e-03,-3.04688581e-03,-5.92320712e-03,-1.44182521e-02,
  2.98115581e-01, 1.34306494e-02, 1.51744840e-01, 2.11134121e-02,
  9.50415495e-02,-6.99915273e-02, 1.30734329e-01, 9.99997386e-01,
 -6.76095530e-05, 2.47218816e-04,-2.27214944e-03]

qacc:
[ -2.59842007, -1.61042115,  9.11655512,-18.37812779,  8.27559239,
  -6.68606672, 27.82674741,-43.34842432,  3.59418117,  4.11381806,
 -24.45049375, 66.98803666, -0.98025314, -2.74217649, 13.91178893,
 -48.66836108, -0.99090796,  1.6328808 , -0.20483882,-22.24969348,
 -17.138724  , -0.69982696]

qfrc_actuator:
[ 0.00069284,-0.00166608,-0.00276629, 0.00067576,-0.00111701,-0.00159996,
 -0.00469659, 0.00121178,-0.00112615,-0.00118512,-0.00215086,-0.0049407 ,
  0.09829916, 0.00436117, 0.09      , 0.00205691, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.44484191,  0.59955549, -4.40421989,  0.59955549, 25.43393472,
        2.85728829, -4.40421989,  2.85728829,  4.83381043,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026877540789981
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.16333987e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.16333987e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10841301, -0.09322621,  0.06199169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52486887e-05, 1.15584451e-04, 6.18434624e-05,-1.54349913e-05,
  4.83797061e-05, 1.41533331e-04, 1.57052067e-04,-2.24590648e-05,
  2.10383707e-05, 9.79969625e-05, 6.40043632e-05, 1.35898518e-04,
 -6.70459326e-04,-6.19421157e-05,-5.43675641e-05,-2.50902478e-04,
 -8.64489726e-07,-3.65514977e-06,-1.21644631e+00,-1.78289604e-03,
 -3.10083903e-04,-4.61517390e-07]


--- Step 69 ---
qpos:
[ 2.17498057e-03,-4.39769090e-03,-7.77657378e-03, 2.16087625e-03,
 -3.40119709e-03,-4.09160400e-03,-1.35219616e-02, 3.86570469e-03,
 -3.53216197e-03,-3.06599275e-03,-5.96234187e-03,-1.45128056e-02,
  3.00126536e-01, 1.35171356e-02, 1.53967704e-01, 2.12481116e-02,
  9.50488732e-02,-6.99918555e-02, 1.30734619e-01, 9.99997242e-01,
 -6.38087363e-05, 3.02152917e-04,-2.32828437e-03]

qacc:
[-5.47842596e+00,-1.22098166e+00, 8.12284529e+00,-1.71456362e+01,
  6.52927917e+00,-6.01353427e+00, 2.74071587e+01,-4.80203060e+01,
  3.80854691e+00, 5.09396351e+00,-2.81667718e+01, 7.29426124e+01,
  2.82660348e-01,-2.06304760e+01, 9.30380911e+00,-3.31684137e+01,
 -3.86071407e-01,-1.39033384e+00, 5.97802694e-02, 2.04395934e+01,
 -3.65757924e+00, 1.10317514e+00]

qfrc_actuator:
[ 0.00066098,-0.00159552,-0.00272816, 0.00065644,-0.00108022,-0.00153665,
 -0.00459808, 0.00116361,-0.0011043 ,-0.00114923,-0.00212848,-0.00480793,
  0.09811044, 0.00423893, 0.09      , 0.0019019 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.44662333, -1.00377169,  4.33184735, -1.00377169, 21.29850906,
        3.90490348,  4.33184735,  3.90490348,  5.35146398,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002694019881963555
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.65760485e-07,  8.65761103e-07,  1.00000000e+00,  7.49541752e-13,
        1.00000000e+00, -8.65761103e-07, -1.00000000e+00, -1.00974196e-28,
       -8.65760485e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09872392, -0.04737134,  0.06199168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.21204923e-05, 1.48868204e-04, 6.99902827e-05,-1.23849094e-05,
  3.82162963e-05, 1.75913493e-04, 1.47618781e-04,-3.69056377e-05,
  2.23519395e-05, 1.11063016e-04, 5.60973213e-05, 1.42170575e-04,
 -6.78379753e-04,-1.56725744e-04,-5.78257739e-05,-1.77351000e-04,
  1.87063486e-06,-2.03975362e-06,-1.21644337e+00,-1.78195241e-03,
 -3.12201449e-04,-1.48238154e-06]


--- Step 70 ---
qpos:
[ 2.18872549e-03,-4.42435982e-03,-7.82694630e-03, 2.17503227e-03,
 -3.42221493e-03,-4.11658003e-03,-1.36073998e-02, 3.88934291e-03,
 -3.55476491e-03,-3.08447455e-03,-6.00086244e-03,-1.46057291e-02,
  3.02134053e-01, 1.36015298e-02, 1.56190068e-01, 2.13825351e-02,
  9.50522520e-02,-6.99858524e-02, 1.30734058e-01, 9.99997096e-01,
 -1.03823423e-04, 3.23452263e-04,-2.38603053e-03]

qacc:
[-1.23893795e+00,-9.90877555e-01, 5.43355448e+00,-7.50417646e+00,
  5.38584670e+00,-6.52564381e+00, 2.82458130e+01,-4.57970342e+01,
  8.08758195e-01, 2.46522043e+00,-1.44664144e+01, 4.12182252e+01,
  1.07385826e-01,-1.80722295e+01, 4.41517948e-02,-1.35435434e+00,
 -9.86237023e-01, 1.58283182e+00,-2.12826702e-01,-2.18682921e+01,
 -1.68682867e+01,-8.13308324e-01]

qfrc_actuator:
[ 0.00065443,-0.00154274,-0.00268517, 0.00065719,-0.00104994,-0.0014889 ,
 -0.00448731, 0.00112553,-0.00110012,-0.00112042,-0.00209965,-0.00472755,
  0.09791968, 0.00413241, 0.09      , 0.00189896, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.44843071,  0.69024431, -4.39455328,  0.69024431, 23.4206125 ,
        2.9799253 , -4.39455328,  2.9799253 ,  4.91648203,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002700357480905951
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.61277153e-07, -8.61277579e-07,  1.00000000e+00, -7.41798701e-13,
        1.00000000e+00,  8.61277579e-07, -1.00000000e+00, -1.00974196e-28,
       -8.61277153e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10829067, -0.09267512,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.27545151e-06, 1.51464031e-04, 8.28067494e-05, 9.45010520e-06,
  3.14290127e-05, 1.76957491e-04, 1.65293141e-04,-2.59557016e-05,
  4.72234384e-06, 1.09883147e-04, 6.44651736e-05, 9.01864216e-05,
 -6.90530266e-04,-1.44624368e-04,-5.07477522e-05,-2.15281366e-05,
 -4.01018689e-07,-1.81829355e-06,-1.21644181e+00,-1.78190036e-03,
 -3.11975319e-04,-1.04953777e-06]


--- Step 71 ---
qpos:
[ 2.20263256e-03,-4.45027108e-03,-7.87630408e-03, 2.18910545e-03,
 -3.44270623e-03,-4.14052972e-03,-1.36908749e-02, 3.91268872e-03,
 -3.57645425e-03,-3.10246277e-03,-6.03892973e-03,-1.46972763e-02,
  3.04138118e-01, 1.36836832e-02, 1.58412073e-01, 2.15175016e-02,
  9.50541454e-02,-6.99857462e-02, 1.30733704e-01, 9.99996957e-01,
 -1.01115200e-04, 3.38092011e-04,-2.44145097e-03]

qacc:
[  1.4402156 , -2.00846217,  8.9585556 ,-12.56625579,  4.65090231,
  -4.74040633, 20.08933308,-29.0280883 ,  8.02031631,  2.20476317,
 -12.74513881, 35.49167688,  0.22030595,-19.44804001, -2.23542022,
   6.90496077, -0.37133194, -1.47422293,  0.05198569, 21.36896144,
  -3.27894235,  1.16943301]

qfrc_actuator:
[ 0.00066284,-0.00151875,-0.00263972, 0.00065197,-0.00102373,-0.00143305,
 -0.00438798, 0.00111145,-0.00105313,-0.00111387,-0.00208506,-0.00466088,
  0.09773313, 0.00401824, 0.09      , 0.00193236, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.45388776, -0.95080302,  4.35121705, -0.95080302, 22.09614674,
        3.85508534,  4.35121705,  3.85508534,  5.29627892,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002719375042360972
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09849394, -0.04625768,  0.0619916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.38714388e-06, 1.27675656e-04, 8.81175157e-05, 4.46431058e-06,
  2.71636783e-05, 1.89705999e-04, 1.56584453e-04,-1.09646272e-06,
  4.70464938e-05, 8.64291574e-05, 4.91915163e-05, 7.56924853e-05,
 -6.94629894e-04,-1.53087507e-04,-2.98930123e-05, 2.44539074e-05,
  1.83514164e-06,-9.19505280e-08,-1.21644130e+00,-1.78091106e-03,
 -3.13436014e-04,-1.42903176e-06]


--- Step 72 ---
qpos:
[ 2.21619001e-03,-4.47549805e-03,-7.92464299e-03, 2.20267354e-03,
 -3.46341350e-03,-4.16351633e-03,-1.37730076e-02, 3.93608458e-03,
 -3.59672385e-03,-3.12032791e-03,-6.07609132e-03,-1.47869433e-02,
  3.06138806e-01, 1.37631619e-02, 1.60634151e-01, 2.16507924e-02,
  9.50546282e-02,-6.99914682e-02, 1.30733113e-01, 9.99996827e-01,
 -5.61546207e-05, 3.45694890e-04,-2.49482229e-03]

qacc:
[ -3.04468471, -2.9779192 , 14.07186522,-24.95586137, -1.86395347,
  -2.37188364, 10.09911366,-12.09529864, 12.48021473,  1.47937121,
 -13.009065  , 44.03594872,  0.550606  ,-23.52060877,  5.10876659,
 -17.90111894, -0.35265262, -1.45706612, -0.05941933, 21.13435857,
  -3.46695028,  1.03134818]

qfrc_actuator:
[ 0.00064448,-0.00149445,-0.00259332, 0.00062551,-0.00103563,-0.00140833,
 -0.00433167, 0.00111159,-0.0009813 ,-0.0011208 ,-0.0020436 ,-0.00456733,
  0.0975599 , 0.00388271, 0.09      , 0.00184482, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.45482432, -0.37469619, -4.43903847, -0.37469619, 21.47622932,
       -1.4367651 , -4.43903847, -1.4367651 ,  4.57610068,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002722621341914033
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09849644, -0.04625769,  0.06199159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.79555760e-05, 1.15536285e-04, 8.46186563e-05,-1.77198179e-05,
 -1.10628984e-05, 1.64910274e-04, 1.15946340e-04, 1.38505810e-05,
  7.30825177e-05, 5.60570772e-05, 6.88232758e-05, 1.00748207e-04,
 -6.84667182e-04,-1.75439494e-04,-1.61760814e-05,-9.14624976e-05,
 -2.26630688e-07,-7.05409844e-08,-1.21644003e+00,-1.78087487e-03,
 -3.12555925e-04,-1.25461681e-06]


--- Step 73 ---
qpos:
[ 2.22907968e-03,-4.50008979e-03,-7.97198093e-03, 2.21548419e-03,
 -3.48410196e-03,-4.18581508e-03,-1.38539348e-02, 3.95934977e-03,
 -3.61632182e-03,-3.13798017e-03,-6.11219130e-03,-1.48748077e-02,
  3.08136143e-01, 1.38404203e-02, 1.62856466e-01, 2.17803310e-02,
  9.50511383e-02,-6.99907204e-02, 1.30731882e-01, 9.99996697e-01,
 -5.64774474e-05, 3.19028821e-04,-2.54986162e-03]

qacc:
[ -5.83318663, -3.50710989, 16.93926339,-32.13622101,  0.19063276,
  -2.7288261 , 11.60001713,-16.29491728,  5.92153897,  1.01550459,
 -10.83430082, 40.18239392,  0.24057307,-18.95320669, 11.6598736 ,
 -40.42375508, -0.99318779,  1.61747619, -0.1601188 ,-22.59859554,
 -17.19085958, -0.84279188]

qfrc_actuator:
[ 0.00061049,-0.00147019,-0.00254675, 0.00058676,-0.00103436,-0.00140263,
 -0.00428359, 0.00110228,-0.0009487 ,-0.00110013,-0.00198666,-0.00447646,
  0.09738944, 0.00377121, 0.09      , 0.00165123, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.45718013,  0.77124476, -4.38994718,  0.77124476, 27.96740218,
        4.13037669, -4.38994718,  4.13037669,  5.18282243,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027307644736043746
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.03280626e-13, -4.06561252e-13,  1.00000000e+00,  8.26460260e-26,
        1.00000000e+00,  4.06561252e-13, -1.00000000e+00,  0.00000000e+00,
        2.03280626e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10839888, -0.09323026,  0.06199156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.43328246e-05, 1.06989694e-04, 8.10579317e-05,-3.10872118e-05,
  1.00930340e-06, 1.24201568e-04, 9.80837342e-05, 2.22554184e-06,
  3.45850786e-05, 7.17904296e-05, 8.13094085e-05, 9.79266599e-05,
 -6.75685181e-04,-1.52046685e-04,-2.41650134e-05,-2.02538376e-04,
 -2.01996547e-06, 5.84625594e-07,-1.21644162e+00,-1.78148761e-03,
 -3.11673312e-04,-1.18468873e-06]


--- Step 74 ---
qpos:
[ 2.24146446e-03,-4.52450047e-03,-8.01790499e-03, 2.22810888e-03,
 -3.50461421e-03,-4.20776432e-03,-1.39334677e-02, 3.98235752e-03,
 -3.63641334e-03,-3.15500011e-03,-6.14749185e-03,-1.49609296e-02,
  3.10130050e-01, 1.39157867e-02, 1.65078613e-01, 2.19078838e-02,
  9.50436650e-02,-6.99835934e-02, 1.30729567e-01, 9.99996563e-01,
 -1.01655412e-04, 2.58906847e-04,-2.60685365e-03]

qacc:
[-4.38417626e+00,-4.08728136e+00, 1.57198365e+01,-2.13473206e+01,
  1.57896531e+00,-3.96769419e+00, 1.58990457e+01,-2.28364386e+01,
 -4.31352411e+00, 2.19876392e+00,-1.39600059e+01, 4.23389201e+01,
  6.41753002e-05,-1.57205080e+01, 5.72033376e+00,-2.04874795e+01,
 -9.95848127e-01, 1.59478185e+00,-2.70867049e-01,-2.23845297e+01,
 -1.67850293e+01,-9.84447075e-01]

qfrc_actuator:
[ 0.00058534,-0.00148168,-0.00248272, 0.00057659,-0.00102533,-0.00140846,
 -0.0042231 , 0.00108747,-0.00097496,-0.00104529,-0.00193868,-0.00438788,
  0.09719946, 0.00367474, 0.09      , 0.00155652, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.45862418, -0.73964034,  4.39684679, -0.73964034, 18.59050382,
        2.37727371,  4.39684679,  2.37727371,  4.85853066,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027357401503008694
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.53638632e-13, -8.11643624e-13,  1.00000000e+00,  2.05864179e-25,
        1.00000000e+00,  8.11643624e-13, -1.00000000e+00,  0.00000000e+00,
        2.53638632e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10839639, -0.09323085,  0.06199155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.59662854e-05, 6.51108330e-05, 9.58359497e-05,-3.25401605e-06,
  9.09608662e-06, 8.56898714e-05, 9.94668206e-05,-5.87296938e-06,
 -2.53672792e-05, 1.17181681e-04, 7.70061205e-05, 9.66897046e-05,
 -6.87639413e-04,-1.36338525e-04,-4.04765785e-05,-1.10930445e-04,
 -1.00105239e-07, 1.69362641e-06,-1.21644082e+00,-1.78110266e-03,
 -3.12345991e-04,-1.17147842e-06]


--- Step 75 ---
qpos:
[ 2.25379863e-03,-4.54871468e-03,-8.06263871e-03, 2.24052985e-03,
 -3.52520356e-03,-4.22964833e-03,-1.40111723e-02, 4.00432871e-03,
 -3.65666507e-03,-3.17163578e-03,-6.18182602e-03,-1.50452937e-02,
  3.12120466e-01, 1.39894545e-02, 1.67300287e-01, 2.20362921e-02,
  9.50346626e-02,-6.99824604e-02, 1.30727794e-01, 9.99996435e-01,
 -1.04000327e-04, 1.92244113e-04,-2.66142504e-03]

qacc:
[ -0.40958525, -3.48643081, 13.66861669,-19.24291698, -0.61882502,
  -7.1561201 , 30.0191081 ,-50.93443077, -1.38020673,  1.43022196,
 -11.77049984, 40.3426997 , -0.13405813,-13.85728684, -3.33405424,
  10.54557955, -0.38228241, -1.49850769,  0.13558184, 21.42466391,
  -3.214662  ,  1.21553442]

qfrc_actuator:
[ 0.00058336,-0.00147892,-0.00242679, 0.00056555,-0.00102957,-0.00142114,
 -0.00413807, 0.00103403,-0.00098238,-0.00104146,-0.00189626,-0.00430132,
  0.09700856, 0.00358785, 0.09      , 0.00160964, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.46538546, -0.89622308,  4.374523  , -0.89622308, 23.95827284,
        3.9935727 ,  4.374523  ,  3.9935727 ,  5.28356199,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027588793352126273
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09850449, -0.04625804,  0.06199148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.58589703e-06, 6.01714922e-05, 8.18611742e-05,-4.86950371e-06,
 -3.95060597e-06, 5.72153410e-05, 1.15913490e-04,-4.62659730e-05,
 -8.21989656e-06, 9.05511087e-05, 8.02417478e-05, 9.64257234e-05,
 -6.96675172e-04,-1.27459676e-04,-3.66380752e-05, 4.01662283e-05,
  1.30628074e-06, 3.70911730e-06,-1.21644495e+00,-1.78001034e-03,
 -3.12576825e-04,-3.16036955e-07]


--- Step 76 ---
qpos:
[ 2.26566994e-03,-4.57213122e-03,-8.10686438e-03, 2.25269419e-03,
 -3.54533906e-03,-4.25103193e-03,-1.40871140e-02, 4.02509499e-03,
 -3.67650545e-03,-3.18811198e-03,-6.21579820e-03,-1.51275408e-02,
  3.14107331e-01, 1.40618929e-02, 1.69522111e-01, 2.21622934e-02,
  9.50242100e-02,-6.99872337e-02, 1.30726060e-01, 9.99996308e-01,
 -6.39932303e-05, 1.18607220e-04,-2.71388655e-03]

qacc:
[-4.05459273e+00,-8.86476429e-01, 5.78710194e+00,-1.16421553e+01,
  4.01579459e+00,-6.75360559e+00, 3.01132419e+01,-5.41402492e+01,
  3.61730849e+00, 3.55252995e+00,-2.12983240e+01, 5.72279785e+01,
 -5.17465985e-01,-9.08774551e+00, 7.49419916e+00,-2.59431956e+01,
 -3.62529149e-01,-1.47655182e+00, 9.63892401e-03, 2.11850081e+01,
 -3.43081904e+00, 1.05864582e+00]

qfrc_actuator:
[ 0.00055951,-0.00141444,-0.0023938 , 0.00055408,-0.00100607,-0.00136677,
 -0.00403932, 0.00097605,-0.00096088,-0.00106825,-0.00189316,-0.00419895,
  0.09681722, 0.00352502, 0.09      , 0.00148312, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.46959874,  0.17514204, -4.46616593,  0.17514204, 18.4873352 ,
        0.54970974, -4.46616593,  0.54970974,  4.49115577,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002773168984017832
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.00344527e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.00344527e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09850715, -0.04625813,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.37834412e-05, 1.16162835e-04, 5.60986660e-05,-6.03008581e-06,
  2.33969300e-05, 1.09976664e-04, 1.24367867e-04,-5.22473904e-05,
  2.11809154e-05, 4.56800858e-05, 3.57889964e-05, 1.11206122e-04,
 -7.03214337e-04,-1.04173965e-04,-1.76421660e-05,-1.30470936e-04,
 -1.50717693e-07, 3.37916400e-06,-1.21644412e+00,-1.77995022e-03,
 -3.10460945e-04,-7.07495876e-07]


--- Step 77 ---
qpos:
[ 2.27682048e-03,-4.59479698e-03,-8.15008909e-03, 2.26459988e-03,
 -3.56503691e-03,-4.27139649e-03,-1.41618088e-02, 4.04497604e-03,
 -3.69559108e-03,-3.20455430e-03,-6.24936889e-03,-1.52079005e-02,
  3.16090709e-01, 1.41326962e-02, 1.71744285e-01, 2.22831263e-02,
  9.50123695e-02,-6.99978415e-02, 1.30723942e-01, 9.99996178e-01,
  1.79706451e-05, 3.76540916e-05,-2.76448669e-03]

qacc:
[ -6.29832571, -2.3260114 , 10.84585114,-17.49733886,  3.84896672,
  -3.96798874, 19.82636161,-37.87733034,  6.63199905,  2.79726778,
 -17.88848755, 49.88767313, -0.20929373,-12.82696204, 16.13710724,
 -55.7922424 , -0.34699069, -1.45864628, -0.09604048, 20.98812922,
  -3.60123078,  0.9329309 ]

qfrc_actuator:
[ 0.00052298,-0.00136686,-0.00233887, 0.00054249,-0.0009842 ,-0.00129039,
 -0.0039685 , 0.00093367,-0.00092255,-0.00107782,-0.00187792,-0.00410589,
  0.09663641, 0.00344133, 0.09      , 0.00121622, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.46759679,  0.07929897, -4.46689297,  0.07929897, 25.17744818,
        0.36765374, -4.46689297,  0.36765374,  4.4741236 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002766391497013021
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.00662673e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.00662673e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09850937, -0.04625756,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.70548471e-05, 1.25157262e-04, 8.63799049e-05,-4.67021386e-06,
  2.25816751e-05, 1.62956526e-04, 1.08140573e-04,-3.42043372e-05,
  3.88497124e-05, 2.92452797e-05, 3.36762922e-05, 9.87052042e-05,
 -6.96469559e-04,-1.25213068e-04,-2.99580705e-05,-2.78375154e-04,
 -1.34232449e-06, 3.71067341e-06,-1.21644623e+00,-1.78053514e-03,
 -3.08347453e-04,-1.19167137e-06]


--- Step 78 ---
qpos:
[ 2.28779357e-03,-4.61684827e-03,-8.19222605e-03, 2.27594219e-03,
 -3.58397410e-03,-4.29102979e-03,-1.42352890e-02, 4.06492747e-03,
 -3.71407070e-03,-3.22108315e-03,-6.28183424e-03,-1.52872380e-02,
  3.18070646e-01, 1.42019683e-02, 1.73966174e-01, 2.24018264e-02,
  9.49965276e-02,-7.00019761e-02, 1.30721381e-01, 9.99996028e-01,
  5.42754669e-05,-7.78231921e-05,-2.81680031e-03]

qacc:
[ -1.53186275, -3.38574343, 15.63304136,-27.57918478,  6.67831997,
  -2.29596916,  9.26925422,-10.50761343,  5.35115308, -1.10889427,
  -0.54198072, 16.54232465, -0.23739296,-11.94254707,  6.00503611,
 -21.70418862, -1.00035806,  1.61830807, -0.11060166,-22.78168643,
 -17.32513856, -0.85731363]

qfrc_actuator:
[ 0.00051478,-0.00134745,-0.00228922, 0.00051317,-0.0009457 ,-0.00127254,
 -0.00391464, 0.00093633,-0.00089236,-0.00107701,-0.00182009,-0.00405456,
  0.09646204, 0.00336377, 0.09      , 0.00111737, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.46983511,  0.82659116, -4.39274094,  0.82659116, 30.87174039,
        4.96810117, -4.39274094,  4.96810117,  5.404693  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002773967772870395
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.00286555e-14, -2.00114622e-13,  1.00000000e+00,  1.00114655e-26,
        1.00000000e+00,  2.00114622e-13, -1.00000000e+00,  0.00000000e+00,
        5.00286555e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10838555, -0.09323211,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.09726567e-06, 1.08291831e-04, 8.67126797e-05,-2.09354286e-05,
  3.91949910e-05, 1.31432166e-04, 1.00734555e-04, 1.28856535e-05,
  3.11949368e-05, 2.94686302e-05, 7.21789861e-05, 5.59635664e-05,
 -6.86337167e-04,-1.19806417e-04,-5.22899387e-05,-1.20202901e-04,
 -2.29157822e-06, 4.67742510e-06,-1.21645120e+00,-1.78176046e-03,
 -3.06212125e-04,-1.77827163e-06]


--- Step 79 ---
qpos:
[ 2.29892997e-03,-4.63826853e-03,-8.23368698e-03, 2.28687418e-03,
 -3.60195749e-03,-4.31007791e-03,-1.43074550e-02, 4.08477104e-03,
 -3.73273651e-03,-3.23756586e-03,-6.31338565e-03,-1.53653412e-02,
  3.20047116e-01, 1.42701495e-02, 1.76187599e-01, 2.25207109e-02,
  9.49766734e-02,-6.99997295e-02, 1.30717899e-01, 9.99995852e-01,
  4.54317357e-05,-2.27000902e-04,-2.87107879e-03]

qacc:
[  1.44146645, -1.90355995,  9.72404768,-18.36450184,  8.3724694 ,
  -3.13699404, 12.73467637,-17.10340015, -1.60404161,  0.05167696,
  -5.29509737, 25.1424821 , -0.55471238, -7.77658893, -1.26296093,
   3.37937025, -1.00303869,  1.59530489, -0.23040523,-22.52679889,
 -16.91378794, -0.97979224]

qfrc_actuator:
[ 0.00052334,-0.00132735,-0.00226098, 0.00049138,-0.00089773,-0.00125441,
 -0.00385365, 0.0009299 ,-0.00090273,-0.00106986,-0.00177307,-0.00399263,
  0.09628099, 0.0033082 , 0.09      , 0.00113613, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.47320033, -0.40882876,  4.45447867, -0.40882876, 17.8895844 ,
        1.23134582,  4.45447867,  1.23134582,  4.58621234,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027853067071882676
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.98949938e-13, -1.99299959e-13,  1.00000000e+00,  5.95807104e-26,
        1.00000000e+00,  1.99299959e-13, -1.00000000e+00,  0.00000000e+00,
        2.98949938e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10838292, -0.09323226,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.43965746e-06, 9.88970624e-05, 6.12777268e-05,-1.44393199e-05,
  4.91300894e-05, 1.14528783e-04, 1.02032765e-04, 3.10329637e-06,
 -9.57286134e-06, 4.20417860e-05, 6.46649564e-05, 6.70551345e-05,
 -6.85192676e-04,-9.75939443e-05,-4.30547781e-05, 3.78129895e-06,
 -1.19499122e-06, 5.31540756e-06,-1.21645256e+00,-1.78192193e-03,
 -3.05445361e-04,-7.14458493e-07]


--- Step 80 ---
qpos:
[ 2.31008460e-03,-4.65930630e-03,-8.27435883e-03, 2.29748697e-03,
 -3.61922586e-03,-4.32847894e-03,-1.43783488e-02, 4.10472681e-03,
 -3.75172826e-03,-3.25377734e-03,-6.34424745e-03,-1.54414121e-02,
  3.22020192e-01, 1.43368144e-02, 1.78408926e-01, 2.26385148e-02,
  9.49609340e-02,-7.00006429e-02, 1.30716504e-01, 9.99995660e-01,
  5.58812176e-05,-3.43129055e-04,-2.92550878e-03]

qacc:
[  0.17766734, -2.35789686, 10.48710223,-17.55331798,  6.28167575,
  -2.48128232,  9.5935223 ,-10.14010943, -2.83998396,  2.62268433,
 -17.3903062 , 51.22742886, -0.21209042,-11.72832388,  3.09043372,
 -11.11352177,  1.02867673, -0.7899872 ,  0.52185066,  9.59910572,
  16.55240108, -0.07871838]

qfrc_actuator:
[ 0.00052392,-0.00132486,-0.00222786, 0.00047419,-0.00086233,-0.00121851,
 -0.00378898, 0.00093593,-0.00091912,-0.00104125,-0.00173278,-0.00388947,
  0.09610673, 0.00323049, 0.09      , 0.00108197, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.48730936, -2.50627484,  3.72216761, -2.50627484, 22.16565967,
       11.90349532,  3.72216761, 11.90349532, 12.50237854,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002832187347440729
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.96000986e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.96000986e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08213375, -0.05812316,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.60928543e-07, 7.10415496e-05, 6.12971775e-05,-1.10095278e-05,
  3.68422888e-05, 1.22662044e-04, 1.02024655e-04, 1.46798486e-05,
 -1.67576944e-05, 6.94238119e-05, 5.99708852e-05, 1.08782456e-04,
 -6.76248565e-04,-1.19530844e-04,-2.49923934e-05,-6.10437056e-05,
 -6.14296004e-07, 6.89686967e-06,-1.21645884e+00,-1.78136679e-03,
 -3.04228650e-04, 1.19880716e-06]


--- Step 81 ---
qpos:
[ 2.32150677e-03,-4.68025301e-03,-8.31387832e-03, 2.30782603e-03,
 -3.63628000e-03,-4.34643263e-03,-1.44478262e-02, 4.12496358e-03,
 -3.77008138e-03,-3.26932412e-03,-6.37457610e-03,-1.55153447e-02,
  3.23989949e-01, 1.44020458e-02, 1.80630376e-01, 2.27534010e-02,
  9.49492777e-02,-7.00046156e-02, 1.30716565e-01, 9.99995464e-01,
  8.56083473e-05,-4.27039964e-04,-2.98029978e-03]

qacc:
[  2.37895083, -3.66920762, 14.40431949,-21.04194993,  1.91024137,
  -2.79170233,  9.61955386, -7.34405389,  5.6063974 ,  3.78196203,
 -21.24412977, 56.90453873, -0.25456071,-10.84820011,  8.98977946,
 -31.26304981,  1.02076078, -0.76485442,  0.36395627,  9.5915944 ,
  16.13674006, -0.18471323]

qfrc_actuator:
[ 0.00053754,-0.00133293,-0.00217444, 0.00045981,-0.00085236,-0.00120775,
 -0.00372259, 0.00094925,-0.00088566,-0.00098226,-0.00169668,-0.00378061,
  0.09594197, 0.00315811, 0.09      , 0.00093199, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.50005759,  3.17146415, -3.19254342,  3.17146415, 10.60423173,
        6.06387036, -3.19254342,  6.06387036, 10.52389028,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028736644117192955
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.93172004e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.93172004e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08213608, -0.05812195,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37838436e-05, 4.50254082e-05, 7.59509172e-05,-9.31094013e-06,
  1.10582801e-05, 1.02521972e-04, 1.05808698e-04, 2.25428337e-05,
  3.29026533e-05, 1.15911443e-04, 6.22930429e-05, 1.16296014e-04,
 -6.61287210e-04,-1.14850107e-04,-2.52549523e-05,-1.58463928e-04,
 -7.04620358e-07, 5.44523346e-06,-1.21645175e+00,-1.78189069e-03,
 -3.01984105e-04, 9.74173862e-07]


--- Step 82 ---
qpos:
[ 2.33335050e-03,-4.70106855e-03,-8.35241810e-03, 2.31792161e-03,
 -3.65342643e-03,-4.36433680e-03,-1.45154173e-02, 4.14453386e-03,
 -3.78754787e-03,-3.28430322e-03,-6.40419494e-03,-1.55873926e-02,
  3.25956422e-01, 1.44662658e-02, 1.82851997e-01, 2.28639143e-02,
  9.49416765e-02,-7.00115671e-02, 1.30717552e-01, 9.99995269e-01,
  1.34590568e-04,-4.79410872e-04,-3.03561616e-03]

qacc:
[  3.72225187, -3.07392556, 12.22659508,-18.0894843 , -0.7490919 ,
  -6.57646038, 26.3605193 ,-40.95274719,  7.78782048,  2.63340013,
 -16.2738933 , 47.34768805, -0.5718128 , -6.77679877, 13.48501097,
 -46.84221292,  1.01379836, -0.74468175,  0.23135335,  9.58039033,
  15.79859937, -0.26815416]

qfrc_actuator:
[ 0.00055874,-0.00132945,-0.00212727, 0.00044722,-0.00085744,-0.00122989,
 -0.00363806, 0.00091347,-0.00084087,-0.0009588 ,-0.00166321,-0.00368701,
  0.09577771, 0.0031072 , 0.09      , 0.00070903, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.50441135,  3.10691491, -3.26141094,  3.10691491, 14.52990725,
        9.55057896, -3.26141094,  9.55057896, 13.60257062,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002887644872856948
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.61183831e-14,  1.92236766e-13,  1.00000000e+00, -1.84774871e-26,
        1.00000000e+00, -1.92236766e-13, -1.00000000e+00,  0.00000000e+00,
        9.61183831e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08213754, -0.05812069,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.17107522e-05, 4.51161703e-05, 6.61739803e-05,-8.11031016e-06,
 -4.73262031e-06, 5.94402261e-05, 1.20501153e-04,-2.71353066e-05,
  4.56636924e-05, 1.07163484e-04, 6.97914687e-05, 1.03251206e-04,
 -6.49605926e-04,-9.28161319e-05,-3.67834359e-05,-2.37027976e-04,
 -1.10491943e-06, 4.21388398e-06,-1.21644706e+00,-1.78269554e-03,
 -3.00228600e-04, 9.60697869e-07]


--- Step 83 ---
qpos:
[ 2.34466857e-03,-4.72168844e-03,-8.39009025e-03, 2.32778935e-03,
 -3.67015541e-03,-4.38227868e-03,-1.45810897e-02, 4.16388107e-03,
 -3.80503315e-03,-3.29881758e-03,-6.43279997e-03,-1.56581060e-02,
  3.27919586e-01, 1.45294177e-02, 1.85073527e-01, 2.29708753e-02,
  9.49381066e-02,-7.00214328e-02, 1.30719019e-01, 9.99995075e-01,
  2.02803615e-04,-5.00790675e-04,-3.09158663e-03]

qacc:
[ -4.58220919, -2.62688399, 10.71830344,-16.20866343,  3.7106057 ,
  -5.87746573, 21.81415154,-28.70351009, -0.14007724,  0.52951734,
  -6.6238763 , 27.74333723, -0.52871967, -7.27590742, 10.60882312,
 -37.35037722,  1.00780008, -0.72856028,  0.12020445,  9.56817227,
  15.52462408, -0.33373211]

qfrc_actuator:
[ 0.00053097,-0.00131911,-0.00208414, 0.00043577,-0.00083582,-0.00123604,
 -0.00354368, 0.00090232,-0.00084305,-0.00093907,-0.00161395,-0.00362091,
  0.09559789, 0.00305157, 0.09      , 0.00053368, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.50191214,  3.01650244, -3.3418447 ,  3.01650244, 20.06642262,
       14.04924171, -3.3418447 , 14.04924171, 17.18340269,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002879630909237013
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92771758e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.92771758e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08213831, -0.05811938,  0.0619911 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.70396532e-05, 5.00392575e-05, 6.09773202e-05,-7.27767252e-06,
  2.15006763e-05, 5.22141899e-05, 1.21517498e-04,-4.80614839e-06,
 -9.37910950e-07, 9.95019386e-05, 8.42230884e-05, 7.53682355e-05,
 -6.55485304e-04,-9.66037224e-05,-5.07355836e-05,-1.95262073e-04,
 -1.80754464e-06, 3.17638617e-06,-1.21644461e+00,-1.78378710e-03,
 -2.98947498e-04, 1.15005320e-06]


--- Step 84 ---
qpos:
[ 2.35556781e-03,-4.74189731e-03,-8.42703260e-03, 2.33742682e-03,
 -3.68649561e-03,-4.39977009e-03,-1.46455720e-02, 4.18327988e-03,
 -3.82275502e-03,-3.31269939e-03,-6.46060180e-03,-1.57278242e-02,
  3.29879421e-01, 1.45911140e-02, 1.87295008e-01, 2.30738516e-02,
  9.49385476e-02,-7.00341616e-02, 1.30720595e-01, 9.99994881e-01,
  2.90225254e-04,-4.91621639e-04,-3.14831154e-03]

qacc:
[-3.65383914e+00,-1.96385225e+00, 8.77447837e+00,-1.42420469e+01,
  3.42874179e+00,-2.63051855e+00, 1.00140666e+01,-1.13437144e+01,
 -2.05937976e+00, 6.44811652e-01,-5.27571848e+00, 2.07319940e+01,
 -2.32982662e-01,-1.08023760e+01, 1.19649590e+01,-4.20459666e+01,
  1.00274800e+00,-7.15753939e-01, 2.72356195e-02, 9.55683726e+00,
  1.53039607e+01,-3.85131195e-01]

qfrc_actuator:
[ 0.00051009,-0.00128702,-0.00204371, 0.00042509,-0.00081641,-0.00119703,
 -0.00347969, 0.00090579,-0.00085511,-0.00090395,-0.00157356,-0.00357152,
  0.09541418, 0.00297582, 0.09      , 0.00033455, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.49405059,  2.89608585, -3.43644838,  2.89608585, 27.87915487,
       19.70792581, -3.43644838, 19.70792581, 21.10301393,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028542220075332414
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.91731781e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.91731781e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08213855, -0.05811803,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.15316152e-05, 7.34709246e-05, 5.86700413e-05,-6.46072395e-06,
  2.00407602e-05, 9.44933727e-05, 9.05150841e-05, 9.95382856e-06,
 -1.21418736e-05, 1.12344286e-04, 7.45653857e-05, 5.82847677e-05,
 -6.63949566e-04,-1.17673311e-04,-5.16999175e-05,-2.18312378e-04,
 -2.80679732e-06, 2.31333293e-06,-1.21644431e+00,-1.78516953e-03,
 -2.98129278e-04, 1.53582925e-06]


--- Step 85 ---
qpos:
[ 2.36647861e-03,-4.76149922e-03,-8.46331532e-03, 2.34718779e-03,
 -3.70282102e-03,-4.41652236e-03,-1.47093712e-02, 4.20084319e-03,
 -3.84048503e-03,-3.32631852e-03,-6.48754681e-03,-1.57956682e-02,
  3.31835976e-01, 1.46511069e-02, 1.89516269e-01, 2.31739285e-02,
  9.49429830e-02,-7.00497130e-02, 1.30721970e-01, 9.99994680e-01,
  3.96837847e-04,-4.52257089e-04,-3.20586873e-03]

qacc:
[ 1.11600829e-01,-7.87407530e-01, 3.44957512e+00,-2.81283758e+00,
  1.37001691e-01,-4.71206841e+00, 2.59666638e+01,-5.93703285e+01,
 -4.79268216e-02, 1.81295618e+00,-1.38628317e+01, 4.47159578e+01,
 -3.11853012e-03,-1.31311276e+01, 8.40995443e+00,-3.00111196e+01,
  9.98605210e-01,-7.05665710e-01,-5.03506043e-02, 9.54769234e+00,
  1.51277665e+01,-4.25243246e-01]

qfrc_actuator:
[ 0.00051121,-0.00124218,-0.00200512, 0.00043271,-0.00081621,-0.00116689,
 -0.00345172, 0.00081131,-0.00085511,-0.00091322,-0.00153869,-0.00347909,
  0.09524422, 0.00288881, 0.09      , 0.00019403, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028152512235218863
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.97180098e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.97180098e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08213836, -0.05811665,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.26910238e-07, 9.88682005e-05, 6.14102046e-05, 1.27849655e-05,
  7.99609005e-07, 1.03454110e-04, 5.98978668e-05,-8.69624548e-05,
 -4.00355626e-07, 7.23812584e-05, 6.99019773e-05, 1.01202046e-04,
 -6.57653448e-04,-1.30591634e-04,-5.49147942e-05,-1.61163930e-04,
 -4.09877718e-06, 1.61072692e-06,-1.21644607e+00,-1.78684581e-03,
 -2.97764910e-04, 2.11325880e-06]


--- Step 86 ---
qpos:
[ 2.37697508e-03,-4.78095468e-03,-8.49812484e-03, 2.35765921e-03,
 -3.71867174e-03,-4.43302432e-03,-1.47721748e-02, 4.21752800e-03,
 -3.85807884e-03,-3.33982769e-03,-6.51401906e-03,-1.58614793e-02,
  3.33789197e-01, 1.47103112e-02, 1.91737076e-01, 2.32734949e-02,
  9.49434150e-02,-7.00585599e-02, 1.30723169e-01, 9.99994466e-01,
  4.58568742e-04,-4.48062645e-04,-3.26435398e-03]

qacc:
[-3.58588393e+00,-2.45397249e+00, 6.04361605e+00, 3.77543509e+00,
  4.17630915e+00,-4.26775621e+00, 1.93917600e+01,-3.63576506e+01,
  1.20817030e+00, 3.00894850e+00,-1.90919997e+01, 5.34169750e+01,
 -7.29903758e-01,-4.64640830e+00, 8.68616236e-01,-4.02670055e+00,
 -1.00087864e+00, 1.67611512e+00,-4.38508690e-02,-2.23845620e+01,
 -1.76570887e+01,-4.46924211e-01]

qfrc_actuator:
[ 0.00048976,-0.00124331,-0.00193234, 0.00046882,-0.00079182,-0.00117806,
 -0.00340983, 0.00076645,-0.00084801,-0.00093124,-0.00152525,-0.00337986,
  0.09507199, 0.00284914, 0.09      , 0.00017794, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.48897068,  2.6806345 , -3.60070222,  2.6806345 , 18.57735018,
       10.48845303, -3.60070222, 10.48845303, 12.29736674,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002837639096503891
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95624423e-13,  2.93436635e-13,  1.00000000e+00, -5.74033726e-26,
        1.00000000e+00, -2.93436635e-13, -1.00000000e+00,  0.00000000e+00,
        1.95624423e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10836181, -0.09324148,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.13065236e-05, 6.84738315e-05, 1.01828443e-04, 4.28142008e-05,
  2.44526895e-05, 5.66490875e-05, 6.85341520e-05,-3.99034852e-05,
  7.01859324e-06, 4.21316220e-05, 4.11029586e-05, 1.06950986e-04,
 -6.55987051e-04,-8.37646791e-05,-4.96508559e-05,-3.38728384e-05,
 -5.68124813e-06, 1.05879875e-06,-1.21644983e+00,-1.78881810e-03,
 -2.97847360e-04, 2.87897917e-06]


--- Step 87 ---
qpos:
[ 2.38678977e-03,-4.80015845e-03,-8.53172604e-03, 2.36814316e-03,
 -3.73410651e-03,-4.44987977e-03,-1.48331849e-02, 4.23426153e-03,
 -3.87510779e-03,-3.35295402e-03,-6.54018165e-03,-1.59259531e-02,
  3.35739060e-01, 1.47692987e-02, 1.93957896e-01, 2.33703611e-02,
  9.49398341e-02,-7.00608440e-02, 1.30723669e-01, 9.99994247e-01,
  4.75775171e-04,-4.78073668e-04,-3.32418545e-03]

qacc:
[ -5.93941001, -3.00742177, 11.17259773,-13.09428418,  3.69846169,
  -5.38565402, 18.30775093,-20.06100357,  4.95606389,  2.38548808,
 -13.42604215, 35.79540433, -1.22077587,  0.82367984,  8.22026623,
 -28.67263858, -1.00321155,  1.64070942, -0.17495806,-22.20658041,
 -17.17562083, -0.6552944 ]

qfrc_actuator:
[ 4.55181533e-04,-1.23628661e-03,-1.87563017e-03, 4.68112853e-04,
 -7.71128208e-04,-1.21381430e-03,-3.32466821e-03, 7.68897122e-04,
 -8.19045164e-04,-9.01205187e-04,-1.50688734e-03,-3.31297599e-03,
  9.48985209e-02, 2.83763105e-03, 9.00000000e-02, 4.00076527e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49444692, -2.06676066,  3.99105919, -2.06676066, 11.83764387,
        3.80265735,  3.99105919,  3.80265735,  6.46364412,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000285551031210432
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.72000539e-14, -4.86000269e-14,  1.00000000e+00,  4.72392524e-27,
        1.00000000e+00,  4.86000269e-14, -1.00000000e+00,  0.00000000e+00,
        9.72000539e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1083586 , -0.09324273,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.50693282e-05, 6.92262035e-05, 8.54766317e-05, 6.68189449e-06,
  2.14088972e-05, 9.67748211e-06, 1.04818442e-04, 6.60543974e-06,
  2.90918687e-05, 6.75537517e-05, 3.64268323e-05, 7.24273564e-05,
 -6.53153377e-04,-5.45191878e-05,-3.28473119e-05,-1.47905109e-04,
 -2.95715216e-06, 1.14504360e-06,-1.21644305e+00,-1.78935691e-03,
 -2.99035074e-04, 1.93215623e-06]


--- Step 88 ---
qpos:
[ 2.39611524e-03,-4.81873201e-03,-8.56502941e-03, 2.37820860e-03,
 -3.74917318e-03,-4.46693781e-03,-1.48926299e-02, 4.24985731e-03,
 -3.89165892e-03,-3.36552408e-03,-6.56601432e-03,-1.59891431e-02,
  3.37685682e-01, 1.48270281e-02, 1.96178908e-01, 2.34624523e-02,
  9.49322345e-02,-7.00566801e-02, 1.30723028e-01, 9.99994021e-01,
  4.48760587e-04,-5.41517204e-04,-3.38568674e-03]

qacc:
[ -4.28751368, -0.85312318,  6.03116849,-14.22913356,  3.26945048,
  -6.9899374 , 29.32728078,-51.3621323 ,  4.19048611,  2.44935631,
 -13.09311716, 34.37466251, -0.34943501, -8.7259135 , 14.720336  ,
 -51.15246286, -1.00466355,  1.61199737, -0.28508214,-22.05520893,
 -16.79005828, -0.81639551]

qfrc_actuator:
[ 0.00043092,-0.00120679,-0.0018644 , 0.00044574,-0.00075279,-0.00122831,
 -0.00325024, 0.00071038,-0.00079519,-0.00086041,-0.00148559,-0.00324786,
  0.09472975, 0.00277176, 0.09      ,-0.00020415, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.49287662, -1.97528282,  4.0353684 , -1.97528282, 15.94965929,
        5.60800991,  4.0353684 ,  5.60800991,  7.23795576,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028504012763984343
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94748549e-13,  4.86871372e-14,  1.00000000e+00, -9.48174932e-27,
        1.00000000e+00, -4.86871372e-14, -1.00000000e+00,  0.00000000e+00,
        1.94748549e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10835649, -0.09324446,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51486790e-05, 8.71704331e-05, 3.68790436e-05,-1.62290919e-05,
  1.89500354e-05, 1.41452356e-05, 9.04408615e-05,-5.42076138e-05,
  2.46199004e-05, 9.00752719e-05, 4.28288029e-05, 7.09095570e-05,
 -6.44684197e-04,-1.08240888e-04,-3.94326514e-05,-2.58688359e-04,
 -8.35856391e-07, 2.09155528e-06,-1.21644129e+00,-1.78920745e-03,
 -2.99728901e-04, 1.86169923e-06]


--- Step 89 ---
qpos:
[ 2.40542386e-03,-4.83660581e-03,-8.59853883e-03, 2.38795603e-03,
 -3.76390304e-03,-4.48374571e-03,-1.49512294e-02, 4.26566103e-03,
 -3.90745207e-03,-3.37730205e-03,-6.59177564e-03,-1.60514147e-02,
  3.39629055e-01, 1.48832190e-02, 1.98399545e-01, 2.35528822e-02,
  9.49206125e-02,-7.00461610e-02, 1.30720877e-01, 9.99993777e-01,
  3.77778442e-04,-6.37777327e-04,-3.44910655e-03]

qacc:
[ -0.1662946 ,  0.84613228, -0.33225566, -5.35709482,  2.96644339,
  -1.6094394 ,  5.33073877, -3.25769628,  6.63409868,  2.72642992,
 -12.09619386, 27.30616179, -0.09019889,-11.4031126 ,  4.4366377 ,
 -16.43044604, -1.00559633,  1.58881399, -0.37750974,-21.92861179,
 -16.48306154, -0.94001301]

qfrc_actuator:
[ 0.00043068,-0.00118204,-0.00188002, 0.00042853,-0.00073598,-0.00119456,
 -0.0032005 , 0.00072298,-0.0007568 ,-0.00081349,-0.00148043,-0.00320203,
  0.09455326, 0.00269214, 0.09      ,-0.0002781 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.48575279, -1.858509  ,  4.08263669, -1.858509  , 21.52976571,
        7.75882202,  4.08263669,  7.75882202,  8.01774489,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028270664729473927
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.81780085e-14, -2.45445021e-13,  1.00000000e+00,  2.40973034e-26,
        1.00000000e+00,  2.45445021e-13, -1.00000000e+00,  0.00000000e+00,
        9.81780085e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10835523, -0.09324657,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.38072438e-07, 8.14178549e-05, 6.94061769e-06,-1.24135128e-05,
  1.73546596e-05, 5.93084275e-05, 6.27906746e-05, 1.54100953e-05,
  3.90479165e-05, 1.10029696e-04, 3.20669405e-05, 5.27670546e-05,
 -6.49457902e-04,-1.23599138e-04,-5.50481104e-05,-9.55564748e-05,
  7.60220275e-07, 3.91068712e-06,-1.21644436e+00,-1.78836558e-03,
 -2.99965112e-04, 2.62585248e-06]


--- Step 90 ---
qpos:
[ 2.41500376e-03,-4.85386469e-03,-8.63223986e-03, 2.39708834e-03,
 -3.77831700e-03,-4.50012199e-03,-1.50086044e-02, 4.28144447e-03,
 -3.92231828e-03,-3.38883693e-03,-6.61648027e-03,-1.61129912e-02,
  3.41569093e-01, 1.49384106e-02, 2.00619747e-01, 2.36433308e-02,
  9.49131085e-02,-7.00371949e-02, 1.30720734e-01, 9.99993538e-01,
  3.14441968e-04,-7.00423029e-04,-3.51218941e-03]

qacc:
[  2.35958354,  0.07678204,  3.49377226,-14.27634977,  2.79211922,
  -2.89836791, 11.23860084,-13.85590379,  8.15512502, -1.21669344,
   1.84484795,  8.34104131, -0.55157467, -6.41039605, -0.7179379 ,
   1.53549843,  1.02947145, -0.38827752,  0.50206499,  3.76494893,
  16.82035676,  0.15968819]

qfrc_actuator:
[ 0.00044457,-0.00116046,-0.00189362, 0.00039675,-0.0007202 ,-0.00114999,
 -0.00312997, 0.00072409,-0.00071014,-0.00081661,-0.00143156,-0.00316793,
  0.09437225, 0.00264057, 0.09      ,-0.00026888, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.48792174, -2.92354402,  3.40504507, -2.92354402, 18.23013226,
       11.79895026,  3.40504507, 11.79895026, 14.61840452,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028341985621168844
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.79309495e-14, -1.23139061e-06,  1.00000000e+00,  1.20591252e-19,
        1.00000000e+00,  1.23139061e-06, -1.00000000e+00,  0.00000000e+00,
        9.79309495e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08193877, -0.06395126,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.39884381e-05, 6.89970716e-05, 4.21425797e-06,-2.82033791e-05,
  1.62892129e-05, 9.26404769e-05, 9.18974636e-05, 6.25669292e-06,
  4.77263126e-05, 6.81259287e-05, 7.79256436e-05, 4.11669219e-05,
 -6.58309391e-04,-9.68522752e-05,-4.25314884e-05,-4.95511925e-06,
  1.88937895e-06, 6.60688002e-06,-1.21645211e+00,-1.78682898e-03,
 -2.99770437e-04, 4.19340203e-06]


--- Step 91 ---
qpos:
[ 2.42467757e-03,-4.87080246e-03,-8.66518766e-03, 2.40539744e-03,
 -3.79208479e-03,-4.51616755e-03,-1.50643223e-02, 4.29641247e-03,
 -3.93720042e-03,-3.40048582e-03,-6.64020534e-03,-1.61732785e-02,
  3.43505706e-01, 1.49929522e-02, 2.02839902e-01, 2.37321296e-02,
  9.49095420e-02,-7.00312814e-02, 1.30721842e-01, 9.99993305e-01,
  2.70388212e-04,-7.30310529e-04,-3.57545987e-03]

qacc:
[  0.84029899, -3.37821796, 16.13254246,-31.81638011,  5.69344549,
  -5.88304133, 25.0343721 ,-42.02119916, -0.10613381, -0.23282557,
  -4.82492731, 25.64323901, -0.89504439, -3.00321902,  4.92811099,
 -17.33643298,  0.98439629, -0.76312232,  0.31251116,  9.58370326,
  16.41283056, -0.10568346]

qfrc_actuator:
[ 0.00044892,-0.00114098,-0.00185267, 0.00035665,-0.00068741,-0.0011347 ,
 -0.00304768, 0.00068295,-0.00071226,-0.00084951,-0.001393  ,-0.00310551,
  0.09418333, 0.00260591, 0.09      ,-0.0003528 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.49637667,  4.25687983,  1.4478872 ,  4.25687983,  6.64061143,
       -6.30418564,  1.4478872 , -6.30418564, 23.03108071,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000286177194034426
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.93974755e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.93974755e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08215119, -0.05810787,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.85373617e-06, 5.87004024e-05, 5.53019411e-05,-3.74613433e-05,
  3.32881265e-05, 8.75775826e-05, 1.13787360e-04,-3.37401888e-05,
 -8.16583446e-07, 2.38611252e-05, 6.42032999e-05, 6.90546906e-05,
 -6.70972034e-04,-8.01738791e-05,-2.70711319e-05,-9.15232512e-05,
  2.17091762e-06, 4.64538387e-06,-1.21644677e+00,-1.78629940e-03,
 -2.98580562e-04, 3.66256804e-06]


--- Step 92 ---
qpos:
[ 2.43364010e-03,-4.88730562e-03,-8.69715175e-03, 2.41278638e-03,
 -3.80500733e-03,-4.53201587e-03,-1.51185294e-02, 4.31114638e-03,
 -3.95268328e-03,-3.41202312e-03,-6.66358557e-03,-1.62323285e-02,
  3.45438869e-01, 1.50470388e-02, 2.05059890e-01, 2.38198800e-02,
  9.49099137e-02,-7.00283410e-02, 1.30723705e-01, 9.99993083e-01,
  2.45587711e-04,-7.28245871e-04,-3.63911818e-03]

qacc:
[ -6.20769205, -4.0582756 , 19.20787614,-37.04690562,  7.43110157,
  -4.45746635, 17.23539179,-23.82223131, -5.25619269,  1.7423178 ,
 -11.19641775, 31.94059311, -1.06433805, -1.20253124,  2.93959497,
 -10.6120402 ,  0.98455615, -0.74328844,  0.18891768,  9.5692985 ,
  16.01034279, -0.2052582 ]

qfrc_actuator:
[ 0.00041209,-0.00110496,-0.00179763, 0.000312  ,-0.00064486,-0.00113706,
 -0.00297702, 0.00067052,-0.00074308,-0.00084678,-0.00137871,-0.00304471,
  0.09400045, 0.00258143, 0.09      ,-0.00040217, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.49857321,  2.26745341, -3.88533344,  2.26745341, 15.83181311,
        6.61399952, -3.88533344,  6.61399952,  8.35845705,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002868876664450515
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.67471901e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.67471901e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08215336, -0.05810652,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.65818187e-05, 7.96187375e-05, 7.32399978e-05,-4.08553105e-05,
  4.35278694e-05, 6.98837337e-05, 1.02410307e-04,-5.27053871e-06,
 -3.09098826e-05, 3.30845619e-05, 3.00473958e-05, 6.55950586e-05,
 -6.73262529e-04,-7.07626669e-05,-3.10572012e-05,-6.01500328e-05,
  1.79388709e-06, 2.58790145e-06,-1.21644246e+00,-1.78604785e-03,
 -2.97575810e-04, 3.08714555e-06]


--- Step 93 ---
qpos:
[ 2.44243818e-03,-4.90332689e-03,-8.72824565e-03, 2.41993114e-03,
 -3.81766414e-03,-4.54751061e-03,-1.51714973e-02, 4.32596334e-03,
 -3.96807181e-03,-3.42326735e-03,-6.68666855e-03,-1.62905515e-02,
  3.47368637e-01, 1.51004393e-02, 2.07279721e-01, 2.39066588e-02,
  9.49142229e-02,-7.00283100e-02, 1.30725910e-01, 9.99992872e-01,
  2.40008291e-04,-6.94875229e-04,-3.70332003e-03]

qacc:
[ -1.42147694, -2.29558761, 10.14436203,-16.12119402,  2.35517664,
  -2.82871903, 10.40598734,-11.20278254,  0.83161413,  1.25832598,
  -7.4137675 , 21.02782066, -0.84777837, -3.30784712,  2.7116365 ,
  -9.8205373 ,  0.98434737, -0.72734916,  0.085346  ,  9.55331154,
  15.68779537, -0.28259032]

qfrc_actuator:
[ 0.00040459,-0.001077  ,-0.00175241, 0.00030056,-0.00063242,-0.00111451,
 -0.00291384, 0.00067506,-0.00073726,-0.00082283,-0.00136099,-0.00300311,
  0.09382664, 0.00254539, 0.09      ,-0.00044852, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.49447876,  2.18994382, -3.92485483,  2.18994382, 21.27787594,
        9.36460037, -3.92485483,  9.36460037,  9.71962712,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028556137955543237
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71965315e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.71965315e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08215469, -0.05810514,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.43512384e-06, 8.67696564e-05, 6.98182753e-05,-6.19624336e-06,
  1.37038034e-05, 8.37568406e-05, 9.08298688e-05, 1.10993993e-05,
  4.87034045e-06, 5.22219998e-05, 3.10479512e-05, 4.55446455e-05,
 -6.65252672e-04,-8.26668744e-05,-2.91737114e-05,-5.58314641e-05,
  1.11925222e-06, 7.41572692e-07,-1.21644041e+00,-1.78607953e-03,
 -2.97060676e-04, 2.73090662e-06]


--- Step 94 ---
qpos:
[ 2.45107916e-03,-4.91880227e-03,-8.75832559e-03, 2.42755686e-03,
 -3.83041804e-03,-4.56253396e-03,-1.52235945e-02, 4.34073218e-03,
 -3.98258303e-03,-3.43397440e-03,-6.70976964e-03,-1.63478287e-02,
  3.49295152e-01, 1.51519871e-02, 2.09499610e-01, 2.39908377e-02,
  9.49224681e-02,-7.00311374e-02, 1.30728109e-01, 9.99992669e-01,
  2.53618825e-04,-6.30713431e-04,-3.76818572e-03]

qacc:
[-1.35327412e+00,-1.11937830e+00, 3.01217898e+00, 3.28401792e+00,
 -8.29271260e-01,-1.90745627e+00, 7.91135414e+00,-1.04869871e+01,
  7.68073211e+00, 2.69417857e+00,-1.25892894e+01, 2.86088904e+01,
  1.84425271e-01,-1.38143118e+01, 7.89906747e+00,-2.76638324e+01,
  9.84022461e-01,-7.14597191e-01,-1.25573594e-03, 9.53766183e+00,
  1.54309241e+01,-3.42267172e-01]

qfrc_actuator:
[ 0.00039667,-0.00103636,-0.00169561, 0.00032649,-0.00063781,-0.00109499,
 -0.00287325, 0.00067181,-0.00069217,-0.00078639,-0.00135905,-0.00295535,
  0.09365839, 0.00244955, 0.09      ,-0.00058146, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.48552132,  2.08987263, -3.968921  ,  2.08987263, 28.53814351,
       12.66513409, -3.968921  , 12.66513409, 11.15446661,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000282630392169525
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.82044974e-14,  1.96408995e-13,  1.00000000e+00, -1.92882466e-26,
        1.00000000e+00, -1.96408995e-13, -1.00000000e+00,  0.00000000e+00,
        9.82044974e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08215537, -0.05810374,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.05311984e-06, 1.04219987e-04, 8.36361313e-05, 3.20318856e-05,
 -4.96930133e-06, 8.67492380e-05, 7.02386972e-05, 3.81584611e-06,
  4.51772070e-05, 7.47658139e-05, 1.86348414e-05, 5.21557206e-05,
 -6.54487315e-04,-1.42789671e-04,-2.79785916e-05,-1.41985952e-04,
  1.51957618e-07,-9.18229093e-07,-1.21644049e+00,-1.78639936e-03,
 -2.97020168e-04, 2.58334103e-06]


--- Step 95 ---
qpos:
[ 2.45955960e-03,-4.93382514e-03,-8.78740808e-03, 2.43544839e-03,
 -3.84313735e-03,-4.57697686e-03,-1.52748368e-02, 4.35533660e-03,
 -3.99713201e-03,-3.44438566e-03,-6.73263423e-03,-1.64033799e-02,
  3.51218453e-01, 1.52013332e-02, 2.11719528e-01, 2.40717419e-02,
  9.49346484e-02,-7.00367826e-02, 1.30730014e-01, 9.99992466e-01,
  2.86391841e-04,-5.36167014e-04,-3.83380741e-03]

qacc:
[ -1.38246442, -1.63974251,  5.59679964, -2.92928972,  0.31901008,
  -1.96093239,  8.7981285 ,-13.4371028 , -0.32760419,  3.28579694,
 -18.42298199, 47.67392327,  0.49895103,-16.87014928,  9.88414807,
 -34.71476574,  0.98375968, -0.70445872, -0.07349858,  9.52368563,
  15.22820658, -0.38789523]

qfrc_actuator:
[ 0.00038855,-0.00102386,-0.0016501 , 0.00033871,-0.00063588,-0.0010598 ,
 -0.00282857, 0.00066398,-0.00069534,-0.00077832,-0.00134864,-0.00286885,
  0.09348826, 0.00233704, 0.09      ,-0.0007466 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.47297331,  1.96391666, -4.01877115,  1.96391666, 38.16074369,
       16.46273721, -4.01877115, 16.46273721, 12.51808028,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027845437148550645
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.96772845e-14, -1.99354569e-13,  1.00000000e+00,  1.98711221e-26,
        1.00000000e+00,  1.99354569e-13, -1.00000000e+00,  0.00000000e+00,
        9.96772845e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08215554, -0.05810233,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.23477742e-06, 9.02903697e-05, 7.89492948e-05, 2.02859749e-05,
  1.81308582e-06, 9.94948779e-05, 7.21313722e-05,-1.49043513e-06,
 -1.92793350e-06, 5.67189124e-05, 3.04601117e-05, 9.15623255e-05,
 -6.52323980e-04,-1.61199151e-04,-3.75277866e-05,-1.78940023e-04,
 -1.10480045e-06,-2.40947473e-06,-1.21644262e+00,-1.78701077e-03,
 -2.97442678e-04, 2.63650827e-06]


--- Step 96 ---
qpos:
[ 2.46787845e-03,-4.94855865e-03,-8.81555952e-03, 2.44310743e-03,
 -3.85607961e-03,-4.59095793e-03,-1.53248341e-02, 4.37006904e-03,
 -4.01195181e-03,-3.45448432e-03,-6.75493717e-03,-1.64571380e-02,
  3.53138449e-01, 1.52496690e-02, 2.13939428e-01, 2.41489981e-02,
  9.49507634e-02,-7.00452137e-02, 1.30731386e-01, 9.99992252e-01,
  3.38305281e-04,-4.11552871e-04,-3.90025481e-03]

qacc:
[ -1.39119044, -2.69611715, 11.15372601,-16.88345853, -1.91704494,
  -2.60091539,  9.62592158, -9.74888228, -2.36051893,  2.54147185,
 -16.0136457 , 45.88778633, -0.55947508, -6.01907475, 11.00733651,
 -38.58570243,  0.98368167, -0.69646764, -0.13361771,  9.51228294,
  15.07031876, -0.42230871]

qfrc_actuator:
[ 0.00038039,-0.00102838,-0.00161176, 0.00032498,-0.00064741,-0.00103325,
 -0.00276403, 0.00067129,-0.00070915,-0.00075174,-0.00131564,-0.00277801,
  0.09331712, 0.00228662, 0.09      ,-0.00092933, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027333160940537504
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.03090859e-13, -2.03090859e-13,  1.00000000e+00,  4.12458968e-26,
        1.00000000e+00,  2.03090859e-13, -1.00000000e+00,  0.00000000e+00,
        2.03090859e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08215531, -0.05810091,  0.06199155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.29655576e-06, 6.39875011e-05, 6.79036349e-05,-6.66205456e-06,
 -1.14451511e-05, 9.81099242e-05, 9.46637014e-05, 1.41560891e-05,
 -1.39203883e-05, 6.92344258e-05, 5.21362034e-05, 9.62995649e-05,
 -6.53038467e-04,-1.00036205e-04,-4.58124806e-05,-1.99774057e-04,
 -2.64942555e-06,-3.74502312e-06,-1.21644673e+00,-1.78791615e-03,
 -2.98319294e-04, 2.88457375e-06]


--- Step 97 ---
qpos:
[ 2.47603613e-03,-4.96296278e-03,-8.84271532e-03, 2.45053467e-03,
 -3.86871435e-03,-4.60468735e-03,-1.53737924e-02, 4.38447283e-03,
 -4.02613339e-03,-3.46441798e-03,-6.77626545e-03,-1.65100862e-02,
  3.55055206e-01, 1.52970430e-02, 2.16159098e-01, 2.42237507e-02,
  9.49629415e-02,-7.00468894e-02, 1.30732434e-01, 9.99992019e-01,
  3.45814488e-04,-3.22254030e-04,-3.96726599e-03]

qacc:
[ -1.38609907, -2.8223705 , 11.67780323,-17.52867354,  2.71511075,
  -3.25255246, 13.45848541,-20.98435095,  5.62216833, -0.84887594,
  -0.09212984, 12.44469191, -0.56081417, -5.65853879,  7.22824644,
 -25.81782762, -0.9842212 ,  1.68885579, -0.08063131,-22.13318839,
 -17.74420742, -0.26681303]

qfrc_actuator:
[ 0.00037226,-0.00100762,-0.00156031, 0.00031381,-0.00063127,-0.00104752,
 -0.00272381, 0.00065195,-0.00067585,-0.00074969,-0.0012695 ,-0.00273859,
  0.09315614, 0.00223764, 0.09      ,-0.00104994, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.45622868,  2.62743386, -3.5992451 ,  2.62743386, 17.23404444,
        9.32775204, -3.5992451 ,  9.32775204, 11.26544863,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002727479518282727
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.03525456e-13, -2.03525456e-13,  1.00000000e+00,  4.14226112e-26,
        1.00000000e+00,  2.03525456e-13, -1.00000000e+00,  0.00000000e+00,
        2.03525456e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10833403, -0.09326779,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.27243592e-06, 7.11014016e-05, 7.32836344e-05,-6.12730059e-06,
  1.58483534e-05, 6.18163077e-05, 7.33578086e-05,-1.14696439e-05,
  3.28635981e-05, 5.63523175e-05, 7.06762720e-05, 4.62590180e-05,
 -6.39524674e-04,-9.70356561e-05,-5.18219031e-05,-1.39835219e-04,
 -4.48179854e-06,-4.93374152e-06,-1.21645279e+00,-1.78911715e-03,
 -2.99643255e-04, 3.32343120e-06]


--- Step 98 ---
qpos:
[ 2.48472427e-03,-4.97715681e-03,-8.86896905e-03, 2.45813896e-03,
 -3.88105767e-03,-4.61785944e-03,-1.54222390e-02, 4.39818771e-03,
 -4.03980682e-03,-3.47422756e-03,-6.79705895e-03,-1.65624550e-02,
  3.56968755e-01, 1.53438262e-02, 2.18378704e-01, 2.42950748e-02,
  9.49711652e-02,-7.00419587e-02, 1.30732665e-01, 9.99991774e-01,
  3.09157328e-04,-2.67244373e-04,-4.03535403e-03]

qacc:
[  4.67072916, -1.88812501,  6.37171886, -4.88710148,  2.55248142,
  -2.11681777, 11.51606728,-24.65835934,  4.46866482, -0.14630446,
  -1.69832934, 10.78833186, -0.88138553, -2.28218034, 10.29509258,
 -36.13896982, -0.98858074,  1.65160281, -0.20447049,-22.01516096,
 -17.23225288, -0.52540042]

qfrc_actuator:
[ 0.00039972,-0.00100735,-0.00151917, 0.00032203,-0.00061671,-0.00101523,
 -0.00269847, 0.00061704,-0.00065057,-0.00076234,-0.00125162,-0.00271199,
  0.09299605, 0.00220763, 0.09      ,-0.00122171, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.4612224 , -2.28620608,  3.83089638, -2.28620608, 10.87104647,
        3.82526107,  3.83089638,  3.82526107,  6.74406544,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002744662690641192
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02251269e-13, -2.02251269e-13,  1.00000000e+00,  4.09055758e-26,
        1.00000000e+00,  2.02251269e-13, -1.00000000e+00,  0.00000000e+00,
        2.02251269e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10833046, -0.09326952,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.73191472e-05, 5.56976357e-05, 6.51016091e-05, 1.37590081e-05,
  1.50294818e-05, 8.25628215e-05, 4.74521992e-05,-2.98468237e-05,
  2.61630628e-05, 3.61362678e-05, 4.02895688e-05, 3.25388511e-05,
 -6.28438687e-04,-7.74735571e-05,-4.73532981e-05,-1.88307523e-04,
 -9.05826240e-07,-3.80490626e-06,-1.21644518e+00,-1.78876693e-03,
 -3.02327371e-04, 1.55347922e-06]


--- Step 99 ---
qpos:
[ 2.49298564e-03,-4.99122683e-03,-8.89472518e-03, 2.46616908e-03,
 -3.89347555e-03,-4.63022954e-03,-1.54701513e-02, 4.41134620e-03,
 -4.05341685e-03,-3.48391195e-03,-6.81774088e-03,-1.66137184e-02,
  3.58879126e-01, 1.53899179e-02, 2.20598106e-01, 2.43637338e-02,
  9.49754230e-02,-7.00305416e-02, 1.30731661e-01, 9.99991518e-01,
  2.28538934e-04,-2.45699521e-04,-4.10492088e-03]

qacc:
[ -3.72386915, -0.34263437, -0.32535366,  6.79422285, -0.64875082,
  -1.57715735,  9.51247499,-20.5890293 ,  0.5576684 ,  2.12941993,
 -12.01376986, 30.86052822, -0.77324246, -3.20760322,  7.76995832,
 -27.6218459 , -0.99150237,  1.62157872, -0.30846224,-21.91311157,
 -16.82119477, -0.72837764]

qfrc_actuator:
[ 0.0003769 ,-0.00101939,-0.00150228, 0.00034157,-0.00062096,-0.00095542,
 -0.00266419, 0.00059101,-0.000648  ,-0.00076608,-0.00125065,-0.00265768,
  0.09283129, 0.00217127, 0.09      ,-0.00135124, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.45991377, -2.21070822,  3.87344808, -2.21070822, 14.22927351,
        5.57570501,  3.87344808,  5.57570501,  7.64215777,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002740173546157826
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.53228264e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.53228264e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10832803, -0.09327159,  0.06199153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.19556940e-05, 3.39293724e-05, 3.73367592e-05, 2.45147260e-05,
 -3.79783172e-06, 1.15525578e-04, 5.68342829e-05,-2.13182577e-05,
  3.26982987e-06, 2.68636750e-05, 1.49815984e-05, 5.80664433e-05,
 -6.23681783e-04,-8.28104471e-05,-5.12780819e-05,-1.48329741e-04,
  2.07028200e-06,-1.89611677e-06,-1.21644264e+00,-1.78774983e-03,
 -3.04514638e-04, 6.49089263e-07]


--- Step 100 ---
qpos:
[ 2.50022111e-03,-5.00526448e-03,-8.91969725e-03, 2.47401934e-03,
 -3.90550275e-03,-4.64209357e-03,-1.55169328e-02, 4.42443381e-03,
 -4.06689105e-03,-3.49361805e-03,-6.83847870e-03,-1.66635522e-02,
  3.60786376e-01, 1.54349054e-02, 2.22816694e-01, 2.44349317e-02,
  9.49757070e-02,-7.00127346e-02, 1.30729075e-01, 9.99991241e-01,
  1.04131354e-04,-2.56959758e-04,-4.17628053e-03]

qacc:
[ -8.96076985, -2.50173681,  9.77136953,-14.19402231,  3.44007707,
  -2.64389577, 10.68545342,-14.08119057,  1.18985226,  3.07043915,
 -17.01987681, 41.85388684, -0.3305007 , -7.16108495, -8.9241715 ,
  29.40014605, -0.99345647,  1.59749234, -0.39573364,-21.82729382,
 -16.49248885, -0.88730783]

qfrc_actuator:
[ 0.00032465,-0.00102106,-0.00146439, 0.00033207,-0.00060075,-0.00093282,
 -0.00260703, 0.00058822,-0.00064104,-0.00078228,-0.00125962,-0.0025875 ,
  0.09266915, 0.00211368, 0.09      ,-0.00120629, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.45363353, -2.11410494,  3.91987397, -2.11410494, 18.78174952,
        7.72758027,  3.91987397,  7.72758027,  8.62134804,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027184929677374903
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02099126e-13, -2.55247815e-13,  1.00000000e+00,  2.60605788e-26,
        1.00000000e+00,  2.55247815e-13, -1.00000000e+00,  0.00000000e+00,
        1.02099126e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1083265 , -0.09327393,  0.0619916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.27950845e-05, 2.68246630e-05, 5.07869367e-05,-6.20467387e-06,
  2.01411582e-05, 9.90100581e-05, 8.79663931e-05, 3.81623670e-06,
  6.98963200e-06, 5.07038651e-06, 8.93453051e-07, 7.31594436e-05,
 -6.17853461e-04,-1.04332898e-04,-4.83123400e-05, 1.27954078e-04,
  4.52564134e-06, 8.26427817e-07,-1.21644498e+00,-1.78605582e-03,
 -3.06244901e-04, 5.71047363e-07]


--- Step 101 ---
qpos:
[ 2.50677512e-03,-5.01905381e-03,-8.94408856e-03, 2.48168232e-03,
 -3.91684907e-03,-4.65383358e-03,-1.55624950e-02, 4.43812201e-03,
 -4.07948852e-03,-3.50339898e-03,-6.85913985e-03,-1.67121555e-02,
  3.62690465e-01, 1.54792348e-02, 2.25035157e-01, 2.45062296e-02,
  9.49798956e-02,-6.99980815e-02, 1.30728088e-01, 9.99990952e-01,
 -1.25678889e-06,-2.34408418e-04,-4.24744001e-03]

qacc:
[ -5.95397237, -1.66918386,  7.23815164,-11.61194476,  5.9850694 ,
  -2.01759378,  4.8766939 ,  3.4976622 ,  7.68801647,  2.20627948,
 -13.22241092, 34.46022436, -0.77222721, -2.98902791, -0.49142641,
   1.44588631,  0.97617473, -0.78846651,  0.39970137,  9.43905846,
  16.94536506,  0.09585597]

qfrc_actuator:
[ 0.00029102,-0.00099871,-0.00143213, 0.00032334,-0.0005663 ,-0.00095032,
 -0.0025547 , 0.00061686,-0.00059606,-0.0007881 ,-0.00125667,-0.00252632,
  0.09250337, 0.00207954, 0.09      ,-0.00120258, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.45236943, -2.61367812,  3.60448058, -2.61367812, 18.12598668,
        9.91500256,  3.60448058,  9.91500256, 11.64192828,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002714101370798333
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02264329e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.02264329e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08216567, -0.05809267,  0.06199161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.50578962e-05, 4.83126584e-05, 4.42681821e-05,-5.87458898e-06,
  3.50628039e-05, 5.71548227e-05, 8.44085993e-05, 3.60998222e-05,
  4.51209223e-05, 9.94811056e-07, 7.09142466e-06, 6.30326251e-05,
 -6.18285469e-04,-8.17176412e-05,-1.49831351e-05, 2.75948079e-06,
  6.51963651e-06, 4.38357553e-06,-1.21645202e+00,-1.78367799e-03,
 -3.07547824e-04, 1.28989218e-06]


--- Step 102 ---
qpos:
[ 2.51287595e-03,-5.03247580e-03,-8.96825038e-03, 2.48953659e-03,
 -3.92769383e-03,-4.66565643e-03,-1.56069185e-02, 4.45242714e-03,
 -4.09110518e-03,-3.51336552e-03,-6.87898955e-03,-1.67600262e-02,
  3.64591287e-01, 1.55228817e-02, 2.27254098e-01, 2.45726490e-02,
  9.49880042e-02,-6.99864809e-02, 1.30728155e-01, 9.99990655e-01,
 -8.76092138e-05,-1.79017287e-04,-4.31866795e-03]

qacc:
[-3.96773434e+00, 2.45789041e-01,-9.65972985e-01, 3.62465054e+00,
  4.41909281e+00,-2.02960985e+00, 4.45914488e+00, 4.47331658e+00,
  8.62477892e+00,-1.02138090e+00, 1.67140424e-01, 1.13757620e+01,
 -8.53537938e-01,-2.76985435e+00, 1.54881014e+01,-5.31475339e+01,
  9.79989517e-01,-7.63152327e-01, 2.63515499e-01, 9.44802223e+00,
  1.64601725e+01,-3.64548206e-02]

qfrc_actuator:
[ 0.00026864,-0.00097994,-0.00142113, 0.0003329 ,-0.00054149,-0.00097395,
 -0.0025058 , 0.00064596,-0.0005468 ,-0.00078764,-0.00121117,-0.00248865,
  0.09231423, 0.00204172, 0.09      ,-0.00145972, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.4608059 ,  2.36216187, -3.7840429 ,  2.36216187, 11.95105993,
        4.67573781, -3.7840429 ,  4.67573781,  7.37960198,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000274323498554066
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  6.0706959e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -6.0706959e-13, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08216896, -0.05809114,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.33071896e-05, 5.54177243e-05, 2.66601175e-05, 1.31170668e-05,
  2.58217332e-05, 2.82528042e-05, 7.29852823e-05, 3.52685424e-05,
  5.04792433e-05, 5.86395397e-06, 4.92029827e-05, 3.93480083e-05,
 -6.40387922e-04,-8.50961311e-05,-1.61458802e-05,-2.61365034e-04,
  6.11021849e-06, 1.59239193e-06,-1.21644852e+00,-1.78256078e-03,
 -3.07258632e-04, 2.24072177e-07]


--- Step 103 ---
qpos:
[ 2.51900702e-03,-5.04563950e-03,-8.99232181e-03, 2.49746955e-03,
 -3.93815695e-03,-4.67721462e-03,-1.56504796e-02, 4.46660104e-03,
 -4.10273232e-03,-3.52288828e-03,-6.89839241e-03,-1.68074717e-02,
  3.66488770e-01, 1.55664676e-02, 2.29472666e-01, 2.46381494e-02,
  9.50000436e-02,-6.99778513e-02, 1.30728818e-01, 9.99990347e-01,
 -1.54926404e-04,-9.15628985e-05,-4.39017257e-03]

qacc:
[  0.26332898,  0.25029623, -0.73025731,  1.75868155,  3.35647411,
  -2.33636438,  9.38100464,-13.21440379, -0.08519482,  0.21376624,
  -1.70438847,  8.01963612, -1.39678891,  2.49846152,  2.2662977 ,
  -8.63780639,  0.98268672, -0.74271978,  0.14910384,  9.44826814,
  16.07259364, -0.13866568]

qfrc_actuator:
[ 0.00027079,-0.00098128,-0.00142275, 0.00033538,-0.00052258,-0.00094785,
 -0.00245938, 0.00063957,-0.0005487 ,-0.00073   ,-0.00117643,-0.0024651 ,
  0.09213782, 0.00203749, 0.09      ,-0.00149562, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.4624282 ,  2.30764764, -3.81942768,  2.30764764, 15.7814395 ,
        6.8387968 , -3.81942768,  6.8387968 ,  8.5943387 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002748790477056645
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01368206e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.01368206e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08217121, -0.05808964,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56895540e-06, 3.64426400e-05, 1.39801385e-05, 6.09870408e-06,
  1.96633648e-05, 5.94178712e-05, 6.30953325e-05,-1.86942739e-06,
 -5.16124893e-07, 7.34415213e-05, 4.38231859e-05, 2.64410951e-05,
 -6.44443647e-04,-5.36661185e-05,-4.76086161e-05,-5.53384154e-05,
  5.40757390e-06,-9.63941792e-07,-1.21644729e+00,-1.78171650e-03,
 -3.07486113e-04,-6.04346485e-07]


--- Step 104 ---
qpos:
[ 2.52477244e-03,-5.05870141e-03,-9.01587628e-03, 2.50536267e-03,
 -3.94865672e-03,-4.68843105e-03,-1.56931569e-02, 4.48023302e-03,
 -4.11429272e-03,-3.53170129e-03,-6.91738557e-03,-1.68542951e-02,
  3.68383049e-01, 1.56086702e-02, 2.31690666e-01, 2.47053220e-02,
  9.50105370e-02,-6.99749843e-02, 1.30729809e-01, 9.99990042e-01,
 -1.78666065e-04,-1.08779166e-05,-4.45922732e-03]

qacc:
[ -3.18755661, -1.38621788,  5.31662445, -6.91900131, -0.29863093,
  -3.13330544, 14.11657032,-25.16277146,  0.58592247,  1.07303336,
  -5.08956164, 14.67285787, -0.11824991, -9.24868356, -5.95058844,
  19.48504033, -0.38648968, -1.44067169,  0.08211286, 21.80352553,
  -3.28920398,  1.22241127]

qfrc_actuator:
[ 0.00025185,-0.00097697,-0.00139639, 0.00033365,-0.00052502,-0.00092772,
 -0.00241462, 0.0006124 ,-0.00054517,-0.00067413,-0.00114808,-0.00243225,
  0.09196917, 0.00196429, 0.09      ,-0.00140079, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.46794025,  4.06616811,  1.851693  ,  4.06616811,  7.14945029,
       -5.88837926,  1.851693  , -5.88837926, 17.39834503,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027675558153142377
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.01156507e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.01156507e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09859358, -0.04627269,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.88112112e-05, 2.85561719e-05, 3.62261438e-05, 4.95796846e-07,
 -1.86400369e-06, 6.72123118e-05, 6.53547890e-05,-2.23906946e-05,
  3.46989310e-06, 1.07768531e-04, 5.02560032e-05, 3.81990916e-05,
 -6.37347606e-04,-1.22285014e-04,-3.66142161e-05, 8.34094238e-05,
  4.41468552e-06,-3.31645375e-06,-1.21644820e+00,-1.78115211e-03,
 -3.08210441e-04,-1.20989518e-06]


--- Step 105 ---
qpos:
[ 2.53026737e-03,-5.07161266e-03,-9.03892307e-03, 2.51282376e-03,
 -3.95979379e-03,-4.69936643e-03,-1.57346346e-02, 4.49307547e-03,
 -4.12537714e-03,-3.53998485e-03,-6.93584487e-03,-1.68999977e-02,
  3.70274024e-01, 1.56493975e-02, 2.33908683e-01, 2.47713766e-02,
  9.50195663e-02,-6.99778381e-02, 1.30730663e-01, 9.99989742e-01,
 -1.59487572e-04, 6.26594825e-05,-4.52613553e-03]

qacc:
[-2.35549327e+00,-2.10518742e+00, 9.62643954e+00,-1.80343803e+01,
 -5.53485380e+00,-4.59465498e+00, 2.02738302e+01,-3.60847750e+01,
  4.17947094e+00, 1.50812880e+00,-9.10129924e+00, 2.72573017e+01,
 -1.11851637e-01,-9.70464269e+00, 3.36591846e+00,-1.18539810e+01,
 -3.66018789e-01,-1.43019786e+00,-3.44046824e-02, 2.14748126e+01,
 -3.47825663e+00, 1.07240152e+00]

qfrc_actuator:
[ 0.00023841,-0.00096922,-0.00137147, 0.00031173,-0.00055777,-0.00091136,
 -0.00235347, 0.00057321,-0.00052073,-0.00065526,-0.00112373,-0.00237643,
  0.09177865, 0.00188657, 0.09      ,-0.00146053, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.47002042, -1.82138005, -4.08211432, -1.82138005, 16.17526621,
       -5.22271045, -4.08211432, -5.22271045,  6.80031787,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027745937709365565
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00069473e-13,  2.00069473e-13,  1.00000000e+00, -4.00277938e-26,
        1.00000000e+00, -2.00069473e-13, -1.00000000e+00,  0.00000000e+00,
        2.00069473e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0985962 , -0.04627377,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.39110098e-05, 3.19264758e-05, 3.57073251e-05,-1.93748514e-05,
 -3.27819537e-05, 6.73598737e-05, 8.29097620e-05,-3.43891054e-05,
  2.45259021e-05, 9.17624967e-05, 5.45450698e-05, 6.30836771e-05,
 -6.58556493e-04,-1.29239165e-04,-1.59578917e-05,-6.19841196e-05,
  1.26482109e-06,-3.43417361e-06,-1.21644444e+00,-1.78065162e-03,
 -3.08012026e-04,-5.20257297e-07]


--- Step 106 ---
qpos:
[ 2.53590438e-03,-5.08425970e-03,-9.06179674e-03, 2.51962870e-03,
 -3.97123702e-03,-4.70988159e-03,-1.57747814e-02, 4.50463202e-03,
 -4.13642831e-03,-3.54765579e-03,-6.95441048e-03,-1.69449837e-02,
  3.72161660e-01, 1.56889201e-02, 2.36126551e-01, 2.48368569e-02,
  9.50271971e-02,-6.99863776e-02, 1.30730989e-01, 9.99989448e-01,
 -9.79259609e-05, 1.28758277e-04,-4.59113495e-03]

qacc:
[  1.24459239, -1.48855167,  8.57944123,-20.40143816, -2.64061872,
  -5.80608256, 26.94586699,-51.65013805,  0.27797748,  2.58251891,
 -11.05449156, 23.16626734, -0.36471272, -7.31275704,  1.48702226,
  -5.60053525, -0.34963333, -1.42141798, -0.13211002, 21.20811603,
  -3.62350055,  0.95512897]

qfrc_actuator:
[ 0.00024606,-0.0009595 ,-0.00136535, 0.00027809,-0.00057258,-0.00087959,
 -0.00228316, 0.00050954,-0.00051966,-0.00064094,-0.00113755,-0.00234308,
  0.09160177, 0.00182453, 0.09      ,-0.00148662, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.46631943, -1.90929895, -4.03764619, -1.90929895, 21.04581224,
       -7.84001539, -4.03764619, -7.84001539,  8.1736609 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027620554430798916
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.01955373e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.01955373e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09859838, -0.04627399,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.32548930e-06, 3.48197532e-05, 1.68371558e-05,-3.13435226e-05,
 -1.57296026e-05, 8.59359855e-05, 9.38375528e-05,-5.85036390e-05,
  1.73801648e-06, 8.01914769e-05, 1.44283756e-05, 4.05526986e-05,
 -6.61059259e-04,-1.15896393e-04,-2.46910733e-05,-3.42484707e-05,
 -1.57084690e-06,-2.90092042e-06,-1.21644364e+00,-1.78081347e-03,
 -3.07828445e-04, 5.27681845e-08]


--- Step 107 ---
qpos:
[ 2.54193518e-03,-5.09654433e-03,-9.08450461e-03, 2.52631208e-03,
 -3.98207906e-03,-4.72033194e-03,-1.58138652e-02, 4.51540190e-03,
 -4.14772655e-03,-3.55472973e-03,-6.97298119e-03,-1.69895666e-02,
  3.74046006e-01, 1.57274121e-02, 2.38344132e-01, 2.49028226e-02,
  9.50334817e-02,-7.00005738e-02, 1.30730459e-01, 9.99989151e-01,
  5.58841794e-06, 1.87194828e-04,-4.65441168e-03]

qacc:
[  3.44718952, -0.24153096,  2.05747538, -4.68005918,  5.28302369,
  -4.51418522, 19.52367797,-34.86840915, -2.17523181,  1.63820089,
  -6.38841304, 12.92199676, -0.48883506, -5.87523375, -1.91699511,
   6.03503702, -0.3365244 , -1.41418827, -0.213911  , 20.99364085,
  -3.73486051,  0.86365787]

qfrc_actuator:
[ 0.00026606,-0.00093101,-0.00135264, 0.00027334,-0.00054121,-0.00090983,
 -0.00224346, 0.00046748,-0.00053237,-0.00061189,-0.00113836,-0.00232326,
  0.09143852, 0.00177222, 0.09      ,-0.00145711, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  4.45814226,  -2.01571961,  -3.97641884,  -2.01571961,
        27.01153185, -11.43272666,  -3.97641884, -11.43272666,
        10.253601  ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00027340809541540056
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.03034044e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.03034044e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09860022, -0.04627353,  0.06199155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.02861033e-05, 5.07876937e-05, 2.12909011e-05,-3.22833034e-06,
  3.09568959e-05, 3.55124453e-05, 6.75497304e-05,-3.61799752e-05,
 -1.26897969e-05, 7.91654201e-05, 1.93325065e-05, 2.47009800e-05,
 -6.48312379e-04,-1.06349776e-04,-2.51733290e-05, 2.18753323e-05,
 -4.12676772e-06,-1.74541090e-06,-1.21644569e+00,-1.78162923e-03,
 -3.07634037e-04, 5.05131066e-07]


--- Step 108 ---
qpos:
[ 2.54850499e-03,-5.10839153e-03,-9.10722365e-03, 2.53288991e-03,
 -3.99177085e-03,-4.73086994e-03,-1.58526531e-02, 4.52669591e-03,
 -4.15874515e-03,-3.56153146e-03,-6.99135505e-03,-1.70324979e-02,
  3.75927038e-01, 1.57660217e-02, 2.40561666e-01, 2.49679223e-02,
  9.50358757e-02,-7.00080910e-02, 1.30730055e-01, 9.99988844e-01,
  6.32007462e-05, 2.09678031e-04,-4.71853432e-03]

qacc:
[ 4.71183805e+00, 3.82763287e-01,-9.63629899e-02,-2.01710160e+00,
  1.00579709e+01, 1.16906214e-01,-2.83138104e+00, 1.15304579e+01,
  2.45278087e+00, 3.20685945e+00,-1.78820491e+01, 4.59363415e+01,
 -1.57877474e+00, 4.11683956e+00, 2.60158772e+00,-9.07693987e+00,
 -9.72689055e-01, 1.66975344e+00, 3.16216112e-02,-2.28670264e+01,
 -1.80833035e+01,-4.27169768e-01]

qfrc_actuator:
[ 0.00029316,-0.00090922,-0.00135378, 0.00026788,-0.0004829 ,-0.00094158,
 -0.00224016, 0.00049166,-0.00051758,-0.00060975,-0.00113141,-0.00224051,
  0.09127824, 0.00177931, 0.09      ,-0.00150158, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.46079663,  0.71131356, -4.40371883,  0.71131356, 29.64408917,
        4.06774777, -4.40371883,  4.06774777,  5.11784224,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027432031709297144
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.04717753e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.04717753e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10829882, -0.09328802,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.77622778e-05, 5.51318901e-05, 1.22488029e-05,-2.54258400e-06,
  5.92056168e-05, 1.33042455e-06, 1.82679240e-05, 2.74271514e-05,
  1.44060177e-05, 5.19981742e-05, 2.69226054e-05, 8.74370691e-05,
 -6.35204846e-04,-4.60869574e-05,-1.89088751e-05,-4.89932912e-05,
 -6.42866083e-06, 1.29179134e-08,-1.21645053e+00,-1.78309206e-03,
 -3.07409947e-04, 8.34735537e-07]


--- Step 109 ---
qpos:
[ 2.55534999e-03,-5.11984129e-03,-9.12974983e-03, 2.53865272e-03,
 -4.00068820e-03,-4.74143734e-03,-1.58911257e-02, 4.53853062e-03,
 -4.16950172e-03,-3.56830797e-03,-7.00938739e-03,-1.70737333e-02,
  3.77804780e-01, 1.58047914e-02, 2.42779317e-01, 2.50302868e-02,
  9.50343534e-02,-7.00090568e-02, 1.30729210e-01, 9.99988534e-01,
  7.54308134e-05, 1.97372903e-04,-4.78396453e-03]

qacc:
[  2.40828964, -1.69711928, 10.24515137,-24.94166329,  6.77493981,
   0.18029184, -3.00454774, 11.90461862,  2.30738107,  2.56765405,
 -16.26335244, 45.03539023, -1.63487602,  4.58307116,  8.51005535,
 -29.38472146, -0.97904257,  1.63786494, -0.1102089 ,-22.60866527,
 -17.50108169, -0.65744213]

qfrc_actuator:
[ 0.00030648,-0.00089168,-0.00134537, 0.00022654,-0.00044473,-0.00093862,
 -0.00222283, 0.0005191 ,-0.00050447,-0.00062365,-0.00112001,-0.00215693,
  0.0911092 , 0.00178581, 0.09      ,-0.00164255, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.47166806, -1.05433231,  4.34559531, -1.05433231, 11.18325062,
        1.6283703 ,  4.34559531,  1.6283703 ,  4.86674475,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002780151457153629
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98347610e-14,  4.99173805e-14,  1.00000000e+00,  4.98348975e-27,
        1.00000000e+00, -4.99173805e-14, -1.00000000e+00,  0.00000000e+00,
       -9.98347610e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1082944 , -0.0932879 ,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.41827983e-05, 5.14693470e-05, 2.16007869e-05,-3.85486927e-05,
  3.98647884e-05, 9.49307747e-06, 2.13477683e-05, 2.87382660e-05,
  1.34907587e-05, 2.50019732e-05, 2.88592352e-05, 8.85892495e-05,
 -6.29938706e-04,-4.38780416e-05,-2.47682954e-05,-1.48823329e-04,
 -3.25246470e-06, 2.84341895e-07,-1.21644283e+00,-1.78351901e-03,
 -3.09022153e-04,-3.89017074e-07]


--- Step 110 ---
qpos:
[ 2.56230255e-03,-5.13065042e-03,-9.15213966e-03, 2.54384884e-03,
 -4.00976801e-03,-4.75203305e-03,-1.59287887e-02, 4.54987817e-03,
 -4.18070802e-03,-3.57522859e-03,-7.02700313e-03,-1.71139714e-02,
  3.79679196e-01, 1.58434012e-02, 2.44996649e-01, 2.50921271e-02,
  9.50288970e-02,-7.00035753e-02, 1.30727448e-01, 9.99988221e-01,
  4.27137878e-05, 1.51213699e-04,-4.85106040e-03]

qacc:
[  0.93478812, -0.70340478,  6.1251809 ,-16.61811235, -1.39350788,
  -3.29965959, 13.77268223,-23.48418067, -3.92466687,  0.70700138,
  -6.98822706, 23.6612299 , -1.32941891,  1.76003064,  1.14790462,
  -4.61710532, -0.98355526,  1.61180766, -0.22959936,-22.39214587,
 -17.03441876, -0.8359879 ]

qfrc_actuator:
[ 0.00031156,-0.0008413 ,-0.00133143, 0.00019991,-0.00045423,-0.00093259,
 -0.00217949, 0.00049499,-0.00052796,-0.00064706,-0.00110617,-0.00210906,
  0.09092438, 0.0017741 , 0.09      ,-0.00166167, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.47489447, -0.97286088,  4.36786243, -0.97286088, 15.13873333,
        2.37517364,  4.36786243,  2.37517364,  5.00392064,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002790991754388211
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.98893999e-13, -4.97234998e-14,  1.00000000e+00,  9.88970575e-27,
        1.00000000e+00,  4.97234998e-14, -1.00000000e+00,  0.00000000e+00,
        1.98893999e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1082913 , -0.09328851,  0.06199138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.56579959e-06, 8.26167121e-05, 2.62760185e-05,-2.43598092e-05,
 -8.35772483e-06, 1.77970752e-05, 4.94783119e-05,-2.23175434e-05,
 -2.31500271e-05, 8.52926861e-07, 2.60019514e-05, 5.18102068e-05,
 -6.41791133e-04,-6.19870734e-05,-3.88857988e-05,-3.33605406e-05,
 -7.24613222e-07, 1.43161267e-06,-1.21644041e+00,-1.78325048e-03,
 -3.10125025e-04,-6.97878177e-07]


--- Step 111 ---
qpos:
[ 2.56822865e-03,-5.14101969e-03,-9.17416167e-03, 2.54904126e-03,
 -4.01889086e-03,-4.76254535e-03,-1.59656518e-02, 4.56014558e-03,
 -4.19176442e-03,-3.58259508e-03,-7.04411915e-03,-1.71536311e-02,
  3.81550315e-01, 1.58812793e-02, 2.47213820e-01, 2.51528664e-02,
  9.50194933e-02,-6.99917314e-02, 1.30724365e-01, 9.99987893e-01,
 -3.45900340e-05, 7.19464990e-05,-4.92009805e-03]

qacc:
[ -8.98337117, -0.43682084,  2.44686296, -3.45535005, -0.35283242,
  -4.34786379, 20.22409647,-40.26130621,  1.3371061 , -0.79750377,
  -0.45470241,  9.99195826, -0.79201333, -3.0423055 ,  3.09407556,
 -11.17415527, -0.98680128,  1.59061858, -0.33002978,-22.21268404,
 -16.66199031, -0.97357978]

qfrc_actuator:
[ 0.00025851,-0.00082489,-0.00131419, 0.00019995,-0.0004562 ,-0.00092472,
 -0.0021389 , 0.00044078,-0.00051955,-0.00069375,-0.00109106,-0.0020826 ,
  0.09074619, 0.00173398, 0.09      ,-0.00171532, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.47190681, -0.87043719,  4.38637545, -0.87043719, 20.34207421,
        3.14929354,  4.38637545,  3.14929354,  5.09685609,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027809555471643155
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.98058946e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.98058946e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10828925, -0.09328972,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.28092467e-05, 6.76173016e-05, 3.70667678e-05, 4.07607953e-06,
 -2.20469002e-06, 2.78846117e-05, 5.01268714e-05,-5.20910336e-05,
  7.69927595e-06,-3.81224318e-05, 2.06423872e-05, 2.85552346e-05,
 -6.45076711e-04,-9.24944529e-05,-3.13367723e-05,-6.29946960e-05,
  1.24792582e-06, 3.46488476e-06,-1.21644299e+00,-1.78228243e-03,
 -3.10760759e-04,-1.45160278e-07]


--- Step 112 ---
qpos:
[ 2.57347400e-03,-5.15096080e-03,-9.19609075e-03, 2.55456094e-03,
 -4.02796653e-03,-4.77287969e-03,-1.60020887e-02, 4.57004416e-03,
 -4.20194552e-03,-3.59036519e-03,-7.06032548e-03,-1.71930410e-02,
  3.83418134e-01, 1.59184256e-02, 2.49430832e-01, 2.52124494e-02,
  9.50083975e-02,-6.99859661e-02, 1.30722260e-01, 9.99987566e-01,
 -6.87160991e-05,-1.32245084e-05,-4.98623936e-03]

qacc:
[ -5.96449154,  0.99186578, -4.07673841,  9.25515398,  0.42203862,
  -1.71598898,  8.0155482 ,-15.21049624,  7.70516161, -2.57690368,
   7.33343172, -4.13952861, -0.79612381, -2.99533547,  3.26510316,
 -11.76790232, -0.42302364, -1.5196525 ,  0.24469554, 21.60303653,
  -2.84569861,  1.44960867]

qfrc_actuator:
[ 0.00022492,-0.00081115,-0.00131301, 0.00021566,-0.0004537 ,-0.00091584,
 -0.00211804, 0.00042254,-0.00047466,-0.0007008 ,-0.00103995,-0.00206895,
  0.09057209, 0.00169519, 0.09      ,-0.00177115, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.46753783, -0.89005498,  4.37797858, -0.89005498, 22.9622683 ,
        3.76002914,  4.37797858,  3.76002914,  5.23196201,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027661915589465014
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00677177e-13,  2.00677177e-13,  1.00000000e+00, -4.02713293e-26,
        1.00000000e+00, -2.00677177e-13, -1.00000000e+00,  0.00000000e+00,
        2.00677177e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09861578, -0.04627369,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.50179898e-05, 5.99583871e-05, 2.02155698e-05, 2.00228903e-05,
  2.43935819e-06, 3.33827635e-05, 3.15296969e-05,-1.62361942e-05,
  4.50399240e-05,-2.23566315e-05, 4.71342586e-05, 1.34224958e-05,
 -6.45635956e-04,-9.30307719e-05,-3.18006811e-05,-6.59972529e-05,
  2.73463844e-06, 6.38671221e-06,-1.21645038e+00,-1.78061287e-03,
 -3.10960561e-04, 1.22939997e-06]


--- Step 113 ---
qpos:
[ 2.57931125e-03,-5.16040907e-03,-9.21786716e-03, 2.56021461e-03,
 -4.03694167e-03,-4.78318231e-03,-1.60382757e-02, 4.58071600e-03,
 -4.21151069e-03,-3.59818212e-03,-7.07593473e-03,-1.72320029e-02,
  3.85282689e-01, 1.59541843e-02, 2.51647390e-01, 2.52732014e-02,
  9.49957145e-02,-6.99861746e-02, 1.30720559e-01, 9.99987242e-01,
 -6.02060442e-05,-1.04907825e-04,-5.04990199e-03]

qacc:
[ 5.17879425, 0.49052462,-1.38707118, 3.11835947, 0.88572162, 0.93439495,
 -6.53803316,19.50143272, 5.41656414,-0.81858175, 0.92102721, 5.92873109,
 -0.12980693,-8.64980827,-4.25960232,13.80930155,-0.39682646,-1.493467  ,
  0.10062792,21.33404744,-3.14990258, 1.23882342]

qfrc_actuator:
[ 0.00025634,-0.00078144,-0.00130358, 0.00022267,-0.00044861,-0.00092424,
 -0.00210895, 0.00046112,-0.00044418,-0.00068392,-0.00100334,-0.00204515,
  0.09039525, 0.00162199, 0.09      ,-0.00170351, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.47684924,  0.28966902, -4.46746807,  0.28966902, 13.28294815,
        0.57098429, -4.46746807,  0.57098429,  4.51387166,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002797532235494782
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.98428996e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.98428996e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09861932, -0.04627423,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.04885790e-05, 6.88487110e-05, 2.53472932e-05, 1.07344662e-05,
  5.17840102e-06, 1.68667807e-05, 1.98292166e-05, 4.08666714e-05,
  3.17036810e-05, 1.52246186e-05, 3.86135420e-05, 2.48729029e-05,
 -6.48805964e-04,-1.27965940e-04,-3.24628629e-05, 5.72089999e-05,
  9.02563557e-07, 5.47630722e-06,-1.21644751e+00,-1.78008646e-03,
 -3.08270521e-04, 7.25058053e-07]


--- Step 114 ---
qpos:
[ 2.58548051e-03,-5.16962819e-03,-9.23895673e-03, 2.56556094e-03,
 -4.04578592e-03,-4.79355695e-03,-1.60737436e-02, 4.59174939e-03,
 -4.22098195e-03,-3.60567297e-03,-7.09143235e-03,-1.72703886e-02,
  3.87144009e-01, 1.59888120e-02, 2.53863972e-01, 2.53325639e-02,
  9.49815266e-02,-6.99922713e-02, 1.30718775e-01, 9.99986916e-01,
 -9.50856677e-06,-2.03583450e-04,-5.11141935e-03]

qacc:
[ 2.92421356e+00,-2.25567232e+00, 9.76936090e+00,-1.63443364e+01,
  1.16696422e+00,-1.36245361e+00, 3.18999447e+00, 1.97393111e+00,
  8.21170601e-01, 1.30427622e+00,-6.45673121e+00, 1.60056595e+01,
 -3.95378790e-01,-6.29026309e+00, 4.21533527e+00,-1.47661533e+01,
 -3.76202962e-01,-1.47202980e+00,-2.03470607e-02, 2.11112099e+01,
 -3.38965285e+00, 1.07019046e+00]

qfrc_actuator:
[ 0.0002725 ,-0.00077789,-0.00127156, 0.00020679,-0.00044202,-0.00092518,
 -0.00207142, 0.00047954,-0.00044019,-0.00065289,-0.00099324,-0.00201555,
  0.09023284, 0.0015646 , 0.09      ,-0.0017767 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.47880178,  0.22050204, -4.47337057,  0.22050204, 18.03835276,
        0.66837937, -4.47337057,  0.66837937,  4.51174764,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028040448581335975
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.97968128e-13, -1.97968128e-13,  1.00000000e+00,  3.91913798e-26,
        1.00000000e+00,  1.97968128e-13, -1.00000000e+00,  0.00000000e+00,
        1.97968128e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09862222, -0.04627402,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.71039977e-05, 4.83298687e-05, 5.00856004e-05,-1.17936983e-05,
  6.73987038e-06, 1.51179037e-05, 4.53909582e-05, 2.06988752e-05,
  4.84948949e-06, 4.91193477e-05, 1.92068354e-05, 3.22046344e-05,
 -6.39178821e-04,-1.14253217e-04,-1.84581197e-05,-7.66973475e-05,
 -6.30580132e-07, 5.27338200e-06,-1.21644768e+00,-1.78020335e-03,
 -3.05618455e-04, 1.47023075e-07]


--- Step 115 ---
qpos:
[ 2.59145205e-03,-5.17881116e-03,-9.25939823e-03, 2.57104963e-03,
 -4.05448262e-03,-4.80382817e-03,-1.61082526e-02, 4.60253415e-03,
 -4.23033255e-03,-3.61266388e-03,-7.10679580e-03,-1.73081428e-02,
  3.89002169e-01, 1.60231573e-02, 2.56080911e-01, 2.53868833e-02,
  9.49714570e-02,-7.00014893e-02, 1.30718219e-01, 9.99986580e-01,
  6.00847709e-05,-2.70730185e-04,-5.17327307e-03]

qacc:
[ -1.7113254 , -1.46706606,  4.70500934, -3.31037941,  1.31664661,
  -3.05698344, 12.14390879,-18.05287565,  1.05304894,  1.58478675,
  -7.35788633, 17.70202556, -1.22091563,  0.99550979, 15.83471689,
 -54.55014745,  1.02956997, -0.78033975,  0.30662979,  9.36719353,
  15.81253213, -0.16997059]

qfrc_actuator:
[ 0.00026177,-0.00078995,-0.00124432, 0.00021306,-0.00043461,-0.0009038 ,
 -0.0020174 , 0.0004682 ,-0.00043407,-0.00061372,-0.00098105,-0.00198279,
  0.09008987, 0.0015525 , 0.09      ,-0.0020388 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  4.48674091,  -3.0433833 ,  -3.2967654 ,  -3.0433833 ,
        17.42563549, -11.94443971,  -3.2967654 , -11.94443971,
        15.51315737,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002830318698311268
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.84482626e-14,  1.96130391e-13,  1.00000000e+00, -1.93086962e-26,
        1.00000000e+00, -1.96130391e-13, -1.00000000e+00,  0.00000000e+00,
        9.84482626e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08218864, -0.05806571,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.01702196e-05, 2.53534782e-05, 4.33185153e-05, 9.89604727e-06,
  7.60764168e-06, 4.08703052e-05, 6.39688822e-05,-8.63509971e-06,
  6.23276619e-06, 7.24958949e-05, 2.61594980e-05, 3.62964589e-05,
 -6.11706928e-04,-6.80825465e-05,-2.84487806e-05,-2.71622600e-04,
 -1.89610240e-06, 5.73982753e-06,-1.21645078e+00,-1.78095960e-03,
 -3.02970310e-04,-5.20271390e-07]


--- Step 116 ---
qpos:
[ 2.59690489e-03,-5.18803642e-03,-9.27899575e-03, 2.57656849e-03,
 -4.06267827e-03,-4.81364047e-03,-1.61417220e-02, 4.61304841e-03,
 -4.23953793e-03,-3.61915798e-03,-7.12189812e-03,-1.73455620e-02,
  3.90857338e-01, 1.60567501e-02, 2.58297592e-01, 2.54386194e-02,
  9.49654688e-02,-7.00137389e-02, 1.30718396e-01, 9.99986236e-01,
  1.48647248e-04,-3.06881752e-04,-5.23563089e-03]

qacc:
[ -4.51378492, -2.34392411,  8.1639847 , -8.97639305,  4.39991692,
  -2.86327471, 12.2168732 ,-18.88345592,  1.27232294,  0.61409698,
  -2.65321147,  7.66708105, -0.66004837, -3.22555914,  7.43531011,
 -26.58138535,  1.02036183, -0.75789071,  0.18353823,  9.40420127,
  15.54642535, -0.25557072]

qfrc_actuator:
[ 0.00023532,-0.00079354,-0.00120244, 0.00021454,-0.00040902,-0.00085142,
 -0.001954  , 0.00045724,-0.00042672,-0.00058772,-0.00096767,-0.00196616,
  0.08994802, 0.00151392, 0.09      ,-0.0021615 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.4886629 ,  3.98982272, -2.05655278,  3.98982272,  8.83556739,
        8.43322789, -2.05655278,  8.43322789, 20.8495774 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028366301691236384
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95694003e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.95694003e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08218945, -0.05806393,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.66916272e-05, 2.04971347e-05, 5.31273364e-05, 4.31085163e-06,
  2.58198738e-05, 8.88357107e-05, 7.99201308e-05,-7.09269424e-06,
  7.49905519e-06, 7.39864936e-05, 3.31659160e-05, 2.14784780e-05,
 -5.87140120e-04,-9.08431356e-05,-5.52902718e-05,-1.44490711e-04,
 -2.72662072e-06, 4.68389708e-06,-1.21644817e+00,-1.78241150e-03,
 -3.01422730e-04,-1.66109448e-07]


--- Step 117 ---
qpos:
[ 2.60199896e-03,-5.19712722e-03,-9.29767961e-03, 2.58168999e-03,
 -4.07050350e-03,-4.82295348e-03,-1.61739080e-02, 4.62332768e-03,
 -4.24892951e-03,-3.62515611e-03,-7.13647177e-03,-1.73821615e-02,
  3.92709396e-01, 1.60900276e-02, 2.60513942e-01, 2.54887408e-02,
  9.49635314e-02,-7.00289487e-02, 1.30718896e-01, 9.99985881e-01,
  2.56233130e-04,-3.12471201e-04,-5.29862426e-03]

qacc:
[ -3.11491792, -3.18841235, 13.31386894,-21.7618852 ,  3.26595058,
  -3.41655533, 14.12098652,-20.5970225 , -1.62283328,  0.86945919,
  -5.59941115, 18.56004719, -1.12529762,  0.47503585,  4.42434683,
 -16.12735945,  1.0126686 , -0.74007031,  0.08043738,  9.43146898,
  15.33059988, -0.32298897]

qfrc_actuator:
[ 0.00021757,-0.00077423,-0.00115222, 0.00019545,-0.00039068,-0.00081634,
 -0.00188545, 0.00044661,-0.00043647,-0.00055207,-0.00093601,-0.00192366,
  0.08977498, 0.00149554, 0.09      ,-0.00223652, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.48453553,  3.93050665, -2.15920735,  3.93050665, 11.47850454,
       12.73145061, -2.15920735, 12.73145061, 27.66019363,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002823053160055655
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.94952741e-13, -3.93270322e-13,  1.00000000e+00,  1.15996159e-25,
        1.00000000e+00,  3.93270322e-13, -1.00000000e+00,  0.00000000e+00,
        2.94952741e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08218972, -0.05806221,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.84532108e-05, 4.24595331e-05, 6.14626213e-05,-1.62378220e-05,
  1.90989097e-05, 1.01693601e-04, 9.69862888e-05,-4.11638872e-06,
 -9.55716356e-06, 8.52638899e-05, 5.20998949e-05, 4.73611956e-05,
 -6.02071836e-04,-6.98755107e-05,-5.13718124e-05,-9.26834741e-05,
 -3.85129806e-06, 3.81459201e-06,-1.21644770e+00,-1.78414569e-03,
 -3.00336794e-04, 3.74533036e-07]


--- Step 118 ---
qpos:
[ 2.60753119e-03,-5.20603449e-03,-9.31531363e-03, 2.58618230e-03,
 -4.07839250e-03,-4.83211945e-03,-1.62050873e-02, 4.63346588e-03,
 -4.25802053e-03,-3.63098662e-03,-7.15040617e-03,-1.74175847e-02,
  3.94558202e-01, 1.61232500e-02, 2.62730101e-01, 2.55368306e-02,
  9.49576723e-02,-7.00374828e-02, 1.30719153e-01, 9.99985509e-01,
  3.18711869e-04,-3.53355779e-04,-5.36248295e-03]

qacc:
[  3.86545328, -3.99527841, 17.23976151,-29.92794283, -0.52785053,
  -2.90759842, 11.24716112,-15.40983908,  2.65112919,  0.85266074,
  -7.68701215, 26.89570527, -1.45291424,  2.81199905,  5.91462976,
 -20.98875086, -0.98038809,  1.66895931, -0.06061373,-22.45987862,
 -17.76693165, -0.42112657]

qfrc_actuator:
[ 0.00024061,-0.00075908,-0.00109741, 0.00016443,-0.00039453,-0.00084512,
 -0.00184996, 0.00043627,-0.0004207 ,-0.00056408,-0.0009115 ,-0.00186626,
  0.08958867, 0.00148914, 0.09      ,-0.00233611, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.49007811,  2.74359902, -3.5543587 ,  2.74359902, 15.83579547,
        8.75772584, -3.5543587 ,  8.75772584, 11.2501409 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002841265346057026
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.95374752e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.95374752e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10826566, -0.09329563,  0.06199122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.25694545e-05, 5.14014297e-05, 7.08952232e-05,-2.73367079e-05,
 -3.26725885e-06, 4.86375206e-05, 6.87570762e-05,-2.64186888e-06,
  1.54820479e-05, 4.88924831e-05, 5.04899606e-05, 6.39014516e-05,
 -6.24472261e-04,-5.87839989e-05,-4.39707890e-05,-1.13909212e-04,
 -5.26785001e-06, 3.11581288e-06,-1.21644930e+00,-1.78616726e-03,
 -2.99703831e-04, 1.09991720e-06]


--- Step 119 ---
qpos:
[ 2.61329736e-03,-5.21483718e-03,-9.33207441e-03, 2.59029133e-03,
 -4.08661076e-03,-4.84132932e-03,-1.62357049e-02, 4.64345959e-03,
 -4.26685259e-03,-3.63683175e-03,-7.16374885e-03,-1.74527051e-02,
  3.96403880e-01, 1.61551583e-02, 2.64945566e-01, 2.55869750e-02,
  9.49478702e-02,-7.00394726e-02, 1.30718653e-01, 9.99985122e-01,
  3.36471815e-04,-4.28527998e-04,-5.42763678e-03]

qacc:
[  2.07332209, -3.09601961, 12.85017933,-20.94887207, -2.85672839,
  -1.91908538,  7.37842759,-10.75610279,  2.28781656, -1.05407417,
   2.44505289,  1.86708881, -0.11747903, -7.89662021, -7.29708692,
  23.92035252, -0.98576868,  1.63604534, -0.18908629,-22.26736548,
 -17.26368353, -0.63423998]

qfrc_actuator:
[ 0.00025195,-0.0007643 ,-0.00105811, 0.0001444 ,-0.0004114 ,-0.00087657,
 -0.00183456, 0.00042609,-0.00040779,-0.00058681,-0.0008916 ,-0.00185386,
  0.08942115, 0.00141879, 0.09      ,-0.00221861, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.49484357, -1.63774806,  4.18585714, -1.63774806, 12.26878146,
        3.04161162,  4.18585714,  3.04161162,  5.68489697,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028567988750682893
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71562117e-14, -1.45734317e-13,  1.00000000e+00, -1.41589942e-26,
        1.00000000e+00,  1.45734317e-13, -1.00000000e+00,  0.00000000e+00,
       -9.71562117e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10826217, -0.09329671,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20521956e-05, 3.75124015e-05, 5.80056962e-05,-1.58589440e-05,
 -1.69454920e-05, 1.05161415e-05, 3.42810293e-05,-5.69754030e-06,
  1.33326492e-05, 1.82070439e-05, 3.87247373e-05, 1.76032375e-05,
 -6.21112594e-04,-1.24659917e-04,-4.36802050e-05, 1.02789959e-04,
 -2.79388727e-06, 3.42568013e-06,-1.21644494e+00,-1.78666876e-03,
 -3.00318050e-04, 8.08440121e-07]


--- Step 120 ---
qpos:
[ 2.61846612e-03,-5.22362097e-03,-9.34843676e-03, 2.59451922e-03,
 -4.09462261e-03,-4.85036471e-03,-1.62659809e-02, 4.65358812e-03,
 -4.27546172e-03,-3.64275037e-03,-7.17669151e-03,-1.74870340e-02,
  3.98246422e-01, 1.61863426e-02, 2.67160768e-01, 2.56380600e-02,
  9.49341092e-02,-7.00350252e-02, 1.30716965e-01, 9.99984713e-01,
  3.09840587e-04,-5.37183835e-04,-5.49441696e-03]

qacc:
[ -5.21764923, -0.83369143,  2.52465013, -1.13758394,  1.81001513,
  -0.44999643,  1.36398121,  0.30094587,  1.96733025,  0.41115627,
  -4.9500378 , 18.05895832, -0.71776686, -2.91799228, -3.243551  ,
  10.77044339, -0.98972216,  1.60930361, -0.2970819 ,-22.10473302,
 -16.86230724, -0.79807579]

qfrc_actuator:
[ 0.00022081,-0.00078172,-0.00104609, 0.00014872,-0.00040028,-0.00085622,
 -0.0018134 , 0.00043383,-0.00039666,-0.0005981 ,-0.00087468,-0.00181481,
  0.08926502, 0.00138235, 0.09      ,-0.00216939, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.49269158, -1.54811952,  4.21753525, -1.54811952, 16.46084036,
        4.39311674,  4.21753525,  4.39311674,  6.10526133,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000284979844171529
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.92184618e-13,  1.46092309e-13,  1.00000000e+00, -4.26859254e-26,
        1.00000000e+00, -1.46092309e-13, -1.00000000e+00,  0.00000000e+00,
        2.92184618e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10825983, -0.09329831,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.07446261e-05, 1.53483833e-05, 2.66404355e-05, 7.67324504e-06,
  1.06350864e-05, 3.37311990e-05, 2.77970001e-05, 9.32903358e-06,
  1.14738146e-05, 8.06609245e-06, 2.63521837e-05, 4.16387850e-05,
 -6.12258889e-04,-9.35856826e-05,-1.83009458e-05, 4.68602740e-05,
 -9.27409923e-07, 4.61033305e-06,-1.21644557e+00,-1.78647848e-03,
 -3.00431882e-04, 1.39699285e-06]


--- Step 121 ---
qpos:
[ 2.62322232e-03,-5.23226511e-03,-9.36454735e-03, 2.59876198e-03,
 -4.10209449e-03,-4.85901947e-03,-1.62953271e-02, 4.66366349e-03,
 -4.28387135e-03,-3.64849358e-03,-7.18969687e-03,-1.75206252e-02,
  4.00085733e-01, 1.62172484e-02, 2.69376055e-01, 2.56876310e-02,
  9.49243046e-02,-7.00337395e-02, 1.30716895e-01, 9.99984303e-01,
  3.02391242e-04,-6.12673686e-04,-5.56119875e-03]

qacc:
[-3.60605853e+00,-4.81397252e-01, 1.93356319e+00,-2.19443884e+00,
  4.73716115e+00,-2.21335769e+00, 8.83066590e+00,-1.15011270e+01,
  1.74327800e+00, 1.92342973e+00,-9.63689845e+00, 2.23715368e+01,
 -1.23641649e+00, 1.00934582e+00, 4.74090837e+00,-1.63264669e+01,
  9.89094762e-01,-7.90406311e-01, 4.04462653e-01, 9.49968096e+00,
  1.66354351e+01,-1.10967338e-02]

qfrc_actuator:
[ 0.00020041,-0.00077092,-0.00103258, 0.00014955,-0.00037277,-0.000805  ,
 -0.0017533 , 0.00043434,-0.00038667,-0.00058471,-0.00087735,-0.00177812,
  0.0890892 , 0.00136621, 0.09      ,-0.00224963, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.49525275, -2.57867328,  3.68208384, -2.57867328, 18.67723307,
        9.93206437,  3.68208384,  9.93206437, 11.45097406,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028581273155253717
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08219699, -0.05805547,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.12260306e-05, 2.56887693e-05, 2.05112245e-05, 2.60601289e-06,
  2.78189330e-05, 7.68919231e-05, 7.12551426e-05, 3.16265907e-06,
  1.02756259e-05, 2.55457517e-05, 3.97652028e-06, 3.88756293e-05,
 -6.22829667e-04,-7.17440468e-05,-1.46095710e-05,-8.28437579e-05,
  4.13476431e-07, 6.67797609e-06,-1.21645101e+00,-1.78559296e-03,
 -3.00082961e-04, 2.82226995e-06]


--- Step 122 ---
qpos:
[ 2.62804269e-03,-5.24091896e-03,-9.38032100e-03, 2.60334129e-03,
 -4.10917853e-03,-4.86730159e-03,-1.63237010e-02, 4.67331953e-03,
 -4.29209670e-03,-3.65397422e-03,-7.20239728e-03,-1.75538953e-02,
  4.01921846e-01, 1.62470983e-02, 2.71591084e-01, 2.57371761e-02,
  9.49184519e-02,-7.00355187e-02, 1.30717888e-01, 9.99983897e-01,
  3.14145220e-04,-6.55887776e-04,-5.62822557e-03]

qacc:
[  0.57267279, -0.26256411, -0.50493181,  5.79966973,  3.40995346,
  -3.09427219, 13.50664937,-22.58176001,  1.61964951,  0.15281874,
  -1.40057834,  6.27871806, -0.43485771, -5.41147059, -0.33002678,
   0.53474875,  0.98796299, -0.76622969,  0.26569977,  9.51168869,
  16.19098864, -0.13326924]

qfrc_actuator:
[ 0.00020427,-0.00077882,-0.00101818, 0.0001661 ,-0.00035361,-0.00078878,
 -0.00170606, 0.00041289,-0.00037743,-0.00055673,-0.00085595,-0.00176086,
  0.08891234, 0.00130882, 0.09      ,-0.00224568, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.50202669,  2.6756987 , -3.62061883,  2.6756987 , 12.17053653,
        5.66715879, -3.62061883,  5.66715879,  8.69015312,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028799988609150284
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92747129e-13, -3.85494258e-13,  1.00000000e+00,  7.43029116e-26,
        1.00000000e+00,  3.85494258e-13, -1.00000000e+00,  0.00000000e+00,
        1.92747129e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08219958, -0.05805391,  0.0619911 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.30512813e-06, 1.12852242e-05, 2.26000683e-05, 1.84516224e-05,
  1.99876242e-05, 7.47121007e-05, 7.24335667e-05,-1.55622410e-05,
  9.49857740e-06, 4.51619577e-05, 2.87905149e-05, 1.93591434e-05,
 -6.29906661e-04,-1.13432819e-04,-2.84308658e-05,-5.65620382e-06,
  1.14124910e-08, 4.76539521e-06,-1.21644538e+00,-1.78593413e-03,
 -2.98355114e-04, 2.50425750e-06]


--- Step 123 ---
qpos:
[ 2.63287273e-03,-5.24980977e-03,-9.39594698e-03, 2.60812704e-03,
 -4.11597738e-03,-4.87530638e-03,-1.63514817e-02, 4.68268370e-03,
 -4.29980290e-03,-3.65950002e-03,-7.21465250e-03,-1.75859771e-02,
  4.03754845e-01, 1.62753794e-02, 2.73805852e-01, 2.57870058e-02,
  9.49165453e-02,-7.00402853e-02, 1.30719478e-01, 9.99983497e-01,
  3.45110417e-04,-6.67543629e-04,-5.69568798e-03]

qacc:
[  0.09352734, -0.30095771, -0.25296629,  3.76404352,  2.50364442,
  -1.89660073,  8.51831829,-14.71399066,  4.56354927,  1.13475911,
  -9.15725724, 29.04529732,  0.11437034, -9.60167051, -1.31004829,
   3.86528292,  0.98655459, -0.74685923,  0.1492825 ,  9.5165027 ,
  15.83286017, -0.22902884]

qfrc_actuator:
[ 0.00020462,-0.00081559,-0.00102118, 0.00017399,-0.00033951,-0.00079372,
 -0.0016847 , 0.00039641,-0.00035096,-0.00057341,-0.00083822,-0.00170188,
  0.08875095, 0.00122757, 0.09      ,-0.0022276 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.50151196,  2.61207782, -3.66615049,  2.61207782, 16.29446618,
        8.40230488, -3.66615049,  8.40230488, 10.48802951,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002878344865585858
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08220125, -0.05805237,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.88794929e-07,-2.45336050e-05, 3.01902465e-06, 9.56110351e-06,
  1.46973905e-05, 5.17581172e-05, 4.55825434e-05,-1.10136918e-05,
  2.67219611e-05, 1.57451270e-05, 3.15554271e-05, 6.23942132e-05,
 -6.22998649e-04,-1.40058417e-04,-2.51480739e-05, 1.12298700e-05,
 -6.91683487e-07, 3.08770935e-06,-1.21644211e+00,-1.78655065e-03,
 -2.97120722e-04, 2.39808100e-06]


--- Step 124 ---
qpos:
[ 2.63732515e-03,-5.25855600e-03,-9.41187681e-03, 2.61226319e-03,
 -4.12255410e-03,-4.88312767e-03,-1.63787152e-02, 4.69179467e-03,
 -4.30747768e-03,-3.66476515e-03,-7.22669762e-03,-1.76171235e-02,
  4.05584616e-01, 1.63025315e-02, 2.76020834e-01, 2.58336089e-02,
  9.49187831e-02,-7.00464478e-02, 1.30721689e-01, 9.99983108e-01,
  3.84165874e-04,-6.48087745e-04,-5.76328274e-03]

qacc:
[ -3.3180477 , -0.29106803,  4.06816007,-14.94267316,  1.9531868 ,
  -1.81117458,  7.87231786,-13.25774821,  0.27792027,  1.68374804,
  -9.44769508, 25.09829792, -0.4269097 , -5.63615099, 10.0625073 ,
 -34.80953296,  1.03608249, -0.34897336,  0.15510061,  3.95641601,
  15.57863256, -0.07420955]

qfrc_actuator:
[ 0.00018514,-0.00079846,-0.00103458, 0.00014118,-0.0003285 ,-0.00079364,
 -0.00166113, 0.00038296,-0.00035006,-0.00054568,-0.00082294,-0.00165438,
  0.08857232, 0.00116846, 0.09      ,-0.00239664, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.49568794,  0.88334584, -4.40805061,  0.88334584, 18.99109231,
        2.90478859, -4.40805061,  2.90478859,  5.07778944,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002859539277859982
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.70086471e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.70086471e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08196663, -0.06389246,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.94326789e-05, 4.93062321e-06,-1.74874962e-05,-3.35250727e-05,
  1.14467185e-05, 3.85621497e-05, 3.98946524e-05,-9.81820880e-06,
  1.63061011e-06, 4.61270122e-05, 2.48429994e-05, 5.05937726e-05,
 -6.37349077e-04,-1.18865872e-04,-2.18766343e-05,-1.74541380e-04,
 -1.69030377e-06, 1.61496583e-06,-1.21644106e+00,-1.78744972e-03,
 -2.96363736e-04, 2.49518114e-06]


--- Step 125 ---
qpos:
[ 2.64151019e-03,-5.26708099e-03,-9.42766395e-03, 2.61593363e-03,
 -4.12929261e-03,-4.89056066e-03,-1.64057916e-02, 4.70033024e-03,
 -4.31508257e-03,-3.66971703e-03,-7.23794007e-03,-1.76475047e-02,
  4.07411053e-01, 1.63298215e-02, 2.78235735e-01, 2.58774662e-02,
  9.49253138e-02,-7.00524660e-02, 1.30724363e-01, 9.99982736e-01,
  4.20535895e-04,-5.97873480e-04,-5.83043098e-03]

qacc:
[ -2.34006896, -1.0610492 ,  6.18106467,-14.6401868 , -1.41456622,
  -1.10806766,  7.12943052,-17.63061911,  0.63244064, -0.25462466,
  -1.72032537, 13.44449238, -1.73099804,  4.60047157,  8.25984249,
 -28.90777862,  1.07323899,  0.03605606,  0.11604282, -1.43118838,
  15.37128338,  0.21826382]

qfrc_actuator:
[ 0.0001719 ,-0.00076701,-0.00101831, 0.00012023,-0.00033715,-0.00077283,
 -0.00165417, 0.00035364,-0.00034647,-0.00050934,-0.00077358,-0.00161398,
  0.08840477, 0.00117606, 0.09      ,-0.00253251, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.4876902 ,  0.9640769 , -4.38291217,  0.9640769 , 21.87751373,
        3.82511138, -4.38291217,  3.82511138,  5.32907178,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002833438369562874
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.28562854e-14, -2.51015386e-13,  1.00000000e+00, -1.07575870e-26,
        1.00000000e+00,  2.51015386e-13, -1.00000000e+00,  0.00000000e+00,
       -4.28562854e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0817373 , -0.06955662,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.37508313e-05, 2.96284707e-05, 1.42506385e-05,-2.19498188e-05,
 -8.30968009e-06, 5.07868286e-05, 1.98857207e-05,-2.64202413e-05,
  3.61712293e-06, 6.98111707e-05, 6.39638417e-05, 4.43264232e-05,
 -6.35179311e-04,-5.29554399e-05,-4.24187768e-05,-1.51623964e-04,
 -2.33947714e-06, 1.22966332e-07,-1.21644132e+00,-1.78846388e-03,
 -2.96417460e-04, 2.73123378e-06]


--- Step 126 ---
qpos:
[ 2.64619455e-03,-5.27557413e-03,-9.44283027e-03, 2.61966096e-03,
 -4.13642718e-03,-4.89767488e-03,-1.64325711e-02, 4.70844853e-03,
 -4.32189606e-03,-3.67433829e-03,-7.24876014e-03,-1.76771395e-02,
  4.09234272e-01, 1.63573331e-02, 2.80450272e-01, 2.59202994e-02,
  9.49340127e-02,-7.00565902e-02, 1.30727890e-01, 9.99982372e-01,
  4.43230625e-04,-5.33558522e-04,-5.89703566e-03]

qacc:
[  4.38970617, -1.58452459,  5.45570104, -5.47110173, -3.45400911,
  -1.26057286,  6.87937875,-14.82370666,  6.94098309,  0.78017693,
  -5.31756579, 17.33172442, -1.73815991,  5.02542979,  2.6276951 ,
  -9.80696698,  0.54202915,  0.47353114,  0.21303852, -6.87847324,
   7.0104753 ,  0.27292102]

qfrc_actuator:
[ 0.00019795,-0.00076262,-0.00098456, 0.00012423,-0.0003573 ,-0.0007576 ,
 -0.00163926, 0.00033298,-0.0003058 ,-0.00050349,-0.0007577 ,-0.00157805,
  0.08825465, 0.00118737, 0.09      ,-0.00257668, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.47499995,  3.65142674, -2.58702673,  3.65142674, 11.4426522 ,
        9.8344062 , -2.58702673,  9.8344062 , 18.3556504 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027913452160517827
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.14429243e-07,  4.07214721e-07,  1.00000000e+00,  3.31647577e-13,
        1.00000000e+00, -4.07214721e-07, -1.00000000e+00,  5.04870979e-29,
       -8.14429243e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08848638, -0.0756058 ,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.57063466e-05, 2.34313270e-05, 4.11324465e-05, 5.37554944e-06,
 -2.03699157e-05, 4.71708989e-05, 2.73210890e-05,-1.82523068e-05,
  4.07509364e-05, 6.03489891e-05, 3.99601119e-05, 4.21014022e-05,
 -6.10607346e-04,-4.67262951e-05,-4.83548139e-05,-6.10494354e-05,
 -2.45085133e-06,-1.49269022e-06,-1.21644245e+00,-1.78942349e-03,
 -2.97274615e-04, 2.84645702e-06]


--- Step 127 ---
qpos:
[ 2.65150015e-03,-5.28377135e-03,-9.45788866e-03, 2.62409987e-03,
 -4.14340296e-03,-4.90461618e-03,-1.64586558e-02, 4.71659343e-03,
 -4.32713507e-03,-3.67853093e-03,-7.25984725e-03,-1.77064204e-02,
  4.11054433e-01, 1.63841108e-02, 2.82664566e-01, 2.59618598e-02,
  9.49388196e-02,-7.00541256e-02, 1.30730173e-01, 9.99981996e-01,
  4.22432778e-04,-5.03134793e-04,-5.96455134e-03]

qacc:
[  5.43658857,  1.54440016, -7.96110826, 19.90544573,  1.40502499,
  -1.66086638,  6.13678002, -6.91007145, 13.77734345,  2.01514598,
  -7.90080288, 14.1814719 , -0.71469873, -2.6818681 ,  3.49220308,
 -12.74622573, -0.97298625,  1.64718615, -0.31080345,-21.64621721,
 -17.0737598 , -0.43640839]

qfrc_actuator:
[ 0.00022915,-0.00073885,-0.00097637, 0.0001606 ,-0.00034854,-0.0007458 ,
 -0.00160203, 0.00033534,-0.0002259 ,-0.00049833,-0.0007796 ,-0.00156283,
  0.08809911, 0.00114752, 0.09      ,-0.00263745, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.47131383,  3.46169633, -2.83007172,  3.46169633,  8.46254121,
        4.88200249, -2.83007172,  4.88200249, 10.44289751,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002778957852107161
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99755283e-13, -2.99632925e-13,  1.00000000e+00,  5.98532597e-26,
        1.00000000e+00,  2.99632925e-13, -1.00000000e+00,  0.00000000e+00,
        1.99755283e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10824012, -0.09331602,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.19890381e-05, 4.60666208e-05, 1.85428598e-05, 3.89511881e-05,
  8.18689462e-06, 4.35787560e-05, 5.00894931e-05, 5.02908909e-06,
  8.10541409e-05, 4.93135109e-05,-2.82148848e-06, 2.00978092e-05,
 -5.97377883e-04,-9.58412927e-05,-4.02243015e-05,-7.31943240e-05,
 -1.71113957e-06,-2.37770169e-06,-1.21644289e+00,-1.78994457e-03,
 -2.98674247e-04, 2.54487625e-06]


--- Step 128 ---
qpos:
[ 2.65644962e-03,-5.29151450e-03,-9.47282569e-03, 2.62926461e-03,
 -4.15021993e-03,-4.91120256e-03,-1.64841589e-02, 4.72468827e-03,
 -4.33172064e-03,-3.68255281e-03,-7.27074752e-03,-1.77349415e-02,
  4.12871351e-01, 1.64112921e-02, 2.84878418e-01, 2.60039824e-02,
  9.49397142e-02,-7.00451900e-02, 1.30730866e-01, 9.99981607e-01,
  3.58226841e-04,-5.05843825e-04,-6.03340133e-03]

qacc:
[ -3.12071373,  1.76200772, -8.46494957, 20.48685192,  1.3984437 ,
  -1.26151855,  5.38551008, -7.43829683,  5.72750122,  1.25756369,
  -7.37882586, 20.11609807, -1.92260305,  6.38775386, -2.28025694,
   7.22703826, -0.97808966,  1.61774387, -0.39781797,-21.60517538,
 -16.69582205, -0.64926987]

qfrc_actuator:
[ 0.00020988,-0.00070374,-0.0009655 , 0.00019798,-0.00034059,-0.0007183 ,
 -0.00156967, 0.00033348,-0.00019456,-0.00049382,-0.0007704 ,-0.00152445,
  0.08792445, 0.0011666 , 0.09      ,-0.00260101, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.46415101, -2.4701799 ,  3.71844799, -2.4701799 , 14.16454074,
        6.44400777,  3.71844799,  6.44400777,  8.7449312 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002754673910624894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.51895292e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.51895292e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10823809, -0.09331911,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.83082776e-05, 6.68309082e-05, 2.42739596e-05, 4.07893878e-05,
  8.19492038e-06, 6.29743122e-05, 4.80706426e-05, 1.89541711e-06,
  3.36405787e-05, 3.27266035e-05, 1.99748122e-05, 4.08813487e-05,
 -6.10991365e-04,-3.81969279e-05,-3.82762245e-05, 2.42831687e-05,
  1.04070484e-06,-7.14593150e-07,-1.21644064e+00,-1.78917099e-03,
 -3.00444115e-04, 1.89361889e-06]


--- Step 129 ---
qpos:
[ 2.66113087e-03,-5.29915857e-03,-9.48703834e-03, 2.63415086e-03,
 -4.15757837e-03,-4.91741956e-03,-1.65090766e-02, 4.73269656e-03,
 -4.33692948e-03,-3.68643813e-03,-7.28143013e-03,-1.77627765e-02,
  4.14684989e-01, 1.64392208e-02, 2.87091905e-01, 2.60471528e-02,
  9.49366810e-02,-7.00298774e-02, 1.30729675e-01, 9.99981193e-01,
  2.50685633e-04,-5.41082395e-04,-6.10391594e-03]

qacc:
[ -2.326915  , -2.46281368, 10.15449541,-16.21371702, -4.71487337,
  -1.31623748,  5.78309663, -8.5066828 , -5.45503846,  0.99583374,
  -6.16197214, 17.55647905, -2.28874153,  9.09947929, -3.61052057,
  12.11315766, -0.98193052,  1.59426443, -0.47062244,-21.56952233,
 -16.39550396, -0.8155767 ]

qfrc_actuator:
[ 0.00019654,-0.00071535,-0.00093532, 0.0001824 ,-0.0003687 ,-0.00069938,
 -0.00154041, 0.00032915,-0.00022757,-0.00048961,-0.00076063,-0.00149047,
  0.08775442, 0.00120243, 0.09      ,-0.00254307, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.45324085, -2.37706376,  3.76575649, -2.37706376, 18.36078568,
        8.77887905,  3.76575649,  8.77887905,  9.994745  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002717129751621944
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.06451051e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.06451051e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10823688, -0.09332227,  0.0619916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.37952632e-05, 3.29430374e-05, 4.86326628e-05,-1.10447128e-05,
 -2.78506247e-05, 6.46706228e-05, 4.86186322e-05, 1.29028182e-07,
 -3.20714516e-05, 2.87259078e-05, 2.06378369e-05, 3.69641361e-05,
 -6.11061267e-04,-2.07115306e-05,-2.64357739e-05, 5.14821797e-05,
  3.28017557e-06, 1.74606987e-06,-1.21644311e+00,-1.78772966e-03,
 -3.01754426e-04, 2.05213693e-06]


--- Step 130 ---
qpos:
[ 2.66596159e-03,-5.30687028e-03,-9.50062914e-03, 2.63849713e-03,
 -4.16521630e-03,-4.92343854e-03,-1.65333351e-02, 4.74026352e-03,
 -4.34249374e-03,-3.69020383e-03,-7.29189395e-03,-1.77899837e-02,
  4.16495594e-01, 1.64670164e-02, 2.89305204e-01, 2.60906316e-02,
  9.49375126e-02,-7.00176993e-02, 1.30729884e-01, 9.99980778e-01,
  1.62294878e-04,-5.42827088e-04,-6.17431969e-03]

qacc:
[  1.32873451, -2.94224374, 12.63559117,-22.92004573, -2.42272126,
  -2.48420728, 11.10900266,-19.95678568, -3.10819213,  0.84605038,
  -5.42359559, 15.83322135, -1.29763285,  2.00017044, -1.17420128,
   3.80232965,  0.96618924, -0.78362054,  0.34970866,  9.47285503,
  16.80508395,  0.04604078]

qfrc_actuator:
[ 0.00020459,-0.00073707,-0.00091197, 0.00015351,-0.00038229,-0.00070351,
 -0.00151323, 0.00030566,-0.00024492,-0.0004856 ,-0.00075062,-0.00145936,
  0.08761392, 0.00119456, 0.09      ,-0.00252621, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.46162808, -2.62179493,  3.61002998, -2.62179493, 18.43951134,
       10.15147898,  3.61002998, 10.15147898, 11.83416965,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027460523720644614
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01074458e-13, -4.04297833e-13,  1.00000000e+00,  4.08641845e-26,
        1.00000000e+00,  4.04297833e-13, -1.00000000e+00,  0.00000000e+00,
        1.01074458e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08221247, -0.05804106,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.69575879e-06, 6.68481285e-06, 3.60100766e-05,-2.59716922e-05,
 -1.43719008e-05, 4.25677112e-05, 4.68753296e-05,-1.89889927e-05,
 -1.82853964e-05, 2.62102216e-05, 1.99877503e-05, 3.38698311e-05,
 -5.79843378e-04,-6.41274939e-05,-1.86005321e-05, 1.33009122e-05,
  5.06481530e-06, 5.03007443e-06,-1.21645019e+00,-1.78561228e-03,
 -3.02634832e-04, 2.99572883e-06]


--- Step 131 ---
qpos:
[ 2.67050668e-03,-5.31442211e-03,-9.51362053e-03, 2.64243663e-03,
 -4.17226802e-03,-4.92961785e-03,-1.65568622e-02, 4.74718765e-03,
 -4.34822342e-03,-3.69394485e-03,-7.30237945e-03,-1.78165752e-02,
  4.18303174e-01, 1.64948782e-02, 2.91518528e-01, 2.61325999e-02,
  9.49422259e-02,-7.00085625e-02, 1.30730979e-01, 9.99980365e-01,
  9.30614885e-05,-5.12022566e-04,-6.24486968e-03]

qacc:
[ -2.48435554, -2.29702372, 10.22199042,-18.34682513,  5.14236753,
  -3.58858827, 15.18496135,-27.34489059, -1.4498777 ,  1.36427523,
  -7.4068333 , 18.06367101, -1.53065536,  3.69968486,  4.66539379,
 -16.12766995,  0.97043799, -0.76033765,  0.221539  ,  9.47797386,
  16.33342455, -0.08094743]

qfrc_actuator:
[ 0.00018964,-0.00071147,-0.00087514, 0.00013476,-0.00035172,-0.00073921,
 -0.00148762, 0.00027104,-0.00025289,-0.00049952,-0.00075832,-0.00143019,
  0.08745927, 0.00119655, 0.09      ,-0.00260467, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.46734198,  2.21783677, -3.87793044,  2.21783677, 13.10767169,
        4.94151229, -3.87793044,  4.94151229,  7.29345448,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027655272607829406
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01088071e-13, -2.00725381e-13,  1.00000000e+00,  6.04360177e-26,
        1.00000000e+00,  2.00725381e-13, -1.00000000e+00,  0.00000000e+00,
        3.01088071e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08221553, -0.05803955,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.46901747e-05, 3.60768771e-05, 4.19817008e-05,-1.76841335e-05,
  3.01733353e-05,-2.54336141e-06, 3.98616193e-05,-3.14854440e-05,
 -8.51338059e-06, 6.61349124e-06, 1.57417217e-06, 3.17382718e-05,
 -5.74983045e-04,-5.36061780e-05,-1.97194323e-05,-8.32635468e-05,
  4.68710927e-06, 2.39633497e-06,-1.21644592e+00,-1.78474656e-03,
 -3.01985352e-04, 2.05649415e-06]


--- Step 132 ---
qpos:
[ 2.67483785e-03,-5.32150027e-03,-9.52650828e-03, 2.64646021e-03,
 -4.17924334e-03,-4.93609031e-03,-1.65800681e-02, 4.75369082e-03,
 -4.35400494e-03,-3.69747098e-03,-7.31319678e-03,-1.78433015e-02,
  4.20107834e-01, 1.65215845e-02, 2.93732000e-01, 2.61709268e-02,
  9.49508332e-02,-7.00023920e-02, 1.30732529e-01, 9.99979953e-01,
  4.29792420e-05,-4.49423842e-04,-6.31576556e-03]

qacc:
[ -1.87704881,  0.51318182, -1.27010177,  2.20432247,  0.68166993,
  -2.1528808 ,  8.88925612,-16.47132771, -0.46822942,  0.93492242,
  -2.35112979,  0.38991499, -0.27114106, -5.72953079, 11.21651134,
 -39.00242491,  0.97348166, -0.74157359,  0.11397138,  9.47601974,
  15.95657195, -0.17932384]

qfrc_actuator:
[ 0.00017902,-0.00067544,-0.00086596, 0.00013994,-0.00034866,-0.00077581,
 -0.00148103, 0.00024789,-0.00025528,-0.00048864,-0.00077648,-0.00143792,
  0.08729625, 0.00113331, 0.09      ,-0.0027919 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.46665163,  2.15879671, -3.91031629,  2.15879671, 17.30276073,
        7.08652398, -3.91031629,  7.08652398,  8.37896039,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027631839748626374
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00895604e-13, -2.00895604e-13,  1.00000000e+00,  4.03590435e-26,
        1.00000000e+00,  2.00895604e-13, -1.00000000e+00,  0.00000000e+00,
        2.00895604e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08221759, -0.05803807,  0.06199146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09878222e-05, 6.45212364e-05, 2.14207257e-05, 7.86334050e-06,
  3.92200905e-06,-3.06450286e-05, 1.02146237e-05,-2.24445081e-05,
 -2.66099781e-06, 1.65626372e-05,-1.52844067e-05,-6.68854747e-06,
 -5.78955701e-04,-1.18289751e-04,-3.15390116e-05,-1.97674782e-04,
  4.01620218e-06,-2.55377500e-09,-1.21644393e+00,-1.78415540e-03,
 -3.01844960e-04, 1.34935225e-06]


--- Step 133 ---
qpos:
[ 2.67900866e-03,-5.32798663e-03,-9.53983010e-03, 2.65088248e-03,
 -4.18612751e-03,-4.94272279e-03,-1.66035968e-02, 4.75955010e-03,
 -4.35977076e-03,-3.70093304e-03,-7.32384958e-03,-1.78699257e-02,
  4.21909508e-01, 1.65470565e-02, 2.95945158e-01, 2.62076755e-02,
  9.49633435e-02,-6.99991275e-02, 1.30734175e-01, 9.99979539e-01,
  1.20347918e-05,-3.55630934e-04,-6.38716150e-03]

qacc:
[ -1.427186  ,  2.81941529,-10.59591436, 17.74937217,  0.78785525,
  -0.63660703,  4.67851038,-15.18568278,  0.14165507, -0.16515677,
   0.28046063,  1.17661131, -0.18546185, -6.40006642,  4.27467578,
 -15.73134987,  0.97575235, -0.72649476,  0.02387309,  9.47008641,
  15.65720248, -0.25500733]

qfrc_actuator:
[ 0.00017105,-0.00065127,-0.00089086, 0.00015913,-0.00034408,-0.00079501,
 -0.00150349, 0.0002139 ,-0.00025437,-0.00048083,-0.0007651 ,-0.00143179,
  0.0871283 , 0.00106762, 0.09      ,-0.00286413, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.46089024,  2.0811901 , -3.94565451,  2.0811901 , 22.87702647,
        9.71384602, -3.94565451,  9.71384602,  9.58459281,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002743524165853689
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01167600e-13, -2.02335201e-13,  1.00000000e+00,  2.04697667e-26,
        1.00000000e+00,  2.02335201e-13, -1.00000000e+00,  0.00000000e+00,
        1.01167600e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08221886, -0.0580366 ,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.23161598e-06, 6.53910951e-05,-8.44452217e-06, 2.28901031e-05,
  4.68187413e-06,-3.46908509e-05,-2.79778738e-05,-3.53371070e-05,
  8.12268504e-07, 1.39246352e-05, 1.29097058e-05, 6.27157368e-06,
 -5.92770309e-04,-1.24275925e-04,-4.96829150e-05,-9.05543577e-05,
  3.05571364e-06,-2.19735801e-06,-1.21644409e+00,-1.78384565e-03,
 -3.02194824e-04, 8.60895925e-07]


--- Step 134 ---
qpos:
[ 2.68339712e-03,-5.33416045e-03,-9.55320890e-03, 2.65482060e-03,
 -4.19290357e-03,-4.94921243e-03,-1.66271663e-02, 4.76558941e-03,
 -4.36548118e-03,-3.70465202e-03,-7.33417044e-03,-1.78958925e-02,
  4.23708053e-01, 1.65719517e-02, 2.98157812e-01, 2.62448693e-02,
  9.49797640e-02,-6.99987207e-02, 1.30735616e-01, 9.99979113e-01,
  2.12045552e-07,-2.31116771e-04,-6.45917553e-03]

qacc:
[  1.89767259, -0.4285465 ,  4.16443554,-12.67503711,  0.94013883,
   0.67135056, -2.88315564,  5.96285081,  0.50042858,  0.0856816 ,
  -3.57092362, 14.59909746, -0.89701532, -1.29529267, -2.08684658,
   6.23912378,  0.97757007, -0.71442697, -0.05143437,  9.46243573,
  15.42137414, -0.31265613]

qfrc_actuator:
[ 0.00018244,-0.00065228,-0.00090021, 0.00013314,-0.00033864,-0.00075052,
 -0.00148961, 0.00022705,-0.00025153,-0.0005103 ,-0.00075411,-0.00139977,
  0.0869575 , 0.00103651, 0.09      ,-0.00283246, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.45127782,  1.98227212, -3.98553277,  1.98227212, 30.25473882,
       12.83378767, -3.98553277, 12.83378767, 10.83437914,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002710301465447401
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.04815412e-13,  2.04815412e-13,  1.00000000e+00, -4.19493531e-26,
        1.00000000e+00, -2.04815412e-13, -1.00000000e+00,  0.00000000e+00,
        2.04815412e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08221952, -0.05803514,  0.06199163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12165773e-05, 3.51560411e-05, 4.12420996e-06,-2.30067499e-05,
  5.57140369e-06, 1.83026670e-05, 2.38578629e-06, 1.00642919e-05,
  2.84249416e-06,-1.84588890e-05, 1.58926077e-05, 3.32742468e-05,
 -6.06150363e-04,-9.17092434e-05,-4.47744716e-05, 1.72897151e-05,
  1.80784440e-06,-4.21058515e-06,-1.21644631e+00,-1.78382207e-03,
 -3.03020403e-04, 5.80819359e-07]


--- Step 135 ---
qpos:
[ 2.68754383e-03,-5.34021758e-03,-9.56622026e-03, 2.65806813e-03,
 -4.19990675e-03,-4.95544579e-03,-1.66499767e-02, 4.77201361e-03,
 -4.37111379e-03,-3.70846971e-03,-7.34432095e-03,-1.79212807e-02,
  4.25503584e-01, 1.65953047e-02, 3.00370426e-01, 2.62800663e-02,
  9.50001013e-02,-7.00011331e-02, 1.30736599e-01, 9.99978664e-01,
  7.49531027e-06,-7.62496838e-05,-6.53189688e-03]

qacc:
[ -2.10679102, -2.29107167, 11.31466638,-23.94719153, -1.96288657,
  -0.98564413,  2.38804561,  2.86319081,  0.68888321,  0.58379964,
  -4.71195015, 14.51989729,  0.10546501, -8.58067727,  5.92781937,
 -20.98027879,  0.97916916, -0.70482421, -0.11424304,  9.45469682,
  15.23784745, -0.3559354 ]

qfrc_actuator:
[ 1.69642621e-04,-6.50604273e-04,-8.82684244e-04, 9.85007989e-05,
 -3.50476554e-04,-7.03566203e-04,-1.43632896e-03, 2.50171198e-04,
 -2.47571943e-04,-5.08586500e-04,-7.43581515e-04,-1.37056883e-03,
  8.67957743e-02, 9.54969891e-04, 9.00000000e-02,-2.93511073e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43887762,  1.85865752, -4.03100816,  1.85865752, 39.97023041,
       16.38315117, -4.03100816, 16.38315117, 11.99298467,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002666635174261994
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04084638e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.04084638e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08221968, -0.0580337 ,  0.06199176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24349903e-05, 2.15614955e-05, 2.47153291e-05,-3.34000631e-05,
 -1.16735516e-05, 5.86156935e-05, 5.80469853e-05, 2.42365069e-05,
  4.00155473e-06,-3.60712492e-06, 1.00359676e-05, 2.96991045e-05,
 -6.03629317e-04,-1.42461935e-04,-3.04729723e-05,-1.10391757e-04,
  2.73450521e-07,-6.05850358e-06,-1.21645052e+00,-1.78408798e-03,
 -3.04310561e-04, 5.01356721e-07]


--- Step 136 ---
qpos:
[ 2.69081563e-03,-5.34596735e-03,-9.57877092e-03, 2.66153522e-03,
 -4.20665264e-03,-4.96117972e-03,-1.66723437e-02, 4.77830992e-03,
 -4.37665577e-03,-3.71239715e-03,-7.35398663e-03,-1.79461404e-02,
  4.27295949e-01, 1.66179047e-02, 3.02582845e-01, 2.63137141e-02,
  9.50204847e-02,-7.00015409e-02, 1.30738862e-01, 9.99978187e-01,
  2.15825215e-06, 7.62350642e-05,-6.60447625e-03]

qacc:
[-7.64819520e+00,-4.14233842e-01, 1.16535004e+00, 1.64394952e+00,
  2.25097026e+00,-8.46630756e-01, 4.50888326e+00,-7.79093070e+00,
  8.11305114e-01,-4.13112793e-01,-9.68849831e-01, 9.41929039e+00,
 -7.74615691e-01,-2.38200103e+00, 4.40103712e+00,-1.58187475e+01,
  1.15573738e-02, 5.01193104e-01, 3.19924141e-01,-6.30224070e+00,
 -1.23236215e+00, 7.13811162e-02]

qfrc_actuator:
[ 0.00012494,-0.00061174,-0.00084943, 0.00011234,-0.00033689,-0.00067305,
 -0.00141344, 0.00024349,-0.00024299,-0.00050597,-0.00071556,-0.00134324,
  0.08662361, 0.00091539, 0.09      ,-0.00300958, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.42414493,  2.57569871, -3.59705914,  2.57569871, 16.573867  ,
        8.69989127, -3.59705914,  8.69989127, 10.65376135,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002613510326170758
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.19295133e-07,  1.67862848e-07,  1.00000000e+00,  3.68115056e-14,
        1.00000000e+00, -1.67862848e-07, -1.00000000e+00,  6.31088724e-30,
       -2.19295133e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0951508 , -0.07537264,  0.06199192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.50148623e-05, 5.49410550e-05, 3.98069752e-05, 1.50037102e-05,
  1.32695258e-05, 7.67945953e-05, 4.33106049e-05,-1.63800496e-06,
  4.66401506e-06, 4.23788887e-06, 2.97575051e-05, 2.81880099e-05,
 -6.16942733e-04,-1.02936034e-04,-3.95115423e-05,-8.78060569e-05,
 -1.54789619e-06,-7.75258898e-06,-1.21645668e+00,-1.78464561e-03,
 -3.06056866e-04, 6.16821376e-07]


--- Step 137 ---
qpos:
[ 2.69387154e-03,-5.35124908e-03,-9.59117960e-03, 2.66514240e-03,
 -4.21318346e-03,-4.96631236e-03,-1.66943258e-02, 4.78481434e-03,
 -4.38175506e-03,-3.71680945e-03,-7.36304822e-03,-1.79704373e-02,
  4.29084980e-01, 1.66412578e-02, 3.04794809e-01, 2.63478198e-02,
  9.50370470e-02,-6.99952716e-02, 1.30740164e-01, 9.99977684e-01,
 -4.70300741e-05, 1.94261092e-04,-6.67772810e-03]

qacc:
[ -1.89286894,  0.51394218, -1.51993724,  3.36611725,  1.87920561,
   0.14372431, -0.24432072,  2.79525074,  3.90521981, -1.17782061,
   0.883565  ,  8.25543328, -2.38575168,  9.11657108, -1.94768251,
   6.12610658, -0.9552877 ,  1.66924983, -0.24039929,-21.81133932,
 -17.37379155, -0.33795042]

qfrc_actuator:
[ 0.00011509,-0.00058631,-0.00084249, 0.00011913,-0.00032619,-0.000635  ,
 -0.00139103, 0.00025479,-0.00022033,-0.00055603,-0.00069517,-0.00131721,
  0.08645596, 0.00095406, 0.09      ,-0.00297804, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.42803523,  2.61897069, -3.57050256,  2.61897069,  9.57905771,
        3.77828517, -3.57050256,  3.77828517,  7.19941488,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026276741093354816
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.58441883e-13, -4.22511688e-13,  1.00000000e+00,  6.69435476e-26,
        1.00000000e+00,  4.22511688e-13, -1.00000000e+00,  0.00000000e+00,
        1.58441883e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10821255, -0.09334561,  0.06199188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10893136e-05, 6.53429451e-05, 2.39184859e-05, 1.08430983e-05,
  1.11012380e-05, 9.03346599e-05, 4.38687509e-05, 1.61076952e-05,
  2.27681610e-05,-4.00352032e-05, 2.61144176e-05, 2.78693973e-05,
 -6.18450053e-04,-2.46338401e-05,-4.08402264e-05, 1.83894641e-05,
 -4.63657432e-07,-7.67472575e-06,-1.21645610e+00,-1.78450998e-03,
 -3.08796732e-04,-4.14427920e-07]


--- Step 138 ---
qpos:
[ 2.69747561e-03,-5.35603237e-03,-9.60367994e-03, 2.66847064e-03,
 -4.21953502e-03,-4.97112583e-03,-1.67154590e-02, 4.79140842e-03,
 -4.38688864e-03,-3.72150244e-03,-7.37180482e-03,-1.79945818e-02,
  4.30870835e-01, 1.66645789e-02, 3.07006624e-01, 2.63809605e-02,
  9.50519578e-02,-6.99944555e-02, 1.30741562e-01, 9.99977181e-01,
 -5.50945006e-05, 3.05213424e-04,-6.74847436e-03]

qacc:
[ 4.78595357, 0.33112623, 0.93636882,-5.9663766 , 1.58566119,-1.76828688,
  6.53361629,-6.56920484,-0.28590606,-0.90910202, 2.06133761, 0.29270151,
 -1.52699972, 3.11871201, 2.75524346,-9.82150182,-0.41290001,-1.36331346,
  0.02428406,20.58486587,-3.39952095, 1.25659493]

qfrc_actuator:
[ 0.00014359,-0.00056922,-0.0008512 , 0.00010392,-0.00031729,-0.00062823,
 -0.00135127, 0.00025885,-0.00022271,-0.00056625,-0.00067967,-0.00130997,
  0.08629646, 0.00094971, 0.09      ,-0.00302628, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.42670105, -1.05719655,  4.29860648, -1.05719655, 18.32538469,
        3.41823345,  4.29860648,  3.41823345,  5.26737922,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000262282779379209
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.46692694e-08, -5.46694810e-08,  1.00000000e+00,  2.98874058e-15,
        1.00000000e+00,  5.46694810e-08, -1.00000000e+00,  0.00000000e+00,
        5.46692694e-08])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09892374, -0.04739039,  0.0619919 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.82352831e-05, 5.93516940e-05, 8.30596700e-06,-1.13386858e-05,
  9.24795349e-06, 6.74720553e-05, 6.46855338e-05, 9.80241833e-06,
 -1.77499371e-06,-2.57119216e-05, 1.16134533e-05, 7.05729987e-06,
 -6.03862223e-04,-6.47183419e-05,-2.93130274e-05,-5.55853001e-05,
  3.23778743e-06,-5.51338716e-06,-1.21645105e+00,-1.78325683e-03,
 -3.12041254e-04,-2.12774725e-06]


--- Step 139 ---
qpos:
[ 2.70173862e-03,-5.36036868e-03,-9.61590309e-03, 2.67157251e-03,
 -4.22573038e-03,-4.97558599e-03,-1.67361927e-02, 4.79802783e-03,
 -4.39235671e-03,-3.72573978e-03,-7.38062683e-03,-1.80188650e-02,
  4.32653497e-01, 1.66880540e-02, 3.09217987e-01, 2.64152254e-02,
  9.50630429e-02,-6.99870732e-02, 1.30741919e-01, 9.99976663e-01,
 -1.07449005e-04, 3.82024756e-04,-6.82028829e-03]

qacc:
[  5.76794093, -0.66149162,  4.15154802, -8.81981593,  1.36973776,
  -0.59994916,  2.70526888, -3.16097541, -2.93972697,  0.50518663,
  -0.3330992 , -2.30606514, -1.69596561,  4.37485259, -4.00807589,
  13.22064457, -0.95638799,  1.64157119, -0.2604325 ,-22.02917156,
 -17.21952353, -0.54157049]

qfrc_actuator:
[ 1.76677615e-04,-5.39594183e-04,-8.33614633e-04, 9.36283964e-05,
 -3.09519186e-04,-6.22428917e-04,-1.33721723e-03, 2.58588446e-04,
 -2.39816320e-04,-4.99328063e-04,-6.67052391e-04,-1.31380986e-03,
  8.61313237e-02, 9.55551533e-04, 9.00000000e-02,-2.96138965e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43011359,  0.58481559, -4.39134343,  0.58481559, 19.51649128,
        2.00912296, -4.39134343,  2.00912296,  4.69767782,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026352005527671696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.10652473e-13, -2.10652473e-13,  1.00000000e+00,  4.43744642e-26,
        1.00000000e+00,  2.10652473e-13, -1.00000000e+00,  0.00000000e+00,
        2.10652473e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10820561, -0.0933497 ,  0.06199186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.39379535e-05, 6.43518193e-05, 3.06627443e-05,-7.64996349e-06,
  8.05903167e-06, 5.77194916e-05, 3.65819690e-05, 5.10449100e-06,
 -1.71959596e-05, 5.55542583e-05, 9.18722746e-06,-4.31922208e-06,
 -6.02603889e-04,-5.53235763e-05,-3.31806745e-05, 5.46966688e-05,
  4.35964885e-08,-5.21727736e-06,-1.21644819e+00,-1.78296475e-03,
 -3.12371331e-04,-1.30867050e-06]


--- Step 140 ---
qpos:
[ 2.70602095e-03,-5.36438137e-03,-9.62751319e-03, 2.67486497e-03,
 -4.23143947e-03,-4.97965791e-03,-1.67566277e-02, 4.80528707e-03,
 -4.39798810e-03,-3.72928476e-03,-7.38943252e-03,-1.80426959e-02,
  4.34432971e-01, 1.67117986e-02, 3.11429029e-01, 2.64506068e-02,
  9.50725314e-02,-6.99855232e-02, 1.30742416e-01, 9.99976158e-01,
 -1.16969655e-04, 4.52522452e-04,-6.88946400e-03]

qacc:
[ 0.18282047,-0.89358615, 3.00153274,-0.92081178, 4.24718616, 0.98774299,
 -5.49281442,15.81913738,-1.44163964, 1.80416539,-7.0066622 ,14.28772674,
 -1.82134313, 5.25096971,-3.78273401,12.73550455,-0.39917851,-1.45806481,
  0.03511075,21.43745517,-3.01081965, 1.32696413]

qfrc_actuator:
[ 0.00017667,-0.00052035,-0.00080059, 0.0001041 ,-0.00028472,-0.00059963,
 -0.00132073, 0.00029128,-0.00024769,-0.00044   ,-0.00065591,-0.00128856,
  0.08596824, 0.00096732, 0.09      ,-0.00290133, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.43345445, -0.9695524 ,  4.32613991, -0.9695524 , 19.34181053,
        3.34118471,  4.32613991,  3.34118471,  5.18226372,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002647240809666995
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.09694377e-13, -2.09694377e-13,  1.00000000e+00,  4.39717317e-26,
        1.00000000e+00,  2.09694377e-13, -1.00000000e+00,  0.00000000e+00,
        2.09694377e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09870747, -0.04628851,  0.06199182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01338431e-06, 6.15224710e-05, 5.00106435e-05, 1.41714950e-05,
  2.50505232e-05, 6.32476369e-05, 3.33684387e-05, 3.65667016e-05,
 -8.37510802e-06, 9.23931064e-05, 2.37969849e-05, 2.79409221e-05,
 -5.98527589e-04,-4.92821141e-05,-2.20431984e-05, 5.56574583e-05,
  3.29964436e-06,-3.00410555e-06,-1.21644561e+00,-1.78168185e-03,
 -3.14973581e-04,-2.40962203e-06]


--- Step 141 ---
qpos:
[ 2.70992595e-03,-5.36820736e-03,-9.63852123e-03, 2.67793086e-03,
 -4.23646169e-03,-4.98376288e-03,-1.67762224e-02, 4.81289897e-03,
 -4.40367068e-03,-3.73224191e-03,-7.39830260e-03,-1.80660187e-02,
  4.36209543e-01, 1.67344828e-02, 3.13640257e-01, 2.64833715e-02,
  9.50805136e-02,-6.99897482e-02, 1.30742624e-01, 9.99975668e-01,
 -8.41613675e-05, 5.16236802e-04,-6.95633444e-03]

qacc:
[ -3.28663126, -1.89627866,  8.08664474,-13.11973052,  6.02183977,
  -1.67712351,  4.40794557,  0.39716599, -0.46018057,  2.00428703,
  -8.15833423, 16.61069565, -0.36129131, -4.67771247,  8.17403425,
 -28.26402153, -0.37655444, -1.44377034, -0.0724118 , 21.18680978,
  -3.24591824,  1.16183853]

qfrc_actuator:
[ 1.57195295e-04,-5.25152656e-04,-7.76498210e-04, 9.12033376e-05,
 -2.50092709e-04,-6.20053428e-04,-1.28509693e-03, 3.07600270e-04,
 -2.50067832e-04,-4.21154258e-04,-6.63470891e-04,-1.26415690e-03,
  8.58277981e-02, 9.11470638e-04, 9.00000000e-02,-3.03989061e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43470834, -0.74711507, -4.37132213, -0.74711507, 18.29421869,
       -2.36876823, -4.37132213, -2.36876823,  4.83956124,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002651741428321974
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09871051, -0.04628886,  0.06199181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.94073424e-05, 4.08033425e-05, 4.36205568e-05,-8.23035199e-06,
  3.53620005e-05, 2.37794075e-05, 5.43473194e-05, 2.09385953e-05,
 -2.60905715e-06, 7.68876926e-05, 1.56160244e-05, 2.98121505e-05,
 -5.72177142e-04,-1.16652457e-04,-1.75045594e-05,-1.41637055e-04,
  3.16226629e-07,-2.93340093e-06,-1.21644303e+00,-1.78140674e-03,
 -3.14654709e-04,-1.83269040e-06]


--- Step 142 ---
qpos:
[ 2.71322274e-03,-5.37193735e-03,-9.64875017e-03, 2.68012805e-03,
 -4.24102948e-03,-4.98809733e-03,-1.67947409e-02, 4.81962153e-03,
 -4.40899296e-03,-3.73485324e-03,-7.40736056e-03,-1.80888257e-02,
  4.37983214e-01, 1.67563534e-02, 3.15851512e-01, 2.65128556e-02,
  9.50846664e-02,-6.99874218e-02, 1.30742153e-01, 9.99975175e-01,
 -9.64825314e-05, 5.45394917e-04,-7.02440891e-03]

qacc:
[ -5.30065166, -3.82953825, 17.52297375,-33.89243063,  4.00307523,
  -5.14878122, 21.66016133,-38.59194042,  3.14435994,  2.03900345,
  -8.7917258 , 17.7700627 , -0.62961131, -2.76460176,  9.96757018,
 -34.83063747, -0.95736297,  1.63784745, -0.16975487,-22.44367349,
 -17.43461332, -0.61511236]

qfrc_actuator:
[ 1.26419597e-04,-5.26613090e-04,-7.40248830e-04, 4.68680392e-05,
 -2.27720803e-04,-6.48400794e-04,-1.23862825e-03, 2.60880833e-04,
 -2.31436586e-04,-4.26768890e-04,-6.82171071e-04,-1.24048776e-03,
  8.56797353e-02, 8.69520901e-04, 9.00000000e-02,-3.20557318e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43906225,  0.70197494, -4.38320714,  0.70197494, 23.01108746,
        2.97432811, -4.38320714,  2.97432811,  4.91540382,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002667292191335796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.20294996e-14, -6.24353996e-13,  1.00000000e+00,  3.24848260e-26,
        1.00000000e+00,  6.24353996e-13, -1.00000000e+00,  0.00000000e+00,
        5.20294996e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10819475, -0.09335304,  0.06199176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.12944958e-05, 3.02557276e-05, 4.99291602e-05,-4.12114871e-05,
  2.33900828e-05,-2.55306892e-06, 5.90593666e-05,-4.33777633e-05,
  1.85587255e-05, 4.21266972e-05, 3.19922222e-07, 2.81601185e-05,
 -5.67318023e-04,-1.03542862e-04,-3.84494912e-05,-1.79412886e-04,
 -2.36546052e-06,-2.22846228e-06,-1.21644329e+00,-1.78178363e-03,
 -3.14356968e-04,-1.35775571e-06]


--- Step 143 ---
qpos:
[ 2.71612534e-03,-5.37558059e-03,-9.65844263e-03, 2.68214102e-03,
 -4.24529350e-03,-4.99225330e-03,-1.68129813e-02, 4.82608141e-03,
 -4.41370606e-03,-3.73722989e-03,-7.41626122e-03,-1.81108338e-02,
  4.39753850e-01, 1.67786101e-02, 3.18062106e-01, 2.65434166e-02,
  9.50849639e-02,-6.99786433e-02, 1.30740570e-01, 9.99974679e-01,
 -1.53572347e-04, 5.40933573e-04,-7.09408462e-03]

qacc:
[ -3.43461322, -1.75755408,  7.22207154,-11.34427939,  2.65652538,
  -1.0867665 ,  5.31727878,-10.42991741,  5.33695834,  1.50568428,
  -8.30367139, 21.71326463, -1.87965582,  5.92881217, -4.15518052,
  13.33269762, -0.96382478,  1.61304612, -0.27788024,-22.26525552,
 -16.9664707 , -0.8144425 ]

qfrc_actuator:
[ 1.07000392e-04,-5.26054955e-04,-7.14875076e-04, 3.76618331e-05,
 -2.12743203e-04,-6.28032486e-04,-1.22173805e-03, 2.48446383e-04,
 -2.00592483e-04,-4.11547997e-04,-6.71902634e-04,-1.19972044e-03,
  8.55272021e-02, 8.89348955e-04, 9.00000000e-02,-3.13728178e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4409506 , -1.04579399,  4.31605806, -1.04579399, 15.46022853,
        2.67000456,  4.31605806,  2.67000456,  5.08790082,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002674000106382135
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.55696940e-13, -2.07595920e-13,  1.00000000e+00, -3.23220495e-26,
        1.00000000e+00,  2.07595920e-13, -1.00000000e+00,  0.00000000e+00,
       -1.55696940e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10819156, -0.09335391,  0.06199174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.02810738e-05, 2.62531315e-05, 3.65034426e-05,-6.95735420e-06,
  1.56461507e-05, 2.96487553e-05, 2.23891825e-05,-1.13091707e-05,
  3.13653387e-05, 4.02909894e-05, 2.01642888e-05, 4.32058798e-05,
 -5.67147951e-04,-4.09934456e-05,-5.15007550e-05, 4.99492650e-05,
  5.46067657e-07,-6.90001273e-07,-1.21644039e+00,-1.78112912e-03,
 -3.16156082e-04,-2.08721928e-06]


--- Step 144 ---
qpos:
[ 2.71877289e-03,-5.37922633e-03,-9.66797966e-03, 2.68441208e-03,
 -4.24899955e-03,-4.99645764e-03,-1.68310811e-02, 4.83272690e-03,
 -4.41835823e-03,-3.73914773e-03,-7.42479457e-03,-1.81322246e-02,
  4.41521629e-01, 1.68002796e-02, 3.20272148e-01, 2.65761369e-02,
  9.50836295e-02,-6.99758353e-02, 1.30739509e-01, 9.99974205e-01,
 -1.67870850e-04, 5.30311690e-04,-7.16103733e-03]

qacc:
[-2.22702882, 0.09817158,-1.43670824, 5.64846068, 4.87493044,-0.08426387,
 -0.59222475, 3.63282305, 0.53766596, 0.85008076,-4.75490424,14.50609504,
 -0.75261078,-1.5168986 ,-7.35661065,24.55505825,-0.40795438,-1.49264666,
  0.13043689,21.41623183,-2.92862436, 1.37264556]

qfrc_actuator:
[ 9.44243456e-05,-5.42067460e-04,-7.13848363e-04, 4.91960810e-05,
 -1.84480658e-04,-6.49761466e-04,-1.22222718e-03, 2.56311992e-04,
 -1.98318916e-04,-3.66100350e-04,-6.44523060e-04,-1.16693612e-03,
  8.53827548e-02, 8.56606144e-04, 9.00000000e-02,-3.02041426e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44657424, -0.88349503,  4.35791911, -0.88349503, 20.98209804,
        3.35230019,  4.35791911,  3.35230019,  5.12619689,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002693847457957699
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.06066424e-13, -2.06066424e-13,  1.00000000e+00,  4.24633711e-26,
        1.00000000e+00,  2.06066424e-13, -1.00000000e+00,  0.00000000e+00,
        2.06066424e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0987202 , -0.04628988,  0.06199168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31263740e-05, 6.13480006e-06, 1.08543232e-05, 1.38123703e-05,
  2.87206544e-05,-6.53515066e-07, 8.24919172e-06, 9.72563080e-06,
  3.15934691e-06, 7.42286285e-05, 3.98546584e-05, 3.61207054e-05,
 -5.52532837e-04,-9.10523887e-05,-3.03642238e-05, 1.09994852e-04,
  2.91292710e-06, 1.70375053e-06,-1.21644249e+00,-1.77978366e-03,
 -3.17492903e-04,-1.96482537e-06]


--- Step 145 ---
qpos:
[ 2.72159420e-03,-5.38278253e-03,-9.67746746e-03, 2.68714541e-03,
 -4.25268271e-03,-5.00083779e-03,-1.68486750e-02, 4.83906176e-03,
 -4.42363682e-03,-3.74079543e-03,-7.43256980e-03,-1.81530583e-02,
  4.43286615e-01, 1.68210844e-02, 3.22482446e-01, 2.66059197e-02,
  9.50807580e-02,-6.99789129e-02, 1.30738474e-01, 9.99973753e-01,
 -1.39861689e-04, 5.13008433e-04,-7.22562664e-03]

qacc:
[ 1.52096624e+00, 9.29867392e-01,-5.10008937e+00, 1.29609930e+01,
  2.18358263e-01,-2.28579047e+00, 9.12410814e+00,-1.51802949e+01,
 -5.46705102e+00,-6.03508881e-01, 3.38123641e-01, 7.87079170e+00,
 -5.29035737e-01,-3.15572508e+00, 9.26462372e+00,-3.18907523e+01,
 -3.84284147e-01,-1.47137446e+00, 6.46736746e-03, 2.11765845e+01,
 -3.18932163e+00, 1.19241177e+00]

qfrc_actuator:
[ 1.03725361e-04,-5.32462534e-04,-7.09510785e-04, 7.28059812e-05,
 -1.84128131e-04,-6.61088093e-04,-1.19761249e-03, 2.40509169e-04,
 -2.30635726e-04,-3.56092545e-04,-6.07149720e-04,-1.13907950e-03,
  8.52379265e-02, 8.10892333e-04, 9.00000000e-02,-3.17770910e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45134698,  0.04811194, -4.45108697,  0.04811194, 16.45528263,
        0.12975093, -4.45108697,  0.12975093,  4.45274946,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000271054241481522
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.04797206e-13,  2.04797206e-13,  1.00000000e+00, -4.19418954e-26,
        1.00000000e+00, -2.04797206e-13, -1.00000000e+00,  0.00000000e+00,
        2.04797206e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09872339, -0.04629011,  0.06199163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.94801771e-06, 1.60948793e-05, 7.56658814e-06, 2.45415601e-05,
  1.17430368e-06,-9.21114445e-06, 2.60781638e-05,-1.53221884e-05,
 -3.22228320e-05, 6.14981324e-05, 5.90282047e-05, 3.31877512e-05,
 -5.46900850e-04,-1.05345548e-04,-1.46729304e-05,-1.58274512e-04,
  5.87681328e-07, 1.40609501e-06,-1.21644035e+00,-1.77950021e-03,
 -3.15970811e-04,-1.95615017e-06]


--- Step 146 ---
qpos:
[ 2.72485021e-03,-5.38621660e-03,-9.68682749e-03, 2.68978569e-03,
 -4.25667791e-03,-5.00509021e-03,-1.68656682e-02, 4.84476726e-03,
 -4.42891693e-03,-3.74236531e-03,-7.43973008e-03,-1.81726689e-02,
  4.45048833e-01, 1.68412055e-02, 3.24692507e-01, 2.66322788e-02,
  9.50764244e-02,-6.99878064e-02, 1.30737048e-01, 9.99973319e-01,
 -6.99423217e-05, 4.88615739e-04,-7.28813762e-03]

qacc:
[ 3.80614726e+00,-3.94793932e-01, 2.02167791e+00,-3.91208058e+00,
 -2.70693085e+00,-2.79967288e+00, 1.28938645e+01,-2.48516582e+01,
  5.36753638e-03, 9.03050521e-01,-8.22583305e+00, 2.83343301e+01,
 -7.09903344e-01,-1.82630543e+00, 1.00201728e+01,-3.55583071e+01,
 -3.65539060e-01,-1.45400886e+00,-9.75317603e-02, 2.09796336e+01,
 -3.39336128e+00, 1.04945111e+00]

qfrc_actuator:
[ 1.25825822e-04,-5.25330822e-04,-7.03142651e-04, 6.78486071e-05,
 -2.00209713e-04,-6.30521256e-04,-1.15835710e-03, 2.10927282e-04,
 -2.29785896e-04,-3.67343491e-04,-5.82070502e-04,-1.07886118e-03,
  8.50982924e-02, 7.75660976e-04, 8.99770000e-02,-3.35324709e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45014972, -0.03255138, -4.45003066, -0.03255138, 22.05026159,
       -0.12874246, -4.45003066, -0.12874246,  4.45109145,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002706367136669635
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.05113159e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.05113159e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09872601, -0.04628969,  0.06199164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.23807969e-05, 1.89742707e-05, 1.16170614e-05,-3.50619077e-06,
 -1.60515709e-05, 3.04978485e-05, 4.02787006e-05,-2.93373342e-05,
 -6.94915709e-08, 3.69209005e-05, 4.63521679e-05, 6.56083150e-05,
 -5.39279837e-04,-9.52619832e-05,-6.25785956e-05,-1.89961406e-04,
 -1.44428708e-06, 1.76676116e-06,-1.21644110e+00,-1.77986272e-03,
 -3.14474132e-04,-2.03597167e-06]


--- Step 147 ---
qpos:
[ 2.72800149e-03,-5.38967808e-03,-9.69595159e-03, 2.69201310e-03,
 -4.26083490e-03,-5.00910320e-03,-1.68821230e-02, 4.85006372e-03,
 -4.43449129e-03,-3.74389043e-03,-7.44646360e-03,-1.81910410e-02,
  4.46808299e-01, 1.68598113e-02, 3.26899871e-01, 2.66596381e-02,
  9.50682384e-02,-6.99901623e-02, 1.30735181e-01, 9.99972880e-01,
 -4.57229285e-05, 4.29483123e-04,-7.35201447e-03]

qacc:
[ -0.90893566, -1.54421596,  7.1991387 ,-14.70473904, -1.3994393 ,
  -2.02707782,  9.41875234,-17.54117988, -2.56394293,  1.42285045,
 -10.19988709, 30.89558534,  0.30037374, -8.39828315, -7.09544858,
  18.84157335, -0.96309236,  1.63442798, -0.11038091,-22.72244906,
 -17.53598287, -0.69531674]

qfrc_actuator:
[ 1.19770240e-04,-5.37504079e-04,-6.95654431e-04, 4.61212621e-05,
 -2.08073358e-04,-6.10556826e-04,-1.12836697e-03, 1.91273559e-04,
 -2.44915678e-04,-3.73512803e-04,-5.64527831e-04,-1.01786704e-03,
  8.49352441e-02, 6.93626044e-04, 8.98117882e-02,-3.30728559e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45471703,  0.78389793, -4.38520328,  0.78389793, 25.55378454,
        3.77166448, -4.38520328,  3.77166448,  5.12893891,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027222497002568624
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10817783, -0.09335577,  0.06199159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.38999708e-06, 9.11968827e-07, 1.28565764e-05,-2.05595292e-05,
 -8.31324215e-06, 4.44168347e-05, 4.04731310e-05,-1.74886972e-05,
 -1.51396228e-05, 2.70278486e-05, 3.32877005e-05, 6.55186056e-05,
 -5.56495244e-04,-1.41039076e-04,-2.28091367e-04, 2.41384899e-05,
 -3.21184843e-06, 2.75809066e-06,-1.21644468e+00,-1.78086657e-03,
 -3.12974418e-04,-2.21538027e-06]


--- Step 148 ---
qpos:
[ 2.73071131e-03,-5.39305449e-03,-9.70497654e-03, 2.69430379e-03,
 -4.26574377e-03,-5.01274024e-03,-1.68987416e-02, 4.85580587e-03,
 -4.43985880e-03,-3.74566457e-03,-7.45272155e-03,-1.82088481e-02,
  4.48564837e-01, 1.68770563e-02, 3.29103505e-01, 2.66881741e-02,
  9.50561751e-02,-6.99860763e-02, 1.30732399e-01, 9.99972430e-01,
 -6.67246026e-05, 3.36558041e-04,-7.41760386e-03]

qacc:
[-3.86159650e+00,-2.68351895e-02, 4.74577708e-03, 8.55182168e-01,
 -6.57269130e+00, 1.88456456e+00,-7.85829151e+00, 1.55341277e+01,
  1.83114700e+00,-4.98379865e-01,-1.08853125e+00, 1.02885510e+01,
  6.99721774e-02,-7.13388559e+00,-9.14288055e+00, 2.38241423e+01,
 -9.69323919e-01, 1.61045101e+00,-2.28998068e-01,-2.24853316e+01,
 -1.70619658e+01,-8.66769029e-01]

qfrc_actuator:
[ 9.71865873e-05,-5.25654358e-04,-6.87653407e-04, 5.01942453e-05,
 -2.46536936e-04,-5.97116633e-04,-1.13961924e-03, 2.13113434e-04,
 -2.33834617e-04,-4.12136460e-04,-5.51564876e-04,-9.92417577e-04,
  8.47582457e-02, 6.20119343e-04, 8.96013869e-02,-3.25574733e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45883326, -0.56791675,  4.4225179 , -0.56791675, 15.22711266,
        1.38280643,  4.4225179 ,  1.38280643,  4.63640607,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027364595907913847
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.07143897e-14,  2.02857559e-13,  1.00000000e+00, -1.02877973e-26,
        1.00000000e+00, -2.02857559e-13, -1.00000000e+00,  0.00000000e+00,
        5.07143897e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10817452, -0.09335599,  0.06199155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.27171221e-05, 1.43496117e-05, 9.20074665e-06, 4.17949591e-06,
 -3.86871410e-05, 4.62124331e-05, 2.53114611e-06, 2.48374608e-05,
  1.06389519e-05,-1.36764599e-05, 2.50444994e-05, 2.90932351e-05,
 -5.88258942e-04,-1.36662038e-04,-3.15862368e-04, 2.25985920e-05,
 -1.14800102e-06, 3.75444407e-06,-1.21644391e+00,-1.78078214e-03,
 -3.13325624e-04,-1.91983963e-06]


--- Step 149 ---
qpos:
[ 2.73278484e-03,-5.39648230e-03,-9.71324698e-03, 2.69694273e-03,
 -4.27073070e-03,-5.01601874e-03,-1.69156294e-02, 4.86143026e-03,
 -4.44401707e-03,-3.74816631e-03,-7.45846672e-03,-1.82264953e-02,
  4.50318300e-01, 1.68940127e-02, 3.31303293e-01, 2.67184243e-02,
  9.50402300e-02,-6.99757552e-02, 1.30728414e-01, 9.99971955e-01,
 -1.31648062e-04, 2.10842711e-04,-7.48515429e-03]

qacc:
[ -5.54370556, -1.448697  ,  3.61555385,  1.22246213, -0.69576646,
   0.98486395, -2.32483577,  0.45141234, 10.61969508, -2.08650643,
   5.33363496, -2.81300286, -1.13826778,  0.75916825,-10.8537957 ,
  29.78798471, -0.97044601,  1.55879916, -0.30049319,-21.8383457 ,
 -16.55750002, -0.98906828]

qfrc_actuator:
[ 6.50647048e-05,-5.17245003e-04,-6.43797044e-04, 6.94364229e-05,
 -2.49447776e-04,-5.87823266e-04,-1.15737757e-03, 2.05900447e-04,
 -1.71905185e-04,-4.87709480e-04,-5.41569268e-04,-9.88116650e-04,
  8.45996209e-02, 6.05438983e-04, 8.94226457e-02,-3.16593422e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45682664, -0.51605167,  4.42684926, -0.51605167, 20.43099527,
        1.8621588 ,  4.42684926,  1.8621588 ,  4.67390432,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002729544641317411
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.15848070e-06, -1.15848119e-06,  1.00000000e+00, -1.34207810e-12,
        1.00000000e+00,  1.15848119e-06, -1.00000000e+00,  2.01948392e-28,
       -1.15848070e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10805707, -0.09278227,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.27469243e-05, 1.87194260e-05, 4.82363478e-05, 2.02797077e-05,
 -4.00416365e-06, 3.70229405e-05,-6.81546483e-06,-4.62787952e-06,
  6.22106093e-05,-7.66382270e-05, 1.13896342e-05, 5.20426642e-06,
 -5.93035971e-04,-8.11997751e-05,-3.20433558e-04, 5.04985723e-05,
  3.65400764e-07, 5.66375958e-06,-1.21644813e+00,-1.77999112e-03,
 -3.13209403e-04,-7.60797679e-07]


--- Step 150 ---
qpos:
[ 2.73445757e-03,-5.40009423e-03,-9.72112081e-03, 2.70017924e-03,
 -4.27502415e-03,-5.01936407e-03,-1.69318581e-02, 4.86657041e-03,
 -4.44809079e-03,-3.75146231e-03,-7.46366586e-03,-1.82439450e-02,
  4.52068668e-01, 1.69107154e-02, 3.33499297e-01, 2.67507995e-02,
  9.50225899e-02,-6.99715177e-02, 1.30725424e-01, 9.99971484e-01,
 -1.53492465e-04, 7.89721130e-05,-7.54990235e-03]

qacc:
[ -3.49144717, -0.11430873, -2.45603597, 12.28621442,  6.07312112,
  -2.93849325, 12.37353184,-21.73818954,  0.77144262, -2.1709603 ,
   5.38169373, -2.25100762, -1.18313476,  1.01967304,-12.00418397,
  33.95129793, -0.42376337, -1.52090979,  0.2487937 , 21.56166575,
  -2.91650595,  1.40529129]

qfrc_actuator:
[ 4.53439478e-05,-5.46302697e-04,-6.32380383e-04, 9.74698366e-05,
 -2.13647412e-04,-5.98903607e-04,-1.12561062e-03, 1.81640929e-04,
 -1.69315028e-04,-5.31616043e-04,-5.15828863e-04,-9.78573129e-04,
  8.44361617e-02, 5.90021408e-04, 8.92523936e-02,-3.05416450e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47217681, -0.84332184,  4.39194418, -0.84332184, 23.24672805,
        3.60500689,  4.39194418,  3.60500689,  5.1643944 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002781864538358575
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.99546565e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.99546565e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09873887, -0.04629024,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.06337291e-05,-7.56025652e-06, 2.20566099e-05, 3.09204967e-05,
  3.56990356e-05, 8.32003389e-06, 3.86385006e-05,-2.29664699e-05,
  4.32126083e-06,-8.39813201e-05, 1.16230376e-05, 6.81106520e-06,
 -5.95659024e-04,-8.01242357e-05,-3.10822360e-04, 7.34501560e-05,
  1.37627755e-06, 8.44144781e-06,-1.21645700e+00,-1.77851114e-03,
 -3.12632681e-04, 1.18857293e-06]


--- Step 151 ---
qpos:
[ 2.73588122e-03,-5.40402955e-03,-9.72918692e-03, 2.70309630e-03,
 -4.27885514e-03,-5.02282409e-03,-1.69472358e-02, 4.87102791e-03,
 -4.45279180e-03,-3.75504977e-03,-7.46869365e-03,-1.82615278e-02,
  4.53815962e-01, 1.69268225e-02, 3.35691885e-01, 2.67809195e-02,
  9.50033533e-02,-6.99732563e-02, 1.30722849e-01, 9.99971016e-01,
 -1.32785342e-04,-5.96362420e-05,-7.61225054e-03]

qacc:
[ -2.18046387, -0.54366429,  2.67408891, -7.66509063,  4.06372798,
  -3.94234186, 16.70571119,-29.78397264, -5.48378934, -1.12755883,
   4.04030849, -6.41955199, -0.89309602, -1.07029068,  1.78638508,
 -13.55568869, -0.39911576, -1.49402152,  0.10366717, 21.30049631,
  -3.2083367 ,  1.20108012]

qfrc_actuator:
[ 3.30828731e-05,-5.97687331e-04,-6.58124086e-04, 7.71314752e-05,
 -1.90865903e-04,-6.04173580e-04,-1.08270182e-03, 1.47567063e-04,
 -2.01687449e-04,-5.20659760e-04,-4.98632587e-04,-9.83738224e-04,
  8.42699142e-02, 5.56489410e-04, 8.90607389e-02,-3.17885403e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48143933,  0.41113623, -4.46254025,  0.41113623, 13.62060943,
        0.84199664, -4.46254025,  0.84199664,  4.55901293,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028128102008469213
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09874221, -0.04629069,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.28364984e-05,-4.95283954e-05,-2.33923908e-05,-1.92783081e-05,
  2.38065418e-05, 6.69227903e-06, 4.88089940e-05,-3.27964425e-05,
 -3.22983043e-05,-3.31056827e-05, 1.65145301e-06,-8.17013216e-06,
 -6.00065027e-04,-9.89017994e-05,-3.25752456e-04,-1.60612081e-04,
 -1.45933111e-08, 7.58121047e-06,-1.21645542e+00,-1.77821002e-03,
 -3.09280727e-04, 3.43141254e-07]


--- Step 152 ---
qpos:
[ 2.73714714e-03,-5.40845076e-03,-9.73711267e-03, 2.70540118e-03,
 -4.28307287e-03,-5.02611110e-03,-1.69623779e-02, 4.87539395e-03,
 -4.45784468e-03,-3.75889244e-03,-7.47350024e-03,-1.82793886e-02,
  4.55560164e-01, 1.69427732e-02, 3.37880844e-01, 2.68046961e-02,
  9.49825975e-02,-6.99808830e-02, 1.30720201e-01, 9.99970542e-01,
 -6.99639082e-05,-2.05444157e-04,-7.67252177e-03]

qacc:
[-1.36791996e+00,-2.29273219e+00, 9.83178602e+00,-2.02986824e+01,
 -3.37043628e+00,-6.11178957e-01, 2.90859163e+00,-5.00800322e+00,
 -3.07055760e+00,-1.52230258e+00, 6.11984551e+00,-1.11025837e+01,
 -1.44703741e+00, 2.40197542e+00, 1.38970125e+01,-5.62694152e+01,
 -3.79807534e-01,-1.47203232e+00,-1.82315858e-02, 2.10840096e+01,
 -3.43952145e+00, 1.03669118e+00]

qfrc_actuator:
[ 2.53062193e-05,-6.26749949e-04,-6.52475863e-04, 4.62006635e-05,
 -2.11447337e-04,-5.88130108e-04,-1.06906869e-03, 1.43501971e-04,
 -2.18854115e-04,-5.30228761e-04,-4.86406512e-04,-9.97476974e-04,
  8.41127549e-02, 5.48037284e-04, 8.88403685e-02,-3.51289945e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48325131,  0.33980684, -4.47035498,  0.33980684, 18.61461854,
        1.07417316, -4.47035498,  1.07417316,  4.56490286,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000281881074201365
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.96931104e-13,  1.96931104e-13,  1.00000000e+00, -3.87818599e-26,
        1.00000000e+00, -1.96931104e-13, -1.00000000e+00,  0.00000000e+00,
        1.96931104e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09874497, -0.0462904 ,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.13876652e-06,-6.21956205e-05,-7.99782483e-06,-3.42170936e-05,
 -1.98976678e-05, 2.87665860e-05, 2.01031586e-05,-2.69640004e-06,
 -1.81198524e-05,-2.78886417e-05, 5.44541749e-06,-1.51996600e-05,
 -5.96493100e-04,-7.55004986e-05,-3.87887956e-04,-3.85036775e-04,
 -1.11677377e-06, 7.43387681e-06,-1.21645690e+00,-1.77854814e-03,
 -3.05958315e-04,-5.74270576e-07]


--- Step 153 ---
qpos:
[ 2.73796516e-03,-5.41307595e-03,-9.74481093e-03, 2.70796574e-03,
 -4.28750427e-03,-5.02931794e-03,-1.69769640e-02, 4.88035796e-03,
 -4.46306493e-03,-3.76275890e-03,-7.47823640e-03,-1.82972935e-02,
  4.57301116e-01, 1.69589307e-02, 3.40065261e-01, 2.68246226e-02,
  9.49659901e-02,-6.99916778e-02, 1.30719137e-01, 9.99970048e-01,
  1.19883629e-05,-3.19572554e-04,-7.73315419e-03]

qacc:
[ -3.90885241, -0.36296557, -0.17989781,  4.44608018, -1.84815269,
  -0.21275776, -1.60552854, 10.99959394, -1.46325345, -0.3164232 ,
   1.27349697, -2.13712979, -1.86045247,  4.89263381,  5.02222947,
 -27.10986529,  1.03711766, -0.79201924,  0.39593892,  9.443568  ,
  15.91269374, -0.18152116]

qfrc_actuator:
[ 2.47586126e-06,-6.06622233e-04,-6.28248214e-04, 6.25928091e-05,
 -2.21877062e-04,-5.77293029e-04,-1.03722065e-03, 1.74876641e-04,
 -2.26921843e-04,-5.16527329e-04,-4.77280952e-04,-9.98409138e-04,
  8.39292061e-02, 5.54432279e-04, 8.86188881e-02,-3.70127863e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.48690422,  -3.06210601,  -3.27960611,  -3.06210601,
        19.44495877, -13.96605178,  -3.27960611, -13.96605178,
        17.52674183,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00028308556938731744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47452884e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.47452884e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08225117, -0.05799719,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.30611699e-05,-1.75295753e-05, 9.34973532e-06, 1.28070287e-05,
 -1.09904463e-05, 3.12404032e-05, 4.03801494e-05, 3.32827054e-05,
 -8.61487192e-06,-1.20718244e-06, 3.64660096e-06,-2.17520197e-06,
 -6.18604808e-04,-5.92431251e-05,-4.40581057e-04,-2.59395931e-04,
 -1.95824039e-06, 7.96147675e-06,-1.21646134e+00,-1.77952220e-03,
 -3.02633024e-04,-1.57922253e-06]


--- Step 154 ---
qpos:
[ 2.73850337e-03,-5.41771132e-03,-9.75227043e-03, 2.71068017e-03,
 -4.29133675e-03,-5.03241346e-03,-1.69907057e-02, 4.88459932e-03,
 -4.46799742e-03,-3.76603170e-03,-7.48341670e-03,-1.83151138e-02,
  4.59038752e-01, 1.69751280e-02, 3.42244786e-01, 2.68453362e-02,
  9.49534847e-02,-7.00055464e-02, 1.30719105e-01, 9.99969536e-01,
  1.13119431e-04,-4.02599408e-04,-7.79431567e-03]

qacc:
[ -2.44085562, -0.36728823,  0.66568294,  1.54494982,  5.25032727,
  -3.71004995, 16.47559373,-30.39722656,  2.49615046,  2.19574128,
  -7.05492888,  8.7994657 , -1.62715937,  3.3911145 , -9.56060344,
  23.10287453,  1.02549582, -0.76844797,  0.25818888,  9.46877054,
  15.6244566 , -0.2678418 ]

qfrc_actuator:
[-1.12808169e-05,-5.92573138e-04,-6.10768823e-04, 7.12464605e-05,
 -1.90728872e-04,-5.69556144e-04,-9.94858365e-04, 1.38099161e-04,
 -2.11821327e-04,-4.53487720e-04,-4.87706046e-04,-9.91779977e-04,
  8.37459264e-02, 5.51682111e-04, 8.84235835e-02,-3.64244044e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49315405,  4.05698148, -1.93114851,  4.05698148,  7.94026519,
        7.24173516, -1.93114851,  7.24173516, 19.70668384,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028513048025451126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.73434183e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.73434183e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08225219, -0.05799563,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44005117e-05, 6.96764499e-06, 1.55917842e-05, 8.49793832e-06,
  3.08411988e-05, 3.52456076e-05, 5.51391467e-05,-3.33645918e-05,
  1.48335207e-05, 6.32403334e-05,-1.01650617e-05, 6.71971568e-06,
 -6.32728422e-04,-7.03229343e-05,-4.21495354e-04,-1.12188054e-05,
 -2.60338971e-06, 7.02118001e-06,-1.21645678e+00,-1.78116159e-03,
 -3.00376846e-04,-1.17985324e-06]


--- Step 155 ---
qpos:
[ 2.73921775e-03,-5.42241409e-03,-9.75997133e-03, 2.71317306e-03,
 -4.29476606e-03,-5.03552776e-03,-1.70037568e-02, 4.88874062e-03,
 -4.47202136e-03,-3.76864312e-03,-7.48853546e-03,-1.83324145e-02,
  4.60773252e-01, 1.69905130e-02, 3.44419570e-01, 2.68674913e-02,
  9.49450422e-02,-7.00224138e-02, 1.30719645e-01, 9.99969009e-01,
  2.33462421e-04,-4.54997626e-04,-7.85613843e-03]

qacc:
[  1.5351706 ,  0.12627629,  0.35049054, -3.74359814,  3.53986375,
  -2.16706154,  8.10180788,-10.91229188,  7.94800053,  1.7569205 ,
  -7.21265223, 15.64068859, -0.60806916, -2.83275211,-11.39335339,
  29.64820425,  1.01572003, -0.74970471,  0.14269699,  9.48617124,
  15.38868264, -0.33629165]

qfrc_actuator:
[-1.82958811e-06,-6.17788700e-04,-6.32945899e-04, 5.75103183e-05,
 -1.70866320e-04,-5.81495233e-04,-9.64450996e-04, 1.32522345e-04,
 -1.65455413e-04,-3.96958403e-04,-4.73869870e-04,-9.62972539e-04,
  8.35895602e-02, 5.08023978e-04, 8.82122247e-02,-3.56263729e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49238156,  4.0043535 , -2.0363313 ,  4.0043535 , 10.25355991,
       11.32909692, -2.0363313 , 11.32909692, 26.77053877,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028487880171131075
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.74294172e-14,  1.94858834e-13,  1.00000000e+00, -1.89849827e-26,
        1.00000000e+00, -1.94858834e-13, -1.00000000e+00,  0.00000000e+00,
        9.74294172e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08225262, -0.05799409,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.06305270e-06,-1.74922358e-05,-1.83879004e-05,-1.27112543e-05,
  2.07576178e-05, 1.80045238e-05, 4.35119062e-05,-2.78103660e-06,
  4.67923867e-05, 9.02896252e-05, 2.60115736e-05, 3.13519466e-05,
 -6.16568915e-04,-1.13925517e-04,-4.01008143e-04, 2.60566341e-05,
 -3.54767303e-06, 6.27672076e-06,-1.21645444e+00,-1.78308363e-03,
 -2.98583936e-04,-5.93211107e-07]


--- Step 156 ---
qpos:
[ 2.74038514e-03,-5.42726417e-03,-9.76782580e-03, 2.71514209e-03,
 -4.29793019e-03,-5.03876931e-03,-1.70165585e-02, 4.89351921e-03,
 -4.47545839e-03,-3.77082159e-03,-7.49307222e-03,-1.83495872e-02,
  4.62504659e-01, 1.70052722e-02, 3.46589762e-01, 2.68916821e-02,
  9.49406301e-02,-7.00422207e-02, 1.30720368e-01, 9.99968463e-01,
  3.73042251e-04,-4.77151813e-04,-7.91872639e-03]

qacc:
[  3.96149576, -0.8520921 ,  4.95347587,-13.65089699,  2.32430739,
   0.44288351, -4.52125102, 15.25437801,  5.15109722, -0.80105313,
   3.12844737, -2.14292975, -0.78216779, -1.57781418,-12.9579056 ,
  35.47796084,  1.00759055, -0.73489374,  0.04605682,  9.49914934,
  15.19701682, -0.39056903]

qfrc_actuator:
[ 2.12023192e-05,-6.30996475e-04,-6.43026951e-04, 3.06517806e-05,
 -1.57818963e-04,-6.05154333e-04,-9.59153141e-04, 1.63085037e-04,
 -1.36571417e-04,-3.80145696e-04,-4.45804939e-04,-9.56832138e-04,
  8.34387936e-02, 4.76162563e-04, 8.80073731e-02,-3.45347186e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4860497 ,  3.92718694, -2.16837372,  3.92718694, 13.92709546,
       17.09887525, -2.16837372, 17.09887525, 35.45417992,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002828044220499759
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.81440651e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.81440651e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0822526 , -0.05799256,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.33082847e-05,-2.70766242e-05,-1.62606078e-05,-2.84701157e-05,
  1.36467146e-05,-4.45856366e-06, 1.44600817e-05, 3.28118093e-05,
  3.02319815e-05, 7.42140775e-05, 5.11250888e-05, 1.15706649e-05,
 -6.03605875e-04,-1.03062576e-04,-3.81688816e-04, 5.99505099e-05,
 -4.78693918e-06, 5.71002141e-06,-1.21645422e+00,-1.78529349e-03,
 -2.97245018e-04, 1.78466431e-07]


--- Step 157 ---
qpos:
[ 2.74216469e-03,-5.43194708e-03,-9.77589422e-03, 2.71639258e-03,
 -4.30091317e-03,-5.04198504e-03,-1.70297451e-02, 4.89796179e-03,
 -4.47852219e-03,-3.77270471e-03,-7.49741059e-03,-1.83665069e-02,
  4.64232950e-01, 1.70202210e-02, 3.48755754e-01, 2.69172313e-02,
  9.49323156e-02,-7.00552843e-02, 1.30721007e-01, 9.99967891e-01,
  4.67392142e-04,-5.34717053e-04,-7.98206459e-03]

qacc:
[ 5.34692363e+00,-6.71422665e-01, 5.72943866e+00,-1.79261168e+01,
  1.56797721e+00, 4.14212465e-01,-1.44536472e-02,-5.19855207e+00,
  3.27000620e+00, 3.50794766e-01,-1.76251087e+00, 5.61721988e+00,
 -1.70218376e+00, 4.24128054e+00,-1.02571450e+01, 2.70505289e+01,
 -9.75585544e-01, 1.68584044e+00,-2.13118329e-02,-2.24742251e+01,
 -1.78841959e+01,-3.57817172e-01]

qfrc_actuator:
[ 5.20353414e-05,-6.01387468e-04,-6.45841649e-04,-3.68928278e-06,
 -1.48884009e-04,-6.17976822e-04,-9.86508561e-04, 1.43623582e-04,
 -1.18218355e-04,-3.87199098e-04,-4.45253121e-04,-9.46355596e-04,
  8.32914957e-02, 4.87022681e-04, 8.78172348e-02,-3.38111770e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48888468,  2.70749874, -3.58043799,  2.70749874, 16.79663206,
        9.30702069, -3.58043799,  9.30702069, 11.52677971,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028373572099534006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.93465788e-13, -4.89109646e-14,  1.00000000e+00,  1.43536948e-26,
        1.00000000e+00,  4.89109646e-14, -1.00000000e+00,  0.00000000e+00,
        2.93465788e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10814341, -0.09336245,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.15143301e-05, 1.01565709e-05,-1.12536229e-05,-3.65952529e-05,
  9.32243938e-06,-1.06610389e-05,-2.51825336e-05,-1.84887817e-05,
  1.92245175e-05, 4.56717907e-05, 2.26894099e-05, 1.57003550e-05,
 -5.89377946e-04,-5.88084943e-05,-3.55197912e-04, 2.73059539e-05,
 -6.31833837e-06, 5.30812067e-06,-1.21645606e+00,-1.78779504e-03,
 -2.96352740e-04, 1.13354970e-06]


--- Step 158 ---
qpos:
[ 2.74395555e-03,-5.43621192e-03,-9.78441202e-03, 2.71755089e-03,
 -4.30411059e-03,-5.04519019e-03,-1.70434378e-02, 4.90180309e-03,
 -4.48237659e-03,-3.77466065e-03,-7.50177790e-03,-1.83831038e-02,
  4.65958194e-01, 1.70355317e-02, 3.50918301e-01, 2.69409890e-02,
  9.49200770e-02,-7.00617467e-02, 1.30721020e-01, 9.99967296e-01,
  5.16914382e-04,-6.26655609e-04,-8.04659864e-03]

qacc:
[  0.0776223 ,  1.61853457, -4.5804433 ,  3.39647922, -1.88750443,
   0.19399067,  1.87306187,-11.48445314, -6.92344975,  0.66291496,
  -3.83974452,  9.49385373, -1.93204935,  5.67349086,  0.42035206,
  -8.63050299, -0.9810284 ,  1.65032399, -0.1561749 ,-22.27623533,
 -17.36530071, -0.57797473]

qfrc_actuator:
[ 5.17033998e-05,-5.64096573e-04,-6.61927355e-04,-6.61035572e-06,
 -1.60191162e-04,-6.24399513e-04,-1.01516897e-03, 1.12618647e-04,
 -1.59462830e-04,-4.26360355e-04,-4.61058345e-04,-9.33453666e-04,
  8.31463927e-02, 5.05198101e-04, 8.76520319e-02,-3.47300828e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49567913, -1.755045  ,  4.13895493, -1.755045  , 11.3841217 ,
        2.92091287,  4.13895493,  2.92091287,  5.73423659,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002859510711344798
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94128146e-13,  1.94128146e-13,  1.00000000e+00, -3.76857370e-26,
        1.00000000e+00, -1.94128146e-13, -1.00000000e+00,  0.00000000e+00,
        1.94128146e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10813969, -0.09336343,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.96773655e-07, 3.93444309e-05,-1.64970399e-05,-3.56358117e-06,
 -1.10419881e-05,-1.81129315e-05,-3.44222392e-05,-3.26666489e-05,
 -4.06950300e-05,-8.10939466e-06,-2.92772212e-06, 1.59988021e-05,
 -5.71990096e-04,-4.80382691e-05,-3.23397575e-04,-1.35739972e-04,
 -3.83228693e-06, 5.06802146e-06,-1.21645035e+00,-1.78878698e-03,
 -2.96698834e-04, 8.22568390e-07]


--- Step 159 ---
qpos:
[ 2.74607405e-03,-5.44003376e-03,-9.79287651e-03, 2.71897196e-03,
 -4.30776342e-03,-5.04862339e-03,-1.70567626e-02, 4.90521349e-03,
 -4.48704038e-03,-3.77661416e-03,-7.50659990e-03,-1.83990497e-02,
  4.67680547e-01, 1.70506219e-02, 3.53077405e-01, 2.69607584e-02,
  9.49080176e-02,-7.00627864e-02, 1.30721784e-01, 9.99966711e-01,
  5.26496234e-04,-7.20531660e-04,-8.11054242e-03]

qacc:
[  2.8612739 ,  0.9721176 , -3.73542522,  7.88220264, -3.95857473,
  -2.20874687,  9.27104491,-17.16492837, -7.10244029,  2.62940169,
 -12.08973717, 24.04592348, -1.26463438,  1.65089026,  7.02922429,
 -31.86936136,  0.04477402,  1.35564855,  0.18752451,-19.96156339,
  -1.12925165,  0.30817892]

qfrc_actuator:
[ 6.85337414e-05,-5.22514301e-04,-6.50149404e-04, 8.98161890e-06,
 -1.83320452e-04,-6.26977416e-04,-9.91079129e-04, 9.28399344e-05,
 -1.99946026e-04,-4.31278409e-04,-4.86529816e-04,-9.01514701e-04,
  8.30027123e-02, 4.92009353e-04, 8.74699187e-02,-3.67859189e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49513064, -3.83884995,  2.33868136, -3.83884995,  9.4517904 ,
        8.13615459,  2.33868136,  8.13615459, 17.85029615,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028577309746272237
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.67850600e-09,  1.45686784e-13,  1.00000000e+00, -2.44536140e-22,
        1.00000000e+00, -1.45686784e-13, -1.00000000e+00,  0.00000000e+00,
        1.67850600e-09])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09473119, -0.08911305,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.68839274e-05, 6.02694581e-05, 1.78945729e-05, 1.66631010e-05,
 -2.34492292e-05,-2.09513106e-05, 1.51679746e-05,-2.23521061e-05,
 -4.16621850e-05,-9.23984829e-06,-2.68448396e-05, 3.18539040e-05,
 -5.56810121e-04,-7.72549150e-05,-3.46359186e-04,-2.55007217e-04,
 -1.97672566e-06, 5.71274609e-06,-1.21644966e+00,-1.78908718e-03,
 -2.96529826e-04, 1.40453392e-06]


--- Step 160 ---
qpos:
[ 2.74872322e-03,-5.44361824e-03,-9.80076694e-03, 2.72021348e-03,
 -4.31132051e-03,-5.05211201e-03,-1.70695117e-02, 4.90832329e-03,
 -4.49146429e-03,-3.77817942e-03,-7.51193594e-03,-1.84138428e-02,
  4.69399951e-01, 1.70661479e-02, 3.55232265e-01, 2.69779358e-02,
  9.49004180e-02,-7.00597177e-02, 1.30723069e-01, 9.99966178e-01,
  5.03487221e-04,-7.83141306e-04,-8.17166417e-03]

qacc:
[  4.65750001, -1.66971286,  7.15057729,-11.33320701,  0.85417184,
  -2.30198157,  9.36820726,-15.44837197,  2.07862825,  4.32054683,
 -19.52434972, 39.99727448, -1.97069991,  6.06097648,  1.66951828,
 -14.6995738 ,  1.11497758,  1.02710356,  0.13030654,-16.4206811 ,
  15.50127855,  1.41469138]

qfrc_actuator:
[ 9.53405964e-05,-5.14054642e-04,-6.21976189e-04,-1.41909551e-07,
 -1.77711018e-04,-6.09261416e-04,-9.53763482e-04, 7.98670914e-05,
 -1.86379532e-04,-3.80191410e-04,-4.99611094e-04,-8.40858404e-04,
  8.28546555e-02, 5.13697555e-04, 8.72564800e-02,-3.80745682e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50152712, -3.82770728,  2.36905115, -3.82770728,  9.28597641,
        7.730298  ,  2.36905115,  7.730298  , 16.99147184,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002878393576200011
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08130647, -0.08485297,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.73293315e-05, 4.68060915e-05, 4.35407524e-05,-5.57452548e-06,
  4.93058093e-06, 8.44071873e-06, 3.42731130e-05,-1.37497913e-05,
  1.23594681e-05, 4.18730092e-05,-1.70822132e-05, 6.00034565e-05,
 -5.53662576e-04,-4.24530352e-05,-4.00845227e-04,-1.87725113e-04,
 -6.41364797e-07, 5.41873782e-06,-1.21644804e+00,-1.78921184e-03,
 -2.96246161e-04, 2.65406916e-06]


--- Step 161 ---
qpos:
[ 2.75132898e-03,-5.44726047e-03,-9.80804774e-03, 2.72068175e-03,
 -4.31478306e-03,-5.05539078e-03,-1.70824122e-02, 4.91161511e-03,
 -4.49569168e-03,-3.77978295e-03,-7.51669645e-03,-1.84278148e-02,
  4.71116266e-01, 1.70828921e-02, 3.57382458e-01, 2.69953701e-02,
  9.48972068e-02,-7.00525421e-02, 1.30724417e-01, 9.99965699e-01,
  4.48494609e-04,-8.14725067e-04,-8.23015573e-03]

qacc:
[-3.60167666e-01,-3.37212711e+00, 1.51777376e+01,-2.94934490e+01,
  8.16680184e-01, 1.07348995e+00,-4.19655466e+00, 7.43793587e+00,
  1.74025385e+00, 2.88441707e-02,-3.64407968e+00, 1.69604732e+01,
 -2.83782897e+00, 1.12980180e+01,-7.52006332e+00, 1.67068143e+01,
  1.09709936e+00, 1.02672960e+00, 1.56637018e-02,-1.61170087e+01,
  1.53824216e+01, 1.31998129e+00]

qfrc_actuator:
[ 9.22940048e-05,-5.43192729e-04,-6.02260533e-04,-4.15101760e-05,
 -1.72979968e-04,-5.97203116e-04,-9.62125130e-04, 8.87724525e-05,
 -1.76613997e-04,-3.84651313e-04,-4.69511749e-04,-7.99238961e-04,
  8.26934306e-02, 5.73496536e-04, 8.70510710e-02,-3.78357578e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50066129,  4.25445322,  1.46818933,  4.25445322,  6.85752559,
       -6.82961569,  1.46818933, -6.82961569, 24.2912154 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028756084978447116
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.89562111e-13,  1.93041408e-13,  1.00000000e+00, -5.58974776e-26,
        1.00000000e+00, -1.93041408e-13, -1.00000000e+00,  0.00000000e+00,
        2.89562111e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08130558, -0.08485153,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.23179424e-06, 6.01127682e-06, 3.46816172e-05,-3.79434509e-05,
  4.87445474e-06, 2.35394286e-05,-2.68869092e-06, 1.02146345e-05,
  1.01178447e-05, 1.81391547e-05, 3.88287795e-05, 4.40369412e-05,
 -5.60996088e-04,-2.39148302e-06,-4.07335639e-04,-3.75286131e-05,
  6.42537572e-07, 3.79595139e-06,-1.21644412e+00,-1.78928501e-03,
 -2.96191839e-04, 3.44312455e-06]


--- Step 162 ---
qpos:
[ 2.75422349e-03,-5.45086386e-03,-9.81502901e-03, 2.72066100e-03,
 -4.31816209e-03,-5.05825918e-03,-1.70956854e-02, 4.91463280e-03,
 -4.49942416e-03,-3.78180705e-03,-7.52023892e-03,-1.84418644e-02,
  4.72829748e-01, 1.70992523e-02, 3.59528151e-01, 2.70144951e-02,
  9.48982838e-02,-7.00432510e-02, 1.30726280e-01, 9.99965257e-01,
  3.76318304e-04,-8.14666082e-04,-8.28728146e-03]

qacc:
[  2.53503356, -1.79800236,  8.54087901,-17.50226683,  0.70994964,
   1.01761893, -1.68701253, -2.75995559,  4.3797022 , -4.12930993,
  14.22684757,-17.18683159, -0.93215355, -0.04832738,-11.76103837,
  31.53016748,  1.07204986,  0.52887993,  0.1289974 , -8.72121612,
  15.75043976,  0.68294724]

qfrc_actuator:
[ 1.07202420e-04,-5.41431406e-04,-5.87884589e-04,-6.60544921e-05,
 -1.68813041e-04,-5.71029902e-04,-9.79643661e-04, 7.49371059e-05,
 -1.51429001e-04,-4.22168143e-04,-4.14387996e-04,-8.04676488e-04,
  8.25457267e-02, 5.48689368e-04, 8.68613222e-02,-3.68761186e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.49329574,   1.89612911,   4.07362259,   1.89612911,
        28.42754781, -11.1405588 ,   4.07362259, -11.1405588 ,
         9.67883695,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002851766121365665
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94655343e-13, -5.89302505e-07,  1.00000000e+00,  1.14710881e-19,
        1.00000000e+00,  5.89302505e-07, -1.00000000e+00,  0.00000000e+00,
        1.94655343e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08152683, -0.0770342 ,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48658152e-05, 1.08678035e-05, 1.87006218e-05,-2.38022564e-05,
  4.31448792e-06, 3.94835260e-05,-1.24519149e-05,-1.26923748e-05,
  2.54640717e-05,-1.73326609e-05, 6.52769876e-05,-2.41578328e-06,
 -5.48093070e-04,-8.61041062e-05,-3.77065150e-04, 4.22909533e-05,
  2.08307197e-06, 2.64831287e-06,-1.21644337e+00,-1.78883331e-03,
 -2.96519223e-04, 3.59492766e-06]


--- Step 163 ---
qpos:
[ 2.75692952e-03,-5.45427411e-03,-9.82186983e-03, 2.72068309e-03,
 -4.32146494e-03,-5.06072723e-03,-1.71088386e-02, 4.91742856e-03,
 -4.50317113e-03,-3.78374618e-03,-7.52348664e-03,-1.84562149e-02,
  4.74540608e-01, 1.71138772e-02, 3.61669780e-01, 2.70341798e-02,
  9.49035241e-02,-7.00338212e-02, 1.30728773e-01, 9.99964836e-01,
  3.01594525e-04,-7.82672932e-04,-8.34401985e-03]

qacc:
[-1.64810904e+00,-4.58855763e-02, 3.58680195e-01, 9.99550882e-03,
  6.61476224e-01,-2.64643065e-01, 2.64601215e+00,-6.97129048e+00,
 -1.19329883e-01,-1.33116182e+00, 6.17694541e+00,-1.19119811e+01,
  6.23906315e-01,-9.31336752e+00,-7.80866912e+00, 1.83363468e+01,
  1.04080882e+00, 3.46624053e-02, 1.57351906e-01,-1.40586259e+00,
  1.59560532e+01, 1.88783155e-01]

qfrc_actuator:
[ 9.70637898e-05,-5.21203935e-04,-5.76646233e-04,-6.27267360e-05,
 -1.65011387e-04,-5.36672209e-04,-9.66869256e-04, 6.55932911e-05,
 -1.52874594e-04,-4.08110997e-04,-3.98380211e-04,-8.20025170e-04,
  8.24062235e-02, 4.56480852e-04, 8.66757968e-02,-3.65645057e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.48706731,   1.81558466,   4.1033432 ,   1.81558466,
        32.78842153, -12.52235117,   4.1033432 , -12.52235117,
        10.02776609,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002831391871328248
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.28872614e-14, -1.04154778e-13,  1.00000000e+00, -4.46691318e-27,
        1.00000000e+00,  1.04154778e-13, -1.00000000e+00,  0.00000000e+00,
       -4.28872614e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08174215, -0.06948794,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.69132061e-06, 2.93558612e-05, 1.50832282e-05, 3.99971066e-06,
  3.94008340e-06, 5.35756972e-05, 1.91390251e-05,-8.30088678e-06,
 -7.40037346e-07, 1.78870339e-05, 2.04754777e-05,-1.38375715e-05,
 -5.39339086e-04,-1.56998924e-04,-3.50982120e-04,-1.43976062e-05,
  3.13127477e-06, 1.51682447e-06,-1.21644393e+00,-1.78809927e-03,
 -2.96923789e-04, 3.12033228e-06]


--- Step 164 ---
qpos:
[ 2.75880363e-03,-5.45739323e-03,-9.82885397e-03, 2.72075209e-03,
 -4.32469609e-03,-5.06346051e-03,-1.71209400e-02, 4.92080242e-03,
 -4.50690638e-03,-3.78540316e-03,-7.52716000e-03,-1.84706120e-02,
  4.76248597e-01, 1.71280291e-02, 3.63807666e-01, 2.70520199e-02,
  9.49126076e-02,-7.00272700e-02, 1.30731499e-01, 9.99964419e-01,
  2.46518806e-04,-7.19146056e-04,-8.40134396e-03]

qacc:
[-7.28890614, 0.89628916,-2.81091979, 3.61146284, 0.66333126,-2.09966091,
  4.53587058, 3.98409991, 0.08448885, 1.46674112,-4.49197642, 4.15874618,
 -0.94636406,-0.22458756, 0.06762156,-8.22248301, 0.96082381,-0.71964979,
  0.05803476, 9.69189587,15.84819316,-0.30527944]

qfrc_actuator:
[ 5.45060240e-05,-5.07819228e-04,-5.85003800e-04,-6.07646166e-05,
 -1.61454961e-04,-5.68568481e-04,-9.18510118e-04, 9.45071268e-05,
 -1.52234461e-04,-3.98952039e-04,-4.23158573e-04,-8.23313667e-04,
  8.22504207e-02, 4.31852332e-04, 8.64876024e-02,-3.75247925e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47888263,  1.06474992,  4.35048241,  1.06474992, 26.56646837,
       -5.40578103,  4.35048241, -5.40578103,  5.80190946,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028043140667938227
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.97949124e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.97949124e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08226747, -0.05798218,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.28073996e-05, 3.32789853e-05,-1.80173695e-07, 3.84239400e-06,
  3.68758664e-06, 1.89962289e-06, 6.16724215e-05, 3.17386093e-05,
  6.12722493e-07, 2.29258309e-05,-1.89520175e-05,-2.04058971e-06,
 -5.57018781e-04,-9.26503755e-05,-3.49457303e-04,-1.41738937e-04,
  3.61682362e-06, 9.18247268e-08,-1.21644469e+00,-1.78732082e-03,
 -2.97459008e-04, 2.37423656e-06]


--- Step 165 ---
qpos:
[ 2.76049842e-03,-5.46051794e-03,-9.83548391e-03, 2.72084834e-03,
 -4.32716982e-03,-5.06630898e-03,-1.71320488e-02, 4.92413642e-03,
 -4.51060484e-03,-3.78721601e-03,-7.53095153e-03,-1.84845546e-02,
  4.77953587e-01, 1.71418693e-02, 3.65941500e-01, 2.70685420e-02,
  9.49255484e-02,-7.00235593e-02, 1.30734131e-01, 9.99964002e-01,
  2.10988692e-04,-6.24663897e-04,-8.45936333e-03]

qacc:
[ -1.55787032, -0.93825585,  3.22490773, -3.3213876 ,  6.64148665,
  -3.02049204, 10.69557211,-12.86551326,  0.32138948,  1.0598166 ,
  -5.9936877 , 14.15566677, -1.17750366,  0.95045898, -1.96865492,
  -1.72197062,  0.96431029, -0.71012602, -0.02323267,  9.64217157,
  15.55911041, -0.35846413]

qfrc_actuator:
[ 4.64735010e-05,-5.16468069e-04,-5.69386049e-04,-5.96431016e-05,
 -1.22566403e-04,-5.68701152e-04,-8.67532433e-04, 9.24063867e-05,
 -1.50363319e-04,-4.28468425e-04,-4.36300857e-04,-8.01747394e-04,
  8.20796290e-02, 4.11698192e-04, 8.62925982e-02,-3.81612578e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46984374,  0.81070256, -4.39570978,  0.81070256, 30.77879564,
        4.8521708 , -4.39570978,  4.8521708 ,  5.3647316 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027739969327639225
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.00112518e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.00112518e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08226855, -0.05798117,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.22711806e-06, 1.02618440e-05, 2.27203560e-05, 2.63976311e-06,
  3.89910714e-05, 1.52628800e-05, 6.02319886e-05, 7.58158027e-07,
  1.88565612e-06,-2.05747680e-05,-1.07212928e-05, 2.18958888e-05,
 -5.77751607e-04,-8.70253925e-05,-3.70856479e-04,-1.16503428e-04,
  2.86929624e-06,-1.80951603e-06,-1.21644475e+00,-1.78684539e-03,
 -2.97935160e-04, 1.84988929e-06]


--- Step 166 ---
qpos:
[ 2.76242876e-03,-5.46388431e-03,-9.84146163e-03, 2.72096758e-03,
 -4.32915861e-03,-5.06860433e-03,-1.71429890e-02, 4.92739066e-03,
 -4.51459707e-03,-3.78943037e-03,-7.53476529e-03,-1.84977585e-02,
  4.79655656e-01, 1.71544237e-02, 3.68070975e-01, 2.70857805e-02,
  9.49423578e-02,-7.00226585e-02, 1.30736399e-01, 9.99963576e-01,
  1.94918558e-04,-4.99680829e-04,-8.51816077e-03]

qacc:
[ 2.08567731e+00,-2.09907617e+00, 6.91680166e+00,-7.37644264e+00,
  4.22688246e+00, 8.75013911e-02, 1.07104692e+00,-3.11231570e+00,
 -2.56623148e+00, 1.05809388e+00,-7.64693067e+00, 2.07410569e+01,
 -1.90953199e-02,-5.85178886e+00,-8.67427611e+00, 2.08461495e+01,
  9.67148526e-01,-7.02470759e-01,-9.10345537e-02, 9.60038859e+00,
  1.53321301e+01,-3.98353309e-01]

qfrc_actuator:
[ 5.88362952e-05,-5.38156766e-04,-5.39823315e-04,-5.90250376e-05,
 -9.86982282e-05,-5.14314364e-04,-8.50850568e-04, 8.98362638e-05,
 -1.65535957e-04,-4.63112226e-04,-4.42598709e-04,-7.65750618e-04,
  8.19159364e-02, 3.40998737e-04, 8.60989964e-02,-3.77136859e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45753259,  0.71187042, -4.40032241,  0.71187042, 40.06402411,
        5.76030701, -4.40032241,  5.76030701,  5.38941707,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027319800332535615
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.0159509e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.0159509e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08226905, -0.05798007,  0.06199156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21183728e-05,-1.09622042e-05, 3.46847832e-05, 1.91692864e-06,
  2.49882743e-05, 7.56350622e-05, 2.74351400e-05, 2.05139132e-07,
 -1.51388181e-05,-4.72958137e-05,-1.10175918e-05, 3.52137755e-05,
 -5.84991880e-04,-1.40014582e-04,-3.75459680e-04,-9.20350700e-06,
  1.83022836e-06,-3.53744541e-06,-1.21644687e+00,-1.78666560e-03,
 -2.98881371e-04, 1.53790453e-06]


--- Step 167 ---
qpos:
[ 2.76449238e-03,-5.46721764e-03,-9.84741048e-03, 2.72144714e-03,
 -4.33119029e-03,-5.07040454e-03,-1.71539181e-02, 4.93060733e-03,
 -4.51839565e-03,-3.79176802e-03,-7.53897451e-03,-1.85111277e-02,
  4.81354693e-01, 1.71667347e-02, 3.70196238e-01, 2.71036727e-02,
  9.49630456e-02,-7.00245432e-02, 1.30738077e-01, 9.99963131e-01,
  1.98238502e-04,-3.44549253e-04,-8.57779775e-03]

qacc:
[ 1.1667887 , 0.70279954,-3.96733619,10.13685745,-0.38236408, 0.5463471 ,
 -0.83885327,-0.19451184, 1.685602  , 0.59870357,-1.67938147,-0.45152116,
 -1.23201583, 1.28779556,-8.17497428,19.65389916, 0.96960483,-0.6963729 ,
 -0.1474643 , 9.56607286,15.15620243,-0.42761397]

qfrc_actuator:
[ 6.53405065e-05,-5.31925810e-04,-5.37838551e-04,-4.09630592e-05,
 -1.01625403e-04,-4.98848660e-04,-8.54319116e-04, 8.70403479e-05,
 -1.55113743e-04,-4.65019228e-04,-4.62591219e-04,-7.74819459e-04,
  8.17672556e-02, 3.29834099e-04, 8.59064096e-02,-3.73408678e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026810945217925486
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.07046603e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.07046603e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08226909, -0.05797891,  0.06199172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.86189781e-06, 7.53706391e-06, 4.16555145e-06, 1.88495009e-05,
 -2.18588774e-06, 6.36491348e-05, 1.56875204e-05, 1.41940533e-06,
  9.95900815e-06,-2.89858581e-05,-2.98033449e-05,-1.07472160e-05,
 -5.80935225e-04,-8.46888755e-05,-3.63794190e-04,-1.11052296e-05,
  5.02384127e-07,-5.10602814e-06,-1.21645100e+00,-1.78678267e-03,
 -3.00287411e-04, 1.42902781e-06]


--- Step 168 ---
qpos:
[ 2.76592841e-03,-5.47028932e-03,-9.85371044e-03, 2.72282733e-03,
 -4.33358547e-03,-5.07222838e-03,-1.71648201e-02, 4.93348722e-03,
 -4.52238528e-03,-3.79406543e-03,-7.54351196e-03,-1.85245265e-02,
  4.83050658e-01, 1.71795108e-02, 3.72317601e-01, 2.71181724e-02,
  9.49837683e-02,-7.00244216e-02, 1.30740883e-01, 9.99962661e-01,
  1.88859481e-04,-1.91230843e-04,-8.63733655e-03]

qacc:
[-5.50642572e+00, 3.19290328e+00,-1.46656062e+01, 3.06011203e+01,
 -3.17036093e+00,-7.93868640e-01, 4.21786602e+00,-1.00843953e+01,
 -1.68419368e+00, 9.13090926e-01,-3.04760481e+00, 3.02420506e+00,
 -2.12917743e+00, 6.41855697e+00, 4.61586909e+00,-2.42361680e+01,
  8.74254279e-03, 5.01582674e-01, 2.81874215e-01,-6.34145222e+00,
 -9.61008507e-01, 5.13443516e-02]

qfrc_actuator:
[ 3.28323506e-05,-5.09121094e-04,-5.52038109e-04, 4.97137834e-06,
 -1.20295928e-04,-5.42404128e-04,-8.69787971e-04, 6.63460356e-05,
 -1.65209814e-04,-4.47401761e-04,-4.72665752e-04,-7.74813895e-04,
  8.16170455e-02, 3.53862179e-04, 8.56932724e-02,-3.91454582e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42568635,  2.44578613, -3.68847256,  2.44578613, 19.60485281,
       10.06514057, -3.68847256, 10.06514057, 11.09977185,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002619134187652261
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.62978011e-14,  1.10230215e-06,  1.00000000e+00, -6.20571871e-20,
        1.00000000e+00, -1.10230215e-06, -1.00000000e+00, -1.20370622e-35,
        5.62978011e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09501827, -0.07544402,  0.06199191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.22938772e-05, 2.88725703e-05,-1.13722992e-05, 4.67873430e-05,
 -1.87116443e-05,-4.47645873e-06,-1.98349381e-07,-1.73753551e-05,
 -9.83455992e-06,-5.05216111e-06,-2.00018229e-05,-2.43295317e-06,
 -5.73162150e-04,-4.63461275e-05,-3.80033710e-04,-2.27644346e-04,
 -1.11333499e-06,-6.52508300e-06,-1.21645707e+00,-1.78719728e-03,
 -3.02145550e-04, 1.51658000e-06]


--- Step 169 ---
qpos:
[ 2.76627440e-03,-5.47334050e-03,-9.86030051e-03, 2.72442921e-03,
 -4.33653029e-03,-5.07459338e-03,-1.71755717e-02, 4.93650226e-03,
 -4.52680965e-03,-3.79694191e-03,-7.54738509e-03,-1.85371190e-02,
  4.84743607e-01, 1.71922005e-02, 3.74434646e-01, 2.71310120e-02,
  9.50006252e-02,-7.00176729e-02, 1.30742592e-01, 9.99962160e-01,
  1.35567160e-04,-7.16664177e-05,-8.69794105e-03]

qacc:
[ -9.54708204,  1.31318088, -5.54629654,  9.79674141, -4.78150295,
  -0.84774157,  1.43084389,  1.04773941, -3.7759417 , -0.95413398,
  -1.09481706, 14.3889234 , -1.44857957,  2.51226421, -1.30333512,
  -4.56352996, -0.96647048,  1.65676924, -0.27404229,-21.81015716,
 -17.06611324, -0.52557396]

qfrc_actuator:
[-2.23756607e-05,-5.29871847e-04,-5.75579823e-04, 1.36869503e-05,
 -1.48074709e-04,-6.03298961e-04,-8.74724693e-04, 7.07321957e-05,
 -1.87309600e-04,-4.89194354e-04,-4.41193296e-04,-7.33928053e-04,
  8.14553791e-02, 3.45136906e-04, 8.54945574e-02,-3.99108038e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42678507,  2.55512662, -3.61493485,  2.55512662, 10.90420887,
        4.5784056 , -3.61493485,  4.5784056 ,  7.66291697,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002623133315974996
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05810770e-13,  1.05810770e-13,  1.00000000e+00, -1.11959191e-26,
        1.00000000e+00, -1.05810770e-13, -1.00000000e+00,  0.00000000e+00,
        1.05810770e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1081179 , -0.09339679,  0.06199189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.61062246e-05,-4.78351022e-06,-1.72532885e-05, 1.04886816e-05,
 -2.83157829e-05,-6.40022155e-05,-6.34341098e-06, 3.87213742e-06,
 -2.23959415e-05,-4.87031583e-05, 2.79874083e-05, 3.99748110e-05,
 -5.75072997e-04,-7.62345688e-05,-3.97593600e-04,-1.37957600e-04,
 -1.57589512e-07,-6.48353576e-06,-1.21645669e+00,-1.78701025e-03,
 -3.04826049e-04, 4.77709332e-07]


--- Step 170 ---
qpos:
[ 2.76630127e-03,-5.47687229e-03,-9.86661030e-03, 2.72614938e-03,
 -4.33978541e-03,-5.07753042e-03,-1.71856941e-02, 4.93951806e-03,
 -4.53146486e-03,-3.80036827e-03,-7.55107640e-03,-1.85490928e-02,
  4.86433580e-01, 1.72044092e-02, 3.76546804e-01, 2.71464407e-02,
  9.50136022e-02,-7.00044130e-02, 1.30742841e-01, 9.99961629e-01,
  3.84811553e-05, 1.49269999e-05,-8.76003258e-03]

qacc:
[ -2.77528444, -1.16956413,  2.7586059 , -0.81633049, -2.67787824,
  -2.50646737,  7.84655348, -8.42956402, -2.00605361,  0.04335413,
  -3.80997099, 14.61519321, -0.8924837 , -0.53550014,-15.06149635,
  42.22902121, -0.96997271,  1.62778255, -0.3651949 ,-21.75267428,
 -16.67543929, -0.73981771]

qfrc_actuator:
[-3.72322122e-05,-5.76619399e-04,-5.69142129e-04, 1.81425325e-05,
 -1.63234262e-04,-6.20812528e-04,-8.37971105e-04, 7.20767901e-05,
 -1.98538881e-04,-5.30524509e-04,-4.38911791e-04,-7.04843299e-04,
  8.12975959e-02, 3.17125091e-04, 8.52886963e-02,-3.84586191e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4240443 , -2.35453455,  3.7454419 , -2.35453455, 14.58574362,
        6.38805054,  3.7454419 ,  6.38805054,  8.43982832,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002613142650956801
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06215310e-13, -5.31076549e-14,  1.00000000e+00,  5.64084602e-27,
        1.00000000e+00,  5.31076549e-14, -1.00000000e+00,  0.00000000e+00,
        1.06215310e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10811563, -0.0933992 ,  0.06199193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64449463e-05,-5.23736193e-05, 3.79847222e-06, 3.87795271e-06,
 -1.59931695e-05,-5.42520698e-05, 2.30349259e-05,-1.51794650e-06,
 -1.19039737e-05,-6.09164315e-05,-2.84440618e-06, 2.87887913e-05,
 -5.75865891e-04,-9.77987816e-05,-4.01446640e-04, 8.68550484e-05,
  3.10107374e-06,-4.67049651e-06,-1.21645193e+00,-1.78579912e-03,
 -3.07847712e-04,-1.22162015e-06]


--- Step 171 ---
qpos:
[ 2.76649463e-03,-5.48097217e-03,-9.87247629e-03, 2.72860089e-03,
 -4.34319764e-03,-5.08043973e-03,-1.71958128e-02, 4.94214707e-03,
 -4.53621933e-03,-3.80388430e-03,-7.55516612e-03,-1.85606426e-02,
  4.88120652e-01, 1.72161970e-02, 3.78654563e-01, 2.71623970e-02,
  9.50226899e-02,-6.99847346e-02, 1.30741324e-01, 9.99961061e-01,
 -1.02297894e-04, 6.91776590e-05,-8.82394317e-03]

qacc:
[ 1.48091466e+00,-4.87827849e-01,-2.44196167e+00, 1.48124506e+01,
 -1.37123003e+00,-7.67697036e-01, 4.42801870e+00,-1.11540772e+01,
 -8.80004936e-01, 1.87035114e+00,-8.62392429e+00, 1.66536378e+01,
 -9.75341939e-01, 7.04931749e-03,-8.08416998e+00, 1.88940996e+01,
 -9.72344444e-01, 1.60465672e+00,-4.41574889e-01,-2.17040083e+01,
 -1.63621697e+01,-9.09363008e-01]

qfrc_actuator:
[-2.82127790e-05,-6.02966838e-04,-5.45171134e-04, 5.55621069e-05,
 -1.70841764e-04,-5.94297365e-04,-8.30000055e-04, 5.39241365e-05,
 -2.03275866e-04,-5.18116876e-04,-4.53928094e-04,-6.82974143e-04,
  8.11582250e-02, 2.95723042e-04, 8.50787544e-02,-3.81971365e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41732004, -2.25958652,  3.79565344, -2.25958652, 19.01179873,
        8.68822399,  3.79565344,  8.68822399,  9.58949766,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025884197938454145
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.14459615e-13, -2.14459615e-13,  1.00000000e+00,  4.59929264e-26,
        1.00000000e+00,  2.14459615e-13, -1.00000000e+00,  0.00000000e+00,
        2.14459615e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10811418, -0.09340176,  0.061992  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.54827766e-06,-5.44921313e-05, 1.38667283e-05, 3.54012539e-05,
 -8.08558028e-06, 1.08370792e-06,-3.02420102e-07,-1.96863273e-05,
 -5.11614208e-06,-2.08361039e-05,-2.68468710e-05, 1.97645752e-05,
 -5.60076842e-04,-9.29866425e-05,-3.80930040e-04,-1.98810984e-05,
  5.86719230e-06,-2.07041558e-06,-1.21645202e+00,-1.78391989e-03,
 -3.10423482e-04,-2.11036964e-06]


--- Step 172 ---
qpos:
[ 2.76713946e-03,-5.48530165e-03,-9.87810836e-03, 2.73110730e-03,
 -4.34632993e-03,-5.08315090e-03,-1.72061558e-02, 4.94453195e-03,
 -4.54030444e-03,-3.80741091e-03,-7.55893230e-03,-1.85719007e-02,
  4.89804806e-01, 1.72279991e-02, 3.80758421e-01, 2.71767666e-02,
  9.50300501e-02,-6.99710767e-02, 1.30741091e-01, 9.99960501e-01,
 -1.99142285e-04, 1.17107417e-04,-8.88499746e-03]

qacc:
[ 3.96149282,-0.85193128, 2.35222466,-1.59292945, 2.43179073, 0.38127521,
  0.04267124,-4.04558529, 5.87222695,-0.32892738,-0.09732694, 4.65473484,
 -1.52724917, 3.11126863,-0.90165565,-5.05382507,-0.43183993,-1.50513493,
  0.3211508 ,21.99426326,-2.96663538, 1.42933491]

qfrc_actuator:
[-5.22573436e-06,-5.99041869e-04,-5.28708419e-04, 5.88418027e-05,
 -1.56194483e-04,-5.77241181e-04,-8.38924908e-04, 4.22130137e-05,
 -1.68651450e-04,-4.91459439e-04,-4.25557673e-04,-6.65487140e-04,
  8.10140245e-02, 2.96171961e-04, 8.48931248e-02,-3.89948699e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42833781, -0.95194067,  4.32481037, -0.95194067, 26.08997019,
        4.76797525,  4.32481037,  4.76797525,  5.47782418,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002628771578655903
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.11167648e-13,  2.11167648e-13,  1.00000000e+00, -4.45917757e-26,
        1.00000000e+00, -2.11167648e-13, -1.00000000e+00,  0.00000000e+00,
        2.11167648e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09880522, -0.04630011,  0.06199188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.32287506e-05,-2.19521055e-05, 8.25045496e-06, 2.13012396e-06,
  1.44167977e-05, 1.69720365e-05,-9.27221512e-06,-1.20347053e-05,
  3.44537594e-05, 1.04913979e-05, 2.15541652e-05, 1.60926065e-05,
 -5.52974003e-04,-6.93162051e-05,-3.60685024e-04,-1.29485219e-04,
  8.19578981e-06, 1.34630362e-06,-1.21645682e+00,-1.78136333e-03,
 -3.12582649e-04,-2.21425683e-06]


--- Step 173 ---
qpos:
[ 2.76839989e-03,-5.48947551e-03,-9.88393631e-03, 2.73326840e-03,
 -4.34926235e-03,-5.08584353e-03,-1.72159294e-02, 4.94672594e-03,
 -4.54428814e-03,-3.81086565e-03,-7.56263602e-03,-1.85831994e-02,
  4.91486015e-01, 1.72397789e-02, 3.82858399e-01, 2.71893192e-02,
  9.50357911e-02,-6.99633463e-02, 1.30741526e-01, 9.99959961e-01,
 -2.52756664e-04, 1.58193959e-04,-8.94358650e-03]

qacc:
[  5.37732771,  0.03144862,  1.62562908, -7.38321999,  1.76102803,
  -1.96243668,  7.83318731,-12.05572761,  0.88872448, -0.1650728 ,
   0.8945585 , -1.74665555, -1.50967345,  2.92526749, -0.17234797,
  -7.56107269, -0.40482157, -1.48188392,  0.16707622, 21.64441089,
  -3.22967043,  1.23450547]

qfrc_actuator:
[ 2.57903158e-05,-5.77064705e-04,-5.34470942e-04, 4.20214878e-05,
 -1.46321162e-04,-5.66041888e-04,-8.04502735e-04, 3.43788591e-05,
 -1.64397005e-04,-4.91800625e-04,-4.24975708e-04,-6.68419365e-04,
  8.08563807e-02, 2.91711835e-04, 8.47115446e-02,-3.98765206e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44282607, -0.48216882, -4.41658428, -0.48216882, 12.79401283,
       -0.91171856, -4.41658428, -0.91171856,  4.54236051,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026806405569351766
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.07081666e-13, -2.07081666e-13,  1.00000000e+00,  4.28828164e-26,
        1.00000000e+00,  2.07081666e-13, -1.00000000e+00,  0.00000000e+00,
        2.07081666e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09880845, -0.04630195,  0.06199172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.16906618e-05, 1.17200538e-05,-9.09767275e-06,-1.74183984e-05,
  1.02932376e-05, 1.84787779e-05, 3.65163040e-05,-7.63881364e-06,
  5.22293812e-06, 1.08625446e-05, 6.06514624e-06,-1.38472343e-06,
 -5.58531706e-04,-7.23492205e-05,-3.61259730e-04,-1.41775741e-04,
  5.26636950e-06,-8.25608054e-08,-1.21644838e+00,-1.77977784e-03,
 -3.11896463e-04,-1.68914207e-06]


--- Step 174 ---
qpos:
[ 2.76967779e-03,-5.49331598e-03,-9.88991174e-03, 2.73518476e-03,
 -4.35170870e-03,-5.08836867e-03,-1.72255491e-02, 4.94881860e-03,
 -4.54784510e-03,-3.81403799e-03,-7.56667736e-03,-1.85944437e-02,
  4.93164156e-01, 1.72521523e-02, 3.84954232e-01, 2.72023039e-02,
  9.50399991e-02,-6.99614663e-02, 1.30742112e-01, 9.99959446e-01,
 -2.63723948e-04, 1.92032780e-04,-9.00001864e-03]

qacc:
[ 0.14240365, 0.34846235, 0.42940754,-4.6738836 , 4.24267521,-0.4258694 ,
  2.25316358,-4.36102775, 3.72156792, 1.4220327 ,-4.77034651, 6.05689264,
 -2.20764388, 6.83682244,-7.3230414 ,17.02342153,-0.38324838,-1.46259785,
  0.03763392,21.35493649,-3.43328082, 1.08098319]

qfrc_actuator:
[ 2.57737834e-05,-5.44549596e-04,-5.35479748e-04, 3.12720431e-05,
 -1.21591482e-04,-5.58256381e-04,-7.98034182e-04, 2.89153139e-05,
 -1.42559068e-04,-4.72913924e-04,-4.40935143e-04,-6.65634815e-04,
  8.06961042e-02, 3.19842532e-04, 8.45325326e-02,-3.95571873e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44968461, -0.55998595, -4.41430729, -0.55998595, 17.57708847,
       -1.66530357, -4.41430729, -1.66530357,  4.66094009,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002704742866179305
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.05236335e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.05236335e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0988111 , -0.04630281,  0.06199164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.12902671e-07, 3.66649902e-05,-2.01709064e-07,-1.08851848e-05,
  2.50299309e-05, 2.55450776e-05, 1.46602458e-05,-3.53423474e-06,
  2.19736995e-05, 2.63371900e-05,-1.29121540e-05, 3.47279324e-06,
 -5.65446034e-04,-4.09517459e-05,-3.60460787e-04,-2.24634461e-05,
  2.68566099e-06,-8.18421643e-07,-1.21644302e+00,-1.77885754e-03,
 -3.11260608e-04,-1.25615584e-06]


--- Step 175 ---
qpos:
[ 2.77094623e-03,-5.49698946e-03,-9.89528188e-03, 2.73727140e-03,
 -4.35383937e-03,-5.09090680e-03,-1.72349301e-02, 4.95084760e-03,
 -4.55042330e-03,-3.81684661e-03,-7.57043916e-03,-1.86049295e-02,
  4.94839206e-01, 1.72651665e-02, 3.87045947e-01, 2.72164865e-02,
  9.50427429e-02,-6.99653731e-02, 1.30742414e-01, 9.99958956e-01,
 -2.32523163e-04, 2.18310635e-04,-9.05453697e-03]

qacc:
[-0.06650785,-1.12021291, 3.59577456,-1.73966196, 2.76162442,-0.82030583,
  3.15954911,-4.6237368 , 8.57410271, 1.24492456,-6.96706431,19.39900667,
 -2.26054899, 7.08869955,-9.5990349 ,25.05214751,-0.3660396 ,-1.4467095 ,
 -0.07096937,21.11702365,-3.5908281 , 0.9600265 ]

qfrc_actuator:
[ 2.52422219e-05,-5.23704376e-04,-4.98101114e-04, 4.19553128e-05,
 -1.06066787e-04,-5.70428157e-04,-7.90397605e-04, 2.48609173e-05,
 -9.27842975e-05,-4.24977143e-04,-4.13186432e-04,-6.23993826e-04,
  8.05343650e-02, 3.49168028e-04, 8.43498991e-02,-3.88875407e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45019521, -0.65857726, -4.40119455, -0.65857726, 23.80929754,
       -2.89681914, -4.40119455, -2.89681914,  4.88366372,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027065259614098003
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.05101122e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.05101122e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0988133 , -0.04630288,  0.06199164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.74320050e-07, 4.10412347e-05, 4.46597299e-05, 1.20527354e-05,
  1.62504197e-05, 5.19822933e-06, 1.47333350e-05,-2.49990263e-06,
  5.03952750e-05, 6.03297960e-05, 3.18232463e-05, 4.24293280e-05,
 -5.67884138e-04,-3.91898449e-05,-3.50079862e-04, 1.94007130e-05,
  4.11853532e-07,-9.01118708e-07,-1.21644062e+00,-1.77859404e-03,
 -3.10640169e-04,-9.26452756e-07]


--- Step 176 ---
qpos:
[ 2.77288855e-03,-5.50041863e-03,-9.90017260e-03, 2.73946824e-03,
 -4.35576725e-03,-5.09333439e-03,-1.72441866e-02, 4.95280485e-03,
 -4.55204026e-03,-3.81904148e-03,-7.57396449e-03,-1.86148646e-02,
  4.96511387e-01, 1.72774697e-02, 3.89134150e-01, 2.72295672e-02,
  9.50440774e-02,-6.99750149e-02, 1.30742068e-01, 9.99958487e-01,
 -1.59544401e-04, 2.36784758e-04,-9.10733327e-03]

qacc:
[ 5.90706037,-0.80165686, 2.84163825,-1.8591923 , 1.77116906,-0.35294025,
  1.76738849,-3.28321309, 8.41474404, 1.26839583,-5.69562991,14.42150679,
 -0.70627785,-1.60051629,-1.86010823,-1.03352754,-0.35233305,-1.43373406,
 -0.16196031,20.92327527,-3.71276788, 0.86473078]

qfrc_actuator:
[ 5.99268450e-05,-5.09828051e-04,-4.73889050e-04, 4.74284468e-05,
 -9.60891010e-05,-5.58955533e-04,-7.82206435e-04, 2.16548782e-05,
 -4.47227871e-05,-3.77557228e-04,-3.95200210e-04,-5.95269950e-04,
  8.03825124e-02, 3.07915287e-04, 8.41865429e-02,-3.94373018e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44563479, -0.78239015, -4.37624661, -0.78239015, 31.8198239 ,
       -4.89398744, -4.37624661, -4.89398744,  5.32058722,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026905452573740274
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.06319336e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.06319336e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09881515, -0.04630233,  0.06199169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.46998084e-05, 4.67549033e-05, 3.87072598e-05, 9.02687003e-06,
  1.04446844e-05, 1.75189508e-05, 1.11279673e-05,-2.50064359e-06,
  4.95034551e-05, 8.97245297e-05, 3.59299377e-05, 3.32701377e-05,
 -5.59279346e-04,-1.10363763e-04,-3.21798574e-04,-9.89727443e-05,
 -1.58641135e-06,-3.59586203e-07,-1.21644109e+00,-1.77898026e-03,
 -3.10009230e-04,-7.07299418e-07]


--- Step 177 ---
qpos:
[ 2.77523165e-03,-5.50334588e-03,-9.90507855e-03, 2.74136973e-03,
 -4.35721557e-03,-5.09549416e-03,-1.72539090e-02, 4.95472969e-03,
 -4.55306842e-03,-3.82054358e-03,-7.57753558e-03,-1.86247135e-02,
  4.98180684e-01, 1.72895397e-02, 3.91218440e-01, 2.72431896e-02,
  9.50440461e-02,-6.99903497e-02, 1.30740770e-01, 9.99958028e-01,
 -4.51014014e-05, 2.47266625e-04,-9.15855885e-03]

qacc:
[ 3.49742617, 0.09083902, 1.8733832 ,-7.31675953, 4.16465178, 1.58064364,
 -5.00000999, 5.00310459, 5.14294089, 1.21090797,-3.36923472, 4.44020211,
 -1.20242365, 1.31258043,-7.38897998,17.55380717,-0.34144058,-1.42325681,
 -0.23808845,20.7674669 ,-3.80727424, 0.78964016]

qfrc_actuator:
[ 7.95563631e-05,-4.82524538e-04,-4.75445808e-04, 3.20148400e-05,
 -7.17003797e-05,-5.51167253e-04,-8.09169102e-04, 1.89914007e-05,
 -1.58158359e-05,-3.48595586e-04,-4.00892860e-04,-5.92144700e-04,
  8.02420088e-02, 2.96421556e-04, 8.40082178e-02,-3.91027642e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43718431, -0.93651526, -4.33722765, -0.93651526, 41.94084874,
       -8.09797341, -4.33722765, -8.09797341,  6.18573806,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026605993148652585
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.1728306e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        4.1728306e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09881673, -0.04630129,  0.06199178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.06508247e-05, 6.20134475e-05, 1.32699315e-05,-1.18833843e-05,
  2.46937965e-05, 1.99722227e-05,-2.19275681e-05,-1.55510665e-06,
  3.03362149e-05, 8.81361210e-05, 1.85011151e-05, 8.89123577e-06,
 -5.50092116e-04,-8.41081206e-05,-3.38833355e-04,-1.39391346e-05,
 -3.33254015e-06, 7.85865162e-07,-1.21644435e+00,-1.78001032e-03,
 -3.09348560e-04,-6.03343084e-07]


--- Step 178 ---
qpos:
[ 2.77710278e-03,-5.50593390e-03,-9.91017637e-03, 2.74310567e-03,
 -4.35870501e-03,-5.09745859e-03,-1.72642002e-02, 4.95731562e-03,
 -4.55443156e-03,-3.82150508e-03,-7.58107627e-03,-1.86344329e-02,
  4.99847156e-01, 1.73007683e-02, 3.93298364e-01, 2.72574688e-02,
  9.50401170e-02,-6.99990562e-02, 1.30739489e-01, 9.99957551e-01,
  2.30268983e-05, 2.22723196e-04,-9.21120064e-03]

qacc:
[-4.14148972e+00, 6.51699069e-01,-9.60392890e-01,-1.86250965e+00,
 -3.79395571e-01, 3.20859796e+00,-1.38561593e+01, 2.60637304e+01,
 -2.94175698e+00, 9.02198287e-01,-2.71626340e+00, 4.49956368e+00,
 -4.81651662e-01,-2.66998145e+00,-8.46684040e+00, 2.02020961e+01,
 -9.74472498e-01, 1.65706349e+00, 4.22128242e-03,-2.29958127e+01,
 -1.77239670e+01,-7.14669060e-01]

qfrc_actuator:
[ 5.46510989e-05,-4.83025320e-04,-4.92160968e-04, 2.21832896e-05,
 -7.45281901e-05,-5.45791070e-04,-8.38930796e-04, 5.21480906e-05,
 -3.39189536e-05,-3.31033418e-04,-4.02852559e-04,-5.86381626e-04,
  8.00871162e-02, 2.49332038e-04, 8.37891190e-02,-3.87822557e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4292256 ,  0.73717209, -4.36744968,  0.73717209, 35.47184484,
        5.23961449, -4.36744968,  5.23961449,  5.31360844,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002631988238772365
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05454786e-13,  2.10909572e-13,  1.00000000e+00, -2.22414237e-26,
        1.00000000e+00, -2.10909572e-13, -1.00000000e+00,  0.00000000e+00,
        1.05454786e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10809303, -0.09340765,  0.06199187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.42796793e-05, 3.65680327e-05,-2.59835352e-06,-6.93467204e-06,
 -2.11224966e-06, 1.21457036e-05,-2.82573307e-05, 3.32445688e-05,
 -1.72177297e-05, 7.11749665e-05, 1.89095505e-05, 1.03826452e-05,
 -5.54696101e-04,-1.17351391e-04,-3.76743558e-04,-1.25110945e-05,
 -4.84385926e-06, 2.52189117e-06,-1.21645036e+00,-1.78167941e-03,
 -3.08643884e-04,-6.17504899e-07]


--- Step 179 ---
qpos:
[ 2.77900645e-03,-5.50843381e-03,-9.91561864e-03, 2.74509966e-03,
 -4.36021650e-03,-5.09937093e-03,-1.72744245e-02, 4.95956273e-03,
 -4.55634578e-03,-3.82206560e-03,-7.58454113e-03,-1.86439918e-02,
  5.01510985e-01, 1.73100406e-02, 3.95374131e-01, 2.72699738e-02,
  9.50322758e-02,-7.00012437e-02, 1.30737680e-01, 9.99957059e-01,
  4.54181675e-05, 1.64155308e-04,-9.26559469e-03]

qacc:
[  0.2726645 ,  1.61016069, -6.66227479, 11.61517013, -0.191463  ,
  -0.8151255 ,  4.43744975,-10.44799247, -4.83004029,  0.65809624,
  -2.23777278,  4.57959388,  0.79808218, -9.68432439, -0.89814274,
  -6.08901845, -0.97799312,  1.62977571, -0.13186617,-22.71064616,
 -17.2221722 , -0.88086636]

qfrc_actuator:
[ 5.69953118e-05,-5.00246751e-04,-5.17788458e-04, 3.34419473e-05,
 -7.56044346e-05,-5.41896788e-04,-8.34577492e-04, 3.51058070e-05,
 -6.17871987e-05,-3.20435876e-04,-4.02630342e-04,-5.79113746e-04,
  7.99449917e-02, 1.46081169e-04, 8.35776924e-02,-3.97161659e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.439861  , -0.54924239,  4.40575742, -0.54924239, 13.8901951 ,
        1.17812298,  4.40575742,  1.17812298,  4.58673133,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002670132244812634
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03948318e-13,  1.03948318e-13,  1.00000000e+00, -1.08052529e-26,
        1.00000000e+00, -1.03948318e-13, -1.00000000e+00,  0.00000000e+00,
        1.03948318e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10808931, -0.09340693,  0.06199175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67667177e-06, 2.52870604e-06,-1.85490181e-05, 1.26145114e-05,
 -1.13278063e-06, 6.45958999e-06, 4.66964175e-06,-1.68309804e-05,
 -2.83447275e-05, 5.48360974e-05, 1.76847557e-05, 1.12045862e-05,
 -5.49421922e-04,-1.76316902e-04,-3.84347197e-04,-1.42287005e-04,
 -2.56825249e-06, 2.32884045e-06,-1.21644442e+00,-1.78235485e-03,
 -3.09276015e-04,-1.20135487e-06]


--- Step 180 ---
qpos:
[ 2.78092342e-03,-5.51080598e-03,-9.92132945e-03, 2.74685807e-03,
 -4.36207403e-03,-5.10137625e-03,-1.72838933e-02, 4.96121382e-03,
 -4.55857921e-03,-3.82250787e-03,-7.58785233e-03,-1.86530118e-02,
  5.03171831e-01, 1.73200224e-02, 3.97445931e-01, 2.72814603e-02,
  9.50205131e-02,-6.99970017e-02, 1.30734885e-01, 9.99956546e-01,
  2.25525605e-05, 7.23644810e-05,-9.32199848e-03]

qacc:
[  0.10555335,  0.43399994, -0.30845077, -3.43267878, -2.99394554,
  -3.45457857, 14.66621317,-26.1336892 , -2.79219505,  0.84237673,
  -5.03878582, 14.01504797, -2.35169389,  7.53043898, -2.64854793,
   1.0951685 , -0.9803915 ,  1.60735623, -0.24649399,-22.47338588,
 -16.82046641, -1.00788069]

qfrc_actuator:
[ 5.76208372e-05,-4.91879871e-04,-5.30781366e-04, 2.14920835e-05,
 -9.33849784e-05,-5.38826535e-04,-7.92410637e-04, 6.43226615e-06,
 -7.74118171e-05,-3.31846370e-04,-4.01156571e-04,-5.53273123e-04,
  7.98106135e-02, 1.88111257e-04, 8.34082881e-02,-4.01383598e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44351717, -0.44912331,  4.4207616 , -0.44912331, 19.00209867,
        1.47906602,  4.4207616 ,  1.47906602,  4.59378156,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026830821187955045
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03446612e-13, -2.06893225e-13,  1.00000000e+00,  2.14024033e-26,
        1.00000000e+00,  2.06893225e-13, -1.00000000e+00,  0.00000000e+00,
        1.03446612e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10808673, -0.09340704,  0.06199171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.87630865e-07, 6.63423595e-06,-1.42324381e-05,-1.22250251e-05,
 -1.78102400e-05, 7.10986279e-06, 4.36312912e-05,-2.85405831e-05,
 -1.64230849e-05, 2.34522776e-05, 1.54331547e-05, 2.90501582e-05,
 -5.45233857e-04,-3.41840779e-05,-3.60384526e-04,-9.93484689e-05,
 -8.71985566e-07, 3.07936626e-06,-1.21644368e+00,-1.78231675e-03,
 -3.09431986e-04,-8.89699660e-07]


--- Step 181 ---
qpos:
[ 2.78283326e-03,-5.51307548e-03,-9.92715467e-03, 2.74810705e-03,
 -4.36413040e-03,-5.10325548e-03,-1.72929021e-02, 4.96319128e-03,
 -4.56029280e-03,-3.82326940e-03,-7.59056620e-03,-1.86623158e-02,
  5.04829663e-01, 1.73308241e-02, 3.99513840e-01, 2.72935531e-02,
  9.50048221e-02,-6.99864036e-02, 1.30730719e-01, 9.99955999e-01,
 -4.51745663e-05,-5.20109279e-05,-9.38060715e-03]

qacc:
[ -0.06802557, -0.5936386 ,  4.46402944,-13.1732521 , -1.7222765 ,
  -0.44313541,  0.45011091,  4.36350668,  4.57618383, -2.6857406 ,
  10.14419083,-15.75618123, -2.45972631,  8.10385952, -7.45205055,
  18.07835656, -0.98208133,  1.5890358 , -0.34299998,-22.27782842,
 -16.50070606, -1.10381217]

qfrc_actuator:
[ 5.72213903e-05,-4.85987531e-04,-5.36131668e-04,-3.99248614e-06,
 -1.03102672e-04,-5.18373837e-04,-7.63776302e-04, 2.44305720e-05,
 -5.01964260e-05,-3.74091961e-04,-3.81287389e-04,-5.69989360e-04,
  7.96543798e-02, 2.26663554e-04, 8.32482522e-02,-3.97214066e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44147363, -0.32558541,  4.42952392, -0.32558541, 25.60396994,
        1.55551707,  4.42952392,  1.55551707,  4.55580954,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026758541689869686
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.18630199e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.18630199e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10808507, -0.0934078 ,  0.06199173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.63393517e-07, 6.28150317e-06,-6.06744405e-06,-2.59170391e-05,
 -1.02261804e-05, 3.23917297e-05, 3.46216442e-05, 1.92800762e-05,
  2.67463139e-05,-2.46374252e-05, 2.76813612e-05,-1.45835708e-05,
 -5.46599927e-04,-2.89625040e-05,-3.36759481e-04,-1.03085378e-05,
  3.21247678e-07, 4.76477378e-06,-1.21644787e+00,-1.78156599e-03,
 -3.09144413e-04, 2.69459833e-07]


--- Step 182 ---
qpos:
[ 2.78506864e-03,-5.51520372e-03,-9.93332235e-03, 2.74905210e-03,
 -4.36628750e-03,-5.10499136e-03,-1.73011925e-02, 4.96500329e-03,
 -4.56201177e-03,-3.82475010e-03,-7.59249486e-03,-1.86717077e-02,
  5.06484681e-01, 1.73410623e-02, 4.01578189e-01, 2.73059256e-02,
  9.49874371e-02,-6.99818722e-02, 1.30727516e-01, 9.99955455e-01,
 -6.97933273e-05,-1.82966905e-04,-9.43658730e-03]

qacc:
[ 2.83492025e+00, 5.12377324e-01,-2.82699096e-01,-4.52308588e+00,
 -8.58810735e-01,-2.15655694e+00, 8.66615585e+00,-1.27882043e+01,
 -1.01712163e-02,-3.32640475e+00, 1.08498767e+01,-1.30914270e+01,
 -8.23663433e-01,-7.39122498e-01,-6.10429839e+00, 1.37395763e+01,
 -4.23481825e-01,-1.51669821e+00, 2.40890405e-01, 2.15841678e+01,
 -3.08800736e+00, 1.31295092e+00]

qfrc_actuator:
[ 7.39746974e-05,-4.81605917e-04,-5.54695743e-04,-1.94771570e-05,
 -1.07991432e-04,-5.05426189e-04,-7.25515521e-04, 1.64901174e-05,
 -5.12462878e-05,-4.34448419e-04,-3.50886097e-04,-5.76127081e-04,
  7.95011204e-02, 1.91724424e-04, 8.30939735e-02,-3.95232429e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44800927, -0.81691224,  4.37234958, -0.81691224, 25.69803285,
        3.97026908,  4.37234958,  3.97026908,  5.1897984 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026988814412429174
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.11364133e-13,  2.05682067e-13,  1.00000000e+00, -8.46102250e-26,
        1.00000000e+00, -2.05682067e-13, -1.00000000e+00,  0.00000000e+00,
        4.11364133e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09883002, -0.04630073,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67593371e-05, 5.67183031e-06,-1.88208266e-05,-1.59150036e-05,
 -5.17271568e-06, 3.92040412e-05, 5.00071302e-05,-4.95886297e-06,
 -3.02374068e-07,-6.89567742e-05, 2.82758577e-05,-6.49200638e-06,
 -5.43519010e-04,-1.02754831e-04,-3.11109341e-04,-2.43934488e-05,
  1.06857803e-06, 7.37378309e-06,-1.21645682e+00,-1.78010418e-03,
 -3.08437224e-04, 2.24054456e-06]


--- Step 183 ---
qpos:
[ 2.78679790e-03,-5.51718919e-03,-9.93997978e-03, 2.74981473e-03,
 -4.36883129e-03,-5.10664668e-03,-1.73092095e-02, 4.96743623e-03,
 -4.56407505e-03,-3.82656300e-03,-7.59416629e-03,-1.86807669e-02,
  5.08136792e-01, 1.73511967e-02, 4.03638988e-01, 2.73196844e-02,
  9.49741148e-02,-6.99805465e-02, 1.30726241e-01, 9.99954901e-01,
 -7.50459997e-05,-2.81138280e-04,-9.49269220e-03]

qacc:
[-4.44599692, 1.19052568,-3.18607728, 0.69097361,-3.36583083, 0.62745807,
 -4.69267287,14.9307449 ,-3.00105123,-0.46712363,-0.36352813, 5.9378296 ,
 -1.36546612, 2.14734209,-9.39631474,25.38998526, 1.01565101,-0.80139609,
  0.48215066, 9.52791392,16.48294941,-0.06304575]

qfrc_actuator:
[ 4.74319422e-05,-4.78210421e-04,-5.80914276e-04,-2.89636244e-05,
 -1.27754043e-04,-5.14801878e-04,-7.17426569e-04, 4.66055797e-05,
 -6.89380234e-05,-4.34133248e-04,-3.32344983e-04,-5.58247658e-04,
  7.93497361e-02, 1.84756353e-04, 8.29432594e-02,-3.87454080e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.46331867,  -2.65536959,  -3.58750971,  -2.65536959,
        19.02599856, -10.77886903,  -3.58750971, -10.77886903,
        12.44152175,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002751833537905368
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.04310585e-14, -2.01724234e-13,  1.00000000e+00,  1.01731666e-26,
        1.00000000e+00,  2.01724234e-13, -1.00000000e+00,  0.00000000e+00,
        5.04310585e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08229377, -0.05795194,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.60476064e-05, 2.14352950e-06,-2.78239941e-05,-1.01892078e-05,
 -1.98989833e-05, 2.28179277e-05, 2.22888931e-05, 3.34478141e-05,
 -1.77338034e-05,-3.25913908e-05, 7.61547263e-06, 1.58063921e-05,
 -5.48177170e-04,-7.93171686e-05,-2.98550156e-04, 3.57992041e-05,
 -4.75625712e-08, 6.48292761e-06,-1.21645512e+00,-1.77976417e-03,
 -3.05268166e-04, 1.40826444e-06]


--- Step 184 ---
qpos:
[ 2.78854111e-03,-5.51936620e-03,-9.94653215e-03, 2.75080525e-03,
 -4.37228194e-03,-5.10822105e-03,-1.73173417e-02, 4.97092964e-03,
 -4.56564497e-03,-3.82835745e-03,-7.59572156e-03,-1.86902675e-02,
  5.09786052e-01, 1.73608828e-02, 4.05695998e-01, 2.73346031e-02,
  9.49648279e-02,-6.99823257e-02, 1.30726294e-01, 9.99954344e-01,
 -6.09339562e-05,-3.47322730e-04,-9.54913208e-03]

qacc:
[  0.1286715 , -0.07769837, -1.0525725 ,  4.96978279, -7.91549636,
   2.62746824,-13.66359197, 32.11397946,  4.32324347, -1.21799197,
   6.22335849,-14.03810435, -0.95166988, -0.05094366, -9.09837383,
  23.74754013,  1.00885469, -0.77624282,  0.33186783,  9.53005302,
  16.0846653 , -0.16902308]

qfrc_actuator:
[ 4.88708816e-05,-4.93217219e-04,-5.75935932e-04,-1.70984731e-05,
 -1.73867346e-04,-5.19813505e-04,-7.27283101e-04, 9.88343784e-05,
 -4.30159102e-05,-4.15267033e-04,-3.20706080e-04,-5.79601137e-04,
  7.91995864e-02, 1.58831437e-04, 8.27575306e-02,-3.81645346e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4749175 ,  3.17624684, -3.15219648,  3.17624684, 10.98839739,
        6.56317588, -3.15219648,  6.56317588, 11.08816855,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002791068951337461
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.98888498e-13,  3.97776997e-13,  1.00000000e+00, -7.91132695e-26,
        1.00000000e+00, -3.97776997e-13, -1.00000000e+00,  0.00000000e+00,
        1.98888498e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08229605, -0.05795068,  0.06199138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.09879124e-07,-1.98585124e-05, 1.73996751e-06, 1.08142010e-05,
 -4.66778988e-05, 1.39266845e-05,-1.13146899e-06, 5.46458263e-05,
  2.53942481e-05, 2.98378312e-06, 6.45170880e-06,-2.21497101e-05,
 -5.47114553e-04,-9.78330540e-05,-3.21624571e-04, 2.09478522e-05,
 -1.91485580e-07, 4.88267186e-06,-1.21644852e+00,-1.78006919e-03,
 -3.03285075e-04, 1.08283065e-06]


--- Step 185 ---
qpos:
[ 2.79097785e-03,-5.52173266e-03,-9.95298861e-03, 2.75227614e-03,
 -4.37625869e-03,-5.10973319e-03,-1.73254646e-02, 4.97432550e-03,
 -4.56723734e-03,-3.82997998e-03,-7.59749620e-03,-1.86999462e-02,
  5.11432338e-01, 1.73712133e-02, 4.07749276e-01, 2.73487495e-02,
  9.49595524e-02,-6.99871291e-02, 1.30727170e-01, 9.99953787e-01,
 -2.74685480e-05,-3.82168017e-04,-9.60607163e-03]

qacc:
[ 6.07437416, 0.45903868,-4.04813602,12.36961601,-4.59040297,-0.13574204,
  1.03058623,-2.79614065,-0.20654817, 0.47390188,-0.60816226,-2.24951783,
 -2.293077  , 7.0308395 ,-3.05208057, 2.99928731, 1.00285485,-0.75604734,
  0.20567194, 9.52652291,15.76128487,-0.25222798]

qfrc_actuator:
[ 8.45338615e-05,-5.01235575e-04,-5.70391019e-04, 7.24030898e-06,
 -1.99610955e-04,-5.22239306e-04,-7.29874998e-04, 9.26327607e-05,
 -4.48833159e-05,-4.03240592e-04,-3.30922962e-04,-5.88348164e-04,
  7.90556031e-02, 1.92928929e-04, 8.25669198e-02,-3.85927490e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47883627,  3.11194887, -3.22114089,  3.11194887, 14.91376362,
       10.0811984 , -3.22114089, 10.0811984 , 14.21829662,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002804159716790905
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08229749, -0.05794939,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.56892134e-05,-1.81525698e-05, 2.12954878e-06, 2.37754959e-05,
 -2.70786854e-05, 7.59806017e-06, 2.14431107e-06,-4.56461994e-06,
 -1.14982758e-06, 1.41871597e-05,-9.51462750e-06,-8.79998837e-06,
 -5.42598710e-04,-3.90839987e-05,-3.37643589e-04,-8.34962349e-05,
 -6.37281005e-07, 3.50278121e-06,-1.21644427e+00,-1.78065370e-03,
 -3.01790907e-04, 9.67964397e-07]


--- Step 186 ---
qpos:
[ 2.79313340e-03,-5.52407591e-03,-9.95941945e-03, 2.75400479e-03,
 -4.37947855e-03,-5.11166203e-03,-1.73332942e-02, 4.97697308e-03,
 -4.56952960e-03,-3.83131061e-03,-7.59946517e-03,-1.87096714e-02,
  5.13075696e-01, 1.73822368e-02, 4.09798238e-01, 2.73623129e-02,
  9.49582676e-02,-6.99948922e-02, 1.30728445e-01, 9.99953231e-01,
  2.53346789e-05,-3.86197846e-04,-9.66363945e-03]

qacc:
[ -2.45964806,  0.49477579, -2.79935332,  7.19333096,  6.61861057,
  -2.92324214, 12.76111021,-25.85150923, -6.13979114,  0.84549983,
  -2.23835348,  1.50922251, -2.30656868,  7.19062397, -4.48615304,
   6.77005119,  0.99768508, -0.73989834,  0.09989871,  9.52033473,
  15.49990632, -0.31738387]

qfrc_actuator:
[ 6.90355668e-05,-4.87233701e-04,-5.64539033e-04, 2.09670043e-05,
 -1.59892860e-04,-5.76385164e-04,-7.28186607e-04, 5.21066990e-05,
 -8.08586002e-05,-3.77726239e-04,-3.36211611e-04,-5.89617998e-04,
  7.89101073e-02, 2.26621170e-04, 8.23468821e-02,-3.89016294e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47649195,  3.02240813, -3.30212496,  3.02240813, 20.4457161 ,
       14.61650103, -3.30212496, 14.61650103, 17.85485651,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002796338296585932
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.9256859e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        9.9256859e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08229827, -0.05794806,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44720848e-05, 5.47212168e-06, 3.28338853e-06, 1.34998006e-05,
  3.89448180e-05,-4.95165088e-05, 3.47049814e-06,-4.02000635e-05,
 -3.60112594e-05, 3.12013135e-05,-3.77497739e-06,-1.13389205e-06,
 -5.33837053e-04,-3.54553221e-05,-3.86001754e-04,-7.94213583e-05,
 -1.37895251e-06, 2.31764127e-06,-1.21644223e+00,-1.78152355e-03,
 -3.00771312e-04, 1.05567619e-06]


--- Step 187 ---
qpos:
[ 2.79508698e-03,-5.52639629e-03,-9.96544597e-03, 2.75551275e-03,
 -4.38219761e-03,-5.11398364e-03,-1.73407435e-02, 4.97910639e-03,
 -4.57223528e-03,-3.83258962e-03,-7.60110849e-03,-1.87196863e-02,
  5.14716510e-01, 1.73916167e-02, 4.11842875e-01, 2.73743457e-02,
  9.49609562e-02,-7.00055634e-02, 1.30729766e-01, 9.99952671e-01,
  9.74601338e-05,-3.59832860e-04,-9.72193543e-03]

qacc:
[-1.75486836e+00,-1.55096192e+00, 6.51128714e+00,-1.10003422e+01,
  4.38712536e+00,-2.64839267e+00, 1.08466242e+01,-2.00515056e+01,
 -3.61098461e+00,-1.43209826e+00, 6.43819889e+00,-1.20202421e+01,
  5.01332555e-01,-7.49204127e+00,-1.85855893e+00,-3.02461062e+00,
  9.93347197e-01,-7.27058358e-01, 1.14228587e-02, 9.51365939e+00,
  1.52900479e+01,-3.68202148e-01]

qfrc_actuator:
[ 5.90430879e-05,-4.77909203e-04,-5.40718245e-04, 1.06042682e-05,
 -1.35228190e-04,-5.90098488e-04,-7.06465064e-04, 2.71810061e-05,
 -1.01106936e-04,-3.79813139e-04,-3.20727979e-04,-6.04214654e-04,
  7.87691329e-02, 1.35495596e-04, 8.21360041e-02,-3.96702925e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46924641,  2.90333089, -3.39776886,  2.90333089, 28.2548223 ,
       20.32433637, -3.39776886, 20.32433637, 21.83601737,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027719777903689735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.00387424e-13, -2.00258283e-13,  1.00000000e+00,  6.01550698e-26,
        1.00000000e+00,  2.00258283e-13, -1.00000000e+00,  0.00000000e+00,
        3.00387424e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08229852, -0.05794671,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.03911474e-05, 1.37854591e-05, 2.59197794e-05,-9.73600570e-06,
  2.57650298e-05,-4.22385620e-05, 1.06373609e-05,-2.76952708e-05,
 -2.12735148e-05, 1.46055136e-05, 2.14832710e-05,-1.33830227e-05,
 -5.22887448e-04,-1.59084044e-04,-3.96089253e-04,-1.30803559e-04,
 -2.41208652e-06, 1.30844066e-06,-1.21644232e+00,-1.78268293e-03,
 -3.00215031e-04, 1.33977956e-06]


--- Step 188 ---
qpos:
[ 2.79656093e-03,-5.52886357e-03,-9.97077355e-03, 2.75688627e-03,
 -4.38528945e-03,-5.11651331e-03,-1.73477014e-02, 4.98123789e-03,
 -4.57516319e-03,-3.83368638e-03,-7.60261870e-03,-1.87294559e-02,
  5.16354619e-01, 1.74005276e-02, 4.13883465e-01, 2.73832551e-02,
  9.49676041e-02,-7.00191024e-02, 1.30730837e-01, 9.99952101e-01,
  1.88895095e-04,-3.03407749e-04,-9.78103666e-03]

qacc:
[ -4.17195668, -2.41643851,  8.9157394 ,-12.26720504, -3.23315836,
  -1.64535548,  5.48665495, -6.16338762, -1.94481083,  0.37805599,
  -2.02622001,  5.91545093, -0.95391623,  0.0708295 ,  3.49634995,
 -20.85616615,  0.98982124, -0.71692976, -0.06242497,  9.50803048,
  15.12317345, -0.40759764]

qfrc_actuator:
[ 3.46347173e-05,-4.89152705e-04,-5.06505126e-04, 3.91585578e-06,
 -1.55147520e-04,-5.79409543e-04,-6.72927886e-04, 2.94334626e-05,
 -1.11925615e-04,-3.62832023e-04,-3.10975866e-04,-5.91040126e-04,
  7.86362679e-02, 1.13559680e-04, 8.19414298e-02,-4.12355957e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002734721874584206
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01493230e-13, -2.02986460e-13,  1.00000000e+00,  2.06017515e-26,
        1.00000000e+00,  2.02986460e-13, -1.00000000e+00,  0.00000000e+00,
        1.01493230e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08229837, -0.05794535,  0.06199155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.46879145e-05, 1.54345125e-06, 4.00090178e-05,-5.37502808e-06,
 -1.91949495e-05,-1.17440722e-05, 2.52736806e-05, 2.87839120e-07,
 -1.14289542e-05, 2.90843972e-05, 1.50062710e-05, 1.43119521e-05,
 -5.22520870e-04,-9.65529481e-05,-3.89450035e-04,-2.14470800e-04,
 -3.73378417e-06, 4.61613281e-07,-1.21644444e+00,-1.78413485e-03,
 -3.00113276e-04, 1.81564810e-06]


--- Step 189 ---
qpos:
[ 2.79704120e-03,-5.53146946e-03,-9.97530900e-03, 2.75781629e-03,
 -4.38894078e-03,-5.11909925e-03,-1.73542879e-02, 4.98371338e-03,
 -4.57750841e-03,-3.83468512e-03,-7.60425579e-03,-1.87386169e-02,
  5.17989626e-01, 1.74114919e-02, 4.15919642e-01, 2.73898373e-02,
  9.49743275e-02,-7.00306603e-02, 1.30733424e-01, 9.99951519e-01,
  2.67277062e-04,-2.49041173e-04,-9.83999304e-03]

qacc:
[-8.66674602e+00,-3.29370740e+00, 1.33793119e+01,-2.22510564e+01,
 -4.86784302e+00,-3.94100290e-01,-1.38203633e-01, 5.52111653e+00,
  5.09708566e+00, 1.72805482e+00,-8.55533243e+00, 1.92279929e+01,
 -3.98146956e+00, 1.57509661e+01, 7.92833635e-01,-1.15502181e+01,
  1.88698347e-02, 4.95259417e-01, 3.78944012e-01,-6.51609389e+00,
 -1.09304240e+00, 7.45447838e-02]

qfrc_actuator:
[-1.58173690e-05,-4.94823755e-04,-4.66512958e-04,-1.83185681e-05,
 -1.83391335e-04,-5.71859477e-04,-6.50317335e-04, 4.76860464e-05,
 -8.16070557e-05,-3.70066625e-04,-3.22353008e-04,-5.61622153e-04,
  7.84870715e-02, 2.21383538e-04, 8.17301393e-02,-4.23692016e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44566165,  2.60830763, -3.60008872,  2.60830763, 19.39026923,
       10.82754813, -3.60008872, 10.82754813, 12.29035064,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002690639726441435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.22362645e-15, -7.38673627e-07,  1.00000000e+00,  2.38120784e-21,
        1.00000000e+00,  7.38673627e-07, -1.00000000e+00,  0.00000000e+00,
        3.22362645e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09500419, -0.07543928,  0.06199169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.11454107e-05, 3.36122132e-06, 4.51406292e-05,-2.08733968e-05,
 -2.87990517e-05, 6.37753824e-06, 2.34155178e-05, 1.86469094e-05,
  2.99942716e-05, 1.28075146e-05,-2.97683019e-06, 3.14888902e-05,
 -5.30788720e-04, 3.69395985e-05,-4.13482099e-04,-1.75342834e-04,
 -5.34259126e-06,-2.32298433e-07,-1.21644854e+00,-1.78588149e-03,
 -3.00459242e-04, 2.47999798e-06]


--- Step 190 ---
qpos:
[ 2.79691286e-03,-5.53394895e-03,-9.97938809e-03, 2.75811662e-03,
 -4.39255777e-03,-5.12143480e-03,-1.73609739e-02, 4.98672677e-03,
 -4.57947210e-03,-3.83572473e-03,-7.60619722e-03,-1.87476680e-02,
  5.19621746e-01, 1.74227580e-02, 4.17951203e-01, 2.73972162e-02,
  9.49771805e-02,-7.00355553e-02, 1.30735315e-01, 9.99950922e-01,
  3.01064976e-04,-2.28905943e-04,-9.90000031e-03]

qacc:
[ -5.3127925 , -2.39499065, 11.45760178,-23.19719011,  0.29244745,
   1.7155273 , -7.90874697, 17.19504415,  3.33206143,  1.01660512,
  -4.17689439,  6.60462782, -1.81599427,  4.55392756, -9.14811986,
  22.33350601, -0.9675847 ,  1.66572628, -0.17398595,-22.12765646,
 -17.33438837, -0.51536559]

qfrc_actuator:
[-4.56845177e-05,-4.79348234e-04,-4.41178755e-04,-4.95177572e-05,
 -1.80788770e-04,-5.48508657e-04,-6.52091835e-04, 7.51936424e-05,
 -6.28274484e-05,-3.91819342e-04,-3.46200965e-04,-5.58424791e-04,
  7.83228835e-02, 2.27202233e-04, 8.15409525e-02,-4.18190467e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45380463,  2.72732687, -3.52108845,  2.72732687, 10.91645361,
        5.00576923, -3.52108845,  5.00576923,  8.3311196 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000271908666794593
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.04153666e-13,  2.04153666e-13,  1.00000000e+00, -4.16787195e-26,
        1.00000000e+00, -2.04153666e-13, -1.00000000e+00,  0.00000000e+00,
        2.04153666e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10805824, -0.09342012,  0.0619916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.13157214e-05, 2.59108768e-05, 3.09493579e-05,-2.98835302e-05,
  1.77771209e-06, 3.27081494e-05, 3.17581051e-06, 2.89702983e-05,
  1.96326078e-05,-1.37783476e-05,-2.04321695e-05, 4.28054329e-06,
 -5.34852039e-04,-5.78563644e-05,-3.97190769e-04,-7.66083394e-06,
 -4.56708368e-06,-5.70979459e-07,-1.21644664e+00,-1.78704296e-03,
 -3.01647529e-04, 2.10905677e-06]


--- Step 191 ---
qpos:
[ 2.79642728e-03,-5.53625232e-03,-9.98314487e-03, 2.75804376e-03,
 -4.39577107e-03,-5.12324081e-03,-1.73679907e-02, 4.98899051e-03,
 -4.58222998e-03,-3.83690523e-03,-7.60836602e-03,-1.87566015e-02,
  5.21251100e-01, 1.74330984e-02, 4.19978904e-01, 2.74059651e-02,
  9.49761470e-02,-7.00339100e-02, 1.30736077e-01, 9.99950312e-01,
  2.90520997e-04,-2.42145588e-04,-9.96146001e-03]

qacc:
[ -3.11868458, -1.43061818,  7.02432377,-14.13902947,  3.50179079,
   0.07366648,  3.905374  ,-16.72725394, -6.95897015,  0.70516618,
  -3.2560612 ,  5.73011017, -0.37702344, -2.96691249, -9.88681152,
  26.23486249, -0.97164698,  1.635088  , -0.28227477,-21.99981729,
 -16.90628122, -0.71615497]

qfrc_actuator:
[-6.31883157e-05,-4.69146966e-04,-4.24620412e-04,-6.79795902e-05,
 -1.60048402e-04,-5.15961557e-04,-6.68175083e-04, 3.69122044e-05,
 -1.04261017e-04,-4.04430607e-04,-3.59550560e-04,-5.52951885e-04,
  7.81657703e-02, 1.72748083e-04, 8.13971598e-02,-4.09906695e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4544597 , -1.99205475,  3.98420997, -1.99205475, 14.21768425,
        4.88148917,  3.98420997,  4.88148917,  6.89514274,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027213581177204516
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.03983264e-13,  3.05974897e-13,  1.00000000e+00, -6.24137582e-26,
        1.00000000e+00, -3.05974897e-13, -1.00000000e+00,  0.00000000e+00,
        2.03983264e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10805552, -0.09342182,  0.06199159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.83776576e-05, 2.99294053e-05, 2.47659450e-05,-1.68470328e-05,
  2.08013940e-05, 5.28917185e-05,-7.83461803e-06,-3.61929045e-05,
 -4.08842579e-05,-2.42717170e-05,-1.85115695e-05, 4.28487369e-06,
 -5.42125551e-04,-1.25229631e-04,-3.25393831e-04, 3.16483619e-05,
 -1.82032675e-06,-3.81349471e-08,-1.21644104e+00,-1.78715196e-03,
 -3.03109434e-04, 1.16372796e-06]


--- Step 192 ---
qpos:
[ 2.79608055e-03,-5.53847056e-03,-9.98636270e-03, 2.75809234e-03,
 -4.39836590e-03,-5.12450817e-03,-1.73754209e-02, 4.98974702e-03,
 -4.58477313e-03,-3.83833358e-03,-7.61038673e-03,-1.87650663e-02,
  5.22877529e-01, 1.74431169e-02, 4.22002906e-01, 2.74145805e-02,
  9.49712152e-02,-7.00258231e-02, 1.30735346e-01, 9.99949682e-01,
  2.35866670e-04,-2.88075851e-04,-1.00246839e-02]

qacc:
[  1.23032172, -1.14614063,  3.73311467, -2.55152786,  5.37207359,
  -1.24715577, 11.82434171,-37.62638764,  1.88937676,  0.22016639,
  -3.24193688, 11.29838007, -1.18984775,  1.01319064, -5.03001872,
   9.75557513, -0.97456619,  1.61037695, -0.37313395,-21.89146607,
 -16.56445769, -0.87206226]

qfrc_actuator:
[-5.55293770e-05,-4.62210520e-04,-3.95623448e-04,-6.10510048e-05,
 -1.28808450e-04,-4.96028612e-04,-6.92572449e-04,-3.97702591e-05,
 -9.20362362e-05,-4.11440626e-04,-3.48803745e-04,-5.28412676e-04,
  7.80076692e-02, 1.54247467e-04, 8.12167922e-02,-4.10694387e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44983968, -1.89307528,  4.02707576, -1.89307528, 18.84051791,
        6.76486832,  4.02707576,  6.76486832,  7.62991519,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002705284541756753
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02597620e-13,  5.12988101e-14,  1.00000000e+00,  5.26313584e-27,
        1.00000000e+00, -5.12988101e-14, -1.00000000e+00,  0.00000000e+00,
       -1.02597620e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10805375, -0.09342387,  0.06199164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.15508513e-06, 2.81894241e-05, 3.77189436e-05, 8.75458613e-06,
  3.18563870e-05, 4.64909444e-05,-1.55926780e-05,-7.53780698e-05,
  1.10418942e-05,-2.41575798e-05, 3.65986527e-06, 2.29712448e-05,
 -5.56130342e-04,-9.51789679e-05,-3.28028248e-04,-4.84457272e-05,
  3.76561742e-07, 1.34258751e-06,-1.21644035e+00,-1.78657790e-03,
 -3.04098033e-04, 1.06555076e-06]


--- Step 193 ---
qpos:
[ 2.79582820e-03,-5.54040264e-03,-9.98926653e-03, 2.75821317e-03,
 -4.40056561e-03,-5.12563246e-03,-1.73830241e-02, 4.99064977e-03,
 -4.58646102e-03,-3.83961219e-03,-7.61244245e-03,-1.87732098e-02,
  5.24500988e-01, 1.74528987e-02, 4.24022709e-01, 2.74230662e-02,
  9.49623764e-02,-7.00113741e-02, 1.30732818e-01, 9.99949019e-01,
  1.37284865e-04,-3.66153393e-04,-1.00899125e-02]

qacc:
[  0.83076857, -0.35219854,  1.49663386, -0.95554024,  3.43893142,
   0.96702357, -3.80290175,  6.51874074,  7.48557645,  0.94302162,
  -4.45447138,  9.98302939, -1.29974894,  1.53158548, -5.76993516,
  11.29712506, -0.97673132,  1.59055241, -0.44933038,-21.80178495,
 -16.29325105, -0.99234092]

qfrc_actuator:
[-5.08786333e-05,-4.39459810e-04,-3.77261508e-04,-5.69861404e-05,
 -1.09397628e-04,-5.01637723e-04,-7.03990851e-04,-3.19201001e-05,
 -4.83076776e-05,-3.79421325e-04,-3.41636224e-04,-5.10584407e-04,
  7.78490893e-02, 1.39332837e-04, 8.10039527e-02,-4.11503602e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44117058, -1.76896472,  4.07366664, -1.76896472, 25.0616813 ,
        8.95433015,  4.07366664,  8.95433015,  8.32953345,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002674780101304536
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.11303074e-13, -2.07535383e-13,  1.00000000e+00,  6.46064027e-26,
        1.00000000e+00,  2.07535383e-13, -1.00000000e+00,  0.00000000e+00,
        3.11303074e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10805272, -0.09342618,  0.06199173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.87346800e-06, 4.68019919e-05, 2.91971500e-05, 6.76007249e-06,
  2.03438051e-05, 1.40808130e-05,-6.24607075e-06, 7.85177863e-06,
  4.40260292e-05, 2.03402076e-05, 3.47960587e-06, 1.73931748e-05,
 -5.62819476e-04,-9.17709073e-05,-3.71174316e-04,-5.35823784e-05,
  2.09133940e-06, 3.58698802e-06,-1.21644439e+00,-1.78531549e-03,
 -3.04645901e-04, 1.78011278e-06]


--- Step 194 ---
qpos:
[ 2.79528901e-03,-5.54211500e-03,-9.99215775e-03, 2.75841162e-03,
 -4.40286001e-03,-5.12676581e-03,-1.73907052e-02, 4.99268879e-03,
 -4.58795652e-03,-3.84088423e-03,-7.61461263e-03,-1.87813975e-02,
  5.26121532e-01, 1.74618287e-02, 4.26038576e-01, 2.74322505e-02,
  9.49574360e-02,-7.00001352e-02, 1.30732084e-01, 9.99948351e-01,
  5.80565729e-05,-4.10538465e-04,-1.01549908e-02]

qacc:
[ -2.51292817,  0.41991357, -1.39502745,  2.54732073, -0.82765217,
   2.546498  ,-13.89140935, 33.68610006,  1.68099804,  0.23446857,
  -0.64288966,  0.06362139, -0.56543098, -2.2357677 , -7.95294421,
  19.33880031,  0.97457913, -0.80254213,  0.44829152,  9.50631357,
  16.9430228 ,  0.06928413]

qfrc_actuator:
[-6.57965130e-05,-4.42960881e-04,-3.83023840e-04,-5.46389126e-05,
 -1.14860954e-04,-5.04639316e-04,-7.07696731e-04, 2.55990363e-05,
 -3.96611700e-05,-3.95293411e-04,-3.54245057e-04,-5.14575444e-04,
  7.76903314e-02, 9.11081003e-05, 8.08410433e-02,-4.06994988e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44725215, -2.55611148,  3.63927819, -2.55611148, 20.31660961,
       11.14612421,  3.63927819, 11.14612421, 12.27592985,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002696227060750983
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02942278e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.02942278e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08230885, -0.05793573,  0.06199167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47546742e-05, 2.90974091e-05, 7.79158989e-06, 5.50479589e-06,
 -4.87543610e-06, 4.05377751e-06,-1.19565090e-06, 5.80757738e-05,
  9.90197794e-06,-2.93586203e-06,-7.32371383e-06,-2.63748534e-06,
 -5.67590785e-04,-1.25946110e-04,-3.39542805e-04,-5.74710997e-06,
  3.37494553e-06, 6.70263473e-06,-1.21645305e+00,-1.78336135e-03,
 -3.04777049e-04, 3.28185914e-06]


--- Step 195 ---
qpos:
[ 2.79492052e-03,-5.54385981e-03,-9.99496044e-03, 2.75866481e-03,
 -4.40520175e-03,-5.12820274e-03,-1.73976506e-02, 4.99503741e-03,
 -4.58933617e-03,-3.84255875e-03,-7.61674170e-03,-1.87891806e-02,
  5.27739177e-01, 1.74701301e-02, 4.28050738e-01, 2.74408185e-02,
  9.49564011e-02,-6.99920049e-02, 1.30732567e-01, 9.99947683e-01,
 -1.82228940e-06,-4.22220323e-04,-1.02201839e-02]

qacc:
[ 1.4968881 ,-0.18054912, 0.34540278, 0.48969724,-0.38456601,-1.8182371 ,
  4.59577703,-0.19286376, 1.02278542, 0.1843258 ,-3.13714371,10.36539696,
 -0.85060227,-0.76404828,-3.60331807, 4.68216526, 0.97638125,-0.77715538,
  0.30462294, 9.50814134,16.44900644,-0.06233853]

qfrc_actuator:
[-5.66068182e-05,-4.62261043e-04,-3.85332315e-04,-5.33565238e-05,
 -1.17164370e-04,-5.23734134e-04,-6.71295793e-04, 4.08605258e-05,
 -3.39905052e-05,-4.39817043e-04,-3.60873597e-04,-4.95915890e-04,
  7.75475461e-02, 5.91123088e-05, 8.06656132e-02,-4.10024901e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45810231,  2.36032643, -3.78200149,  2.36032643, 11.76599777,
        4.56081756, -3.78200149,  4.56081756,  7.30448358,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002733943346753115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08231219, -0.05793441,  0.06199155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.78601896e-06,-1.09162029e-06, 4.90656793e-06, 2.91641983e-06,
 -2.44410158e-06,-1.44616037e-05, 3.91998108e-05, 1.65395398e-05,
  5.94490554e-06,-4.77025688e-05,-8.17161440e-06, 1.82543049e-05,
 -5.58991336e-04,-1.13084060e-04,-3.33585927e-04,-7.47236211e-05,
  3.23914033e-06, 4.23291865e-06,-1.21644679e+00,-1.78261105e-03,
 -3.03515093e-04, 2.36152990e-06]


--- Step 196 ---
qpos:
[ 2.79501000e-03,-5.54559285e-03,-9.99800436e-03, 2.75825881e-03,
 -4.40720812e-03,-5.12996094e-03,-1.74034465e-02, 4.99683371e-03,
 -4.59063730e-03,-3.84445899e-03,-7.61930181e-03,-1.87959779e-02,
  5.29353821e-01, 1.74789821e-02, 4.30059215e-01, 2.74469142e-02,
  9.49592755e-02,-6.99869014e-02, 1.30733787e-01, 9.99947019e-01,
 -4.23679890e-05,-4.01994111e-04,-1.02856985e-02]

qacc:
[  3.99841818, -0.67565492,  5.20057336,-16.21701312,  2.96651926,
  -4.77878019, 18.74584979,-29.89860679,  0.67850591,  2.9362514 ,
 -15.05841287, 32.96170261, -2.28630615,  6.4983536 ,  2.16906455,
 -15.15860618,  0.97731976, -0.75667579,  0.18392521,  9.50295461,
  16.0519955 , -0.16480102]

qfrc_actuator:
[-3.32954033e-05,-4.73123742e-04,-4.03402084e-04,-8.82264739e-05,
 -9.98286914e-05,-5.34434103e-04,-6.11613221e-04, 1.33869389e-05,
 -3.01057524e-05,-4.47867301e-04,-3.81776402e-04,-4.46344324e-04,
  7.74091220e-02, 9.02293149e-05, 8.04774658e-02,-4.22800168e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46174065,  2.30516995, -3.82012056,  2.30516995, 15.69849243,
        6.78057724, -3.82012056,  6.78057724,  8.55333478,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027464378044957105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.02120547e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.02120547e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08231449, -0.05793308,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.35701321e-05,-1.02350689e-05,-1.75373431e-05,-3.46808888e-05,
  1.72583137e-05,-9.85390634e-06, 6.21900394e-05,-2.64011003e-05,
  4.02840432e-06,-3.55307521e-05,-3.10701618e-05, 4.76266538e-05,
 -5.46858472e-04,-4.82768478e-05,-3.51964286e-04,-1.75418464e-04,
  2.80610007e-06, 2.01084479e-06,-1.21644292e+00,-1.78213395e-03,
 -3.02765997e-04, 1.67484994e-06]


--- Step 197 ---
qpos:
[ 2.79537852e-03,-5.54748004e-03,-1.00009268e-02, 2.75778029e-03,
 -4.40933632e-03,-5.13157518e-03,-1.74086532e-02, 4.99861102e-03,
 -4.59153706e-03,-3.84645863e-03,-7.62242911e-03,-1.88024799e-02,
  5.30965659e-01, 1.74878077e-02, 4.32063833e-01, 2.74493869e-02,
  9.49660610e-02,-6.99847586e-02, 1.30735337e-01, 9.99946356e-01,
 -6.36028827e-05,-3.50496123e-04,-1.03516951e-02]

qacc:
[  2.44772877, -0.69734009,  2.48863696, -3.81558394, -1.04679194,
  -1.49263716,  5.68228153, -7.06346774,  3.49851137,  2.05551444,
  -8.77464001, 14.87043466, -1.55493349,  2.967606  ,  5.33816956,
 -26.7679391 ,  0.97776994, -0.74020047,  0.08271264,  9.49396852,
  15.73438235, -0.24415174]

qfrc_actuator:
[-1.96191205e-05,-4.78955209e-04,-3.95129000e-04,-9.08378976e-05,
 -1.06578591e-04,-5.04452775e-04,-5.74175080e-04, 1.42682983e-05,
 -9.54893835e-06,-4.51801931e-04,-4.10788041e-04,-4.32226672e-04,
  7.72734282e-02, 8.72757712e-05, 8.02818196e-02,-4.41212401e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45950212,  2.23064521, -3.86152576,  2.23064521, 20.96848069,
        9.53656048, -3.86152576,  9.53656048,  9.96838237,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027387594122163517
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01343606e-13, -2.02687213e-13,  1.00000000e+00,  2.05410532e-26,
        1.00000000e+00,  2.02687213e-13, -1.00000000e+00,  0.00000000e+00,
        1.01343606e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08231596, -0.05793173,  0.06199154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.43570929e-05,-1.65561918e-05, 2.85444028e-06,-4.32125912e-06,
 -6.26011872e-06, 3.63190816e-05, 4.22341169e-05, 2.10964952e-06,
  2.06487332e-05,-2.80697614e-05,-3.84633403e-05, 1.24729904e-05,
 -5.27326066e-04,-7.65817337e-05,-3.78891408e-04,-2.39699676e-04,
  2.08099482e-06, 3.10977387e-09,-1.21644128e+00,-1.78193740e-03,
 -3.02510237e-04, 1.20821047e-06]


--- Step 198 ---
qpos:
[ 2.79590838e-03,-5.54941006e-03,-1.00035243e-02, 2.75759065e-03,
 -4.41152880e-03,-5.13288073e-03,-1.74137456e-02, 5.00108717e-03,
 -4.59218364e-03,-3.84863293e-03,-7.62559090e-03,-1.88091342e-02,
  5.32574858e-01, 1.74958870e-02, 4.34063765e-01, 2.74512842e-02,
  9.49767585e-02,-6.99855239e-02, 1.30736880e-01, 9.99945690e-01,
 -6.55510007e-05,-2.68232213e-04,-1.04182971e-02]

qacc:
[ 1.42251378e+00,-3.72808933e-01, 2.29216323e-02, 4.49360736e+00,
 -5.61983171e-01, 1.52818842e+00,-7.80542400e+00, 1.94890735e+01,
  2.21878662e+00,-4.52606469e-01, 1.91342491e+00,-4.35600822e+00,
 -5.48897693e-01,-1.80068080e+00,-5.19937847e+00, 8.10727055e+00,
  9.78004840e-01,-7.26998838e-01,-1.99053160e-03, 9.48352463e+00,
  1.54819798e+01,-3.05149518e-01]

qfrc_actuator:
[-1.17281916e-05,-4.63854094e-04,-3.71316405e-04,-7.44172005e-05,
 -1.09704151e-04,-4.85904658e-04,-5.67735617e-04, 4.96028461e-05,
  2.90423986e-06,-4.53303208e-04,-4.08851163e-04,-4.39085093e-04,
  7.71394631e-02, 4.64839398e-05, 8.00658450e-02,-4.43264951e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45266439,  2.13396478, -3.90799367,  2.13396478, 28.00490946,
       12.8607326 , -3.90799367, 12.8607326 , 11.47528336,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000271512692301662
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.04451404e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.04451404e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08231677, -0.05793037,  0.06199161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.30455024e-06, 6.35472565e-06, 2.06511916e-05, 1.57371140e-05,
 -3.29409907e-06, 4.77849032e-05, 1.92931135e-05, 3.84048246e-05,
  1.30231576e-05,-2.44801242e-05,-8.09375829e-06,-9.12357594e-06,
 -5.15676387e-04,-1.13853733e-04,-4.17495900e-04,-8.28520287e-05,
  1.06745687e-06,-1.81480236e-06,-1.21644176e+00,-1.78202653e-03,
 -3.02732649e-04, 9.51062883e-07]


--- Step 199 ---
qpos:
[ 2.79652890e-03,-5.55119447e-03,-1.00061735e-02, 2.75760080e-03,
 -4.41339665e-03,-5.13413929e-03,-1.74188586e-02, 5.00401113e-03,
 -4.59302075e-03,-3.85131761e-03,-7.62775892e-03,-1.88155017e-02,
  5.34181354e-01, 1.75037771e-02, 4.36059066e-01, 2.74547814e-02,
  9.49913688e-02,-6.99891550e-02, 1.30738131e-01, 9.99945011e-01,
 -4.82349056e-05,-1.55600728e-04,-1.04855990e-02]

qacc:
[  0.78919795,  0.74702789, -3.23028742,  6.66631366,  2.83059882,
   1.03597441, -5.50387222, 13.2632233 , -1.62830837, -2.8586667 ,
   8.00914806, -4.2663924 , -1.16090969,  1.33993444,-11.65261678,
  30.93566456,  0.97821991, -0.71647892, -0.07272808,  9.47329998,
  15.28333492, -0.35153758]

qfrc_actuator:
[-7.30237471e-06,-4.53995715e-04,-3.73937505e-04,-6.46622598e-05,
 -9.29112955e-05,-5.09944048e-04,-5.79656229e-04, 6.93938076e-05,
 -7.26976317e-06,-4.70982089e-04,-3.53145732e-04,-4.22694387e-04,
  7.70066211e-02, 3.69776032e-05, 7.98751674e-02,-4.33886263e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44237761,  2.0116637 , -3.96079891,  2.0116637 , 37.35640122,
       16.71681602, -3.96079891, 16.71681602, 12.93273847,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026790546648611246
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.10806375e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.10806375e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08231707, -0.05792901,  0.06199172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.67266759e-06, 1.84538073e-05, 1.83225397e-06, 1.10581930e-05,
  1.67127397e-05, 8.41257264e-06, 1.72464490e-06, 2.32623906e-05,
 -9.82143294e-06,-3.32974591e-05, 4.94127410e-05, 1.49107156e-05,
 -5.11142337e-04,-8.37838873e-05,-3.89495201e-04, 3.59234745e-05,
 -2.32329076e-07,-3.46076976e-06,-1.21644427e+00,-1.78240493e-03,
 -3.03421525e-04, 8.95381601e-07]


--- Step 200 ---
qpos:
[ 2.79685297e-03,-5.55282888e-03,-1.00088187e-02, 2.75737828e-03,
 -4.41539365e-03,-5.13527982e-03,-1.74240358e-02, 5.00645375e-03,
 -4.59431831e-03,-3.85460335e-03,-7.62858287e-03,-1.88216362e-02,
  5.35785224e-01, 1.75118051e-02, 4.38050099e-01, 2.74602372e-02,
  9.50098934e-02,-6.99956188e-02, 1.30738856e-01, 9.99944308e-01,
 -1.16735128e-05,-1.29110505e-05,-1.05536716e-02]

qacc:
[ -2.59611949, -0.2869186 ,  2.3015034 , -6.45422262, -1.13091751,
  -0.65319865,  4.59119854,-12.91017812, -3.97913983, -4.06373058,
  12.3652502 ,-10.05054858, -1.48734075,  3.15472054,-12.17612429,
  33.61602209,  0.97855214, -0.70816041, -0.13167593,  9.46447015,
  15.12918534, -0.38625929]

qfrc_actuator:
[-2.27021235e-05,-4.47454288e-04,-3.74419431e-04,-7.66858548e-05,
 -1.00035859e-04,-5.06139822e-04,-5.84751051e-04, 4.43248561e-05,
 -3.06776293e-05,-4.97961953e-04,-2.83946256e-04,-4.10484969e-04,
  7.68905312e-02, 4.59838342e-05, 7.96945058e-02,-4.23169149e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026334597977797913
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05395858e-13, -4.21583434e-13,  1.00000000e+00,  4.44331479e-26,
        1.00000000e+00,  4.21583434e-13, -1.00000000e+00,  0.00000000e+00,
        1.05395858e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08231697, -0.05792764,  0.06199186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52519555e-05, 1.78083415e-05, 3.98918814e-06,-1.09447259e-05,
 -6.64366464e-06, 9.96641773e-06,-2.27219105e-06,-2.41890348e-05,
 -2.37144828e-05,-3.46245030e-05, 6.89942490e-05, 1.28086068e-05,
 -4.86694071e-04,-6.30799408e-05,-3.54378159e-04, 5.92935789e-05,
 -1.81755037e-06,-4.94757555e-06,-1.21644876e+00,-1.78307510e-03,
 -3.04567906e-04, 1.03521924e-06]


--- Step 201 ---
qpos:
[ 2.79664524e-03,-5.55433030e-03,-1.00114281e-02, 2.75666836e-03,
 -4.41746046e-03,-5.13613216e-03,-1.74296261e-02, 5.00892499e-03,
 -4.59588718e-03,-3.85771483e-03,-7.62912744e-03,-1.88272573e-02,
  5.37386476e-01, 1.75196201e-02, 4.40037087e-01, 2.74684897e-02,
  9.50268859e-02,-7.00073332e-02, 1.30739019e-01, 9.99943599e-01,
  6.58722086e-05, 1.21514754e-04,-1.06197869e-02]

qacc:
[ -4.65386219, -0.91942944,  5.60629663,-14.21364166, -0.62678531,
   1.59488669, -5.25321731,  6.19571273, -2.36962818,  0.51178979,
  -3.64704422, 11.94318879, -1.07296231,  1.05598841,-14.41596991,
  41.84568161, -0.38302638, -1.31264684, -0.14024497, 20.53464288,
  -3.91545011,  0.97824344]

qfrc_actuator:
[-4.96463606e-05,-4.42965670e-04,-3.73652852e-04,-1.01424034e-04,
 -1.03434302e-04,-4.85719256e-04,-6.03451107e-04, 4.63478721e-05,
 -4.39270630e-05,-4.59217040e-04,-2.60656073e-04,-3.83092734e-04,
  7.67473024e-02, 3.03410566e-05, 7.95253138e-02,-4.08198310e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42160601,  3.9226759 ,  2.04039544,  3.9226759 ,  7.97409731,
       -6.82969178,  2.04039544, -6.82969178, 17.55174087,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002604212882541842
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.16216864e-07,  8.16216864e-07,  1.00000000e+00,  6.66209969e-13,
        1.00000000e+00, -8.16216864e-07, -1.00000000e+00,  0.00000000e+00,
       -8.16216864e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09909821, -0.04740525,  0.06199195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.73656526e-05, 1.48863952e-05, 4.60849497e-06,-2.40395189e-05,
 -3.58428164e-06, 2.45824499e-05,-1.76895733e-05, 1.90954025e-06,
 -1.39543711e-05, 3.43118328e-05, 2.51407201e-05, 2.85694699e-05,
 -4.93351086e-04,-8.33767520e-05,-3.25849014e-04, 1.07253341e-04,
 -3.68869977e-06,-6.28402461e-06,-1.21645520e+00,-1.78403871e-03,
 -3.06165028e-04, 1.36634139e-06]


--- Step 202 ---
qpos:
[ 2.79715109e-03,-5.55592320e-03,-1.00139505e-02, 2.75638399e-03,
 -4.41955221e-03,-5.13647896e-03,-1.74355819e-02, 5.01206023e-03,
 -4.59829319e-03,-3.86029211e-03,-7.62984793e-03,-1.88321760e-02,
  5.38984968e-01, 1.75273034e-02, 4.42020628e-01, 2.74780141e-02,
  9.50400445e-02,-7.00122049e-02, 1.30739287e-01, 9.99942868e-01,
  9.79722247e-05, 2.20443409e-04,-1.06865276e-02]

qacc:
[  6.2473011 ,  0.50035117, -3.77679547, 11.09256502, -0.23714381,
   3.05618779,-12.73059045, 24.43564366, -7.34444208,  2.65896616,
 -11.39092116, 23.39591845, -1.30617149,  1.8921129 , -8.90014955,
  23.87134916, -0.95846759,  1.7106734 ,  0.02601098,-22.53304648,
 -17.98890496, -0.31436572]

qfrc_actuator:
[-1.21528420e-05,-4.57504358e-04,-3.72170735e-04,-8.01852684e-05,
 -1.04604753e-04,-4.37793627e-04,-6.12187158e-04, 8.20612747e-05,
 -8.65916505e-05,-4.17077435e-04,-2.64384386e-04,-3.46964428e-04,
  7.65878840e-02, 1.79571751e-05, 7.93737885e-02,-4.01488972e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43921493,  0.44545195, -4.416809  ,  0.44545195, 28.0507902 ,
        2.381317  , -4.416809  ,  2.381317  ,  4.67937979,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026678353703613045
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04037813e-13,  1.56056719e-13,  1.00000000e+00, -1.62357997e-26,
        1.00000000e+00, -1.56056719e-13, -1.00000000e+00,  0.00000000e+00,
        1.04037813e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1080241 , -0.09344627,  0.06199176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.67250704e-05,-6.21470625e-06, 4.34378485e-06, 2.15801097e-05,
 -1.26396873e-06, 5.81898538e-05,-5.70142036e-06, 3.62006749e-05,
 -4.30647528e-05, 6.78645060e-05, 7.49766985e-06, 3.90447788e-05,
 -5.16543041e-04,-8.28408363e-05,-2.91012901e-04, 3.06771305e-05,
 -6.60346180e-06,-4.65037760e-06,-1.21645728e+00,-1.78503770e-03,
 -3.07057578e-04, 2.22012008e-06]


--- Step 203 ---
qpos:
[ 2.79775740e-03,-5.55754619e-03,-1.00167203e-02, 2.75637206e-03,
 -4.42129705e-03,-5.13624543e-03,-1.74413822e-02, 5.01520696e-03,
 -4.60153727e-03,-3.86209907e-03,-7.63097093e-03,-1.88373287e-02,
  5.40580708e-01, 1.75348291e-02, 4.44001354e-01, 2.74861409e-02,
  9.50493496e-02,-7.00103850e-02, 1.30739098e-01, 9.99942125e-01,
  8.50068938e-05, 2.85014309e-04,-1.07544130e-02]

qacc:
[  0.87170378,  1.21141451, -5.52994134, 10.66603158,  3.02106468,
   0.35025656, -0.1947902 , -0.27074027, -7.36428708,  1.6755506 ,
  -3.48494853, -0.5140568 , -1.36503569,  2.05460596,  0.13030346,
  -6.3429851 , -0.96336249,  1.67288715, -0.11422681,-22.34767682,
 -17.41874669, -0.57568993]

qfrc_actuator:
[-8.03984935e-06,-4.65535521e-04,-3.88077311e-04,-6.75835916e-05,
 -8.67027306e-05,-3.91450228e-04,-5.97074606e-04, 8.40841840e-05,
 -1.28478348e-04,-3.73330637e-04,-2.83980268e-04,-3.59246636e-04,
  7.64454879e-02, 7.53255843e-06, 7.92436068e-02,-4.08572244e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45018177, -1.84444139,  4.04995725, -1.84444139, 10.40146917,
        2.7103498 ,  4.04995725,  2.7103498 ,  5.68453588,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027064790425412877
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02552339e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.02552339e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10801978, -0.09344683,  0.06199164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.16691834e-06,-9.58554294e-06,-1.58617332e-05, 1.29139179e-05,
  1.78848223e-05, 7.93312537e-05, 2.77489764e-05, 5.03049435e-06,
 -4.31043902e-05, 8.50070726e-05,-3.25577306e-06,-8.33659894e-06,
 -5.15632554e-04,-8.44126631e-05,-2.64633029e-04,-1.07600424e-04,
 -2.71202758e-06,-4.01836194e-06,-1.21644728e+00,-1.78505351e-03,
 -3.09897567e-04, 7.76858848e-08]


--- Step 204 ---
qpos:
[ 2.79840854e-03,-5.55890533e-03,-1.00197847e-02, 2.75613156e-03,
 -4.42246877e-03,-5.13558610e-03,-1.74468594e-02, 5.01767083e-03,
 -4.60456885e-03,-3.86319592e-03,-7.63259109e-03,-1.88429190e-02,
  5.42173641e-01, 1.75425514e-02, 4.45978703e-01, 2.74956571e-02,
  9.50547884e-02,-7.00019962e-02, 1.30737980e-01, 9.99941370e-01,
  2.72996373e-05, 3.16144686e-04,-1.08238497e-02]

qacc:
[  0.37842416,  0.70017948, -1.02702288, -2.65071662,  5.00154059,
  -1.75582144,  9.94312866,-22.57399105,  1.83276088,  1.42364415,
  -1.87603973, -5.41075521, -1.70763647,  3.82127976, -9.11753418,
  24.87054818, -0.96659864,  1.64223863, -0.23215911,-22.18963001,
 -16.95994473, -0.7806133 ]

qfrc_actuator:
[-5.87484473e-06,-4.34181713e-04,-3.96364811e-04,-7.79339162e-05,
 -5.77191020e-05,-3.81838430e-04,-5.85780205e-04, 4.85270861e-05,
 -1.16304624e-04,-3.46821966e-04,-3.12799719e-04,-3.82167037e-04,
  7.63027522e-02, 1.61146889e-05, 7.90996694e-02,-4.00636572e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45390855, -1.76928491,  4.08741144, -1.76928491, 13.88071282,
        4.08050494,  4.08741144,  4.08050494,  6.22020391,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000271944716537853
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02063302e-13, -2.04126603e-13,  1.00000000e+00,  2.08338351e-26,
        1.00000000e+00,  2.04126603e-13, -1.00000000e+00,  0.00000000e+00,
        1.02063302e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10801674, -0.09344796,  0.0619916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.31739162e-06, 2.33615615e-05,-1.17238017e-05,-1.10490601e-05,
  2.95225817e-05, 5.99791632e-05, 3.13300712e-05,-3.10952689e-05,
  1.09652623e-05, 7.30794378e-05,-1.19070417e-05,-1.95356735e-05,
 -5.15483505e-04,-6.56843067e-05,-2.83804038e-04, 3.77843241e-05,
  5.49390556e-07,-2.57361378e-06,-1.21644255e+00,-1.78439318e-03,
 -3.12230147e-04,-1.16517708e-06]


--- Step 205 ---
qpos:
[ 2.79942541e-03,-5.55964211e-03,-1.00234585e-02, 2.75643478e-03,
 -4.42328360e-03,-5.13469016e-03,-1.74523100e-02, 5.01938998e-03,
 -4.60708626e-03,-3.86410253e-03,-7.63378912e-03,-1.88487366e-02,
  5.43763797e-01, 1.75503628e-02, 4.47952377e-01, 2.75070419e-02,
  9.50563523e-02,-6.99871374e-02, 1.30735537e-01, 9.99940594e-01,
 -7.48790421e-05, 3.14570593e-04,-1.08951550e-02]

qacc:
[  3.17012271,  3.63967532,-14.08976194, 24.02810227,  3.10948162,
  -1.30066982,  8.22484816,-21.31944342,  4.51195463, -1.40582761,
   6.31951865,-11.04797849, -1.54881171,  3.093265  ,-11.01929962,
  30.85491601, -0.96870645,  1.61748694, -0.33126909,-22.05711801,
 -16.59197504, -0.94091108]

qfrc_actuator:
[ 1.28894273e-05,-3.79478812e-04,-4.17687536e-04,-4.84054940e-05,
 -4.02041007e-05,-3.94343195e-04,-5.94759255e-04, 8.86436151e-06,
 -9.01626315e-05,-3.48656727e-04,-2.93639762e-04,-3.93420718e-04,
  7.61599168e-02, 1.80570401e-05, 7.89263274e-02,-3.91013402e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45172705, -1.67256858,  4.1255773 , -1.67256858, 18.55429422,
        5.71738428,  4.1255773 ,  5.71738428,  6.76963716,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027118660762177893
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02348622e-13,  2.04697244e-13,  1.00000000e+00, -2.09504809e-26,
        1.00000000e+00, -2.04697244e-13, -1.00000000e+00,  0.00000000e+00,
        1.02348622e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10801471, -0.09344955,  0.06199162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.88470667e-05, 6.49560042e-05,-1.82721152e-05, 2.99188319e-05,
  1.83821183e-05, 2.62192055e-05, 6.24271736e-06,-3.66098816e-05,
  2.64756365e-05, 3.58002780e-05, 3.21523314e-05,-8.89884042e-06,
 -5.12761283e-04,-7.13221517e-05,-3.04222659e-04, 6.06660482e-05,
  3.27137906e-06,-2.87579739e-07,-1.21644284e+00,-1.78304787e-03,
 -3.14098915e-04,-1.55697336e-06]


--- Step 206 ---
qpos:
[ 2.79996984e-03,-5.56005332e-03,-1.00275634e-02, 2.75711511e-03,
 -4.42422637e-03,-5.13390634e-03,-1.74582286e-02, 5.02104656e-03,
 -4.60892579e-03,-3.86487733e-03,-7.63469128e-03,-1.88546271e-02,
  5.45351269e-01, 1.75575407e-02, 4.49922936e-01, 2.75160848e-02,
  9.50560664e-02,-6.99780309e-02, 1.30734329e-01, 9.99939842e-01,
 -1.35569758e-04, 3.06425782e-04,-1.09635368e-02]

qacc:
[ -4.15201708,  2.42021699, -9.58284138, 16.54414904, -1.12873395,
   1.03256914, -3.62903659,  3.37326677,  5.94260578, -0.81456678,
   3.4435808 , -5.25079324, -0.8149419 , -0.64449779,  2.49628171,
 -15.38740138, -0.46246016, -1.43806283,  0.30857018, 20.7780853 ,
  -3.0592675 ,  1.46804735]

qfrc_actuator:
[-1.19834568e-05,-3.82241041e-04,-4.46398608e-04,-3.11359661e-05,
 -4.73359388e-05,-4.37851657e-04,-6.33487612e-04, 2.57852951e-06,
 -5.60263360e-05,-3.49509085e-04,-2.81917861e-04,-3.97709436e-04,
  7.60117940e-02,-1.94608181e-05, 7.87621200e-02,-4.03559638e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44585741, -0.8918018 ,  4.35549511, -0.8918018 , 22.79492584,
        3.75703148,  4.35549511,  3.75703148,  5.21512184,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026913282606367037
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.96618504e-07,  3.96618504e-07,  1.00000000e+00,  1.57306238e-13,
        1.00000000e+00, -3.96618504e-07, -1.00000000e+00,  0.00000000e+00,
       -3.96618504e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09911419, -0.04740956,  0.06199168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.43060997e-05, 3.11412978e-05,-1.64601555e-05, 2.00109010e-05,
 -6.59455868e-06,-2.90920053e-05,-3.37618886e-05,-5.65341119e-06,
  3.48985584e-05, 2.54878090e-05, 2.28022245e-05,-1.80030240e-06,
 -5.16920848e-04,-1.11037207e-04,-3.00766152e-04,-1.62112435e-04,
  5.52175805e-06, 2.85645796e-06,-1.21644794e+00,-1.78101175e-03,
 -3.15536379e-04,-1.13428555e-06]


--- Step 207 ---
qpos:
[ 2.80021244e-03,-5.56052980e-03,-1.00315122e-02, 2.75766217e-03,
 -4.42524697e-03,-5.13342799e-03,-1.74644784e-02, 5.02263161e-03,
 -4.61034171e-03,-3.86540554e-03,-7.63602678e-03,-1.88604865e-02,
  5.46935999e-01, 1.75642717e-02, 4.51890027e-01, 2.75218791e-02,
  9.50541098e-02,-6.99748603e-02, 1.30733628e-01, 9.99939121e-01,
 -1.53399150e-04, 2.91757874e-04,-1.10292807e-02]

qacc:
[ -2.6345156 , -0.79206931,  3.27048722, -5.78838514, -0.68410644,
   0.37600046, -1.6223058 ,  1.13664504,  3.69142072,  1.59418821,
  -5.35407735,  6.41540776, -1.07637974,  0.53924253,  4.74410717,
 -23.94900008, -0.41767152, -1.48397015,  0.12697003, 21.46472824,
  -3.02658045,  1.325132  ]

qfrc_actuator:
[-2.68414915e-05,-4.01681861e-04,-4.43971929e-04,-3.90252833e-05,
 -5.11611707e-05,-4.64202990e-04,-6.54076408e-04,-1.81805372e-06,
 -3.52154746e-05,-3.49789665e-04,-3.10206639e-04,-3.97882732e-04,
  7.58659164e-02,-4.44625674e-05, 7.85821721e-02,-4.20184886e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45748135, -0.25555484, -4.45014963, -0.25555484, 12.82038635,
       -0.48024921, -4.45014963, -0.48024921,  4.4850602 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027318033478443415
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.03203321e-13,  2.03203321e-13,  1.00000000e+00, -4.12915896e-26,
        1.00000000e+00, -2.03203321e-13, -1.00000000e+00,  0.00000000e+00,
        2.03203321e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09890663, -0.04631759,  0.06199156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.55365698e-05,-4.51794974e-06, 7.57585226e-06,-6.72565015e-06,
 -4.02279533e-06,-4.98001222e-05,-3.08955467e-05,-6.91338240e-06,
  2.18108109e-05, 1.86627190e-05,-2.02488940e-05, 1.68717659e-06,
 -5.23299434e-04,-1.02073865e-04,-3.40986231e-04,-2.15157532e-04,
  3.02156148e-06, 1.93560414e-06,-1.21644290e+00,-1.78001325e-03,
 -3.13982496e-04,-1.05430782e-06]


--- Step 208 ---
qpos:
[ 2.79993002e-03,-5.56099851e-03,-1.00354550e-02, 2.75880259e-03,
 -4.42665063e-03,-5.13318023e-03,-1.74701360e-02, 5.02373228e-03,
 -4.61149695e-03,-3.86575178e-03,-7.63742239e-03,-1.88659739e-02,
  5.48517955e-01, 1.75706998e-02, 4.53852886e-01, 2.75266307e-02,
  9.50505742e-02,-6.99775453e-02, 1.30732940e-01, 9.99938429e-01,
 -1.28875282e-04, 2.70075321e-04,-1.10927346e-02]

qacc:
[-4.59281446e+00, 1.22442263e+00,-6.83991772e+00, 1.70767583e+01,
 -3.31921848e+00,-2.95012704e+00, 1.21334381e+01,-2.13077997e+01,
  2.27770529e+00, 1.17027083e+00,-5.39863659e+00, 1.17999738e+01,
 -1.17719301e+00, 1.10657896e+00,-3.05960774e+00, 1.73026393e+00,
 -3.94738531e-01,-1.46390940e+00, 3.08885024e-03, 2.12136929e+01,
 -3.27372569e+00, 1.15076788e+00]

qfrc_actuator:
[-5.34248951e-05,-3.95363979e-04,-4.41030096e-04,-8.39246451e-06,
 -7.07540017e-05,-4.44516590e-04,-6.10473067e-04,-2.27997430e-05,
 -2.24167608e-05,-3.32142043e-04,-3.08633066e-04,-3.77909005e-04,
  7.57214876e-02,-6.18878466e-05, 7.83822721e-02,-4.24871108e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46168428, -0.16792678, -4.45852298, -0.16792678, 16.9348341 ,
       -0.46979142, -4.45852298, -0.46979142,  4.4793786 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002746244787937696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.02134753e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.02134753e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09890968, -0.0463179 ,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.70235578e-05, 5.12412894e-06, 2.75993425e-06, 3.05797369e-05,
 -1.97239727e-05,-1.47881419e-05, 2.93363931e-05,-2.43095799e-05,
  1.34245349e-05, 2.40246249e-05, 3.02523643e-06, 2.01212735e-05,
 -5.25502481e-04,-9.48871661e-05,-3.83637971e-04,-1.03493086e-04,
  7.48398878e-07, 1.59442909e-06,-1.21644056e+00,-1.77967847e-03,
 -3.12415011e-04,-1.06815265e-06]


--- Step 209 ---
qpos:
[ 2.79967612e-03,-5.56158641e-03,-1.00392709e-02, 2.76030919e-03,
 -4.42793318e-03,-5.13344507e-03,-1.74751242e-02, 5.02494865e-03,
 -4.61214465e-03,-3.86607386e-03,-7.63872775e-03,-1.88711694e-02,
  5.50096982e-01, 1.75772870e-02, 4.55810841e-01, 2.75318002e-02,
  9.50455324e-02,-6.99860203e-02, 1.30731848e-01, 9.99937759e-01,
 -6.24149574e-05, 2.40993017e-04,-1.11541743e-02]

qacc:
[ 0.25578612, 0.24170731,-2.63685005, 8.85985691, 1.0862441 ,-2.310811  ,
  6.76500302,-5.45305903, 4.44663174, 0.37242636,-2.527125  , 7.42989976,
 -1.72988639, 3.66077862,-8.43148393,19.19683836,-0.37658059,-1.44750088,
 -0.10081971,21.00770803,-3.46718548, 1.01233994]

qfrc_actuator:
[-5.11943141e-05,-4.09143049e-04,-4.37691520e-04, 9.17503721e-06,
 -6.39657619e-05,-4.85923394e-04,-5.82403461e-04,-1.77857683e-05,
  3.32078985e-06,-3.39276793e-04,-3.07094618e-04,-3.63952948e-04,
  7.55620523e-02,-5.69799811e-05, 7.81439657e-02,-4.22484553e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45983368, -0.25358512, -4.45261845, -0.25358512, 22.73319082,
       -1.04070257, -4.45261845, -1.04070257,  4.51910368,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002739898484148684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02602949e-13,  2.02602949e-13,  1.00000000e+00, -4.10479549e-26,
        1.00000000e+00, -2.02602949e-13, -1.00000000e+00,  0.00000000e+00,
        2.02602949e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09891221, -0.04631752,  0.06199153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.46401928e-06,-8.98132709e-06, 5.84553718e-06, 1.84862211e-05,
  6.21758647e-06,-4.46103774e-05, 2.78495569e-05, 4.93291737e-06,
  2.61246790e-05, 7.82836815e-06, 7.60022088e-06, 1.54966946e-05,
 -5.41158550e-04,-7.25825410e-05,-4.26511195e-04,-3.13987061e-05,
 -1.22687750e-06, 1.91106276e-06,-1.21644113e+00,-1.77999099e-03,
 -3.10868070e-04,-1.17309158e-06]


--- Step 210 ---
qpos:
[ 2.79979570e-03,-5.56236495e-03,-1.00426845e-02, 2.76200498e-03,
 -4.42877960e-03,-5.13422998e-03,-1.74799466e-02, 5.02625233e-03,
 -4.61247851e-03,-3.86664199e-03,-7.64013671e-03,-1.88761080e-02,
  5.51673013e-01, 1.75845847e-02, 4.57764655e-01, 2.75356958e-02,
  9.50389770e-02,-6.99999734e-02, 1.30730194e-01, 9.99937101e-01,
  4.38031680e-05, 2.03566074e-04,-1.12138983e-02]

qacc:
[ 3.28340237,-0.99318745, 2.36599895, 0.41705249, 3.81813956,-0.97819323,
  2.10936005,-0.46752901, 2.74909637, 0.48822126,-3.30432716, 8.10266341,
 -2.46453037, 7.046173  ,-2.1143766 ,-1.10168349,-0.37837442,-1.36950549,
 -0.14070409,19.92399576,-3.9503819 , 0.86239222]

qfrc_actuator:
[-3.20188892e-05,-4.17103825e-04,-4.16485459e-04, 1.88931887e-05,
 -4.16998449e-05,-5.28106607e-04,-5.81720569e-04,-1.53333479e-05,
  1.87178769e-05,-3.78948575e-04,-3.23456182e-04,-3.53676292e-04,
  7.54150301e-02,-2.12602459e-05, 7.79627150e-02,-4.28385528e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45318755, -0.1364325 , -4.45109712, -0.1364325 , 29.66711424,
       -0.77284296, -4.45109712, -0.77284296,  4.47687629,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002716944657010305
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.89614552e-07,  6.89614348e-07,  1.00000000e+00,  4.75568090e-13,
        1.00000000e+00, -6.89614348e-07, -1.00000000e+00,  0.00000000e+00,
       -6.89614552e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09912493, -0.04740923,  0.0619916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.92185959e-05,-1.09197804e-05, 2.07589318e-05, 9.90186479e-06,
  2.24272288e-05,-6.10978348e-05,-4.87120375e-06, 1.60965212e-06,
  1.61414188e-05,-3.30151884e-05,-1.32435441e-05, 1.11905875e-05,
 -5.36875220e-04,-4.25924131e-05,-3.78775617e-04,-1.15219161e-04,
 -2.93323043e-06, 2.85751263e-06,-1.21644454e+00,-1.78094582e-03,
 -3.09313870e-04,-1.37960931e-06]


--- Step 211 ---
qpos:
[ 2.80014414e-03,-5.56308663e-03,-1.00458847e-02, 2.76343984e-03,
 -4.43004268e-03,-5.13493649e-03,-1.74852307e-02, 5.02719692e-03,
 -4.61262511e-03,-3.86739191e-03,-7.64175553e-03,-1.88805395e-02,
  5.53246350e-01, 1.75912772e-02, 4.59714892e-01, 2.75392906e-02,
  9.50285917e-02,-7.00073022e-02, 1.30728441e-01, 9.99936423e-01,
  1.03820144e-04, 1.31071534e-04,-1.12748749e-02]

qacc:
[  2.0075876 , -1.06296278,  4.99367786, -9.88545127, -3.65019174,
   0.66113889, -0.67906583, -4.86809661,  1.63650271,  1.38777703,
  -7.43890313, 16.68150792, -0.79442935, -0.65041564, -4.37030778,
   7.63911472, -0.95748706,  1.65605667, -0.02469257,-22.90237161,
 -17.79176836, -0.63032111]

qfrc_actuator:
[-2.07855627e-05,-4.03701854e-04,-4.02637761e-04, 6.17961678e-06,
 -6.37686541e-05,-4.99532642e-04,-5.97234030e-04,-3.21883866e-05,
  2.79013696e-05,-3.84624128e-04,-3.32647378e-04,-3.27936381e-04,
  7.52808931e-02,-5.64317501e-05, 7.78317830e-02,-4.28454974e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46793246,  0.74872168, -4.40475156,  0.74872168, 28.9538274 ,
        4.16212361, -4.40475156,  4.16212361,  5.17541213,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002767529423979148
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -3.0087025e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  3.0087025e-13, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10799497, -0.0934534 ,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17831121e-05, 1.20784391e-05, 1.45360702e-05,-1.22656483e-05,
 -2.14471940e-05,-6.43871925e-06,-2.86154780e-05,-1.96013202e-05,
  9.62871075e-06,-2.63409720e-05,-1.72210657e-05, 2.41003605e-05,
 -5.16475909e-04,-1.11109201e-04,-3.18915579e-04,-5.61417304e-05,
 -4.31503940e-06, 4.37575911e-06,-1.21645047e+00,-1.78250196e-03,
 -3.07765797e-04,-1.69384923e-06]


--- Step 212 ---
qpos:
[ 2.80096975e-03,-5.56382848e-03,-1.00488201e-02, 2.76402697e-03,
 -4.43121533e-03,-5.13567553e-03,-1.74906797e-02, 5.02792563e-03,
 -4.61266038e-03,-3.86842740e-03,-7.64341664e-03,-1.88849713e-02,
  5.54817064e-01, 1.75971885e-02, 4.61661275e-01, 2.75441187e-02,
  9.50143525e-02,-7.00081142e-02, 1.30726056e-01, 9.99935722e-01,
  1.18193609e-04, 2.45327007e-05,-1.13374641e-02]

qacc:
[  4.18267925, -2.52042608, 12.51207147,-27.57604073,  0.78396424,
  -0.02826404,  0.94705924, -4.39289527,  0.97834063, -0.26192389,
   0.38471292, -0.11031375, -0.50563836, -1.86544491, -9.44879026,
  24.75102763, -0.96346673,  1.62919922, -0.15789634,-22.62827532,
 -17.27845969, -0.80757531]

qfrc_actuator:
[ 3.43038511e-06,-4.13158748e-04,-3.93177204e-04,-3.73711683e-05,
 -5.85020921e-05,-4.99905324e-04,-6.04151484e-04,-4.24637911e-05,
  3.33577439e-05,-4.05373043e-04,-3.37388651e-04,-3.28776742e-04,
  7.51492419e-02,-9.76011245e-05, 7.76619052e-02,-4.21521339e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47576349, -0.54527142,  4.44242477, -0.54527142, 13.35799453,
        1.09022144,  4.44242477,  1.09022144,  4.60957928,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027939019407256793
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.98030241e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.98030241e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10799124, -0.09345316,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.45620979e-05,-1.62247343e-07, 1.33633141e-05,-4.27640096e-05,
  4.65156930e-06,-1.06453761e-05,-1.23816964e-05,-1.19108738e-05,
  5.71690038e-06,-3.79445797e-05,-1.14319443e-05,-2.08029681e-06,
 -5.08356009e-04,-1.19721366e-04,-3.26236387e-04, 2.42981555e-05,
 -2.26920708e-06, 4.67351783e-06,-1.21644781e+00,-1.78298440e-03,
 -3.07847455e-04,-1.49664930e-06]


--- Step 213 ---
qpos:
[ 2.80173458e-03,-5.56477741e-03,-1.00509883e-02, 2.76442240e-03,
 -4.43197103e-03,-5.13662363e-03,-1.74955807e-02, 5.02884386e-03,
 -4.61262987e-03,-3.86995751e-03,-7.64474652e-03,-1.88893772e-02,
  5.56384961e-01, 1.76035807e-02, 4.63604031e-01, 2.75493201e-02,
  9.49962416e-02,-7.00024976e-02, 1.30722591e-01, 9.99934985e-01,
  8.73865862e-05,-1.15234426e-04,-1.14019405e-02]

qacc:
[ -0.50421681, -2.81218112, 10.44068665,-14.83490401,  3.65768012,
  -1.42375556,  3.86361565, -1.29318943,  0.59475853, -1.52735187,
   4.38517188, -4.09817675, -2.07658204,  5.42081535, -6.37431914,
  14.82606097, -0.967917  ,  1.60715838, -0.27009365,-22.40040406,
 -16.86930584, -0.94234293]

qfrc_actuator:
[-4.09230815e-07,-4.18524049e-04,-3.50980193e-04,-4.54752268e-05,
 -3.71747132e-05,-4.99813800e-04,-5.70518163e-04,-3.10383527e-05,
  3.65788793e-05,-4.34989496e-04,-3.21790964e-04,-3.27507989e-04,
  7.50138472e-02,-7.09406551e-05, 7.74954427e-02,-4.19403537e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47643771, -0.45132706,  4.45362756, -0.45132706, 18.13235626,
        1.38387989,  4.45362756,  1.38387989,  4.61667899,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027961569796745855
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.98526591e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.98526591e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10798868, -0.09345369,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.13126989e-06,-4.46219559e-06, 4.23695854e-05,-8.47521927e-06,
  2.14579831e-05,-8.83824500e-06, 2.95678815e-05, 1.03210513e-05,
  3.36582872e-06,-5.32164779e-05, 6.32165688e-06,-7.76641916e-07,
 -5.07412726e-04,-5.16819495e-05,-3.16399857e-04,-2.01310262e-05,
 -8.02215058e-07, 5.90854954e-06,-1.21645024e+00,-1.78275656e-03,
 -3.07443439e-04,-4.11701550e-07]


--- Step 214 ---
qpos:
[ 2.80279265e-03,-5.56583287e-03,-1.00526575e-02, 2.76506829e-03,
 -4.43281023e-03,-5.13758932e-03,-1.74998487e-02, 5.03020593e-03,
 -4.61256149e-03,-3.87150402e-03,-7.64581954e-03,-1.88934449e-02,
  5.57950137e-01, 1.76099604e-02, 4.65543274e-01, 2.75530127e-02,
  9.49742454e-02,-6.99905243e-02, 1.30717667e-01, 9.99934193e-01,
  1.17796573e-05,-2.87583276e-04,-1.14685112e-02]

qacc:
[  2.58287396, -1.02451277,  2.38269046,  1.24195159, -0.70798232,
  -0.87679323,  1.22164219,  5.4572771 ,  0.34024051, -0.04372565,
  -1.30224252,  6.75307302, -1.52422768,  2.79424806, -0.55118289,
  -5.41815033, -0.97133327,  1.58917214, -0.36454639,-22.21286786,
 -16.54530032, -1.04340434]

qfrc_actuator:
[ 1.47701639e-05,-4.21239404e-04,-3.25255106e-04,-3.26281761e-05,
 -4.20788093e-05,-4.81501581e-04,-5.30953845e-04,-6.91146945e-06,
  3.84598973e-05,-3.98592645e-04,-2.94346508e-04,-3.07247344e-04,
  7.48709924e-02,-7.55423937e-05, 7.73204960e-02,-4.27239630e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47138358, -0.33542625,  4.45878463, -0.33542625, 24.31526627,
        1.49281915,  4.45878463,  1.49281915,  4.58368564,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027791929238400737
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99738387e-13, -9.98691936e-14,  1.00000000e+00,  1.99477117e-26,
        1.00000000e+00,  9.98691936e-14, -1.00000000e+00,  0.00000000e+00,
        1.99738387e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10798705, -0.09345485,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.50921409e-05, 3.23333237e-06, 2.97638657e-05, 1.39630879e-05,
 -4.29377231e-06, 2.00167245e-05, 4.18040713e-05, 2.49824796e-05,
  1.95125980e-06, 7.99294974e-06, 1.72478086e-05, 1.82012690e-05,
 -5.04641860e-04,-7.80907079e-05,-3.26375920e-04,-1.21122193e-04,
  1.65179138e-07, 8.07200248e-06,-1.21645753e+00,-1.78181896e-03,
 -3.06587934e-04, 1.51426912e-06]


--- Step 215 ---
qpos:
[ 2.80471438e-03,-5.56699875e-03,-1.00542395e-02, 2.76589250e-03,
 -4.43370148e-03,-5.13857080e-03,-1.75035576e-02, 5.03150580e-03,
 -4.61316136e-03,-3.87255573e-03,-7.64734458e-03,-1.88976010e-02,
  5.59512499e-01, 1.76163357e-02, 4.67478684e-01, 2.75553734e-02,
  9.49562640e-02,-6.99819071e-02, 1.30715563e-01, 9.99933380e-01,
 -4.42834868e-05,-4.25603426e-04,-1.15348192e-02]

qacc:
[ 7.56029313,-0.03735672,-0.85675309, 3.91196178,-0.43631027,-1.70991818,
  6.33109718,-8.29249997,-5.87392241, 1.74703757,-4.8872626 , 3.69512321,
 -1.57546737, 2.89186443,-1.55816374,-2.57625732, 1.00369748,-0.83903651,
  0.70463987, 9.57443786,17.2752881 , 0.12825194]

qfrc_actuator:
[ 5.87839006e-05,-4.40135150e-04,-3.27204363e-04,-2.53285853e-05,
 -4.46354875e-05,-4.87870043e-04,-5.05887929e-04,-1.09991000e-05,
  4.03315935e-06,-3.58373470e-04,-3.13110005e-04,-3.11419398e-04,
  7.47131027e-02,-8.08478897e-05, 7.71352534e-02,-4.33773726e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49507506, -2.49919451,  3.73627175, -2.49919451, 22.30931104,
       11.91595355,  3.73627175, 11.91595355, 12.46566382,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002857550541787296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94261310e-13,  3.88522620e-13,  1.00000000e+00, -7.54749133e-26,
        1.00000000e+00, -3.88522620e-13, -1.00000000e+00,  0.00000000e+00,
        1.94261310e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08234614, -0.05789975,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.44493035e-05,-1.02832150e-05, 2.89665248e-06, 8.74363159e-06,
 -2.67548957e-06, 1.46103245e-05, 3.52731449e-05,-1.28822589e-06,
 -3.43764774e-05, 4.91092105e-05,-1.43188991e-05,-2.86377957e-06,
 -5.21598272e-04,-8.05193658e-05,-3.52428057e-04,-1.14991928e-04,
  6.92127563e-07, 1.11520544e-05,-1.21646952e+00,-1.78017297e-03,
 -3.05305853e-04, 4.24698503e-06]


--- Step 216 ---
qpos:
[ 2.80680406e-03,-5.56828111e-03,-1.00557832e-02, 2.76645730e-03,
 -4.43461653e-03,-5.13943859e-03,-1.75071891e-02, 5.03207335e-03,
 -4.61416905e-03,-3.87333657e-03,-7.64958333e-03,-1.89017270e-02,
  5.61072103e-01, 1.76223252e-02, 4.69409975e-01, 2.75581930e-02,
  9.49422788e-02,-6.99765184e-02, 1.30715525e-01, 9.99932560e-01,
 -8.08195152e-05,-5.30419847e-04,-1.16011591e-02]

qacc:
[ 1.47237870e+00,-7.97917368e-01, 3.71163566e+00,-8.17109812e+00,
 -2.07505534e-01,-1.57304324e+00, 8.91927734e+00,-2.18024428e+01,
 -3.59795524e+00, 2.42190781e+00,-8.22875975e+00, 9.67289720e+00,
 -1.05336711e+00, 5.48304391e-01,-7.45015307e+00, 1.73064961e+01,
  9.99034025e-01,-8.07111838e-01, 5.16811249e-01, 9.57140095e+00,
  1.67133788e+01,-1.94801515e-02]

qfrc_actuator:
[ 6.61526226e-05,-4.50939989e-04,-3.27793491e-04,-3.91381338e-05,
 -4.57817638e-05,-4.91289059e-04,-5.07452917e-04,-4.94395713e-05,
 -1.59819827e-05,-3.69623422e-04,-3.58992143e-04,-3.12207200e-04,
  7.45676017e-02,-1.04331277e-04, 7.69546400e-02,-4.30607645e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51694986, -2.85243314,  3.50235081, -2.85243314, 28.51293256,
       19.54314119,  3.50235081, 19.54314119, 20.43354609,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000292739995718716
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.89626126e-13, -3.79252251e-13,  1.00000000e+00,  7.19161351e-26,
        1.00000000e+00,  3.79252251e-13, -1.00000000e+00,  0.00000000e+00,
        1.89626126e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08234999, -0.05789853,  0.06199095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.64005919e-06,-1.55139785e-05,-2.02732602e-06,-1.39776688e-05,
 -1.21923389e-06, 1.20567419e-05, 5.80559808e-06,-3.66111857e-05,
 -2.09845529e-05, 1.31828267e-05,-3.75614133e-05, 7.80491312e-07,
 -5.21605337e-04,-1.01534900e-04,-3.57866499e-04,-2.07085711e-05,
  9.16831110e-07, 8.71098265e-06,-1.21645884e+00,-1.77981693e-03,
 -3.02601104e-04, 3.39752144e-06]


--- Step 217 ---
qpos:
[ 2.80862131e-03,-5.56950543e-03,-1.00573817e-02, 2.76649105e-03,
 -4.43553843e-03,-5.13981129e-03,-1.75115627e-02, 5.03252961e-03,
 -4.61540882e-03,-3.87446430e-03,-7.65183989e-03,-1.89054526e-02,
  5.62629071e-01, 1.76276626e-02, 4.71337161e-01, 2.75629292e-02,
  9.49322713e-02,-6.99742550e-02, 1.30716923e-01, 9.99931743e-01,
 -9.78583413e-05,-6.02946589e-04,-1.16677625e-02]

qacc:
[ -2.38634533, -0.85939435,  5.42510626,-14.5794373 , -0.09148346,
   2.49800219, -7.48806075,  6.38534968, -2.02636906,  0.42030054,
  -3.84471605, 11.04613666, -0.64134887, -1.16507573,-11.87946986,
  32.74378841,  0.99444173, -0.78134061,  0.35884989,  9.56057518,
  16.25685725, -0.13552216]

qfrc_actuator:
[ 5.18845753e-05,-4.39087429e-04,-3.27552403e-04,-6.52467703e-05,
 -4.60892337e-05,-4.57556305e-04,-5.42490964e-04,-5.45388480e-05,
 -2.73432911e-05,-4.11728834e-04,-3.67445060e-04,-2.93294815e-04,
  7.44402816e-02,-1.38338224e-04, 7.67822938e-02,-4.19971993e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52849011,  2.80540536, -3.55484506,  2.80540536, 10.98977595,
        5.09910436, -3.55484506,  5.09910436,  8.55259087,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002963345193220529
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.36629849e-14, -1.87325970e-13,  1.00000000e+00,  1.75455095e-26,
        1.00000000e+00,  1.87325970e-13, -1.00000000e+00,  0.00000000e+00,
        9.36629849e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08235264, -0.05789724,  0.06199084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.40203598e-05, 2.21906918e-06,-3.66754017e-06,-2.71112872e-05,
 -3.36919499e-07, 4.01777974e-05,-3.30479815e-05,-5.08552965e-06,
 -1.19599646e-05,-4.24051570e-05,-1.02849193e-05, 1.82091805e-05,
 -5.06168190e-04,-1.13970697e-04,-3.40802287e-04, 5.87239460e-05,
  8.28753973e-07, 6.55838261e-06,-1.21645079e+00,-1.77972703e-03,
 -3.00417432e-04, 2.78466469e-06]


--- Step 218 ---
qpos:
[ 2.81059850e-03,-5.57065463e-03,-1.00589993e-02, 2.76620685e-03,
 -4.43680154e-03,-5.13999401e-03,-1.75162907e-02, 5.03362437e-03,
 -4.61712044e-03,-3.87588415e-03,-7.65388566e-03,-1.89092902e-02,
  5.64183355e-01, 1.76325928e-02, 4.73260629e-01, 2.75684609e-02,
  9.49262244e-02,-6.99750340e-02, 1.30719226e-01, 9.99930933e-01,
 -9.54359871e-05,-6.43924552e-04,-1.17348103e-02]

qacc:
[  1.39709201, -0.50490459,  3.28161712, -8.80374461, -2.99010795,
   2.56168307,-11.45542882, 22.92339627, -4.11996629, -1.19824836,
   4.19815192, -6.27287299, -0.9918473 ,  0.37044456, -7.87934235,
  19.66012619,  0.99014467, -0.76059032,  0.22625153,  9.54574047,
  15.88687088, -0.22650327]

qfrc_actuator:
[ 6.05129396e-05,-4.31520994e-04,-3.26735522e-04,-8.06068251e-05,
 -6.36534724e-05,-4.55217261e-04,-5.61319188e-04,-2.22088835e-05,
 -5.12775621e-05,-4.18580234e-04,-3.53850873e-04,-2.98450108e-04,
  7.43026553e-02,-1.60486127e-04, 7.66150548e-02,-4.15670316e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53129159,  2.74117952, -3.60812116,  2.74117952, 15.07969732,
        8.01388657, -3.60812116,  8.01388657, 10.61964083,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002971980704903898
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.86781668e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.86781668e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08235435, -0.05789589,  0.06199082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.23524348e-06, 6.94045393e-06,-8.30052579e-08,-1.59131126e-05,
 -1.75583312e-05, 1.78260711e-05,-1.47219728e-05, 3.28183475e-05,
 -2.42975146e-05,-3.18411892e-05, 4.24606024e-06,-6.95653373e-06,
 -5.06999385e-04,-1.01199973e-04,-3.19382615e-04, 1.91048916e-06,
  4.37390473e-07, 4.65153855e-06,-1.21644517e+00,-1.77991266e-03,
 -2.98733258e-04, 2.39423783e-06]


--- Step 219 ---
qpos:
[ 2.81231905e-03,-5.57204535e-03,-1.00604619e-02, 2.76576969e-03,
 -4.43895492e-03,-5.14038499e-03,-1.75204842e-02, 5.03508761e-03,
 -4.61910607e-03,-3.87741000e-03,-7.65556108e-03,-1.89131950e-02,
  5.65734958e-01, 1.76369480e-02, 4.75180864e-01, 2.75723524e-02,
  9.49241226e-02,-6.99787888e-02, 1.30721989e-01, 9.99930132e-01,
 -7.35894507e-05,-6.53952008e-04,-1.18024440e-02]

qacc:
[-2.23618823,-1.06303449, 3.98042412,-6.70612083,-7.74474947,-0.99493944,
  1.61912527, 4.02786216,-2.38579533,-1.30902044, 4.75435364,-6.43654739,
 -0.89178991,-0.23249015, 0.20461181,-7.60354118, 0.98629   ,-0.7439444 ,
  0.11517812, 9.52963302,15.5881854 ,-0.2976349 ]

qfrc_actuator:
[ 4.70504901e-05,-4.62071778e-04,-3.25586896e-04,-8.95184082e-05,
 -1.08987308e-04,-4.71607362e-04,-5.35006912e-04,-3.63190097e-06,
 -6.46703637e-05,-4.04195226e-04,-3.27249893e-04,-2.99940956e-04,
  7.41589443e-02,-1.93255194e-04, 7.64616446e-02,-4.24009883e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52703011,  2.65280107, -3.66833043,  2.65280107, 20.71078104,
       11.70349088, -3.66833043, 11.70349088, 12.99056243,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002958830927184686
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08235531, -0.05789449,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.32186714e-05,-2.73108669e-05, 2.05198938e-06,-8.92072679e-06,
 -4.58316549e-05,-8.00301346e-06, 2.93722661e-05, 1.94793081e-05,
 -1.41049042e-05,-2.77136388e-06, 2.03549578e-05,-2.82604971e-06,
 -5.11697222e-04,-1.11299842e-04,-3.03561082e-04,-1.25265563e-04,
 -2.49801777e-07, 2.95855681e-06,-1.21644182e+00,-1.78038052e-03,
 -2.97531604e-04, 2.21503276e-06]


--- Step 220 ---
qpos:
[ 2.81317531e-03,-5.57371619e-03,-1.00618755e-02, 2.76558739e-03,
 -4.44094553e-03,-5.14070034e-03,-1.75246930e-02, 5.03676387e-03,
 -4.62123714e-03,-3.87906392e-03,-7.65689250e-03,-1.89170829e-02,
  5.67283712e-01, 1.76418904e-02, 4.77097385e-01, 2.75745508e-02,
  9.49259527e-02,-6.99854662e-02, 1.30724842e-01, 9.99929339e-01,
 -3.23530955e-05,-6.33509319e-04,-1.18707734e-02]

qacc:
[-7.55452658, 0.03261231,-1.70370188, 6.21477217, 1.41811032, 0.57879177,
 -2.82281463, 6.48392023,-1.26046872,-1.09354811, 3.58565532,-3.75164713,
 -2.29147597, 6.14249417,-0.22393817,-6.82458443, 0.98296779,-0.73065986,
  0.02235161, 9.51419373,15.34845929,-0.35301246]

qfrc_actuator:
[ 2.93351549e-06,-4.79701054e-04,-3.24405662e-04,-7.68460776e-05,
 -9.92868364e-05,-4.63407439e-04,-5.35615574e-04, 6.70789353e-06,
 -7.17473868e-05,-4.12642916e-04,-3.10841348e-04,-2.99233259e-04,
  7.40223307e-02,-1.61055900e-04, 7.62740157e-02,-4.32621396e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51730373,  2.53678504, -3.73774726,  2.53678504, 28.44466692,
       16.23934758, -3.73774726, 16.23934758, 15.53884453,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029285112244681333
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.47770846e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.47770846e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08235567, -0.05789306,  0.06199095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.44979996e-05,-3.28015715e-05,-4.48286723e-06, 1.14070849e-05,
  8.38202503e-06, 1.06702078e-05, 2.08309692e-06, 1.14014093e-05,
 -7.48874602e-06,-5.84193446e-06, 1.82899941e-05, 1.25428372e-06,
 -5.09360625e-04,-4.80419313e-05,-3.46196434e-04,-1.33385305e-04,
 -1.22722801e-06, 1.45571330e-06,-1.21644062e+00,-1.78113538e-03,
 -2.96799153e-04, 2.23834111e-06]


--- Step 221 ---
qpos:
[ 2.81349598e-03,-5.57538988e-03,-1.00636597e-02, 2.76555192e-03,
 -4.44246021e-03,-5.14062029e-03,-1.75290280e-02, 5.03851742e-03,
 -4.62378171e-03,-3.88071044e-03,-7.65831117e-03,-1.89212644e-02,
  5.68829739e-01, 1.76471907e-02, 4.79009217e-01, 2.75767617e-02,
  9.49317037e-02,-6.99950242e-02, 1.30727475e-01, 9.99928547e-01,
  2.82438117e-05,-5.82979013e-04,-1.19398833e-02]

qacc:
[-4.69696544, 1.34327857,-5.39877317, 8.51696329, 4.14052298, 1.02558061,
 -3.23907927, 4.5030417 ,-3.62357703,-0.34408238, 2.49085702,-7.44747152,
 -1.88003701, 4.49765388,-6.86271902,14.22504579, 0.98022657,-0.72013348,
 -0.05503176, 9.50076315,15.15767146,-0.395853  ]

qfrc_actuator:
[-2.33605987e-05,-4.71689578e-04,-3.40913474e-04,-6.93226877e-05,
 -7.50153430e-05,-4.22901463e-04,-5.34287962e-04, 1.21134596e-05,
 -9.28065388e-05,-4.16973111e-04,-3.18422692e-04,-3.15016290e-04,
  7.38900870e-02,-1.44065594e-04, 7.60393864e-02,-4.32448868e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002884865092169786
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.62110003e-14, -1.92422001e-13,  1.00000000e+00,  1.85131131e-26,
        1.00000000e+00,  1.92422001e-13, -1.00000000e+00,  0.00000000e+00,
        9.62110003e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08235557, -0.05789159,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75707508e-05,-1.07092564e-05,-2.34032971e-05, 6.19382514e-06,
  2.45149097e-05, 4.74514688e-05, 4.23169416e-06, 6.16276143e-06,
 -2.12831735e-05,-3.69082315e-06,-6.45022921e-06,-1.53607685e-05,
 -4.94610297e-04,-5.81866808e-05,-4.11805158e-04,-5.10322117e-05,
 -2.49101083e-06, 1.25539011e-07,-1.21644148e+00,-1.78218069e-03,
 -2.96525498e-04, 2.45755123e-06]


--- Step 222 ---
qpos:
[ 2.81349856e-03,-5.57689689e-03,-1.00657409e-02, 2.76557980e-03,
 -4.44367224e-03,-5.14013277e-03,-1.75327995e-02, 5.04027183e-03,
 -4.62621442e-03,-3.88215300e-03,-7.65965200e-03,-1.89252937e-02,
  5.70373138e-01, 1.76523709e-02, 4.80916516e-01, 2.75814846e-02,
  9.49413671e-02,-7.00074296e-02, 1.30729631e-01, 9.99927747e-01,
  1.08178708e-04,-5.02662107e-04,-1.20098384e-02]

qacc:
[ -2.79479635,  1.18659455, -4.16919229,  5.60788687,  2.65051003,
  -1.03898578,  4.47361272, -5.65013053,  0.97852534,  0.36360278,
  -1.55017109,  3.91117553, -1.21378558,  1.60644299,-14.26452298,
  40.29936878,  0.97808518, -0.71187484, -0.11937177,  9.49023336,
  15.00766803, -0.42868233]

qfrc_actuator:
[-3.89439762e-05,-4.48458879e-04,-3.49882225e-04,-6.48825532e-05,
 -6.01321272e-05,-3.81114512e-04,-4.96176524e-04, 1.46090091e-05,
 -8.64234679e-05,-3.83411806e-04,-3.04599043e-04,-3.04884705e-04,
  7.37552310e-02,-1.53958890e-04, 7.58619906e-02,-4.18232431e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028310812980092415
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08235512, -0.05789011,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.63672163e-05, 1.27442112e-05,-1.38078971e-05, 3.30087679e-06,
  1.56020119e-05, 6.95122042e-05, 4.86920147e-05, 4.79958312e-06,
  5.76749011e-06, 2.95773613e-05, 1.17788596e-05, 9.46782412e-06,
 -4.88649205e-04,-8.37489193e-05,-3.71596534e-04, 8.64748858e-05,
 -4.03886331e-06,-1.04457416e-06,-1.21644433e+00,-1.78351888e-03,
 -2.96702560e-04, 2.86780716e-06]


--- Step 223 ---
qpos:
[ 2.81365910e-03,-5.57829920e-03,-1.00676484e-02, 2.76563549e-03,
 -4.44469602e-03,-5.13948152e-03,-1.75359387e-02, 5.04172337e-03,
 -4.62855235e-03,-3.88302193e-03,-7.66103070e-03,-1.89288654e-02,
  5.71913724e-01, 1.76581347e-02, 4.82820172e-01, 2.75883212e-02,
  9.49549366e-02,-7.00226570e-02, 1.30731095e-01, 9.99926927e-01,
  2.07436715e-04,-3.92791423e-04,-1.20806873e-02]

qacc:
[  1.38552857, -0.2924183 ,  1.12125332, -0.98943613,  1.6587203 ,
  -2.17675525,  9.34891445,-15.71746741,  0.81905937,  1.80520553,
  -7.26776243, 14.82218854, -2.16052801,  5.67068144,-11.65851966,
  33.30315287,  0.97654196, -0.70548473, -0.17272271,  9.48316557,
  14.89180199, -0.4534823 ]

qfrc_actuator:
[-3.03515504e-05,-4.34017665e-04,-3.36500106e-04,-6.22676363e-05,
 -5.08989791e-05,-3.91987089e-04,-4.72139103e-04,-2.34858135e-06,
 -8.16876633e-05,-3.27315103e-04,-2.95815221e-04,-2.79532717e-04,
  7.36082454e-02,-1.26389555e-04, 7.57244158e-02,-4.06491672e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002769793978270041
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0823544 , -0.05788862,  0.06199144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.13644451e-06, 1.89302246e-05, 1.44705309e-05, 2.75603322e-06,
  9.70243675e-06, 3.82891484e-05, 4.45933243e-05,-1.21980890e-05,
  4.90320239e-06, 7.55457265e-05, 1.67099250e-05, 2.72250058e-05,
 -4.99558991e-04,-4.78916123e-05,-2.99280617e-04, 7.42409737e-05,
 -5.86997664e-06,-2.06339686e-06,-1.21644914e+00,-1.78515173e-03,
 -2.97324133e-04, 3.46572289e-06]


--- Step 224 ---
qpos:
[ 2.81357651e-03,-5.57962968e-03,-1.00696239e-02, 2.76539776e-03,
 -4.44594571e-03,-5.13880374e-03,-1.75388980e-02, 5.04266522e-03,
 -4.63150531e-03,-3.88319542e-03,-7.66261407e-03,-1.89328006e-02,
  5.73451373e-01, 1.76649265e-02, 4.84720770e-01, 2.75944002e-02,
  9.49724085e-02,-7.00406870e-02, 1.30731692e-01, 9.99926071e-01,
  3.26011162e-04,-2.53542450e-04,-1.21524659e-02]

qacc:
[ -2.13042959, -0.31540894,  2.50813408, -7.53835627, -1.96554848,
  -1.51310606,  7.60454461,-16.74089897, -5.40352857,  0.75282352,
   0.20033652, -6.69242037, -2.84244923,  8.48243471, -2.03394273,
   1.04550383,  0.97558155, -0.70063785, -0.21684247,  9.47988055,
  14.80464576, -0.47180692]

qfrc_actuator:
[-4.31077185e-05,-4.42607456e-04,-3.45564640e-04,-7.84902874e-05,
 -6.28151560e-05,-4.16622008e-04,-4.74592955e-04,-3.06746541e-05,
 -1.13473135e-04,-2.93653696e-04,-3.07723358e-04,-2.98672702e-04,
  7.34540933e-02,-7.69984452e-05, 7.55788618e-02,-4.10499084e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002703168187537103
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02677946e-13, -2.05355891e-13,  1.00000000e+00,  2.10855210e-26,
        1.00000000e+00,  2.05355891e-13, -1.00000000e+00,  0.00000000e+00,
        1.02677946e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08235346, -0.05788714,  0.06199165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.25113527e-05, 5.17841112e-06,-3.23849592e-06,-1.48502937e-05,
 -1.16260081e-05, 5.47747105e-06, 1.05514368e-05,-2.53778612e-05,
 -3.16257797e-05, 8.05733025e-05, 6.72697718e-06,-1.47841570e-05,
 -5.08470368e-04,-2.54391526e-05,-2.79519578e-04,-7.55809389e-05,
 -7.98492060e-06,-2.93661854e-06,-1.21645586e+00,-1.78708052e-03,
 -2.98385525e-04, 4.24914499e-06]


--- Step 225 ---
qpos:
[ 2.81334204e-03,-5.58104329e-03,-1.00718956e-02, 2.76500423e-03,
 -4.44732803e-03,-5.13861400e-03,-1.75413341e-02, 5.04364933e-03,
 -4.63481595e-03,-3.88312599e-03,-7.66411959e-03,-1.89372405e-02,
  5.74986350e-01, 1.76716313e-02, 4.86618366e-01, 2.75978914e-02,
  9.49860356e-02,-7.00517111e-02, 1.30732810e-01, 9.99925187e-01,
  3.99127616e-04,-1.50367521e-04,-1.22244655e-02]

qacc:
[ -1.33661304,  0.39988337, -0.92308259, -1.2431368 , -1.13220596,
  -2.01722135,  6.08268814, -5.83414661, -3.13380562, -0.9297378 ,
   5.91742597,-14.9554712 , -1.48878174,  2.50449946,  3.4704848 ,
 -18.39468919, -0.9611719 ,  1.75146477,  0.13006922,-22.5081456 ,
 -18.31194174, -0.099068  ]

qfrc_actuator:
[-5.05825080e-05,-4.65024880e-04,-3.67925053e-04,-8.79527247e-05,
 -6.93294427e-05,-4.67195253e-04,-4.57236900e-04,-2.99885957e-05,
 -1.30994220e-04,-3.09309982e-04,-3.14112096e-04,-3.26117040e-04,
  7.33170568e-02,-8.62024965e-05, 7.54285988e-02,-4.23752821e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46663148,  2.58691604, -3.64124459,  2.58691604, 19.29277993,
       10.53321199, -3.64124459, 10.53321199, 11.94993405,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002763115557914003
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.50675433e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.50675433e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10794774, -0.09348057,  0.06199146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.82350524e-06,-2.07591683e-05,-2.21637680e-05,-9.63321840e-06,
 -6.84498127e-06,-4.64142892e-05, 1.89341127e-05, 7.95424286e-07,
 -1.83985932e-05, 3.01693351e-05, 1.05977218e-05,-2.40353977e-05,
 -4.94339349e-04,-8.38405124e-05,-2.93849187e-04,-1.74311950e-04,
 -1.03855565e-05,-3.66740912e-06,-1.21646447e+00,-1.78930620e-03,
 -2.99883279e-04, 5.21695684e-06]


--- Step 226 ---
qpos:
[ 2.81336470e-03,-5.58256051e-03,-1.00741597e-02, 2.76482771e-03,
 -4.44877775e-03,-5.13898714e-03,-1.75431870e-02, 5.04498535e-03,
 -4.63796609e-03,-3.88308865e-03,-7.66530370e-03,-1.89412645e-02,
  5.76518870e-01, 1.76766199e-02, 4.88512650e-01, 2.75983918e-02,
  9.49958004e-02,-7.00559132e-02, 1.30733814e-01, 9.99924291e-01,
  4.27165067e-04,-8.20196435e-05,-1.22972771e-02]

qacc:
[  2.25149737,  0.28421809, -2.13565804,  5.96343756, -0.55978385,
  -1.64716987,  3.31061728,  2.25842895,  1.41621804, -0.08706994,
  -1.50881016,  8.2148741 ,  0.47155402, -6.24345822,  4.06018526,
 -21.56205285, -0.96559115,  1.70549154, -0.028383  ,-22.32500246,
 -17.68791968, -0.39567956]

qfrc_actuator:
[-3.71298353e-05,-4.60107374e-04,-3.62502226e-04,-7.56266683e-05,
 -7.26055033e-05,-4.97322269e-04,-4.28410138e-04,-1.22433302e-05,
 -1.22215369e-04,-3.18877273e-04,-2.99637202e-04,-3.04999727e-04,
  7.31690685e-02,-1.83117848e-04, 7.52649639e-02,-4.38790492e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4816808 , -2.23282832,  3.88586419, -2.23282832,  8.33337687,
        2.21319523,  3.88586419,  2.21319523,  5.7533889 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028136108380476255
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.86475288e-14, -1.47971293e-13,  1.00000000e+00,  1.45970024e-26,
        1.00000000e+00,  1.47971293e-13, -1.00000000e+00,  0.00000000e+00,
        9.86475288e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1079429 , -0.09348129,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.32300199e-05,-1.16052835e-05,-1.88397031e-06, 1.04916295e-05,
 -3.48925058e-06,-5.21196221e-05, 2.16243918e-05, 1.64304790e-05,
  8.26241181e-06, 8.47087935e-06, 2.12038662e-05, 2.23212544e-05,
 -5.04102180e-04,-1.74150411e-04,-3.24253536e-04,-1.99368019e-04,
 -5.97558748e-06,-3.56689828e-06,-1.21645125e+00,-1.78989008e-03,
 -3.02906864e-04, 2.65676952e-06]


--- Step 227 ---
qpos:
[ 2.81354833e-03,-5.58404782e-03,-1.00761578e-02, 2.76510984e-03,
 -4.45025602e-03,-5.13915976e-03,-1.75455385e-02, 5.04650022e-03,
 -4.64064177e-03,-3.88317332e-03,-7.66596992e-03,-1.89446607e-02,
  5.78048544e-01, 1.76811816e-02, 4.90403188e-01, 2.75973640e-02,
  9.50016918e-02,-7.00534426e-02, 1.30734171e-01, 9.99923386e-01,
  4.10451996e-04,-4.74934861e-05,-1.23713630e-02]

qacc:
[  1.41631877,  0.23791838, -2.73168999, 10.22700806, -0.26796583,
   2.02661624, -7.59620647, 11.34161826,  4.17290153, -0.32393247,
  -1.73958731, 11.87329556, -1.15834879,  0.74780319, -0.8716073 ,
  -4.88498538, -0.96835742,  1.6681791 , -0.16158556,-22.1656607 ,
 -17.18500695, -0.62807374]

qfrc_actuator:
[-2.92215714e-05,-4.38735181e-04,-3.40594862e-04,-5.05379995e-05,
 -7.39508197e-05,-4.61653601e-04,-4.46228058e-04,-2.34172093e-06,
 -9.80316749e-05,-3.24613331e-04,-2.72918839e-04,-2.73216590e-04,
  7.30092601e-02,-2.06727493e-04, 7.50934417e-02,-4.45878397e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4881253 , -2.17013964,  3.92858278, -2.17013964, 11.07299251,
        3.63746474,  3.92858278,  3.63746474,  6.49745203,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028348666850942783
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.79078690e-14, -2.93723607e-13,  1.00000000e+00,  2.87578525e-26,
        1.00000000e+00,  2.93723607e-13, -1.00000000e+00,  0.00000000e+00,
        9.79078690e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10793947, -0.09348259,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.28910413e-06, 1.50292225e-05, 1.96852383e-05, 2.47387072e-05,
 -1.46507120e-06, 1.17252291e-05,-2.53273947e-05, 8.73882178e-06,
  2.44188980e-05, 4.35062982e-06, 3.18705944e-05, 3.33246970e-05,
 -5.36188944e-04,-1.09584803e-04,-3.47180855e-04,-1.24774503e-04,
 -2.26131307e-06,-2.67918233e-06,-1.21644340e+00,-1.78980869e-03,
 -3.05386279e-04, 1.02465488e-06]


--- Step 228 ---
qpos:
[ 2.81486020e-03,-5.58537981e-03,-1.00779121e-02, 2.76532990e-03,
 -4.45139416e-03,-5.13897652e-03,-1.75488083e-02, 5.04882155e-03,
 -4.64300669e-03,-3.88344620e-03,-7.66620977e-03,-1.89479798e-02,
  5.79575206e-01, 1.76867352e-02, 4.92289467e-01, 2.75964639e-02,
  9.50037031e-02,-7.00444200e-02, 1.30733435e-01, 9.99922470e-01,
  3.49268308e-04,-4.59807918e-05,-1.24470839e-02]

qacc:
[  9.87469555, -0.62309055,  2.74806969, -4.2901588 ,  2.93240228,
   4.68975838,-19.45479253, 34.63184527,  2.73766255, -1.28702035,
   3.89277903, -3.09021166, -2.79087066,  8.0777881 , -6.49865192,
  14.07114059, -0.97001848,  1.63799768, -0.27346468,-22.02942979,
 -16.78088381, -0.80969405]

qfrc_actuator:
[ 2.86112428e-05,-4.25334893e-04,-3.26810824e-04,-5.36254706e-05,
 -5.63969352e-05,-4.40303663e-04,-4.91184271e-04, 3.83912455e-05,
 -8.27358595e-05,-3.45700522e-04,-2.56932073e-04,-2.70917494e-04,
  7.28744378e-02,-1.51451368e-04, 7.48960424e-02,-4.44672548e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48745413, -2.08634712,  3.97295863, -2.08634712, 14.81245342,
        5.42203797,  3.97295863,  5.42203797,  7.33476627,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002832662999314728
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.7984037e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        9.7984037e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10793716, -0.09348436,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.80798255e-05, 2.70096745e-05, 2.02088042e-05,-1.27407766e-06,
  1.75166406e-05, 2.30796764e-05,-4.53256946e-05, 4.05312543e-05,
  1.59902853e-05,-1.06260453e-05, 2.19762371e-05, 4.24463376e-06,
 -5.24189538e-04,-3.06874952e-05,-3.74280828e-04,-4.03813212e-05,
  8.63204331e-07,-9.66555161e-07,-1.21644064e+00,-1.78905072e-03,
 -3.07372731e-04, 2.65938038e-07]


--- Step 229 ---
qpos:
[ 2.81720010e-03,-5.58644833e-03,-1.00797841e-02, 2.76517732e-03,
 -4.45231280e-03,-5.13885263e-03,-1.75524385e-02, 5.05128255e-03,
 -4.64551466e-03,-3.88364836e-03,-7.66713997e-03,-1.89515456e-02,
  5.81099071e-01, 1.76925896e-02, 4.94171627e-01, 2.75959343e-02,
  9.50018305e-02,-7.00289426e-02, 1.30731229e-01, 9.99921530e-01,
  2.43847881e-04,-7.68345036e-05,-1.25247201e-02]

qacc:
[  8.98490193, -0.10787076,  2.43235366, -8.85408169,  1.904448  ,
   1.21222627, -5.03245332,  8.07728154, -1.2755887 ,  1.51757266,
  -4.23010363,  1.0089043 , -1.88179572,  4.23479655, -7.10728886,
  16.29839382, -0.9709807 ,  1.61369599, -0.36736152,-21.91526169,
 -16.45759265, -0.95109933]

qfrc_actuator:
[ 7.98618828e-05,-4.16855114e-04,-3.35737547e-04,-7.32813679e-05,
 -4.56134232e-05,-4.63285774e-04,-5.16299153e-04, 4.36659881e-05,
 -9.05514987e-05,-3.58130759e-04,-3.00757785e-04,-2.86009314e-04,
  7.27387473e-02,-1.38854829e-04, 7.47152525e-02,-4.42145438e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48114229, -1.97870811,  4.02061568, -1.97870811, 19.90111181,
        7.58879265,  4.02061568,  7.58879265,  8.21589506,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028118248894311304
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.97420371e-13, -2.96130556e-13,  1.00000000e+00,  5.84622042e-26,
        1.00000000e+00,  2.96130556e-13, -1.00000000e+00,  0.00000000e+00,
        1.97420371e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10793573, -0.0934865 ,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.29251137e-05, 2.77877116e-05,-8.70631466e-07,-1.78204083e-05,
  1.12937885e-05,-1.76688330e-05,-2.44984110e-05, 5.48490447e-06,
 -7.36559645e-06,-1.36332638e-05,-4.31566186e-05,-1.46964820e-05,
 -5.05047797e-04,-6.54986262e-05,-3.59175031e-04,-2.55865683e-05,
  3.47734539e-06, 1.59402535e-06,-1.21644276e+00,-1.78760872e-03,
 -3.08904476e-04, 3.39009314e-07]


--- Step 230 ---
qpos:
[ 2.81979204e-03,-5.58750506e-03,-1.00816614e-02, 2.76516094e-03,
 -4.45309471e-03,-5.13900922e-03,-1.75561893e-02, 5.05276425e-03,
 -4.64775158e-03,-3.88407434e-03,-7.66848704e-03,-1.89552443e-02,
  5.82620396e-01, 1.76975919e-02, 4.96049748e-01, 2.75972522e-02,
  9.49960717e-02,-7.00070883e-02, 1.30727239e-01, 9.99920546e-01,
  9.43814440e-05,-1.39539842e-04,-1.26044883e-02]

qacc:
[  2.20456115,  0.30666827, -1.65316232,  4.01807603,  1.19293245,
  -2.05211494, 10.90953692,-27.455859  ,  2.3638696 ,  0.59095078,
  -1.9830329 ,  0.52180624, -0.38623032, -2.13590447,-11.59148944,
  31.82701476, -0.97154206,  1.59424856, -0.44612455,-21.82188705,
 -16.20065722, -1.06057943]

qfrc_actuator:
[ 9.13068482e-05,-4.29250556e-04,-3.40274163e-04,-6.70376615e-05,
 -3.89075679e-05,-4.94841621e-04,-5.29699761e-04,-7.49526244e-06,
 -7.63992278e-05,-3.83303103e-04,-3.26266926e-04,-2.93490092e-04,
  7.26079507e-02,-1.87077056e-04, 7.45498949e-02,-4.31753895e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47054601, -1.84375415,  4.07263456, -1.84375415, 26.80359041,
       10.1105667 ,  4.07263456, 10.1105667 ,  9.04777951,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002776368265204332
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.99707999e-14, -1.99941600e-13,  1.00000000e+00,  1.99883216e-26,
        1.00000000e+00,  1.99941600e-13, -1.00000000e+00,  0.00000000e+00,
        9.99707999e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10793499, -0.09348894,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.29732942e-05, 2.27210015e-06, 5.09461927e-07, 7.06158253e-06,
  7.02416599e-06,-4.62247129e-05,-1.98429639e-05,-5.26574475e-05,
  1.39372563e-05,-4.23234740e-05,-3.41298311e-05,-9.83364113e-06,
 -4.91624347e-04,-1.26531847e-04,-3.35614687e-04, 5.57113782e-05,
  5.64077482e-06, 5.01537713e-06,-1.21644959e+00,-1.78547776e-03,
 -3.10009981e-04, 1.21258216e-06]


--- Step 231 ---
qpos:
[ 2.82250168e-03,-5.58854889e-03,-1.00838636e-02, 2.76558737e-03,
 -4.45378999e-03,-5.13958967e-03,-1.75597620e-02, 5.05396500e-03,
 -4.64876683e-03,-3.88493210e-03,-7.66950469e-03,-1.89590288e-02,
  5.84139220e-01, 1.77019712e-02, 4.97923797e-01, 2.76013995e-02,
  9.49864252e-02,-6.99789187e-02, 1.30721200e-01, 9.99919490e-01,
 -9.89803617e-05,-2.33690945e-04,-1.26865542e-02]

qacc:
[  1.01938443,  1.83496935, -8.39045495, 16.56761214,  0.76831693,
  -1.63709388,  6.20817748,-11.04133583, 10.71436408, -1.68898821,
   5.51828352, -7.16810187, -0.5902569 , -1.09362462,-14.59866299,
  42.32018078, -0.97191802,  1.57881348, -0.51218484,-21.74791897,
 -15.9983865 , -1.14463967]

qfrc_actuator:
[ 9.69858250e-05,-4.36272198e-04,-3.59994632e-04,-4.56139691e-05,
 -3.46533202e-05,-5.13544205e-04,-5.18414851e-04,-2.04444791e-05,
 -1.39178275e-05,-3.98101828e-04,-3.05278189e-04,-2.96419283e-04,
  7.24908195e-02,-2.17500054e-04, 7.43726344e-02,-4.16806219e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45684955, -1.67723765,  4.12921079, -1.67723765, 36.12328366,
       12.86253915,  4.12921079, 12.86253915,  9.68146412,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027296236955534625
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01682791e-13, -1.52524187e-13,  1.00000000e+00,  1.55090850e-26,
        1.00000000e+00,  1.52524187e-13, -1.00000000e+00,  0.00000000e+00,
        1.01682791e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10793479, -0.0934916 ,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.05547837e-06,-5.28671478e-06,-1.89128731e-05, 2.16816521e-05,
  4.44244602e-06,-5.08569499e-05,-2.48713656e-06,-1.66361801e-05,
  6.28629188e-05,-4.58990258e-05, 7.72948351e-06,-6.10284825e-06,
 -4.77145302e-04,-1.12022722e-04,-3.28131823e-04, 1.08706541e-04,
  7.39857752e-06, 9.30308482e-06,-1.21646102e+00,-1.78265461e-03,
 -3.10710293e-04, 2.86355800e-06]


--- Step 232 ---
qpos:
[ 2.82491367e-03,-5.58957475e-03,-1.00865926e-02, 2.76662642e-03,
 -4.45477387e-03,-5.14034659e-03,-1.75632911e-02, 5.05497822e-03,
 -4.64902549e-03,-3.88586235e-03,-7.67069945e-03,-1.89628302e-02,
  5.85655360e-01, 1.77066526e-02, 4.99793919e-01, 2.76059521e-02,
  9.49806497e-02,-6.99541912e-02, 1.30718315e-01, 9.99918408e-01,
 -2.72917982e-04,-2.91928889e-04,-1.27678548e-02]

qacc:
[ -2.62018465,  2.76295215,-12.39389594, 23.81551601, -2.51300262,
  -0.73644563,  3.0877887 , -6.28309214,  6.62006757,  0.35118922,
  -1.3412444 ,  1.40601147, -1.82494881,  4.10594731, -6.9296756 ,
  16.08562604,  0.9677312 , -0.86053515,  0.78869876,  9.48359179,
  18.07830669,  0.3819461 ]

qfrc_actuator:
[ 8.14861133e-05,-4.40075394e-04,-3.88503783e-04,-1.54433861e-05,
 -4.96272786e-05,-5.06526626e-04,-5.10321594e-04,-2.85257449e-05,
  2.32441019e-05,-3.88626250e-04,-3.10228176e-04,-2.96611637e-04,
  7.23553466e-02,-2.01626532e-04, 7.41724033e-02,-4.15274328e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48813974, -2.57989529,  3.67253845, -2.57989529, 20.55003879,
       11.28320867,  3.67253845, 11.28320867, 12.41440037,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028349140840827625
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.96194910e-13, -3.91624928e-13,  1.00000000e+00,  7.68348177e-26,
        1.00000000e+00,  3.91624928e-13, -1.00000000e+00,  0.00000000e+00,
        1.96194910e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08237978, -0.05787212,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.53231714e-05,-9.68103457e-06,-3.11464999e-05, 2.97171241e-05,
 -1.48635763e-05,-2.25859187e-05,-3.24736499e-06,-1.06636799e-05,
  3.89363153e-05,-1.47856864e-05,-1.36625088e-05,-1.99960154e-06,
 -4.82978771e-04,-6.26716285e-05,-3.41883653e-04,-2.15704691e-05,
  8.78511488e-06, 1.44574962e-05,-1.21647696e+00,-1.77913707e-03,
 -3.11020814e-04, 5.27536075e-06]


--- Step 233 ---
qpos:
[ 2.82677624e-03,-5.59056149e-03,-1.00888656e-02, 2.76829293e-03,
 -4.45592982e-03,-5.14084789e-03,-1.75674346e-02, 5.05518578e-03,
 -4.64918122e-03,-3.88674929e-03,-7.67232288e-03,-1.89662565e-02,
  5.87168839e-01, 1.77118368e-02, 5.01659509e-01, 2.76100574e-02,
  9.49746315e-02,-6.99356820e-02, 1.30717620e-01, 9.99917336e-01,
 -4.02915061e-04,-3.43357742e-04,-1.28468508e-02]

qacc:
[ -4.79236133,  0.07902222, -2.83907462, 12.92278446, -1.52483968,
   0.39860679,  2.47485174,-15.62932757,  0.88725099,  2.02673244,
  -8.72662616, 15.86905776, -2.04735743,  5.11998275, -5.22010451,
   8.86212103, -0.06065788, -1.55457639,  0.54719726, 21.92534808,
   3.68446746,  1.14673946]

qfrc_actuator:
[ 5.36474392e-05,-4.06452480e-04,-3.50943726e-04, 1.96284085e-05,
 -5.80449395e-05,-4.84154802e-04,-5.39585520e-04,-6.91725362e-05,
  2.74381439e-05,-3.82525323e-04,-3.30366636e-04,-2.77443592e-04,
  7.22249525e-02,-1.76403565e-04, 7.39318945e-02,-4.18112141e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51755979,  4.35472792,  1.20195308,  4.35472792,  5.19233915,
       -2.44475477,  1.20195308, -2.44475477, 13.37501191,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002929314982466624
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.79004317e-13,  3.79004317e-13,  1.00000000e+00, -1.43644272e-25,
        1.00000000e+00, -3.79004317e-13, -1.00000000e+00,  0.00000000e+00,
        3.79004317e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0939925 , -0.04643319,  0.06199095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.82741232e-05, 2.31027269e-05, 3.27919626e-05, 3.41638435e-05,
 -8.85100569e-06, 8.67576411e-06,-3.46494367e-05,-4.19264736e-05,
  5.29637748e-06,-5.00579381e-06,-2.49127529e-05, 1.80347424e-05,
 -4.74921553e-04,-5.03017897e-05,-4.03245752e-04,-7.43467802e-05,
  9.02449775e-06, 1.05608522e-05,-1.21646665e+00,-1.77711280e-03,
 -3.09320848e-04, 3.38680088e-06]


--- Step 234 ---
qpos:
[ 2.82829034e-03,-5.59116506e-03,-1.00908057e-02, 2.76998433e-03,
 -4.45717743e-03,-5.14163342e-03,-1.75717196e-02, 5.05494187e-03,
 -4.64928520e-03,-3.88762883e-03,-7.67421032e-03,-1.89690878e-02,
  5.88679822e-01, 1.77169742e-02, 5.03520734e-01, 2.76156378e-02,
  9.49684738e-02,-6.99232522e-02, 1.30718348e-01, 9.99916286e-01,
 -4.89715815e-04,-3.88919373e-04,-1.29240418e-02]

qacc:
[ -3.04445481, -0.3667981 ,  1.94777865, -2.34226667, -0.79938923,
  -0.90800147,  4.60119649,-11.98262213,  0.44497677,  1.97250089,
  -9.52702816, 20.23153426, -1.27291344,  1.95658956,-10.86373429,
  28.79058671, -0.03487974, -1.51983303,  0.35575824, 21.5590031 ,
   3.21047726,  0.89639   ]

qfrc_actuator:
[ 3.65288647e-05,-3.68154879e-04,-3.27772060e-04, 2.18757717e-05,
 -6.25299150e-05,-5.23942448e-04,-5.55117809e-04,-9.31602309e-05,
  2.99551013e-05,-3.78535966e-04,-3.41543126e-04,-2.47044750e-04,
  7.21030262e-02,-1.81397824e-04, 7.37579532e-02,-4.09300623e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54010937, -0.41603324,  4.52100757, -0.41603324, 47.50903997,
        3.95409717,  4.52100757,  3.95409717,  4.90397424,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000299893649097549
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.8510279e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.8510279e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09399712, -0.04643485,  0.06199074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.79161831e-05, 5.94967672e-05, 3.31986643e-05, 5.04126497e-06,
 -4.73250441e-06,-4.38260284e-05,-1.94052243e-05,-2.56208159e-05,
  2.66155658e-06,-3.12298441e-06,-1.46181233e-05, 2.96866401e-05,
 -4.59555333e-04,-7.82302011e-05,-3.67850066e-04, 3.19928467e-05,
  6.62797492e-06, 7.47077250e-06,-1.21645566e+00,-1.77530065e-03,
 -3.06752418e-04, 2.64391999e-06]


--- Step 235 ---
qpos:
[ 2.82958736e-03,-5.59141001e-03,-1.00926917e-02, 2.77136666e-03,
 -4.45777932e-03,-5.14289315e-03,-1.75758344e-02, 5.05510647e-03,
 -4.64970320e-03,-3.88855910e-03,-7.67591020e-03,-1.89719020e-02,
  5.90188302e-01, 1.77217680e-02, 5.05379058e-01, 2.76186202e-02,
  9.49622574e-02,-6.99167870e-02, 1.30719854e-01, 9.99915264e-01,
 -5.33943919e-04,-4.29360342e-04,-1.29998220e-02]

qacc:
[-1.90360936e+00,-3.10054097e-01, 3.10415376e+00,-8.81018373e+00,
  5.64570396e+00,-2.71916769e-01,-1.68322247e+00, 8.85049975e+00,
 -2.74262848e+00,-5.50857206e-01, 1.80385098e+00,-1.78080321e+00,
 -1.12676862e+00, 1.03886284e+00, 3.62427865e+00,-1.87847965e+01,
 -1.46741705e-02,-1.49115587e+00, 1.94802251e-01, 2.12517351e+01,
  2.83488244e+00, 6.98481769e-01]

qfrc_actuator:
[ 2.58611605e-05,-3.62917431e-04,-3.31045386e-04, 4.78006605e-06,
 -2.91615892e-05,-5.47330287e-04,-5.44885632e-04,-7.16791437e-05,
  1.37231900e-05,-3.75794981e-04,-3.29583019e-04,-2.45782535e-04,
  7.19649581e-02,-2.04173875e-04, 7.36400779e-02,-4.22078062e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55166402,  0.33909938, -4.53901497,  0.33909938, 11.75011141,
        0.53777947, -4.53901497,  0.53777947,  4.59184029,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030337548586241436
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.65956736e-13,  1.82978368e-13,  1.00000000e+00, -6.69621662e-26,
        1.00000000e+00, -1.82978368e-13, -1.00000000e+00,  0.00000000e+00,
        3.65956736e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09400075, -0.04643546,  0.06199063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11569558e-05, 4.56113400e-05, 1.33050155e-05,-1.32972109e-05,
  3.32192336e-05,-5.29231852e-05,-2.03687261e-06, 1.84452347e-05,
 -1.61629191e-05,-6.92472804e-07, 1.05802388e-05, 1.21305273e-06,
 -4.68535570e-04,-9.63992024e-05,-2.84780440e-04,-1.73685152e-04,
  4.33969348e-06, 5.24428519e-06,-1.21644793e+00,-1.77411880e-03,
 -3.04425134e-04, 2.08168893e-06]


--- Step 236 ---
qpos:
[ 2.83074641e-03,-5.59145840e-03,-1.00941984e-02, 2.77184153e-03,
 -4.45797705e-03,-5.14406973e-03,-1.75800630e-02, 5.05581988e-03,
 -4.65065754e-03,-3.88947818e-03,-7.67745816e-03,-1.89750300e-02,
  5.91694333e-01, 1.77256696e-02, 5.07234101e-01, 2.76196621e-02,
  9.49560456e-02,-6.99161921e-02, 1.30721600e-01, 9.99914273e-01,
 -5.36118683e-04,-4.65272521e-04,-1.30745029e-02]

qacc:
[-1.19894394e+00,-2.66690753e+00, 1.37201881e+01,-3.01801094e+01,
  3.52050013e+00, 1.55044494e+00,-7.69777157e+00, 1.73303645e+01,
 -4.69160455e+00,-1.04698330e+00, 5.09212690e+00,-1.07842406e+01,
 -4.46637540e-01,-1.87974786e+00, 1.00821815e+00,-1.06069290e+01,
  1.14447614e-03,-1.46759392e+00, 5.96942969e-02, 2.09956959e+01,
  2.53725912e+00, 5.41941415e-01]

qfrc_actuator:
[ 1.90719787e-05,-3.59892152e-04,-3.14534796e-04,-4.13501090e-05,
 -9.28727127e-06,-5.07316682e-04,-5.37202485e-04,-4.13488078e-05,
 -1.34129814e-05,-3.73747839e-04,-3.21839533e-04,-2.61662365e-04,
  7.18279472e-02,-2.55056104e-04, 7.34866323e-02,-4.31483209e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55394252,  0.26402298, -4.54628248,  0.26402298, 16.43813978,
        0.69016854, -4.54628248,  0.69016854,  4.5940237 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030405549517473207
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82569143e-13,  1.82569143e-13,  1.00000000e+00, -3.33314920e-26,
        1.00000000e+00, -1.82569143e-13, -1.00000000e+00,  0.00000000e+00,
        1.82569143e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09400358, -0.04643523,  0.06199061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.08967211e-06, 3.07295935e-05, 2.71316382e-05,-4.39724123e-05,
  2.08073462e-05, 1.08941606e-05,-2.79924857e-06, 2.83616477e-05,
 -2.76036384e-05, 3.95001186e-06, 8.98276593e-06,-1.55070772e-05,
 -4.76024454e-04,-1.27809841e-04,-3.10506871e-04,-1.41993094e-04,
  2.12475224e-06, 3.80738217e-06,-1.21644326e+00,-1.77356526e-03,
 -3.02290395e-04, 1.66566781e-06]


--- Step 237 ---
qpos:
[ 2.83181507e-03,-5.59136130e-03,-1.00954569e-02, 2.77177590e-03,
 -4.45862439e-03,-5.14536565e-03,-1.75837752e-02, 5.05583685e-03,
 -4.65193006e-03,-3.89030528e-03,-7.67868009e-03,-1.89780011e-02,
  5.93197823e-01, 1.77292836e-02, 5.09084758e-01, 2.76216266e-02,
  9.49498879e-02,-6.99213907e-02, 1.30723132e-01, 9.99913310e-01,
 -4.96668894e-04,-4.97125209e-04,-1.31483309e-02]

qacc:
[-7.85723691e-01,-1.61328719e+00, 8.31536159e+00,-1.81765270e+01,
 -3.90374101e+00,-3.02608238e+00, 1.35147790e+01,-2.63217905e+01,
 -2.77710275e+00,-4.61131594e-01, 1.16811381e+00, 9.47164226e-01,
 -1.05240705e+00, 8.53644154e-01,-9.24345036e+00, 2.30223508e+01,
  1.35114544e-02,-1.44835085e+00,-5.35106841e-02, 2.07841601e+01,
  2.30145908e+00, 4.18043043e-01]

qfrc_actuator:
[ 1.46176324e-05,-3.58175562e-04,-3.04253307e-04,-6.86736976e-05,
 -3.30313512e-05,-5.18393049e-04,-5.13080320e-04,-7.70231548e-05,
 -2.89911431e-05,-3.54406004e-04,-2.98912776e-04,-2.51998204e-04,
  7.17023073e-02,-2.68858150e-04, 7.32747027e-02,-4.26399966e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54874723,  0.16736413, -4.54566723,  0.16736413, 22.6454892 ,
        0.66629283, -4.54566723,  0.66629283,  4.57327905,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003025018453729489
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.83506818e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.83506818e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0940058 , -0.04643432,  0.06199066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.64390503e-06, 2.26329978e-05, 1.84654821e-05,-2.59214580e-05,
 -2.31449321e-05,-4.24939421e-06, 2.70699859e-05,-3.47427969e-05,
 -1.63697978e-05, 2.27875843e-05, 2.43483734e-05, 9.85562628e-06,
 -4.74707370e-04,-9.46765141e-05,-3.75742323e-04, 1.70967679e-06,
 -4.28663429e-08, 3.10492205e-06,-1.21644149e+00,-1.77363756e-03,
 -3.00311639e-04, 1.37074148e-06]


--- Step 238 ---
qpos:
[ 2.83282194e-03,-5.59103386e-03,-1.00966494e-02, 2.77207576e-03,
 -4.45989585e-03,-5.14690747e-03,-1.75870847e-02, 5.05545099e-03,
 -4.65303463e-03,-3.89129418e-03,-7.67951020e-03,-1.89804599e-02,
  5.94698561e-01, 1.77337300e-02, 5.10931330e-01, 2.76234147e-02,
  9.49438228e-02,-6.99323203e-02, 1.30724070e-01, 9.99912368e-01,
 -4.15944689e-04,-5.25290533e-04,-1.32215006e-02]

qacc:
[ -0.54214462,  0.87386796, -4.21506967, 10.26358131, -5.42710012,
  -2.26876239,  9.33739464,-16.79350384,  1.48584741, -0.2567937 ,
  -1.55928915,  9.91663061, -2.4873204 ,  6.82697005, -5.34016751,
  10.34153143,  0.02316414, -1.43275828, -0.14817869, 20.61134609,
   2.11470929,  0.31990946]

qfrc_actuator:
[ 1.15717935e-05,-3.39519112e-04,-2.97729970e-04,-4.92120220e-05,
 -6.45017320e-05,-5.42201517e-04,-4.97431888e-04,-9.80166836e-05,
 -1.98854936e-05,-3.78030524e-04,-2.84863564e-04,-2.27352780e-04,
  7.15676092e-02,-2.25154497e-04, 7.30864839e-02,-4.27034481e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53779358,  0.0450107 , -4.53757034,  0.0450107 , 30.77540109,
        0.26026552, -4.53757034,  0.26026552,  4.5403753 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029918898728137355
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.85538752e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.85538752e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09400752, -0.04643288,  0.06199076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.16933636e-06, 3.40227565e-05, 1.25886856e-05, 2.05685929e-05,
 -3.21349301e-05,-2.19994625e-05, 1.69627493e-05,-2.09028833e-05,
  8.64033488e-06,-5.38963501e-06, 2.21255707e-05, 2.66672522e-05,
 -4.78081598e-04,-3.43068630e-05,-3.62046383e-04,-5.49287576e-05,
 -2.18260601e-06, 3.09628490e-06,-1.21644251e+00,-1.77433310e-03,
 -2.98461317e-04, 1.17864737e-06]


--- Step 239 ---
qpos:
[ 2.83378441e-03,-5.59039122e-03,-1.00980492e-02, 2.77226901e-03,
 -4.46153485e-03,-5.14862943e-03,-1.75904967e-02, 5.05553446e-03,
 -4.65402147e-03,-3.89266395e-03,-7.68026453e-03,-1.89828984e-02,
  5.96196558e-01, 1.77387474e-02, 5.12774286e-01, 2.76259181e-02,
  9.49418366e-02,-6.99463140e-02, 1.30725344e-01, 9.99911426e-01,
 -3.16384110e-04,-5.23774575e-04,-1.32953160e-02]

qacc:
[-0.40037785, 0.77692436,-1.71441798,-0.0324533 ,-3.20546677, 1.02065772,
 -5.95535498,14.36339958, 1.03963738,-0.67536837, 1.58832674,-1.07352466,
 -2.17457718, 5.45371095,-7.37328346,18.39114192, 1.01973897,-0.76603869,
  0.08376666, 9.22097738,14.96399686,-0.32157289]

qfrc_actuator:
[ 9.37861132e-06,-3.28594417e-04,-3.11131173e-04,-5.56268886e-05,
 -8.25008996e-05,-5.55722341e-04,-5.04713337e-04,-7.47114885e-05,
 -1.40810465e-05,-4.27217848e-04,-2.94089723e-04,-2.29641998e-04,
  7.14222609e-02,-2.01210352e-04, 7.29499030e-02,-4.22150338e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52634026, -2.89329505, -3.48089068, -2.89329505, 14.69032279,
       -8.44824014, -3.48089068, -8.44824014, 11.54846581,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029566945971558345
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83347001e-16, -3.75494657e-13,  1.00000000e+00,  6.88458192e-29,
        1.00000000e+00,  3.75494657e-13, -1.00000000e+00,  0.00000000e+00,
        1.83347001e-16])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08239198, -0.05785812,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.27312953e-06, 3.34290070e-05,-4.10264237e-06,-4.11996268e-06,
 -1.89277691e-05,-2.31302276e-05,-1.04000782e-05, 2.25558642e-05,
  6.04281502e-06,-4.64387334e-05,-6.66639431e-06,-1.22634455e-06,
 -4.81806308e-04,-4.97839817e-05,-3.11767760e-04,-1.44157554e-06,
 -4.30904483e-06, 3.75222367e-06,-1.21644624e+00,-1.77564942e-03,
 -2.96718630e-04, 1.07616233e-06]


--- Step 240 ---
qpos:
[ 2.83505793e-03,-5.58937588e-03,-1.00996377e-02, 2.77237546e-03,
 -4.46303256e-03,-5.15018855e-03,-1.75941068e-02, 5.05551370e-03,
 -4.65493118e-03,-3.89434735e-03,-7.68079827e-03,-1.89860536e-02,
  5.97691916e-01, 1.77437528e-02, 5.14613664e-01, 2.76282530e-02,
  9.49438869e-02,-6.99633025e-02, 1.30726600e-01, 9.99910478e-01,
 -1.97889815e-04,-4.92790448e-04,-1.33698701e-02]

qacc:
[ 2.70862769e+00, 8.36295771e-01,-1.90996315e+00, 4.45566127e-01,
  1.22321177e+00, 5.51788550e-01,-1.21946012e+00,-3.82651967e-01,
  6.87252550e-01,-2.50895454e+00, 1.13619373e+01,-2.38731940e+01,
 -1.49088039e+00, 2.53735042e+00,-4.70608208e+00, 8.98051644e+00,
  1.00910188e+00,-7.48679665e-01,-4.64621106e-03, 9.26993047e+00,
  1.48587602e+01,-3.69673252e-01]

qfrc_actuator:
[ 2.54569872e-05,-3.04733145e-04,-3.18487690e-04,-5.94891471e-05,
 -7.46716507e-05,-5.27532693e-04,-5.07655958e-04,-7.87959961e-05,
 -1.02742741e-05,-4.38201186e-04,-2.81616522e-04,-2.65557612e-04,
  7.12812719e-02,-2.06946020e-04, 7.27805001e-02,-4.22913429e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51451771,  4.51334662,  0.10282261,  4.51334662,  4.53333643,
       -0.82603814,  0.10282261, -0.82603814, 40.77304608,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029197464334008993
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.90123192e-13, -1.90123192e-13,  1.00000000e+00,  3.61468282e-26,
        1.00000000e+00,  1.90123192e-13, -1.00000000e+00,  0.00000000e+00,
        1.90123192e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08239104, -0.05785596,  0.06199098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.60247696e-05, 4.15197095e-05,-1.09186692e-06,-2.65092801e-06,
  7.27811437e-06, 1.41694945e-05,-8.15987322e-06,-4.98431546e-06,
  3.95784310e-06,-3.83182208e-05, 2.04712319e-06,-3.81491819e-05,
 -4.81702235e-04,-8.18372068e-05,-3.17887525e-04,-4.90184449e-05,
 -5.86479207e-06, 2.78619373e-06,-1.21644791e+00,-1.77760594e-03,
 -2.96128193e-04, 1.73567451e-06]


--- Step 241 ---
qpos:
[ 2.83651427e-03,-5.58814578e-03,-1.01009955e-02, 2.77277110e-03,
 -4.46442526e-03,-5.15124695e-03,-1.75979435e-02, 5.05574737e-03,
 -4.65578844e-03,-3.89617233e-03,-7.68098610e-03,-1.89896456e-02,
  5.99184428e-01, 1.77497005e-02, 5.16449460e-01, 2.76304005e-02,
  9.49499396e-02,-6.99832313e-02, 1.30727542e-01, 9.99909513e-01,
 -6.03828033e-05,-4.32508068e-04,-1.34452349e-02]

qacc:
[  1.60312257,  0.2314496 , -1.63949925,  6.1230829 ,  0.90043601,
   1.81672355, -6.59505437, 10.99685151,  0.47231504, -2.05489127,
   8.89385972,-16.8927891 , -2.69097583,  7.47618292, -4.54198842,
   8.67813611,  1.00062027, -0.7350778 , -0.0782449 ,  9.30944914,
  14.77498965, -0.40720284]

qfrc_actuator:
[ 3.44079811e-05,-2.91046144e-04,-3.04400257e-04,-4.40443745e-05,
 -6.94597836e-05,-4.74587702e-04,-5.07858584e-04,-6.34232237e-05,
 -7.67260639e-06,-4.26177023e-04,-2.56298828e-04,-2.85414873e-04,
  7.11376623e-02,-1.59124536e-04, 7.26181598e-02,-4.23454573e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028708890696815814
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.66793733e-14, -1.93358747e-13,  1.00000000e+00,  1.86938025e-26,
        1.00000000e+00,  1.93358747e-13, -1.00000000e+00,  0.00000000e+00,
        9.66793733e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08238992, -0.05785392,  0.06199113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.42199628e-06, 3.65489259e-05, 2.24419531e-05, 1.71344989e-05,
  5.42596834e-06, 5.90711455e-05, 1.60678292e-06, 1.56117846e-05,
  2.69631563e-06,-1.05414067e-05, 1.63674018e-05,-2.21585674e-05,
 -4.89196121e-04,-3.11592853e-05,-3.18756456e-04,-5.01958693e-05,
 -7.70133121e-06, 1.97272680e-06,-1.21645152e+00,-1.77984934e-03,
 -2.95973969e-04, 2.57258891e-06]


--- Step 242 ---
qpos:
[ 2.83772203e-03,-5.58701081e-03,-1.01019937e-02, 2.77303441e-03,
 -4.46574442e-03,-5.15209150e-03,-1.76016472e-02, 5.05582964e-03,
 -4.65695324e-03,-3.89760421e-03,-7.68138320e-03,-1.89938240e-02,
  6.00674161e-01, 1.77565353e-02, 5.18281905e-01, 2.76333167e-02,
  9.49599683e-02,-7.00060582e-02, 1.30727927e-01, 9.99908517e-01,
  9.62040362e-05,-3.43059178e-04,-1.35214654e-02]

qacc:
[ -2.16180593, -1.39920199,  5.37230498, -8.17527492,  0.64192153,
  -0.40232877,  2.48165605, -5.47007916, -2.70630009, -0.09800783,
   3.58376037,-13.68754275, -2.56512014,  7.03476171, -7.10937288,
  18.12514404,  0.99397496, -0.72452719, -0.13936444,  9.34278738,
  14.71022166, -0.43627049]

qfrc_actuator:
[ 2.13337080e-05,-3.18960099e-04,-2.95543094e-04,-5.28619018e-05,
 -6.58385881e-05,-4.78203049e-04,-5.06309472e-04,-7.21983202e-05,
 -2.35528079e-05,-3.82642318e-04,-2.58993259e-04,-3.13382949e-04,
  7.10032457e-02,-1.15623476e-04, 7.24868151e-02,-4.18528126e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028130652063790285
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.97333326e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.97333326e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08238867, -0.05785199,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27964538e-05,-2.13686874e-06, 1.97625606e-05,-6.14273865e-06,
  3.79662292e-06, 3.05024973e-05, 1.45450296e-05,-5.87451330e-06,
 -1.58133041e-05, 4.01461378e-05,-3.59194294e-06,-2.82724414e-05,
 -4.77351785e-04,-3.25872680e-05,-2.88589564e-04, 4.24076262e-06,
 -9.81997019e-06, 1.30654574e-06,-1.21645702e+00,-1.78238267e-03,
 -2.96252861e-04, 3.58787045e-06]


--- Step 243 ---
qpos:
[ 2.83841888e-03,-5.58588324e-03,-1.01034235e-02, 2.77323471e-03,
 -4.46666478e-03,-5.15303224e-03,-1.76048453e-02, 5.05547557e-03,
 -4.65795425e-03,-3.89897640e-03,-7.68174525e-03,-1.89975884e-02,
  6.02161419e-01, 1.77626017e-02, 5.20111483e-01, 2.76349983e-02,
  9.49739525e-02,-7.00317509e-02, 1.30727552e-01, 9.99907473e-01,
  2.71930740e-04,-2.24541694e-04,-1.35986030e-02]

qacc:
[ -4.48280614,  1.0754524 , -3.56761775,  3.15635131,  3.49540216,
  -2.44422793, 10.36140959,-18.63913761,  1.434334  ,  0.83080085,
  -4.59702672, 11.65958477, -0.60911907, -1.16559258, -0.50059256,
  -4.40064575,  0.98889825, -0.71645937, -0.18999835,  9.37237863,
  14.66231456, -0.45852953]

qfrc_actuator:
[-4.59743721e-06,-3.36105384e-04,-3.25550563e-04,-5.81783511e-05,
 -4.54297073e-05,-4.97915369e-04,-4.86225801e-04,-9.51580735e-05,
 -1.46778524e-05,-3.91689863e-04,-2.60325508e-04,-2.92635369e-04,
  7.08637896e-02,-1.63799455e-04, 7.23581986e-02,-4.24611348e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027487013370715296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00977051e-13, -6.05862308e-13,  1.00000000e+00,  6.11781894e-26,
        1.00000000e+00,  6.05862308e-13, -1.00000000e+00,  0.00000000e+00,
        1.00977051e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08238731, -0.05785015,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.63007746e-05,-1.45596119e-05,-2.82300810e-05,-4.84430914e-06,
  2.05280089e-05, 1.72335865e-07, 2.80253947e-05,-2.12540204e-05,
  8.43299043e-06, 1.15058830e-05, 5.56923645e-06, 2.18059474e-05,
 -4.73870519e-04,-1.22918188e-04,-2.67180631e-04,-9.92365238e-05,
 -1.22227127e-05, 7.84688929e-07,-1.21646442e+00,-1.78520830e-03,
 -2.96962551e-04, 4.78254050e-06]


--- Step 244 ---
qpos:
[ 2.83879930e-03,-5.58471637e-03,-1.01052379e-02, 2.77336106e-03,
 -4.46698835e-03,-5.15412913e-03,-1.76077677e-02, 5.05590942e-03,
 -4.65849614e-03,-3.90061233e-03,-7.68226634e-03,-1.90003284e-02,
  6.03646031e-01, 1.77684503e-02, 5.21938280e-01, 2.76332053e-02,
  9.49841202e-02,-7.00503345e-02, 1.30728294e-01, 9.99906392e-01,
  4.01377628e-04,-1.43051410e-04,-1.36756993e-02]

qacc:
[-2.78088367e+00, 9.80075505e-01,-3.09753662e+00, 2.39353347e+00,
  5.21676657e+00, 6.35198529e-01,-5.90809405e+00, 1.92378476e+01,
  4.01992350e+00, 2.19845555e+00,-1.26747620e+01, 3.08503397e+01,
 -1.41230024e+00, 1.96526826e+00, 6.47865239e+00,-2.84545587e+01,
 -9.54119492e-01, 1.77727453e+00, 2.79390940e-01,-2.28859983e+01,
 -1.88265557e+01, 3.06114247e-02]

qfrc_actuator:
[-2.01283196e-05,-3.29086512e-04,-3.42724190e-04,-6.14105370e-05,
 -1.53028807e-05,-5.09308755e-04,-4.73199624e-04,-5.52726019e-05,
  8.70188598e-06,-4.32110596e-04,-2.78753701e-04,-2.43424132e-04,
  7.07213825e-02,-1.76917989e-04, 7.22153187e-02,-4.42456567e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47376481,  2.64535085, -3.60786507,  2.64535085, 19.19443619,
       10.79345813, -3.60786507, 10.79345813, 12.38772031,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002787202651687165
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99164389e-13, -2.48955486e-13,  1.00000000e+00,  4.95830672e-26,
        1.00000000e+00,  2.48955486e-13, -1.00000000e+00,  0.00000000e+00,
        1.99164389e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10787679, -0.09351546,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.62884280e-05,-7.19754784e-06,-2.38224467e-05,-4.92597406e-06,
  3.07150639e-05,-6.33938425e-06, 1.58271533e-05, 4.04582380e-05,
  2.36179647e-05,-3.18404751e-05,-1.45840484e-05, 5.03329465e-05,
 -4.88234127e-04,-9.53169334e-05,-2.84377033e-04,-2.20163152e-04,
 -1.49123818e-05, 4.06161001e-07,-1.21647370e+00,-1.78832806e-03,
 -2.98101386e-04, 6.15780555e-06]


--- Step 245 ---
qpos:
[ 2.83933526e-03,-5.58368413e-03,-1.01066492e-02, 2.77341495e-03,
 -4.46694813e-03,-5.15533406e-03,-1.76104960e-02, 5.05681744e-03,
 -4.65909865e-03,-3.90238506e-03,-7.68298710e-03,-1.90031607e-02,
  6.05128039e-01, 1.77741147e-02, 5.23761349e-01, 2.76312841e-02,
  9.49904482e-02,-7.00620095e-02, 1.30729422e-01, 9.99905295e-01,
  4.85067447e-04,-9.71508797e-05,-1.37533980e-02]

qacc:
[  1.37554401, -1.45650609,  5.23622348, -7.03065681,  3.18112484,
   0.28510778, -3.23616876, 11.22359774, -0.53476311,  0.18836452,
  -0.54304616, -0.63476398, -1.28009737,  1.63430957, -5.06483893,
   9.87175494, -0.95994121,  1.72716983,  0.09641937,-22.63307586,
 -18.1062134 , -0.2908461 ]

qfrc_actuator:
[-1.16565257e-05,-3.25365514e-04,-3.16566561e-04,-6.33560092e-05,
  2.54457553e-06,-5.15612337e-04,-4.64380418e-04,-3.19876104e-05,
  4.91837837e-06,-4.37797788e-04,-2.89506759e-04,-2.48921316e-04,
  7.05932866e-02,-1.86997922e-04, 7.20479989e-02,-4.42231929e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49645236, -1.97444357,  4.03975945, -1.97444357,  6.96539779,
        1.20670388,  4.03975945,  1.20670388,  5.08623221,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002862017159927649
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69790678e-14, -9.69790678e-14,  1.00000000e+00, -9.40493959e-27,
        1.00000000e+00,  9.69790678e-14, -1.00000000e+00,  0.00000000e+00,
       -9.69790678e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10787086, -0.0935152 ,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.00307264e-06,-5.46387080e-06, 2.15737053e-05,-3.17231070e-06,
  1.87233537e-05,-4.76212109e-06, 1.09045974e-05, 2.43553191e-05,
 -3.12798300e-06,-2.42709555e-05,-1.73544314e-05,-6.37554777e-06,
 -4.79949359e-04,-9.22592297e-05,-3.30192781e-04,-4.84009357e-05,
 -1.00582524e-05,-3.02758957e-07,-1.21645736e+00,-1.78971709e-03,
 -3.00940495e-04, 3.37830818e-06]


--- Step 246 ---
qpos:
[ 2.83962356e-03,-5.58279391e-03,-1.01080175e-02, 2.77381608e-03,
 -4.46703908e-03,-5.15646016e-03,-1.76128048e-02, 5.05657645e-03,
 -4.65974189e-03,-3.90417692e-03,-7.68360704e-03,-1.90064179e-02,
  6.06607483e-01, 1.77796307e-02, 5.25580611e-01, 2.76306376e-02,
  9.49929213e-02,-7.00669393e-02, 1.30730320e-01, 9.99904190e-01,
  5.23451087e-04,-8.56811447e-05,-1.38322012e-02]

qacc:
[ -2.16248757,  0.41142602, -3.19767651,  9.23495988, -1.13289961,
  -3.43124934, 17.24064475,-37.86161465, -0.35335382, -1.18192795,
   5.96952101,-13.46613303, -1.24525475,  1.60709396, -9.43409771,
  24.9793681 , -0.96372418,  1.68628553, -0.05754268,-22.41422579,
 -17.5255926 , -0.54168908]

qfrc_actuator:
[-2.46337883e-05,-3.41217662e-04,-3.18301955e-04,-4.67487449e-05,
 -4.73394775e-06,-5.01095067e-04,-4.40361363e-04,-8.96748573e-05,
  2.92565243e-06,-4.22666296e-04,-2.77797855e-04,-2.68784020e-04,
  7.04685433e-02,-1.95201042e-04, 7.18875036e-02,-4.34911554e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50893576, -1.91811317,  4.08060578, -1.91811317,  9.46219845,
        2.32831077,  4.08060578,  2.32831077,  5.60337217,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029020761336291667
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.91280823e-13,  1.91280823e-13,  1.00000000e+00, -3.65883534e-26,
        1.00000000e+00, -1.91280823e-13, -1.00000000e+00,  0.00000000e+00,
        1.91280823e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10786658, -0.09351574,  0.06199104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27530257e-05,-1.46071608e-05,-3.13004987e-07, 1.70582234e-05,
 -6.74494134e-06, 1.52304567e-05, 2.52649777e-05,-5.70338714e-05,
 -2.09645579e-06,-2.22225348e-06, 4.37287717e-06,-2.16148097e-05,
 -4.70373094e-04,-8.89946617e-05,-3.22013712e-04, 2.69955972e-05,
 -6.00037972e-06,-2.00501730e-07,-1.21644663e+00,-1.79043705e-03,
 -3.03190248e-04, 1.58728424e-06]


--- Step 247 ---
qpos:
[ 2.83940909e-03,-5.58188001e-03,-1.01094340e-02, 2.77405295e-03,
 -4.46756142e-03,-5.15722733e-03,-1.76152192e-02, 5.05564651e-03,
 -4.66074918e-03,-3.90577921e-03,-7.68477474e-03,-1.90095245e-02,
  6.08084334e-01, 1.77856498e-02, 5.27396881e-01, 2.76277139e-02,
  9.49915299e-02,-7.00652570e-02, 1.30730470e-01, 9.99903077e-01,
  5.16913021e-04,-1.07710093e-04,-1.39124993e-02]

qacc:
[ -4.40021116, -0.16352777,  1.33671049, -4.13589293, -3.77235558,
  -0.64126387,  5.89587083,-17.9283672 , -3.2077427 ,  2.09842004,
  -7.7415411 , 11.06932743, -2.14568132,  5.24367843,  2.61308407,
 -15.20175421, -0.96612139,  1.65301774, -0.18697237,-22.22708251,
 -17.05881141, -0.73674271]

qfrc_actuator:
[-5.01395058e-05,-3.33247203e-04,-3.18821711e-04,-5.49058216e-05,
 -2.67386161e-05,-4.74228929e-04,-4.43030835e-04,-1.23501397e-04,
 -1.57408794e-05,-4.12859181e-04,-3.06090293e-04,-2.61391111e-04,
  7.03512273e-02,-1.66735024e-04, 7.17472217e-02,-4.46547315e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51272978, -1.84084974,  4.12019445, -1.84084974, 12.87098424,
        3.73436029,  4.12019445,  3.73436029,  6.1811938 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002914102532084739
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.76228535e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.76228535e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1078636 , -0.09351694,  0.061991  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.58774823e-05, 4.45841878e-07,-2.98034783e-06,-8.46111720e-06,
 -2.21913410e-05, 3.82239295e-05, 1.65604820e-06,-3.34012390e-05,
 -1.87333951e-05, 8.61858383e-06,-2.89258134e-05, 7.04079491e-06,
 -4.55479160e-04,-5.08482932e-05,-2.89668306e-04,-1.57322250e-04,
 -2.60739638e-06, 7.48181174e-07,-1.21644117e+00,-1.79047684e-03,
 -3.04911917e-04, 7.15039437e-07]


--- Step 248 ---
qpos:
[ 2.83958012e-03,-5.58084537e-03,-1.01106289e-02, 2.77415865e-03,
 -4.46799857e-03,-5.15774385e-03,-1.76177086e-02, 5.05571147e-03,
 -4.66231726e-03,-3.90744995e-03,-7.68623051e-03,-1.90118120e-02,
  6.09558699e-01, 1.77913890e-02, 5.29209533e-01, 2.76234139e-02,
  9.49862680e-02,-7.00570705e-02, 1.30729438e-01, 9.99901949e-01,
  4.65776721e-04,-1.62490934e-04,-1.39945944e-02]

qacc:
[  3.37706494, -0.73657118,  3.40000728, -6.10082146,  0.73703612,
   2.58713645,-12.94687531, 30.10488542, -4.9173859 ,  2.41159202,
 -12.16412823, 26.81743137, -1.15124356,  1.18779134, -1.13204524,
  -3.67441992, -0.96761942,  1.62605083, -0.29567616,-22.06921801,
 -16.68506134, -0.88764964]

qfrc_actuator:
[-2.95502227e-05,-3.11092059e-04,-3.00785356e-04,-5.97962530e-05,
 -2.17210093e-05,-4.58017729e-04,-4.43603267e-04,-7.20014539e-05,
 -4.40720863e-05,-4.24200371e-04,-3.22270026e-04,-2.20297895e-04,
  7.02118338e-02,-1.87870243e-04, 7.15711995e-02,-4.53275196e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50945284, -1.74005757,  4.16021208, -1.74005757, 17.49827843,
        5.43272887,  4.16021208,  5.43272887,  6.7817555 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002903719209508132
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.38965733e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.38965733e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10786166, -0.09351866,  0.06199103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.98488647e-05, 2.14009060e-05, 1.74751735e-05,-5.13742928e-06,
  4.39615813e-06, 3.65473150e-05, 6.41105252e-06, 5.25549743e-05,
 -2.88691273e-05,-1.21257680e-05,-1.76795542e-05, 4.06122869e-05,
 -4.61264444e-04,-9.49334814e-05,-3.33800929e-04,-1.14980569e-04,
  2.18988650e-07, 2.56356932e-06,-1.21644072e+00,-1.78982954e-03,
 -3.06151250e-04, 7.08476674e-07]


--- Step 249 ---
qpos:
[ 2.84034143e-03,-5.57996232e-03,-1.01114967e-02, 2.77457771e-03,
 -4.46802761e-03,-5.15795230e-03,-1.76199318e-02, 5.05636140e-03,
 -4.66421289e-03,-3.90945105e-03,-7.68747170e-03,-1.90135902e-02,
  6.11030544e-01, 1.77966009e-02, 5.31018147e-01, 2.76199469e-02,
  9.49771319e-02,-7.00424669e-02, 1.30726857e-01, 9.99900790e-01,
  3.70309931e-04,-2.49428746e-04,-1.40787185e-02]

qacc:
[ 5.17682556e+00,-4.79450722e-01, 7.86499743e-02, 4.95162290e+00,
  3.56276495e+00, 8.60568210e-01,-4.95928081e+00, 1.44445735e+01,
 -2.85515500e+00, 1.83575534e-02,-2.83620130e+00, 1.15337543e+01,
 -8.07916777e-01,-2.29652628e-01,-8.47981332e+00, 2.10410925e+01,
 -9.68576881e-01, 1.60430308e+00,-3.86898280e-01,-2.19382180e+01,
 -1.63875770e+01,-1.00354965e+00]

qfrc_actuator:
[ 2.56273714e-07,-3.33790537e-04,-2.89618543e-04,-4.49414618e-05,
 -8.34072798e-07,-4.30482163e-04,-4.25153378e-04,-4.17244044e-05,
 -6.01071031e-05,-4.48048348e-04,-3.13470078e-04,-1.95218371e-04,
  7.00699289e-02,-2.20431697e-04, 7.13952002e-02,-4.48181033e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50066368, -1.61249935,  4.20188284, -1.61249935, 23.74664058,
        7.38576643,  4.20188284,  7.38576643,  7.33499867,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002875616193313696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65204455e-14, -1.44780668e-13,  1.00000000e+00, -1.39742946e-26,
        1.00000000e+00,  1.44780668e-13, -1.00000000e+00,  0.00000000e+00,
       -9.65204455e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10786054, -0.0935208 ,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.03786593e-05,-7.35887297e-06, 1.75627229e-05, 1.62757184e-05,
  2.10232581e-05, 5.15978776e-05, 2.86421059e-05, 3.30940999e-05,
 -1.68718031e-05,-3.24734192e-05, 5.56433778e-06, 2.47522297e-05,
 -4.74917656e-04,-1.11247544e-04,-3.46699019e-04, 5.39054978e-07,
  2.55249395e-06, 5.25578834e-06,-1.21644507e+00,-1.78849093e-03,
 -3.06942277e-04, 1.52751193e-06]


--- Step 250 ---
qpos:
[ 2.84076456e-03,-5.57938222e-03,-1.01120874e-02, 2.77484969e-03,
 -4.46815097e-03,-5.15766522e-03,-1.76225214e-02, 5.05704361e-03,
 -4.66628669e-03,-3.91141112e-03,-7.68874006e-03,-1.90150849e-02,
  6.12499882e-01, 1.78014027e-02, 5.32822922e-01, 2.76189682e-02,
  9.49641187e-02,-7.00215157e-02, 1.30722423e-01, 9.99899576e-01,
  2.30729704e-04,-3.68053457e-04,-1.41650481e-02]

qacc:
[ -2.94461495, -1.47191759,  5.29801168, -8.07432334, -0.84241628,
   1.74637223, -5.4104902 ,  6.18836166, -1.56131027,  0.71712315,
  -3.66737802,  8.57578602, -0.88074086,  0.16661595,-13.19156853,
  37.96971754, -0.96925454,  1.58688337, -0.46340814,-21.83174019,
 -16.15282394, -1.09161443]

qfrc_actuator:
[-1.80237902e-05,-3.65424523e-04,-2.82767638e-04,-5.41368554e-05,
 -6.28778718e-06,-4.14062285e-04,-4.48859184e-04,-4.19217670e-05,
 -6.87733318e-05,-4.25853216e-04,-3.07822383e-04,-1.79765002e-04,
  6.99479130e-02,-2.41736960e-04, 7.12460118e-02,-4.34384254e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48776771, -1.45421399,  4.24562371, -1.45421399, 32.13314889,
        9.4691152 ,  4.24562371,  9.4691152 ,  7.73113563,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002833692861483189
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.79484262e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.79484262e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10786006, -0.09352327,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.74178186e-05,-3.14385784e-05, 8.05422657e-06,-8.58856676e-06,
 -4.83561284e-06, 5.26465128e-05,-8.34853742e-06, 3.65179838e-06,
 -9.16854494e-06, 6.32451144e-06, 5.22847069e-07, 1.47486447e-05,
 -4.66838864e-04,-1.03916156e-04,-3.11760880e-04, 9.26192132e-05,
  4.44862680e-06, 8.82799987e-06,-1.21645408e+00,-1.78645857e-03,
 -3.07310161e-04, 3.14230528e-06]


--- Step 251 ---
qpos:
[ 2.84062053e-03,-5.57885590e-03,-1.01129282e-02, 2.77466916e-03,
 -4.46799355e-03,-5.15709640e-03,-1.76249948e-02, 5.05736746e-03,
 -4.66810400e-03,-3.91289826e-03,-7.69011148e-03,-1.90171244e-02,
  6.13966735e-01, 1.78059250e-02, 5.34623891e-01, 2.76215667e-02,
  9.49508163e-02,-6.99988527e-02, 1.30720192e-01, 9.99898318e-01,
  7.62971383e-05,-4.85838696e-04,-1.42517334e-02]

qacc:
[ -4.96870937, -0.29433916,  2.87323096,-10.28331164,  2.44740637,
  -0.69489345,  4.52263277,-11.10931863,  2.23396911, -0.21339823,
   3.95616388,-13.55111688, -0.97844554,  0.65815007,-16.43072269,
  49.39679302, -0.0723018 ,  0.42793255,  0.55068488, -7.43142905,
   0.31445254, -0.17554878]

qfrc_actuator:
[-4.67108036e-05,-3.66702549e-04,-2.96339669e-04,-7.74272706e-05,
  8.29854451e-06,-4.04622508e-04,-4.44074354e-04,-6.00850656e-05,
 -5.52840190e-05,-3.76271463e-04,-3.03910121e-04,-2.05570419e-04,
  6.98272685e-02,-2.56194752e-04, 7.10864084e-02,-4.15564757e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4714408 , -2.5096293 ,  3.70074906, -2.5096293 , 19.50232006,
       10.19305402,  3.70074906, 10.19305402, 11.38376765,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002779385762624597
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67415687e-14, -4.23298563e-07,  1.00000000e+00, -4.09505671e-20,
        1.00000000e+00,  4.23298563e-07, -1.00000000e+00,  6.01853108e-36,
       -9.67415687e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09496211, -0.0754352 ,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.91970246e-05,-1.75849986e-05,-1.93712511e-05,-2.45258519e-05,
  1.44662742e-05, 3.73282070e-05, 1.47824748e-05,-1.61216655e-05,
  1.32212753e-05, 5.39373612e-05, 5.83255204e-06,-2.52188128e-05,
 -4.58117177e-04,-9.55780129e-05,-2.97233264e-04, 1.52146084e-04,
  5.94944614e-06, 1.32784907e-05,-1.21646764e+00,-1.78373107e-03,
 -3.07273328e-04, 5.53111562e-06]


--- Step 252 ---
qpos:
[ 2.84013361e-03,-5.57841112e-03,-1.01139597e-02, 2.77455584e-03,
 -4.46731786e-03,-5.15613990e-03,-1.76268673e-02, 5.05707816e-03,
 -4.66940062e-03,-3.91413981e-03,-7.69164344e-03,-1.90194240e-02,
  6.15431097e-01, 1.78099793e-02, 5.36421657e-01, 2.76239859e-02,
  9.49413081e-02,-6.99795827e-02, 1.30720332e-01, 9.99897046e-01,
 -5.89533323e-05,-5.68614144e-04,-1.43377398e-02]

qacc:
[ -3.00408215,  0.56949349, -2.4604361 ,  3.97758693,  4.5320589 ,
  -2.43752921, 12.00825553,-23.85076841,  4.54950902,  0.22868232,
   0.73664586, -5.14219278, -0.92629322,  0.23578117, -4.16565289,
   7.77352968,  0.94856043, -0.84823364,  0.59258984,  9.34076265,
  17.63982761,  0.33333205]

qfrc_actuator:
[-6.35250986e-05,-3.67647622e-04,-3.03996493e-04,-7.33051620e-05,
  3.45715472e-05,-3.63849948e-04,-4.04778557e-04,-8.86501969e-05,
 -2.88647631e-05,-3.81716579e-04,-3.18704989e-04,-2.19910999e-04,
  6.96915577e-02,-2.84263296e-04, 7.09260170e-02,-4.17018468e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49806278, -2.57897114,  3.6853055 , -2.57897114, 17.21446915,
        8.89892166,  3.6853055 ,  8.89892166, 10.7255145 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002867227804680683
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.93605653e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.93605653e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08241777, -0.05782953,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.76538230e-05,-1.58493340e-05,-1.45184591e-05, 2.22332967e-06,
  2.67007789e-05, 6.40214866e-05, 4.82899931e-05,-2.67650856e-05,
  2.68099057e-05, 2.49143253e-05,-3.77307266e-06,-1.23098771e-05,
 -4.65490621e-04,-1.07377553e-04,-2.85185122e-04,-4.55174205e-05,
  6.71939953e-06, 1.40877231e-05,-1.21647084e+00,-1.78139267e-03,
 -3.06047453e-04, 6.27153771e-06]


--- Step 253 ---
qpos:
[ 2.83944865e-03,-5.57805521e-03,-1.01151115e-02, 2.77483392e-03,
 -4.46702200e-03,-5.15491480e-03,-1.76282123e-02, 5.05681406e-03,
 -4.67037012e-03,-3.91554348e-03,-7.69346830e-03,-1.90211241e-02,
  6.16892907e-01, 1.78134323e-02, 5.38216094e-01, 2.76245277e-02,
  9.49356174e-02,-6.99635713e-02, 1.30722164e-01, 9.99895771e-01,
 -1.74971578e-04,-6.17672303e-04,-1.44234440e-02]

qacc:
[-1.73442142, 1.02830477,-5.48311933,12.50829416,-3.30085285,-1.06020381,
  4.20043323,-4.81802747, 2.85785398, 1.83385569,-9.38501927,20.34770578,
 -0.87306438,-0.15274525, 0.78494004,-9.83148933, 0.95436607,-0.81465154,
  0.42331256, 9.37349358,16.99477212, 0.14659925]

qfrc_actuator:
[-7.32131766e-05,-3.68343661e-04,-3.08063576e-04,-5.30742662e-05,
  1.42488412e-05,-3.57754258e-04,-3.80812627e-04,-8.75530387e-05,
 -1.28069838e-05,-4.20139646e-04,-3.44625428e-04,-1.91934170e-04,
  6.95468972e-02,-3.20197967e-04, 7.07545840e-02,-4.26853025e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51443133,  2.43855136, -3.79915221,  2.43855136,  8.39908696,
        2.4934332 , -3.79915221,  2.4934332 ,  6.11488443,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000291947410706872
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.50704634e-14, -1.90140927e-13,  1.00000000e+00,  1.80767860e-26,
        1.00000000e+00,  1.90140927e-13, -1.00000000e+00,  0.00000000e+00,
        9.50704634e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08242246, -0.05782772,  0.06199098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.01979745e-05,-1.24710721e-05,-9.04393318e-06, 1.90950824e-05,
 -1.95358206e-05, 5.07207140e-05, 4.22222102e-05, 4.99194356e-06,
  1.68267385e-05,-2.57243457e-05,-2.16300084e-05, 2.86835247e-05,
 -4.81610514e-04,-1.17618120e-04,-3.14387098e-04,-1.39177041e-04,
  6.77817622e-06, 1.04402693e-05,-1.21646054e+00,-1.77998317e-03,
 -3.03971447e-04, 4.76260777e-06]


--- Step 254 ---
qpos:
[ 2.83865280e-03,-5.57783178e-03,-1.01165480e-02, 2.77502404e-03,
 -4.46697145e-03,-5.15379246e-03,-1.76290584e-02, 5.05696082e-03,
 -4.67148434e-03,-3.91720837e-03,-7.69550549e-03,-1.90228129e-02,
  6.18352091e-01, 1.78164883e-02, 5.40006698e-01, 2.76235452e-02,
  9.49337598e-02,-6.99507100e-02, 1.30725121e-01, 9.99894499e-01,
 -2.71736343e-04,-6.34053487e-04,-1.45091406e-02]

qacc:
[-9.76844845e-01, 4.41334395e-01,-1.45300885e+00, 4.79778055e-01,
 -2.12198718e+00,-6.79729997e-01, 4.99559146e-01, 5.88084787e+00,
 -1.26922469e+00, 2.74087950e-01,-1.52124534e+00, 2.24331996e+00,
 -1.11964391e+00, 8.08115031e-01,-1.00884148e+00,-4.58358168e+00,
  9.58271247e-01,-7.87521456e-01, 2.81049284e-01, 9.39008229e+00,
  1.64756363e+01, 7.16410452e-04]

qfrc_actuator:
[-7.86332207e-05,-3.86602956e-04,-3.27723553e-04,-5.90344382e-05,
  2.16477252e-06,-3.90253310e-04,-3.66211499e-04,-6.90515865e-05,
 -2.07334133e-05,-4.42534744e-04,-3.59272013e-04,-1.92580373e-04,
  6.94076134e-02,-3.42779179e-04, 7.05660010e-02,-4.34438051e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52145818,  2.40090181, -3.83135153,  2.40090181, 11.05219679,
        4.09246243, -3.83135153,  4.09246243,  7.08598414,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002941514480693519
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.43581131e-14, -3.77432453e-13,  1.00000000e+00,  3.56138141e-26,
        1.00000000e+00,  3.77432453e-13, -1.00000000e+00,  0.00000000e+00,
        9.43581131e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08242579, -0.05782596,  0.06199091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.71627514e-06,-2.62845112e-05,-2.26794037e-05,-6.43409667e-06,
 -1.26282770e-05, 4.76346434e-06, 3.04541567e-05, 2.22345772e-05,
 -7.46188969e-06,-3.99404113e-05,-2.15915036e-05,-1.92766473e-06,
 -4.89386941e-04,-1.07849364e-04,-3.54460736e-04,-1.25431769e-04,
  6.54275180e-06, 7.12515535e-06,-1.21645284e+00,-1.77882278e-03,
 -3.02443500e-04, 3.51295247e-06]


--- Step 255 ---
qpos:
[ 2.83848795e-03,-5.57786651e-03,-1.01178844e-02, 2.77513116e-03,
 -4.46672141e-03,-5.15272452e-03,-1.76299077e-02, 5.05666713e-03,
 -4.67234010e-03,-3.91905818e-03,-7.69746961e-03,-1.90245256e-02,
  6.19808589e-01, 1.78195980e-02, 5.41793384e-01, 2.76218930e-02,
  9.49357458e-02,-6.99409112e-02, 1.30728724e-01, 9.99893234e-01,
 -3.49245177e-04,-6.18592659e-04,-1.45950595e-02]

qacc:
[  5.52743998, -0.80270177,  2.69873112, -4.08529397,  1.74050623,
  -0.97302254,  5.21870981,-12.79050556,  2.26837778, -0.5023573 ,
   1.52955787, -1.91529984, -1.62702696,  2.88851247, -3.67456936,
   4.68049811,  0.9608947 , -0.76563863,  0.16173153,  9.39588048,
  16.05905159, -0.11284066]

qfrc_actuator:
[-4.59951033e-05,-3.97568419e-04,-3.21021499e-04,-6.26338131e-05,
  1.27939346e-05,-4.10140009e-04,-3.75164405e-04,-9.37612029e-05,
 -7.20412127e-06,-4.37396479e-04,-3.49365061e-04,-1.92299396e-04,
  6.92769802e-02,-3.39559445e-04, 7.03939222e-02,-4.37083046e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52075922,  2.34646087, -3.86411508,  2.34646087, 14.62429223,
        6.13531024, -3.86411508,  6.13531024,  8.24638982,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002939332322234589
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88856329e-13, -3.77712658e-13,  1.00000000e+00,  7.13334261e-26,
        1.00000000e+00,  3.77712658e-13, -1.00000000e+00,  0.00000000e+00,
        1.88856329e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08242803, -0.05782424,  0.06199092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.24674900e-05,-3.06153019e-05,-1.72858002e-06,-5.63291666e-06,
  1.02666796e-05,-1.00157226e-05,-3.45105742e-06,-2.30192692e-05,
  1.32955396e-05,-2.16566086e-05,-1.02222092e-06,-2.20195157e-06,
 -4.84827166e-04,-8.25182953e-05,-3.52822864e-04,-7.99430940e-05,
  6.01881810e-06, 4.08832013e-06,-1.21644752e+00,-1.77792460e-03,
 -3.01436064e-04, 2.50330901e-06]


--- Step 256 ---
qpos:
[ 2.83906028e-03,-5.57794517e-03,-1.01192310e-02, 2.77517405e-03,
 -4.46634582e-03,-5.15195398e-03,-1.76307500e-02, 5.05645660e-03,
 -4.67302721e-03,-3.92129355e-03,-7.69866692e-03,-1.90262443e-02,
  6.21262500e-01, 1.78227160e-02, 5.43576391e-01, 2.76210947e-02,
  9.49415825e-02,-6.99341046e-02, 1.30732575e-01, 9.99891976e-01,
 -4.07506942e-04,-5.71957077e-04,-1.46813790e-02]

qacc:
[ 6.44926605,-0.17447848, 0.78715688,-1.82651432, 1.10035842,-0.24334611,
 -0.05728358, 1.70791533, 1.50712631,-2.66855572, 8.79439431,-9.83286186,
 -1.46976157, 2.42589075,-7.94879798,20.11341721, 0.96269817,-0.74803046,
  0.06188558, 9.39488519,15.72624149,-0.20078251]

qfrc_actuator:
[-8.97225945e-06,-3.86226276e-04,-3.16525758e-04,-6.47864802e-05,
  1.89517182e-05,-4.40219203e-04,-3.80194511e-04,-9.04526006e-05,
  1.10067568e-06,-4.51215282e-04,-3.07173820e-04,-1.91431392e-04,
  6.91569630e-02,-3.38903803e-04, 7.02531948e-02,-4.31462717e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51394274,  2.27330087, -3.89971566,  2.27330087, 19.41610733,
        8.68707021, -3.89971566,  8.68707021,  9.57798484,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029179330737820475
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.51206725e-14, -5.70724035e-13,  1.00000000e+00,  5.42876540e-26,
        1.00000000e+00,  5.70724035e-13, -1.00000000e+00,  0.00000000e+00,
        9.51206725e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08242941, -0.05782255,  0.06199099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.79418099e-05,-6.34790771e-06,-2.22127505e-06,-3.63237951e-06,
  6.44968083e-06,-3.74035998e-05,-8.32289508e-06, 2.31175003e-06,
  8.66882127e-06,-2.61388087e-05, 3.75631258e-05,-1.26091624e-07,
 -4.66820261e-04,-8.23191212e-05,-3.15625649e-04, 5.46485408e-06,
  5.21077333e-06, 1.28946526e-06,-1.21644443e+00,-1.77729795e-03,
 -3.00927626e-04, 1.71837725e-06]


--- Step 257 ---
qpos:
[ 2.83972741e-03,-5.57816126e-03,-1.01204873e-02, 2.77519564e-03,
 -4.46624410e-03,-5.15136419e-03,-1.76322583e-02, 5.05666495e-03,
 -4.67429940e-03,-3.92382767e-03,-7.69906496e-03,-1.90279530e-02,
  6.22713929e-01, 1.78255154e-02, 5.45356123e-01, 2.76204955e-02,
  9.49512754e-02,-6.99302336e-02, 1.30736341e-01, 9.99890722e-01,
 -4.46536310e-04,-4.94676583e-04,-1.47682369e-02]

qacc:
[  0.83442768, -0.4796623 ,  1.53383731, -1.94286465, -2.40616044,
   2.48851239,-10.98039355, 19.42036773, -5.09223674, -2.59842375,
   8.66503048, -9.56412892, -1.08081928,  0.9035002 , -5.40322877,
  11.98570576,  0.96402279, -0.73391071, -0.02145979,  9.39005196,
  15.46209039, -0.26839101]

qfrc_actuator:
[-5.18243251e-06,-3.97115792e-04,-3.13283566e-04,-6.60567017e-05,
  4.66818797e-06,-4.58396496e-04,-4.18385088e-04,-7.06804861e-05,
 -2.92480466e-05,-4.58381078e-04,-2.64087602e-04,-1.90219449e-04,
  6.90327515e-02,-3.57515116e-04, 7.01154203e-02,-4.29885090e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50249162,  2.17882358, -3.94019778,  2.17882358, 25.82420243,
       11.79033358, -3.94019778, 11.79033358, 11.02222952,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028814917568457943
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44673582e-13, -3.85294534e-13,  1.00000000e+00,  5.57419406e-26,
        1.00000000e+00,  3.85294534e-13, -1.00000000e+00,  0.00000000e+00,
        1.44673582e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08243013, -0.05782089,  0.0619911 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.87380855e-06,-1.50238125e-05, 1.54613663e-06,-1.68837764e-06,
 -1.41114623e-05,-4.07285784e-05,-4.68604243e-05, 1.79268903e-05,
 -3.01204577e-05,-1.39298465e-05, 4.23523331e-05, 1.40069918e-06,
 -4.57924599e-04,-9.90787757e-05,-2.87464193e-04,-2.57504197e-05,
  4.12176802e-06,-1.30148034e-06,-1.21644346e+00,-1.77694954e-03,
 -3.00901458e-04, 1.14615388e-06]


--- Step 258 ---
qpos:
[ 2.84043530e-03,-5.57865818e-03,-1.01216192e-02, 2.77521823e-03,
 -4.46665921e-03,-5.15092316e-03,-1.76345169e-02, 5.05676553e-03,
 -4.67558085e-03,-3.92628227e-03,-7.69936300e-03,-1.90292887e-02,
  6.24162689e-01, 1.78290720e-02, 5.47132919e-01, 2.76183112e-02,
  9.49648268e-02,-6.99292545e-02, 1.30739743e-01, 9.99889464e-01,
 -4.66338547e-04,-3.87179722e-04,-1.48557387e-02]

qacc:
[ 0.36521519,-0.71733893, 2.01376278,-1.98744374,-4.52857907, 1.6866006 ,
 -5.82924204, 5.25779107,-0.07908202, 0.59394211,-3.53673515, 9.76674599,
 -2.47354326, 6.32222415, 0.63389351,-8.0736025 , 0.96465939,-0.7229703 ,
 -0.0907473 , 9.38923356,15.24865112,-0.31992055]

qfrc_actuator:
[-3.23226565e-06,-4.21233243e-04,-3.10889967e-04,-6.68146890e-05,
 -2.15309214e-05,-4.69430336e-04,-4.58049210e-04,-7.69045182e-05,
 -2.88447274e-05,-4.43735027e-04,-2.56308849e-04,-1.71062222e-04,
  6.89061071e-02,-3.16352703e-04, 6.99795138e-02,-4.37802798e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48770284,  2.07325855, -3.9800849 ,  2.07325855, 34.30506926,
       15.53210836, -3.9800849 , 15.53210836, 12.57850424,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002833479871827396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.73983708e-07,  2.73983724e-07,  1.00000000e+00, -7.50670766e-14,
        1.00000000e+00, -2.73983724e-07, -1.00000000e+00,  0.00000000e+00,
        2.73983708e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08243584, -0.05781384,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.08618362e-06,-3.22497220e-05,-5.61380007e-07,-1.37816355e-06,
 -2.66166815e-05,-4.27289661e-05,-5.32178588e-05,-9.23962009e-06,
 -4.72176622e-07, 1.57498114e-05, 1.02043138e-05, 2.00646281e-05,
 -4.56611866e-04,-3.97023281e-05,-2.77644889e-04,-1.19176057e-04,
  2.75373610e-06,-3.70687573e-06,-1.21644452e+00,-1.77688410e-03,
 -3.01344628e-04, 7.77364464e-07]


--- Step 259 ---
qpos:
[ 2.84081611e-03,-5.57918769e-03,-1.01230878e-02, 2.77523192e-03,
 -4.46704034e-03,-5.15085024e-03,-1.76366550e-02, 5.05710384e-03,
 -4.67650313e-03,-3.92849544e-03,-7.69987136e-03,-1.90310744e-02,
  6.25608877e-01, 1.78331263e-02, 5.48906010e-01, 2.76171908e-02,
  9.49783550e-02,-6.99337866e-02, 1.30742428e-01, 9.99888223e-01,
 -4.43923431e-04,-2.75232686e-04,-1.49421550e-02]

qacc:
[-2.87120729e+00, 8.85357898e-01,-3.17197082e+00, 3.56985723e+00,
  3.06573742e-01,-3.34092198e-01,-5.19114758e-01, 4.71259395e+00,
  3.13356939e+00,-2.58107101e-02, 2.44066125e+00,-1.00501652e+01,
 -2.00012382e+00, 4.63497808e+00,-8.56976633e+00, 2.23630810e+01,
 -5.82504731e-03,-1.37780047e+00,-1.79387659e-01, 2.10735022e+01,
  2.53817681e+00, 5.35699037e-01]

qfrc_actuator:
[-2.01224043e-05,-4.17583818e-04,-3.26828284e-04,-6.72791161e-05,
 -1.90216145e-05,-4.76137794e-04,-4.44988762e-04,-6.28618759e-05,
 -1.03319691e-05,-4.34013267e-04,-2.69335018e-04,-1.94762607e-04,
  6.87781094e-02,-2.93532202e-04, 6.98128605e-02,-4.31719375e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48011146,  3.5079389 ,  2.78671193,  3.5079389 ,  9.17281161,
       -5.90721461,  2.78671193, -5.90721461, 11.91616818,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002808401896094159
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.95321989e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.95321989e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09408756, -0.04642688,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.68389668e-05,-1.45300350e-05,-2.26984031e-05,-1.88910983e-06,
  1.73396300e-06,-4.19881626e-05,-2.61846031e-06, 1.01953531e-05,
  1.84951798e-05, 2.15870027e-05,-7.78828583e-06,-2.22732915e-05,
 -4.47515377e-04,-5.25353234e-05,-3.15594303e-04, 1.65984372e-05,
  1.10648159e-06,-5.94241410e-06,-1.21644754e+00,-1.77710497e-03,
 -3.02246602e-04, 6.05391909e-07]


--- Step 260 ---
qpos:
[ 2.84133636e-03,-5.57953285e-03,-1.01251653e-02, 2.77557619e-03,
 -4.46704391e-03,-5.15102450e-03,-1.76386844e-02, 5.05759234e-03,
 -4.67719637e-03,-3.93067673e-03,-7.70043475e-03,-1.90334585e-02,
  6.27052527e-01, 1.78369036e-02, 5.50675052e-01, 2.76197522e-02,
  9.49919174e-02,-6.99438263e-02, 1.30744113e-01, 9.99886993e-01,
 -3.79777137e-04,-1.59262961e-04,-1.50277047e-02]

qacc:
[ 1.19774831e+00, 2.62389206e+00,-1.04015054e+01, 1.69650496e+01,
  3.30065555e+00,-3.27548424e-01, 4.88927041e-02, 2.57012804e+00,
  2.00276518e+00,-1.04100407e+00, 6.28858105e+00,-1.65665275e+01,
 -1.01119866e+00, 7.08184715e-01,-1.71060201e+01, 5.12417398e+01,
  8.53999822e-03,-1.37692468e+00,-2.50010011e-01, 2.08333247e+01,
  2.32270526e+00, 4.28454922e-01]

qfrc_actuator:
[-1.24599369e-05,-3.97410175e-04,-3.53354415e-04,-4.98052751e-05,
  3.68661461e-07,-4.79970576e-04,-4.36369528e-04,-5.47142544e-05,
  9.29100090e-07,-4.45192435e-04,-2.76821179e-04,-2.25751293e-04,
  6.86280837e-02,-3.17265484e-04, 6.96439116e-02,-4.12110968e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46812989, -2.33435426, -3.80985235, -2.33435426, 19.15089201,
       -8.9963508 , -3.80985235, -8.9963508 ,  9.98033032,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027681984273990323
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00531691e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.00531691e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09408978, -0.04642657,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.18032473e-06, 7.30817028e-06,-3.23650347e-05, 1.60341209e-05,
  1.94250101e-05,-2.73940276e-05, 3.48685203e-10, 6.46025724e-06,
  1.17900985e-05,-1.57672280e-06,-4.72324683e-06,-3.07582372e-05,
 -4.65330011e-04,-9.89346521e-05,-3.17431512e-04, 1.55173217e-04,
 -2.62006260e-06,-5.97809642e-06,-1.21644844e+00,-1.77748847e-03,
 -3.02319063e-04, 1.37185598e-06]


--- Step 261 ---
qpos:
[ 2.84263411e-03,-5.57972751e-03,-1.01275832e-02, 2.77611259e-03,
 -4.46715985e-03,-5.15137956e-03,-1.76411984e-02, 5.05855282e-03,
 -4.67809417e-03,-3.93282778e-03,-7.70083118e-03,-1.90358651e-02,
  6.28493508e-01, 1.78407766e-02, 5.52440784e-01, 2.76228559e-02,
  9.50048281e-02,-6.99593434e-02, 1.30744649e-01, 9.99885768e-01,
 -2.73820059e-04,-4.50988243e-05,-1.51120403e-02]

qacc:
[ 6.78832173, 1.53277177,-6.01048896, 9.79407456,-0.99188837, 2.08836644,
 -9.7825938 ,18.85672212,-1.78632172,-0.46931891, 1.83136314,-2.51320741,
 -1.65244993, 2.98094265,-6.44124453,15.67460978,-0.16291069,-1.36932374,
 -0.28713326,20.91669465,-0.58876179, 0.6033534 ]

qfrc_actuator:
[ 2.73510437e-05,-3.85278530e-04,-3.68073790e-04,-3.96570285e-05,
 -5.97491438e-06,-4.99804865e-04,-4.65956713e-04,-3.23585547e-05,
 -9.92702691e-06,-4.33293911e-04,-2.63301874e-04,-2.25279064e-04,
  6.84862338e-02,-3.15097539e-04, 6.94897270e-02,-4.09545602e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45321873,  0.80179791, -4.38044257,  0.80179791, 40.99230242,
        6.68812806, -4.38044257,  6.68812806,  5.67741628,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002717052927374546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.000000e+00, -2.986548e-07,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  2.986548e-07, -1.000000e+00,  0.000000e+00,
        0.000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09644655, -0.04638991,  0.06199161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.00225259e-05, 1.02570216e-05,-1.66147864e-05, 9.65775143e-06,
 -5.79658603e-06,-3.48401614e-05,-3.49977653e-05, 2.13107873e-05,
 -1.05264885e-05, 8.81683550e-06, 1.15839438e-05,-3.46768510e-07,
 -4.76543476e-04,-8.06388792e-05,-2.87236933e-04,-7.58482943e-06,
 -6.29661627e-06,-5.34490675e-06,-1.21645203e+00,-1.77850248e-03,
 -3.02523096e-04, 2.22188706e-06]


--- Step 262 ---
qpos:
[ 2.84439910e-03,-5.57995573e-03,-1.01295506e-02, 2.77673488e-03,
 -4.46769587e-03,-5.15157455e-03,-1.76445000e-02, 5.05975119e-03,
 -4.67946019e-03,-3.93489752e-03,-7.70055488e-03,-1.90379443e-02,
  6.29931835e-01, 1.78449833e-02, 5.54203334e-01, 2.76261522e-02,
  9.50163069e-02,-6.99803080e-02, 1.30743868e-01, 9.99884544e-01,
 -1.25979985e-04, 6.08563988e-05,-1.51946936e-02]

qacc:
[  4.10212332, -1.13451802,  3.60442317, -2.79880482, -3.69092494,
   2.90855762,-11.05626224, 16.30302349, -4.07940064, -1.09079294,
   2.67822673,  1.83409513, -1.92538617,  4.09664372, -5.1653042 ,
  11.55502023, -0.35797834, -1.36187518, -0.3292289 , 21.00117031,
  -3.7877495 ,  0.83895526]

qfrc_actuator:
[ 5.02520343e-05,-3.78011986e-04,-3.40228769e-04,-3.38979266e-05,
 -2.74198892e-05,-4.75949669e-04,-5.00165329e-04,-1.96125244e-05,
 -3.37114711e-05,-4.07559896e-04,-2.19626629e-04,-2.06267044e-04,
  6.83600444e-02,-2.97650759e-04, 6.93498060e-02,-4.08163066e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002668669630829512
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.16021156e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.16021156e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09910012, -0.0463494 ,  0.06199175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.40516286e-05, 1.00281557e-05, 2.82777726e-05, 5.81433722e-06,
 -2.16227660e-05,-1.90461658e-06,-4.49468094e-05, 1.04614566e-05,
 -2.40901016e-05, 3.31234484e-05, 4.69456673e-05, 1.97949499e-05,
 -4.65580279e-04,-6.57356128e-05,-2.79856806e-04,-2.52046842e-05,
 -9.78995150e-06,-3.67234047e-06,-1.21645739e+00,-1.78004686e-03,
 -3.02761134e-04, 3.03610466e-06]


--- Step 263 ---
qpos:
[ 2.84573532e-03,-5.58005682e-03,-1.01309468e-02, 2.77739160e-03,
 -4.46814006e-03,-5.15158235e-03,-1.76480357e-02, 5.06174112e-03,
 -4.68075583e-03,-3.93707016e-03,-7.69965788e-03,-1.90394073e-02,
  6.31367789e-01, 1.78481236e-02, 5.55963012e-01, 2.76274863e-02,
  9.50263901e-02,-7.00067333e-02, 1.30741576e-01, 9.99883304e-01,
  6.33785117e-05, 1.58465483e-04,-1.52757962e-02]

qacc:
[ -3.73506403, -1.3501151 ,  4.92490652, -5.34945035,  0.79078608,
   2.52961171,-12.00535659, 25.94606126,  0.63786335, -0.60279443,
  -0.64854027, 10.39290725, -0.28892594, -2.32123292,  1.66199477,
 -12.05615001, -0.34887832, -1.36519112, -0.37779339, 20.82017523,
  -3.85725507,  0.77592906]

qfrc_actuator:
[ 2.75010230e-05,-3.55788003e-04,-3.05252436e-04,-3.07429086e-05,
 -2.20677921e-05,-4.43901964e-04,-5.01144687e-04, 2.29182835e-05,
 -2.94021636e-05,-4.26845639e-04,-1.93935638e-04,-1.76471891e-04,
  6.82273684e-02,-3.60076115e-04, 6.92132249e-02,-4.18128536e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.42431517,  -3.5667886 ,  -2.61774402,  -3.5667886 ,
        16.61351907, -16.60831358,  -2.61774402, -16.60831358,
        27.05385538,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002614132210981418
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.12350206e-13,  2.12350206e-13,  1.00000000e+00, -4.50926098e-26,
        1.00000000e+00, -2.12350206e-13, -1.00000000e+00,  0.00000000e+00,
        2.12350206e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09910161, -0.04634863,  0.06199192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.20589106e-05, 3.39545521e-05, 4.07535285e-05, 4.67852940e-06,
  4.73299313e-06, 2.21828200e-05,-6.50837634e-06, 4.11034189e-05,
  3.62355793e-06, 9.84437600e-06, 3.90244124e-05, 3.32327172e-05,
 -4.61968809e-04,-1.42622397e-04,-2.75584242e-04,-1.38832953e-04,
 -1.29005809e-05,-9.55207992e-07,-1.21646451e+00,-1.78211809e-03,
 -3.02963932e-04, 3.63455930e-06]


--- Step 264 ---
qpos:
[ 2.84609897e-03,-5.58008013e-03,-1.01318437e-02, 2.77774675e-03,
 -4.46851665e-03,-5.15181564e-03,-1.76508433e-02, 5.06421069e-03,
 -4.68199012e-03,-3.93915332e-03,-7.69900578e-03,-1.90408110e-02,
  6.32801296e-01, 1.78505266e-02, 5.57719375e-01, 2.76266027e-02,
  9.50327876e-02,-7.00261230e-02, 1.30740601e-01, 9.99882034e-01,
  2.05450665e-04, 2.18190660e-04,-1.53567216e-02]

qacc:
[ -8.49378901, -1.89738732,  8.21591478,-14.32155947,  0.61647913,
  -1.34598355,  2.34041172,  4.9636592 ,  0.52787238,  0.92398424,
  -3.37407669,  4.72598463, -0.69539862, -0.75394939,  1.82356269,
 -13.46912114, -0.92144808,  1.7589255 ,  0.32931805,-23.35107276,
 -19.30090341,  0.08578509]

qfrc_actuator:
[-2.19320740e-05,-3.60242085e-04,-2.84050820e-04,-4.68858748e-05,
 -1.87339481e-05,-4.60287806e-04,-4.64672198e-04, 4.71658544e-05,
 -2.63405613e-05,-4.37486285e-04,-2.14757528e-04,-1.76132013e-04,
  6.81015225e-02,-3.98147611e-04, 6.90467799e-02,-4.29369240e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43440726,  0.60166814, -4.39339996,  0.60166814, 29.48536829,
        3.43068357, -4.39339996,  3.43068357,  4.90423314,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026506616567867347
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.09423753e-13,  5.23559383e-14,  1.00000000e+00, -1.09645771e-26,
        1.00000000e+00, -5.23559383e-14, -1.00000000e+00,  0.00000000e+00,
        2.09423753e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10779998, -0.0935667 ,  0.06199181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.00518969e-05, 2.31583918e-05, 3.34124483e-05,-1.31843238e-05,
  3.47580780e-06,-3.52559075e-06, 4.17119299e-05, 2.57760685e-05,
  3.15929986e-06, 4.41632637e-06,-1.28157516e-05, 2.76440388e-06,
 -4.65294568e-04,-1.25059908e-04,-3.16560183e-04,-1.57467275e-04,
 -1.57584410e-05, 2.34084432e-06,-1.21647433e+00,-1.78483139e-03,
 -3.03122711e-04, 4.10237213e-06]


--- Step 265 ---
qpos:
[ 2.84621205e-03,-5.57998023e-03,-1.01327550e-02, 2.77828141e-03,
 -4.46919525e-03,-5.15222073e-03,-1.76528164e-02, 5.06590129e-03,
 -4.68317818e-03,-3.94107005e-03,-7.69917206e-03,-1.90425138e-02,
  6.34232147e-01, 1.78531421e-02, 5.59472005e-01, 2.76240103e-02,
  9.50354533e-02,-7.00386550e-02, 1.30740188e-01, 9.99880750e-01,
  3.00932963e-04, 2.41665963e-04,-1.54381527e-02]

qacc:
[ -2.19434213,  0.57685191, -2.57080946,  5.6016509 , -2.6053997 ,
  -4.15681919, 17.79032949,-32.49202936,  0.37598347,  1.89060445,
  -5.16072696,  1.17155537, -1.84655049,  3.67305012, -0.23136807,
  -6.90936499, -0.93295709,  1.71441821,  0.14033058,-23.01378358,
 -18.48058314, -0.25430349]

qfrc_actuator:
[-3.34012142e-05,-3.62951877e-04,-2.89023328e-04,-3.87801453e-05,
 -3.43761987e-05,-4.69890689e-04,-4.24349959e-04, 7.18088698e-06,
 -2.40466897e-05,-4.43091100e-04,-2.62869826e-04,-1.93154832e-04,
  6.79692150e-02,-3.86004087e-04, 6.88678853e-02,-4.37720515e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46067769, -1.11727285,  4.31848895, -1.11727285,  6.69498876,
        0.57805754,  4.31848895,  0.57805754,  4.61023185,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027427952846625914
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.01194485e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.01194485e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1077928 , -0.09356494,  0.06199153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.28913826e-05, 1.65690551e-05, 3.48199216e-06, 1.00008344e-05,
 -1.55466023e-05,-1.81738462e-06, 4.56544547e-05,-3.81896861e-05,
  2.37982098e-06,-5.59572365e-06,-4.86644378e-05,-1.72173240e-05,
 -4.71546678e-04,-7.37700578e-05,-3.48017671e-04,-1.34431253e-04,
 -1.07708463e-05, 1.52358076e-06,-1.21645794e+00,-1.78636960e-03,
 -3.05752949e-04, 1.47046195e-06]


--- Step 266 ---
qpos:
[ 2.84687607e-03,-5.57960079e-03,-1.01340748e-02, 2.77926197e-03,
 -4.47005619e-03,-5.15253985e-03,-1.76543410e-02, 5.06674806e-03,
 -4.68432952e-03,-3.94298907e-03,-7.69990609e-03,-1.90440570e-02,
  6.35660533e-01, 1.78552566e-02, 5.61221069e-01, 2.76196288e-02,
  9.50343540e-02,-7.00444756e-02, 1.30739699e-01, 9.99879460e-01,
  3.50416412e-04, 2.30205858e-04,-1.55206215e-02]

qacc:
[ 4.80214288e+00, 2.42054891e+00,-9.99285744e+00, 1.81750135e+01,
 -1.57835300e+00,-2.87302269e+00, 1.39769459e+01,-2.93684017e+01,
  3.03899562e-01, 1.91235790e+00,-7.49574909e+00, 1.11648060e+01,
 -9.47390241e-01, 2.75059376e-01, 1.77268511e-01,-8.18931222e+00,
 -9.41227144e-01, 1.67783748e+00,-1.89456131e-02,-2.27268865e+01,
 -1.78208455e+01,-5.19091289e-01]

qfrc_actuator:
[-4.67232961e-06,-3.46939003e-04,-3.09386380e-04,-1.64856416e-05,
 -4.33089109e-05,-4.57634683e-04,-3.99868118e-04,-3.47715731e-05,
 -2.22228737e-05,-4.45787150e-04,-2.91179660e-04,-1.84755253e-04,
  6.78437890e-02,-4.15396954e-04, 6.87136329e-02,-4.46075591e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47695087, -1.06304301,  4.3489112 , -1.06304301,  9.21336763,
        1.15776444,  4.3489112 ,  1.15776444,  4.75995352,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002797871717669792
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.92024596e-14,  9.92024596e-14,  1.00000000e+00, -9.84112800e-27,
        1.00000000e+00, -9.92024596e-14, -1.00000000e+00,  0.00000000e+00,
        9.92024596e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1077875 , -0.09356425,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.83661945e-05, 2.64270485e-05,-1.61569295e-05, 2.33207030e-05,
 -9.37924570e-06, 1.90619865e-05, 2.84336571e-05,-4.11915130e-05,
  1.88592205e-06,-1.65415993e-05,-3.60280758e-05, 6.14910429e-06,
 -4.60733332e-04,-1.11581918e-04,-3.33847348e-04,-1.36890403e-04,
 -6.64730366e-06, 1.55341249e-06,-1.21644740e+00,-1.78723024e-03,
 -3.07766121e-04,-1.24515425e-07]


--- Step 267 ---
qpos:
[ 2.84787928e-03,-5.57915334e-03,-1.01355340e-02, 2.78016544e-03,
 -4.47067281e-03,-5.15267149e-03,-1.76558951e-02, 5.06745095e-03,
 -4.68510522e-03,-3.94509553e-03,-7.70035688e-03,-1.90458682e-02,
  6.37086453e-01, 1.78573109e-02, 5.62966353e-01, 2.76171369e-02,
  9.50294661e-02,-7.00437047e-02, 1.30738598e-01, 9.99878162e-01,
  3.54398780e-04, 1.84865364e-04,-1.56045405e-02]

qacc:
[ 2.96167008e+00, 3.14592922e-01,-6.75923462e-01,-4.74565789e-01,
  2.12675386e+00, 2.94400320e-02, 8.54743937e-01,-3.42809785e+00,
  3.30058591e+00,-1.59829643e+00, 6.45756087e+00,-1.13955247e+01,
 -1.29123489e+00, 1.83751182e+00,-1.12500513e+01, 3.14087274e+01,
 -9.47167290e-01, 1.64786356e+00,-1.53075572e-01,-2.24847074e+01,
 -1.72915081e+01,-7.24410796e-01]

qfrc_actuator:
[ 1.19688359e-05,-3.55403412e-04,-3.20831092e-04,-2.15213296e-05,
 -3.04621170e-05,-4.50205003e-04,-4.02590804e-04,-4.20228369e-05,
 -2.93745831e-06,-4.46635801e-04,-2.72026044e-04,-1.96946689e-04,
  6.77332221e-02,-4.15825173e-04, 6.85742851e-02,-4.34828654e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48449828, -0.99092206,  4.37364817, -0.99092206, 12.58739638,
        1.83584507,  4.37364817,  1.83584507,  4.90043923,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028229302402735246
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.83218615e-14,  2.45804654e-13,  1.00000000e+00, -2.41679711e-26,
        1.00000000e+00, -2.45804654e-13, -1.00000000e+00,  0.00000000e+00,
        9.83218615e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10778369, -0.09356443,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.74607087e-05, 3.98282537e-06,-7.16215553e-06,-4.00996231e-06,
  1.25851538e-05, 2.22213993e-05, 3.31181643e-06,-6.24968182e-06,
  1.93275593e-05,-1.71981301e-05, 1.15457116e-05,-1.40175864e-05,
 -4.44433576e-04,-8.46938806e-05,-3.13200949e-04, 6.06977193e-05,
 -3.23549868e-06, 2.45846536e-06,-1.21644230e+00,-1.78740302e-03,
 -3.09230978e-04,-7.66139838e-07]


--- Step 268 ---
qpos:
[ 2.84872946e-03,-5.57863489e-03,-1.01368452e-02, 2.78098138e-03,
 -4.47078586e-03,-5.15255995e-03,-1.76577380e-02, 5.06738186e-03,
 -4.68529891e-03,-3.94751200e-03,-7.70021927e-03,-1.90481625e-02,
  6.38509867e-01, 1.78599741e-02, 5.64707715e-01, 2.76159830e-02,
  9.50207723e-02,-7.00364403e-02, 1.30736433e-01, 9.99876846e-01,
  3.13295403e-04, 1.06488284e-04,-1.56902283e-02]

qacc:
[ -1.33526617, -0.497035  ,  2.28228384, -4.09054388,  4.37820599,
  -0.4696361 ,  5.38487616,-18.44678135,  5.11905446, -3.05948318,
  12.33110268,-21.37384874, -2.0717563 ,  4.91131683, -9.70979508,
  25.91293407, -0.95146651,  1.62340426, -0.26593952,-22.28219914,
 -16.86836325, -0.88269551]

qfrc_actuator:
[ 3.59610038e-06,-3.42949217e-04,-3.09278080e-04,-2.48578836e-05,
 -4.90136099e-06,-4.45807038e-04,-4.21337797e-04,-8.20736848e-05,
  2.64713259e-05,-4.63942572e-04,-2.42770867e-04,-2.21128787e-04,
  6.76210078e-02,-3.81362466e-04, 6.83854440e-02,-4.28094191e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48478126, -0.89856455,  4.39384168, -0.89856455, 17.06291545,
        2.57229694,  4.39384168,  2.57229694,  5.01082999,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002823863948744343
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.91446757e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.91446757e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10778108, -0.09356531,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.87197985e-06, 1.30319444e-05, 1.13628256e-05,-3.49246764e-06,
  2.59293934e-05, 1.72661509e-05,-1.39478211e-05,-3.91041274e-05,
  2.99473273e-05,-2.50496284e-05, 2.66723893e-05,-2.47832910e-05,
 -4.29760018e-04,-4.49599919e-05,-3.31305715e-04, 2.92068716e-05,
 -4.22056897e-07, 4.25300917e-06,-1.21644231e+00,-1.78688188e-03,
 -3.10198714e-04,-5.17551643e-07]


--- Step 269 ---
qpos:
[ 2.84912793e-03,-5.57808809e-03,-1.01377143e-02, 2.78173556e-03,
 -4.47093646e-03,-5.15222207e-03,-1.76595175e-02, 5.06646598e-03,
 -4.68513872e-03,-3.95001495e-03,-7.69983967e-03,-1.90500428e-02,
  6.39930849e-01, 1.78630632e-02, 5.66445116e-01, 2.76126593e-02,
  9.50082600e-02,-7.00227616e-02, 1.30732824e-01, 9.99875495e-01,
  2.27448732e-04,-4.25403490e-06,-1.57779285e-02]

qacc:
[ -3.93825051, -1.31810598,  5.02809836, -6.83939614, -0.32973979,
  -1.62049974,  9.78816877,-24.7134278 ,  3.10744002,  0.05605822,
  -2.12147046,  8.96946714, -1.95445216,  4.37879655,  0.84713536,
 -11.12575327, -0.95464317,  1.60355327, -0.36084469,-22.11487065,
 -16.53195614, -1.00370621]

qfrc_actuator:
[-1.94284327e-05,-3.35726677e-04,-2.84157830e-04,-2.71336775e-05,
 -7.57445123e-06,-4.25606139e-04,-4.13922909e-04,-1.23366001e-04,
  4.38448591e-05,-4.55421416e-04,-2.25625841e-04,-1.98925275e-04,
  6.74972458e-02,-3.62115486e-04, 6.81670558e-02,-4.40065010e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47926726, -0.78327007,  4.41025205, -0.78327007, 22.9432548 ,
        3.27924316,  4.41025205,  3.27924316,  5.06166777,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002805594439328346
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.4839409e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.4839409e-13, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1077794 , -0.09356676,  0.06199133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.32457371e-05, 1.66967717e-05, 2.90977568e-05,-1.39209170e-06,
 -1.92160030e-06, 2.53264907e-05, 7.92914530e-06,-4.17933930e-05,
  1.82119615e-05,-9.37978086e-07, 1.44291097e-05, 2.15799541e-05,
 -4.24847680e-04,-5.39541992e-05,-3.72003084e-04,-1.61771539e-04,
  1.87761947e-06, 6.94219342e-06,-1.21644722e+00,-1.78566353e-03,
 -3.10707331e-04, 5.73917669e-07]


--- Step 270 ---
qpos:
[ 2.84924734e-03,-5.57761851e-03,-1.01382017e-02, 2.78247430e-03,
 -4.47146246e-03,-5.15186919e-03,-1.76606283e-02, 5.06608302e-03,
 -4.68477175e-03,-3.95218355e-03,-7.69944018e-03,-1.90516817e-02,
  6.41349508e-01, 1.78658000e-02, 5.68178730e-01, 2.76074468e-02,
  9.49919193e-02,-7.00027327e-02, 1.30727453e-01, 9.99874083e-01,
  9.71367671e-05,-1.46831491e-04,-1.58678256e-02]

qacc:
[ -2.42787795, -1.19560232,  4.18826883, -5.01773794, -3.25325571,
  -0.74486438,  0.44628475,  7.68414812,  1.8053876 ,  0.87997845,
  -3.51959242,  7.42138898, -1.02396511,  0.78838897,  0.1623048 ,
  -8.58464867, -0.95708404,  1.58755695, -0.44061512,-21.97873005,
 -16.26662221, -1.09510218]

qfrc_actuator:
[-3.31315055e-05,-3.49381510e-04,-2.69003407e-04,-2.87637670e-05,
 -2.68481789e-05,-4.13756566e-04,-3.73294908e-04,-9.40090695e-05,
  5.39925789e-05,-4.13750389e-04,-2.15635865e-04,-1.85099487e-04,
  6.73666388e-02,-3.87563743e-04, 6.80056450e-02,-4.48759631e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46931803, -0.64198043,  4.42297014, -0.64198043, 30.59157352,
        3.79156457,  4.42297014,  3.79156457,  5.0196519 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002772220012313975
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00240785e-13, -2.50300982e-13,  1.00000000e+00,  5.01204651e-26,
        1.00000000e+00,  2.50300982e-13, -1.00000000e+00,  0.00000000e+00,
        2.00240785e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10777845, -0.09356864,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43637005e-05, 1.61206865e-06, 2.21418168e-05, 6.50243009e-08,
 -1.93185540e-05, 2.58690776e-05, 4.54086218e-05, 2.99083488e-05,
  1.06580687e-05, 4.51481720e-05, 1.23484488e-05, 1.47132077e-05,
 -4.30538454e-04,-9.85208218e-05,-3.53775993e-04,-1.44594331e-04,
  3.72689044e-06, 1.05251052e-05,-1.21645684e+00,-1.78374631e-03,
 -3.10784872e-04, 2.47321963e-06]


--- Step 271 ---
qpos:
[ 2.84989116e-03,-5.57715083e-03,-1.01387758e-02, 2.78321102e-03,
 -4.47187050e-03,-5.15148483e-03,-1.76614856e-02, 5.06608106e-03,
 -4.68428620e-03,-3.95369517e-03,-7.69933087e-03,-1.90538534e-02,
  6.42765695e-01, 1.78686151e-02, 5.69908779e-01, 2.76026941e-02,
  9.49717423e-02,-6.99764047e-02, 1.30720051e-01, 9.99872576e-01,
 -7.74194919e-05,-3.20830053e-04,-1.59600569e-02]

qacc:
[  4.58477681,  0.22634722, -0.81762994,  0.93915615,  1.03651854,
   0.11568958, -1.96401691,  8.13347752,  1.01749207,  0.58003475,
   1.4338913 ,-10.66236579, -1.51527812,  2.62849546, -6.57813171,
  15.58476599, -0.95907495,  1.57478751, -0.50766495,-21.87023664,
 -16.05972627, -1.16289049]

qfrc_actuator:
[-5.72841424e-06,-3.57715914e-04,-2.77697342e-04,-3.00280510e-05,
 -2.02241321e-05,-4.24549599e-04,-3.66627643e-04,-7.65614708e-05,
  5.98103537e-05,-3.70328305e-04,-2.27566231e-04,-2.11798507e-04,
  6.72373283e-02,-3.85963407e-04, 6.78785477e-02,-4.44778252e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45613091, -0.47136562,  4.43113046, -0.47136562, 40.42054249,
        3.82574769,  4.43113046,  3.82574769,  4.86309837,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000272714167586674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01775334e-13,  1.52663002e-13,  1.00000000e+00, -1.55373281e-26,
        1.00000000e+00, -1.52663002e-13, -1.00000000e+00,  0.00000000e+00,
        1.01775334e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10777809, -0.09357087,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.69911199e-05,-2.87491998e-06,-5.63237519e-06,-4.28797333e-07,
  6.07622232e-06, 1.43275845e-05, 1.86497862e-05, 2.07128776e-05,
  6.12999543e-06, 7.19316839e-05,-5.51108367e-07,-2.40445927e-05,
 -4.40219811e-04,-7.70712973e-05,-3.09881653e-04,-1.46970104e-05,
  5.17348163e-06, 1.49967134e-05,-1.21647105e+00,-1.78112962e-03,
 -3.10451841e-04, 5.15489403e-06]


--- Step 272 ---
qpos:
[ 2.85085841e-03,-5.57680983e-03,-1.01396633e-02, 2.78395931e-03,
 -4.47219625e-03,-5.15085387e-03,-1.76625704e-02, 5.06594922e-03,
 -4.68373452e-03,-3.95474681e-03,-7.69961164e-03,-1.90559501e-02,
  6.44179434e-01, 1.78711799e-02, 5.71634933e-01, 2.75990851e-02,
  9.49554123e-02,-6.99536829e-02, 1.30716423e-01, 9.99871039e-01,
 -2.32600800e-04,-4.58076172e-04,-1.60511873e-02]

qacc:
[ 2.82169524, 0.72703038,-2.89357409, 3.69875033, 0.70620871, 0.69245839,
 -1.45043412,-0.61221038, 0.55894839, 1.85178266,-6.03754134, 7.61945733,
 -1.10003419, 1.04147854,-9.17649139,23.86639204, 0.96176034,-0.90155146,
  0.94324943, 9.39313137,18.52844614, 0.54846493]

qfrc_actuator:
[ 1.01412675e-05,-3.80655122e-04,-3.00384770e-04,-3.10800919e-05,
 -1.61572744e-05,-4.13445418e-04,-3.80189119e-04,-8.40733706e-05,
  6.30356540e-05,-3.61817231e-04,-2.52346713e-04,-2.08876967e-04,
  6.71035670e-02,-4.03928773e-04, 6.76975938e-02,-4.38676383e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49686693, -2.53421446,  3.71477715, -2.53421446, 20.34649993,
       10.81259185,  3.71477715, 10.81259185, 11.87319814,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000286335975771837
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.90800786e-13, -3.87734381e-13,  1.00000000e+00,  1.12753463e-25,
        1.00000000e+00,  3.87734381e-13, -1.00000000e+00,  0.00000000e+00,
        2.90800786e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08245725, -0.05778492,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.66392700e-05,-2.57331407e-05,-2.39920153e-05,-1.38112239e-06,
  4.24441976e-06, 2.38538026e-05,-7.58261937e-06,-5.84867133e-06,
  3.42137791e-06, 4.76533178e-05,-1.08017723e-05, 5.52264475e-06,
 -4.46917104e-04,-9.67183149e-05,-3.30960719e-04, 1.89603975e-05,
  6.25365701e-06, 2.03490726e-05,-1.21648976e+00,-1.77781338e-03,
 -3.09722998e-04, 8.60100255e-06]


--- Step 273 ---
qpos:
[ 2.85200852e-03,-5.57649930e-03,-1.01408476e-02, 2.78433070e-03,
 -4.47247072e-03,-5.14992136e-03,-1.76638900e-02, 5.06641270e-03,
 -4.68280365e-03,-3.95536312e-03,-7.69965711e-03,-1.90576904e-02,
  6.45590680e-01, 1.78735716e-02, 5.73357151e-01, 2.75965101e-02,
  9.49429449e-02,-6.99343935e-02, 1.30715661e-01, 9.99869490e-01,
 -3.68367645e-04,-5.60197692e-04,-1.61416812e-02]

qacc:
[ 1.59061442e+00, 9.81013009e-03, 1.49218031e+00,-7.51238703e+00,
  4.35181265e-01, 2.27922818e+00,-1.00635898e+01, 2.05232153e+01,
  3.31985406e+00, 6.45403373e-01,-2.98015856e+00, 8.45985303e+00,
 -1.21740076e+00, 1.43730280e+00,-8.89405193e+00, 2.28170063e+01,
  9.65638539e-01,-8.58121909e-01, 7.16631777e-01, 9.42422809e+00,
  1.77157704e+01, 3.17716700e-01]

qfrc_actuator:
[ 1.90821157e-05,-3.76726408e-04,-3.13454149e-04,-4.97702183e-05,
 -1.36362238e-05,-3.89430625e-04,-3.87755631e-04,-5.29445802e-05,
  8.24631104e-05,-3.21060658e-04,-2.31363371e-04,-1.88577707e-04,
  6.69725478e-02,-4.15583813e-04, 6.75164386e-02,-4.33164263e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53128937, -2.58444339,  3.72199352, -2.58444339, 24.26442329,
       13.70211077,  3.72199352, 13.70211077, 14.04563414,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029719738751544933
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.33910484e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.33910484e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08246373, -0.05778334,  0.06199082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.40810958e-06,-1.54771288e-05,-2.13846969e-05,-2.06511236e-05,
  2.65159150e-06, 3.55285041e-05,-3.77060224e-06, 3.17756962e-05,
  1.95379693e-05, 6.54585113e-05, 2.97072009e-05, 2.20814502e-05,
 -4.52081700e-04,-9.36188003e-05,-3.35813640e-04, 1.25247597e-05,
  6.65037390e-06, 1.61182839e-05,-1.21647530e+00,-1.77620898e-03,
 -3.06718303e-04, 6.76529648e-06]


--- Step 274 ---
qpos:
[ 2.85325687e-03,-5.57606768e-03,-1.01422886e-02, 2.78445262e-03,
 -4.47271252e-03,-5.14906425e-03,-1.76651711e-02, 5.06796571e-03,
 -4.68164743e-03,-3.95533721e-03,-7.69897410e-03,-1.90595812e-02,
  6.46999221e-01, 1.78768172e-02, 5.75075863e-01, 2.75957784e-02,
  9.49343479e-02,-6.99183959e-02, 1.30717001e-01, 9.99867939e-01,
 -4.84714360e-04,-6.28511546e-04,-1.62319028e-02]

qacc:
[ 8.49175001e-01, 3.62229256e-01,-9.23941131e-03,-3.98339902e+00,
  2.88088232e-01, 2.03516295e+00,-1.20018980e+01, 3.08545189e+01,
  1.98465510e+00,-1.50156097e+00, 7.21171030e+00,-1.14418106e+01,
 -2.47129285e+00, 6.12168522e+00,-1.05915858e+01, 2.99768343e+01,
  9.67591657e-01,-8.22937211e-01, 5.25742653e-01, 9.43601822e+00,
  1.70583128e+01, 1.36923849e-01]

qfrc_actuator:
[ 2.38768659e-05,-3.56722478e-04,-3.20643999e-04,-6.09067002e-05,
 -1.20445780e-05,-4.11080950e-04,-3.91626761e-04, 6.95381144e-07,
  9.35197246e-05,-2.61116120e-04,-1.83391094e-04,-1.93668523e-04,
  6.68432660e-02,-3.70171713e-04, 6.73832387e-02,-4.22714972e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55315514,  2.55596308, -3.76805977,  2.55596308,  7.41770781,
        1.94309308, -3.76805977,  1.94309308,  5.87120063,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003038207470925369
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82710206e-13, -1.82710206e-13,  1.00000000e+00,  3.33830193e-26,
        1.00000000e+00,  1.82710206e-13, -1.00000000e+00,  0.00000000e+00,
        1.82710206e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08246846, -0.05778176,  0.06199061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.06009924e-06, 6.04849113e-06,-1.37275892e-05,-1.29410460e-05,
  1.67888145e-06,-1.21890901e-06, 4.10575052e-06, 5.56498841e-05,
  1.16329412e-05, 1.03666565e-04, 6.59268722e-05,-8.25040913e-07,
 -4.53331775e-04,-3.73128073e-05,-2.90674767e-04, 6.09449039e-05,
  6.73806569e-06, 1.23106968e-05,-1.21646381e+00,-1.77483521e-03,
 -3.04299529e-04, 5.21978406e-06]


--- Step 275 ---
qpos:
[ 2.85420819e-03,-5.57566980e-03,-1.01432412e-02, 2.78475292e-03,
 -4.47293330e-03,-5.14837381e-03,-1.76660880e-02, 5.06944823e-03,
 -4.68036741e-03,-3.95469176e-03,-7.69796506e-03,-1.90614880e-02,
  6.48405119e-01, 1.78803549e-02, 5.76791749e-01, 2.75967705e-02,
  9.49296240e-02,-6.99055761e-02, 1.30719803e-01, 9.99866395e-01,
 -5.81657046e-04,-6.64081656e-04,-1.63221369e-02]

qacc:
[-2.58241883e+00,-1.03728983e+00, 2.88957271e+00,-5.68134099e-01,
  1.97463697e-01,-1.38317274e+00, 4.90950156e+00,-6.58936206e+00,
  1.08351945e+00,-1.27243106e-01, 1.70419930e+00,-2.94994544e+00,
 -1.84515435e+00, 3.67709857e+00,-9.28126482e+00, 2.67038442e+01,
  9.68298656e-01,-7.94459194e-01, 3.65220077e-01, 9.43498404e+00,
  1.65271979e+01,-4.39478608e-03]

qfrc_actuator:
[ 8.44279460e-06,-3.44965421e-04,-2.88722172e-04,-4.97350497e-05,
 -1.10124761e-05,-4.24368745e-04,-3.75707476e-04,-3.90083387e-06,
  9.95560014e-05,-2.43297730e-04,-1.73070662e-04,-1.95876319e-04,
  6.66991582e-02,-3.62487682e-04, 6.72842408e-02,-4.12976204e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56391973,  2.51986389, -3.80521344,  2.51986389, 10.00362   ,
        3.60224321, -3.80521344,  3.60224321,  6.94937398,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003070082153909942
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.71219865e-13, -1.80813244e-13,  1.00000000e+00,  4.90401436e-26,
        1.00000000e+00,  1.80813244e-13, -1.00000000e+00,  0.00000000e+00,
        2.71219865e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0824718 , -0.05778017,  0.06199052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52861755e-05, 1.17481240e-05, 3.10425474e-05, 1.07054344e-05,
  1.07732034e-06,-1.07560603e-05, 1.81005761e-05,-3.42579782e-06,
  6.40244401e-06, 8.93726279e-05, 3.98198719e-05, 4.49907385e-06,
 -4.58912456e-04,-7.01477248e-05,-2.32791193e-04, 6.17746071e-05,
  6.52632428e-06, 8.85042818e-06,-1.21645500e+00,-1.77371005e-03,
 -3.02431317e-04, 3.93874111e-06]


--- Step 276 ---
qpos:
[ 2.85496711e-03,-5.57520644e-03,-1.01438300e-02, 2.78517992e-03,
 -4.47314012e-03,-5.14769999e-03,-1.76665282e-02, 5.07014640e-03,
 -4.67971427e-03,-3.95388008e-03,-7.69658505e-03,-1.90633501e-02,
  6.49808656e-01, 1.78830269e-02, 5.78504752e-01, 2.75975698e-02,
  9.49287718e-02,-6.98958432e-02, 1.30723527e-01, 9.99864864e-01,
 -6.59215619e-04,-6.67774957e-04,-1.64126061e-02]

qacc:
[ -1.67279661, -0.66621954,  1.97182282, -0.41525275,  0.13643498,
  -2.96848668, 13.86381251,-28.18954008, -5.47939734, -0.71467267,
   2.69671733, -2.65908432, -0.46588764, -1.46241308, -3.69566151,
   6.70697169,  0.96788855, -0.77170877,  0.23056362,  9.43053827,
  16.09454266, -0.11456648]

qfrc_actuator:
[-1.01995610e-06,-3.38050096e-04,-2.69481082e-04,-4.32592064e-05,
 -1.03175122e-05,-4.14764963e-04,-3.48255052e-04,-4.27145388e-05,
  6.70862140e-05,-2.68741854e-04,-1.67477626e-04,-1.96428782e-04,
  6.65728755e-02,-4.12725578e-04, 6.71365938e-02,-4.14377105e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56536616,  2.47062451, -3.83908619,  2.47062451, 13.51607869,
        5.76018579, -3.83908619,  5.76018579,  8.27230461,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030743296069801453
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.15377177e-07, -7.15377478e-07,  1.00000000e+00, -5.11764721e-13,
        1.00000000e+00,  7.15377478e-07, -1.00000000e+00, -1.00974196e-28,
       -7.15377177e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08247837, -0.05777435,  0.0619905 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.89756437e-06, 2.03433896e-05, 2.58673100e-05, 8.26277239e-06,
  7.21504734e-07, 7.16363559e-06, 2.73412885e-05,-3.87176870e-05,
 -3.22548484e-05, 3.29251575e-05, 2.90982841e-05, 4.74082423e-06,
 -4.49704642e-04,-1.32767648e-04,-2.57686871e-04,-4.28204084e-05,
  6.02291928e-06, 5.68077248e-06,-1.21644864e+00,-1.77284634e-03,
 -3.01085885e-04, 2.90149828e-06]


--- Step 277 ---
qpos:
[ 2.85560662e-03,-5.57465214e-03,-1.01447213e-02, 2.78572455e-03,
 -4.47333701e-03,-5.14705861e-03,-1.76663611e-02, 5.07071195e-03,
 -4.67979974e-03,-3.95337469e-03,-7.69487949e-03,-1.90647936e-02,
  6.51209769e-01, 1.78853954e-02, 5.80214168e-01, 2.75975995e-02,
  9.49277895e-02,-6.98918031e-02, 1.30727339e-01, 9.99863375e-01,
 -6.94120044e-04,-6.66486176e-04,-1.65016553e-02]

qacc:
[ -1.05543474,  1.2100161 , -4.63293555,  7.08178245,  0.10611895,
  -2.01278671,  7.67465704,-10.91822027, -6.45072915, -0.43988877,
  -0.7619245 ,  7.68315474, -1.11932683,  1.03394936, -2.92216618,
   2.65703855, -0.03249159, -1.42319799,  0.02189076, 21.28379628,
   2.8402836 ,  0.69768504]

qfrc_actuator:
[-6.88572675e-06,-3.51878159e-04,-2.93424499e-04,-3.96205166e-05,
 -9.82617804e-06,-4.09262251e-04,-3.14140881e-04,-4.80587943e-05,
  2.99665802e-05,-3.19938004e-04,-1.64896392e-04,-1.78289543e-04,
  6.64573576e-02,-4.25665020e-04, 6.69438869e-02,-4.18788577e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56314798,  3.83503656,  2.472815  ,  3.83503656,  7.11604237,
       -3.95923   ,  2.472815  , -3.95923   , 10.70343417,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000306781249774013
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.80947014e-13,  1.80947014e-13,  1.00000000e+00, -3.27418220e-26,
        1.00000000e+00, -1.80947014e-13, -1.00000000e+00,  0.00000000e+00,
        1.80947014e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09416317, -0.04642677,  0.06199052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.14387554e-06, 3.22842939e-06,-1.62690808e-05, 5.56584601e-06,
  5.15024374e-07, 1.34763550e-05, 3.76176892e-05,-4.84685016e-06,
 -3.80269753e-05,-2.66220495e-05, 1.31100400e-05, 2.06490768e-05,
 -4.43584751e-04,-1.00126139e-04,-3.24690432e-04,-8.16952424e-05,
  5.23321605e-06, 2.75960546e-06,-1.21644456e+00,-1.77225327e-03,
 -3.00240949e-04, 2.09182005e-06]


--- Step 278 ---
qpos:
[ 2.85617086e-03,-5.57419798e-03,-1.01455239e-02, 2.78630670e-03,
 -4.47352652e-03,-5.14623721e-03,-1.76664243e-02, 5.07158497e-03,
 -4.67963964e-03,-3.95333768e-03,-7.69330210e-03,-1.90656094e-02,
  6.52608296e-01, 1.78882656e-02, 5.81920088e-01, 2.75976457e-02,
  9.49267466e-02,-6.98934137e-02, 1.30730811e-01, 9.99861929e-01,
 -6.86945253e-04,-6.60813651e-04,-1.65895981e-02]

qacc:
[-6.54051981e-01,-3.01507143e-01, 7.26905904e-01,-1.48240659e-01,
  5.42295741e-02, 1.51441783e+00,-6.35314417e+00, 1.19117585e+01,
  2.15421731e+00, 1.02799600e+00,-7.21559857e+00, 1.86251711e+01,
 -2.08233996e+00, 4.61097783e+00,-5.07679182e+00, 1.06204922e+01,
 -1.51568440e-02,-1.41270164e+00,-8.47909790e-02, 2.10009470e+01,
  2.53839070e+00, 5.40928893e-01]

qfrc_actuator:
[-1.05893575e-05,-3.60451284e-04,-2.89499915e-04,-3.77257395e-05,
 -9.45858539e-06,-4.06197714e-04,-3.29608914e-04,-3.36593521e-05,
  4.36774152e-05,-3.68426718e-04,-1.81977847e-04,-1.49327156e-04,
  6.63324119e-02,-3.98688680e-04, 6.67988722e-02,-4.17839953e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55580065, -1.34190183, -4.35369028, -1.34190183, 16.91659321,
       -3.80986453, -4.35369028, -3.80986453,  5.73008358,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003046084638073654
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0941661 , -0.04642663,  0.06199059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.87861979e-06,-9.90484432e-06, 2.78242326e-06, 1.57813665e-06,
  3.85742239e-07, 1.81362506e-05,-8.22900522e-06, 1.61812165e-05,
  1.26173061e-05,-5.98320891e-05,-2.02721554e-05, 2.86777646e-05,
 -4.44026378e-04,-5.57419659e-05,-3.08960029e-04,-3.81368473e-05,
  2.23427174e-06, 1.53410205e-06,-1.21644084e+00,-1.77183575e-03,
 -2.98495127e-04, 1.98446743e-06]


--- Step 279 ---
qpos:
[ 2.85634145e-03,-5.57397920e-03,-1.01461822e-02, 2.78657538e-03,
 -4.47405487e-03,-5.14538977e-03,-1.76668775e-02, 5.07265523e-03,
 -4.67862710e-03,-3.95352660e-03,-7.69225817e-03,-1.90667647e-02,
  6.54004401e-01, 1.78911343e-02, 5.83622936e-01, 2.75969775e-02,
  9.49256977e-02,-6.99006405e-02, 1.30733588e-01, 9.99860519e-01,
 -6.38156885e-04,-6.51229124e-04,-1.66766812e-02]

qacc:
[-3.43517209e+00,-1.35344182e+00, 5.70912640e+00,-1.12042077e+01,
 -2.96768208e+00, 1.53545989e+00,-6.24788499e+00, 1.02558934e+01,
  7.45003312e+00, 4.78662364e-01,-7.33318840e-01,-4.09298370e+00,
 -1.47153112e+00, 2.38656094e+00,-2.29317498e+00, 1.64913264e+00,
 -1.50176385e-03,-1.40403151e+00,-1.73940202e-01, 2.07717629e+01,
  2.30062351e+00, 4.17693967e-01]

qfrc_actuator:
[-3.07446915e-05,-3.83469370e-04,-2.86877277e-04,-5.45968662e-05,
 -2.69192810e-05,-4.22548192e-04,-3.56478797e-04,-2.55533839e-05,
  8.71978016e-05,-3.79501079e-04,-2.10533396e-04,-1.67505267e-04,
  6.62125629e-02,-4.01704599e-04, 6.66719422e-02,-4.20824137e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54304102, -1.42369081, -4.31420053, -1.42369081, 21.98448545,
       -5.75569541, -4.31420053, -5.75569541,  6.44242669,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003007824071470794
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84555845e-13, -1.84555845e-13,  1.00000000e+00,  3.40608598e-26,
        1.00000000e+00,  1.84555845e-13, -1.00000000e+00,  0.00000000e+00,
        1.84555845e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0941684 , -0.0464258 ,  0.06199071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.02705498e-05,-2.79260469e-05, 9.76401737e-07,-1.71689883e-05,
 -1.74436512e-05,-7.24613150e-06,-2.35884861e-05, 8.90951712e-06,
  4.38610062e-05,-4.75041415e-05,-4.24354237e-05,-2.08857580e-05,
 -4.31373695e-04,-8.16633104e-05,-2.79665189e-04,-7.32119678e-05,
 -6.97684023e-07, 1.03886720e-06,-1.21643999e+00,-1.77204507e-03,
 -2.96909265e-04, 1.99175584e-06]


--- Step 280 ---
qpos:
[ 2.85592419e-03,-5.57392217e-03,-1.01470989e-02, 2.78665880e-03,
 -4.47478822e-03,-5.14475462e-03,-1.76675051e-02, 5.07314010e-03,
 -4.67675602e-03,-3.95370364e-03,-7.69144233e-03,-1.90681808e-02,
  6.55398134e-01, 1.78936810e-02, 5.85322147e-01, 2.75959651e-02,
  9.49246859e-02,-6.99134554e-02, 1.30735371e-01, 9.99859136e-01,
 -5.48128125e-04,-6.38104032e-04,-1.67630982e-02]

qacc:
[-5.14784025e+00, 1.37058027e-01, 5.40858118e-04,-2.69331582e+00,
 -1.79016718e+00,-9.95043351e-01, 5.61823833e+00,-1.53217612e+01,
  7.50884377e+00, 1.01323026e-01, 7.35720404e-01,-4.86313470e+00,
 -1.05177983e+00, 8.52825537e-01,-4.29327724e+00, 7.32763847e+00,
  9.25555754e-03,-1.39700246e+00,-2.48265711e-01, 2.05880231e+01,
  2.11370904e+00, 3.20928838e-01]

qfrc_actuator:
[-6.04225738e-05,-3.97226512e-04,-3.02879624e-04,-6.46389408e-05,
 -3.69810597e-05,-4.50465718e-04,-3.72185514e-04,-5.67415187e-05,
  1.30146176e-04,-3.50429310e-04,-2.10011589e-04,-1.77746315e-04,
  6.60851988e-02,-4.22413421e-04, 6.64920412e-02,-4.22545054e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5263822 , -1.52324955, -4.2623757 , -1.52324955, 28.27712929,
       -8.48782874, -4.2623757 , -8.48782874,  7.55968622,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002956824533404817
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.75478156e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.75478156e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0941702 , -0.04642442,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.02663421e-05,-2.99158351e-05,-2.22393476e-05,-1.15378004e-05,
 -1.05637536e-05,-3.64939001e-05,-1.98071847e-05,-3.21440504e-05,
  4.41871327e-05,-7.13577033e-06,-1.52470732e-05,-1.41512505e-05,
 -4.34333826e-04,-1.00081522e-04,-3.24569631e-04,-5.91158912e-05,
 -3.58584302e-06, 1.23233476e-06,-1.21644189e+00,-1.77287797e-03,
 -2.95454693e-04, 2.09629110e-06]


--- Step 281 ---
qpos:
[ 2.85618905e-03,-5.57415062e-03,-1.01479217e-02, 2.78730347e-03,
 -4.47598144e-03,-5.14442518e-03,-1.76683192e-02, 5.07395157e-03,
 -4.67472931e-03,-3.95373059e-03,-7.69106353e-03,-1.90690222e-02,
  6.56789266e-01, 1.78969687e-02, 5.87017190e-01, 2.75954252e-02,
  9.49277008e-02,-6.99293017e-02, 1.30737017e-01, 9.99857750e-01,
 -4.39295832e-04,-5.95945069e-04,-1.68502452e-02]

qacc:
[  5.97523578,  0.50436177, -4.73493114, 14.52961177, -4.0111719 ,
   0.7974936 , -4.79507355, 10.95645774,  1.34654273,  2.60133662,
 -11.41287638, 21.94133497, -2.31159634,  5.49419344, -7.42654817,
  17.4604986 ,  1.0066981 , -0.75787364, -0.03439365,  9.15685988,
  14.67269244, -0.36297377]

qfrc_actuator:
[-2.44517980e-05,-4.05406546e-04,-2.94206631e-04,-3.50811325e-05,
 -6.03544135e-05,-4.67342918e-04,-3.81253920e-04,-3.97918458e-05,
  1.36899018e-04,-3.32922566e-04,-2.27640628e-04,-1.47662742e-04,
  6.59587340e-02,-3.82406247e-04, 6.62911707e-02,-4.19965929e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50954354, -3.05991765, -3.31253482, -3.05991765, 11.79513191,
       -6.72998222, -3.31253482, -6.72998222, 10.72629069,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002904007295980569
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.45588451e-07, -9.45588342e-07,  1.00000000e+00, -8.94137416e-13,
        1.00000000e+00,  9.45588342e-07, -1.00000000e+00,  0.00000000e+00,
       -9.45588451e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0824773 , -0.05776385,  0.06199103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.50974671e-05,-2.99978752e-05,-6.33412265e-07, 2.72849662e-05,
 -2.36867631e-05,-4.27731882e-05,-2.01592720e-05, 1.40743295e-05,
  8.01338053e-06, 9.78261659e-06,-2.14745431e-05, 2.89751854e-05,
 -4.38926420e-04,-4.17450255e-05,-3.62139214e-04,-2.05309927e-05,
 -6.44773807e-06, 2.08518117e-06,-1.21644646e+00,-1.77433151e-03,
 -2.94109934e-04, 2.28578358e-06]


--- Step 282 ---
qpos:
[ 2.85722767e-03,-5.57464141e-03,-1.01488947e-02, 2.78796577e-03,
 -4.47779066e-03,-5.14422635e-03,-1.76693465e-02, 5.07528406e-03,
 -4.67298171e-03,-3.95384387e-03,-7.69107919e-03,-1.90698145e-02,
  6.58177850e-01, 1.79010532e-02, 5.88708950e-01, 2.75939709e-02,
  9.49347069e-02,-6.99481202e-02, 1.30738252e-01, 9.99856352e-01,
 -3.11555219e-04,-5.24845289e-04,-1.69381918e-02]

qacc:
[ 6.76843644, 0.09607876,-0.94283824, 1.70554028,-5.37675965, 1.50605104,
 -7.80210462,17.2378139 ,-2.45448045, 1.09465382,-4.26670854, 5.80053185,
 -2.43067075, 5.91197112,-1.90695957, 0.07944128, 0.99778831,-0.74305418,
 -0.10278175, 9.20874417,14.62782671,-0.39914326]

qfrc_actuator:
[ 1.43680819e-05,-4.27804538e-04,-3.06482735e-04,-3.56936996e-05,
 -9.13778548e-05,-4.59664954e-04,-3.86257366e-04,-1.23899512e-05,
  1.22294030e-04,-3.58003049e-04,-2.55859974e-04,-1.47373490e-04,
  6.58382405e-02,-3.42409030e-04, 6.61631098e-02,-4.23751002e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002850731253298405
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.86815016e-14, -1.94726006e-13,  1.00000000e+00,  9.47955439e-27,
        1.00000000e+00,  1.94726006e-13, -1.00000000e+00,  0.00000000e+00,
        4.86815016e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08247167, -0.05776567,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.98127989e-05,-3.81067733e-05,-1.75971015e-05,-1.38933887e-06,
 -3.17171247e-05,-1.98138708e-05,-1.58296259e-05, 2.51458292e-05,
 -1.43729364e-05,-2.27970015e-05,-2.78416528e-05, 5.30510590e-07,
 -4.26359837e-04,-3.66653771e-05,-3.00514227e-04,-8.64323845e-05,
 -8.46013116e-06, 9.39871156e-07,-1.21645021e+00,-1.77649421e-03,
 -2.94035997e-04, 3.05013135e-06]


--- Step 283 ---
qpos:
[ 2.85837893e-03,-5.57523324e-03,-1.01506162e-02, 2.78829174e-03,
 -4.47961293e-03,-5.14422101e-03,-1.76709332e-02, 5.07627604e-03,
 -4.67211217e-03,-3.95459224e-03,-7.69060917e-03,-1.90709320e-02,
  6.59564203e-01, 1.79046563e-02, 5.90397676e-01, 2.75922388e-02,
  9.49456752e-02,-6.99698657e-02, 1.30738849e-01, 9.99854926e-01,
 -1.64811963e-04,-4.24881298e-04,-1.70269913e-02]

qacc:
[  0.96345643,  1.26409851, -3.28452874, -1.26119094, -0.12814788,
   0.60652271, -1.09595291, -3.76060135, -7.66133131, -2.85221434,
  10.34749616,-16.30714385, -0.81181675,  0.0894652 , -3.62046377,
   6.21951209,  0.99056467, -0.73174303, -0.15947599,  9.25527511,
  14.59109353, -0.42712807]

qfrc_actuator:
[ 1.90276823e-05,-4.40889615e-04,-3.48874376e-04,-5.40893613e-05,
 -9.11459894e-05,-4.90564600e-04,-4.24225879e-04,-3.22996994e-05,
  7.74942029e-05,-4.08459496e-04,-2.37043378e-04,-1.64665189e-04,
  6.57214189e-02,-3.73780464e-04, 6.60468504e-02,-4.24133749e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027896157853178616
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.94960516e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.94960516e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08247019, -0.05776355,  0.06199138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.78730670e-06,-3.80505439e-05,-5.24655168e-05,-2.06644416e-05,
 -6.84633993e-07,-4.41808589e-05,-4.31328048e-05,-2.08168581e-05,
 -4.52176452e-05,-6.89256277e-05, 1.07029813e-05,-1.92179531e-05,
 -4.12665064e-04,-1.05739418e-04,-2.71230882e-04,-4.89687272e-05,
 -1.07512942e-05,-6.26513466e-08,-1.21645582e+00,-1.77894460e-03,
 -2.94390117e-04, 3.99051539e-06]


--- Step 284 ---
qpos:
[ 2.85923270e-03,-5.57611082e-03,-1.01525627e-02, 2.78907318e-03,
 -4.48072861e-03,-5.14468786e-03,-1.76728773e-02, 5.07738997e-03,
 -4.67178653e-03,-3.95590650e-03,-7.68990318e-03,-1.90722392e-02,
  6.60948179e-01, 1.79082470e-02, 5.92083215e-01, 2.75897549e-02,
  9.49605839e-02,-6.99945035e-02, 1.30738621e-01, 9.99853455e-01,
  1.01552822e-06,-2.96106085e-04,-1.71166835e-02]

qacc:
[-2.60423861, 1.19435394,-6.72016059,15.16310856, 6.15963981, 0.61339399,
 -3.62836935, 6.68054521,-4.74482773,-1.78906608, 6.10870963,-9.36575266,
 -1.43523837, 2.27348318,-2.35172394, 1.6029859 , 0.98507288,-0.72308501,
 -0.20635319, 9.29525559,14.56605863,-0.44837303]

qfrc_actuator:
[ 3.54272074e-06,-4.48443305e-04,-3.55418985e-04,-2.95500885e-05,
 -5.47648717e-05,-5.26743066e-04,-4.46036599e-04,-2.66853937e-05,
  5.07933222e-05,-4.38052961e-04,-2.26232836e-04,-1.74398032e-04,
  6.55962119e-02,-3.76003032e-04, 6.58951613e-02,-4.27827964e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002722891803356442
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.03868370e-13, -2.03868370e-13,  1.00000000e+00,  4.15623121e-26,
        1.00000000e+00,  2.03868370e-13, -1.00000000e+00,  0.00000000e+00,
        2.03868370e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08246866, -0.05776156,  0.06199159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.53262986e-05,-4.05150020e-05,-2.15568101e-05, 2.06952155e-05,
  3.63486846e-05,-7.06690326e-05,-3.69536243e-05, 1.82487758e-06,
 -2.80179221e-05,-6.67376349e-05,-2.76383863e-06,-1.26833240e-05,
 -4.23068726e-04,-8.16491730e-05,-2.89904584e-04,-7.64435113e-05,
 -1.33242376e-05,-9.23450987e-07,-1.21646330e+00,-1.78168509e-03,
 -2.95170803e-04, 5.10853138e-06]


--- Step 285 ---
qpos:
[ 2.85989432e-03,-5.57726802e-03,-1.01543023e-02, 2.78976583e-03,
 -4.48139976e-03,-5.14534414e-03,-1.76752560e-02, 5.07922198e-03,
 -4.67143936e-03,-3.95735294e-03,-7.68925853e-03,-1.90736882e-02,
  6.62329615e-01, 1.79119164e-02, 5.93765230e-01, 2.75887770e-02,
  9.49794167e-02,-7.00220077e-02, 1.30737412e-01, 9.99851917e-01,
  1.86000778e-04,-1.38550790e-04,-1.72072973e-02]

qacc:
[ -1.66978098, -1.12744878,  3.86422449, -5.53221111,  3.86694411,
   2.43458808,-12.08897054, 25.36668458,  0.18875138, -0.29587438,
   1.39884227, -3.65622711, -1.53606135,  2.5430328 , -9.6836001 ,
  26.5412918 ,  0.9810486 , -0.71658324, -0.24502209,  9.33102967,
  14.55188095, -0.46415255]

qfrc_actuator:
[-5.91127649e-06,-4.52453037e-04,-3.40679520e-04,-3.31650175e-05,
 -3.29138923e-05,-5.12474828e-04,-4.58130996e-04, 1.16697124e-05,
  5.27215124e-05,-4.19438537e-04,-2.20170489e-04,-1.79601055e-04,
  6.54500898e-02,-3.78765523e-04, 6.57489662e-02,-4.19248457e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026523817694265595
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.09287938e-13, -2.09287938e-13,  1.00000000e+00,  4.38014412e-26,
        1.00000000e+00,  2.09287938e-13, -1.00000000e+00,  0.00000000e+00,
        2.09287938e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08246711, -0.05775969,  0.0619918 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.90152717e-06,-3.01870780e-05, 4.46267117e-06,-5.68897046e-06,
  2.28696795e-05,-3.27539604e-05,-3.11556530e-05, 3.40853674e-05,
  1.10175443e-06,-1.97854333e-05,-8.48960272e-06,-8.39816925e-06,
 -4.47100197e-04,-8.16036934e-05,-2.95467771e-04, 4.25054115e-05,
 -1.61821783e-05,-1.64281217e-06,-1.21647264e+00,-1.78471768e-03,
 -2.96377342e-04, 6.40589382e-06]


--- Step 286 ---
qpos:
[ 2.86112704e-03,-5.57849666e-03,-1.01556526e-02, 2.79002442e-03,
 -4.48214881e-03,-5.14562552e-03,-1.76780926e-02, 5.08177230e-03,
 -4.67107251e-03,-3.95841305e-03,-7.68909885e-03,-1.90752266e-02,
  6.63708350e-01, 1.79159604e-02, 5.95444091e-01, 2.75877244e-02,
  9.49945455e-02,-7.00422346e-02, 1.30737645e-01, 9.99850338e-01,
  3.24591360e-04,-1.87866013e-05,-1.72972623e-02]

qacc:
[  5.00909371, -2.08643829,  9.117473  ,-17.1811321 , -0.69957139,
   3.25430428,-13.91527164, 26.80239224,  0.15041418,  1.68205665,
  -4.87981237,  3.82540047, -2.04457101,  4.17374075, -4.2994881 ,
   8.62306829, -0.92601502,  1.81930471,  0.36036429,-22.86870884,
 -19.29186115,  0.33076233]

qfrc_actuator:
[ 2.37722401e-05,-4.36475592e-04,-3.13511503e-04,-5.33103905e-05,
 -3.75541820e-05,-4.50279822e-04,-4.64175375e-04, 5.12717487e-05,
  5.37266410e-05,-3.72106739e-04,-2.34506770e-04,-1.82058122e-04,
  6.53021703e-02,-3.64185267e-04, 6.56062128e-02,-4.19477778e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44027136,  2.59252386, -3.60483423,  2.59252386, 18.14078031,
        9.8531289 , -3.60483423,  9.8531289 , 11.52644236,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002671589806945013
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.07783212e-13, -2.07783212e-13,  1.00000000e+00, -4.31738634e-26,
        1.00000000e+00,  2.07783212e-13, -1.00000000e+00,  0.00000000e+00,
       -2.07783212e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10770257, -0.09361422,  0.06199174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.93953676e-05,-1.70042755e-07, 2.13175152e-05,-2.13898899e-05,
 -3.99631533e-06, 3.89601061e-05,-1.54374508e-05, 3.77856752e-05,
  1.02617330e-06, 3.42043113e-05,-1.97460798e-05,-3.75658986e-06,
 -4.64917811e-04,-6.87619959e-05,-2.80686882e-04,-3.95174662e-05,
 -1.93291049e-05,-2.21954437e-06,-1.21648384e+00,-1.78804398e-03,
 -2.98009416e-04, 7.88440339e-06]


--- Step 287 ---
qpos:
[ 2.86201595e-03,-5.57953058e-03,-1.01568123e-02, 2.79036378e-03,
 -4.48260268e-03,-5.14551626e-03,-1.76807795e-02, 5.08473169e-03,
 -4.67069647e-03,-3.95915664e-03,-7.68942453e-03,-1.90767739e-02,
  6.65084424e-01, 1.79202057e-02, 5.97120027e-01, 2.75835814e-02,
  9.50059330e-02,-7.00554104e-02, 1.30738540e-01, 9.99848739e-01,
  4.17285030e-04, 6.48185826e-05,-1.73873606e-02]

qacc:
[ -3.004813  , -0.10279969,  0.40916002,  0.52973154,  2.5726431 ,
   0.93530375, -4.3215633 , 10.88466547,  0.05981545,  1.75662265,
  -5.61802328,  6.00527026, -1.96266628,  3.75658036,  5.16680729,
 -24.01760617, -0.93531432,  1.76278745,  0.16551542,-22.63229394,
 -18.47376436, -0.06053785]

qfrc_actuator:
[ 5.24133494e-06,-4.08602174e-04,-2.96904213e-04,-4.74879879e-05,
 -2.22393731e-05,-4.13075206e-04,-4.48640073e-04, 7.35818633e-05,
  5.41711712e-05,-3.61268045e-04,-2.60634057e-04,-1.82863436e-04,
  6.51639300e-02,-3.57279530e-04, 6.54549663e-02,-4.35546156e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46744034, -2.04299082,  3.9729349 , -2.04299082,  6.0906316 ,
        0.83468894,  3.9729349 ,  0.83468894,  4.89666002,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027658609116004707
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10769543, -0.09361375,  0.06199146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.76856138e-05, 3.13311980e-05, 1.84849047e-05, 6.14016684e-06,
  1.52128980e-05, 5.74576278e-05, 2.30193877e-05, 2.41820109e-05,
  4.83229780e-07, 2.57677342e-05,-2.16102687e-05,-9.13583301e-08,
 -4.65050382e-04,-7.84350429e-05,-2.92973787e-04,-2.00906914e-04,
 -1.34167035e-05,-2.70025853e-06,-1.21646451e+00,-1.78942653e-03,
 -3.01755401e-04, 4.40276568e-06]


--- Step 288 ---
qpos:
[ 2.86233123e-03,-5.58016114e-03,-1.01584198e-02, 2.79078739e-03,
 -4.48252430e-03,-5.14537959e-03,-1.76833504e-02, 5.08763915e-03,
 -4.67066280e-03,-3.95985884e-03,-7.68996639e-03,-1.90783016e-02,
  6.66457856e-01, 1.79248377e-02, 5.98792021e-01, 2.75789074e-02,
  9.50135536e-02,-7.00617193e-02, 1.30739441e-01, 9.99847130e-01,
  4.64516669e-04, 1.13581038e-04,-1.74782045e-02]

qacc:
[-5.03895915e+00, 1.96777275e+00,-6.58132512e+00, 8.44041209e+00,
  4.64519674e+00,-4.03723763e-01, 1.69568507e+00,-2.78321810e+00,
 -3.00479661e+00, 7.05089494e-01,-2.50626896e+00, 3.14693066e+00,
 -2.00735456e+00, 4.10629070e+00,-4.08702582e+00, 6.18106885e+00,
 -9.41707764e-01, 1.71671208e+00, 1.50374433e-03,-2.24246395e+01,
 -1.78141168e+01,-3.67011191e-01]

qfrc_actuator:
[-2.37791259e-05,-3.91581378e-04,-3.22095467e-04,-4.41787412e-05,
  4.70658830e-06,-4.44288414e-04,-4.56086507e-04, 6.77861021e-05,
  3.65293269e-05,-3.72409932e-04,-2.75888946e-04,-1.82722372e-04,
  6.50369168e-02,-3.37202350e-04, 6.52667620e-02,-4.37734988e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48433477, -1.99971991,  4.01377361, -1.99971991,  8.09544327,
        1.79910634,  4.01377361,  1.79910634,  5.3806755 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002822390526016072
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.83406632e-14, -1.96681326e-13,  1.00000000e+00,  1.93417721e-26,
        1.00000000e+00,  1.96681326e-13, -1.00000000e+00,  0.00000000e+00,
        9.83406632e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10769017, -0.09361409,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.95115809e-05, 3.86638111e-05,-1.62055125e-05, 5.41553197e-06,
  2.74001578e-05, 6.73365381e-06, 8.11686431e-06,-2.06818574e-06,
 -1.76211663e-05,-1.16453309e-06,-1.25811508e-05, 5.01003974e-07,
 -4.55964343e-04,-6.62838822e-05,-3.53702507e-04,-7.27106824e-05,
 -8.38789475e-06,-2.44561615e-06,-1.21645099e+00,-1.79016341e-03,
 -3.04866247e-04, 1.94531182e-06]


--- Step 289 ---
qpos:
[ 2.86229621e-03,-5.58058088e-03,-1.01599771e-02, 2.79123788e-03,
 -4.48246829e-03,-5.14516594e-03,-1.76859324e-02, 5.08976737e-03,
 -4.67084081e-03,-3.96061761e-03,-7.69066611e-03,-1.90794615e-02,
  6.67828927e-01, 1.79290232e-02, 6.00459850e-01, 2.75739483e-02,
  9.50173902e-02,-7.00613113e-02, 1.30739796e-01, 9.99845514e-01,
  4.66661399e-04, 1.28560534e-04,-1.75702721e-02]

qacc:
[ -3.06629201,  0.19975924, -0.41110252,  0.62977971, -0.19721404,
  -1.47133608,  8.68427202,-22.21123218, -1.85708518,  1.12803547,
  -5.6743361 , 12.32230761, -0.89864223,  0.28009233, -5.2652617 ,
   9.56115904, -0.94603854,  1.67923779, -0.13643429,-22.24470447,
 -17.28320057, -0.6065196 ]

qfrc_actuator:
[-4.09733281e-05,-3.81358702e-04,-3.18545988e-04,-4.24131950e-05,
  2.77082959e-06,-4.45334824e-04,-4.59595571e-04, 2.76715504e-05,
  2.61361655e-05,-3.78839025e-04,-2.84695426e-04,-1.64285707e-04,
  6.49220595e-02,-3.62746125e-04, 6.50725575e-02,-4.38829474e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49224738, -1.93780228,  4.0528026 , -1.93780228, 10.83543863,
        3.03292602,  4.0528026 ,  3.03292602,  5.94240707,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028483505551110677
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.94888762e-13, -2.43610952e-13,  1.00000000e+00, -4.74770368e-26,
        1.00000000e+00,  2.43610952e-13, -1.00000000e+00,  0.00000000e+00,
       -1.94888762e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1076864 , -0.09361509,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80201495e-05, 2.87576093e-05, 9.75317568e-06, 2.97201275e-06,
 -1.14821428e-06, 4.33516800e-06,-1.16896966e-06,-3.95876068e-05,
 -1.08993558e-05,-9.62826686e-06,-1.05605000e-05, 1.79681768e-05,
 -4.35793127e-04,-1.09050007e-04,-3.69509810e-04,-6.15449826e-05,
 -4.08684193e-06,-1.39692562e-06,-1.21644290e+00,-1.79023676e-03,
 -3.07415628e-04, 4.33977300e-07]


--- Step 290 ---
qpos:
[ 2.86205534e-03,-5.58118995e-03,-1.01604423e-02, 2.79133965e-03,
 -4.48278058e-03,-5.14485810e-03,-1.76882994e-02, 5.09172580e-03,
 -4.67045227e-03,-3.96173331e-03,-7.69075513e-03,-1.90807513e-02,
  6.69197809e-01, 1.79319478e-02, 6.02124073e-01, 2.75683651e-02,
  9.50174309e-02,-7.00543079e-02, 1.30739142e-01, 9.99843884e-01,
  4.24038200e-04, 1.10607923e-04,-1.76639354e-02]

qacc:
[ -1.76347141, -4.01745403, 15.43919704,-23.08777516, -3.20717674,
  -0.81928924,  3.82965049, -7.19328166,  4.98524776, -2.45646057,
   8.6039321 ,-11.54489206,  0.05928711, -3.17179386, -3.50744699,
   4.37424129, -0.9489429 ,  1.64885963, -0.25234104,-22.09108799,
 -16.85717343, -0.79309625]

qfrc_actuator:
[-5.10656667e-05,-3.92936318e-04,-2.62565580e-04,-5.93028194e-05,
 -1.61522397e-05,-4.28341685e-04,-4.42908986e-04, 2.09717139e-05,
  5.56037495e-05,-4.00111660e-04,-2.54099440e-04,-1.70733148e-04,
  6.48039140e-02,-4.32736613e-04, 6.49281725e-02,-4.41045949e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49267545, -1.85504972,  4.09181173, -1.85504972, 14.5608266 ,
        4.56446243,  4.09181173,  4.56446243,  6.56200447,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002849745879143356
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.86983345e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.86983345e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10768381, -0.09361663,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05949933e-05, 6.67186182e-06, 6.32475764e-05,-1.52579568e-05,
 -1.89527756e-05, 1.74971269e-05, 1.60910863e-05,-7.32448664e-06,
  2.91493086e-05,-2.80345427e-05, 2.79482450e-05,-6.86905856e-06,
 -4.32864860e-04,-1.54548419e-04,-3.24423364e-04,-7.38845955e-05,
 -3.97002493e-07, 4.82999005e-07,-1.21643993e+00,-1.78963476e-03,
 -3.09458720e-04,-1.90962428e-07]


--- Step 291 ---
qpos:
[ 2.86238504e-03,-5.58188068e-03,-1.01602091e-02, 2.79125166e-03,
 -4.48331719e-03,-5.14451128e-03,-1.76907245e-02, 5.09395975e-03,
 -4.67005871e-03,-3.96314878e-03,-7.69014278e-03,-1.90828127e-02,
  6.70564205e-01, 1.79349878e-02, 6.03785178e-01, 2.75626878e-02,
  9.50136681e-02,-7.00408071e-02, 1.30737089e-01, 9.99842229e-01,
  3.36913804e-04, 6.04034044e-05,-1.77594829e-02]

qacc:
[  5.01435161, -2.46057397,  9.40065449,-13.72314549, -1.95869002,
   0.78485868, -3.88037952,  8.70634511,  0.07063914, -3.94632258,
  16.74552321,-30.98346494, -1.62983904,  2.83736347, -4.2234586 ,
   8.34395278, -0.95089692,  1.62434426, -0.34965658,-21.96216746,
 -16.51686738, -0.93776286]

qfrc_actuator:
[-2.13959474e-05,-3.99525672e-04,-2.29446544e-04,-6.92680718e-05,
 -2.71601806e-05,-4.36078088e-04,-4.49831833e-04, 3.40229422e-05,
  5.50363214e-05,-4.12214807e-04,-2.18320032e-04,-2.09512930e-04,
  6.46891910e-02,-4.21886290e-04, 6.48137790e-02,-4.40339799e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4871282 , -1.74870837,  4.13235266, -1.74870837, 19.60469614,
        6.39737694,  4.13235266,  6.39737694,  7.19433824,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002831592004709088
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.96042195e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.96042195e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10768216, -0.0936186 ,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.93697167e-05, 9.57643040e-06, 4.17726773e-05,-7.78511716e-06,
 -1.15454697e-05, 5.06322743e-06,-1.55956792e-06, 1.42162013e-05,
  2.50474020e-07,-2.22458463e-05, 3.32097533e-05,-3.91427220e-05,
 -4.34836083e-04,-7.84034280e-05,-2.77248175e-04,-4.00542538e-05,
  2.76892849e-06, 3.21658934e-06,-1.21644186e+00,-1.78834967e-03,
 -3.11036748e-04, 2.51390915e-08]


--- Step 292 ---
qpos:
[ 2.86306758e-03,-5.58235785e-03,-1.01599394e-02, 2.79105308e-03,
 -4.48432676e-03,-5.14397575e-03,-1.76932155e-02, 5.09527814e-03,
 -4.67001990e-03,-3.96460282e-03,-7.68921133e-03,-1.90849846e-02,
  6.71928237e-01, 1.79381046e-02, 6.05442979e-01, 2.75577309e-02,
  9.50060962e-02,-7.00208875e-02, 1.30733311e-01, 9.99840527e-01,
  2.05506685e-04,-2.15126560e-05,-1.78571363e-02]

qacc:
[  3.0839927 , -0.05333992,  1.05605668, -3.17389885, -4.13071199,
  -1.44354183,  9.38810321,-25.28308558, -3.09515398, -1.1644648 ,
   4.55330244, -6.95496175, -1.46806791,  2.43205463, -6.98007722,
  17.55211169, -0.95225344,  1.60467894, -0.43131424,-21.85620674,
 -16.24684212, -1.0491726 ]

qfrc_actuator:
[-4.06833549e-06,-3.85401351e-04,-2.27840080e-04,-7.50981682e-05,
 -5.11683442e-05,-4.23129414e-04,-4.52980622e-04,-1.24631099e-05,
  3.67828007e-05,-4.00978003e-04,-1.97518151e-04,-2.13740686e-04,
  6.45819527e-02,-4.16661263e-04, 6.46695341e-02,-4.36132851e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47700899, -1.61531968,  4.1754463 , -1.61531968, 26.40551643,
        8.48329666,  4.1754463 ,  8.48329666,  7.7588704 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002798065831897678
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.98391155e-13, -2.97586733e-13,  1.00000000e+00,  5.90385756e-26,
        1.00000000e+00,  2.97586733e-13, -1.00000000e+00,  0.00000000e+00,
        1.98391155e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10768124, -0.09362092,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.81709338e-05, 2.78060770e-05, 8.46450944e-06,-4.12589588e-06,
 -2.43378821e-05, 1.60737892e-05,-1.78328536e-06,-4.60462572e-05,
 -1.82581005e-05, 4.03001106e-06, 1.89574338e-05,-4.78709455e-06,
 -4.14774859e-04,-7.67698843e-05,-2.84416195e-04, 2.27276932e-06,
  5.47654891e-06, 6.81606510e-06,-1.21644851e+00,-1.78637644e-03,
 -3.12180386e-04, 1.04823025e-06]


--- Step 293 ---
qpos:
[ 2.86360788e-03,-5.58254927e-03,-1.01599424e-02, 2.79045326e-03,
 -4.48596132e-03,-5.14321131e-03,-1.76954954e-02, 5.09600469e-03,
 -4.67020019e-03,-3.96617172e-03,-7.68801156e-03,-1.90868317e-02,
  6.73289926e-01, 1.79412919e-02, 6.07097277e-01, 2.75526277e-02,
  9.49947113e-02,-6.99946119e-02, 1.30727534e-01, 9.99838749e-01,
  2.99910083e-05,-1.34714858e-04,-1.79570642e-02]

qacc:
[ -1.25792415,  0.31564046,  1.12040236, -7.84333505, -5.44854584,
  -1.49490043,  8.2863199 ,-19.05589554, -1.90751606, -0.22922546,
  -0.7654246 ,  6.0296636 , -1.47601871,  2.45409307, -4.64584871,
   8.9668693 , -0.95327104,  1.58903047, -0.49981823,-21.77143822,
 -16.0346374 , -1.1341159 ]

qfrc_actuator:
[-1.19091211e-05,-3.76864040e-04,-2.44758558e-04,-9.62030782e-05,
 -8.26382741e-05,-3.97935009e-04,-4.36081391e-04,-4.03327619e-05,
  2.60280167e-05,-4.11383808e-04,-1.85601065e-04,-1.97589688e-04,
  6.44633065e-02,-4.14819088e-04, 6.44968558e-02,-4.37004148e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46355309, -1.45064976,  4.22124643, -1.45064976, 35.52702474,
       10.67509763,  4.22124643, 10.67509763,  8.13209698,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027526338790033467
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.01665582e-13, -5.04163954e-14,  1.00000000e+00, -1.01672517e-26,
        1.00000000e+00,  5.04163954e-14, -1.00000000e+00,  0.00000000e+00,
       -2.01665582e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10768089, -0.09362349,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.31066065e-06, 2.56769057e-05,-1.02736354e-05,-1.97009007e-05,
 -3.21599900e-05, 3.18399032e-05, 1.84270322e-05,-2.81364757e-05,
 -1.12794086e-05,-4.40137008e-06, 1.49303996e-05, 1.68930550e-05,
 -4.12205283e-04,-7.65905733e-05,-3.10690973e-04,-4.69071570e-05,
  7.77539070e-06, 1.12864738e-05,-1.21645976e+00,-1.78371178e-03,
 -3.12912317e-04, 2.85318259e-06]


--- Step 294 ---
qpos:
[ 2.86336059e-03,-5.58272983e-03,-1.01600602e-02, 2.78997548e-03,
 -4.48761531e-03,-5.14286426e-03,-1.76967739e-02, 5.09745558e-03,
 -4.67050851e-03,-3.96736006e-03,-7.68743061e-03,-1.90884730e-02,
  6.74649198e-01, 1.79445677e-02, 6.08747919e-01, 2.75500191e-02,
  9.49870315e-02,-6.99719181e-02, 1.30724739e-01, 9.99836952e-01,
 -1.26526436e-04,-2.11301353e-04,-1.80557304e-02]

qacc:
[ -6.89333683,  0.60020398, -2.61110515,  4.87388116, -0.1306892 ,
  -1.85747061,  2.76595376,  8.47432569, -1.14679649,  2.65911901,
  -9.61376653, 13.87566898, -1.42947044,  2.2941887 ,-12.88049522,
  37.4235506 ,  0.92627513, -0.89548401,  0.74552461,  9.16891445,
  18.4754955 ,  0.62876706]

qfrc_actuator:
[-5.22496336e-05,-3.89589162e-04,-2.54744898e-04,-9.06327137e-05,
 -8.27387811e-05,-4.36519389e-04,-3.89651269e-04,-3.73217348e-06,
  1.97787134e-05,-3.81425545e-04,-2.14596972e-04,-1.87355059e-04,
  6.43325729e-02,-4.15031011e-04, 6.43551863e-02,-4.23111921e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45263465, -2.52081755,  3.67034524, -2.52081755, 17.79902971,
        9.16639298,  3.67034524,  9.16639298, 10.74817438,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027150235443200443
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.08918378e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.08918378e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0825009 , -0.05773545,  0.06199161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.05385291e-05,-1.32871777e-06,-6.62638762e-06, 5.93355280e-06,
 -1.01085243e-06,-1.81930369e-05, 5.43203054e-05, 3.80579284e-05,
 -6.57834973e-06, 3.13466595e-05,-2.74729382e-05, 1.08969930e-05,
 -4.22824218e-04,-7.81652324e-05,-2.96109440e-04, 9.48718341e-05,
  9.70314752e-06, 1.66277058e-05,-1.21647553e+00,-1.78035353e-03,
 -3.13249138e-04, 5.42194310e-06]


--- Step 295 ---
qpos:
[ 2.86263161e-03,-5.58288511e-03,-1.01600218e-02, 2.78954752e-03,
 -4.48891285e-03,-5.14321983e-03,-1.76969521e-02, 5.09901860e-03,
 -4.67088965e-03,-3.96799826e-03,-7.68760735e-03,-1.90899910e-02,
  6.76006199e-01, 1.79472324e-02, 6.10394930e-01, 2.75510064e-02,
  9.49831001e-02,-6.99526409e-02, 1.30724156e-01, 9.99835142e-01,
 -2.63916684e-04,-2.52876554e-04,-1.81536293e-02]

qacc:
[ -4.20926197, -0.29232557,  0.89472773, -0.31637611,  3.15525214,
  -3.77727086, 11.63790699,-10.9303894 , -0.67056194,  3.10033931,
 -10.5149541 , 13.44691871, -0.53223721, -0.83489911,-16.26617156,
  49.10200723,  0.93711249, -0.85412236,  0.55311611,  9.24604239,
  17.67542103,  0.38369342]

qfrc_actuator:
[-7.58824716e-05,-3.79405895e-04,-2.42868034e-04,-8.71726176e-05,
 -6.43731949e-05,-4.95063666e-04,-3.44129996e-04,-5.39408355e-07,
  1.62292868e-05,-3.45450950e-04,-2.49608234e-04,-1.80681277e-04,
  6.42106552e-02,-4.52026901e-04, 6.42056333e-02,-4.04170330e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4776746 ,  2.42333125, -3.76524043,  2.42333125,  6.70754789,
        1.43515978, -3.76524043,  1.43515978,  5.40135201,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028002876549901095
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.45624334e-07, -8.45624250e-07,  1.00000000e+00, -7.15080444e-13,
        1.00000000e+00,  8.45624250e-07, -1.00000000e+00,  0.00000000e+00,
       -8.45624334e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08251064, -0.05773029,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.47910730e-05, 8.32136347e-06, 1.09979687e-05, 3.29282410e-06,
  1.83264851e-05,-5.58686006e-05, 4.97799012e-05, 5.03274724e-06,
 -3.72917979e-06, 4.83324223e-05,-3.15327180e-05, 7.28308598e-06,
 -4.20897720e-04,-1.17412817e-04,-2.81660119e-04, 1.55100157e-04,
  9.63555266e-06, 1.22784238e-05,-1.21646458e+00,-1.77876055e-03,
 -3.11108123e-04, 3.66314840e-06]


--- Step 296 ---
qpos:
[ 2.86196939e-03,-5.58273876e-03,-1.01602458e-02, 2.78915749e-03,
 -4.48963572e-03,-5.14353618e-03,-1.76973681e-02, 5.10060577e-03,
 -4.67131029e-03,-3.96838122e-03,-7.68814952e-03,-1.90910612e-02,
  6.77360890e-01, 1.79491851e-02, 6.12038894e-01, 2.75521685e-02,
  9.49788295e-02,-6.99394044e-02, 1.30724889e-01, 9.99833366e-01,
 -3.58023566e-04,-2.87700286e-04,-1.82491123e-02]

qacc:
[ 0.57070428, 1.20890193,-3.89400254, 4.75008329, 5.00382559, 0.75596254,
 -2.73932249, 3.52736606,-0.361413  , 2.28226935,-9.53355117,17.67155841,
 -0.61674987,-0.75115146,-5.03231701,11.07604729,-0.0847948 ,-1.51017476,
  0.32878872,21.57714344, 3.7677387 , 1.20343856]

qfrc_actuator:
[-7.17289297e-05,-3.55496357e-04,-2.53603616e-04,-8.49552631e-05,
 -3.52960712e-05,-4.76368534e-04,-3.52911371e-04, 6.83765289e-07,
  1.42957715e-05,-3.41693636e-04,-2.70089691e-04,-1.58391104e-04,
  6.40834495e-02,-4.92676236e-04, 6.40568051e-02,-4.03712207e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49738536,  4.22275945,  1.54750694,  4.22275945,  5.47700672,
       -2.6731417 ,  1.54750694, -2.6731417 , 11.79172058,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028650375153897734
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0942432 , -0.04641861,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.44788256e-06, 3.09754526e-05,-7.54405922e-06, 3.02094380e-06,
  2.95807498e-05,-2.03077649e-06,-1.40124456e-05, 6.47080189e-07,
 -2.02467235e-06, 2.46096304e-05,-1.41177026e-05, 2.34161299e-05,
 -4.31395907e-04,-1.25265046e-04,-2.67827243e-04,-2.45887087e-05,
  9.27644384e-06, 8.33794438e-06,-1.21645641e+00,-1.77739365e-03,
 -3.09551836e-04, 2.18505043e-06]


--- Step 297 ---
qpos:
[ 2.86136200e-03,-5.58242599e-03,-1.01608566e-02, 2.78916860e-03,
 -4.49000450e-03,-5.14351323e-03,-1.76983106e-02, 5.10183112e-03,
 -4.67175057e-03,-3.96900673e-03,-7.68843690e-03,-1.90918345e-02,
  6.78713113e-01, 1.79507233e-02, 6.13679938e-01, 2.75526259e-02,
  9.49743313e-02,-6.99321037e-02, 1.30726317e-01, 9.99831625e-01,
 -4.09478319e-04,-3.16742736e-04,-1.83426995e-02]

qacc:
[ 0.46487943, 2.12644393,-8.95759995,16.39786958, 3.06586762, 1.16820711,
 -1.99807324,-3.65972307,-0.15966738,-0.42098955,-0.21504134, 5.11956248,
 -1.08690858, 0.74240148,-2.13712374, 1.33126965,-0.05691435,-1.48395489,
  0.17400112,21.27003819, 3.27900634, 0.94296697]

qfrc_actuator:
[-6.90119771e-05,-3.59142784e-04,-2.77550601e-04,-6.57389575e-05,
 -1.79054418e-05,-4.47295814e-04,-3.75623775e-04,-1.69843223e-05,
  1.33276175e-05,-3.74944470e-04,-2.64189797e-04,-1.44857676e-04,
  6.39478303e-02,-5.17419761e-04, 6.39244673e-02,-4.07044825e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50921037,  0.04906331, -4.50894344,  0.04906331, 10.43792885,
        0.06451235, -4.50894344,  0.06451235,  4.50991235,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029029489026009825
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.91223315e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.91223315e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09424801, -0.04641955,  0.06199103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.82632372e-06, 1.22477561e-05,-1.83711458e-05, 2.03422752e-05,
  1.82384071e-05, 2.50937591e-05,-2.48317745e-05,-1.82305683e-05,
 -1.01976647e-06,-2.13818147e-05, 1.00670984e-05, 1.45592601e-05,
 -4.48462341e-04,-1.12178339e-04,-2.66708623e-04,-7.11238446e-05,
  6.22390424e-06, 5.83558088e-06,-1.21644820e+00,-1.77615018e-03,
 -3.06979839e-04, 1.64395471e-06]


--- Step 298 ---
qpos:
[ 2.86079222e-03,-5.58235427e-03,-1.01615492e-02, 2.78909654e-03,
 -4.49050668e-03,-5.14303820e-03,-1.76996118e-02, 5.10246330e-03,
 -4.67219893e-03,-3.97011093e-03,-7.68819921e-03,-1.90927726e-02,
  6.80062797e-01, 1.79525716e-02, 6.15318050e-01, 2.75509509e-02,
  9.49696931e-02,-6.99306524e-02, 1.30727922e-01, 9.99829919e-01,
 -4.18805494e-04,-3.40771343e-04,-1.84348012e-02]

qacc:
[  0.33057365, -0.26187239,  0.82147403, -1.95155482, -1.18274095,
   0.38057476,  2.01780314,-12.04702396, -0.04617174, -2.43995018,
   8.47549645,-11.81084469, -1.97697464,  3.89987153,  2.25945556,
 -13.84905195, -0.03500324, -1.46235902,  0.044038  , 21.01450093,
   2.89256799,  0.73735768]

qfrc_actuator:
[-6.71717456e-05,-3.97060861e-04,-2.91442367e-04,-7.22069391e-05,
 -2.52886468e-05,-4.12312313e-04,-3.88558339e-04,-4.56108593e-05,
  1.29346233e-05,-4.12251865e-04,-2.42935153e-04,-1.54359052e-04,
  6.38338894e-02,-4.97127143e-04, 6.37808190e-02,-4.17896731e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51257437e+00, -8.26864664e-03, -4.51256680e+00, -8.26864664e-03,
        1.39943071e+01, -1.73739472e-02, -4.51256680e+00, -1.73739472e-02,
        4.51260621e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00])
  dim: 3
  dist: -0.0002913611234466179
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09425179, -0.04641961,  0.061991  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.92480934e-06,-3.39935105e-05,-1.29168711e-05,-6.18233968e-06,
 -6.84987422e-06, 4.31195870e-05,-1.14340572e-05,-2.87670140e-05,
 -4.33016829e-07,-4.65352117e-05, 1.85939776e-05,-9.78157053e-06,
 -4.36009719e-04,-6.89513129e-05,-2.83241917e-04,-1.48885673e-04,
  3.28971468e-06, 4.17262333e-06,-1.21644308e+00,-1.77552572e-03,
 -3.04646673e-04, 1.27231469e-06]


--- Step 299 ---
qpos:
[ 2.85990428e-03,-5.58283068e-03,-1.01619641e-02, 2.78896302e-03,
 -4.49074844e-03,-5.14208979e-03,-1.77012028e-02, 5.10412071e-03,
 -4.67264889e-03,-3.97121701e-03,-7.68813755e-03,-1.90941750e-02,
  6.81409967e-01, 1.79549661e-02, 6.16953080e-01, 2.75482165e-02,
  9.49649836e-02,-6.99349799e-02, 1.30729267e-01, 9.99828244e-01,
 -3.86437540e-04,-3.60393057e-04,-1.85257407e-02]

qacc:
[-2.76523011e+00,-1.62181541e+00, 5.00038179e+00,-6.11520487e+00,
  2.25472985e+00, 3.54126284e+00,-1.60553622e+01, 3.39246708e+01,
 -1.97690641e-02,-4.66735522e-01, 3.61742441e+00,-1.13628803e+01,
 -2.16600996e+00, 4.68058897e+00,-1.18970583e+00,-2.05064172e+00,
 -1.77972270e-02,-1.44468471e+00,-6.48966638e-02, 2.08036035e+01,
  2.58715393e+00, 5.75040708e-01]

qfrc_actuator:
[-8.36148996e-05,-4.37448406e-04,-2.81698668e-04,-7.60090033e-05,
 -1.16850233e-05,-3.74030840e-04,-3.95583358e-04, 8.32678686e-06,
  1.28830202e-05,-3.98402146e-04,-2.48345123e-04,-1.77338362e-04,
  6.37170733e-02,-4.68124298e-04, 6.36517938e-02,-4.22437666e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50907172, -0.08134236, -4.50833797, -0.08134236, 18.6658136 ,
       -0.25542513, -4.50833797, -0.25542513,  4.51368027,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029025083012260144
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.91252343e-13,  1.91252343e-13,  1.00000000e+00, -3.65774586e-26,
        1.00000000e+00, -1.91252343e-13, -1.00000000e+00,  0.00000000e+00,
        1.91252343e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09425476, -0.04641899,  0.06199103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.63987300e-05,-6.23216250e-05, 9.25037848e-07,-5.82429174e-06,
  1.34239727e-05, 5.87936705e-05,-5.14275027e-07, 5.48302188e-05,
 -8.39906741e-08,-8.71324359e-06,-1.30580777e-05,-2.45153730e-05,
 -4.23106458e-04,-5.33123648e-05,-2.84559098e-04,-9.21525337e-05,
  4.37837231e-07, 3.28112681e-06,-1.21644090e+00,-1.77552045e-03,
 -3.02504318e-04, 1.03796503e-06]


--- Step 300 ---
qpos:
[ 2.85917087e-03,-5.58356575e-03,-1.01621057e-02, 2.78909320e-03,
 -4.49048020e-03,-5.14102183e-03,-1.77027228e-02, 5.10643158e-03,
 -4.67344090e-03,-3.97243513e-03,-7.68812332e-03,-1.90958366e-02,
  6.82754744e-01, 1.79574180e-02, 6.18584940e-01, 2.75455149e-02,
  9.49602570e-02,-6.99450287e-02, 1.30729988e-01, 9.99826592e-01,
 -3.12727218e-04,-3.76087753e-04,-1.86157733e-02]

qacc:
[ 1.36493173e+00,-5.65311462e-01, 4.01952058e-01, 3.91995594e+00,
  4.44851430e+00, 1.29606683e+00,-7.16572178e+00, 1.82902723e+01,
 -2.99419493e+00,-5.43601663e-01, 2.82581630e+00,-7.16024625e+00,
 -1.50905538e+00, 2.45002504e+00,-4.69378717e+00, 9.85456893e+00,
 -4.29838065e-03,-1.43033942e+00,-1.56040075e-01, 2.06314259e+01,
  2.34594982e+00, 4.46895961e-01]

qfrc_actuator:
[-7.51820803e-05,-4.25656220e-04,-2.58100474e-04,-6.04473197e-05,
  1.41702364e-05,-3.87230612e-04,-3.98988057e-04, 3.94112586e-05,
 -4.71962682e-06,-4.07401389e-04,-2.51510144e-04,-1.90286437e-04,
  6.35932955e-02,-4.69760766e-04, 6.35210097e-02,-4.21438764e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50023011, -0.17327382, -4.49689306, -0.17327382, 24.74493143,
       -0.78006674, -4.49689306, -0.78006674,  4.53028756,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028742201465799255
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.93134654e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.93134654e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09425709, -0.04641782,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.94456895e-06,-2.30971882e-05, 1.06498619e-05, 1.28132044e-05,
  2.62583192e-05, 2.19054267e-05, 1.05764085e-05, 3.46500580e-05,
 -1.76102555e-05,-1.75775855e-05,-7.40626327e-06,-1.42449607e-05,
 -4.18379841e-04,-8.01364029e-05,-2.80238320e-04,-3.36762506e-05,
 -2.35868591e-06, 3.11130268e-06,-1.21644152e+00,-1.77613373e-03,
 -3.00516708e-04, 9.17663524e-07]


--- Step 301 ---
qpos:
[ 2.85854385e-03,-5.58422049e-03,-1.01621222e-02, 2.78937448e-03,
 -4.49024872e-03,-5.14009634e-03,-1.77037560e-02, 5.10772119e-03,
 -4.67409324e-03,-3.97332656e-03,-7.68839957e-03,-1.90969897e-02,
  6.84097110e-01, 1.79601771e-02, 6.20213511e-01, 2.75425604e-02,
  9.49595631e-02,-6.99582206e-02, 1.30730928e-01, 9.99824931e-01,
 -2.20248645e-04,-3.62199608e-04,-1.87063431e-02]

qacc:
[  0.93334172,  0.06590705, -0.72194236,  3.08129526, -0.30350093,
  -3.64995244, 17.05402823,-35.40556691,  1.20829641,  2.28885148,
  -9.68063258, 18.69936186, -1.79882872,  3.4830451 , -3.97624438,
   7.16135554,  1.00817281, -0.78577571,  0.05480677,  9.10704216,
  14.96363108, -0.26749169]

qfrc_actuator:
[-6.99217419e-05,-4.00379055e-04,-2.44048912e-04,-5.13206046e-05,
  1.15174683e-05,-4.13402026e-04,-3.82712851e-04,-1.42649969e-05,
  2.99344459e-06,-3.58988561e-04,-2.53386392e-04,-1.61729878e-04,
  6.34760719e-02,-4.54005212e-04, 6.33679860e-02,-4.22508589e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48805657, -2.89199746, -3.43205514, -2.89199746, 12.1387943 ,
       -6.44684109, -3.43205514, -6.44684109,  9.9204425 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002834641127475083
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.52905687e-07, -2.52905745e-07,  1.00000000e+00, -6.39613012e-14,
        1.00000000e+00,  2.52905745e-07, -1.00000000e+00,  1.26217745e-29,
       -2.52905687e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08252007, -0.05771633,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.48081942e-06, 1.51430600e-05, 1.10462173e-05, 8.75646771e-06,
 -1.89428374e-06,-1.02699160e-05, 2.33007886e-05,-5.17025413e-05,
  7.20076436e-06, 3.64827618e-05,-6.89412843e-06, 2.72771594e-05,
 -4.13118170e-04,-6.50890872e-05,-2.93734136e-04,-5.04969910e-05,
 -5.12006710e-06, 3.62724242e-06,-1.21644487e+00,-1.77736447e-03,
 -2.98656732e-04, 8.94706455e-07]


--- Step 302 ---
qpos:
[ 2.85798491e-03,-5.58485779e-03,-1.01619486e-02, 2.78976612e-03,
 -4.49039539e-03,-5.13934809e-03,-1.77045323e-02, 5.10837880e-03,
 -4.67464837e-03,-3.97390041e-03,-7.68846245e-03,-1.90978266e-02,
  6.85437078e-01, 1.79634376e-02, 6.21838689e-01, 2.75407366e-02,
  9.49628655e-02,-6.99744786e-02, 1.30731758e-01, 9.99823253e-01,
 -1.08857681e-04,-3.18924006e-04,-1.87975640e-02]

qacc:
[  0.60124231, -0.2820424 ,  0.57125955,  1.02397899, -3.28740665,
  -2.24643337, 10.3495591 ,-21.58120485,  0.85245881,  0.47312055,
  -2.41398237,  7.31151859, -1.93595259,  4.06736579, -8.3044453 ,
  22.11808047,  0.99907076, -0.76652365, -0.02733566,  9.17955468,
  14.86811523, -0.32585356]

qfrc_actuator:
[-6.65785676e-05,-4.02751686e-04,-2.35686437e-04,-4.60477515e-05,
 -7.89736616e-06,-4.29389582e-04,-3.72826537e-04,-4.63738425e-05,
  7.79842467e-06,-3.29780315e-04,-2.36474724e-04,-1.44439764e-04,
  6.33628686e-02,-4.28087263e-04, 6.32283726e-02,-4.15916078e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47741635,  4.47563179, -0.12640096,  4.47563179,  4.50295004,
        0.90410236, -0.12640096,  0.90410236, 36.49006398,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002799425884047607
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.98391594e-13, -1.98294770e-13,  1.00000000e+00,  3.93400155e-26,
        1.00000000e+00,  1.98294770e-13, -1.00000000e+00,  0.00000000e+00,
        1.98391594e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08251636, -0.05771671,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.50632704e-06, 8.77944171e-06, 1.31616503e-05, 6.47511417e-06,
 -1.94715069e-05,-1.91579633e-05, 8.84466232e-06,-3.27513924e-05,
  5.01915288e-06, 4.93919616e-05, 2.45568576e-05, 1.91498143e-05,
 -4.02969872e-04,-5.24012781e-05,-2.87837172e-04, 2.35865472e-05,
 -6.94538899e-06, 2.23580926e-06,-1.21644681e+00,-1.77931181e-03,
 -2.98135924e-04, 1.51358581e-06]


--- Step 303 ---
qpos:
[ 2.85712555e-03,-5.58545870e-03,-1.01616443e-02, 2.78987439e-03,
 -4.49042866e-03,-5.13879337e-03,-1.77057365e-02, 5.10904198e-03,
 -4.67514150e-03,-3.97426066e-03,-7.68822824e-03,-1.90991330e-02,
  6.86774845e-01, 1.79663918e-02, 6.23461080e-01, 2.75388740e-02,
  9.49701344e-02,-6.99937429e-02, 1.30732206e-01, 9.99821546e-01,
  2.15664263e-05,-2.46420208e-04,-1.88895243e-02]

qacc:
[ -2.62458476, -0.8957463 ,  4.46851386, -9.6178654 ,  0.97899216,
   0.94920693, -3.78272752,  4.70996071,  0.5482793 , -1.51656513,
   7.79344726,-16.54198586, -1.01332341,  0.84312303, -3.95627281,
   7.9816417 ,  0.99164558, -0.75156788, -0.09572327,  9.24006035,
  14.79043896, -0.37141126]

qfrc_actuator:
[-8.21425642e-05,-4.03930819e-04,-2.30852416e-04,-6.08595376e-05,
 -1.50807479e-06,-4.56927707e-04,-4.02243629e-04,-4.77703620e-05,
  1.08451416e-05,-3.29968996e-04,-2.26430594e-04,-1.69425958e-04,
  6.32468372e-02,-4.49646734e-04, 6.31182360e-02,-4.15505982e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46372801,  4.45796138, -0.22682172,  4.45796138,  4.57865197,
        2.25871919, -0.22682172,  2.25871919, 48.85666817,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027532309039224323
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00810926e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.00810926e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08251537, -0.0577145 ,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.54597567e-05, 6.74959529e-06, 8.49770209e-06,-1.38540264e-05,
  5.82545185e-06,-3.78538786e-05,-3.34183391e-05,-2.54932249e-06,
  3.20345127e-06, 3.33465725e-05, 2.39412844e-05,-2.16455086e-05,
 -3.96374133e-04,-9.69024697e-05,-2.47332108e-04,-3.33392095e-05,
 -9.05203614e-06, 1.00491990e-06,-1.21645068e+00,-1.78154200e-03,
 -2.98050186e-04, 2.30805571e-06]


--- Step 304 ---
qpos:
[ 2.85608640e-03,-5.58595891e-03,-1.01615821e-02, 2.78982226e-03,
 -4.49038523e-03,-5.13849566e-03,-1.77072479e-02, 5.10933829e-03,
 -4.67524952e-03,-3.97408638e-03,-7.68827640e-03,-1.91007294e-02,
  6.88110208e-01, 1.79697693e-02, 6.25080473e-01, 2.75363761e-02,
  9.49813468e-02,-7.00159670e-02, 1.30732044e-01, 9.99819795e-01,
  1.71123827e-04,-1.44810143e-04,-1.89822920e-02]

qacc:
[-1.58225462, 0.48244412,-0.84467852,-1.62395268, 0.66348444,-0.23801125,
  1.90229151,-7.56927116, 3.3532763 , 0.89210026,-0.9448866 ,-3.99839351,
 -1.95061955, 3.99112824,-2.37091628, 2.21080689, 0.98587132,-0.73995787,
 -0.15252872, 9.28993934,14.73123216,-0.40663338]

qfrc_actuator:
[-9.09569752e-05,-4.04419762e-04,-2.45904776e-04,-6.96198984e-05,
  2.27076391e-06,-4.73556352e-04,-4.19155473e-04,-6.66295271e-05,
  3.05858490e-05,-2.94561005e-04,-2.38428679e-04,-1.83613317e-04,
  6.31238518e-02,-4.28075048e-04, 6.29725953e-02,-4.18733628e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002698776205966452
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.05690087e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.05690087e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08251423, -0.05771245,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.25208379e-06, 4.46240133e-06,-1.30861449e-05,-8.44552950e-06,
  3.93407398e-06,-4.48134771e-05,-2.89295132e-05,-2.16873986e-05,
  1.98426029e-05, 5.80859267e-05,-2.90706258e-06,-1.23494160e-05,
 -4.06428038e-04,-5.78288013e-05,-2.72676448e-04,-6.81769284e-05,
 -1.14422150e-05,-7.11873204e-08,-1.21645646e+00,-1.78405897e-03,
 -2.98396647e-04, 3.27993146e-06]


--- Step 305 ---
qpos:
[ 2.85563942e-03,-5.58643515e-03,-1.01616988e-02, 2.79001664e-03,
 -4.49029690e-03,-5.13843517e-03,-1.77084164e-02, 5.10901300e-03,
 -4.67512000e-03,-3.97347969e-03,-7.68847496e-03,-1.91021341e-02,
  6.89443240e-01, 1.79736889e-02, 6.26696254e-01, 2.75358202e-02,
  9.49889691e-02,-7.00310574e-02, 1.30732563e-01, 9.99818026e-01,
  2.74983553e-04,-8.03609100e-05,-1.90743994e-02]

qacc:
[  5.17432255,  1.02922998, -4.68180144,  9.23528908,  0.40592834,
  -2.55170953, 11.26675644,-22.39855304,  2.06759376,  1.38275569,
  -4.91548081,  8.15887088, -1.89239722,  4.01386199,-11.08800609,
  31.38032193, -0.89753546,  1.78341982,  0.17037738,-22.49197221,
 -19.01073636,  0.33633985]

qfrc_actuator:
[-6.02168152e-05,-4.04573465e-04,-2.54815821e-04,-5.70063933e-05,
  4.47467623e-06,-4.65745777e-04,-3.93008458e-04,-9.55960543e-05,
  4.22424226e-05,-2.73706648e-04,-2.45438848e-04,-1.73560606e-04,
  6.30180947e-02,-3.98984469e-04, 6.28164231e-02,-4.08105327e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45315655,  2.61210831, -3.60659027,  2.61210831, 15.85433595,
        8.25741581, -3.60659027,  8.25741581, 10.43367079,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027168369757150923
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02161358e-13,  5.10806792e-14,  1.00000000e+00, -5.21847158e-27,
        1.00000000e+00, -5.10806792e-14, -1.00000000e+00,  0.00000000e+00,
        1.02161358e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10762052, -0.09365347,  0.06199161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.04797090e-05,-7.05663591e-07,-9.88675046e-06, 1.21891805e-05,
  2.30311715e-06,-2.41457276e-05, 1.25900404e-05,-3.23079367e-05,
  1.22443118e-05, 5.22107912e-05, 4.20295113e-06, 1.22016774e-05,
 -3.89247449e-04,-4.77922632e-05,-2.97930496e-04, 6.53795253e-05,
 -1.41183517e-05,-9.96310062e-07,-1.21646412e+00,-1.78686585e-03,
 -2.99173399e-04, 4.43094717e-06]


--- Step 306 ---
qpos:
[ 2.85556432e-03,-5.58696639e-03,-1.01615969e-02, 2.78999773e-03,
 -4.49018278e-03,-5.13864388e-03,-1.77092803e-02, 5.10869458e-03,
 -4.67485148e-03,-3.97255236e-03,-7.68873324e-03,-1.91030541e-02,
  6.90774188e-01, 1.79770314e-02, 6.28308788e-01, 2.75351109e-02,
  9.49929461e-02,-7.00392119e-02, 1.30733107e-01, 9.99816246e-01,
  3.33518938e-04,-5.15454060e-05,-1.91666222e-02]

qacc:
[ 3.26067840e+00,-1.12930694e+00, 4.81041744e+00,-8.79892178e+00,
  2.39108999e-01,-1.19259889e+00, 3.70660757e+00,-3.87626772e+00,
  1.20982681e+00, 1.58705848e+00,-7.09077880e+00, 1.53370338e+01,
 -6.34405789e-01,-3.78766662e-01,-4.32636059e+00, 8.19716081e+00,
 -9.11313756e-01, 1.73399981e+00, 6.07366319e-03,-2.23182040e+01,
 -1.82459058e+01,-5.10541180e-02]

qfrc_actuator:
[-4.19492366e-05,-4.04489568e-04,-2.42255821e-04,-6.74165823e-05,
  5.73475744e-06,-4.78693932e-04,-3.77058591e-04,-9.47202587e-05,
  4.90420343e-05,-2.61696147e-04,-2.49475283e-04,-1.49329459e-04,
  6.29014513e-02,-4.36681044e-04, 6.26647467e-02,-4.08923687e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47084698, -1.90788409,  4.04332178, -1.90788409,  7.38546675,
        1.37529412,  4.04332178,  1.37529412,  5.11979404,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000277738369864014
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.99342497e-14, -9.99342497e-14,  1.00000000e+00,  9.98685427e-27,
        1.00000000e+00,  9.99342497e-14, -1.00000000e+00,  0.00000000e+00,
        9.99342497e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.107614  , -0.09365409,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.91399196e-05,-1.80040455e-06, 1.16239593e-05,-1.05455889e-05,
  1.31851245e-06,-2.52210382e-05, 1.14091352e-05,-3.48749986e-07,
  7.16826157e-06, 4.25853052e-05, 7.68515947e-06, 2.68518221e-05,
 -3.86657251e-04,-1.10480370e-04,-2.88083540e-04,-4.44169933e-05,
 -9.03640796e-06,-7.44166570e-07,-1.21645081e+00,-1.78772489e-03,
 -3.02076894e-04, 2.12782114e-06]


--- Step 307 ---
qpos:
[ 2.85605405e-03,-5.58752469e-03,-1.01619039e-02, 2.78989449e-03,
 -4.49074432e-03,-5.13890536e-03,-1.77100464e-02, 5.10872067e-03,
 -4.67415826e-03,-3.97162721e-03,-7.68862106e-03,-1.91033193e-02,
  6.92102959e-01, 1.79799668e-02, 6.29918242e-01, 2.75319045e-02,
  9.49932371e-02,-7.00405909e-02, 1.30733122e-01, 9.99814455e-01,
  3.47057407e-04,-5.71382671e-05,-1.92595665e-02]

qacc:
[  4.92857216,  0.92389012, -3.00674214,  2.23907612, -5.88867161,
   0.37731494, -2.88101665,  8.70426801,  3.73014144,  0.30303519,
  -3.85708488, 14.60241298, -0.98838927,  0.67305579,  3.05285494,
 -17.1735869 , -0.9215183 ,  1.69384576, -0.13217483,-22.16459467,
 -17.63236126, -0.35384296]

qfrc_actuator:
[-1.34291389e-05,-4.21946374e-04,-2.70397008e-04,-7.35271568e-05,
 -2.90755867e-05,-4.68465197e-04,-3.67325780e-04,-7.63189087e-05,
  7.06836235e-05,-2.72805794e-04,-2.34005371e-04,-1.16961045e-04,
  6.27836638e-02,-4.60289698e-04, 6.25105392e-02,-4.21803972e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47969403, -1.85922552,  4.07565198, -1.85922552,  9.58322362,
        2.32812137,  4.07565198,  2.32812137,  5.54173335,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002807014158994342
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.88793574e-14, -2.96638072e-13,  1.00000000e+00,  2.93313819e-26,
        1.00000000e+00,  2.96638072e-13, -1.00000000e+00,  0.00000000e+00,
        9.88793574e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10760923, -0.09365531,  0.06199133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.90680376e-05,-1.64894154e-05,-2.74418479e-05,-5.99052255e-06,
 -3.47817949e-05,-1.51422410e-06, 5.93010851e-06, 1.77118566e-05,
  2.18622230e-05, 1.54159391e-05, 2.61353933e-05, 3.49811674e-05,
 -3.97372157e-04,-1.03056810e-04,-2.99019916e-04,-1.70056991e-04,
 -4.76678695e-06, 2.48307673e-07,-1.21644298e+00,-1.78793840e-03,
 -3.04368487e-04, 7.97877139e-07]


--- Step 308 ---
qpos:
[ 2.85688185e-03,-5.58783378e-03,-1.01629849e-02, 2.79005441e-03,
 -4.49171907e-03,-5.13881223e-03,-1.77108602e-02, 5.10857873e-03,
 -4.67355558e-03,-3.97093888e-03,-7.68841959e-03,-1.91034894e-02,
  6.93429446e-01, 1.79829516e-02, 6.31524290e-01, 2.75284169e-02,
  9.49898117e-02,-7.00353247e-02, 1.30732143e-01, 9.99812645e-01,
  3.15881163e-04,-9.61587844e-05,-1.93537042e-02]

qacc:
[  2.92896947,  3.02892475,-11.44250973, 17.06185158, -3.6114349 ,
   0.26320745,  0.46295336, -3.56849709, -0.78569531, -0.36534028,
   0.45049923,  1.22158496, -1.44040429,  2.28719564, -4.09397571,
   7.24295258, -0.92910173,  1.66131478, -0.24840432,-22.03133757,
 -17.1415277 , -0.58977204]

qfrc_actuator:
[ 3.14812781e-06,-3.96675628e-04,-3.04666176e-04,-5.93489739e-05,
 -4.93317778e-05,-4.26686429e-04,-3.61238462e-04,-8.32478700e-05,
  6.53838365e-05,-3.15345608e-04,-2.42743204e-04,-1.15579389e-04,
  6.26705988e-02,-4.57632217e-04, 6.23708922e-02,-4.22153007e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48112441, -1.79354697,  4.10653932, -1.79354697, 12.54696909,
        3.52278893,  4.10653932,  3.52278893,  6.01971613,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028117655437479017
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.87122688e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.87122688e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10760583, -0.093657  ,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.74057297e-05, 1.01574545e-05,-4.12539390e-05, 1.24063438e-05,
 -2.12547336e-05, 4.29220343e-05, 7.13142221e-06,-6.44018962e-06,
 -4.66960111e-06,-2.70475201e-05,-1.13629042e-06, 3.62468902e-06,
 -3.98847986e-04,-7.79031011e-05,-3.03704691e-04,-5.31925902e-05,
 -1.16796959e-06, 2.03637120e-06,-1.21644030e+00,-1.78748910e-03,
 -3.06116212e-04, 3.74672400e-07]


--- Step 309 ---
qpos:
[ 2.85755734e-03,-5.58809090e-03,-1.01638910e-02, 2.79034189e-03,
 -4.49258456e-03,-5.13825904e-03,-1.77119531e-02, 5.10835691e-03,
 -4.67302038e-03,-3.97103489e-03,-7.68802169e-03,-1.91035770e-02,
  6.94753690e-01, 1.79859655e-02, 6.33126568e-01, 2.75265192e-02,
  9.49826470e-02,-7.00235183e-02, 1.30729780e-01, 9.99810800e-01,
  2.40228768e-04,-1.67825148e-04,-1.94494018e-02]

qacc:
[ -1.32772422, -0.1549185 ,  0.1180563 ,  1.76677791,  0.93630886,
   1.22128343, -3.13872075,  1.86834087, -0.57125242, -1.41456497,
   3.19318001, -1.50375265, -1.29493645,  1.91018965,-10.3169401 ,
  28.19149224, -0.9347905 ,  1.63506448, -0.34604949,-21.91806983,
 -16.75050227, -0.77279151]

qfrc_actuator:
[-5.19210751e-06,-3.81539079e-04,-2.88825618e-04,-5.10639261e-05,
 -4.30950361e-05,-4.01869189e-04,-3.74984485e-04,-8.72476521e-05,
  6.20172100e-05,-3.94260624e-04,-2.48120068e-04,-1.14739349e-04,
  6.25604554e-02,-4.57261277e-04, 6.22081670e-02,-4.13329735e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47659472, -1.70881318,  4.13761499, -1.70881318, 16.5278866 ,
        4.97712003,  4.13761499,  4.97712003,  6.53211906,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002796681782610555
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.92446684e-14, -2.97734005e-13,  1.00000000e+00,  2.95485126e-26,
        1.00000000e+00,  2.97734005e-13, -1.00000000e+00,  0.00000000e+00,
        9.92446684e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10760353, -0.09365908,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.83603885e-06, 1.28537890e-05, 1.33008783e-05, 7.53606057e-06,
  5.64242057e-06, 5.00150819e-05,-4.21531944e-06,-2.03652798e-06,
 -3.50716522e-06,-9.41459311e-05,-1.09871058e-05,-2.88317213e-07,
 -3.92084457e-04,-7.78782730e-05,-3.15260479e-04, 4.45966684e-05,
  1.86561096e-06, 4.65470553e-06,-1.21644253e+00,-1.78636545e-03,
 -3.07370783e-04, 8.07874569e-07]


--- Step 310 ---
qpos:
[ 2.85812787e-03,-5.58838229e-03,-1.01645445e-02, 2.79038635e-03,
 -4.49336858e-03,-5.13744773e-03,-1.77134303e-02, 5.10846784e-03,
 -4.67252968e-03,-3.97193949e-03,-7.68763937e-03,-1.91032895e-02,
  6.96075889e-01, 1.79880613e-02, 6.34725543e-01, 2.75252151e-02,
  9.49717259e-02,-7.00052558e-02, 1.30725705e-01, 9.99808896e-01,
  1.20297299e-04,-2.71517710e-04,-1.95469414e-02]

qacc:
[ -0.9097408 , -1.24986969,  5.41958167,-10.00731988,  0.69434545,
   2.09784343, -8.39260044, 14.57952104, -0.3759554 , -0.25183328,
  -2.23193034,  9.33554306, -0.21408334, -1.81310909, -6.71598435,
  16.32653754, -0.93913557,  1.61399577, -0.428039  ,-21.82405073,
 -16.44089648, -0.9138651 ]

qfrc_actuator:
[-1.03750548e-05,-3.90138114e-04,-2.79063807e-04,-6.40370573e-05,
 -3.90723508e-05,-4.05228787e-04,-4.00380082e-04,-7.17582396e-05,
  5.98236517e-05,-4.41100622e-04,-2.51623198e-04,-9.64972103e-05,
  6.24468177e-02,-5.11519600e-04, 6.20690309e-02,-4.09830526e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46747104, -1.60243494,  4.17019181, -1.60243494, 21.85737617,
        6.6822326 ,  4.17019181,  6.6822326 ,  7.03518099,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027659650203055997
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00346806e-13, -5.01734032e-14,  1.00000000e+00,  5.03474077e-27,
        1.00000000e+00,  5.01734032e-14, -1.00000000e+00,  0.00000000e+00,
        1.00346806e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1076021 , -0.09366146,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.40158209e-06, 1.67351582e-06, 1.43285484e-05,-1.18133081e-05,
  4.20213492e-06, 2.36457835e-05,-1.56482529e-05, 1.74482632e-05,
 -2.32602635e-06,-1.01768077e-04,-2.43141590e-05, 1.38243121e-05,
 -3.90850412e-04,-1.31461234e-04,-2.84942517e-04,-4.41976445e-06,
  4.41281497e-06, 8.12377525e-06,-1.21644950e+00,-1.78455978e-03,
 -3.08169821e-04, 2.05977447e-06]


--- Step 311 ---
qpos:
[ 2.85794186e-03,-5.58846809e-03,-1.01654241e-02, 2.78993230e-03,
 -4.49340824e-03,-5.13669947e-03,-1.77150774e-02, 5.10913601e-03,
 -4.67275937e-03,-3.97310627e-03,-7.68778058e-03,-1.91035114e-02,
  6.97395844e-01, 1.79895911e-02, 6.36321207e-01, 2.75245952e-02,
  9.49645077e-02,-6.99904975e-02, 1.30724000e-01, 9.99806990e-01,
  1.93841227e-05,-3.39726531e-04,-1.96435039e-02]

qacc:
[ -6.62882639, -0.11040863,  2.91449772,-11.35578988,  6.48804402,
   1.52605729, -7.93680395, 17.92365932, -6.31912804,  0.07980605,
   1.38195829, -9.18613405, -0.72059004, -0.24172105, -6.95160309,
  17.2578939 ,  0.92574498, -0.87602483,  0.59260914,  9.16066273,
  17.92441316,  0.48375658]

qfrc_actuator:
[-4.91553275e-05,-3.77407777e-04,-2.90849450e-04,-8.94455368e-05,
 -8.88750522e-07,-4.25476578e-04,-4.14796098e-04,-4.49559794e-05,
  2.28326650e-05,-4.32852367e-04,-2.71621297e-04,-1.21397250e-04,
  6.23204948e-02,-5.44362104e-04, 6.19228387e-02,-4.05939186e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4616824 , -2.50095333,  3.69483995, -2.50095333, 16.86836617,
        8.39780275,  3.69483995,  8.39780275, 10.14596455,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002746238362332093
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.04270452e-13,  4.04270452e-13,  1.00000000e+00, -1.63434599e-25,
        1.00000000e+00, -4.04270452e-13, -1.00000000e+00,  0.00000000e+00,
        4.04270452e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0825366 , -0.05769487,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.89325707e-05, 1.61340864e-05,-1.00732513e-05,-2.50687633e-05,
  3.83122127e-05,-9.52069335e-06,-1.08484875e-05, 2.76145079e-05,
 -3.70949392e-05,-5.30614257e-05,-4.35278375e-05,-2.98296680e-05,
 -4.12099872e-04,-1.16197426e-04,-2.85051014e-04, 3.07333280e-07,
  6.53273116e-06, 1.24541075e-05,-1.21646109e+00,-1.78206702e-03,
 -3.08541038e-04, 4.10258434e-06]


--- Step 312 ---
qpos:
[ 2.85763732e-03,-5.58834795e-03,-1.01662291e-02, 2.78984694e-03,
 -4.49229982e-03,-5.13644398e-03,-1.77163542e-02, 5.10944799e-03,
 -4.67308595e-03,-3.97455615e-03,-7.68762759e-03,-1.91047754e-02,
  6.98713412e-01, 1.79913563e-02, 6.37914136e-01, 2.75196886e-02,
  9.49610318e-02,-6.99790964e-02, 1.30723994e-01, 9.99805085e-01,
 -6.23794532e-05,-3.73842195e-04,-1.97395284e-02]

qacc:
[ -1.03790821,  0.82519687, -4.10012668, 10.20633462, 10.03271489,
  -2.43835248,  9.21956715,-15.57854285, -0.83462226, -3.34154043,
  15.76494412,-34.04641272, -1.91773107,  3.62931032,  9.07530245,
 -37.27061356,  0.93555416, -0.83931315,  0.42477696,  9.23818911,
  17.23137659,  0.26532139]

qfrc_actuator:
[-5.41425333e-05,-3.52105990e-04,-2.79680800e-04,-6.87046396e-05,
  5.70959209e-05,-4.73391991e-04,-4.04932236e-04,-6.49814984e-05,
  1.89148249e-05,-4.27279395e-04,-2.47744287e-04,-1.71448101e-04,
  6.22079554e-02,-5.28834648e-04, 6.17725324e-02,-4.28474325e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47910637,  2.45706962, -3.74502372,  2.45706962,  7.92771185,
        2.26259282, -3.74502372,  2.26259282,  5.96356908,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028050589501851797
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.97896558e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.97896558e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08254198, -0.05769274,  0.06199133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.09155442e-06, 3.11705887e-05, 1.24071015e-05, 2.06005177e-05,
  5.90788784e-05,-5.42929025e-05, 7.52413452e-06,-2.02724585e-05,
 -4.99656263e-06,-3.43358328e-05, 6.54152395e-06,-5.44051112e-05,
 -4.09711058e-04,-7.01884695e-05,-2.88973477e-04,-2.63767187e-04,
  6.12621965e-06, 8.75614193e-06,-1.21645248e+00,-1.78127203e-03,
 -3.06609763e-04, 2.92501223e-06]


--- Step 313 ---
qpos:
[ 2.85796481e-03,-5.58807727e-03,-1.01666185e-02, 2.79033876e-03,
 -4.49119439e-03,-5.13662395e-03,-1.77174274e-02, 5.10848657e-03,
 -4.67276805e-03,-3.97560257e-03,-7.68781394e-03,-1.91066748e-02,
  7.00028642e-01, 1.79933120e-02, 6.39504167e-01, 2.75110030e-02,
  9.49613264e-02,-6.99709343e-02, 1.30725123e-01, 9.99803182e-01,
 -1.24906760e-04,-3.74981465e-04,-1.98353591e-02]

qacc:
[ 5.53963159e+00, 2.15438383e-01,-2.93449922e+00, 1.21683367e+01,
 -1.30213554e-02,-3.76538304e+00, 1.79672005e+01,-4.00131434e+01,
  5.62423157e+00, 1.61793348e-01, 2.85639913e+00,-1.35793579e+01,
 -1.80843119e+00, 3.32359087e+00, 7.28942079e+00,-3.13941828e+01,
  9.42646252e-01,-8.09756978e-01, 2.83602292e-01, 9.29082719e+00,
  1.66748350e+01, 9.43952284e-02]

qfrc_actuator:
[-2.14366509e-05,-3.37096533e-04,-2.54949708e-04,-3.86945389e-05,
  5.52492486e-05,-5.01947767e-04,-3.98725383e-04,-1.30165781e-04,
  5.22581413e-05,-3.69927908e-04,-2.51408426e-04,-2.00347801e-04,
  6.20931282e-02,-5.20365460e-04, 6.16464542e-02,-4.46867733e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48772591,  2.4258911 , -3.77554449,  2.4258911 , 10.2048468 ,
        3.6734073 , -3.77554449,  3.6734073 ,  6.84799106,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000283355561606885
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95906341e-13,  3.91812682e-13,  1.00000000e+00, -7.67585888e-26,
        1.00000000e+00, -3.91812682e-13, -1.00000000e+00,  0.00000000e+00,
        1.95906341e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08254587, -0.05769076,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.25417659e-05, 3.58896554e-05, 3.34194643e-05, 3.21779715e-05,
 -1.71549618e-07,-5.82048903e-05,-4.77298962e-06,-6.76455257e-05,
  3.31859631e-05, 3.72229997e-05,-1.18147988e-05,-3.11972398e-05,
 -4.02620338e-04,-7.13977903e-05,-2.97356889e-04,-2.37874674e-04,
  5.43086079e-06, 5.42001239e-06,-1.21644649e+00,-1.78071389e-03,
 -3.05231015e-04, 1.99433656e-06]


--- Step 314 ---
qpos:
[ 2.85764705e-03,-5.58767764e-03,-1.01669213e-02, 2.79086664e-03,
 -4.49046435e-03,-5.13676804e-03,-1.77186999e-02, 5.10775473e-03,
 -4.67205335e-03,-3.97583224e-03,-7.68916555e-03,-1.91085572e-02,
  7.01341321e-01, 1.79960818e-02, 6.41090248e-01, 2.75044644e-02,
  9.49654122e-02,-6.99659163e-02, 1.30726912e-01, 9.99801279e-01,
 -1.68142354e-04,-3.44038747e-04,-1.99312644e-02]

qacc:
[-5.64388545e+00, 1.35638576e-02, 6.57343870e-02, 3.04445556e-01,
 -3.28063625e+00, 1.08303896e+00,-4.75122584e+00, 9.00551519e+00,
  3.42341363e+00, 4.36529952e+00,-1.40795271e+01, 1.56442312e+01,
 -2.30850491e+00, 5.14722371e+00,-1.21692812e+01, 3.45363381e+01,
  9.47807530e-01,-7.86003737e-01, 1.65065413e-01, 9.32576451e+00,
  1.62291708e+01,-3.89498291e-02]

qfrc_actuator:
[-5.55812364e-05,-3.46042086e-04,-2.57957240e-04,-3.89841438e-05,
  3.59482337e-05,-4.65490074e-04,-3.94694112e-04,-1.14869847e-04,
  7.17502910e-05,-3.17587890e-04,-3.06586657e-04,-1.98793926e-04,
  6.19610325e-02,-4.80675265e-04, 6.14924194e-02,-4.34251184e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4889776 ,  2.37987299, -3.80619554,  2.37987299, 13.26213847,
        5.4855323 , -3.80619554,  5.4855323 ,  7.91887763,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028376617827505224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95622860e-13,  1.95622860e-13,  1.00000000e+00, -3.82683032e-26,
        1.00000000e+00, -1.95622860e-13, -1.00000000e+00,  0.00000000e+00,
        1.95622860e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08254858, -0.05768887,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.32052630e-05, 1.94097635e-05, 9.63429517e-06, 3.02861709e-06,
 -1.93232354e-05, 4.69967062e-08,-1.09028875e-05, 1.13253020e-05,
  2.04507301e-05, 6.94355091e-05,-5.00069543e-05, 2.13744410e-06,
 -4.15301067e-04,-3.91453696e-05,-3.25647875e-04, 7.27435718e-05,
  4.45028451e-06, 2.38462139e-06,-1.21644290e+00,-1.78040898e-03,
 -3.04376517e-04, 1.29449984e-06]


--- Step 315 ---
qpos:
[ 2.85692288e-03,-5.58717039e-03,-1.01675161e-02, 2.79176220e-03,
 -4.48962652e-03,-5.13694317e-03,-1.77194391e-02, 5.10820408e-03,
 -4.67179965e-03,-3.97599917e-03,-7.69066019e-03,-1.91100347e-02,
  7.02651421e-01, 1.79994272e-02, 6.42672556e-01, 2.75003777e-02,
  9.49733046e-02,-6.99639661e-02, 1.30728964e-01, 9.99799372e-01,
 -1.92051892e-04,-2.81727354e-04,-2.00274534e-02]

qacc:
[ -3.56597666,  1.72265993, -7.47576559, 14.21373917,  0.95792884,
   0.89894886, -8.25433355, 27.87099167, -4.0412898 ,  1.32470761,
  -6.29523055, 13.46309603, -2.0676921 ,  4.23899632,-12.85822404,
  37.25896317,  0.95163301, -0.76696435,  0.06573686,  9.34845043,
  15.87383978, -0.14253193]

qfrc_actuator:
[-7.55537340e-05,-3.51646640e-04,-2.77445259e-04,-2.16380673e-05,
  4.20534710e-05,-4.43579354e-04,-3.56141546e-04,-5.22794092e-05,
  4.74163480e-05,-3.39839956e-04,-3.20701171e-04,-1.79366257e-04,
  6.18186790e-02,-4.58457614e-04, 6.13324613e-02,-4.21222747e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4843207 ,  2.31738662, -3.83912117,  2.31738662, 17.35507975,
        7.76910223, -3.83912117,  7.76910223,  9.17393917,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028223440595374905
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.90751037e-14, -5.90053694e-13,  1.00000000e+00, -2.89569462e-26,
        1.00000000e+00,  5.90053694e-13, -1.00000000e+00,  0.00000000e+00,
       -4.90751037e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08255037, -0.05768707,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.09163024e-05, 7.34654347e-06,-1.41879258e-05, 1.85700968e-05,
  5.55131103e-06, 2.01853350e-05, 3.76301445e-05, 6.24411872e-05,
 -2.37262461e-05, 6.37655602e-06,-5.83550236e-06, 2.07197357e-05,
 -4.27658228e-04,-5.55817980e-05,-3.07251981e-04, 9.11656876e-05,
  3.18714506e-06,-3.95126998e-07,-1.21644155e+00,-1.78036914e-03,
 -3.04024189e-04, 8.12683261e-07]


--- Step 316 ---
qpos:
[ 2.85665447e-03,-5.58669990e-03,-1.01679779e-02, 2.79250268e-03,
 -4.48906710e-03,-5.13712615e-03,-1.77196672e-02, 5.10905231e-03,
 -4.67183933e-03,-3.97622350e-03,-7.69222270e-03,-1.91116024e-02,
  7.03959041e-01, 1.80027826e-02, 6.44251426e-01, 2.75000651e-02,
  9.49850146e-02,-6.99650234e-02, 1.30730947e-01, 9.99797453e-01,
 -1.96610659e-04,-1.88616720e-04,-2.01240877e-02]

qacc:
[ 3.99167486e+00,-7.47656963e-01, 3.23644611e+00,-6.09155005e+00,
 -2.41177590e+00,-6.12152721e-01, 4.92162270e-01, 5.59067529e+00,
 -2.56966938e+00,-6.69328362e-02, 5.17492474e-01,-1.93600082e+00,
 -1.35513435e+00, 1.85971016e+00,-1.64386588e+01, 5.03231273e+01,
  9.54408167e-01,-7.51871616e-01,-1.72855956e-02, 9.36496513e+00,
  1.55903458e+01,-2.22535179e-01]

qfrc_actuator:
[-5.14984480e-05,-3.55276838e-04,-2.70972296e-04,-2.95618859e-05,
  2.75641792e-05,-4.48096882e-04,-3.33034307e-04,-3.33662247e-05,
  3.29911056e-05,-3.53162069e-04,-3.28486204e-04,-1.85114218e-04,
  6.16862427e-02,-4.64563051e-04, 6.12063561e-02,-4.00962490e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47511983,  2.23967624, -3.87434482,  2.23967624, 22.81169255,
       10.59998223, -3.87434482, 10.59998223, 10.60274385,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027917468422145167
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00921324e-06, -1.00921328e-06,  1.00000000e+00, -1.01851141e-12,
        1.00000000e+00,  1.00921328e-06, -1.00000000e+00,  0.00000000e+00,
       -1.00921324e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08255334, -0.05768349,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.34586914e-05,-1.67537176e-06, 6.88605917e-06,-7.73934736e-06,
 -1.43272337e-05, 1.72336593e-05, 3.40824051e-05, 2.22964199e-05,
 -1.51035403e-05,-1.00549903e-05,-6.44590150e-06,-5.26533306e-06,
 -4.28650586e-04,-8.83938018e-05,-2.63802150e-04, 1.66661441e-04,
  1.64310539e-06,-2.95253547e-06,-1.21644231e+00,-1.78060293e-03,
 -3.04156875e-04, 5.38840655e-07]


--- Step 317 ---
qpos:
[ 2.85667624e-03,-5.58623163e-03,-1.01683286e-02, 2.79244889e-03,
 -4.48903055e-03,-5.13713290e-03,-1.77202001e-02, 5.11015418e-03,
 -4.67205184e-03,-3.97654816e-03,-7.69384406e-03,-1.91132213e-02,
  7.05264434e-01, 1.80054053e-02, 6.45827347e-01, 2.75014156e-02,
  9.49958528e-02,-6.99715854e-02, 1.30732381e-01, 9.99795562e-01,
 -1.58375689e-04,-9.63645487e-05,-2.02188167e-02]

qacc:
[ 2.54131238e+00,-1.95425756e+00, 1.03077195e+01,-2.42203238e+01,
 -4.57262520e+00, 1.61515801e+00,-6.47676003e+00, 1.12084979e+01,
 -1.51317411e+00,-7.06532612e-02, 2.80594106e-01,-1.00407074e+00,
 -5.14002369e-01,-9.33193341e-01,-9.40397878e+00, 2.65579322e+01,
 -2.17968190e-01,-1.37616453e+00,-1.37199613e-01, 2.14013549e+01,
  1.26295108e-03, 9.48667604e-01]

qfrc_actuator:
[-3.72313816e-05,-3.57621104e-04,-2.66983644e-04,-7.00245810e-05,
  1.06124586e-06,-4.50729484e-04,-3.54890594e-04,-2.25969323e-05,
  2.45278640e-05,-3.61031162e-04,-3.32491495e-04,-1.87881801e-04,
  6.15758177e-02,-5.05079828e-04, 6.10740393e-02,-3.92570800e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4659597 ,  3.8091584 ,  2.33133188,  3.8091584 ,  7.22882624,
       -4.514242  ,  2.33133188, -4.514242  , 11.84177049,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002760832716531469
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.01066696e-13, -7.49980786e-07,  1.00000000e+00,  1.50796159e-19,
        1.00000000e+00,  7.49980786e-07, -1.00000000e+00, -2.40741243e-35,
        2.01066696e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09668444, -0.04640347,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49358125e-05,-2.19462504e-06, 4.22054376e-06,-4.04494278e-05,
 -2.69099216e-05, 1.50017063e-05,-1.33230851e-05, 1.31207300e-05,
 -8.90019941e-06,-1.50241496e-05,-7.03319258e-06,-3.51562854e-06,
 -4.12537054e-04,-1.27292891e-04,-2.43365845e-04, 5.73558757e-05,
 -1.81521398e-07,-5.31177186e-06,-1.21644511e+00,-1.78111649e-03,
 -3.04761105e-04, 4.65381106e-07]


--- Step 318 ---
qpos:
[ 2.85686892e-03,-5.58554976e-03,-1.01690118e-02, 2.79191379e-03,
 -4.48931190e-03,-5.13715894e-03,-1.77211956e-02, 5.11175895e-03,
 -4.67236455e-03,-3.97669251e-03,-7.69567684e-03,-1.91141958e-02,
  7.06567673e-01, 1.80074725e-02, 6.47400291e-01, 2.75014316e-02,
  9.50050628e-02,-6.99836017e-02, 1.30732978e-01, 9.99793701e-01,
 -7.74902238e-05,-1.17099704e-05,-2.03112903e-02]

qacc:
[ 1.48074420e+00, 2.17710321e-01, 1.65992808e+00,-9.60945953e+00,
 -2.78641645e+00, 2.30778389e+00,-1.03796709e+01, 1.98284258e+01,
 -8.86635166e-01, 2.15861583e+00,-1.00632209e+01, 2.14075807e+01,
 -7.87121921e-01, 1.40611652e-03,-3.35997156e-01,-5.14773015e+00,
 -4.07032311e-01,-1.36360490e+00,-2.09242119e-01, 2.13978066e+01,
 -3.36702553e+00, 1.12513467e+00]

qfrc_actuator:
[-2.88539456e-05,-3.41461004e-04,-2.82269464e-04,-9.38041186e-05,
 -1.45414083e-05,-4.70164721e-04,-3.85361029e-04, 1.02433375e-06,
  1.96386169e-05,-3.30057293e-04,-3.34210814e-04,-1.53358793e-04,
  6.14786663e-02,-5.29999314e-04, 6.09114463e-02,-4.00116436e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45762974,  0.07351013, -4.45702358,  0.07351013, 26.40575302,
        0.36199258, -4.45702358,  0.36199258,  4.46360012,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027323149505308064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09933921, -0.04639115,  0.06199156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.80393409e-06, 1.40639344e-05,-1.66208428e-05,-2.45155784e-05,
 -1.63688176e-05,-1.32414296e-05,-2.85540933e-05, 2.40581880e-05,
 -5.15122769e-06, 2.09997676e-05,-5.78381317e-06, 3.35760789e-05,
 -3.95563157e-04,-1.13397217e-04,-2.77681162e-04,-1.05783009e-04,
 -4.04124083e-06,-4.72667136e-06,-1.21644627e+00,-1.78164088e-03,
 -3.04364266e-04, 1.14201522e-06]


--- Step 319 ---
qpos:
[ 2.85681575e-03,-5.58472331e-03,-1.01699023e-02, 2.79144323e-03,
 -4.48977818e-03,-5.13743708e-03,-1.77224066e-02, 5.11295716e-03,
 -4.67204380e-03,-3.97667921e-03,-7.69725835e-03,-1.91147789e-02,
  7.07868602e-01, 1.80095731e-02, 6.48969683e-01, 2.75015343e-02,
  9.50127086e-02,-7.00010830e-02, 1.30732464e-01, 9.99791859e-01,
  4.55212557e-05, 6.50235311e-05,-2.04017674e-02]

qacc:
[-2.15945984, 0.90720592,-3.2225908 , 4.55672732,-1.61547442,-0.56522044,
  3.2537131 ,-9.76642445, 5.55114827, 0.30126474,-2.44010132, 8.70973444,
 -1.42756854, 2.16336741,-5.42726817,11.58855866,-0.39107126,-1.36621525,
 -0.27783712,21.13911787,-3.53198167, 0.99761784]

qfrc_actuator:
[-4.17597357e-05,-3.32165849e-04,-2.90968086e-04,-8.98163820e-05,
 -2.35997176e-05,-4.99556511e-04,-4.02967450e-04,-2.12518155e-05,
  5.23955412e-05,-3.11523413e-04,-3.16629813e-04,-1.32641884e-04,
  6.13629236e-02,-5.27691977e-04, 6.07467737e-02,-3.99238599e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44675018, -2.89130827, -3.37844989, -2.89130827, 15.89642989,
       -9.79874044, -3.37844989, -9.79874044, 12.83260171,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002694465320043221
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09934164, -0.04639132,  0.06199167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.26489326e-05, 1.26631173e-05,-8.68853389e-06, 3.53882503e-06,
 -9.53200135e-06,-4.16599934e-05,-2.30172886e-05,-2.33639982e-05,
  3.26134618e-05, 3.05461826e-05, 2.23928750e-05, 2.20765848e-05,
 -4.00962327e-04,-8.11749001e-05,-3.12665735e-04,-3.48077090e-05,
 -7.56920660e-06,-3.00335504e-06,-1.21644945e+00,-1.78268811e-03,
 -3.03960878e-04, 1.71992510e-06]


--- Step 320 ---
qpos:
[ 2.85626376e-03,-5.58419478e-03,-1.01704465e-02, 2.79138798e-03,
 -4.49034951e-03,-5.13809174e-03,-1.77234920e-02, 5.11387195e-03,
 -4.67133278e-03,-3.97685431e-03,-7.69816526e-03,-1.91150941e-02,
  7.09167219e-01, 1.80111753e-02, 6.50535675e-01, 2.75012992e-02,
  9.50168416e-02,-7.00116032e-02, 1.30732298e-01, 9.99790007e-01,
  1.22480135e-04, 1.04857658e-04,-2.04918510e-02]

qacc:
[ -4.34742733, -0.4975742 , -0.53545801,  7.37242985, -0.90604633,
  -1.42972554,  5.57564947,-10.40860313,  3.44120789, -1.58962043,
   4.16457315, -0.45673876, -0.8938982 ,  0.23239142, -3.97227757,
   6.68416186, -0.87816182,  1.74023781,  0.08693963,-22.64511371,
 -18.91561514,  0.1960086 ]

qfrc_actuator:
[-6.70870717e-05,-3.62511353e-04,-2.77954176e-04,-6.95216172e-05,
 -2.87372389e-05,-5.16929062e-04,-3.95165070e-04,-3.48528500e-05,
  7.15413159e-05,-3.36008267e-04,-2.87846736e-04,-1.20213263e-04,
  6.12254660e-02,-5.62673099e-04, 6.05969897e-02,-4.00496474e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45080359,  0.51980465, -4.42034566,  0.51980465, 23.24786062,
        2.21041485, -4.42034566,  2.21041485,  4.71073438,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027086484783621356
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02470202e-13, -1.53705303e-13,  1.00000000e+00,  1.57502134e-26,
        1.00000000e+00,  1.53705303e-13, -1.00000000e+00,  0.00000000e+00,
        1.02470202e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10755565, -0.09369134,  0.06199163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.56858344e-05,-2.49300297e-05, 1.46841886e-05, 2.06072905e-05,
 -5.42339748e-06,-4.64054371e-05,-4.43120288e-06,-1.66362067e-05,
  2.00842736e-05,-1.80134433e-06, 3.86326099e-05, 1.49448729e-05,
 -4.20501569e-04,-1.15732234e-04,-3.04019580e-04,-5.62546653e-05,
 -1.07941246e-05,-6.72232869e-07,-1.21645541e+00,-1.78438577e-03,
 -3.03551177e-04, 2.17492003e-06]


--- Step 321 ---
qpos:
[ 2.85541248e-03,-5.58410357e-03,-1.01707176e-02, 2.79159983e-03,
 -4.49063350e-03,-5.13873132e-03,-1.77246608e-02, 5.11458016e-03,
 -4.67039750e-03,-3.97720442e-03,-7.69867394e-03,-1.91148947e-02,
  7.10463291e-01, 1.80130498e-02, 6.52098569e-01, 2.74997837e-02,
  9.50173965e-02,-7.00153221e-02, 1.30731878e-01, 9.99788145e-01,
  1.53829245e-04, 1.09291375e-04,-2.05822637e-02]

qacc:
[ -2.60183985, -0.78601311,  0.84539347,  3.65251014,  2.50303053,
  -0.17729413,  1.52465264, -4.96848009,  1.97907756, -0.2880303 ,
  -1.48518014,  9.88610256, -1.9232966 ,  3.5079557 , -0.56749619,
  -4.31959502, -0.89455447,  1.70034557, -0.06338649,-22.43736855,
 -18.16382249, -0.16486603]

qfrc_actuator:
[-8.17633764e-05,-3.98503943e-04,-2.70135880e-04,-5.75718406e-05,
 -1.37755569e-05,-4.91359554e-04,-3.90124772e-04,-4.32093330e-05,
  8.25102094e-05,-3.50516094e-04,-2.70618892e-04,-9.50381044e-05,
  6.10963662e-02,-5.48498412e-04, 6.04615787e-02,-4.06547309e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46481719, -1.31871228,  4.26562896, -1.31871228,  8.45228971,
        1.23272067,  4.26562896,  1.23272067,  4.84591079,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000275694444849775
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02025407e-13, -1.51012703e-13,  1.00000000e+00,  4.56096732e-26,
        1.00000000e+00,  1.51012703e-13, -1.00000000e+00,  0.00000000e+00,
        3.02025407e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10754931, -0.09369156,  0.06199148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.54216581e-05,-4.60372960e-05, 5.19250994e-06, 1.17921572e-05,
  1.47908957e-05,-1.97555687e-06,-5.64762909e-06,-1.08198008e-05,
  1.15380946e-05,-6.86889427e-06, 2.21442110e-05, 2.67280446e-05,
 -4.31409365e-04,-7.45163931e-05,-2.88617968e-04,-1.04394085e-04,
 -6.22852143e-06,-2.02088668e-08,-1.21644538e+00,-1.78486315e-03,
 -3.06024049e-04, 4.72521098e-07]


--- Step 322 ---
qpos:
[ 2.85439152e-03,-5.58417272e-03,-1.01712560e-02, 2.79195557e-03,
 -4.49039110e-03,-5.13935955e-03,-1.77260927e-02, 5.11554052e-03,
 -4.66968268e-03,-3.97781883e-03,-7.69886080e-03,-1.91147231e-02,
  7.11757013e-01, 1.80147537e-02, 6.53657862e-01, 2.74978631e-02,
  9.50143236e-02,-7.00123696e-02, 1.30730698e-01, 9.99786266e-01,
  1.39946499e-04, 7.95243483e-05,-2.06735695e-02]

qacc:
[ -1.48991914,  0.83438283, -3.88484465,  6.91500666,  4.58265837,
   1.25999556, -5.55103517, 10.34449127, -1.9154752 , -1.30273247,
   4.26159254, -5.07013579, -1.26295122,  1.48834418, -4.02675097,
   6.54025432, -0.90693767,  1.66785665, -0.18996169,-22.25912187,
 -17.56230328, -0.44648744]

qfrc_actuator:
[-9.00490785e-05,-4.02120965e-04,-2.83252926e-04,-5.06469721e-05,
  1.28952774e-05,-4.93523698e-04,-4.04335675e-04,-3.06299356e-05,
  7.08302448e-05,-3.76728376e-04,-2.60317649e-04,-9.80742674e-05,
  6.09830367e-02,-5.58659348e-04, 6.02922805e-02,-4.08265110e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47074831, -1.26350313,  4.28849045, -1.26350313, 11.02637869,
        1.93146274,  4.28849045,  1.93146274,  5.03980851,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002777050866036024
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.9946227e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.9946227e-14, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10754466, -0.09369244,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.74326669e-06,-2.77866599e-05,-2.15756540e-05, 5.36225830e-06,
  2.70948142e-05,-4.85840363e-06,-1.56700641e-05, 1.20905642e-05,
 -1.13564583e-05,-2.43097837e-05, 1.25446899e-05,-2.04259886e-06,
 -4.15155464e-04,-9.62234391e-05,-3.22210869e-04,-6.20832042e-05,
 -2.43082468e-06, 1.41311782e-06,-1.21644079e+00,-1.78468222e-03,
 -3.07906476e-04,-2.68896737e-07]


--- Step 323 ---
qpos:
[ 2.85362367e-03,-5.58413145e-03,-1.01718164e-02, 2.79233924e-03,
 -4.48983074e-03,-5.13994963e-03,-1.77280065e-02, 5.11700139e-03,
 -4.66945826e-03,-3.97860068e-03,-7.69920395e-03,-1.91145678e-02,
  7.13048469e-01, 1.80160276e-02, 6.55213536e-01, 2.74959853e-02,
  9.50075854e-02,-7.00028511e-02, 1.30728332e-01, 9.99784356e-01,
  8.11500681e-05, 1.65138582e-05,-2.07662069e-02]

qacc:
[  2.21166322,  0.26067768, -0.84306652,  1.28841972,  2.75763284,
   2.42168938,-10.68443472, 20.10097477, -4.29530716,  0.19044243,
  -0.91670306,  0.99205319, -0.91102599,  0.37873233, -5.44829187,
  11.38267383, -0.91634157,  1.64149822, -0.29645924,-22.10835708,
 -17.08253439, -0.66545294]

qfrc_actuator:
[-7.67576701e-05,-3.68662034e-04,-2.72994782e-04,-4.67206838e-05,
  2.84849805e-05,-4.94577703e-04,-4.29884256e-04,-5.86508818e-06,
  4.59159861e-05,-3.92051394e-04,-2.72007882e-04,-9.99478327e-05,
  6.08685919e-02,-5.83087790e-04, 6.01347615e-02,-4.07419392e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47000349, -1.19215967,  4.30809547, -1.19215967, 14.44280378,
        2.75972769,  4.30809547,  2.75972769,  5.23369039,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000277453659127444
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00036798e-13,  1.00036798e-13,  1.00000000e+00, -1.00073609e-26,
        1.00000000e+00, -1.00036798e-13, -1.00000000e+00,  0.00000000e+00,
        1.00036798e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10754136, -0.09369387,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30331819e-05, 1.37018936e-05, 2.05428148e-06, 2.09462542e-06,
  1.63648290e-05,-6.44244574e-06,-2.80430844e-05, 2.42510649e-05,
 -2.52495743e-05,-2.63910232e-05,-1.52267186e-05,-2.51836847e-06,
 -4.09635439e-04,-1.10037483e-04,-3.18901270e-04,-3.78921777e-05,
  7.32544127e-07, 3.67000406e-06,-1.21644130e+00,-1.78382876e-03,
 -3.09261712e-04,-1.14309311e-07]


--- Step 324 ---
qpos:
[ 2.85302093e-03,-5.58388374e-03,-1.01723277e-02, 2.79274872e-03,
 -4.48943286e-03,-5.14012613e-03,-1.77300966e-02, 5.11798702e-03,
 -4.66918956e-03,-3.97941618e-03,-7.69976886e-03,-1.91141033e-02,
  7.14337385e-01, 1.80182601e-02, 6.56766304e-01, 2.74939974e-02,
  9.49971529e-02,-6.99868517e-02, 1.30724422e-01, 9.99782392e-01,
 -2.22965654e-05,-7.89796294e-05,-2.08605152e-02]

qacc:
[  1.44228598,  0.18586756, -0.38071449,  0.60232491, -1.42987827,
   0.06326261,  2.57848106,-10.83119999,  0.38150297,  1.21167009,
  -5.68862679, 11.4147957 , -2.60399568,  5.92412436, -3.75319783,
   7.42099517, -0.92355571,  1.62022321, -0.38601137,-21.98299695,
 -16.70167151, -0.83480939]

qfrc_actuator:
[-6.86275610e-05,-3.48669438e-04,-2.66602509e-04,-4.45351322e-05,
  1.96712525e-05,-4.41739071e-04,-4.26406092e-04,-2.73961092e-05,
  4.89245363e-05,-3.83079372e-04,-2.78790990e-04,-8.33716956e-05,
  6.07588807e-02,-5.26985861e-04, 6.00323733e-02,-4.06839423e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46396786, -1.10260658,  4.32565229, -1.10260658, 18.94966779,
        3.69239756,  4.32565229,  3.69239756,  5.40515812,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000275404923260128
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00780971e-13,  1.00780971e-13,  1.00000000e+00,  1.01568041e-26,
        1.00000000e+00, -1.00780971e-13, -1.00000000e+00,  0.00000000e+00,
       -1.00780971e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10753913, -0.09369572,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.50757745e-06, 2.81799836e-05, 9.55349670e-06, 2.88439474e-06,
 -8.34674392e-06, 4.45292083e-05,-4.42370180e-07,-2.23038507e-05,
  2.27620340e-06,-9.01465162e-06,-1.41824312e-05, 1.48733294e-05,
 -4.03601784e-04,-3.03226322e-05,-2.59476218e-04,-3.87607855e-05,
  3.36081746e-06, 6.77565028e-06,-1.21644670e+00,-1.78229347e-03,
 -3.10136716e-04, 8.87622667e-07]


--- Step 325 ---
qpos:
[ 2.85217576e-03,-5.58372077e-03,-1.01726096e-02, 2.79286084e-03,
 -4.48914337e-03,-5.14022256e-03,-1.77317369e-02, 5.11836043e-03,
 -4.66888725e-03,-3.98020994e-03,-7.70044030e-03,-1.91138046e-02,
  7.15624024e-01, 1.80208185e-02, 6.58316378e-01, 2.74919523e-02,
  9.49846209e-02,-6.99769542e-02, 1.30721855e-01, 9.99780482e-01,
 -8.24192575e-05,-1.79673433e-04,-2.09511041e-02]

qacc:
[-2.11228558e+00,-1.36174586e+00, 5.95512136e+00,-1.14135962e+01,
 -9.33061633e-01,-2.40905811e+00, 1.13313956e+01,-2.27097350e+01,
  2.90405560e-01,-1.56420853e-02, 7.95425667e-01,-3.50755100e+00,
 -1.76551529e+00, 3.30923281e+00,-3.68506846e+00, 7.42872856e+00,
 -5.24882833e-01,-1.52548214e+00, 3.35496425e-01, 2.17116451e+01,
 -2.14775186e+00, 1.85801302e+00]

qfrc_actuator:
[-8.13600924e-05,-3.72402088e-04,-2.62592101e-04,-6.11557116e-05,
  1.43213509e-05,-4.45718698e-04,-4.05624764e-04,-5.81764521e-05,
  5.05956117e-05,-3.77349776e-04,-2.82501830e-04,-9.15499726e-05,
  6.06521160e-02,-5.12545504e-04, 5.99258493e-02,-4.06405309e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46235639, -0.7730773 ,  4.39488066, -0.7730773 , 19.97883476,
        2.72941135,  4.39488066,  2.72941135,  4.94247089,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027485448676242696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.01965600e-13,  4.03931199e-13,  1.00000000e+00,  8.15802069e-26,
        1.00000000e+00, -4.03931199e-13, -1.00000000e+00,  0.00000000e+00,
       -2.01965600e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09936868, -0.04639381,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24803971e-05,-5.87643241e-06, 1.11102043e-05,-1.50270006e-05,
 -5.57268311e-06, 1.98996653e-05, 2.91771010e-05,-2.93186982e-05,
  1.72981485e-06,-1.56693538e-06,-6.78961323e-06,-8.76344150e-06,
 -3.81086785e-04,-6.17821476e-05,-2.39960648e-04,-3.34434438e-05,
  5.52786485e-06, 1.07435421e-05,-1.21645680e+00,-1.78007027e-03,
 -3.10566163e-04, 2.70091086e-06]


--- Step 326 ---
qpos:
[ 2.85118467e-03,-5.58368243e-03,-1.01727711e-02, 2.79244097e-03,
 -4.48857531e-03,-5.14040749e-03,-1.77329926e-02, 5.11804330e-03,
 -4.66891235e-03,-3.98087686e-03,-7.70092098e-03,-1.91139861e-02,
  7.16908513e-01, 1.80229810e-02, 6.59863513e-01, 2.74909093e-02,
  9.49759372e-02,-6.99704939e-02, 1.30721155e-01, 9.99778571e-01,
 -1.23595395e-04,-2.46837853e-04,-2.10411975e-02]

qacc:
[ -1.27079126, -1.59401932,  7.69439119,-17.00648484,  2.44271907,
  -2.61766333, 12.07130024,-24.56508532, -2.86279897, -1.34907604,
   7.08599667,-15.79570027, -0.86041422,  0.35986263, -7.34699559,
  19.48252242,  0.96207096, -0.85929745,  0.46692516,  9.12000368,
  16.95946729,  0.24743946]

qfrc_actuator:
[-8.85160783e-05,-3.86656021e-04,-2.60210834e-04,-8.87471283e-05,
  2.88132880e-05,-4.65868575e-04,-3.92769675e-04,-9.41793277e-05,
  3.37045367e-05,-3.55854916e-04,-2.66643207e-04,-1.14229557e-04,
  6.05312095e-02,-5.40605432e-04, 5.98009519e-02,-4.00733825e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48070103, -2.75576386, -3.53305071, -2.75576386, 11.16243387,
       -5.21172193, -3.53305071, -5.21172193,  8.54582099,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028103603165213764
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.97523253e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.97523253e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08257211, -0.05766031,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.51479443e-06,-1.58935365e-05, 2.01845881e-06,-2.77505284e-05,
  1.43391784e-05,-4.23183942e-06, 1.95647236e-05,-3.47079232e-05,
 -1.68447266e-05, 1.88784772e-05, 1.44122599e-05,-2.31496371e-05,
 -3.85757675e-04,-1.04057859e-04,-2.49369799e-04, 2.15876435e-05,
  2.83455205e-06, 9.36570114e-06,-1.21645222e+00,-1.77920206e-03,
 -3.07067954e-04, 2.06406675e-06]


--- Step 327 ---
qpos:
[ 2.85046021e-03,-5.58363753e-03,-1.01729764e-02, 2.79203374e-03,
 -4.48818283e-03,-5.14077028e-03,-1.77337154e-02, 5.11695355e-03,
 -4.66913978e-03,-3.98136675e-03,-7.70124512e-03,-1.91144424e-02,
  7.18190881e-01, 1.80245274e-02, 6.61407890e-01, 2.74891431e-02,
  9.49711068e-02,-6.99673389e-02, 1.30721728e-01, 9.99776662e-01,
 -1.45678993e-04,-2.81470601e-04,-2.11311313e-02]

qacc:
[  2.33095429,  0.1524759 , -0.59228343,  0.88455848, -1.51206072,
  -3.31155214, 14.73398225,-28.83439035, -1.76959109, -0.76644954,
   4.23644424, -9.37617259, -0.69621843, -0.26405595, -1.87223695,
   0.67462492,  0.96333846, -0.82632658,  0.31847694,  9.20192285,
  16.46308941,  0.07941424]

qfrc_actuator:
[-7.45730561e-05,-3.77396313e-04,-2.58789605e-04,-8.70622045e-05,
  1.93614465e-05,-4.77831441e-04,-3.67032461e-04,-1.32992499e-04,
  2.37763803e-05,-3.42767339e-04,-2.57050221e-04,-1.27476647e-04,
  6.04178660e-02,-5.75821518e-04, 5.96704753e-02,-4.04450393e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49103815,  3.07134667, -3.27662224,  3.07134667,  8.90490364,
        4.1373433 , -3.27662224,  4.1373433 ,  8.36918297,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028444039359429296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.9515917e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.9515917e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0825754 , -0.05765803,  0.06199121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37239072e-05,-3.98125047e-07,-2.56965382e-06, 5.35381992e-07,
 -9.04161771e-06,-1.17481277e-05, 2.60891868e-05,-3.89896243e-05,
 -1.04048661e-05, 2.56538980e-05, 1.44807852e-05,-1.23870329e-05,
 -3.89059148e-04,-1.17353487e-04,-2.52177836e-04,-7.02184984e-05,
  2.17924269e-06, 6.53112872e-06,-1.21644583e+00,-1.77922369e-03,
 -3.05268735e-04, 1.48137328e-06]


--- Step 328 ---
qpos:
[ 2.85025345e-03,-5.58372545e-03,-1.01731311e-02, 2.79200636e-03,
 -4.48859614e-03,-5.14152098e-03,-1.77337613e-02, 5.11611504e-03,
 -4.66879467e-03,-3.98185633e-03,-7.70138775e-03,-1.91146876e-02,
  7.19471158e-01, 1.80253489e-02, 6.62948949e-01, 2.74872830e-02,
  9.49701316e-02,-6.99673836e-02, 1.30723078e-01, 9.99774754e-01,
 -1.48566709e-04,-2.84374972e-04,-2.12211688e-02]

qacc:
[ 4.53265812, 0.45629692,-3.50032103,10.10750053,-6.99979068,-1.87217137,
  4.89513808,-1.37023432, 5.01821467,-0.08174539,-0.61521279, 3.99544511,
 -0.50979994,-0.82220026,-4.62654908, 9.05878686, 0.963792  ,-0.79991004,
  0.19384561, 9.26055441,16.0634686 ,-0.05220828]

qfrc_actuator:
[-4.83248104e-05,-3.89615009e-04,-2.57828470e-04,-6.81433016e-05,
 -2.18665685e-05,-5.02509950e-04,-3.33868222e-04,-1.19875671e-04,
  5.35371232e-05,-3.52577687e-04,-2.51258695e-04,-1.17324771e-04,
  6.03091349e-02,-6.14952679e-04, 5.95101117e-02,-4.04791029e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4936157 ,  3.02868614, -3.31958465,  3.02868614, 11.44819444,
        6.34514209, -3.31958465,  6.34514209, 10.28272666,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028528074422491667
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.89168581e-13, -1.94584291e-13,  1.00000000e+00,  7.57260923e-26,
        1.00000000e+00,  1.94584291e-13, -1.00000000e+00,  0.00000000e+00,
        3.89168581e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08257764, -0.05765592,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.66405657e-05,-1.29404032e-05, 5.83881386e-07, 1.88241826e-05,
 -4.14907305e-05,-2.75088886e-05, 3.26178037e-05, 1.27626993e-05,
  2.94705185e-05, 7.01379798e-06, 1.24558005e-05, 1.15135753e-05,
 -3.89294390e-04,-1.23544726e-04,-2.93866041e-04,-4.19995310e-05,
  1.23883567e-06, 3.98389714e-06,-1.21644183e+00,-1.77949806e-03,
 -3.03978303e-04, 1.10859873e-06]


--- Step 329 ---
qpos:
[ 2.85036304e-03,-5.58393645e-03,-1.01732610e-02, 2.79220656e-03,
 -4.48915567e-03,-5.14245039e-03,-1.77340592e-02, 5.11651399e-03,
 -4.66775083e-03,-3.98222729e-03,-7.70150686e-03,-1.91144681e-02,
  7.20749054e-01, 1.80263874e-02, 6.64486286e-01, 2.74857184e-02,
  9.49730116e-02,-6.99705435e-02, 1.30724785e-01, 9.99772842e-01,
 -1.32185165e-04,-2.56195104e-04,-2.13115154e-02]

qacc:
[  2.77032527,  0.23144469, -2.03117004,  6.03062329, -1.27925276,
   3.01754027,-16.32208609, 38.26976921,  6.11598712,  1.03651142,
  -5.44747885, 13.38101536, -1.66040708,  2.84003474, -6.2857107 ,
  14.28908613,  0.96379848, -0.77880531,  0.0894133 ,  9.30259425,
  15.74309938, -0.15500974]

qfrc_actuator:
[-3.28037716e-05,-3.96831374e-04,-2.57220350e-04,-5.70089281e-05,
 -2.82019407e-05,-5.16784027e-04,-3.49862620e-04,-5.85630265e-05,
  8.86646253e-05,-3.40515622e-04,-2.47835640e-04,-9.35096529e-05,
  6.01872677e-02,-6.02819766e-04, 5.93319658e-02,-4.03140101e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48992025,  2.96841011, -3.36866818,  2.96841011, 14.93822216,
        9.20685664, -3.36866818,  9.20685664, 12.60283753,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000284074882645563
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95410276e-13, -1.95410276e-13,  1.00000000e+00,  3.81851760e-26,
        1.00000000e+00,  1.95410276e-13, -1.00000000e+00,  0.00000000e+00,
        1.95410276e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08257905, -0.05765393,  0.06199122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.62775429e-05,-1.35105039e-05,-1.33948652e-06, 1.09660425e-05,
 -7.53618932e-06,-2.23577027e-05,-1.72036100e-05, 6.15166123e-05,
  3.59688263e-05, 1.90811991e-05, 6.81124856e-06, 2.47714077e-05,
 -4.04078992e-04,-7.30338916e-05,-3.25314148e-04,-2.53263870e-05,
  1.53740850e-08, 1.68304909e-06,-1.21644005e+00,-1.78003715e-03,
 -3.03177957e-04, 9.38420792e-07]


--- Step 330 ---
qpos:
[ 2.85065791e-03,-5.58407357e-03,-1.01734466e-02, 2.79217346e-03,
 -4.48944222e-03,-5.14368343e-03,-1.77344514e-02, 5.11730485e-03,
 -4.66663852e-03,-3.98270255e-03,-7.70175038e-03,-1.91139256e-02,
  7.22024449e-01, 1.80282271e-02, 6.66020403e-01, 2.74838607e-02,
  9.49797461e-02,-6.99767514e-02, 1.30726500e-01, 9.99770920e-01,
 -9.64813537e-05,-1.97444404e-04,-2.14023309e-02]

qacc:
[ 1.61769796e+00,-2.30248447e-01, 1.94188442e+00,-5.93862660e+00,
  2.38316185e+00, 6.64658742e-01,-4.61478928e+00, 1.17810846e+01,
  5.97455424e-01, 8.73966678e-01,-4.67873728e+00, 1.05395284e+01,
 -2.40727581e+00, 5.21540995e+00,-3.68326147e+00, 6.45418849e+00,
  9.63623759e-01,-7.62012537e-01, 2.09176417e-03, 9.33312262e+00,
  1.54878667e+01,-2.34958368e-01]

qfrc_actuator:
[-2.37247920e-05,-3.83250310e-04,-2.56818370e-04,-6.82975565e-05,
 -1.39389965e-05,-5.42622121e-04,-3.59188966e-04,-4.04301153e-05,
  9.11517229e-05,-3.68706434e-04,-2.63500902e-04,-7.95872653e-05,
  6.00682716e-02,-5.60580351e-04, 5.92018898e-02,-4.03879963e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48136187,  2.88817619, -3.42652047,  2.88817619, 19.73921359,
       12.86067436, -3.42652047, 12.86067436, 15.32148196,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002812553301760612
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0825798 , -0.05765204,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.53983460e-06, 6.23318322e-06,-2.17147877e-06,-1.17008065e-05,
  1.40372444e-05,-3.92243095e-05,-1.39208564e-05, 1.77791488e-05,
  3.51837752e-06,-1.50228474e-05,-1.00233673e-05, 1.54568197e-05,
 -4.01815708e-04,-3.95937186e-05,-2.88578963e-04,-5.20450300e-05,
 -1.48975286e-06,-4.01660081e-07,-1.21644040e+00,-1.78084975e-03,
 -3.02853096e-04, 9.64936729e-07]


--- Step 331 ---
qpos:
[ 2.85105953e-03,-5.58416739e-03,-1.01738683e-02, 2.79133123e-03,
 -4.48990055e-03,-5.14524870e-03,-1.77346088e-02, 5.11759743e-03,
 -4.66619474e-03,-3.98305013e-03,-7.70226473e-03,-1.91132396e-02,
  7.23297422e-01, 1.80308830e-02, 6.67551491e-01, 2.74824461e-02,
  9.49903344e-02,-6.99859542e-02, 1.30727932e-01, 9.99768976e-01,
 -4.14154409e-05,-1.08528507e-04,-2.14937387e-02]

qacc:
[  0.92516504, -0.95130502,  6.88719312,-20.54142891, -1.48546902,
  -2.11804212,  9.02394612,-17.7854612 , -5.863277  ,  1.2328037 ,
  -4.73503358,  7.53235485, -2.34371452,  5.11305908, -5.63521948,
  13.68118991,  0.96345714, -0.74872625, -0.07075868,  9.35597085,
  15.28636674, -0.29675121]

qfrc_actuator:
[-1.85065271e-05,-3.92843785e-04,-2.74222134e-04,-1.10422784e-04,
 -2.31830262e-05,-5.57449582e-04,-3.46818616e-04,-6.56071291e-05,
  5.66527139e-05,-3.49862973e-04,-2.72728003e-04,-7.16445862e-05,
  5.99564206e-02,-5.18700623e-04, 5.90847672e-02,-4.00681458e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46920043,  2.78465045, -3.49563647,  2.78465045, 26.36135334,
       17.4394546 , -3.49563647, 17.4394546 , 18.36160188,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002771822292530479
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.00404276e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.00404276e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08258003, -0.05765023,  0.06199144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.49429186e-06,-7.04813807e-06,-1.67854488e-05,-4.21606960e-05,
 -8.85550310e-06,-3.88224672e-05, 3.18580070e-06,-2.69919990e-05,
 -3.44056605e-05, 9.05804834e-06,-1.30214949e-05, 7.25393315e-06,
 -3.86446851e-04,-3.57611222e-05,-2.63974447e-04,-9.94447352e-06,
 -3.27594328e-06,-2.29241240e-06,-1.21644280e+00,-1.78194228e-03,
 -3.02992401e-04, 1.18357506e-06]


--- Step 332 ---
qpos:
[ 2.85152077e-03,-5.58432341e-03,-1.01744873e-02, 2.79034751e-03,
 -4.49012167e-03,-5.14643497e-03,-1.77349438e-02, 5.11752254e-03,
 -4.66616820e-03,-3.98293006e-03,-7.70305602e-03,-1.91128530e-02,
  7.24568243e-01, 1.80336985e-02, 6.69079555e-01, 2.74810108e-02,
  9.50021258e-02,-6.99993179e-02, 1.30729019e-01, 9.99767012e-01,
  4.46028579e-05,-7.45276542e-06,-2.15851932e-02]

qacc:
[ 0.51630006, 0.17698892,-0.15488084,-1.93039358, 2.0566121 , 0.23660282,
  1.42735703,-7.77431364,-3.66954611, 0.78265541,-0.61901284,-4.4741478 ,
 -1.49458118, 2.49483135,-4.30589656, 8.83303707, 0.30075864,-1.0402175 ,
 -0.08628002,15.34193451, 6.41115926,-0.02502001]

qfrc_actuator:
[-1.56002638e-05,-3.98588321e-04,-2.84354088e-04,-1.17122909e-04,
 -1.06904100e-05,-4.94510081e-04,-3.39474423e-04,-8.05314043e-05,
  3.61769151e-05,-3.02989202e-04,-2.77896034e-04,-8.49920874e-05,
  5.98542653e-02,-5.12877527e-04, 5.89488865e-02,-4.00507621e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45432807,  4.07363293,  1.80181943,  4.07363293,  6.61046519,
       -4.87469   ,  1.80181943, -4.87469   , 15.47524248,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002720901873584901
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.6553855e-07,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.6553855e-07, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09061374, -0.05227463,  0.06199159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.06415393e-06,-1.49486276e-05,-1.51069725e-05,-8.40081913e-06,
  1.22262124e-05, 4.07867647e-05,-1.19622165e-06,-1.69991681e-05,
 -2.14564438e-05, 4.95666034e-05,-4.63954396e-06,-1.32669663e-05,
 -3.65350721e-04,-6.87361066e-05,-2.67695096e-04,-3.49087308e-05,
 -5.34347908e-06,-4.00522718e-06,-1.21644717e+00,-1.78331945e-03,
 -3.03587178e-04, 1.59097343e-06]


--- Step 333 ---
qpos:
[ 2.85201311e-03,-5.58426602e-03,-1.01753911e-02, 2.78960668e-03,
 -4.48984677e-03,-5.14699684e-03,-1.77353901e-02, 5.11757706e-03,
 -4.66638736e-03,-3.98274220e-03,-7.70349230e-03,-1.91126223e-02,
  7.25836943e-01, 1.80363285e-02, 6.70604462e-01, 2.74792195e-02,
  9.50104000e-02,-7.00056784e-02, 1.30729989e-01, 9.99765037e-01,
  8.56582343e-05, 5.76650651e-05,-2.16762585e-02]

qacc:
[  0.25964822,  1.57779439, -6.2425868 , 10.7455357 ,  4.31190343,
   1.39391582, -4.33400887,  6.30893278, -2.14118373, -1.2195646 ,
   5.14143503, -8.45901674, -1.12120399,  1.23328833, -3.52977202,
   5.73030907, -0.87928005,  1.7507896 , -0.02934871,-22.08814255,
 -18.46002497,  0.19545093]

qfrc_actuator:
[-1.40767706e-05,-3.66430051e-04,-2.90067239e-04,-1.02911978e-04,
  1.45039096e-05,-4.38746644e-04,-3.34827285e-04,-7.14828931e-05,
  2.41311594e-05,-3.10698832e-04,-2.62761531e-04,-9.29755436e-05,
  5.97366872e-02,-5.28358287e-04, 5.88018594e-02,-4.02119920e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45514133,  1.52942958, -4.18439116,  1.52942958, 17.68932174,
        4.83720241, -4.18439116,  4.83720241,  6.22317882,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027237189711887266
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.10175408e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.10175408e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1074986 , -0.09371897,  0.06199158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.60812678e-06, 2.03332446e-05,-1.09417372e-05, 1.28878760e-05,
  2.55597852e-05, 7.76472092e-05, 1.23534273e-05, 1.04268207e-05,
 -1.26408134e-05, 1.84779605e-05, 2.43495940e-05,-6.27804082e-06,
 -3.72996866e-04,-9.01462755e-05,-2.82857540e-04,-5.45389390e-05,
 -8.30682598e-06,-3.90595096e-06,-1.21645224e+00,-1.78483556e-03,
 -3.03906136e-04, 2.22712094e-06]


--- Step 334 ---
qpos:
[ 2.85251986e-03,-5.58394918e-03,-1.01764009e-02, 2.78867755e-03,
 -4.48927140e-03,-5.14759145e-03,-1.77355237e-02, 5.11813987e-03,
 -4.66674922e-03,-3.98268141e-03,-7.70362139e-03,-1.91124603e-02,
  7.27103296e-01, 1.80391923e-02, 6.72125924e-01, 2.74765612e-02,
  9.50150986e-02,-7.00052052e-02, 1.30730313e-01, 9.99763049e-01,
  8.19756823e-05, 8.81569858e-05,-2.17676581e-02]

qacc:
[  0.11818005,  0.25117382,  0.39639572, -3.6761808 ,  2.63110108,
   0.12418536, -2.66011963, 10.99064855, -1.23740972, -1.16587392,
   4.20653173, -5.79601565, -1.72667786,  3.00722802, -2.34751386,
   1.12613171, -0.89393045,  1.70845903, -0.16128438,-21.98841804,
 -17.7937765 , -0.16709358]

qfrc_actuator:
[-1.33782728e-05,-3.47286085e-04,-2.92962722e-04,-1.11987456e-04,
  2.92129299e-05,-4.76449005e-04,-3.31793675e-04,-4.84006099e-05,
  1.71387995e-05,-3.33193057e-04,-2.53719328e-04,-9.77644312e-05,
  5.96046043e-02,-5.20834790e-04, 5.86322880e-02,-4.06544819e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46288756, -1.93745016,  4.02040449, -1.93745016,  9.05713306,
        2.2139866 ,  4.02040449,  2.2139866 ,  5.52981719,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027503608293814874
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.01832249e-13, -1.00916125e-13,  1.00000000e+00,  2.03681284e-26,
        1.00000000e+00,  1.00916125e-13, -1.00000000e+00,  0.00000000e+00,
        2.01832249e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10749321, -0.09372073,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.52344222e-07, 2.88156040e-05, 4.13711638e-07,-8.32866854e-06,
  1.54678833e-05, 8.75022327e-06, 2.09647504e-05, 2.70406024e-05,
 -7.34742840e-06,-7.40838365e-06, 1.56431170e-05,-3.27680969e-06,
 -3.96739944e-04,-7.12842403e-05,-3.13815623e-04,-8.55354012e-05,
 -3.80134742e-06,-2.64163194e-06,-1.21644363e+00,-1.78476133e-03,
 -3.06730248e-04, 5.12765545e-07]


--- Step 335 ---
qpos:
[ 2.85268631e-03,-5.58358057e-03,-1.01773807e-02, 2.78800959e-03,
 -4.48852380e-03,-5.14834852e-03,-1.77355074e-02, 5.11934931e-03,
 -4.66719202e-03,-3.98298377e-03,-7.70319395e-03,-1.91126886e-02,
  7.28367359e-01, 1.80421588e-02, 6.73643971e-01, 2.74729572e-02,
  9.50161771e-02,-6.99980347e-02, 1.30729549e-01, 9.99761038e-01,
  3.37542868e-05, 8.50885474e-05,-2.18599585e-02]

qacc:
[ -2.97656896,  0.52802223, -2.87580526,  7.29880432,  1.50986476,
   0.69500221, -5.52453838, 16.60158982, -0.68516211, -2.83840308,
  11.07009996,-18.44186648, -1.55469299,  2.48153567, -2.08026956,
   0.21531085, -0.90499882,  1.67428738, -0.27216866,-21.8988392 ,
 -17.26099254, -0.45110378]

qfrc_actuator:
[-3.09231511e-05,-3.53834751e-04,-2.94232460e-04,-9.91954708e-05,
  3.76279138e-05,-4.98812935e-04,-3.30107766e-04,-1.73287059e-05,
  1.31737411e-05,-3.64390293e-04,-2.30674057e-04,-1.18413945e-04,
  5.94905442e-02,-5.17606505e-04, 5.84812845e-02,-4.10816672e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46375896, -1.88158383,  4.04781254, -1.88158383, 11.56521572,
        3.30103879,  4.04781254,  3.30103879,  5.99821273,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002753336507155535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.01614118e-13,  5.04035296e-14,  1.00000000e+00, -1.01620632e-26,
        1.00000000e+00, -5.04035296e-14, -1.00000000e+00,  0.00000000e+00,
        2.01614118e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10748931, -0.09372284,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.75127816e-05, 9.29474679e-06, 4.45473567e-06, 1.38823357e-05,
  8.85947154e-06,-1.19547739e-05, 7.01828374e-06, 3.26983608e-05,
 -4.17787135e-06,-3.22540792e-05, 2.33287517e-05,-2.04893253e-05,
 -3.91231889e-04,-7.77418845e-05,-3.11829278e-04,-8.94451599e-05,
  1.35437639e-08,-6.46927221e-07,-1.21644022e+00,-1.78404343e-03,
 -3.08995203e-04,-2.95133930e-07]


--- Step 336 ---
qpos:
[ 2.85229647e-03,-5.58337858e-03,-1.01782710e-02, 2.78786985e-03,
 -4.48768126e-03,-5.14886978e-03,-1.77358720e-02, 5.12056226e-03,
 -4.66802415e-03,-3.98328452e-03,-7.70261530e-03,-1.91131814e-02,
  7.29629369e-01, 1.80445165e-02, 6.75159064e-01, 2.74667056e-02,
  9.50136020e-02,-6.99842770e-02, 1.30727324e-01, 9.99758988e-01,
 -5.88350127e-05, 4.93094205e-05,-2.19536017e-02]

qacc:
[ -4.86035884,  0.62728552, -4.76923171, 13.87240646,  0.81213277,
   1.38123324, -4.49068181,  4.9908264 , -3.40377752, -0.95853476,
   4.54607704, -9.37210443, -0.75430695, -0.06692627,  3.67648226,
 -19.13356215, -0.9134057 ,  1.64680951, -0.36529656,-21.82106598,
 -16.8363972 , -0.67299459]

qfrc_actuator:
[-5.90651146e-05,-3.75695084e-04,-2.94620467e-04,-7.36571739e-05,
  4.22745302e-05,-4.76325718e-04,-3.46945268e-04,-1.73099515e-05,
 -6.73223824e-06,-3.47264541e-04,-2.17351783e-04,-1.30478123e-04,
  5.93873771e-02,-5.52422999e-04, 5.83521944e-02,-4.23830461e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45912462, -1.80948845,  4.07548083, -1.80948845, 14.91880755,
        4.64403496,  4.07548083,  4.64403496,  6.52104761,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027374617232264753
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.70328021e-14, -2.02783297e-13,  1.00000000e+00,  1.15652996e-26,
        1.00000000e+00,  2.02783297e-13, -1.00000000e+00,  0.00000000e+00,
        5.70328021e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10748659, -0.09372523,  0.06199154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.86400276e-05,-1.51547596e-05, 2.57015529e-06, 2.63644427e-05,
  4.89476838e-06, 1.86804621e-05,-1.73049622e-05, 3.84443872e-07,
 -2.00371997e-05, 3.03397178e-06, 8.82349362e-06,-1.30369426e-05,
 -3.77808790e-04,-1.15683085e-04,-2.89470825e-04,-1.76834010e-04,
  3.25214418e-06, 2.13231101e-06,-1.21644175e+00,-1.78266480e-03,
 -3.10757666e-04,-2.46922185e-07]


--- Step 337 ---
qpos:
[ 2.85191711e-03,-5.58335751e-03,-1.01791214e-02, 2.78804294e-03,
 -4.48713440e-03,-5.14914685e-03,-1.77364363e-02, 5.12106165e-03,
 -4.66908867e-03,-3.98319546e-03,-7.70262654e-03,-1.91138137e-02,
  7.30889231e-01, 1.80467604e-02, 6.76670791e-01, 2.74598603e-02,
  9.50089681e-02,-6.99764920e-02, 1.30726083e-01, 9.99757004e-01,
 -1.08132793e-04, 8.14758143e-06,-2.20436199e-02]

qacc:
[  0.09632905,  0.29338475, -2.71381394,  8.19743721, -2.58953375,
  -0.58324191,  5.56893533,-17.78861282, -2.05973024,  1.88048068,
  -5.36073001,  3.59223094, -1.21972169,  1.51997707, -3.10834962,
   3.83323173, -0.51469808, -1.49316091,  0.24607966, 21.69954024,
  -2.21561338,  1.81367505]

qfrc_actuator:
[-5.77079424e-05,-3.88792114e-04,-2.94550782e-04,-5.85952237e-05,
  2.69158851e-05,-4.62766371e-04,-3.56673390e-04,-5.32912525e-05,
 -1.81093803e-05,-3.19117119e-04,-2.45185865e-04,-1.37360912e-04,
  5.92854811e-02,-5.56138109e-04, 5.82097049e-02,-4.25904022e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46187404, -0.82006248,  4.38586565, -0.82006248, 19.15477836,
        2.74725689,  4.38586565,  2.74725689,  4.97555195,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027468944501070347
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.04173893e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.04173893e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09941898, -0.04640541,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.32451386e-07,-1.99164426e-05,-1.82185751e-06, 1.50178153e-05,
 -1.52111296e-05, 2.04697330e-05,-7.98068913e-06,-3.57732544e-05,
 -1.19485681e-05, 3.11037161e-05,-2.65739678e-05,-6.70025729e-06,
 -3.74706242e-04,-8.69004891e-05,-3.03570105e-04,-6.97160872e-05,
  5.99959896e-06, 5.73082797e-06,-1.21644804e+00,-1.78061364e-03,
 -3.12059769e-04, 6.19608395e-07]


--- Step 338 ---
qpos:
[ 2.85190147e-03,-5.58337985e-03,-1.01796985e-02, 2.78767059e-03,
 -4.48677582e-03,-5.14923153e-03,-1.77371022e-02, 5.12078052e-03,
 -4.67028128e-03,-3.98298598e-03,-7.70293857e-03,-1.91138183e-02,
  7.32146768e-01, 1.80496068e-02, 6.78178877e-01, 2.74550552e-02,
  9.50024189e-02,-6.99745876e-02, 1.30725251e-01, 9.99755081e-01,
 -1.14740740e-04,-3.92505236e-05,-2.21305789e-02]

qacc:
[  3.19060773, -1.95091449,  9.16435041,-18.9975022 , -1.64886029,
  -1.06595289,  7.47029703,-20.96451688, -1.13254555,  2.29545381,
 -10.59459806, 21.83608259, -1.95227767,  3.92354709,-11.41554723,
  32.49374166, -0.47882631, -1.47017177,  0.10226426, 21.40845593,
  -2.64702166,  1.52971049]

qfrc_actuator:
[-3.89955637e-05,-3.78797568e-04,-2.76440141e-04,-8.53202579e-05,
  1.76593627e-05,-4.54666449e-04,-3.62164658e-04,-9.24042779e-05,
 -2.43704236e-05,-3.20250807e-04,-2.61527893e-04,-1.05648576e-04,
  5.91737787e-02,-5.23691114e-04, 5.80646450e-02,-4.14411880e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4714791 , -0.18660043, -4.46758387, -0.18660043, 10.91734301,
       -0.26922851, -4.46758387, -0.26922851,  4.48272414,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027795148161033345
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.99145767e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.99145767e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09942387, -0.04640644,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.87208651e-05,-8.65446662e-07, 1.43016820e-05,-2.73476142e-05,
 -9.68361522e-06, 1.63756363e-05,-3.47503416e-06,-3.92070648e-05,
 -6.58991561e-06, 1.04745049e-05,-1.34226019e-05, 3.19960164e-05,
 -3.76835552e-04,-4.67246463e-05,-2.99565529e-04, 7.03617995e-05,
  2.92453341e-06, 4.79762879e-06,-1.21644377e+00,-1.77983914e-03,
 -3.09506337e-04, 4.07626328e-07]


--- Step 339 ---
qpos:
[ 2.85176530e-03,-5.58337183e-03,-1.01800921e-02, 2.78697737e-03,
 -4.48618617e-03,-5.14926246e-03,-1.77375123e-02, 5.12002582e-03,
 -4.67153958e-03,-3.98290030e-03,-7.70335603e-03,-1.91130795e-02,
  7.33402191e-01, 1.80522394e-02, 6.79684222e-01, 2.74494716e-02,
  9.49940679e-02,-6.99784883e-02, 1.30724345e-01, 9.99753211e-01,
 -7.91554899e-05,-9.35554129e-05,-2.22149275e-02]

qacc:
[-1.04933371e+00,-1.13150422e+00, 5.45054606e+00,-1.13230824e+01,
  2.02188845e+00,-1.62223566e+00, 7.88001112e+00,-1.65181224e+01,
 -5.75930190e-01, 1.66357437e+00,-9.29952741e+00, 2.24105254e+01,
 -1.13245027e+00, 1.21985152e+00,-1.63156676e+00,-1.14228154e-02,
 -4.50450858e-01,-1.45124619e+00,-1.84659143e-02, 2.11679113e+01,
 -2.98581518e+00, 1.30430314e+00]

qfrc_actuator:
[-4.57327391e-05,-3.72765859e-04,-2.65506916e-04,-1.00879069e-04,
  2.98276074e-05,-4.49888057e-04,-3.47379581e-04,-1.15291333e-04,
 -2.75731506e-05,-3.38839705e-04,-2.71027813e-04,-6.92433643e-05,
  5.90616115e-02,-5.41228333e-04, 5.79501436e-02,-4.18098386e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47378182, -0.23844957, -4.4674227 , -0.23844957, 14.34440881,
       -0.52684667, -4.4674227 , -0.52684667,  4.50190237,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002787259778114781
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.98320613e-13,  3.98320613e-13,  1.00000000e+00, -1.58659311e-25,
        1.00000000e+00, -3.98320613e-13, -1.00000000e+00,  0.00000000e+00,
        3.98320613e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09942786, -0.04640662,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.20114053e-06, 7.34509146e-06, 1.15768412e-05,-1.56318922e-05,
  1.18981375e-05, 1.15460986e-05, 1.63923503e-05,-2.30661023e-05,
 -3.38771347e-06,-1.41437193e-05,-7.88236712e-06, 3.70126297e-05,
 -3.70608310e-04,-9.23978185e-05,-2.51352494e-04,-7.30540729e-05,
  2.24669000e-07, 4.60087810e-06,-1.21644252e+00,-1.77970463e-03,
 -3.07045397e-04, 1.41781471e-07]


--- Step 340 ---
qpos:
[ 2.85154972e-03,-5.58339381e-03,-1.01805987e-02, 2.78613158e-03,
 -4.48511045e-03,-5.14924638e-03,-1.77377552e-02, 5.11935486e-03,
 -4.67317146e-03,-3.98301009e-03,-7.70351503e-03,-1.91126167e-02,
  7.34655287e-01, 1.80553422e-02, 6.81186969e-01, 2.74430328e-02,
  9.49840046e-02,-6.99881320e-02, 1.30722961e-01, 9.99751378e-01,
 -1.78334257e-06,-1.55294947e-04,-2.22970217e-02]

qacc:
[ -0.69775183, -0.03673322,  0.71980499, -3.16004753,  4.2436668 ,
  -0.24065132,  0.58045321,  0.58231422, -3.25916091, -1.54296619,
   6.30002704,-11.35167929, -2.00220357,  3.88793713, -1.09767275,
  -1.34869879, -0.42806234, -1.43577685, -0.11968199, 20.97097948,
  -3.25234621,  1.12504043]

qfrc_actuator:
[-4.96482552e-05,-3.86920896e-04,-2.76652267e-04,-1.09744549e-04,
  5.45066956e-05,-4.47040907e-04,-3.38497943e-04,-1.10684911e-04,
 -4.67046785e-05,-3.49953031e-04,-2.58744898e-04,-8.36470646e-05,
  5.89439043e-02,-5.17170114e-04, 5.78433756e-02,-4.21815496e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47018276, -0.30403416, -4.45983152, -0.30403416, 18.8371839 ,
       -0.97942246, -4.45983152, -0.97942246,  4.53695163,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027751420241328706
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09943114, -0.04640613,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.08948463e-06,-8.32200640e-06,-8.73666698e-06,-8.45172927e-06,
  2.50244918e-05, 1.17129638e-05, 1.24939378e-05, 5.22162694e-06,
 -1.92344461e-05,-1.90704220e-05, 9.67248101e-06,-1.45625037e-05,
 -3.80415224e-04,-5.55968534e-05,-2.40343160e-04,-7.58313498e-05,
 -2.14635281e-06, 5.09129529e-06,-1.21644420e+00,-1.78020741e-03,
 -3.04629517e-04,-2.00156798e-07]


--- Step 341 ---
qpos:
[ 2.85128899e-03,-5.58363242e-03,-1.01811068e-02, 2.78451242e-03,
 -4.48374718e-03,-5.14910229e-03,-1.77381919e-02, 5.11875899e-03,
 -4.67501991e-03,-3.98342421e-03,-7.70345825e-03,-1.91123128e-02,
  7.35905963e-01, 1.80591087e-02, 6.82686219e-01, 2.74398607e-02,
  9.49779347e-02,-7.00010626e-02, 1.30722349e-01, 9.99749529e-01,
  9.44899902e-05,-1.86389645e-04,-2.23793640e-02]

qacc:
[ -0.39177581, -1.87407956,  9.53243468,-22.75637461,  2.49966783,
   0.85981947, -3.14598959,  4.67080554, -1.88399683, -1.32911925,
   4.83112341, -7.70623245, -2.02865192,  4.08693064,-14.9132644 ,
  45.0508048 ,  0.99834821, -0.82170498,  0.19323952,  9.10657955,
  15.52932815, -0.12563831]

qfrc_actuator:
[-5.18636875e-05,-4.13139756e-04,-2.83069055e-04,-1.50139244e-04,
  6.85922156e-05,-4.45367250e-04,-3.50924674e-04,-1.07702914e-04,
 -5.73066985e-05,-3.74212454e-04,-2.51466629e-04,-9.23088506e-05,
  5.88176426e-02,-4.86505752e-04, 5.76987273e-02,-4.04209004e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46970327, -3.29955266, -3.01516162, -3.29955266, 12.22613833,
       -8.48802457, -3.01516162, -8.48802457, 13.75832112,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002773522275886786
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08260092, -0.0576263 ,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.33375575e-06,-3.30314380e-05,-9.49590502e-06,-4.12148048e-05,
  1.48062466e-05, 1.10402841e-05,-8.28449211e-06, 4.01881162e-06,
 -1.11581719e-05,-3.35564431e-05, 4.02806128e-06,-9.42731537e-06,
 -3.88230480e-04,-4.64438423e-05,-2.74413679e-04, 1.38458194e-04,
 -4.22278972e-06, 6.23386960e-06,-1.21644873e+00,-1.78134472e-03,
 -3.02223180e-04,-6.33837379e-07]


--- Step 342 ---
qpos:
[ 2.85031384e-03,-5.58398582e-03,-1.01817560e-02, 2.78276416e-03,
 -4.48291509e-03,-5.14904944e-03,-1.77381435e-02, 5.11853003e-03,
 -4.67663646e-03,-3.98396774e-03,-7.70339264e-03,-1.91117778e-02,
  7.37154337e-01, 1.80635198e-02, 6.84181621e-01, 2.74401713e-02,
  9.49756266e-02,-7.00169026e-02, 1.30722288e-01, 9.99747656e-01,
  2.08027807e-04,-1.89044164e-04,-2.24620710e-02]

qacc:
[-6.25192309e+00,-1.10365073e-02, 3.85326962e-01,-2.33234945e+00,
 -4.61571722e+00,-7.10934435e-01, 8.26966754e-01, 4.79740738e+00,
  2.03265666e+00, 2.76360037e-01,-2.21425981e+00, 6.29861825e+00,
 -1.90112276e+00, 3.82422146e+00,-1.60949680e+01, 4.84081527e+01,
  9.40429222e-01,-7.27355262e-01, 1.37607593e-01, 8.31181054e+00,
  1.44096921e+01,-1.85506549e-01]

qfrc_actuator:
[-8.85668254e-05,-4.10893010e-04,-2.86714952e-04,-1.55511737e-04,
  4.08204204e-05,-4.44497495e-04,-3.22584604e-04,-8.79677954e-05,
 -4.50459656e-05,-3.70667233e-04,-2.47251840e-04,-7.97794985e-05,
  5.87129693e-02,-4.52259340e-04, 5.75155479e-02,-3.86613178e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46696764,  3.91834806, -2.14484227,  3.91834806,  8.9039653 ,
        8.10581804, -2.14484227,  8.10581804, 19.27524369,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027642569639227085
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.53400058e-07, -3.53399857e-07,  1.00000000e+00,  1.24891530e-13,
        1.00000000e+00,  3.53399857e-07, -1.00000000e+00,  0.00000000e+00,
        3.53400058e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08331947, -0.05866709,  0.06199146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.67776719e-05,-1.99336670e-05,-1.30519223e-05,-7.91312516e-06,
 -2.73433344e-05, 5.51084202e-06, 2.97431124e-05, 2.00010356e-05,
  1.19294027e-05,-1.47872223e-05,-2.54407607e-06, 1.10483190e-05,
 -3.69833166e-04,-4.34019240e-05,-3.02019885e-04, 1.46536144e-04,
 -5.72595574e-06, 4.97091777e-06,-1.21644865e+00,-1.78333141e-03,
 -3.01099570e-04,-6.98477403e-09]


--- Step 343 ---
qpos:
[ 2.84925104e-03,-5.58420543e-03,-1.01823476e-02, 2.78160923e-03,
 -4.48276710e-03,-5.14903620e-03,-1.77377839e-02, 5.11923502e-03,
 -4.67774919e-03,-3.98400893e-03,-7.70383487e-03,-1.91114883e-02,
  7.38400453e-01, 1.80686413e-02, 6.85673838e-01, 2.74404875e-02,
  9.49697481e-02,-7.00258756e-02, 1.30722135e-01, 9.99745766e-01,
  2.75854478e-04,-2.27287762e-04,-2.25449692e-02]

qacc:
[-7.66971466e-01, 1.23921187e+00,-6.66379828e+00, 1.67388528e+01,
 -5.95529370e+00, 1.01217607e+00,-7.60760910e+00, 2.32817075e+01,
  4.38610228e+00, 1.56924729e+00,-3.61112997e+00,-1.77661180e-01,
 -2.13686244e+00, 4.47292127e+00,-4.55786605e+00, 9.53566999e+00,
 -8.92585672e-01, 1.71672209e+00,-2.30057389e-02,-2.24501199e+01,
 -1.83034542e+01,-8.77633658e-02]

qfrc_actuator:
[-9.20173736e-05,-3.73829473e-04,-2.70805519e-04,-1.22453205e-04,
  6.39058931e-06,-4.43942046e-04,-3.05890864e-04,-4.07500178e-05,
 -1.94294025e-05,-3.14987154e-04,-2.62507143e-04,-9.03671854e-05,
  5.86053481e-02,-4.16110133e-04, 5.73626651e-02,-3.86928647e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48379494,  2.67098894, -3.60142127,  2.67098894, 13.53669766,
        6.71407237, -3.60142127,  6.71407237,  9.46327713,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002820607676166931
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.84028224e-14,  1.47604234e-13,  1.00000000e+00, -1.45246732e-26,
        1.00000000e+00, -1.47604234e-13, -1.00000000e+00,  0.00000000e+00,
        9.84028224e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10745403, -0.09373275,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.50562529e-06, 2.28961007e-05, 9.92859643e-06, 3.16066422e-05,
 -3.52137744e-05, 1.06258710e-05, 2.21885677e-05, 4.88739135e-05,
  2.59501638e-05, 4.73755932e-05,-1.82383212e-05,-1.10948054e-05,
 -3.60276740e-04,-3.75205370e-05,-2.81864635e-04,-3.53064499e-05,
 -7.35458840e-06, 3.93271774e-06,-1.21645034e+00,-1.78553681e-03,
 -3.00465773e-04, 7.48717050e-07]


--- Step 344 ---
qpos:
[ 2.84884453e-03,-5.58424763e-03,-1.01825071e-02, 2.78082663e-03,
 -4.48303330e-03,-5.14889761e-03,-1.77374991e-02, 5.11981531e-03,
 -4.67889111e-03,-3.98347785e-03,-7.70484021e-03,-1.91113337e-02,
  7.39644428e-01, 1.80736485e-02, 6.87163111e-01, 2.74403070e-02,
  9.49602486e-02,-7.00281237e-02, 1.30721353e-01, 9.99743850e-01,
  2.98365641e-04,-2.99892235e-04,-2.26286355e-02]

qacc:
[  5.75175221, -0.21730362, -0.47607929,  6.11955874, -3.61674334,
   0.1252897 ,  0.33223267, -2.47602963, -0.28310137,  2.05312651,
  -5.65249   ,  3.7957406 , -1.2364437 ,  1.54155644, -2.77242129,
   3.57457109, -0.9052634 ,  1.68126409, -0.15714911,-22.26474455,
 -17.68699726, -0.37431484]

qfrc_actuator:
[-5.81047190e-05,-3.51583775e-04,-2.43305190e-04,-1.02512115e-04,
 -1.39160422e-05,-4.43590304e-04,-3.13957936e-04,-4.87669906e-05,
 -2.16693011e-05,-2.81864028e-04,-2.88931355e-04,-9.66882924e-05,
  5.84800599e-02,-4.32400629e-04, 5.72386908e-02,-3.88906169e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49093985, -1.3864882 ,  4.27155606, -1.3864882 , 10.27162209,
        1.87632975,  4.27155606,  1.87632975,  5.09997061,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028440827821339665
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.75906039e-14,  4.87953019e-14,  1.00000000e+00, -4.76196298e-27,
        1.00000000e+00, -4.87953019e-14, -1.00000000e+00,  0.00000000e+00,
        9.75906039e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10744923, -0.09373367,  0.06199121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.37916870e-05, 3.84735535e-05, 3.45596767e-05, 2.18856297e-05,
 -2.13153042e-05, 1.29520892e-05,-1.45214685e-06,-5.84351853e-06,
 -1.48162682e-06, 5.53847145e-05,-1.92664180e-05,-5.14012617e-06,
 -3.70636712e-04,-8.73888595e-05,-2.65870268e-04,-5.99135461e-05,
 -4.02686364e-06, 4.58699595e-06,-1.21644545e+00,-1.78597599e-03,
 -3.01554156e-04, 3.20057863e-07]


--- Step 345 ---
qpos:
[ 2.84850293e-03,-5.58437421e-03,-1.01822067e-02, 2.78066616e-03,
 -4.48319627e-03,-5.14866955e-03,-1.77372728e-02, 5.11995372e-03,
 -4.68039557e-03,-3.98258618e-03,-7.70583219e-03,-1.91112690e-02,
  7.40886166e-01, 1.80785375e-02, 6.88649634e-01, 2.74391018e-02,
  9.49470892e-02,-7.00237620e-02, 1.30719491e-01, 9.99741894e-01,
  2.75896882e-04,-4.05878578e-04,-2.27135165e-02]

qacc:
[  0.58405345, -0.11697041, -2.37271679, 12.46804544,  0.89670938,
  -0.63006188,  4.28060418,-11.89786425, -3.17963854,  0.26013609,
   0.15376404, -2.00748098, -1.3350016 ,  1.70998393, -0.88146356,
  -2.60901002, -0.91495734,  1.65243981, -0.27000393,-22.10668374,
 -17.19576349, -0.59595843]

qfrc_actuator:
[-5.57409318e-05,-3.73831193e-04,-2.27000363e-04,-7.27051912e-05,
 -7.99240156e-06,-4.43509897e-04,-3.18867108e-04,-7.14870984e-05,
 -4.02915878e-05,-2.62545952e-04,-2.86293255e-04,-1.00461851e-04,
  5.83548936e-02,-4.44109260e-04, 5.71215029e-02,-3.93606192e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49076972, -1.3172348 ,  4.29323947, -1.3172348 , 13.50539255,
        2.76583102,  4.29323947,  2.76583102,  5.33937109,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002843526862358059
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.76096832e-14,  2.44024208e-13,  1.00000000e+00, -2.38191256e-26,
        1.00000000e+00, -2.44024208e-13, -1.00000000e+00,  0.00000000e+00,
        9.76096832e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10744581, -0.09373516,  0.06199121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.34112619e-06, 7.36159243e-06, 2.92691874e-05, 3.30781066e-05,
  5.31742973e-06, 6.75571378e-06,-2.62046766e-06,-2.23305258e-05,
 -1.86435989e-05, 4.60774835e-05, 1.15307947e-05,-2.16779947e-06,
 -3.86675598e-04,-9.13984306e-05,-2.55231135e-04,-8.66308955e-05,
 -1.36033064e-06, 6.09134967e-06,-1.21644566e+00,-1.78573847e-03,
 -3.02096721e-04, 8.01983303e-07]


--- Step 346 ---
qpos:
[ 2.84819255e-03,-5.58436705e-03,-1.01820231e-02, 2.78087669e-03,
 -4.48328714e-03,-5.14832612e-03,-1.77374048e-02, 5.11983654e-03,
 -4.68211151e-03,-3.98124148e-03,-7.70737081e-03,-1.91115685e-02,
  7.42125978e-01, 1.80820397e-02, 6.90133411e-01, 2.74372272e-02,
  9.49302400e-02,-7.00128838e-02, 1.30716170e-01, 9.99739877e-01,
  2.08728539e-04,-5.44470221e-04,-2.27999561e-02]

qacc:
[  0.26730912,  1.26668984, -5.82685665, 12.33677571,  0.61543788,
   0.62602212, -0.93433242, -2.99820638, -1.8764803 ,  1.38059948,
  -2.51227194, -3.25078232,  0.20768722, -3.06477389, -2.10867351,
   1.29782477, -0.92246468,  1.62911062, -0.36488175,-21.97404028,
 -16.80631285, -0.76620466]

qfrc_actuator:
[-5.42249681e-05,-3.69325749e-04,-2.35366249e-04,-5.51301232e-05,
 -4.43497063e-06,-4.43606569e-04,-3.39620737e-04,-8.49093908e-05,
 -5.06456533e-05,-2.51528119e-04,-3.19826882e-04,-1.20450484e-04,
  5.82458636e-02,-5.24029619e-04, 5.70084755e-02,-3.96316515e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48477929, -1.22947028,  4.3129628 , -1.22947028, 17.79589244,
        3.79451869,  4.3129628 ,  3.79451869,  5.56645983,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028238574576455733
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.21464788e-14, -1.96579155e-13,  1.00000000e+00, -1.81140769e-26,
        1.00000000e+00,  1.96579155e-13, -1.00000000e+00,  0.00000000e+00,
       -9.21464788e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1074435 , -0.0937371 ,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.61159041e-06, 1.60888036e-05,-2.09691784e-06, 1.95470140e-05,
  3.71325479e-06, 2.17367868e-06,-2.04597007e-05,-1.36597127e-05,
 -1.08689577e-05, 3.90407847e-05,-2.26712349e-05,-1.76580390e-05,
 -3.81725938e-04,-1.63426584e-04,-2.50000053e-04,-6.70427481e-05,
  7.51278401e-07, 8.46568314e-06,-1.21645073e+00,-1.78481621e-03,
 -3.02143269e-04, 2.14273343e-06]


--- Step 347 ---
qpos:
[ 2.84824742e-03,-5.58385681e-03,-1.01823651e-02, 2.78093185e-03,
 -4.48333465e-03,-5.14788053e-03,-1.77375473e-02, 5.11988224e-03,
 -4.68393797e-03,-3.97987163e-03,-7.70941246e-03,-1.91120520e-02,
  7.43364008e-01, 1.80836149e-02, 6.91614371e-01, 2.74359300e-02,
  9.49171795e-02,-7.00054700e-02, 1.30715156e-01, 9.99737861e-01,
  1.61012261e-04,-6.48760262e-04,-2.28858595e-02]

qacc:
[ 3.16996768, 1.80789038,-4.83637636, 2.62982183, 0.37612767, 0.49914674,
 -2.27275847, 5.03498314,-0.9839113 , 1.06201397,-2.95819001, 0.5546015 ,
  0.92748198,-5.22681593,-6.06673274,14.80253321, 0.94718792,-0.86609178,
  0.57681686, 9.33261011,17.36814948, 0.25911126]

qfrc_actuator:
[-3.54573321e-05,-3.31200326e-04,-2.58141812e-04,-6.26445227e-05,
 -2.30741940e-06,-4.26118526e-04,-3.34052509e-04,-7.50099198e-05,
 -5.60448319e-05,-2.81232387e-04,-3.56756256e-04,-1.32105469e-04,
  5.81518938e-02,-6.25808540e-04, 5.68980429e-02,-3.92501768e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50481108, -2.46091258,  3.77322569, -2.46091258, 18.17373019,
        8.91492259,  3.77322569,  8.91492259, 10.31915851,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002888923819900219
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.92151662e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.92151662e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08261591, -0.05761283,  0.06199107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.88183301e-05, 4.75253737e-05,-1.90366349e-05,-6.51805903e-06,
  2.23614926e-06, 1.38830240e-05, 3.02173165e-06, 9.01832917e-06,
 -5.69167389e-06,-1.33509354e-05,-3.22673298e-05,-1.11100237e-05,
 -3.77060757e-04,-1.93784965e-04,-2.42486529e-04, 3.92774312e-08,
  2.38700823e-06, 1.17188840e-05,-1.21646049e+00,-1.78320432e-03,
 -3.01730453e-04, 4.30394881e-06]


--- Step 348 ---
qpos:
[ 2.84887201e-03,-5.58332665e-03,-1.01825486e-02, 2.78125661e-03,
 -4.48335626e-03,-5.14734742e-03,-1.77376880e-02, 5.12108261e-03,
 -4.68581482e-03,-3.97888928e-03,-7.71087140e-03,-1.91126931e-02,
  7.44599791e-01, 1.80849122e-02, 6.93092832e-01, 2.74349635e-02,
  9.49079200e-02,-7.00013887e-02, 1.30715781e-01, 9.99735850e-01,
  1.32819742e-04,-7.19937629e-04,-2.29715832e-02]

qacc:
[  4.98847737,  0.12888269, -1.57612851,  5.99186606,  0.22526018,
   2.4869508 ,-13.57523135, 33.49385877, -0.41627349, -2.46482783,
   8.70959241,-12.07966066, -1.12563273,  1.03699046, -4.63835852,
  11.01493114,  0.9502459 , -0.8331342 ,  0.40964605,  9.38047319,
  16.7754229 ,  0.08096944]

qfrc_actuator:
[-6.68522250e-06,-3.44336279e-04,-2.53602331e-04,-4.93293814e-05,
 -1.03789411e-06,-4.15865239e-04,-3.30648183e-04,-1.59283424e-05,
 -5.84874398e-05,-2.99617974e-04,-3.24537507e-04,-1.38794576e-04,
  5.80457133e-02,-6.33091888e-04, 5.67999240e-02,-3.90195680e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52001969,  2.63855399, -3.6699606 ,  2.63855399,  8.58918832,
        2.9255685 , -3.6699606 ,  2.9255685 ,  6.62338571,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002937021047803995
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.89004949e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.89004949e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08262006, -0.05761099,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.93262853e-05, 9.22068803e-06, 1.17829395e-05, 1.45645520e-05,
  1.33797451e-06, 1.90132617e-05, 6.95241451e-06, 5.99556234e-05,
 -2.60589242e-06,-3.30241757e-05, 2.51099875e-05,-8.59112864e-06,
 -3.91731348e-04,-1.02568232e-04,-2.19069066e-04,-1.03089539e-05,
  2.00722752e-06, 8.83038700e-06,-1.21645176e+00,-1.78313185e-03,
 -2.99377460e-04, 3.59906522e-06]


--- Step 349 ---
qpos:
[ 2.84949202e-03,-5.58297151e-03,-1.01825380e-02, 2.78141601e-03,
 -4.48370726e-03,-5.14671151e-03,-1.77383311e-02, 5.12301467e-03,
 -4.68736174e-03,-3.97796224e-03,-7.71179962e-03,-1.91131040e-02,
  7.45833052e-01, 1.80870675e-02, 6.94568678e-01, 2.74332437e-02,
  9.49024683e-02,-7.00005340e-02, 1.30717482e-01, 9.99733847e-01,
  1.24193208e-04,-7.58961433e-04,-2.30574063e-02]

qacc:
[ -0.03114366, -1.11431298,  4.33556147, -7.37896202, -2.88982169,
   3.0510143 ,-13.76130123, 27.14349414,  2.90604791, -1.0880526 ,
   2.79225329,  0.39391392, -2.53686602,  5.35055336, -1.37611561,
  -0.27418141,  0.95194689, -0.80663728,  0.2691672 ,  9.41106257,
  16.29726087, -0.05884808]

qfrc_actuator:
[-7.76625794e-06,-3.70194504e-04,-2.50900325e-04,-5.93845849e-05,
 -1.80357190e-05,-4.27731655e-04,-3.64055702e-04, 1.83476554e-05,
 -4.14194023e-05,-2.75304506e-04,-2.87219674e-04,-1.24704425e-04,
  5.79269865e-02,-5.84556255e-04, 5.66719857e-02,-3.94118999e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52598379,  2.59769732, -3.70627818,  2.59769732, 11.32256454,
        4.76366282, -3.70627818,  4.76366282,  7.86479257,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029555898609837095
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.87817505e-13,  3.75635009e-13,  1.00000000e+00, -7.05508301e-26,
        1.00000000e+00, -3.75635009e-13, -1.00000000e+00,  0.00000000e+00,
        1.87817505e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08262297, -0.0576092 ,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.42309819e-07,-1.76536178e-05, 6.55535197e-06,-8.97176214e-06,
 -1.69556117e-05, 2.75053448e-06,-2.65564182e-05, 3.64945567e-05,
  1.69829286e-05, 1.06409637e-05, 3.32974610e-05, 1.33796097e-05,
 -3.96027297e-04,-3.80904385e-05,-2.41321649e-04,-7.06246934e-05,
  1.33384378e-06, 6.26325106e-06,-1.21644561e+00,-1.78331191e-03,
 -2.97547439e-04, 3.11958558e-06]


--- Step 350 ---
qpos:
[ 2.84940474e-03,-5.58281926e-03,-1.01824508e-02, 2.78146605e-03,
 -4.48391411e-03,-5.14630175e-03,-1.77394538e-02, 5.12469377e-03,
 -4.68834732e-03,-3.97670131e-03,-7.71327094e-03,-1.91133189e-02,
  7.47064000e-01, 1.80894939e-02, 6.96041555e-01, 2.74313614e-02,
  9.49008278e-02,-7.00028209e-02, 1.30719789e-01, 9.99731849e-01,
  1.35155702e-04,-7.66603241e-04,-2.31435476e-02]

qacc:
[-6.18128274,-0.69567952, 2.57396811,-4.46274877, 1.24592809, 0.51825105,
 -1.21811992,-2.22138921, 4.89169303, 2.35357314,-8.59260533,12.61876773,
 -1.74176012, 2.99887428,-3.77061355, 7.13975286, 0.95279045,-0.78539442,
  0.15135336, 9.42999232,15.91264081,-0.1683546 ]

qfrc_actuator:
[-4.41653935e-05,-3.85746481e-04,-2.49399812e-04,-6.53822576e-05,
 -1.01437399e-05,-4.70672811e-04,-4.01294234e-04, 2.19614950e-06,
 -1.30051317e-05,-2.61054053e-04,-3.18034021e-04,-1.16224133e-04,
  5.78114893e-02,-5.74564284e-04, 5.65369077e-02,-3.94583738e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52434574,  2.53908676, -3.74469529,  2.53908676, 15.02859556,
        7.12239569, -3.74469529,  7.12239569,  9.35367876,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029505059745182916
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88141125e-13,  1.88141125e-13,  1.00000000e+00, -3.53970828e-26,
        1.00000000e+00, -1.88141125e-13, -1.00000000e+00,  0.00000000e+00,
        1.88141125e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08262488, -0.05760745,  0.06199088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.64132816e-05,-2.44696544e-05,-1.65423824e-06,-6.70313625e-06,
  7.40643675e-06,-4.53504371e-05,-3.86824453e-05,-1.62459688e-05,
  2.89029759e-05, 2.76304068e-05,-2.40539571e-05, 1.03484537e-05,
 -3.83500291e-04,-6.90443069e-05,-2.65023878e-04,-4.21582646e-05,
  3.71977481e-07, 3.96795005e-06,-1.21644183e+00,-1.78375725e-03,
 -2.96217851e-04, 2.85398612e-06]


--- Step 351 ---
qpos:
[ 2.84888201e-03,-5.58311179e-03,-1.01819845e-02, 2.78214483e-03,
 -4.48367992e-03,-5.14633127e-03,-1.77406450e-02, 5.12616616e-03,
 -4.68932919e-03,-3.97537661e-03,-7.71500403e-03,-1.91134147e-02,
  7.48292720e-01, 1.80920423e-02, 6.97511403e-01, 2.74303380e-02,
  9.49029998e-02,-7.00081815e-02, 1.30722306e-01, 9.99729853e-01,
  1.65718743e-04,-7.43481076e-04,-2.32301776e-02]

qacc:
[-3.78928932,-0.34464398,-2.26517056,12.85378882, 3.85168771,-0.82234743,
  2.94957249,-6.0810308 , 0.02318555, 1.06144526,-4.1639733 , 6.59467659,
 -1.47624155, 2.26919918,-6.9823172 ,18.17565034, 0.95314465,-0.76843184,
  0.05276653, 9.44146461,15.60464194,-0.25385541]

qfrc_actuator:
[-6.55455896e-05,-4.12769463e-04,-2.30827793e-04,-3.34299893e-05,
  1.23403266e-05,-4.96465718e-04,-4.05147755e-04,-8.01462341e-06,
 -1.36517793e-05,-2.70961120e-04,-3.35608240e-04,-1.11167555e-04,
  5.77033275e-02,-5.69702432e-04, 5.64136492e-02,-3.89451749e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5167218 ,  2.46065861, -3.78760281,  2.46065861, 20.04109096,
       10.08558041, -3.78760281, 10.08558041, 11.06893215,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002926683464200691
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.89672549e-13,  3.79345098e-13,  1.00000000e+00, -7.19513516e-26,
        1.00000000e+00, -3.79345098e-13, -1.00000000e+00,  0.00000000e+00,
        1.89672549e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08262601, -0.05760573,  0.06199096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24296630e-05,-4.13544426e-05, 1.30805552e-05, 3.07170055e-05,
  2.26827941e-05,-5.98412941e-05,-1.85436457e-05,-1.38111548e-05,
  1.91373872e-07, 9.97696159e-07,-1.44710777e-05, 5.60866852e-06,
 -3.74033637e-04,-7.57727874e-05,-2.59215804e-04, 1.27370452e-05,
 -8.74500196e-07, 1.90776865e-06,-1.21644028e+00,-1.78447715e-03,
 -2.95371051e-04, 2.79315859e-06]


--- Step 352 ---
qpos:
[ 2.84845158e-03,-5.58373250e-03,-1.01812888e-02, 2.78285113e-03,
 -4.48352323e-03,-5.14636916e-03,-1.77418275e-02, 5.12778852e-03,
 -4.69031076e-03,-3.97423211e-03,-7.71627441e-03,-1.91134678e-02,
  7.49519150e-01, 1.80949836e-02, 6.98977947e-01, 2.74299185e-02,
  9.49089849e-02,-7.00165619e-02, 1.30724706e-01, 9.99727850e-01,
  2.15887957e-04,-6.90086847e-04,-2.33174287e-02]

qacc:
[ 0.82020601,-1.02018785, 2.88931354,-2.53578397,-0.67542679, 0.27464676,
 -1.6261144 , 4.21137014, 0.02024256,-1.44390902, 4.62222333,-4.49077306,
 -1.79841023, 3.25531468,-6.58009964,16.26747467, 0.95327708,-0.75496256,
 -0.02953355, 9.44859534,15.35961735,-0.32031059]

qfrc_actuator:
[-6.01507153e-05,-4.28599369e-04,-2.20098441e-04,-3.26600234e-05,
  7.71983201e-06,-4.58408182e-04,-3.89189717e-04, 3.14661757e-06,
 -1.36492414e-05,-2.77473500e-04,-3.09797203e-04,-1.08166788e-04,
  5.75889910e-02,-5.50125198e-04, 5.62549884e-02,-3.86383150e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50459101,  2.3595901 , -3.83714409,  2.3595901 , 26.80698412,
       13.71449826, -3.83714409, 13.71449826, 12.93810134,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002888219796391839
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92198500e-13, -1.92198500e-13,  1.00000000e+00,  3.69402634e-26,
        1.00000000e+00,  1.92198500e-13, -1.00000000e+00,  0.00000000e+00,
        1.92198500e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08262653, -0.05760403,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.73791578e-06,-3.49399329e-05, 4.85926663e-06, 4.76943181e-08,
 -3.98982195e-06, 1.92455950e-07, 8.45778758e-07, 7.68528609e-06,
  1.11031684e-08,-8.73371686e-06, 2.44328415e-05, 2.65294033e-06,
 -3.75002390e-04,-6.03041935e-05,-2.85727468e-04,-4.07205763e-06,
 -2.40295203e-06, 5.55779110e-08,-1.21644085e+00,-1.78547836e-03,
 -2.94993285e-04, 2.93008206e-06]


--- Step 353 ---
qpos:
[ 2.84808865e-03,-5.58420647e-03,-1.01809468e-02, 2.78354045e-03,
 -4.48342309e-03,-5.14630666e-03,-1.77426041e-02, 5.12914357e-03,
 -4.69093991e-03,-3.97295032e-03,-7.71760380e-03,-1.91138349e-02,
  7.50743427e-01, 1.80981294e-02, 7.00441445e-01, 2.74268061e-02,
  9.49187836e-02,-7.00279198e-02, 1.30726713e-01, 9.99725831e-01,
  2.85667163e-04,-6.06808492e-04,-2.34054028e-02]

qacc:
[  0.57683963,  1.14661934, -3.73719114,  3.90319395, -0.48236748,
  -1.55046321,  6.85121539,-12.20279871,  3.08099053, -0.30622592,
   2.66762961, -8.0908217 , -1.68437281,  2.87381685,  3.77634048,
 -19.43292882,  0.9533791 , -0.74434974, -0.09806382,  9.45366933,
  15.16654003, -0.3716208 ]

qfrc_actuator:
[-5.67969970e-05,-4.02146859e-04,-2.31829478e-04,-3.24970750e-05,
  4.93136125e-06,-4.35553494e-04,-3.61394501e-04,-8.64818634e-06,
  4.49736351e-06,-2.63977978e-04,-3.11832690e-04,-1.24123250e-04,
  5.74870129e-02,-5.39791097e-04, 5.60965231e-02,-4.00538820e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48923939,  2.23218109, -3.89495031,  2.23218109, 35.91468702,
       18.00980354, -3.89495031, 18.00980354, 14.81058874,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028385195535739205
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.95563744e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.95563744e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08262657, -0.05760235,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.47785550e-06, 7.93557110e-06,-1.83501698e-05,-1.16688923e-06,
 -2.90313086e-06, 2.34765065e-05, 2.82159671e-05,-1.16084385e-05,
  1.81450910e-05, 1.37421511e-05,-7.37797954e-07,-1.54332850e-05,
 -3.60552832e-04,-6.76666527e-05,-2.98402694e-04,-1.80382949e-04,
 -4.21195853e-06,-1.60847330e-06,-1.21644345e+00,-1.78676581e-03,
 -2.95073891e-04, 3.25951852e-06]


--- Step 354 ---
qpos:
[ 2.84811364e-03,-5.58450246e-03,-1.01808067e-02, 2.78421131e-03,
 -4.48301209e-03,-5.14645998e-03,-1.77426310e-02, 5.13070849e-03,
 -4.69134660e-03,-3.97155608e-03,-7.71897118e-03,-1.91140432e-02,
  7.51965561e-01, 1.81016909e-02, 7.01901966e-01, 2.74205641e-02,
  9.49323966e-02,-7.00422219e-02, 1.30728101e-01, 9.99723781e-01,
  3.75061287e-04,-4.93947905e-04,-2.34941778e-02]

qacc:
[  3.38409374,  0.75479825, -2.28347585,  2.16818845,  2.73824236,
  -1.95293354,  5.65490586, -3.05397814,  1.94446682,  0.57805545,
  -2.52092961,  5.25084684, -1.92027788,  3.63575313,  5.22824597,
 -24.29723702,  0.95358479, -0.73607743, -0.15497952,  9.4583394 ,
  15.01648453, -0.41085241]

qfrc_actuator:
[-3.69274598e-05,-3.86173811e-04,-2.38792629e-04,-3.26648451e-05,
  2.10047836e-05,-4.57431172e-04,-3.26897604e-04, 1.64592117e-06,
  1.54255270e-05,-2.56475756e-04,-3.12486818e-04,-1.15609326e-04,
  5.73871941e-02,-5.17219074e-04, 5.59648999e-02,-4.15847202e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027804001038884973
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08262624, -0.0576007 ,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.99735109e-05, 1.65842568e-05,-7.62441099e-06,-4.86766042e-07,
  1.59977370e-05,-3.41639665e-06, 4.24255035e-05, 1.20491570e-05,
  1.14544349e-05, 1.43477238e-05, 1.55938128e-06, 8.77647139e-06,
 -3.50852709e-04,-5.33935619e-05,-2.97049603e-04,-2.03366872e-04,
 -6.30129528e-06,-3.09862694e-06,-1.21644802e+00,-1.78834310e-03,
 -2.95604680e-04, 3.77774260e-06]


--- Step 355 ---
qpos:
[ 2.84872178e-03,-5.58493732e-03,-1.01806079e-02, 2.78455231e-03,
 -4.48310153e-03,-5.14655755e-03,-1.77425948e-02, 5.13274276e-03,
 -4.69127375e-03,-3.97032622e-03,-7.72050774e-03,-1.91137576e-02,
  7.53185672e-01, 1.81052270e-02, 7.03359129e-01, 2.74150659e-02,
  9.49424532e-02,-7.00494600e-02, 1.30729456e-01, 9.99721718e-01,
  4.19623183e-04,-4.16868963e-04,-2.35825540e-02]

qacc:
[ 5.10512565e+00,-1.03690988e+00, 4.80589609e+00,-1.04874934e+01,
 -4.36310378e+00, 8.72390239e-01,-4.97042299e+00, 1.29362208e+01,
  4.19597190e+00, 1.26502812e+00,-6.92117733e+00, 1.58682632e+01,
 -1.17483203e+00, 1.52189538e+00,-7.14712519e+00, 1.79796792e+01,
 -8.89102439e-01, 1.76600742e+00,-7.95899577e-03,-2.19894913e+01,
 -1.84124580e+01, 2.16949644e-01]

qfrc_actuator:
[-7.49586350e-06,-4.12083639e-04,-2.42905446e-04,-5.07754029e-05,
 -5.20733395e-06,-4.52614332e-04,-3.24391220e-04, 2.48231269e-05,
  3.97642600e-05,-2.88104857e-04,-3.30062184e-04,-9.27602628e-05,
  5.72834217e-02,-5.23102471e-04, 5.58441596e-02,-4.10392661e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46618986,  2.5078873 , -3.69558563,  2.5078873 , 15.44882808,
        7.4530052 , -3.69558563,  7.4530052 ,  9.52392602,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027616151109230436
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.01009732e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.01009732e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10740538, -0.0937641 ,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.00092182e-05,-1.82171418e-05,-1.64369068e-06,-1.76752691e-05,
 -2.57569273e-05, 1.21935067e-05, 7.44197500e-06, 2.47297837e-05,
  2.46733968e-05,-2.29393159e-05,-1.41169573e-05, 2.36881905e-05,
 -3.45633240e-04,-7.81533134e-05,-2.88281495e-04, 3.12207949e-06,
 -8.67190409e-06,-4.42473238e-06,-1.21645452e+00,-1.79021289e-03,
 -2.96579437e-04, 4.48230791e-06]


--- Step 356 ---
qpos:
[ 2.84967837e-03,-5.58573825e-03,-1.01803556e-02, 2.78504930e-03,
 -4.48350440e-03,-5.14644815e-03,-1.77427807e-02, 5.13365813e-03,
 -4.69056462e-03,-3.96932873e-03,-7.72217109e-03,-1.91135391e-02,
  7.54403739e-01, 1.81087263e-02, 7.04813150e-01, 2.74107891e-02,
  9.49489042e-02,-7.00498153e-02, 1.30730236e-01, 9.99719639e-01,
  4.19552883e-04,-3.74282504e-04,-2.36712422e-02]

qacc:
[  3.05609627, -0.31806217, -0.23661221,  3.13095893, -2.74463756,
  -1.40421693, 10.13660329,-29.30937537,  5.57027234, -0.10201259,
   0.18275546, -0.95128608, -1.16634868,  1.47431434, -8.27295326,
  22.38115027, -0.90138063,  1.72070888, -0.14399219,-21.90323887,
 -17.76778086, -0.13956354]

qfrc_actuator:
[ 9.56995290e-06,-4.45124900e-04,-2.45487871e-04,-4.38275965e-05,
 -2.05985713e-05,-4.49718647e-04,-3.40692278e-04,-3.33763940e-05,
  7.18032633e-05,-3.07475633e-04,-3.39891274e-04,-9.72141050e-05,
  5.71773435e-02,-5.28031735e-04, 5.57194389e-02,-4.03394118e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47436444, -2.20194267,  3.89504629, -2.20194267,  8.71306422,
        2.39621643,  3.89504629,  2.39621643,  5.8289905 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027892147906496967
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.95103558e-14, -1.49265534e-13,  1.00000000e+00,  1.48534664e-26,
        1.00000000e+00,  1.49265534e-13, -1.00000000e+00,  0.00000000e+00,
        9.95103558e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10740025, -0.09376608,  0.06199138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79190311e-05,-4.43039608e-05,-7.15923856e-06, 5.76476252e-06,
 -1.61266677e-05, 1.23004642e-05,-1.20127439e-05,-5.69415611e-05,
  3.27375685e-05,-3.41179871e-05,-1.54841214e-05,-5.46441057e-06,
 -3.48636833e-04,-7.98535477e-05,-2.64432622e-04, 3.13726616e-05,
 -4.13918467e-06,-3.32328478e-06,-1.21644503e+00,-1.79020734e-03,
 -2.99530773e-04, 2.57207317e-06]


--- Step 357 ---
qpos:
[ 2.85083228e-03,-5.58673580e-03,-1.01801928e-02, 2.78561396e-03,
 -4.48305389e-03,-5.14657766e-03,-1.77430183e-02, 5.13460609e-03,
 -4.68982176e-03,-3.96847294e-03,-7.72368938e-03,-1.91137515e-02,
  7.55619671e-01, 1.81122328e-02, 7.06264272e-01, 2.74053104e-02,
  9.49517132e-02,-7.00434340e-02, 1.30729982e-01, 9.99717535e-01,
  3.75030699e-04,-3.65155586e-04,-2.37607988e-02]

qacc:
[  1.72665303,  0.12629392, -1.11877203,  2.58385687,  7.44505821,
  -0.11897458, -0.19665897,  1.04614529,  0.301998  , -1.48094141,
   6.82295527,-14.39871821, -1.40567699,  2.01829706, -0.55241715,
  -4.0491406 , -0.91053903,  1.68416338, -0.2582601 ,-21.82385405,
 -17.25138311, -0.41906884]

qfrc_actuator:
[ 1.92177403e-05,-4.46657009e-04,-2.47170351e-04,-3.99513007e-05,
  2.37737875e-05,-4.83654443e-04,-3.50265298e-04,-3.24856463e-05,
  7.26086171e-05,-3.01605039e-04,-3.27294678e-04,-1.17686108e-04,
  5.70593051e-02,-5.32366917e-04, 5.55764540e-02,-4.09748782e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47535706, -2.14673874,  3.92687326, -2.14673874, 11.12153993,
        3.63332791,  3.92687326,  3.63332791,  6.46162075,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027925413851483116
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.98783630e-13,  4.96959074e-14,  1.00000000e+00, -9.87873285e-27,
        1.00000000e+00, -4.96959074e-14, -1.00000000e+00,  0.00000000e+00,
        1.98783630e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10739657, -0.09376839,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01466804e-05,-2.75106098e-05,-1.15125611e-05, 1.84167225e-06,
  4.39172139e-05,-3.19877907e-05,-1.04832605e-05,-1.07459022e-07,
  1.73069951e-06,-1.66436470e-05, 3.46033867e-06,-2.25754698e-05,
 -3.62459937e-04,-8.03773569e-05,-2.69724858e-04,-9.77838406e-05,
 -2.88790364e-07,-1.49657807e-06,-1.21644072e+00,-1.78956154e-03,
 -3.01922313e-04, 1.56408229e-06]


--- Step 358 ---
qpos:
[ 2.85174798e-03,-5.58770310e-03,-1.01801703e-02, 2.78619460e-03,
 -4.48207531e-03,-5.14673720e-03,-1.77435092e-02, 5.13658045e-03,
 -4.68941969e-03,-3.96760590e-03,-7.72540869e-03,-1.91142036e-02,
  7.56833578e-01, 1.81148487e-02, 7.07712423e-01, 2.73980369e-02,
  9.49508524e-02,-7.00304334e-02, 1.30728312e-01, 9.99715392e-01,
  2.86213530e-04,-3.88663169e-04,-2.38516586e-02]

qacc:
[ -2.08859384,  0.46914541, -1.67511046,  2.14610392,  4.59865294,
   2.77221397,-14.29115763, 32.5006228 , -2.99005563,  0.08889761,
   0.72505391, -4.56761645, -0.4385927 , -1.05319105,  1.03347067,
 -10.01024632, -0.91740473,  1.65478739, -0.35417208,-21.75375608,
 -16.83913512, -0.63765678]

qfrc_actuator:
[ 6.67382835e-06,-4.29306648e-04,-2.48191256e-04,-3.78919866e-05,
  4.97049700e-05,-4.68315501e-04,-3.55883153e-04, 2.09079561e-05,
  5.50218204e-05,-2.98339976e-04,-3.36969069e-04,-1.29625838e-04,
  5.69341720e-02,-5.89632866e-04, 5.54385792e-02,-4.18596112e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47059506, -2.07467482,  3.9600435 , -2.07467482, 14.36795021,
        5.18524444,  3.9600435 ,  5.18524444,  7.18715514,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027765337742569063
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.99648406e-14, -1.49947261e-13,  1.00000000e+00,  1.49894540e-26,
        1.00000000e+00,  1.49947261e-13, -1.00000000e+00,  0.00000000e+00,
        9.99648406e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10739404, -0.09377094,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.22602530e-05,-2.99889082e-07,-8.05085187e-06, 5.18003976e-07,
  2.71793915e-05,-4.69762376e-06,-1.35195667e-05, 5.16550762e-05,
 -1.75412624e-05,-6.30387696e-06,-1.34580118e-05,-1.29703015e-05,
 -3.79009857e-04,-1.36063954e-04,-2.81956170e-04,-1.30700186e-04,
  2.99004438e-06, 1.11035622e-06,-1.21644135e+00,-1.78825830e-03,
 -3.03809396e-04, 1.40999590e-06]


--- Step 359 ---
qpos:
[ 2.85250666e-03,-5.58903948e-03,-1.01799806e-02, 2.78648009e-03,
 -4.48113850e-03,-5.14624982e-03,-1.77445967e-02, 5.13773354e-03,
 -4.68957637e-03,-3.96690563e-03,-7.72663764e-03,-1.91144752e-02,
  7.58045367e-01, 1.81165373e-02, 7.09157293e-01, 2.73919822e-02,
  9.49463013e-02,-7.00109078e-02, 1.30724904e-01, 9.99713187e-01,
  1.53232854e-04,-4.44149361e-04,-2.39441596e-02]

qacc:
[ -1.36215318, -1.56037833,  6.10627216,-11.21507343, -0.39444008,
   0.83147029,  1.74371004,-15.48010839, -4.87328341, -1.20987022,
   3.24911428, -0.80604952, -0.30215252, -1.45660123, -8.56989754,
  22.87695666, -0.92260866,  1.63129192, -0.43463298,-21.6944077 ,
 -16.51168699, -0.80798075]

qfrc_actuator:
[-1.07587960e-06,-4.71785563e-04,-2.48728606e-04,-5.46508701e-05,
  4.68027731e-05,-4.05772415e-04,-3.76658085e-04,-1.94719929e-05,
  2.67607530e-05,-2.96734502e-04,-3.06460115e-04,-1.18712427e-04,
  5.68155010e-02,-6.42257033e-04, 5.53145329e-02,-4.11079029e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46140993, -1.98365352,  3.99616031, -1.98365352, 18.73816217,
        7.08683525,  3.99616031,  7.08683525,  7.97924319,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002745305179835955
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02203936e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.02203936e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1073924 , -0.0937737 ,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.09698355e-06,-4.42610978e-05,-1.56371922e-06,-1.70390936e-05,
 -2.12630866e-06, 5.93535560e-05,-2.16209401e-05,-4.00477800e-05,
 -2.87622152e-05,-5.26987471e-06, 2.71127479e-05, 9.92899905e-06,
 -3.94407652e-04,-1.42165600e-04,-2.76747269e-04, 2.96939555e-05,
  5.77999808e-06, 4.53303941e-06,-1.21644674e+00,-1.78628569e-03,
 -3.05233247e-04, 2.07333186e-06]


--- Step 360 ---
qpos:
[ 2.85316667e-03,-5.59083542e-03,-1.01799821e-02, 2.78625473e-03,
 -4.48024352e-03,-5.14514933e-03,-1.77459807e-02, 5.13803148e-03,
 -4.68972574e-03,-3.96647970e-03,-7.72712057e-03,-1.91149637e-02,
  7.59254952e-01, 1.81175996e-02, 7.10599233e-01, 2.73870618e-02,
  9.49454364e-02,-6.99948380e-02, 1.30723602e-01, 9.99710986e-01,
  3.96218442e-05,-4.64860682e-04,-2.40359419e-02]

qacc:
[ -0.86164574, -1.12349668,  5.28387757,-13.48421305, -0.38506733,
  -0.12155396,  5.2203166 ,-19.99908128,  0.09199255, -2.89496556,
  10.70808257,-15.44530319, -0.69143502, -0.30774862, -7.75516487,
  20.87926038,  0.92156682, -0.86396807,  0.52677649,  9.26588708,
  17.61439958,  0.35234035]

qfrc_actuator:
[-5.93496782e-06,-5.14269540e-04,-2.66979855e-04,-8.23959411e-05,
  4.47117943e-05,-3.68829665e-04,-3.88330056e-04,-6.14210748e-05,
  2.79546662e-05,-3.13703902e-04,-2.70204734e-04,-1.29916633e-04,
  5.67061141e-02,-6.73950633e-04, 5.51989186e-02,-4.04624467e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47445679, -2.48894972,  3.71831856, -2.48894972, 17.18435635,
        8.50768981,  3.71831856,  8.50768981, 10.16929219,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002789524519372366
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.97997227e-13,  1.98998614e-13,  1.00000000e+00, -7.92008965e-26,
        1.00000000e+00, -1.98998614e-13, -1.00000000e+00,  0.00000000e+00,
        3.97997227e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08264452, -0.05758822,  0.06199138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.10119339e-06,-6.82476364e-05,-2.81636272e-05,-3.00251478e-05,
 -2.12868127e-06, 6.39430037e-05,-3.45743993e-06,-4.09349315e-05,
  3.70104379e-07,-1.39120333e-05, 3.88575082e-05,-1.02955582e-05,
 -3.95842120e-04,-1.25477727e-04,-2.47647664e-04, 2.87709007e-05,
  8.14289050e-06, 8.79324085e-06,-1.21645677e+00,-1.78363537e-03,
 -3.06224385e-04, 3.52699807e-06]


--- Step 361 ---
qpos:
[ 2.85410804e-03,-5.59280885e-03,-1.01803561e-02, 2.78602069e-03,
 -4.47938021e-03,-5.14398545e-03,-1.77470517e-02, 5.13854338e-03,
 -4.68985998e-03,-3.96605855e-03,-7.72775027e-03,-1.91162456e-02,
  7.60462255e-01, 1.81182961e-02, 7.12038452e-01, 2.73831717e-02,
  9.49482945e-02,-6.99820933e-02, 1.30723777e-01, 9.99708788e-01,
 -5.45451402e-05,-4.52063639e-04,-2.41273892e-02]

qacc:
[  2.45254942,  0.78403807, -3.10744801,  3.6922851 , -0.26729237,
  -0.34964969,  0.46602515,  2.68894057,  0.12746088, -1.23077273,
   7.72268639,-21.20384842, -1.02821031,  0.67946049, -7.09532412,
  19.10778875,  0.93073296, -0.8312962 ,  0.36912796,  9.31657835,
  16.98302508,  0.16234565]

qfrc_actuator:
[ 8.69741628e-06,-5.03260554e-04,-2.77815311e-04,-8.08937032e-05,
  4.31243196e-05,-3.82977334e-04,-3.76849145e-04,-5.06913336e-05,
  2.87263755e-05,-3.23891303e-04,-2.84211214e-04,-1.71818901e-04,
  5.65917302e-02,-6.93015958e-04, 5.50884499e-02,-3.98847708e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4882892 ,  2.32002869, -3.84216174,  2.32002869,  8.97094878,
        2.70678319, -3.84216174,  2.70678319,  6.12273748,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028354044830224134
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.95778597e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.95778597e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08264927, -0.05758634,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.44708932e-05,-3.41974536e-05,-2.94195043e-05,-2.97629660e-06,
 -1.62433970e-06, 1.91156980e-05, 2.28483963e-05, 1.25530405e-05,
  7.77044390e-07,-1.03911230e-05,-1.24487600e-05,-4.13529248e-05,
 -3.98077807e-04,-1.11212620e-04,-2.30897142e-04, 2.52976110e-05,
  7.58903853e-06, 5.25447790e-06,-1.21645045e+00,-1.78257661e-03,
 -3.05046623e-04, 2.29528168e-06]


--- Step 362 ---
qpos:
[ 2.85521746e-03,-5.59494105e-03,-1.01806407e-02, 2.78577114e-03,
 -4.47888732e-03,-5.14292479e-03,-1.77481558e-02, 5.13957113e-03,
 -4.69032867e-03,-3.96578883e-03,-7.72876315e-03,-1.91179834e-02,
  7.61667238e-01, 1.81190490e-02, 7.13474461e-01, 2.73816656e-02,
  9.49549024e-02,-6.99725685e-02, 1.30724898e-01, 9.99706591e-01,
 -1.29225775e-04,-4.06772830e-04,-2.42188007e-02]

qacc:
[ 1.47558958e+00,-4.94733645e-01, 1.52001036e+00,-1.80924283e+00,
 -3.22958282e+00, 1.02456056e+00,-6.01791174e+00, 1.50631514e+01,
 -2.93761859e+00,-6.24325058e-02, 1.86403914e+00,-9.03495589e+00,
 -1.39516529e+00, 1.91395878e+00,-1.18767395e+01, 3.48870885e+01,
  9.37473903e-01,-8.04947906e-01, 2.36577162e-01, 9.34835054e+00,
  1.64772285e+01, 1.43385237e-02]

qfrc_actuator:
[ 1.69314856e-05,-4.95759291e-04,-2.66190793e-04,-7.98935285e-05,
  2.40928737e-05,-4.09722158e-04,-3.87472655e-04,-2.68340081e-05,
  1.14813917e-05,-3.47921973e-04,-3.10027791e-04,-1.95971426e-04,
  5.64850858e-02,-6.86761567e-04, 5.49438749e-02,-3.86411549e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49376445,  2.28178422, -3.87135373,  2.28178422, 11.67779565,
        4.23428345, -3.87135373,  4.23428345,  6.98946022,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028532913831756657
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94551288e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.94551288e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08265266, -0.05758454,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.64370290e-06,-1.77479604e-05, 8.60465335e-07,-1.53604216e-06,
 -1.90727835e-05,-1.08297804e-05,-3.42832581e-06, 2.57100831e-05,
 -1.72237577e-05,-3.41886801e-05,-3.09216382e-05,-2.58301203e-05,
 -3.88720983e-04,-8.46568551e-05,-2.58719001e-04, 9.36148854e-05,
  6.75324658e-06, 2.03646843e-06,-1.21644659e+00,-1.78176820e-03,
 -3.04412221e-04, 1.31310655e-06]


--- Step 363 ---
qpos:
[ 2.85572731e-03,-5.59710979e-03,-1.01808348e-02, 2.78517381e-03,
 -4.47862635e-03,-5.14202355e-03,-1.77493005e-02, 5.14053992e-03,
 -4.69065555e-03,-3.96567379e-03,-7.72982359e-03,-1.91200197e-02,
  7.62869793e-01, 1.81204917e-02, 7.14907433e-01, 2.73799583e-02,
  9.49652804e-02,-6.99661786e-02, 1.30726521e-01, 9.99704387e-01,
 -1.84399174e-04,-3.29798012e-04,-2.43104091e-02]

qacc:
[ -5.24149646, -1.00722171,  5.00692332,-11.16273529, -2.02115869,
  -0.21495187,  0.71641532, -1.56208614,  1.24250295, -0.6889194 ,
   3.4137374 , -8.38162698, -2.25412721,  4.43833654, -3.70061248,
   6.88390602,  0.94250293, -0.78373995,  0.12533729,  9.36704183,
  16.073588  , -0.10043201]

qfrc_actuator:
[-1.41779390e-05,-4.90310395e-04,-2.59155945e-04,-9.69369352e-05,
  1.26991074e-05,-4.26131391e-04,-3.93385182e-04,-3.09928389e-05,
  1.92751765e-05,-3.44604771e-04,-3.07130049e-04,-2.09494291e-04,
  5.63725194e-02,-6.47838741e-04, 5.47896294e-02,-3.87908961e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49236872,  2.22795815, -3.90097156,  2.22795815, 15.29962394,
        6.17233732, -3.90097156,  6.17233732,  8.01756982,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028487461381886126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08265498, -0.0575828 ,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.08614596e-05,-4.28328916e-06, 3.44903360e-06,-1.77985962e-05,
 -1.19452227e-05,-2.21062900e-05,-7.68300292e-06,-4.24247152e-06,
  7.29178930e-06,-2.32953147e-05,-8.85298795e-06,-1.65536154e-05,
 -3.83398001e-04,-4.65831288e-05,-2.71851014e-04,-4.50977358e-05,
  5.63762140e-06,-9.11079861e-07,-1.21644500e+00,-1.78122302e-03,
 -3.04294957e-04, 5.63383869e-07]


--- Step 364 ---
qpos:
[ 2.85586040e-03,-5.59912587e-03,-1.01810587e-02, 2.78470598e-03,
 -4.47815915e-03,-5.14149616e-03,-1.77500858e-02, 5.14076092e-03,
 -4.69054177e-03,-3.96574145e-03,-7.73059796e-03,-1.91218771e-02,
  7.64070052e-01, 1.81223958e-02, 7.16337628e-01, 2.73753341e-02,
  9.49794438e-02,-6.99628556e-02, 1.30728272e-01, 9.99702168e-01,
 -2.20057955e-04,-2.21781887e-04,-2.44023944e-02]

qacc:
[ -3.29916014,  0.55845092, -2.23396364,  4.39877154,  1.81565554,
  -3.04075996, 13.27654538,-26.5131963 ,  3.86994243, -0.67997853,
   1.30613156,  1.4813616 , -2.07877163,  3.88147235,  4.89495443,
 -22.66483266,  0.94635886, -0.76671773,  0.03217415,  9.37704715,
  15.75330277, -0.18885683]

qfrc_actuator:
[-3.26877915e-05,-4.68399005e-04,-2.54911682e-04,-8.89627428e-05,
  2.36502363e-05,-4.53994395e-04,-3.78697918e-04,-6.93455498e-05,
  4.17497423e-05,-3.42567662e-04,-2.87186059e-04,-1.98861715e-04,
  5.62618187e-02,-6.25475984e-04, 5.46509850e-02,-4.02929154e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48555624,  2.15664243, -3.93307872,  2.15664243, 20.12992809,
        8.57834753, -3.93307872,  8.57834753,  9.18935944,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002826418978929962
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.82004997e-14,  1.96400999e-13,  1.00000000e+00, -1.92866763e-26,
        1.00000000e+00, -1.96400999e-13, -1.00000000e+00,  0.00000000e+00,
        9.82004997e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08265645, -0.05758109,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93855914e-05, 1.95357283e-05, 3.19813927e-06, 7.57138333e-06,
  1.06014769e-05,-4.20190338e-05, 9.02916631e-06,-3.96494381e-05,
  2.26745970e-05,-1.35126665e-05, 1.34843782e-05, 9.01262305e-06,
 -3.70987050e-04,-5.68079245e-05,-2.77951623e-04,-1.89786630e-04,
  4.24346662e-06,-3.62519512e-06,-1.21644556e+00,-1.78095025e-03,
 -3.04674448e-04, 3.26463647e-08]


--- Step 365 ---
qpos:
[ 2.85577043e-03,-5.60109634e-03,-1.01806417e-02, 2.78430392e-03,
 -4.47756455e-03,-5.14115908e-03,-1.77507744e-02, 5.14086066e-03,
 -4.69050421e-03,-3.96614319e-03,-7.73134361e-03,-1.91232099e-02,
  7.65268241e-01, 1.81242365e-02, 7.17764568e-01, 2.73701993e-02,
  9.49934214e-02,-6.99651561e-02, 1.30729779e-01, 9.99699973e-01,
 -2.13078169e-04,-1.09141910e-04,-2.44929930e-02]

qacc:
[-1.93188508,-1.59216129, 5.49331665,-5.42096722, 1.11733477,-0.77305204,
  2.8997717 ,-5.00926532,-0.66031128, 0.55992424,-4.84510922,14.11146932,
 -1.24358186, 1.58393061,-3.18784145, 4.36800706,-0.04645813,-1.40587371,
 -0.06119067,21.2566743 , 2.83132845, 0.689156  ]

qfrc_actuator:
[-4.36208850e-05,-4.54537335e-04,-2.16752348e-04,-8.40688044e-05,
  2.99103045e-05,-4.52946216e-04,-3.69787070e-04,-7.42442730e-05,
  3.71719465e-05,-3.76713968e-04,-2.92834194e-04,-1.74094003e-04,
  5.61629645e-02,-6.30849415e-04, 5.45164613e-02,-4.04480233e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47813005,  3.71793216,  2.49612284,  3.71793216,  8.14810902,
       -5.46637073,  2.49612284, -5.46637073, 12.6201955 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028018066075451153
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.98126277e-13,  1.98126277e-13,  1.00000000e+00,  3.92540217e-26,
        1.00000000e+00, -1.98126277e-13, -1.00000000e+00,  0.00000000e+00,
       -1.98126277e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09452986, -0.04641291,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14740611e-05, 2.58405757e-05, 4.28783986e-05, 5.99583175e-06,
  6.55059603e-06,-2.22891723e-05,-2.58220066e-08,-7.15864484e-06,
 -3.93727345e-06,-3.85075231e-05,-6.45330568e-06, 2.48361401e-05,
 -3.53411062e-04,-8.33635307e-05,-2.92957674e-04,-6.39867134e-05,
  2.57121144e-06,-6.13308129e-06,-1.21644817e+00,-1.78095642e-03,
 -3.05534945e-04,-2.89547026e-07]


--- Step 366 ---
qpos:
[ 2.85554985e-03,-5.60269064e-03,-1.01801663e-02, 2.78396108e-03,
 -4.47689938e-03,-5.14102722e-03,-1.77516479e-02, 5.14126751e-03,
 -4.69086666e-03,-3.96672408e-03,-7.73219155e-03,-1.91242459e-02,
  7.66464473e-01, 1.81257030e-02, 7.19188376e-01, 2.73660936e-02,
  9.50057029e-02,-6.99729622e-02, 1.30730814e-01, 9.99697820e-01,
 -1.63172671e-04,-4.32912177e-06,-2.45813154e-02]

qacc:
[-1.14700714, 0.45851011,-1.1596914 , 1.81074508, 0.61337761, 0.87590599,
 -4.81537221,10.57960436,-3.50195176, 0.66747766,-3.96235267, 9.37717119,
 -0.77847851, 0.28267142,-7.71653954,20.35506411,-0.42400329,-1.37640097,
 -0.11775128,21.55240061,-3.38697067, 1.13511693]

qfrc_actuator:
[-5.00109148e-05,-4.27706885e-04,-2.12160818e-04,-8.10110668e-05,
  3.33520619e-05,-4.70090588e-04,-3.81975665e-04,-5.93980134e-05,
  1.67033388e-05,-3.79087980e-04,-2.95942039e-04,-1.59014934e-04,
  5.60659547e-02,-6.52524342e-04, 5.44005304e-02,-3.98073802e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47252703,  2.60158755, -3.63802697,  2.60158755, 17.90926874,
        9.60874128, -3.63802697,  9.60874128, 11.34382894,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002783042987129225
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09953954, -0.04643196,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.70503118e-06, 5.04579778e-05, 1.54377185e-05, 5.77021573e-06,
  3.62205925e-06,-2.99224865e-05,-1.70396460e-05, 1.37513437e-05,
 -2.05975528e-05,-2.41515018e-05,-1.09802373e-05, 1.36959540e-05,
 -3.45133390e-04,-9.99384383e-05,-2.65456266e-04, 2.10756979e-05,
 -1.35193577e-06,-6.39171655e-06,-1.21644807e+00,-1.78109643e-03,
 -3.05504486e-04, 4.58372170e-07]


--- Step 367 ---
qpos:
[ 2.85559920e-03,-5.60372689e-03,-1.01800385e-02, 2.78435298e-03,
 -4.47654282e-03,-5.14126057e-03,-1.77525862e-02, 5.14186174e-03,
 -4.69147189e-03,-3.96734171e-03,-7.73286826e-03,-1.91251308e-02,
  7.67658666e-01, 1.81269519e-02, 7.20609478e-01, 2.73616502e-02,
  9.50163570e-02,-6.99862719e-02, 1.30731042e-01, 9.99695701e-01,
 -7.09276075e-05, 9.23457030e-05,-2.46676232e-02]

qacc:
[  2.34107576,  3.21735804,-13.51078069, 26.3801957 , -2.68715669,
   0.0899747 , -1.80305145,  5.40873006, -2.11930643, -0.21170866,
   0.05424457,  2.30558045, -1.08479643,  1.08486723, -2.91638248,
   4.5547365 , -0.40686026, -1.37590869, -0.20183905, 21.26341391,
  -3.54753529,  1.00662231]

qfrc_actuator:
[-3.59257096e-05,-3.93443958e-04,-2.27383631e-04,-4.35695630e-05,
  1.73560734e-05,-4.98059456e-04,-3.88828626e-04,-5.08372651e-05,
  4.80716398e-06,-3.62419909e-04,-2.79653566e-04,-1.49731207e-04,
  5.59594644e-02,-6.65891416e-04, 5.42852096e-02,-3.99453246e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46493209, -2.80415792, -3.47452398, -2.80415792, 15.4630053 ,
       -8.87613217, -3.47452398, -8.87613217, 11.62852527,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000275733581026838
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.01321693e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.01321693e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09954193, -0.04643247,  0.06199148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.39149490e-05, 6.59664457e-05,-2.68477534e-06, 4.02535462e-05,
 -1.59024842e-05,-4.76258401e-05,-1.46489183e-05, 6.95728729e-06,
 -1.24958522e-05, 1.50624135e-06, 1.04411275e-05, 8.14247053e-06,
 -3.51869328e-04,-9.26221814e-05,-2.43545906e-04,-4.87036636e-05,
 -5.01712046e-06,-5.07209063e-06,-1.21644892e+00,-1.78165011e-03,
 -3.05430763e-04, 1.22527894e-06]


--- Step 368 ---
qpos:
[ 2.85581714e-03,-5.60444727e-03,-1.01799971e-02, 2.78520363e-03,
 -4.47638086e-03,-5.14168098e-03,-1.77536749e-02, 5.14253705e-03,
 -4.69256063e-03,-3.96735042e-03,-7.73392953e-03,-1.91259429e-02,
  7.68850666e-01, 1.81284053e-02, 7.22027839e-01, 2.73582964e-02,
  9.50254387e-02,-7.00050832e-02, 1.30730182e-01, 9.99693601e-01,
  6.31909286e-05, 1.80644666e-04,-2.47521200e-02]

qacc:
[ 1.46701568, 1.60131193,-7.04518839,14.89581613,-1.69871985, 0.34284813,
 -1.91778206, 3.69290316,-4.25540809, 2.03799591,-6.39023109, 7.79763858,
 -1.54843838, 2.45545303,-7.2435098 ,19.73503539,-0.3931149 ,-1.37537658,
 -0.27217813,21.0335888 ,-3.67026223, 0.90709832]

qfrc_actuator:
[-2.76562729e-05,-3.90559170e-04,-2.36360006e-04,-2.17022676e-05,
  7.80101795e-06,-4.96775677e-04,-3.92526063e-04,-4.60509306e-05,
 -1.96954170e-05,-2.98892076e-04,-2.87465175e-04,-1.43897726e-04,
  5.58473635e-02,-6.56528011e-04, 5.41809810e-02,-3.92981867e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.45375628,  -2.87357872,  -3.40271808,  -2.87357872,
        18.97495238, -12.26307882,  -3.40271808, -12.26307882,
        14.80986615,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00027189189056275875
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.04166263e-13, -2.04166263e-13,  1.00000000e+00,  4.16838629e-26,
        1.00000000e+00,  2.04166263e-13, -1.00000000e+00,  0.00000000e+00,
        2.04166263e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09954396, -0.04643225,  0.0619916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.69166175e-06, 4.09833829e-05, 5.72086212e-06, 2.53848668e-05,
 -1.00272363e-05,-2.80632833e-05,-1.50851710e-05, 2.37622674e-06,
 -2.48624868e-05, 6.69013337e-05,-5.91584333e-06, 6.42302949e-06,
 -3.60252234e-04,-7.04142563e-05,-2.31785749e-04, 2.83610455e-05,
 -8.35987215e-06,-3.14287085e-06,-1.21645259e+00,-1.78285955e-03,
 -3.05356606e-04, 1.86617758e-06]


--- Step 369 ---
qpos:
[ 2.85578786e-03,-5.60494619e-03,-1.01799831e-02, 2.78597292e-03,
 -4.47633492e-03,-5.14221935e-03,-1.77548535e-02, 5.14325106e-03,
 -4.69427982e-03,-3.96665020e-03,-7.73488871e-03,-1.91270718e-02,
  7.70040667e-01, 1.81291080e-02, 7.23443278e-01, 2.73573399e-02,
  9.50310243e-02,-7.00169042e-02, 1.30729947e-01, 9.99691489e-01,
  1.50525608e-04, 2.32203662e-04,-2.48364662e-02]

qacc:
[-2.16735581e+00, 2.05690303e-01, 4.20020151e-02,-1.57714575e+00,
 -1.01255558e+00, 1.77115465e-01,-1.01774788e+00, 1.91468960e+00,
 -5.52835167e+00, 9.89748738e-03, 2.67751316e+00,-8.85911466e+00,
 -3.69084056e-01,-1.03437223e+00,-1.15972186e+01, 3.42637182e+01,
 -8.73996999e-01, 1.74755109e+00, 1.56325265e-01,-2.29300785e+01,
 -1.89433487e+01, 7.21009167e-02]

qfrc_actuator:
[-4.06355843e-05,-3.88729658e-04,-2.41710440e-04,-2.69500276e-05,
  2.11996884e-06,-4.95725010e-04,-3.94218909e-04,-4.34978997e-05,
 -5.14239910e-05,-2.43384612e-04,-2.73744258e-04,-1.57869063e-04,
  5.57319837e-02,-7.04871927e-04, 5.40622050e-02,-3.80153948e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46857777,  0.52100711, -4.43810082,  0.52100711, 25.46882827,
        2.46530675, -4.43810082,  2.46530675,  4.75799039,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002769715322473304
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00421866e-13, -2.00421866e-13,  1.00000000e+00,  4.01689242e-26,
        1.00000000e+00,  2.00421866e-13, -1.00000000e+00,  0.00000000e+00,
        2.00421866e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10734469, -0.09379843,  0.06199144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27158109e-05, 2.70428966e-05, 4.70354163e-06,-2.80050996e-06,
 -5.97777446e-06,-1.76330910e-05,-9.24871788e-06, 8.77148573e-07,
 -3.24165381e-05, 9.19739335e-05, 2.70467618e-05,-1.11808643e-05,
 -3.64165224e-04,-1.27041024e-04,-2.32823109e-04, 9.76252434e-05,
 -1.14114191e-05,-6.22107119e-07,-1.21645902e+00,-1.78471736e-03,
 -3.05260842e-04, 2.38014207e-06]


--- Step 370 ---
qpos:
[ 2.85560344e-03,-5.60545057e-03,-1.01793654e-02, 2.78665896e-03,
 -4.47670229e-03,-5.14313442e-03,-1.77553833e-02, 5.14397182e-03,
 -4.69636573e-03,-3.96583047e-03,-7.73514767e-03,-1.91283252e-02,
  7.71228484e-01, 1.81293275e-02, 7.24855823e-01, 2.73575587e-02,
  9.50330568e-02,-7.00218927e-02, 1.30729688e-01, 9.99689366e-01,
  1.91637975e-04, 2.48530724e-04,-2.49213380e-02]

qacc:
[-1.33803990e+00,-1.86324247e+00, 6.98884866e+00,-9.39563558e+00,
 -3.57796699e+00,-2.28925318e+00, 7.42441233e+00,-8.08225238e+00,
 -3.19067277e+00,-2.04967424e+00, 8.07139975e+00,-1.14402665e+01,
 -8.34207871e-01, 1.71984052e-01,-7.81004538e+00, 2.11895450e+01,
 -8.88311934e-01, 1.70812633e+00,-5.92582422e-03,-2.26664461e+01,
 -1.81845702e+01,-2.65592769e-01]

qfrc_actuator:
[-4.82631149e-05,-3.87565264e-04,-2.09404667e-04,-3.03575828e-05,
 -1.89900624e-05,-5.12561118e-04,-3.59203934e-04,-4.22749110e-05,
 -6.93951929e-05,-2.64043473e-04,-2.47436657e-04,-1.65610239e-04,
  5.56093721e-02,-7.33708945e-04, 5.39241641e-02,-3.74338030e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48561543, -1.09350315,  4.35028696, -1.09350315,  8.10888339,
        0.91075715,  4.35028696,  0.91075715,  4.71454649,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028266139773160115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.81937252e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.81937252e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10733838, -0.09379794,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.98017674e-06, 1.71502417e-05, 3.83786412e-05,-2.14070744e-06,
 -2.12872076e-05,-2.85394235e-05, 3.02827225e-05, 1.67000088e-07,
 -1.88644524e-05, 3.58515900e-05, 4.82535844e-05,-3.08015730e-06,
 -3.84928073e-04,-1.16327784e-04,-2.44112994e-04, 3.13889165e-05,
 -6.83621430e-06,-4.02821310e-07,-1.21644741e+00,-1.78539417e-03,
 -3.07811434e-04, 3.94724953e-07]


--- Step 371 ---
qpos:
[ 2.85532902e-03,-5.60592950e-03,-1.01789120e-02, 2.78769366e-03,
 -4.47697498e-03,-5.14451065e-03,-1.77551094e-02, 5.14435622e-03,
 -4.69865083e-03,-3.96514985e-03,-7.73491199e-03,-1.91292678e-02,
  7.72414195e-01, 1.81288906e-02, 7.26265753e-01, 2.73563989e-02,
  9.50314933e-02,-7.00201777e-02, 1.30728859e-01, 9.99687225e-01,
  1.87003212e-04, 2.30835249e-04,-2.50072629e-02]

qacc:
[ -0.79261617,  1.21236889, -5.74292846, 12.01795291,  0.85857022,
  -3.54859335, 13.1865201 ,-19.95291828, -1.72571647, -0.92290191,
   1.71900483,  2.96222753, -0.75033126, -0.13981115,  0.33407197,
  -6.71517515, -0.89898018,  1.67588065, -0.14257162,-22.44238359,
 -17.57612322, -0.52899952]

qfrc_actuator:
[-5.26727856e-05,-4.04414229e-04,-2.26135732e-04,-1.48739546e-05,
 -1.35085106e-05,-5.39823369e-04,-3.20619682e-04,-5.95861078e-05,
 -7.91235104e-05,-2.94591021e-04,-2.31968653e-04,-1.51926239e-04,
  5.55038133e-02,-7.68561602e-04, 5.37959700e-02,-3.81579335e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49361664, -1.03522247,  4.3727457 , -1.03522247, 10.81892069,
        1.49747946,  4.3727457 ,  1.49747946,  4.84813632,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002852810526140087
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.9458408e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.9458408e-13, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10733376, -0.09379829,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.63239119e-06, 5.84484235e-07,-8.53769995e-06, 1.75034104e-05,
  4.86014027e-06,-3.69289026e-05, 3.64419417e-05,-1.74802314e-05,
 -1.02542641e-05,-7.02040201e-07, 2.87042256e-05, 1.68308182e-05,
 -3.79474029e-04,-1.25034646e-04,-2.46883150e-04,-1.04330643e-04,
 -3.02692177e-06, 6.39261619e-07,-1.21644136e+00,-1.78540197e-03,
 -3.09775872e-04,-6.12788924e-07]


--- Step 372 ---
qpos:
[ 2.85534865e-03,-5.60616321e-03,-1.01792999e-02, 2.78892537e-03,
 -4.47683549e-03,-5.14582782e-03,-1.77548344e-02, 5.14451892e-03,
 -4.70069004e-03,-3.96455593e-03,-7.73416885e-03,-1.91300462e-02,
  7.73597944e-01, 1.81276681e-02, 7.27672736e-01, 2.73530270e-02,
  9.50263019e-02,-7.00118643e-02, 1.30726999e-01, 9.99685054e-01,
  1.37019276e-04, 1.80084473e-04,-2.50946505e-02]

qacc:
[  2.54167465,  3.0765537 ,-11.33946842, 15.9232428 ,  3.59357444,
  -0.38833783,  2.42166783, -6.29063783,  2.17020408, -1.19909598,
   3.40872444, -1.30660487, -0.54656639, -0.64125829,  2.34467236,
 -14.51399896, -0.9069653 ,  1.64961123, -0.25755422,-22.25401146,
 -17.08964346, -0.73369835]

qfrc_actuator:
[-3.74021916e-05,-3.96594680e-04,-2.71762456e-04,-6.20685357e-06,
  7.58531254e-06,-5.19848264e-04,-3.15813552e-04,-6.99247581e-05,
 -6.61743160e-05,-2.95355704e-04,-2.05326262e-04,-1.43525268e-04,
  5.54138835e-02,-8.06657335e-04, 5.36471340e-02,-3.92896063e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4940837 , -0.9599483 ,  4.39036304, -0.9599483 , 14.41656354,
        2.16953987,  4.39036304,  2.16953987,  4.96845133,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028543296808221374
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94480517e-13,  1.45860388e-13,  1.00000000e+00, -2.83670036e-26,
        1.00000000e+00, -1.45860388e-13, -1.00000000e+00,  0.00000000e+00,
        1.94480517e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10733049, -0.09379933,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.51388691e-05, 7.14181076e-06,-4.59534856e-05, 8.73538222e-06,
  2.12195166e-05, 6.15039336e-06, 1.07470325e-06,-1.09985657e-05,
  1.26564618e-05, 5.45607353e-06, 3.06044561e-05, 9.69176978e-06,
 -3.62336556e-04,-1.28335933e-04,-2.84339711e-04,-1.53099939e-04,
  1.50811572e-07, 2.53594041e-06,-1.21644053e+00,-1.78472907e-03,
 -3.11216269e-04,-7.12083988e-07]


--- Step 373 ---
qpos:
[ 2.85589609e-03,-5.60633597e-03,-1.01799013e-02, 2.78988636e-03,
 -4.47678940e-03,-5.14663058e-03,-1.77550114e-02, 5.14452879e-03,
 -4.70186836e-03,-3.96398269e-03,-7.73365606e-03,-1.91306748e-02,
  7.74779422e-01, 1.81269181e-02, 7.29076400e-01, 2.73489249e-02,
  9.50174585e-02,-6.99970375e-02, 1.30723723e-01, 9.99682832e-01,
  4.20151563e-05, 9.70487481e-05,-2.51838176e-02]

qacc:
[  4.60914239,  0.11033191,  0.85060291, -5.22251115, -0.83753419,
   1.62927189, -4.17530401,  1.87227241,  7.52992402,  0.91039941,
  -3.94184202,  6.94153535, -1.93890399,  3.52320294, -2.54210366,
   2.15664374, -0.91300294,  1.62832308, -0.35423455,-22.09774899,
 -16.70239056, -0.89192879]

qfrc_actuator:
[-1.06714808e-05,-3.91956592e-04,-2.80725832e-04,-1.93701082e-05,
  2.18587486e-06,-4.71866503e-04,-3.30793138e-04,-7.60600187e-05,
 -2.22313897e-05,-3.13752684e-04,-2.25447828e-04,-1.38271860e-04,
  5.53120908e-02,-7.75296474e-04, 5.35020145e-02,-3.95867966e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48853275, -0.865503  ,  4.40429685, -0.865503  , 19.15281084,
        2.881726  ,  4.40429685,  2.881726  ,  5.05483029,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002836203352264005
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78617263e-14,  4.89308631e-14,  1.00000000e+00,  4.78845874e-27,
        1.00000000e+00, -4.89308631e-14, -1.00000000e+00,  0.00000000e+00,
       -9.78617263e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10732829, -0.09380092,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.71682695e-05,-4.70496310e-07,-1.28423100e-05,-1.42793756e-05,
 -4.78859168e-06, 5.12234509e-05,-1.39464601e-05,-6.04754217e-06,
  4.43071114e-05,-8.64027606e-06,-1.49065056e-05, 6.73246872e-06,
 -3.64246892e-04,-5.57129185e-05,-3.01338697e-04,-7.67369294e-05,
  2.79675185e-06, 5.30478465e-06,-1.21644464e+00,-1.78336810e-03,
 -3.12178785e-04, 4.45541278e-08]


--- Step 374 ---
qpos:
[ 2.85641506e-03,-5.60669222e-03,-1.01802225e-02, 2.79033386e-03,
 -4.47680806e-03,-5.14712437e-03,-1.77553501e-02, 5.14481627e-03,
 -4.70251062e-03,-3.96344084e-03,-7.73365085e-03,-1.91312141e-02,
  7.75958576e-01, 1.81268935e-02, 7.30476379e-01, 2.73454443e-02,
  9.50049445e-02,-6.99757660e-02, 1.30718704e-01, 9.99680531e-01,
 -9.77416821e-05,-1.76621036e-05,-2.52750070e-02]

qacc:
[ -0.2374496 , -2.08241653,  9.2413025 ,-18.4416252 , -0.57485969,
   1.43254343, -5.68576708, 10.52054357,  4.67762041,  1.55233001,
  -5.98641023,  8.38094673, -2.14413796,  4.18836651, -7.15769241,
  17.56886817, -0.91765177,  1.61119129, -0.43548353,-21.97031258,
 -16.39610143, -1.01330357]

qfrc_actuator:
[-1.29213538e-05,-4.06893838e-04,-2.67982676e-04,-4.52426593e-05,
 -1.01618332e-06,-4.60817630e-04,-3.39438893e-04,-6.19007842e-05,
  4.08915882e-06,-3.25007765e-04,-2.55340312e-04,-1.34958236e-04,
  5.51979530e-02,-7.38710831e-04, 5.33379611e-02,-3.92117425e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47837471, -0.74934855,  4.41523689, -0.74934855, 25.33722396,
        3.54013813,  4.41523689,  3.54013813,  5.07920258,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002802622106235775
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.90343135e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.90343135e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10732693, -0.09380293,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47146351e-06,-1.84459625e-05, 1.05752609e-05,-2.66166792e-05,
 -3.32064128e-06, 3.65825444e-05, 1.86736224e-08, 1.57559285e-05,
  2.75853634e-05,-1.88908116e-05,-3.32943471e-05, 2.55584418e-06,
 -3.63292800e-04,-4.08613491e-05,-3.18818209e-04,-7.25249798e-06,
  4.98516218e-06, 8.95374920e-06,-1.21645352e+00,-1.78131447e-03,
 -3.12697572e-04, 1.61832261e-06]


--- Step 375 ---
qpos:
[ 2.85690332e-03,-5.60721014e-03,-1.01803849e-02, 2.79047349e-03,
 -4.47686481e-03,-5.14756649e-03,-1.77556942e-02, 5.14563898e-03,
 -4.70317695e-03,-3.96298275e-03,-7.73343199e-03,-1.91320981e-02,
  7.77135254e-01, 1.81285440e-02, 7.31872856e-01, 2.73416756e-02,
  9.49902369e-02,-6.99606930e-02, 1.30715654e-01, 9.99678295e-01,
 -1.93683832e-04,-1.37760177e-04,-2.53623866e-02]

qacc:
[ -0.26111377, -1.2913931 ,  5.59489081,-11.05913466, -0.33285479,
   1.18576796, -6.38739949, 15.62048603, -0.20279066, -1.41774119,
   6.34748368,-12.58842101, -3.26193891,  7.50642703, -4.00928234,
   7.25078511, -0.54840997, -1.54960224,  0.49189376, 21.96846343,
  -2.13922736,  1.90443297]

qfrc_actuator:
[-1.44617820e-05,-4.15603593e-04,-2.60376328e-04,-6.06370999e-05,
 -2.89110271e-06,-4.71928798e-04,-3.44393840e-04,-3.59341792e-05,
  2.06412400e-06,-3.14206087e-04,-2.37468072e-04,-1.50560611e-04,
  5.50924721e-02,-6.46174309e-04, 5.31786772e-02,-3.93315699e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49161585, -0.72007197,  4.4335211 , -0.72007197, 22.38207622,
        2.90568574,  4.4335211 ,  2.90568574,  4.96354388,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028462903345499724
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09957526, -0.0464357 ,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.58687146e-06,-1.79673081e-05, 4.18421571e-06,-1.63364264e-05,
 -1.95800172e-06, 1.00445948e-05, 3.15790289e-06, 2.78426578e-05,
 -1.24101156e-06,-6.54011466e-06, 9.95132831e-06,-1.75148482e-05,
 -3.51000708e-04, 1.72680487e-05,-3.13161260e-04,-5.48416466e-05,
  6.77154580e-06, 1.34841872e-05,-1.21646702e+00,-1.77856543e-03,
 -3.12797720e-04, 3.98091042e-06]


--- Step 376 ---
qpos:
[ 2.85702430e-03,-5.60771161e-03,-1.01805511e-02, 2.79076109e-03,
 -4.47694356e-03,-5.14807449e-03,-1.77557192e-02, 5.14641401e-03,
 -4.70420696e-03,-3.96260523e-03,-7.73328995e-03,-1.91331428e-02,
  7.78309765e-01, 1.81312755e-02, 7.33266333e-01, 2.73389031e-02,
  9.49743236e-02,-6.99517604e-02, 1.30714008e-01, 9.99676107e-01,
 -2.46615367e-04,-2.57946481e-04,-2.54470672e-02]

qacc:
[-3.21297817, 0.3437653 ,-1.80784271, 4.35101482,-0.18089083,-1.0763027 ,
  3.91350599,-5.20172922,-3.18495089,-0.21659872, 1.30592877,-3.9145254 ,
 -2.4056477 , 5.18535347,-7.24463399,19.42867455,-0.30141546,-1.53513526,
  0.35132628,21.49969901, 0.50106639, 1.34670081]

qfrc_actuator:
[-3.33155440e-05,-4.02772641e-04,-2.55842924e-04,-5.19922643e-05,
 -3.97050771e-06,-4.78449647e-04,-3.29473304e-04,-3.87570628e-05,
 -1.66225531e-05,-3.25610697e-04,-2.44713093e-04,-1.59361573e-04,
  5.49976084e-02,-5.92317630e-04, 5.30809549e-02,-3.86765565e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51245533, -0.76406661, -4.44729753, -0.76406661, 10.19342121,
       -0.97601663, -4.44729753, -0.97601663,  4.68013957,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002913234842575763
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23971961e-07,  3.81096302e-13,  1.00000000e+00,  4.72452558e-20,
        1.00000000e+00, -3.81096302e-13, -1.00000000e+00,  0.00000000e+00,
       -1.23971961e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09706444, -0.04642349,  0.061991  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89030969e-05, 2.96615762e-06, 7.79414056e-07, 7.70299941e-06,
 -1.13331533e-06, 9.58781978e-07, 1.83552371e-05,-1.74131759e-06,
 -1.87225715e-05,-1.37762272e-05,-7.98277356e-06,-9.07737554e-06,
 -3.20755490e-04,-1.08538776e-05,-2.55096330e-04, 2.05407622e-05,
  4.13619163e-06, 1.14450030e-05,-1.21646009e+00,-1.77718700e-03,
 -3.08955546e-04, 3.20648596e-06]


--- Step 377 ---
qpos:
[ 2.85691837e-03,-5.60823304e-03,-1.01803974e-02, 2.79147703e-03,
 -4.47703478e-03,-5.14846571e-03,-1.77556231e-02, 5.14713943e-03,
 -4.70579782e-03,-3.96220325e-03,-7.73385896e-03,-1.91339085e-02,
  7.79482380e-01, 1.81343498e-02, 7.34656825e-01, 2.73375065e-02,
  9.49581332e-02,-6.99489173e-02, 1.30713259e-01, 9.99673954e-01,
 -2.57255266e-04,-3.72933520e-04,-2.55299933e-02]

qacc:
[ -1.97435029, -0.03469047, -1.71595487,  8.62470026, -0.10699635,
  -0.2858203 ,  1.45290755, -2.59149653, -4.93268483,  2.60431242,
 -10.39641882, 16.3180584 , -1.45474935,  2.50318552, -8.47341825,
  23.50982943, -0.06928383, -1.52236385,  0.22403685, 21.07304663,
   3.13667787,  0.87260599]

qfrc_actuator:
[-4.44558332e-05,-3.94883361e-04,-2.35301380e-04,-2.92565492e-05,
 -4.57344330e-06,-4.64366801e-04,-3.20702469e-04,-4.07322002e-05,
 -4.49569829e-05,-3.32556129e-04,-2.84576095e-04,-1.46375208e-04,
  5.49038506e-02,-5.79497434e-04, 5.29563410e-02,-3.79233835e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52663685, -0.77462817, -4.45986461, -0.77462817, 12.90414035,
       -1.45507786, -4.45986461, -1.45507786,  4.77936746,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002957613331358855
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.87689008e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.87689008e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09457892, -0.04641001,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16781685e-05, 1.00514839e-05, 2.15245864e-05, 2.30413137e-05,
 -6.35757349e-07, 1.83522372e-05, 1.11743116e-05,-1.33323493e-06,
 -2.88720702e-05,-1.67093536e-05,-4.40096743e-05, 1.19452112e-05,
 -3.04668178e-04,-5.02472863e-05,-2.49042574e-04, 4.15105555e-05,
  2.01415063e-06, 9.86166222e-06,-1.21645517e+00,-1.77653212e-03,
 -3.05345858e-04, 2.31027502e-06]


--- Step 378 ---
qpos:
[ 2.85702466e-03,-5.60893832e-03,-1.01801761e-02, 2.79249848e-03,
 -4.47747769e-03,-5.14826884e-03,-1.77562152e-02, 5.14817611e-03,
 -4.70702632e-03,-3.96180396e-03,-7.73467053e-03,-1.91341963e-02,
  7.80653092e-01, 1.81376378e-02, 7.36044706e-01, 2.73339489e-02,
  9.49458915e-02,-6.99494548e-02, 1.30714059e-01, 9.99671800e-01,
 -2.48671855e-04,-4.56123751e-04,-2.56129324e-02]

qacc:
[ 1.86192533e+00, 1.93598408e-01,-2.33866734e+00, 7.65987417e+00,
 -3.09846189e+00, 3.34631884e+00,-1.21082017e+01, 1.81534045e+01,
  3.16506885e+00, 1.65289039e+00,-7.92290204e+00, 1.65872789e+01,
 -1.53240898e+00, 2.54481030e+00, 2.80355006e+00,-1.51120433e+01,
  9.87192885e-01,-8.45140930e-01, 3.87436304e-01, 9.20263255e+00,
  1.61386079e+01,-5.98051628e-03]

qfrc_actuator:
[-3.32088475e-05,-4.25434500e-04,-2.40982560e-04,-1.61584968e-05,
 -2.26438642e-05,-4.20325413e-04,-3.51056307e-04,-2.44250569e-05,
 -2.54795144e-05,-3.19146222e-04,-2.90087030e-04,-1.20691863e-04,
  5.48001584e-02,-5.73240739e-04, 5.28210246e-02,-3.90718858e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53638476, -2.36147707, -3.873269  , -2.36147707, 13.7929224 ,
       -5.64357947, -3.873269  , -5.64357947,  7.97719497,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029875917047945955
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.29028407e-14, -1.85805681e-13,  1.00000000e+00,  1.72618756e-26,
        1.00000000e+00,  1.85805681e-13, -1.00000000e+00,  0.00000000e+00,
        9.29028407e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08268829, -0.05754668,  0.06199077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09162501e-05,-1.94852669e-05,-1.53096954e-07, 1.47217428e-05,
 -1.80826374e-05, 5.65659900e-05,-2.52309668e-05, 1.74532623e-05,
  1.86489435e-05,-4.53352787e-06,-1.39659876e-05, 2.36806309e-05,
 -3.11866849e-04,-5.92496582e-05,-2.54391820e-04,-1.46670082e-04,
  1.60882283e-07, 8.72920809e-06,-1.21645210e+00,-1.77658266e-03,
 -3.01977129e-04, 1.43979314e-06]


--- Step 379 ---
qpos:
[ 2.85691986e-03,-5.60962371e-03,-1.01803392e-02, 2.79332954e-03,
 -4.47778887e-03,-5.14763641e-03,-1.77568580e-02, 5.14902975e-03,
 -4.70732230e-03,-3.96149935e-03,-7.73495380e-03,-1.91345619e-02,
  7.81821847e-01, 1.81405490e-02, 7.37430083e-01, 2.73315109e-02,
  9.49375723e-02,-6.99532587e-02, 1.30715858e-01, 9.99669647e-01,
 -2.20759153e-04,-5.08203119e-04,-2.56961166e-02]

qacc:
[-1.859093  , 0.71230397,-1.69169065,-1.00991837, 1.1398024 , 0.33772135,
  0.39973969,-3.80267767, 8.18197198,-1.77820789, 6.457873  ,-8.54615687,
 -0.81315841, 0.3516065 ,-7.05846885,19.40991967, 0.98058855,-0.81662303,
  0.24946593, 9.26299738,15.79789619,-0.12305439]

qfrc_actuator:
[-4.43831467e-05,-4.25620137e-04,-2.62273016e-04,-2.66441882e-05,
 -1.53453090e-05,-3.94332185e-04,-3.50866192e-04,-3.29948205e-05,
  2.19862094e-05,-3.11258380e-04,-2.57418161e-04,-1.23206152e-04,
  5.46745970e-02,-6.06435417e-04, 5.27539215e-02,-3.83135801e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53997246,  3.77997325, -2.51458787,  3.77997325,  8.59705446,
        6.0986779 , -2.51458787,  6.0986779 , 13.70761368,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029985205392733805
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08268977, -0.05754447,  0.06199074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08679027e-05,-1.04585436e-05,-2.48218946e-05,-1.10410049e-05,
  6.80021846e-06, 5.31521200e-05, 9.37257887e-06,-6.68032733e-06,
  4.79966576e-05, 3.48055967e-06, 3.08351866e-05,-2.73003342e-06,
 -3.40681221e-04,-1.01275169e-04,-2.10282995e-04, 3.26866641e-05,
 -6.14813038e-07, 6.63915364e-06,-1.21644672e+00,-1.77728569e-03,
 -3.00019158e-04, 1.28830354e-06]


--- Step 380 ---
qpos:
[ 2.85668197e-03,-5.61017044e-03,-1.01808404e-02, 2.79401006e-03,
 -4.47801011e-03,-5.14694611e-03,-1.77567788e-02, 5.14976877e-03,
 -4.70704685e-03,-3.96126288e-03,-7.73511042e-03,-1.91349305e-02,
  7.82988482e-01, 1.81431776e-02, 7.38812891e-01, 2.73302638e-02,
  9.49331524e-02,-6.99602381e-02, 1.30718192e-01, 9.99667492e-01,
 -1.73441596e-04,-5.29727591e-04,-2.57797278e-02]

qacc:
[ -1.17720199,  0.82043304, -2.01994324, -0.15109641,  0.80584815,
  -2.17759657,  8.35711303,-11.53592098,  5.00781427, -0.46008244,
   1.5053297 , -1.69107073, -1.01663145,  0.79938681, -7.35292294,
  20.34500526,  0.97486443, -0.79385991,  0.13391148,  9.30654228,
  15.5217631 , -0.21502682]

qfrc_actuator:
[-5.09191430e-05,-4.07716657e-04,-2.74751374e-04,-3.31537936e-05,
 -1.09207484e-05,-3.97003185e-04,-3.14959428e-04,-3.83683141e-05,
  5.00245249e-05,-3.24343336e-04,-2.55773142e-04,-1.24521801e-04,
  5.45519649e-02,-6.27290682e-04, 5.26426181e-02,-3.76780360e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53615962,  3.72713162, -2.58558193,  3.72713162, 11.01757001,
        9.34299134, -2.58558193,  9.34299134, 18.00413679,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002986904026950066
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.8584846e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.8584846e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08269055, -0.05754239,  0.06199077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.84662182e-06, 6.47622442e-06,-1.80695208e-05,-8.03102578e-06,
  4.63794580e-06, 2.86860053e-05, 4.78065394e-05,-2.90403355e-06,
  2.94096580e-05,-4.87785005e-06, 6.06551076e-06,-1.54178922e-07,
 -3.63740018e-04,-1.01367640e-04,-2.15676823e-04, 3.57401134e-05,
 -1.67242591e-06, 4.78366462e-06,-1.21644357e+00,-1.77825685e-03,
 -2.98537279e-04, 1.32838492e-06]


--- Step 381 ---
qpos:
[ 2.85671254e-03,-5.61068559e-03,-1.01817763e-02, 2.79497296e-03,
 -4.47817648e-03,-5.14619565e-03,-1.77562352e-02, 5.15080050e-03,
 -4.70643697e-03,-3.96106868e-03,-7.73555133e-03,-1.91345956e-02,
  7.84152952e-01, 1.81458511e-02, 7.40193015e-01, 2.73264822e-02,
  9.49326127e-02,-6.99703206e-02, 1.30720675e-01, 9.99665332e-01,
 -1.06664064e-04,-5.21145156e-04,-2.58639082e-02]

qacc:
[  2.33431269,  1.83372657, -7.67745632, 13.24478577,  0.49210466,
  -0.61647904,  1.07639544,  3.20394532,  2.91988768,  2.18235117,
 -10.83623988, 23.49553478, -1.56493165,  2.29698934,  3.82240941,
 -18.84239198,  0.97001982, -0.77576948,  0.0373495 ,  9.33852726,
  15.29933201, -0.28710314]

qfrc_actuator:
[-3.69131017e-05,-4.14591713e-04,-2.99587699e-04,-1.94888054e-05,
 -8.23147828e-06,-3.98916626e-04,-2.93880145e-04,-2.40666183e-05,
  6.63944718e-05,-3.32248018e-04,-2.72552103e-04,-8.96566731e-05,
  5.44471529e-02,-6.22932976e-04, 5.24835874e-02,-3.90741296e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52659891,  3.65317912, -2.67289731,  3.65317912, 14.56181837,
       13.71562387, -2.67289731, 13.71562387, 23.27241099,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002957495842748764
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.87696464e-13,  3.75392928e-13,  1.00000000e+00, -7.04599253e-26,
        1.00000000e+00, -3.75392928e-13, -1.00000000e+00,  0.00000000e+00,
        1.87696464e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08269079, -0.05754039,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38157953e-05,-7.30753931e-06,-2.59909606e-05, 1.31620442e-05,
  2.83042534e-06, 2.38514311e-05, 3.27821083e-05, 1.71250718e-05,
  1.72083844e-05,-9.38093532e-06,-1.70457555e-05, 3.48625618e-05,
 -3.60830626e-04,-8.09620598e-05,-2.65509877e-04,-1.67934064e-04,
 -3.01014035e-06, 3.13651249e-06,-1.21644254e+00,-1.77950410e-03,
 -2.97519525e-04, 1.55682392e-06]


--- Step 382 ---
qpos:
[ 2.85691077e-03,-5.61124289e-03,-1.01829885e-02, 2.79609080e-03,
 -4.47727491e-03,-5.14498744e-03,-1.77558561e-02, 5.15198804e-03,
 -4.70632529e-03,-3.96078948e-03,-7.73624971e-03,-1.91338637e-02,
  7.85315289e-01, 1.81488325e-02, 7.41570089e-01, 2.73223081e-02,
  9.49359370e-02,-6.99834490e-02, 1.30722986e-01, 9.99663157e-01,
 -2.03844128e-05,-4.82813768e-04,-2.59487682e-02]

qacc:
[ 1.45873276, 1.03287807,-4.42254311, 7.58232667, 9.30102568, 1.36723277,
 -4.68670791, 7.34437592,-4.37080793, 1.65836202,-7.40750291,14.6034388 ,
 -1.67686881, 2.80443355,-3.1935171 , 4.94800633, 0.9660312 ,-0.76147962,
 -0.0431448 , 9.36290648,15.12173182,-0.34337618]

qfrc_actuator:
[-2.86827805e-05,-4.18529632e-04,-3.13854318e-04,-1.18443980e-05,
  4.66736145e-05,-3.64895709e-04,-2.99481363e-04,-1.60739199e-05,
  4.02665746e-05,-3.19290513e-04,-2.82272544e-04,-6.92936743e-05,
  5.43531131e-02,-6.03662144e-04, 5.23599326e-02,-3.91713478e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51277851,  3.55425266, -2.78072973,  3.55425266, 19.81331964,
       19.55673306, -2.78072973, 19.55673306, 29.50965963,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029142565298799494
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.90481348e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.90481348e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08269059, -0.05753846,  0.061991  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.62553986e-06,-1.27968264e-05,-1.85077905e-05, 6.68861406e-06,
  5.49925183e-05, 5.48282918e-05, 3.93861311e-06, 1.04770798e-05,
 -2.56402781e-05, 5.68936812e-06,-1.25491407e-05, 2.00494805e-05,
 -3.45145577e-04,-6.21031151e-05,-2.74245604e-04,-5.54492829e-05,
 -4.62677228e-06, 1.67833904e-06,-1.21644355e+00,-1.78103334e-03,
 -2.96956518e-04, 1.97103367e-06]


--- Step 383 ---
qpos:
[ 2.85755108e-03,-5.61183848e-03,-1.01838091e-02, 2.79689901e-03,
 -4.47572210e-03,-5.14341980e-03,-1.77557550e-02, 5.15259207e-03,
 -4.70721747e-03,-3.96024767e-03,-7.73714370e-03,-1.91332663e-02,
  7.86475752e-01, 1.81516604e-02, 7.42944048e-01, 2.73195901e-02,
  9.49431128e-02,-6.99995786e-02, 1.30724856e-01, 9.99660958e-01,
  8.54320647e-05,-4.15015994e-04,-2.60343931e-02]

qacc:
[  3.87985623, -1.79052933,  7.60460132,-13.54718727,  5.66448295,
   0.03894963,  2.99433837,-12.89229944, -8.79901399,  0.63400749,
  -1.16002645, -1.07916238, -0.93106939,  0.86646645, -8.96492608,
  24.80815557,  0.96286028, -0.75028662, -0.11007235,  9.38262961,
  14.98171046, -0.38706273]

qfrc_actuator:
[-6.17184388e-06,-4.02891542e-04,-2.86258352e-04,-2.55504943e-05,
  7.86152706e-05,-3.62993716e-04,-3.20647553e-04,-4.73520581e-05,
 -1.06611825e-05,-2.93926062e-04,-2.87670978e-04,-7.53594442e-05,
  5.42709378e-02,-6.11229520e-04, 5.22416556e-02,-3.83229953e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002860473611769332
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94062798e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.94062798e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08269006, -0.0575366 ,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.27562509e-05, 4.97997343e-06, 2.29220877e-05,-1.47635906e-05,
  3.35366352e-05, 3.37921907e-05,-9.01728353e-06,-2.85972967e-05,
 -5.16580033e-05, 2.68004329e-05,-5.07081313e-06,-5.86554641e-06,
 -3.19086965e-04,-8.32326330e-05,-2.59281498e-04, 4.44996043e-05,
 -6.52192944e-06, 3.95118506e-07,-1.21644654e+00,-1.78284896e-03,
 -2.96840965e-04, 2.56911150e-06]


--- Step 384 ---
qpos:
[ 2.85845632e-03,-5.61251090e-03,-1.01837193e-02, 2.79750476e-03,
 -4.47517694e-03,-5.14220571e-03,-1.77553118e-02, 5.15286631e-03,
 -4.70802340e-03,-3.95960145e-03,-7.73803362e-03,-1.91330853e-02,
  7.87634310e-01, 1.81544135e-02, 7.44315399e-01, 2.73177467e-02,
  9.49541305e-02,-7.00186746e-02, 1.30726065e-01, 9.99658720e-01,
  2.10816706e-04,-3.17971008e-04,-2.61208481e-02]

qacc:
[  2.34705717, -3.06741631, 11.63628512,-16.53070736, -8.77154091,
  -2.08464559,  8.17737647,-14.20520483,  0.75309179, -0.73247166,
   4.56364663,-11.84244357, -1.09017246,  1.27032934, -6.43753026,
  17.09625153,  0.96046004, -0.74162203, -0.16557214,  9.39987733,
  14.87332741, -0.42068981]

qfrc_actuator:
[ 6.81333766e-06,-3.93247469e-04,-2.34102262e-04,-3.39116537e-05,
  2.57578695e-05,-4.15953134e-04,-3.15468337e-04,-6.60104533e-05,
 -4.75339314e-06,-2.96834311e-04,-2.90435070e-04,-9.69097766e-05,
  5.41746313e-02,-6.16809046e-04, 5.21426982e-02,-3.78118480e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027988642686907483
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.98334560e-13,  5.95003679e-13,  1.00000000e+00, -1.18009793e-25,
        1.00000000e+00, -5.95003679e-13, -1.00000000e+00,  0.00000000e+00,
        1.98334560e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08268928, -0.0575348 ,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.36395690e-05, 1.65663221e-05, 5.55104698e-05,-7.64166776e-06,
 -5.18826791e-05,-3.71986057e-05, 1.00361489e-05,-1.80857192e-05,
  4.44329411e-06, 1.07485209e-05, 1.94783806e-06,-2.06908097e-05,
 -3.20136312e-04,-7.92571109e-05,-2.21793260e-04, 1.82932665e-05,
 -8.69611382e-06,-7.22969588e-07,-1.21645148e+00,-1.78495424e-03,
 -2.97167263e-04, 3.34984363e-06]


--- Step 385 ---
qpos:
[ 2.85916540e-03,-5.61302674e-03,-1.01833224e-02, 2.79767164e-03,
 -4.47492438e-03,-5.14130681e-03,-1.77548333e-02, 5.15396781e-03,
 -4.70875243e-03,-3.95915557e-03,-7.73908596e-03,-1.91331124e-02,
  7.88790711e-01, 1.81577783e-02, 7.45684578e-01, 2.73160492e-02,
  9.49616243e-02,-7.00306615e-02, 1.30727499e-01, 9.99656464e-01,
  2.90808905e-04,-2.56863874e-04,-2.62069405e-02]

qacc:
[ -1.70915322, -1.5519959 ,  7.69215029,-15.89977962, -2.54485268,
   1.19301675, -8.34200804, 22.82609122,  0.67146405, -0.24098188,
   1.35053385, -4.54182262, -2.01401467,  3.80146171, -3.48775972,
   7.95561741, -0.88096199,  1.77727633,  0.05655054,-22.21905201,
 -18.55560336,  0.19199873]

qfrc_actuator:
[-3.66923008e-06,-3.87145965e-04,-2.21143333e-04,-5.68018043e-05,
  1.21825915e-05,-4.30249662e-04,-3.12743390e-04,-2.38594196e-05,
 -9.38088072e-07,-3.34405653e-04,-3.09492639e-04,-1.09662615e-04,
  5.40645906e-02,-5.85707852e-04, 5.20607249e-02,-3.76805601e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46313028,  2.51507659, -3.68699358,  2.51507659, 16.30878287,
        8.08049237, -3.68699358,  8.08049237,  9.97522482,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027511901257941396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58519620e-13, -4.03542821e-13,  1.00000000e+00,  1.04323737e-25,
        1.00000000e+00,  4.03542821e-13, -1.00000000e+00,  0.00000000e+00,
        2.58519620e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10727758, -0.09382793,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00869595e-05, 2.65279698e-05, 2.29578635e-05,-2.04090157e-05,
 -1.50751990e-05,-3.38677348e-05,-4.36585521e-06, 4.05503946e-05,
  3.94789639e-06,-3.20590062e-05,-1.73120657e-05,-1.26281900e-05,
 -3.33270387e-04,-4.25276601e-05,-1.92642181e-04,-1.68301263e-05,
 -1.11507816e-05,-1.68237280e-06,-1.21645833e+00,-1.78735167e-03,
 -2.97931178e-04, 4.31267970e-06]


--- Step 386 ---
qpos:
[ 2.85974332e-03,-5.61306252e-03,-1.01834179e-02, 2.79688653e-03,
 -4.47414734e-03,-5.14055732e-03,-1.77546418e-02, 5.15522135e-03,
 -4.71011976e-03,-3.95901173e-03,-7.74029965e-03,-1.91332783e-02,
  7.89944906e-01, 1.81618719e-02, 7.47051445e-01, 2.73147906e-02,
  9.49655446e-02,-7.00357238e-02, 1.30728574e-01, 9.99654190e-01,
  3.25696325e-04,-2.30351933e-04,-2.62933769e-02]

qacc:
[ -1.17145386,  0.05208572,  4.75712254,-20.80274472,  4.56785858,
   0.90854778, -4.18354342,  7.40104094, -5.58795055, -0.22308571,
   0.82011447, -2.76003101, -2.14336728,  4.15979956, -4.56704025,
  11.46684122, -0.89336179,  1.73115749, -0.08978312,-22.09136703,
 -17.88273553, -0.16138092]

qfrc_actuator:
[-1.01247081e-05,-3.65620049e-04,-2.49216265e-04,-1.05844593e-04,
  3.96172204e-05,-4.38998026e-04,-3.29073620e-04,-1.72583821e-05,
 -3.39086972e-05,-3.57006611e-04,-3.20408790e-04,-1.17178537e-04,
  5.39517264e-02,-5.51007483e-04, 5.19623678e-02,-3.74183465e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47473787, -2.0476029 ,  3.97876883, -2.0476029 ,  8.40140956,
        2.02079202,  3.97876883,  2.02079202,  5.51470269,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002790466911704731
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.98931408e-13, -1.98931408e-13,  1.00000000e+00,  3.95737052e-26,
        1.00000000e+00,  1.98931408e-13, -1.00000000e+00,  0.00000000e+00,
        1.98931408e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1072721 , -0.09382929,  0.06199138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.73339858e-06, 4.02359822e-05,-2.04710709e-05,-4.75087891e-05,
  2.69891489e-05,-2.68973712e-05,-2.24780596e-05, 5.78322504e-06,
 -3.28675040e-05,-4.46493930e-05,-2.01005866e-05,-9.73260204e-06,
 -3.36782527e-04,-3.65772837e-05,-2.01661619e-04,-2.42732080e-06,
 -6.58375384e-06,-1.27021812e-06,-1.21644711e+00,-1.78790645e-03,
 -3.00623892e-04, 2.30784683e-06]


--- Step 387 ---
qpos:
[ 2.86023939e-03,-5.61276825e-03,-1.01838297e-02, 2.79552735e-03,
 -4.47339232e-03,-5.14016439e-03,-1.77548014e-02, 5.15588530e-03,
 -4.71152678e-03,-3.95917170e-03,-7.74110928e-03,-1.91332268e-02,
  7.91096983e-01, 1.81664096e-02, 7.48415589e-01, 2.73141844e-02,
  9.49658546e-02,-7.00340109e-02, 1.30728799e-01, 9.99651890e-01,
  3.15732874e-04,-2.37358949e-04,-2.63807096e-02]

qacc:
[ -0.73189436,  0.13962569,  2.56065727,-12.23509817, -0.19731013,
  -0.70364978,  4.31486507,-13.69626603, -0.32956673, -1.08266771,
   2.3620616 ,  0.97403004, -1.76363202,  3.10493422, -5.86409026,
  15.01853034, -0.90259973,  1.69381204, -0.21277227,-21.97711618,
 -17.34347214, -0.43771122]

qfrc_actuator:
[-1.41504705e-05,-3.52978213e-04,-2.65726436e-04,-1.34385019e-04,
  3.76998575e-05,-4.79962450e-04,-3.56528746e-04,-4.93956640e-05,
 -3.50085272e-05,-3.52690871e-04,-2.90870930e-04,-1.03785863e-04,
  5.38425761e-02,-5.32261940e-04, 5.18329679e-02,-3.70810912e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47850737, -1.99226356,  4.01097422, -1.99226356, 10.84469262,
        3.16210432,  4.01097422,  3.16210432,  6.04913458,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028030641662830924
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.9803739e-13, -1.9803739e-13,  1.0000000e+00,  3.9218808e-26,
        1.0000000e+00,  1.9803739e-13, -1.0000000e+00,  0.0000000e+00,
        1.9803739e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10726815, -0.09383109,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.20100218e-06, 2.88778153e-05,-1.23616285e-05,-2.84472944e-05,
 -1.15240479e-06,-6.04231428e-05,-3.55945300e-05,-3.39610613e-05,
 -2.05362452e-06,-2.52268570e-05, 1.75162652e-05, 1.05994537e-05,
 -3.34119129e-04,-5.24565388e-05,-2.34789886e-04, 4.82691644e-06,
 -2.73637764e-06,-9.96422427e-08,-1.21644116e+00,-1.78781263e-03,
 -3.02741253e-04, 1.23188315e-06]


--- Step 388 ---
qpos:
[ 2.86033849e-03,-5.61229227e-03,-1.01844431e-02, 2.79453850e-03,
 -4.47266567e-03,-5.14038847e-03,-1.77552191e-02, 5.15687763e-03,
 -4.71224665e-03,-3.95962620e-03,-7.74101882e-03,-1.91327067e-02,
  7.92246855e-01, 1.81718006e-02, 7.49776580e-01, 2.73143289e-02,
  9.49625265e-02,-7.00256432e-02, 1.30727759e-01, 9.99649552e-01,
  2.61137532e-04,-2.77024915e-04,-2.64693690e-02]

qacc:
[ -3.48162484,  1.57275113, -6.81067591, 13.39557438, -0.24487904,
   0.58211183, -4.64430537, 11.19354567,  6.04931454, -1.95168445,
   4.39664753,  2.51097955, -2.20671136,  4.39916881, -6.74884132,
  17.31209878, -0.90952037,  1.66367207, -0.31605633,-21.8775451 ,
 -16.9127148 , -0.65310642]

qfrc_actuator:
[-3.44678751e-05,-3.45708857e-04,-2.75277960e-04,-1.15115898e-04,
  3.62606443e-05,-5.22236981e-04,-3.72727323e-04,-3.30845957e-05,
  4.23468141e-07,-3.49855142e-04,-2.37561526e-04,-7.81486201e-05,
  5.37357254e-02,-4.87590867e-04, 5.16797370e-02,-3.67027010e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47588917, -1.91933161,  4.04348242, -1.91933161, 14.13853817,
        4.58659783,  4.04348242,  4.58659783,  6.65302297,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002794322501032537
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.97985386e-13, -1.98656924e-13,  1.00000000e+00,  5.91968601e-26,
        1.00000000e+00,  1.98656924e-13, -1.00000000e+00,  0.00000000e+00,
        2.97985386e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10726539, -0.09383326,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.04259601e-05, 1.96397853e-05,-6.08952678e-06, 1.95283723e-05,
 -1.49048335e-06,-8.48840832e-05,-3.42430829e-05, 1.18274660e-05,
  3.53620690e-05,-7.18923309e-06, 5.06329040e-05, 2.53711610e-05,
 -3.33639043e-04,-2.81829477e-05,-2.71126595e-04, 5.52387483e-06,
  5.12203554e-07, 1.87806671e-06,-1.21644020e+00,-1.78705462e-03,
 -3.04342110e-04, 1.02980641e-06]


--- Step 389 ---
qpos:
[ 2.85950363e-03,-5.61193745e-03,-1.01847774e-02, 2.79413913e-03,
 -4.47196169e-03,-5.14160214e-03,-1.77554194e-02, 5.15876350e-03,
 -4.71253645e-03,-3.96001689e-03,-7.74095276e-03,-1.91318657e-02,
  7.93394878e-01, 1.81765488e-02, 7.51134365e-01, 2.73168246e-02,
  9.49555393e-02,-7.00107178e-02, 1.30725108e-01, 9.99647155e-01,
  1.62094374e-04,-3.48665792e-04,-2.65596884e-02]

qacc:
[ -8.15855321,  0.2900855 , -3.72728494, 13.54222547, -0.17344542,
  -0.07472147, -5.40248023, 21.24672759,  3.76332065,  0.80599192,
  -4.11578254,  9.66757863, -0.37741593, -0.79144232,-11.87314669,
  34.63133313, -0.91476742,  1.63945816, -0.40273508,-21.79316426,
 -16.57033128, -0.82023584]

qfrc_actuator:
[-8.19650401e-05,-3.59399293e-04,-2.62890044e-04,-8.56284538e-05,
  3.51234880e-05,-5.82647120e-04,-3.64371959e-04, 1.16133472e-05,
  2.15583182e-05,-3.47795197e-04,-2.41657399e-04,-6.32555542e-05,
  5.36250130e-02,-5.34467165e-04, 5.15549503e-02,-3.54155918e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4682766 , -1.82658078,  4.07787916, -1.82658078, 18.56821618,
        6.31570424,  4.07787916,  6.31570424,  7.29723341,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002768695429742757
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.00247847e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.00247847e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10726358, -0.09383572,  0.06199144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.80753601e-05,-3.14424086e-06, 1.63748769e-05, 3.05016570e-05,
 -1.20861396e-06,-1.14432544e-04,-1.29808782e-05, 4.01055327e-05,
  2.21378399e-05, 9.60847777e-06, 1.53404847e-06, 1.68290316e-05,
 -3.32642034e-04,-1.15977254e-04,-2.57560410e-04, 9.21697580e-05,
  3.25217065e-06, 4.69343889e-06,-1.21644406e+00,-1.78562186e-03,
 -3.05470283e-04, 1.66003431e-06]


--- Step 390 ---
qpos:
[ 2.85810575e-03,-5.61168629e-03,-1.01849300e-02, 2.79410087e-03,
 -4.47162196e-03,-5.14339292e-03,-1.77559241e-02, 5.16080807e-03,
 -4.71257039e-03,-3.96033291e-03,-7.74090790e-03,-1.91311995e-02,
  7.94541195e-01, 1.81798566e-02, 7.52489632e-01, 2.73187044e-02,
  9.49522182e-02,-6.99992426e-02, 1.30724302e-01, 9.99644766e-01,
  8.24125750e-05,-3.85898507e-04,-2.66493335e-02]

qacc:
[-4.91714047, 0.10861675,-2.09365847, 8.11095486,-3.17641036, 0.42077585,
 -3.26627488, 6.9127401 , 2.2379711 ,-0.20621326, 1.60682374,-4.63930646,
  0.31950477,-2.97018101,-1.94665566, 1.19235853, 0.91654196,-0.86257573,
  0.46139322, 9.22044536,17.45518318, 0.33101744]

qfrc_actuator:
[-1.09569013e-04,-3.67682778e-04,-2.55490969e-04,-6.81299287e-05,
  1.64205633e-05,-6.00061351e-04,-3.77161633e-04, 1.93890091e-05,
  3.40971139e-05,-3.46441236e-04,-2.44126693e-04,-7.26011644e-05,
  5.35226822e-02,-6.17364430e-04, 5.14420228e-02,-3.57325734e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46595833, -2.45598481,  3.730003  , -2.45598481, 16.90294953,
        8.18901794,  3.730003  ,  8.18901794,  9.85793889,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002760828048973124
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.01067036e-13, -2.01067036e-13,  1.00000000e+00, -4.04279529e-26,
        1.00000000e+00,  2.01067036e-13, -1.00000000e+00,  0.00000000e+00,
       -2.01067036e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08270526, -0.05752161,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.89817422e-05,-5.37468003e-06, 9.82548138e-06, 1.85271094e-05,
 -1.87786479e-05,-8.23252014e-05,-3.66241798e-05, 3.20317102e-06,
  1.31725766e-05, 7.78283559e-06, 2.87201377e-07,-8.55551292e-06,
 -3.40976169e-04,-1.64870874e-04,-2.29457532e-04,-6.16050837e-05,
  5.55091987e-06, 8.36430333e-06,-1.21645258e+00,-1.78350721e-03,
 -3.06158213e-04, 3.09155010e-06]


--- Step 391 ---
qpos:
[ 2.85707710e-03,-5.61135506e-03,-1.01850519e-02, 2.79425952e-03,
 -4.47185424e-03,-5.14537272e-03,-1.77570440e-02, 5.16255600e-03,
 -4.71176373e-03,-3.96067355e-03,-7.74057069e-03,-1.91306593e-02,
  7.95685474e-01, 1.81830460e-02, 7.53841792e-01, 2.73179279e-02,
  9.49526002e-02,-6.99910929e-02, 1.30724756e-01, 9.99642381e-01,
  2.21881235e-05,-3.89928909e-04,-2.67386797e-02]

qacc:
[  3.22937768,  0.41908929, -2.1828103 ,  5.4942373 , -5.00473973,
   0.86771617, -2.18755593, -1.84140974,  7.36865599, -1.12383865,
   4.46576615, -7.06710981, -1.30636043,  1.61104585,  3.54142222,
 -18.82873299,  0.92574592, -0.83136348,  0.31479036,  9.28286573,
  16.85453485,  0.14431504]

qfrc_actuator:
[-8.97291796e-05,-3.54938515e-04,-2.51099462e-04,-5.78321781e-05,
 -1.24711579e-05,-5.91694680e-04,-4.02203535e-04, 5.38873204e-06,
  7.69857106e-05,-3.45547247e-04,-2.27860876e-04,-7.83702631e-05,
  5.34307601e-02,-6.14303736e-04, 5.12617032e-02,-3.71692710e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47690454,  2.33515005, -3.81965293,  2.33515005,  9.61687547,
        3.14232827, -3.81965293,  3.14232827,  6.39797122,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027977169460485785
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.98415895e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.98415895e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08270969, -0.05751965,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.90078372e-05, 1.25491738e-05, 5.13420745e-06, 1.07694058e-05,
 -2.94574157e-05,-4.50365650e-05,-4.64236428e-05,-1.87312476e-05,
  4.32670050e-05, 4.95295776e-06, 1.76137912e-05,-5.59387097e-06,
 -3.45855491e-04,-8.78708718e-05,-3.03060475e-04,-1.78997378e-04,
  4.91684132e-06, 5.17507227e-06,-1.21644644e+00,-1.78295218e-03,
 -3.04774129e-04, 2.16736566e-06]


--- Step 392 ---
qpos:
[ 2.85629391e-03,-5.61097275e-03,-1.01848113e-02, 2.79417542e-03,
 -4.47208640e-03,-5.14755236e-03,-1.77582448e-02, 5.16408627e-03,
 -4.71079423e-03,-3.96078788e-03,-7.74043858e-03,-1.91298451e-02,
  7.96827641e-01, 1.81860225e-02, 7.55190318e-01, 2.73183501e-02,
  9.49567123e-02,-6.99861682e-02, 1.30725976e-01, 9.99639998e-01,
 -1.85168890e-05,-3.61722806e-04,-2.68280206e-02]

qacc:
[ 2.15756653e+00,-1.44978298e+00, 6.28453521e+00,-1.10949039e+01,
  1.72587852e-03,-4.85896842e-01, 2.26818166e+00,-5.75884966e+00,
  1.41542402e+00, 1.43411297e+00,-5.83845907e+00, 1.07419180e+01,
 -1.03227410e+00, 8.86221885e-01,-8.94860135e+00, 2.36493361e+01,
  9.32542480e-01,-8.06266201e-01, 1.91601606e-01, 9.32524950e+00,
  1.63734508e+01,-1.49531299e-03]

qfrc_actuator:
[-7.76353471e-05,-3.47472485e-04,-2.30681622e-04,-6.95877617e-05,
 -1.16174505e-05,-5.85769347e-04,-3.98659040e-04,-3.53262538e-06,
  8.41392090e-05,-3.27107206e-04,-2.36164300e-04,-6.42195089e-05,
  5.33132197e-02,-6.31424700e-04, 5.11209788e-02,-3.64145085e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4802529 ,  2.29421797, -3.84827624,  2.29421797, 12.45116968,
        4.75200307, -3.84827624,  4.75200307,  7.31324361,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000280887189136908
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.97627921e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.97627921e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08271284, -0.05751779,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26398662e-05, 1.60044687e-05, 2.40125168e-05,-1.08320344e-05,
 -3.78705452e-09,-2.95791481e-05,-1.20910860e-05,-1.28178370e-05,
  8.38971275e-06, 2.46329991e-05,-5.30669257e-06, 1.48605266e-05,
 -3.60116119e-04,-9.72889125e-05,-3.07692463e-04, 2.47871507e-05,
  4.00093576e-06, 2.30016857e-06,-1.21644276e+00,-1.78264780e-03,
 -3.03921978e-04, 1.47696546e-06]


--- Step 393 ---
qpos:
[ 2.85531700e-03,-5.61056100e-03,-1.01840041e-02, 2.79359413e-03,
 -4.47196228e-03,-5.14956506e-03,-1.77592831e-02, 5.16474180e-03,
 -4.71043597e-03,-3.96060724e-03,-7.74071162e-03,-1.91292080e-02,
  7.97967645e-01, 1.81885736e-02, 7.56536154e-01, 2.73181103e-02,
  9.49645749e-02,-6.99843881e-02, 1.30727550e-01, 9.99637610e-01,
 -3.96634378e-05,-3.02050843e-04,-2.69175848e-02]

qacc:
[ -1.67762533, -2.56568898, 11.30876351,-20.84721973,  3.10888961,
  -2.04033105, 11.27772851,-26.78952266, -5.36906525,  1.16805653,
  -2.83384741,  0.18109076, -1.00910443,  0.60919791, -1.91959041,
   1.07699276,  0.93763002, -0.78613624,  0.08828491,  9.35358753,
  15.98962469, -0.1149342 ]

qfrc_actuator:
[-8.79656878e-05,-3.43176447e-04,-2.00992014e-04,-9.42144563e-05,
  6.74020269e-06,-5.45717123e-04,-3.78250803e-04,-4.48722234e-05,
  5.24405401e-05,-3.16133230e-04,-2.58828774e-04,-7.39717674e-05,
  5.31910399e-02,-6.60512774e-04, 5.10201482e-02,-3.66806376e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47742681,  2.23786172, -3.87805696,  2.23786172, 16.23505369,
        6.78482638, -3.87805696,  6.78482638,  8.39266153,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027994608034476176
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.98292297e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.98292297e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08271498, -0.057516  ,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.96545234e-06, 1.77320525e-05, 3.55715562e-05,-2.33224458e-05,
  1.83482447e-05, 2.05550752e-05, 1.24019290e-05,-4.32706873e-05,
 -3.14509537e-05, 2.42957433e-05,-1.77174959e-05,-8.59362322e-06,
 -3.75282480e-04,-1.13923083e-04,-2.46044174e-04,-6.62684923e-05,
  2.80508425e-06,-3.08535431e-07,-1.21644135e+00,-1.78260698e-03,
 -3.03577872e-04, 1.00699371e-06]


--- Step 394 ---
qpos:
[ 2.85456896e-03,-5.61023136e-03,-1.01827641e-02, 2.79274598e-03,
 -4.47127434e-03,-5.15121205e-03,-1.77604608e-02, 5.16454608e-03,
 -4.71011514e-03,-3.96046194e-03,-7.74138641e-03,-1.91289951e-02,
  7.99105557e-01, 1.81909907e-02, 7.57879132e-01, 2.73161756e-02,
  9.49762037e-02,-6.99856882e-02, 1.30729130e-01, 9.99635206e-01,
 -4.12274305e-05,-2.11524517e-04,-2.70075495e-02]

qacc:
[ 2.01686419e+00,-1.87126631e+00, 7.63418520e+00,-1.28765254e+01,
  4.90613700e+00,-8.89272207e-01, 7.44909008e+00,-2.22102332e+01,
 -3.39907487e-01, 2.03148467e-01, 9.97480398e-01,-7.66685769e+00,
 -1.29366794e+00, 1.53079969e+00, 9.93168857e-01,-9.38960726e+00,
  9.41537027e-01,-7.70048422e-01, 1.81406149e-03, 9.37240654e+00,
  1.56851539e+01,-2.02711132e-01]

qfrc_actuator:
[-7.59042590e-05,-3.58533811e-04,-1.83841165e-04,-1.08459642e-04,
  3.52440149e-05,-5.20980867e-04,-3.83440702e-04,-8.71659736e-05,
  5.13974165e-05,-3.45303339e-04,-2.89827785e-04,-9.77243291e-05,
  5.31034376e-02,-6.60978195e-04, 5.08793903e-02,-3.75454888e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46978586,  2.16408903, -3.9109723 ,  2.16408903, 21.27311341,
        9.29791727, -3.9109723 ,  9.29791727,  9.61467549,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027738013644465487
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00126627e-13,  4.00253255e-13,  1.00000000e+00, -8.01013340e-26,
        1.00000000e+00, -4.00253255e-13, -1.00000000e+00,  0.00000000e+00,
        2.00126627e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08271632, -0.05751427,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17803169e-05, 8.83299667e-07, 2.43764593e-05,-1.27092816e-05,
  2.90382630e-05, 3.70284474e-05,-8.80388477e-07,-4.18214883e-05,
 -1.93130931e-06,-1.96261213e-05,-2.84590513e-05,-2.34922415e-05,
 -3.53210419e-04,-9.12854635e-05,-2.71525166e-04,-1.24150862e-04,
  1.33040388e-06,-2.68637410e-06,-1.21644209e+00,-1.78283899e-03,
 -3.03723248e-04, 7.46960318e-07]


--- Step 395 ---
qpos:
[ 2.85431623e-03,-5.61008277e-03,-1.01815364e-02, 2.79212330e-03,
 -4.47024985e-03,-5.15258310e-03,-1.77617247e-02, 5.16454354e-03,
 -4.70946467e-03,-3.96043755e-03,-7.74214186e-03,-1.91287338e-02,
  8.00241541e-01, 1.81930278e-02, 7.59219385e-01, 2.73130722e-02,
  9.49916112e-02,-6.99900173e-02, 1.30730429e-01, 9.99632776e-01,
 -2.31936504e-05,-9.06251229e-05,-2.70980510e-02]

qacc:
[ 4.33546167, 0.25057721,-2.20689751, 6.27714459, 2.9278716 , 0.99746076,
 -3.85302443, 7.14251027, 2.88547774, 0.1596852 ,-1.0146638 , 2.07922227,
 -0.91333016, 0.571207  ,-0.44109062,-4.18049902, 0.94466082,-0.75725598,
 -0.07039984, 9.38510346,15.44564639,-0.2701086 ]

qfrc_actuator:
[-5.07528803e-05,-3.85583452e-04,-1.92058830e-04,-9.87547501e-05,
  5.17328334e-05,-5.05699750e-04,-3.85999898e-04,-7.64479247e-05,
  6.84183004e-05,-3.45089695e-04,-2.90163592e-04,-9.40538743e-05,
  5.30153502e-02,-6.79896534e-04, 5.07733716e-02,-3.80464910e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45855143,  2.0702507 , -3.94876474,  2.0702507 , 27.96481336,
       12.32381728, -3.94876474, 12.32381728, 10.91965839,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002735489787924622
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01464739e-13,  4.05858954e-13,  1.00000000e+00, -4.11803727e-26,
        1.00000000e+00, -4.05858954e-13, -1.00000000e+00,  0.00000000e+00,
        1.01464739e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08271703, -0.05751259,  0.06199155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.54857804e-05,-2.20831589e-05,-5.48860939e-06, 1.03369277e-05,
  1.73359404e-05, 3.40977528e-05, 3.56560200e-06, 1.14656192e-05,
  1.69608191e-05,-1.76427708e-05,-8.70120939e-06, 1.38876671e-06,
 -3.35305764e-04,-1.01703096e-04,-2.53802832e-04,-9.40012179e-05,
 -4.22830874e-07,-4.85918213e-06,-1.21644489e+00,-1.78335054e-03,
 -3.04343767e-04, 6.88805472e-07]


--- Step 396 ---
qpos:
[ 2.85471184e-03,-5.61001249e-03,-1.01804578e-02, 2.79196378e-03,
 -4.46938037e-03,-5.15356943e-03,-1.77630697e-02, 5.16465475e-03,
 -4.70896045e-03,-3.96027135e-03,-7.74277768e-03,-1.91281338e-02,
  8.01375541e-01, 1.81945895e-02, 7.60557317e-01, 2.73085435e-02,
  9.50080009e-02,-6.99986019e-02, 1.30731573e-01, 9.99630325e-01,
  2.66890006e-05, 4.15309475e-05,-2.71884268e-02]

qacc:
[ 5.66822828, 1.25611886,-6.60310703,14.93567142,-1.36089529, 0.97143077,
 -3.20183867, 5.0127041 ,-1.2788556 , 0.55327083,-3.12407081, 8.68093477,
 -0.89583868, 0.41363265, 0.92890498,-8.11713104, 0.24557045,-1.06387084,
 -0.03868731,15.7660762 , 6.05779021, 0.06124626]

qfrc_actuator:
[-1.81055122e-05,-3.84011414e-04,-1.97473236e-04,-7.50653829e-05,
  4.32617636e-05,-4.78395588e-04,-3.86978081e-04,-7.01319848e-05,
  6.04202214e-05,-3.09393460e-04,-2.72261870e-04,-7.42325079e-05,
  5.29057290e-02,-7.09587036e-04, 5.06882873e-02,-3.86827195e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44480234,  4.13676041,  1.62587858,  4.13676041,  6.53343691,
       -5.31416114,  1.62587858, -5.31416114, 17.9657452 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002687614674584214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.52347573e-08, -4.13088615e-13,  1.00000000e+00,  1.04241910e-20,
        1.00000000e+00,  4.13088615e-13, -1.00000000e+00,  0.00000000e+00,
        2.52347573e-08])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09126764, -0.05192935,  0.06199169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.33662554e-05,-1.14763763e-05,-1.03096921e-05, 2.27517534e-05,
 -7.96283046e-06, 4.76698351e-05, 6.93087356e-06, 8.12859909e-06,
 -7.52023006e-06, 2.41081358e-05, 1.32420621e-05, 1.87922654e-05,
 -3.47102806e-04,-1.10560450e-04,-2.21858347e-04,-1.03684197e-04,
 -2.45525039e-06,-6.84563003e-06,-1.21644968e+00,-1.78414641e-03,
 -3.05428451e-04, 8.26511308e-07]


--- Step 397 ---
qpos:
[ 2.85549558e-03,-5.60952594e-03,-1.01802437e-02, 2.79207509e-03,
 -4.46896376e-03,-5.15436583e-03,-1.77643386e-02, 5.16485502e-03,
 -4.70890077e-03,-3.95992197e-03,-7.74348762e-03,-1.91276390e-02,
  8.02507375e-01, 1.81961500e-02, 7.61892373e-01, 2.73039299e-02,
  9.50209446e-02,-7.00001773e-02, 1.30732399e-01, 9.99627861e-01,
  3.16446959e-05, 1.38382799e-04,-2.72785513e-02]

qacc:
[  3.36105188,  3.51801472,-12.89983916, 18.67538911, -3.95028478,
   0.22938677, -0.81631623,  2.08188196, -3.89731255,  0.24039633,
  -0.04962418, -1.79848273, -1.39229535,  1.81602102, -3.89887615,
   7.71086115, -0.86149854,  1.75231063, -0.07961281,-21.97524578,
 -18.25632682,  0.12491361]

qfrc_actuator:
[ 9.35658107e-07,-3.47544050e-04,-2.36569140e-04,-6.10658634e-05,
  2.01717047e-05,-4.79602025e-04,-3.86978393e-04,-6.64551597e-05,
  3.77548041e-05,-3.05879905e-04,-2.79090914e-04,-8.05355391e-05,
  5.27939137e-02,-7.09988076e-04, 5.05572419e-02,-3.86827374e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44903181,  1.40294394, -4.22204125,  1.40294394, 17.17420404,
        4.22845306, -4.22204125,  4.22845306,  5.85410633,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027024609246462106
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.11828686e-13, -2.05409635e-13,  1.00000000e+00,  4.35116531e-26,
        1.00000000e+00,  2.05409635e-13, -1.00000000e+00,  0.00000000e+00,
        2.11828686e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10723138, -0.09385995,  0.06199165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.99889747e-05, 2.88906267e-05,-4.19638692e-05, 1.35901990e-05,
 -2.33023100e-05, 2.72786577e-05, 1.10083029e-05, 6.12260834e-06,
 -2.28730823e-05, 2.05335918e-05, 4.36409024e-07,-4.44642533e-06,
 -3.58218025e-04,-8.53358620e-05,-2.56012093e-04,-3.69049309e-05,
 -5.58535358e-06,-7.03249088e-06,-1.21645347e+00,-1.78506882e-03,
 -3.06191489e-04, 1.47538303e-06]


--- Step 398 ---
qpos:
[ 2.85650174e-03,-5.60863851e-03,-1.01808626e-02, 2.79269822e-03,
 -4.46917206e-03,-5.15501397e-03,-1.77655222e-02, 5.16441230e-03,
 -4.70842340e-03,-3.95945501e-03,-7.74424343e-03,-1.91272166e-02,
  8.03637090e-01, 1.81976980e-02, 7.63224275e-01, 2.73002962e-02,
  9.50303861e-02,-6.99949053e-02, 1.30732412e-01, 9.99625375e-01,
 -8.14340461e-06, 2.01193099e-04,-2.73691271e-02]

qacc:
[  1.91288817,  3.90794412,-15.33206185, 25.23376114, -5.450225  ,
  -1.35543179,  7.85022569,-19.24451207,  3.65323926,  0.12710708,
   0.06561645, -1.31960029, -1.27596569,  1.57846137, -7.54801106,
  19.84892212, -0.87556012,  1.71183515, -0.20322851,-21.89923878,
 -17.62472063, -0.22836782]

qfrc_actuator:
[ 1.18139863e-05,-3.26108015e-04,-2.77346131e-04,-3.51205302e-05,
 -1.13298920e-05,-4.80121289e-04,-3.86516692e-04,-9.98878688e-05,
  5.99036728e-05,-3.04021441e-04,-2.82859901e-04,-8.44522461e-05,
  5.26915212e-02,-7.10852212e-04, 5.04200563e-02,-3.81312053e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45451736, -1.96756427,  3.99642537, -1.96756427,  9.61414662,
        2.54024566,  3.99642537,  2.54024566,  5.70515916,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027215579044499727
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01984145e-13,  2.54960363e-13,  1.00000000e+00, -2.60019146e-26,
        1.00000000e+00, -2.54960363e-13, -1.00000000e+00,  0.00000000e+00,
        1.01984145e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10722637, -0.09386194,  0.06199159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14590548e-05, 2.94901861e-05,-3.95180632e-05, 2.59928198e-05,
 -3.21607778e-05, 1.73061034e-05, 7.68873625e-06,-3.17586812e-05,
  2.15034854e-05, 1.32272096e-05, 3.76091078e-07,-3.10815658e-06,
 -3.50934931e-04,-8.43339192e-05,-2.68588695e-04, 1.80107045e-05,
 -1.04407885e-06,-5.27082458e-06,-1.21644574e+00,-1.78443904e-03,
 -3.09458682e-04,-3.74336108e-07]


--- Step 399 ---
qpos:
[ 2.85763090e-03,-5.60783986e-03,-1.01814779e-02, 2.79294178e-03,
 -4.46975677e-03,-5.15517486e-03,-1.77671060e-02, 5.16321744e-03,
 -4.70733938e-03,-3.95914722e-03,-7.74463407e-03,-1.91268372e-02,
  8.04765011e-01, 1.81982890e-02, 7.64552888e-01, 2.72989390e-02,
  9.50362830e-02,-6.99829163e-02, 1.30731196e-01, 9.99622853e-01,
 -9.25130121e-05, 2.30972662e-04,-2.74607052e-02]

qacc:
[  1.07735064, -0.91102005,  4.67653285,-11.18179638, -3.30396381,
   0.21992743,  3.33627393,-16.08385287,  5.32511261, -1.33008047,
   4.59960721, -5.78845484, -0.03723481, -1.76256425,-11.8084649 ,
  34.13227961, -0.88614984,  1.67925156, -0.30707831,-21.83029098,
 -17.11925253, -0.50611961]

qfrc_actuator:
[ 1.78050720e-05,-3.49347164e-04,-2.83312479e-04,-5.56149411e-05,
 -2.97725795e-05,-4.44757275e-04,-4.03570049e-04,-1.37137245e-04,
  9.05040613e-05,-3.20916319e-04,-2.67038812e-04,-8.69276974e-05,
  5.26001820e-02,-7.65240300e-04, 5.02846409e-02,-3.69039991e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45372963, -1.90934233,  4.02369475, -1.90934233, 12.25027985,
        3.69965524,  4.02369475,  3.69965524,  6.20930723,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002718826438231764
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.38041271e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.38041271e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10722275, -0.09386422,  0.0619916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.32709517e-06,-1.38227128e-05,-3.84911657e-06,-2.00950705e-05,
 -1.93575831e-05, 4.52960790e-05,-1.36069418e-05,-3.68535257e-05,
  3.12199910e-05,-9.55371800e-06, 1.84939186e-05,-1.95759360e-06,
 -3.34947251e-04,-1.36288651e-04,-2.65464617e-04, 8.72522959e-05,
  2.86454215e-06,-2.78965049e-06,-1.21644317e+00,-1.78316902e-03,
 -3.12191012e-04,-1.34223643e-06]


--- Step 400 ---
qpos:
[ 2.85847833e-03,-5.60726564e-03,-1.01817919e-02, 2.79258973e-03,
 -4.47055834e-03,-5.15476702e-03,-1.77693340e-02, 5.16297313e-03,
 -4.70624169e-03,-3.95911333e-03,-7.74417068e-03,-1.91268550e-02,
  8.05891081e-01, 1.81984711e-02, 7.65878804e-01, 2.72966182e-02,
  9.50401347e-02,-6.99767997e-02, 1.30730771e-01, 9.99620416e-01,
 -1.33587742e-04, 2.54742596e-04,-2.75488847e-02]

qacc:
[ -2.45144838, -2.36045773, 10.50830645,-21.1418203 , -1.9205162 ,
   4.51148042,-19.002789  , 36.06110183,  0.15093554, -3.56780227,
  13.86734871,-21.89440209, -0.82608528,  0.39438996, -1.02984039,
  -2.08165631, -0.51128637, -1.46810522,  0.19744273, 21.72140017,
  -2.40939358,  1.70456193]

qfrc_actuator:
[ 3.12162739e-06,-3.63556844e-04,-2.68895647e-04,-8.55339063e-05,
 -4.03784610e-05,-4.06014237e-04,-4.30681026e-04,-8.75471179e-05,
  9.03140653e-05,-3.31080864e-04,-2.22103739e-04,-1.06291564e-04,
  5.25208475e-02,-7.79782688e-04, 5.01557393e-02,-3.74185896e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45953665, -0.80311282,  4.38662477, -0.80311282, 18.60293467,
        2.58940411,  4.38662477,  2.58940411,  4.93361039,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002738878044690335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02678434e-13,  4.05356867e-13,  1.00000000e+00, -8.21570950e-26,
        1.00000000e+00, -4.05356867e-13, -1.00000000e+00,  0.00000000e+00,
        2.02678434e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09967618, -0.04645772,  0.06199154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45083952e-05,-2.36190785e-05, 1.03880728e-05,-3.10369699e-05,
 -1.11429138e-05, 5.97031973e-05,-2.06828348e-05, 5.03500305e-05,
  6.98218083e-07,-1.17640695e-05, 4.51718144e-05,-1.91730074e-05,
 -3.23081723e-04,-1.01088395e-04,-2.49055850e-04,-8.25144639e-05,
  6.24372038e-06, 4.66765748e-07,-1.21644553e+00,-1.78124100e-03,
 -3.14440424e-04,-1.47276911e-06]


--- Step 401 ---
qpos:
[ 2.85948801e-03,-5.60675103e-03,-1.01820353e-02, 2.79256716e-03,
 -4.47148080e-03,-5.15414125e-03,-1.77714953e-02, 5.16366565e-03,
 -4.70515467e-03,-3.95914122e-03,-7.74294149e-03,-1.91271264e-02,
  8.07015218e-01, 1.81987511e-02, 7.67202213e-01, 2.72909474e-02,
  9.50420737e-02,-6.99764808e-02, 1.30730593e-01, 9.99618058e-01,
 -1.31989881e-04, 2.71765309e-04,-2.76341703e-02]

qacc:
[  1.42269814,  0.39952327, -2.9343837 ,  8.57268026, -1.05538144,
   2.03237077,-10.78028967, 26.72434508, -0.06848085, -2.74446957,
  10.73402855,-16.29337018, -1.52296473,  2.29744046,  6.55969013,
 -28.02769039, -0.47817742, -1.44941515,  0.06202305, 21.42077301,
  -2.78474259,  1.45251121]

qfrc_actuator:
[ 1.18942566e-05,-3.54425040e-04,-2.60300642e-04,-6.74818285e-05,
 -4.62912445e-05,-4.01025416e-04,-4.27917267e-04,-4.05130141e-05,
  8.97527916e-05,-3.19276181e-04,-1.78087837e-04,-1.17664459e-04,
  5.24328083e-02,-7.70582996e-04, 5.00308110e-02,-3.91324905e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46705352, -0.55756057, -4.43212064, -0.55756057, 12.04652352,
       -0.95349697, -4.43212064, -0.95349697,  4.58700339,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002764548448217913
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00796449e-13,  4.01592899e-13,  1.00000000e+00, -8.06384281e-26,
        1.00000000e+00, -4.01592899e-13, -1.00000000e+00,  0.00000000e+00,
        2.00796449e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09968057, -0.04645886,  0.06199146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.34916618e-06,-3.28420660e-06, 3.91932061e-06, 1.67961008e-05,
 -6.21264505e-06, 3.62677064e-05, 1.43122310e-05, 4.98614118e-05,
 -5.45882122e-07, 1.37322327e-05, 4.64815404e-05,-1.06879979e-05,
 -3.17133197e-04,-6.95965483e-05,-2.58280660e-04,-2.10213249e-04,
  2.77813477e-06,-8.29262978e-09,-1.21644128e+00,-1.78050980e-03,
 -3.12931261e-04,-1.21621798e-06]


--- Step 402 ---
qpos:
[ 2.86059487e-03,-5.60636629e-03,-1.01821232e-02, 2.79241853e-03,
 -4.47281178e-03,-5.15356498e-03,-1.77731601e-02, 5.16457586e-03,
 -4.70408304e-03,-3.95878987e-03,-7.74191413e-03,-1.91275219e-02,
  8.08137321e-01, 1.81992208e-02, 7.68522572e-01, 2.72858352e-02,
  9.50422053e-02,-6.99818978e-02, 1.30730209e-01, 9.99615768e-01,
 -8.82300776e-05, 2.81464705e-04,-2.77169601e-02]

qacc:
[ 0.85712106,-0.86767241, 3.37392051,-5.70578624,-3.54623806,-0.99775413,
  2.55601608, 0.44018328,-0.14751867, 0.80994255,-1.63648428,-0.46818366,
 -1.44378219, 2.15398133,-6.09750351,15.0507816 ,-0.45186363,-1.4339712 ,
 -0.0516193 ,21.17377118,-3.07787909, 1.25359276]

qfrc_actuator:
[ 1.66566112e-05,-3.66868678e-04,-2.55088687e-04,-7.45918844e-05,
 -6.71500266e-05,-4.16165825e-04,-4.07681824e-04,-3.08842890e-05,
  8.89876252e-05,-2.94392511e-04,-1.88134720e-04,-1.24227552e-04,
  5.23236429e-02,-7.65233975e-04, 4.99189982e-02,-3.86978363e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46775871, -0.61637161, -4.42503716, -0.61637161, 15.82499104,
       -1.58196989, -4.42503716, -1.58196989,  4.68811422,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002766940469462742
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00622861e-13,  4.01245721e-13,  1.00000000e+00, -8.04990645e-26,
        1.00000000e+00, -4.01245721e-13, -1.00000000e+00,  0.00000000e+00,
        2.00622861e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09968418, -0.04645913,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.99759632e-06,-1.27669734e-05, 5.59304886e-06,-6.78934023e-06,
 -2.10268778e-05, 1.02316281e-05, 3.12317854e-05, 1.26505460e-05,
 -7.76272418e-07, 4.16958849e-05,-1.86790433e-06,-4.57674217e-06,
 -3.28365046e-04,-6.73527971e-05,-2.63938312e-04,-3.71771475e-06,
 -3.06240569e-07, 2.06530107e-07,-1.21643997e+00,-1.78042845e-03,
 -3.11500627e-04,-1.03199526e-06]


--- Step 403 ---
qpos:
[ 2.86106061e-03,-5.60627466e-03,-1.01820743e-02, 2.79255392e-03,
 -4.47403737e-03,-5.15326728e-03,-1.77746643e-02, 5.16530285e-03,
 -4.70268392e-03,-3.95805792e-03,-7.74132973e-03,-1.91276308e-02,
  8.09257121e-01, 1.82007418e-02, 7.69840250e-01, 2.72811274e-02,
  9.50406130e-02,-6.99930001e-02, 1.30729238e-01, 9.99613533e-01,
 -2.72373903e-06, 2.83390439e-04,-2.77975685e-02]

qacc:
[-5.59875565,-0.17389377,-1.12193954, 6.01362377, 0.92875764,-1.19513482,
  4.49774922,-7.71741393, 2.84671683, 2.32595843,-8.7795149 ,14.17014346,
 -2.51017162, 5.05304588,-4.96632715,12.17550422,-0.43098264,-1.421326  ,
 -0.14685331,20.97267426,-3.30689749, 1.09655945]

qfrc_actuator:
[-1.64922955e-05,-3.92163462e-04,-2.52019681e-04,-6.09701912e-05,
 -6.11351612e-05,-4.60956136e-04,-4.12925297e-04,-4.33543785e-05,
  1.05861730e-04,-2.79830391e-04,-2.12205328e-04,-1.10180073e-04,
  5.22125319e-02,-7.09068291e-04, 4.98151940e-02,-3.84199472e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46301505, -0.68999174, -4.40935537, -0.68999174, 20.73610598,
       -2.54647164, -4.40935537, -2.54647164,  4.86149607,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002750796471033268
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.01800285e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.01800285e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09968716, -0.04645872,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.30115737e-05,-3.15840500e-05, 8.81400314e-07, 1.31353118e-05,
  5.41387225e-06,-3.20867767e-05, 1.16658803e-06,-1.07033912e-05,
  1.68688440e-05, 3.72757057e-05,-1.58611210e-05, 1.56774355e-05,
 -3.36475708e-04,-1.88664168e-05,-2.34331619e-04,-8.33589286e-06,
 -3.05533896e-06, 1.07131284e-06,-1.21644151e+00,-1.78099197e-03,
 -3.10106169e-04,-9.37139766e-07]


--- Step 404 ---
qpos:
[ 2.86078055e-03,-5.60646830e-03,-1.01819844e-02, 2.79320270e-03,
 -4.47483671e-03,-5.15322083e-03,-1.77758925e-02, 5.16551882e-03,
 -4.70109319e-03,-3.95720896e-03,-7.74091827e-03,-1.91279005e-02,
  8.10374762e-01, 1.82029636e-02, 7.71155444e-01, 2.72756858e-02,
  9.50355451e-02,-6.99973214e-02, 1.30728056e-01, 9.99611280e-01,
  3.64042765e-05, 2.50242983e-04,-2.78787407e-02]

qacc:
[ -6.51728291,  0.57860604, -4.75501417, 13.76040453,  3.73004406,
  -2.16273733,  9.37482834,-18.46358939,  1.6699552 ,  0.30377904,
  -0.18686264, -2.39592286, -2.13513585,  4.00894858, -1.26623107,
  -0.44213675, -0.86887889,  1.69522503, -0.05252924,-22.69264519,
 -18.17441661, -0.28865052]

qfrc_actuator:
[-5.39358876e-05,-4.07201118e-04,-2.50279946e-04,-3.52691115e-05,
 -3.93466073e-05,-4.70029631e-04,-3.97813285e-04,-6.87699367e-05,
  1.15230055e-04,-2.89366890e-04,-2.26615669e-04,-1.19632525e-04,
  5.21056770e-02,-6.76608107e-04, 4.97056198e-02,-3.87693882e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46992288,  0.58399226, -4.43160959,  0.58399226, 22.19102176,
        2.33526539, -4.43160959,  2.33526539,  4.77766138,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027742642825026587
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.62762221e-14, -2.00093234e-13,  1.00000000e+00,  1.12604913e-26,
        1.00000000e+00,  2.00093234e-13, -1.00000000e+00,  0.00000000e+00,
        5.62762221e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10720018, -0.09386953,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.83990606e-05,-3.19718469e-05,-4.22219518e-06, 2.46346363e-05,
  2.19329558e-05,-2.72267502e-05, 8.27018468e-06,-2.69574242e-05,
  9.86595042e-06, 8.68048887e-06,-8.13676953e-06,-8.10275689e-06,
 -3.26947277e-04,-3.72350212e-05,-2.29030209e-04,-6.79771846e-05,
 -5.50325144e-06, 2.55817455e-06,-1.21644585e+00,-1.78219591e-03,
 -3.08716394e-04,-9.43247738e-07]


--- Step 405 ---
qpos:
[ 2.86039831e-03,-5.60678693e-03,-1.01816371e-02, 2.79377315e-03,
 -4.47571365e-03,-5.15319575e-03,-1.77770322e-02, 5.16541174e-03,
 -4.70009216e-03,-3.95620920e-03,-7.74071883e-03,-1.91279374e-02,
  8.11490163e-01, 1.82064879e-02, 7.72468093e-01, 2.72687989e-02,
  9.50269494e-02,-6.99949752e-02, 1.30726150e-01, 9.99608998e-01,
  2.96428095e-05, 1.83218650e-04,-2.79609910e-02]

qacc:
[ -0.8837053 , -1.04416925,  3.81695387, -5.49549226, -0.67394536,
  -0.93867125,  4.67215798,-10.39161195, -5.17174578,  1.28177111,
  -5.24440311,  9.4789651 , -2.81828851,  5.94866209,  0.8733605 ,
  -7.87023884, -0.88195481,  1.66689759, -0.18103756,-22.46346445,
 -17.57154116, -0.54437923]

qfrc_actuator:
[-5.80899136e-05,-3.98222469e-04,-2.31544009e-04,-3.81686421e-05,
 -4.39621286e-05,-4.57588924e-04,-3.88420539e-04,-8.37990399e-05,
  8.45945290e-05,-2.77745949e-04,-2.35322697e-04,-1.07347073e-04,
  5.20067712e-02,-6.05183265e-04, 4.95873365e-02,-3.94854620e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47639967, -0.68748569,  4.42329261, -0.68748569, 11.45521118,
        1.08467458,  4.42329261,  1.08467458,  4.6449841 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002796029839988723
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.98535618e-13, -1.98535618e-13,  1.00000000e+00,  3.94163916e-26,
        1.00000000e+00,  1.98535618e-13, -1.00000000e+00,  0.00000000e+00,
        1.98535618e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10719552, -0.09386973,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.26311608e-06,-8.72469295e-06, 1.24658789e-05,-3.93560559e-06,
 -3.99548231e-06,-2.21122765e-06, 3.86751070e-06,-1.64328734e-05,
 -3.03470240e-05, 1.44209593e-05,-8.20952472e-06, 1.22156070e-05,
 -3.16710220e-04, 8.95152026e-07,-2.42278285e-04,-1.07362786e-04,
 -2.34136395e-06, 3.61089657e-06,-1.21644262e+00,-1.78221274e-03,
 -3.09850228e-04,-1.20198375e-06]


--- Step 406 ---
qpos:
[ 2.86065861e-03,-5.60704683e-03,-1.01814278e-02, 2.79430787e-03,
 -4.47629408e-03,-5.15307175e-03,-1.77784190e-02, 5.16547821e-03,
 -4.69981082e-03,-3.95511723e-03,-7.74065353e-03,-1.91271341e-02,
  8.12603260e-01, 1.82117942e-02, 7.73778034e-01, 2.72603696e-02,
  9.50147858e-02,-6.99860539e-02, 1.30723088e-01, 9.99606666e-01,
 -2.26012818e-05, 8.32705795e-05,-2.80447171e-02]

qacc:
[  5.61521664,  0.37862314, -1.10553997,  0.68515617,  2.57666308,
   1.17291184, -4.73411719,  8.07011064, -6.30588917,  2.23968135,
 -11.32729034, 25.97548304, -3.32941911,  7.41720571,  0.98482739,
  -8.46560056, -0.89197751,  1.64377129, -0.28925721,-22.27199421,
 -17.09131889, -0.74201713]

qfrc_actuator:
[-2.48628568e-05,-3.92632821e-04,-2.38348410e-04,-4.00895371e-05,
 -2.85814624e-05,-4.50121718e-04,-4.00134604e-04,-7.48272102e-05,
  4.84139948e-05,-2.71263766e-04,-2.40499480e-04,-6.45955217e-05,
  5.19020685e-02,-5.11261669e-04, 4.94639229e-02,-4.02339390e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47597715, -0.61378954,  4.43369303, -0.61378954, 15.11435876,
        1.47275134,  4.43369303,  1.47275134,  4.67986122,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002794616846769765
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.93180001e-14,  2.48295000e-13,  1.00000000e+00, -2.46601628e-26,
        1.00000000e+00, -2.48295000e-13, -1.00000000e+00,  0.00000000e+00,
        9.93180001e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10719221, -0.09387062,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.30737936e-05, 3.12265833e-06,-7.20826626e-06,-1.94099929e-06,
  1.52658843e-05, 6.33676904e-06,-1.22495621e-05, 8.69398796e-06,
 -3.70389388e-05, 1.33279555e-05,-2.79838335e-06, 4.33218020e-05,
 -3.08287301e-04, 3.13678057e-05,-2.57541489e-04,-1.14413862e-04,
  2.07488731e-07, 5.54593281e-06,-1.21644452e+00,-1.78154155e-03,
 -3.10462675e-04,-5.58404521e-07]


--- Step 407 ---
qpos:
[ 2.86131519e-03,-5.60732353e-03,-1.01815351e-02, 2.79449247e-03,
 -4.47599627e-03,-5.15243692e-03,-1.77801868e-02, 5.16629810e-03,
 -4.69996542e-03,-3.95408584e-03,-7.74055582e-03,-1.91261621e-02,
  8.13714495e-01, 1.82170990e-02, 7.75085044e-01, 2.72546193e-02,
  9.50005574e-02,-6.99828367e-02, 1.30720864e-01, 9.99604399e-01,
 -3.40826084e-05,-2.36958293e-05,-2.81254911e-02]

qacc:
[  3.45661027,  0.13499064,  0.95263916, -6.4805115 ,  7.63907859,
   3.27516565,-13.9053885 , 27.20769617, -3.81433941,  0.18443867,
  -1.47207623,  4.36884797, -1.02532327,  1.17137681,-12.38510122,
  37.19728721, -0.51621003, -1.42601331,  0.2098761 , 20.4716572 ,
  -2.93623494,  1.4780459 ]

qfrc_actuator:
[-5.41626678e-06,-4.06962948e-04,-2.60184653e-04,-5.91871596e-05,
  1.62064615e-05,-3.92492445e-04,-4.06460136e-04,-3.40695729e-05,
  2.70249481e-05,-2.85619205e-04,-2.43551189e-04,-5.75225486e-05,
  5.17886483e-02,-5.29111068e-04, 4.93748179e-02,-3.86872645e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4701148 , -0.68325708,  4.41758827, -0.68325708, 19.44701234,
        2.31643844,  4.41758827,  2.31643844,  4.82839241,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002774912532962686
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.67991040e-08,  1.67989040e-08,  1.00000000e+00,  2.82206536e-16,
        1.00000000e+00, -1.67989040e-08, -1.00000000e+00,  0.00000000e+00,
       -1.67991040e-08])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09986813, -0.04750755,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.03938288e-05,-1.41395318e-05,-2.21484759e-05,-1.92535444e-05,
  4.52278941e-05, 5.90320769e-05,-6.21076010e-06, 4.07764819e-05,
 -2.24401304e-05,-5.67935724e-06, 8.41769294e-07, 8.38763313e-06,
 -3.05456928e-04,-7.39762822e-05,-2.30383943e-04, 1.12903497e-04,
  2.24153488e-06, 8.37320812e-06,-1.21645132e+00,-1.78017667e-03,
 -3.10598759e-04, 9.36468244e-07]


--- Step 408 ---
qpos:
[ 2.86185511e-03,-5.60754515e-03,-1.01819531e-02, 2.79443748e-03,
 -4.47481898e-03,-5.15125628e-03,-1.77820644e-02, 5.16723032e-03,
 -4.70072019e-03,-3.95337913e-03,-7.74007485e-03,-1.91251029e-02,
  8.14824157e-01, 1.82215619e-02, 7.76389391e-01, 2.72503382e-02,
  9.49844311e-02,-6.99854933e-02, 1.30718805e-01, 9.99602189e-01,
 -3.41278412e-06,-1.37752722e-04,-2.82036165e-02]

qacc:
[-1.03125912, 0.44985319,-0.48350538,-3.21044587, 7.65731377, 1.24441214,
 -3.89086811, 5.63799959,-5.23669253,-1.31047322, 3.69893231,-2.58084268,
 -0.07922404,-1.4252373 ,-8.42539925,23.6691255 ,-0.47446018,-1.46847293,
  0.04107659,21.166982  ,-2.95112282, 1.32396294]

qfrc_actuator:
[-1.20013480e-05,-3.97687635e-04,-2.73053480e-04,-7.05095070e-05,
  6.01857752e-05,-3.58475314e-04,-4.09319785e-04,-2.81476209e-05,
 -3.23770928e-06,-3.12361314e-04,-2.27688104e-04,-5.37688062e-05,
  5.17073211e-02,-5.77446891e-04, 4.92584834e-02,-3.79298598e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47577242,  0.10306556, -4.4745856 ,  0.10306556, 13.48951118,
        0.20761834, -4.4745856 ,  0.20761834,  4.48055461,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027939318486659703
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09970656, -0.0464587 ,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.00450165e-06,-4.01553532e-06,-1.91812406e-05,-1.30698648e-05,
  4.52950136e-05, 6.75033567e-05, 9.98895388e-06, 9.02872919e-06,
 -3.09022929e-05,-2.94338855e-05, 1.50693055e-05, 3.69917312e-06,
 -2.92327622e-04,-1.20474369e-04,-2.19288203e-04, 5.02285559e-05,
  2.51914481e-07, 7.97268841e-06,-1.21645056e+00,-1.78003308e-03,
 -3.07413041e-04, 3.07975509e-07]


--- Step 409 ---
qpos:
[ 2.86231217e-03,-5.60782845e-03,-1.01822674e-02, 2.79492375e-03,
 -4.47312282e-03,-5.15014214e-03,-1.77833941e-02, 5.16791437e-03,
 -4.70183212e-03,-3.95278104e-03,-7.73944698e-03,-1.91243636e-02,
  8.15932207e-01, 1.82251470e-02, 7.77691223e-01, 2.72456087e-02,
  9.49722359e-02,-6.99915541e-02, 1.30718163e-01, 9.99599966e-01,
  4.65503360e-05,-2.20105308e-04,-2.82817635e-02]

qacc:
[-7.20323656e-01, 7.44546080e-01,-5.05524109e+00, 1.42993170e+01,
  4.54314040e+00,-2.13831015e+00, 8.52968739e+00,-1.36366896e+01,
 -3.12043569e+00,-1.20724782e+00, 5.45488189e+00,-1.11533052e+01,
 -1.87262492e-01,-1.24873306e+00,-2.38847297e+00, 2.89455318e+00,
  9.82788218e-01,-8.51040443e-01, 3.54190805e-01, 9.19572083e+00,
  1.61179164e+01,-1.23222077e-02]

qfrc_actuator:
[-1.60983735e-05,-3.92066850e-04,-2.62668475e-04,-4.16318955e-05,
  8.55747621e-05,-3.92122665e-04,-3.92465952e-04,-4.27873754e-05,
 -2.07332889e-05,-3.10741812e-04,-2.18592605e-04,-6.97452843e-05,
  5.16186620e-02,-6.25481035e-04, 4.91365442e-02,-3.81772124e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48083947, -3.09167218, -3.24337563, -3.09167218, 13.92543559,
       -9.00284098, -3.24337563, -9.00284098, 13.06258766,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028108199085910557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08274657, -0.05747886,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.26758363e-06,-1.13751664e-06, 6.74795568e-06, 2.77891321e-05,
  2.67102364e-05, 6.54295879e-06, 3.23437136e-05,-1.12285689e-05,
 -1.83861596e-05,-1.16156386e-05, 4.98431393e-06,-1.66474670e-05,
 -3.00893738e-04,-1.24599157e-04,-2.27180113e-04,-5.24224592e-05,
 -1.49492795e-06, 8.18060435e-06,-1.21645255e+00,-1.78053690e-03,
 -3.04200328e-04,-4.42508346e-07]


--- Step 410 ---
qpos:
[ 2.86237155e-03,-5.60809556e-03,-1.01824664e-02, 2.79539557e-03,
 -4.47113484e-03,-5.14935105e-03,-1.77843453e-02, 5.16880886e-03,
 -4.70280037e-03,-3.95230123e-03,-7.73896720e-03,-1.91241450e-02,
  8.17038532e-01, 1.82276377e-02, 7.78990624e-01, 2.72395325e-02,
  9.49639483e-02,-7.00009078e-02, 1.30718415e-01, 9.99597726e-01,
  1.15938304e-04,-2.71412469e-04,-2.83601663e-02]

qacc:
[ -3.47520447, -0.32381906,  1.2583809 , -1.71747254,  2.56251005,
  -1.05589386,  2.24874296,  1.03441882,  1.25491476, -0.81752635,
   4.87851341,-13.55447238, -0.11247454, -1.65761867,  0.44653882,
  -6.86896037,  0.97687771, -0.82321439,  0.22362589,  9.26950127,
  15.79118014, -0.13086489]

qfrc_actuator:
[-3.64423155e-05,-3.88544044e-04,-2.56374046e-04,-4.25772297e-05,
  9.98183762e-05,-4.30469470e-04,-3.82150550e-04,-3.39433152e-05,
 -1.28189446e-05,-3.27696816e-04,-2.31227223e-04,-9.71875323e-05,
  5.15096863e-02,-6.90714221e-04, 4.90273021e-02,-3.88365940e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48538302,  3.74760695, -2.46456953,  3.74760695,  8.79500591,
        6.55318199, -2.46456953,  6.55318199, 14.45010506,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028258481560815285
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.96440673e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.96440673e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08274812, -0.05747672,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.04666164e-05, 5.48112809e-06, 7.85784807e-06,-2.19361167e-07,
  1.50107626e-05,-2.85057040e-05, 1.52625174e-05, 1.00229864e-05,
  7.38840431e-06,-2.31744507e-05,-1.50122264e-05,-2.80952032e-05,
 -3.27847226e-04,-1.44140307e-04,-2.29715131e-04,-1.00394828e-04,
 -2.43936875e-06, 6.54856657e-06,-1.21644850e+00,-1.78183941e-03,
 -3.02316766e-04,-2.38107381e-07]


--- Step 411 ---
qpos:
[ 2.86218645e-03,-5.60808086e-03,-1.01829628e-02, 2.79550155e-03,
 -4.46968091e-03,-5.14910218e-03,-1.77847089e-02, 5.16947143e-03,
 -4.70332129e-03,-3.95214234e-03,-7.73855585e-03,-1.91242359e-02,
  8.18142747e-01, 1.82302748e-02, 7.80287681e-01, 2.72316067e-02,
  9.49595476e-02,-7.00134658e-02, 1.30719124e-01, 9.99595466e-01,
  2.04849313e-04,-2.92207849e-04,-2.84390083e-02]

qacc:
[ -2.15297821,  0.45466426,  0.47075637, -6.54153895, -4.63006441,
  -2.82622466, 10.03280534,-14.60575504,  3.91938566, -0.87807882,
   3.80649745, -8.79825904, -1.63020423,  2.43194512,  2.26308258,
 -12.62924958,  0.97172465, -0.80107423,  0.11419591,  9.32487577,
  15.52656306, -0.22424642]

qfrc_actuator:
[-4.84338356e-05,-3.68580597e-04,-2.70339607e-04,-6.10771175e-05,
  7.18889915e-05,-4.71352789e-04,-3.58055282e-04,-4.68735657e-05,
  9.98338914e-06,-3.55743406e-04,-2.38911053e-04,-1.13427879e-04,
  5.14098922e-02,-6.76935829e-04, 4.89257613e-02,-3.97324176e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48340502,  3.69744349, -2.53571138,  3.69744349, 11.21710543,
        9.81873448, -2.53571138,  9.81873448, 18.80057699,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028193189657550743
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.96895605e-13, -1.96895605e-13,  1.00000000e+00,  3.87678791e-26,
        1.00000000e+00,  1.96895605e-13, -1.00000000e+00,  0.00000000e+00,
        1.96895605e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.082749  , -0.05747471,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.25739095e-05, 2.46458223e-05,-1.18679333e-05,-1.79965733e-05,
 -2.75100518e-05,-5.32560121e-05, 2.04337718e-05,-1.34305798e-05,
  2.30090621e-05,-4.53334397e-05,-1.53043465e-05,-1.83023441e-05,
 -3.39987623e-04,-7.38232559e-05,-2.28799697e-04,-1.27091905e-04,
 -3.66874751e-06, 5.14978564e-06,-1.21644667e+00,-1.78341153e-03,
 -3.00903857e-04, 1.50436356e-07]


--- Step 412 ---
qpos:
[ 2.86185891e-03,-5.60785445e-03,-1.01836441e-02, 2.79573156e-03,
 -4.46891780e-03,-5.14932668e-03,-1.77847766e-02, 5.17033106e-03,
 -4.70321996e-03,-3.95216865e-03,-7.73832306e-03,-1.91241852e-02,
  8.19244851e-01, 1.82330819e-02, 7.81582113e-01, 2.72242299e-02,
  9.49516449e-02,-7.00191738e-02, 1.30719303e-01, 9.99593181e-01,
  2.48437976e-04,-3.47575443e-04,-2.85182231e-02]

qacc:
[ -1.25526115,  1.05432887, -3.8725819 ,  6.1544336 , -6.0072573 ,
  -1.03444965,  1.96945278,  1.29366665,  5.44525304,  0.53546143,
  -2.87922999,  5.76898015, -1.50651487,  2.18963912, -5.43267095,
  13.65317494, -0.87549753,  1.71248548, -0.13258616,-22.16045865,
 -17.9236167 , -0.17652014]

qfrc_actuator:
[-5.54080144e-05,-3.56777498e-04,-2.78341862e-04,-5.42473035e-05,
  3.71175880e-05,-4.95656995e-04,-3.43805242e-04,-3.70049648e-05,
  4.13573925e-05,-3.54689724e-04,-2.43644826e-04,-1.05197404e-04,
  5.13050521e-02,-6.69811427e-04, 4.88289209e-02,-3.93394787e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48510049,  2.57329221, -3.67345799,  2.57329221, 13.45214465,
        6.28149959, -3.67345799,  6.28149959,  8.88535061,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028249168064797825
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.96505437e-13,  1.96505437e-13,  1.00000000e+00, -3.86143869e-26,
        1.00000000e+00, -1.96505437e-13, -1.00000000e+00,  0.00000000e+00,
        1.96505437e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10716739, -0.09387733,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.32328122e-06, 2.23638232e-05,-4.98994409e-06, 7.12625483e-06,
 -3.55788828e-05,-5.04553722e-05, 5.30352222e-06, 8.03249783e-06,
  3.20175369e-05,-2.82453300e-05,-1.66231655e-05, 5.40106608e-06,
 -3.38131175e-04,-7.22888606e-05,-2.27490186e-04, 2.42606816e-07,
 -5.18181315e-06, 3.95963314e-06,-1.21644697e+00,-1.78526138e-03,
 -2.99950870e-04, 7.22091040e-07]


--- Step 413 ---
qpos:
[ 2.86179516e-03,-5.60754061e-03,-1.01840973e-02, 2.79602867e-03,
 -4.46823311e-03,-5.14948187e-03,-1.77854905e-02, 5.17198833e-03,
 -4.70308813e-03,-3.95238828e-03,-7.73789037e-03,-1.91240620e-02,
  8.20345194e-01, 1.82347783e-02, 7.82873696e-01, 2.72173365e-02,
  9.49401913e-02,-7.00181634e-02, 1.30718485e-01, 9.99590858e-01,
  2.46999872e-04,-4.36440110e-04,-2.85983429e-02]

qacc:
[ 2.31310551e+00,-3.88382689e-01, 1.26135284e+00,-5.20686642e-01,
 -7.04840256e-01, 3.53996932e+00,-1.58548477e+01, 3.06412071e+01,
  2.76657423e-01,-6.65665637e-01, 1.69623247e+00,-6.19588189e-01,
 -3.08357924e-03,-1.91100996e+00,-5.72931811e+00, 1.38030764e+01,
 -8.87713942e-01, 1.67960013e+00,-2.49172873e-01,-2.20267380e+01,
 -1.73838845e+01,-4.40884259e-01]

qfrc_actuator:
[-4.16234153e-05,-3.49913236e-04,-2.65007166e-04,-5.03158399e-05,
  3.41166217e-05,-4.74360437e-04,-3.70910886e-04, 3.95937223e-06,
  4.20152787e-05,-3.53935874e-04,-2.28718444e-04,-1.00364397e-04,
  5.12025863e-02,-7.37772213e-04, 4.86977299e-02,-3.90775025e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48646192, -1.54740904,  4.21115968, -1.54740904, 11.79545737,
        2.68572234,  4.21115968,  2.68572234,  5.47334234,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002829400973029528
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.80970031e-14,  9.80970031e-14,  1.00000000e+00, -9.62302203e-27,
        1.00000000e+00, -9.80970031e-14, -1.00000000e+00,  0.00000000e+00,
        9.80970031e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1071634 , -0.09387903,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35829386e-05, 1.86425197e-05, 1.75915150e-05, 4.85658014e-06,
 -4.03905892e-06,-5.48356201e-06,-3.65928259e-05, 3.91426653e-05,
  1.56296506e-06,-1.82332734e-05, 7.22830769e-06, 3.15152392e-06,
 -3.33817039e-04,-1.47016248e-04,-2.46470120e-04,-5.45646820e-06,
 -2.34916793e-06, 4.91805058e-06,-1.21644476e+00,-1.78537626e-03,
 -3.00677518e-04, 7.60514075e-07]


--- Step 414 ---
qpos:
[ 2.86258685e-03,-5.60718666e-03,-1.01840550e-02, 2.79601252e-03,
 -4.46759023e-03,-5.14945721e-03,-1.77863465e-02, 5.17407363e-03,
 -4.70329423e-03,-3.95267881e-03,-7.73676169e-03,-1.91242783e-02,
  8.21443699e-01, 1.82353919e-02, 7.84162395e-01, 2.72100895e-02,
  9.49325159e-02,-7.00204769e-02, 1.30718854e-01, 9.99588533e-01,
  2.65181500e-04,-4.92963112e-04,-2.86784300e-02]

qacc:
[ 7.49756701e+00,-1.99156730e+00, 8.47481961e+00,-1.46906104e+01,
 -3.71868305e-01, 1.51646324e+00,-6.86820450e+00, 1.43705341e+01,
 -2.93569098e+00,-2.73266462e+00, 1.10461995e+01,-1.79829169e+01,
 -1.30492755e-01,-1.65714493e+00,-3.23482661e+00, 5.03052171e+00,
  9.44544638e-01,-8.30978028e-01, 2.96640671e-01, 9.34340059e+00,
  1.64447666e+01, 8.01404797e-03]

qfrc_actuator:
[ 2.01983942e-06,-3.45972668e-04,-2.39209326e-04,-6.58687005e-05,
  3.20892206e-05,-4.43809378e-04,-3.68748394e-04, 2.73964835e-05,
  2.45863438e-05,-3.35527091e-04,-1.84550369e-04,-1.15309938e-04,
  5.11015897e-02,-7.96313472e-04, 4.85620206e-02,-3.92506966e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48607696, -2.39321689,  3.79439051, -2.39321689, 16.2877346 ,
        7.44360032,  3.79439051,  7.44360032,  9.18094165,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002828133974085434
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.96281901e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.96281901e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08275456, -0.05746893,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.40364713e-05, 1.82054726e-05, 3.19839623e-05,-1.40517441e-05,
 -2.14525488e-06, 2.16124975e-05,-2.11666585e-06, 2.26960822e-05,
 -1.73913158e-05, 9.84433862e-06, 4.13987158e-05,-1.54157275e-05,
 -3.45366645e-04,-1.48205155e-04,-2.58771838e-04,-5.13819548e-05,
 -1.07345774e-07, 6.73019937e-06,-1.21644745e+00,-1.78481494e-03,
 -3.00884602e-04, 1.67400381e-06]


--- Step 415 ---
qpos:
[ 2.86355081e-03,-5.60691319e-03,-1.01836178e-02, 2.79583275e-03,
 -4.46697663e-03,-5.14941529e-03,-1.77868251e-02, 5.17606235e-03,
 -4.70336295e-03,-3.95264975e-03,-7.73554924e-03,-1.91246805e-02,
  8.22540227e-01, 1.82353112e-02, 7.85448107e-01, 2.72026206e-02,
  9.49286244e-02,-7.00260205e-02, 1.30719925e-01, 9.99586202e-01,
  3.03046900e-04,-5.17957148e-04,-2.87587326e-02]

qacc:
[ 1.52055833,-1.55011654, 6.05818356,-9.45664827,-0.2439034 ,-1.23009611,
  4.82801212,-7.11751682, 1.1998819 ,-0.19718445, 2.09539091,-5.67529692,
 -0.59624147,-0.4133119 ,-3.73282852, 6.68025076, 0.94595575,-0.8075155 ,
  0.17575591, 9.38568331,16.04021639,-0.11675877]

qfrc_actuator:
[ 9.62321715e-06,-3.61526596e-04,-2.24044793e-04,-7.50059980e-05,
  3.06407130e-05,-4.43349148e-04,-3.49270598e-04, 2.26151806e-05,
  3.21668228e-05,-3.06570440e-04,-1.76671220e-04,-1.23987119e-04,
  5.10015447e-02,-8.31033991e-04, 4.84290318e-02,-3.93235034e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48792607,  2.66887369, -3.60812883,  2.66887369, 13.36088909,
        6.56318514, -3.60812883,  6.56318514,  9.34260641,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000283421278827356
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95860916e-13,  1.95860916e-13,  1.00000000e+00, -3.83614983e-26,
        1.00000000e+00, -1.95860916e-13, -1.00000000e+00,  0.00000000e+00,
        1.95860916e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08275684, -0.05746711,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.86645932e-06, 6.30664023e-07, 2.23712026e-05,-7.52683062e-06,
 -1.50332317e-06, 1.30847527e-05, 2.44716613e-05,-3.48953404e-06,
  7.08643395e-06, 4.23430746e-05, 1.44690031e-05,-7.12410360e-06,
 -3.52224315e-04,-1.26973078e-04,-2.66526214e-04,-4.54099382e-05,
 -1.05571224e-06, 4.76560314e-06,-1.21644361e+00,-1.78564753e-03,
 -2.99353260e-04, 1.62545931e-06]


--- Step 416 ---
qpos:
[ 2.86390901e-03,-5.60665081e-03,-1.01832709e-02, 2.79557012e-03,
 -4.46638519e-03,-5.14931751e-03,-1.77870387e-02, 5.17763578e-03,
 -4.70368560e-03,-3.95184981e-03,-7.73504270e-03,-1.91248419e-02,
  8.23634713e-01, 1.82350634e-02, 7.86731043e-01, 2.71946626e-02,
  9.49285196e-02,-7.00347194e-02, 1.30721295e-01, 9.99583860e-01,
  3.60640561e-04,-5.12074373e-04,-2.88394447e-02]

qacc:
[ -5.30151906,  0.0773023 ,  0.07079897, -1.37168721, -0.18622727,
  -1.52054357,  7.28283027,-14.93626559, -2.25829633,  3.4927624 ,
 -11.98129104, 16.69636114, -1.18085459,  1.2355453 , -2.54801021,
   3.14862969,  0.9466957 , -0.78881071,  0.07446499,  9.41595536,
  15.71563176, -0.21461725]

qfrc_actuator:
[-2.18089648e-05,-3.70920059e-04,-2.33110536e-04,-8.03182940e-05,
  2.95437351e-05,-4.43100139e-04,-3.37619019e-04, 1.25623069e-06,
  1.89075301e-05,-2.53894559e-04,-2.07984228e-04,-1.11168314e-04,
  5.09128010e-02,-8.33664796e-04, 4.83137657e-02,-3.95135062e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48376057,  2.60159279, -3.65182472,  2.60159279, 17.63264131,
        9.36738094, -3.65182472,  9.36738094, 11.15716703,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002820494094468856
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.9681357e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.9681357e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08275829, -0.05746536,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.11804223e-05,-4.75691860e-06,-6.44962000e-06,-4.65939324e-06,
 -1.13634975e-06, 1.24700819e-05, 1.72487786e-05,-2.00227863e-05,
 -1.30411815e-05, 7.90252090e-05,-2.10457552e-05, 1.49918863e-05,
 -3.40864972e-04,-9.30977223e-05,-2.51494300e-04,-5.77381591e-05,
 -2.28937294e-06, 3.04797230e-06,-1.21644205e+00,-1.78675102e-03,
 -2.98306145e-04, 1.77540145e-06]


--- Step 417 ---
qpos:
[ 2.86388777e-03,-5.60636878e-03,-1.01833227e-02, 2.79526384e-03,
 -4.46615649e-03,-5.14901159e-03,-1.77871659e-02, 5.17893377e-03,
 -4.70485416e-03,-3.95058411e-03,-7.73485284e-03,-1.91244909e-02,
  8.24726962e-01, 1.82354002e-02, 7.88011197e-01, 2.71877489e-02,
  9.49248945e-02,-7.00365667e-02, 1.30721871e-01, 9.99581498e-01,
  3.73496139e-04,-5.40264705e-04,-2.89205543e-02]

qacc:
[ -3.33198533,  1.05699782, -3.53558421,  3.3911566 , -3.16446828,
  -0.52760384,  3.45391492, -8.52429351, -7.42336667,  2.57067914,
 -10.40585082, 19.39916545, -1.96434455,  3.42148959, -7.1150626 ,
  19.32541963, -0.88006585,  1.71286747, -0.19831316,-21.86850559,
 -17.67465152, -0.18141148]

qfrc_actuator:
[-4.04480967e-05,-3.76654443e-04,-2.56387239e-04,-8.33509024e-05,
  1.09096411e-05,-4.25270722e-04,-3.30701492e-04,-1.19393394e-05,
 -2.42718912e-05,-2.40824168e-04,-2.26551108e-04,-8.58043733e-05,
  5.08096120e-02,-7.99538559e-04, 4.82092219e-02,-3.88826361e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48359103,  2.49606456, -3.72454698,  2.49606456, 13.18771817,
        5.83320964, -3.72454698,  5.83320964,  8.3928095 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002819933821846671
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.84263368e-14, -4.92131684e-14,  1.00000000e+00,  4.84387189e-27,
        1.00000000e+00,  4.92131684e-14, -1.00000000e+00,  0.00000000e+00,
        9.84263368e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10714815, -0.09388801,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.95326349e-05,-9.95130816e-06,-2.52205879e-05,-3.54983833e-06,
 -1.86621808e-05, 2.75024557e-05, 1.09229916e-05,-1.24573026e-05,
 -4.35210153e-05, 5.35159433e-05,-4.33282415e-06, 2.83098960e-05,
 -3.40786530e-04,-4.88471627e-05,-2.36196071e-04, 2.53765441e-05,
 -3.80621279e-06, 1.54836042e-06,-1.21644264e+00,-1.78813345e-03,
 -2.97729264e-04, 2.11870455e-06]


--- Step 418 ---
qpos:
[ 2.86329811e-03,-5.60619151e-03,-1.01833219e-02, 2.79456310e-03,
 -4.46615281e-03,-5.14859964e-03,-1.77874639e-02, 5.18043988e-03,
 -4.70653086e-03,-3.94937798e-03,-7.73435061e-03,-1.91241598e-02,
  8.25816974e-01, 1.82364686e-02, 7.89288533e-01, 2.71822331e-02,
  9.49177058e-02,-7.00316959e-02, 1.30721230e-01, 9.99579097e-01,
  3.41798075e-04,-6.01549697e-04,-2.90025850e-02]

qacc:
[ -4.96896085, -1.08806563,  5.36045516,-12.21217292, -1.96942433,
   1.04962709, -4.41138118,  8.20184642, -4.43772576, -0.98404034,
   3.4922598 , -4.30524516, -2.08329096,  3.7928115 , -8.2228327 ,
  23.16181279, -0.89092074,  1.6795368 , -0.30424437,-21.7891829 ,
 -17.18484542, -0.44267769]

qfrc_actuator:
[-6.91480458e-05,-3.80219667e-04,-2.52340675e-04,-1.02774397e-04,
 -1.44652477e-07,-4.32572961e-04,-3.44304678e-04,-2.45798215e-06,
 -4.92045676e-05,-2.69272929e-04,-2.19824544e-04,-8.87863933e-05,
  5.07031727e-02,-7.61795745e-04, 4.80899087e-02,-3.81276726e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48148441, -1.94587431,  4.03698844, -1.94587431, 12.22372236,
        3.73184668,  4.03698844,  3.73184668,  6.28027693,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028129596893655684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.86703639e-14, -9.86703639e-14,  1.00000000e+00,  9.73584071e-27,
        1.00000000e+00,  9.86703639e-14, -1.00000000e+00,  0.00000000e+00,
        9.86703639e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10714471, -0.09389045,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.92612948e-05,-1.45072975e-05,-1.23952571e-06,-2.07906986e-05,
 -1.15796071e-05, 9.78029414e-06,-7.01240111e-06, 1.07927122e-05,
 -2.61535651e-05, 1.72681472e-06, 1.82085199e-05,-2.91334428e-07,
 -3.34226317e-04,-3.86138762e-05,-2.35384612e-04, 4.42253013e-05,
 -8.47174845e-07, 3.03151201e-06,-1.21644119e+00,-1.78776312e-03,
 -2.98885434e-04, 2.02875437e-06]


--- Step 419 ---
qpos:
[ 2.86236869e-03,-5.60592653e-03,-1.01833524e-02, 2.79327047e-03,
 -4.46593694e-03,-5.14800525e-03,-1.77884878e-02, 5.18173180e-03,
 -4.70814867e-03,-3.94830993e-03,-7.73368539e-03,-1.91238458e-02,
  8.26904915e-01, 1.82382411e-02, 7.90563354e-01, 2.71775448e-02,
  9.49147514e-02,-7.00270938e-02, 1.30722035e-01, 9.99576731e-01,
  3.07539074e-04,-6.30029064e-04,-2.90837820e-02]

qacc:
[ -2.97479517, -1.00999644,  6.27775749,-16.54657414,  1.82463154,
   1.82443419, -5.25791829,  2.58540483,  0.52299275, -0.67441182,
   2.20984485, -2.66210662, -1.9862271 ,  3.64745283, -6.05642286,
  16.21265935,  1.0585894 , -0.06715579,  0.3612441 , -1.75540794,
  16.35892494,  0.41237823]

qfrc_actuator:
[-8.57911014e-05,-3.64614225e-04,-2.49944581e-04,-1.31664157e-04,
  1.11089416e-05,-4.37182698e-04,-3.87750145e-04,-1.52491119e-05,
 -4.54359840e-05,-2.86788904e-04,-2.16176918e-04,-9.06961647e-05,
  5.06161668e-02,-7.22263736e-04, 4.79884662e-02,-3.76610192e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48473264, -3.04471224,  3.2928034 , -3.04471224, 13.48483139,
        8.32200026,  3.2928034 ,  8.32200026, 12.1797247 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002823703563730521
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.98698238e-07, -5.98698512e-07,  1.00000000e+00, -3.58439744e-13,
        1.00000000e+00,  5.98698512e-07, -1.00000000e+00, -5.04870979e-29,
       -5.98698238e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08178036, -0.06876081,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.74839360e-05, 6.33287688e-06,-1.47134514e-06,-2.99563998e-05,
  1.09248884e-05,-1.45527801e-07,-4.19199575e-05,-1.24078469e-05,
  3.02599107e-06,-1.28667020e-05, 6.21543978e-06,-1.21528817e-06,
 -3.08345675e-04,-3.39537380e-05,-2.14984282e-04, 1.65585588e-05,
  1.55978535e-06, 5.33824442e-06,-1.21644456e+00,-1.78672557e-03,
 -2.99539010e-04, 2.78782398e-06]


--- Step 420 ---
qpos:
[ 2.86262646e-03,-5.60565411e-03,-1.01836401e-02, 2.79201303e-03,
 -4.46558800e-03,-5.14721267e-03,-1.77900557e-02, 5.18250088e-03,
 -4.70936411e-03,-3.94715896e-03,-7.73333632e-03,-1.91235520e-02,
  8.27990968e-01, 1.82402003e-02, 7.91835566e-01, 2.71733972e-02,
  9.49155045e-02,-7.00257068e-02, 1.30723549e-01, 9.99574369e-01,
  2.93084443e-04,-6.26487541e-04,-2.91650986e-02]

qacc:
[10.37654761, 0.7810961 ,-2.95431039, 4.00701084, 1.1397735 , 0.70287753,
  0.07694054,-8.3973662 , 3.51134986, 0.94478283,-3.1355287 , 3.24129467,
 -1.36635025, 2.00166147,-5.39095996,13.52122847, 0.92686455,-0.8037869 ,
  0.17740297, 9.43231122,16.29164372,-0.07092895]

qfrc_actuator:
[-2.41907886e-05,-3.73162203e-04,-2.66228619e-04,-1.30373196e-04,
  1.76474346e-05,-4.22543129e-04,-4.12972308e-04,-4.10646851e-05,
 -2.48104087e-05,-2.79890222e-04,-2.32104858e-04,-9.19573649e-05,
  5.05195834e-02,-7.17428558e-04, 4.78711914e-02,-3.73672388e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48555246,  1.89194461,  4.06702919,  1.89194461, 13.43415794,
       -4.16280904,  4.06702919, -4.16280904,  6.42205297,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002826406506487855
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.96401866e-13,  1.96401866e-13,  1.00000000e+00, -3.85736930e-26,
        1.00000000e+00, -1.96401866e-13, -1.00000000e+00,  0.00000000e+00,
        1.96401866e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08276811, -0.05745842,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.11035724e-05,-6.60357887e-06,-1.61919611e-05, 9.31604363e-07,
  6.85383329e-06, 5.35944716e-06,-3.08439282e-05,-2.75164007e-05,
  2.07114178e-05, 8.84184001e-07,-1.78847512e-05,-1.62584395e-06,
 -3.00270473e-04,-6.26124843e-05,-2.25457343e-04, 1.26046438e-07,
  1.89369009e-06, 3.19318003e-06,-1.21644189e+00,-1.78675518e-03,
 -2.99198767e-04, 2.65077073e-06]


--- Step 421 ---
qpos:
[ 2.86362053e-03,-5.60557838e-03,-1.01840170e-02, 2.79045050e-03,
 -4.46550798e-03,-5.14661696e-03,-1.77912563e-02, 5.18328723e-03,
 -4.70997771e-03,-3.94618606e-03,-7.73280633e-03,-1.91232766e-02,
  8.29075222e-01, 1.82417044e-02, 7.93105162e-01, 2.71689072e-02,
  9.49199839e-02,-7.00274626e-02, 1.30725367e-01, 9.99572003e-01,
  2.98445666e-04,-5.91682879e-04,-2.92467469e-02]

qacc:
[ 6.44118454,-0.65188792, 3.21316468,-8.18240957,-2.33037684,-1.24588094,
  4.00005309,-4.152593  , 5.27752727,-0.78911051, 2.53112234,-2.98603198,
 -0.73242913, 0.17409179,-2.80110164, 4.26508234, 0.93157363,-0.78571774,
  0.07625816, 9.44770991,15.91383235,-0.1766149 ]

qfrc_actuator:
[ 1.19539872e-05,-3.96157060e-04,-2.75729586e-04,-1.46869385e-04,
  3.59848790e-06,-4.31947971e-04,-3.91646800e-04,-3.87953129e-05,
  5.56231544e-06,-2.94013785e-04,-2.23858929e-04,-9.28194405e-05,
  5.04119859e-02,-7.50928514e-04, 4.77498420e-02,-3.75326766e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48176892,  2.0074047 , -4.00706614,  2.0074047 , 17.93282492,
        6.73852441, -4.00706614,  6.73852441,  7.85754189,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002813902946976893
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.97274577e-13, -1.97274577e-13,  1.00000000e+00,  3.89172586e-26,
        1.00000000e+00,  1.97274577e-13, -1.00000000e+00,  0.00000000e+00,
        1.97274577e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08277012, -0.05745681,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.78891475e-05,-2.99754409e-05,-1.28269319e-05,-1.73210503e-05,
 -1.38482084e-05,-1.39672874e-05, 1.76877484e-05, 8.95754340e-07,
  3.09693316e-05,-1.74357658e-05, 6.14930174e-06,-1.47975078e-06,
 -3.12290237e-04,-1.03726893e-04,-2.35395440e-04,-4.78859820e-05,
  7.84969960e-07, 9.99536748e-07,-1.21644009e+00,-1.78706751e-03,
 -2.98552620e-04, 2.38130653e-06]


--- Step 422 ---
qpos:
[ 2.86435080e-03,-5.60559284e-03,-1.01845750e-02, 2.78904078e-03,
 -4.46594171e-03,-5.14630169e-03,-1.77921140e-02, 5.18376148e-03,
 -4.70987731e-03,-3.94546082e-03,-7.73187484e-03,-1.91226748e-02,
  8.30157571e-01, 1.82428739e-02, 7.94372180e-01, 2.71631761e-02,
  9.49282039e-02,-7.00323037e-02, 1.30727153e-01, 9.99569625e-01,
  3.23626562e-04,-5.26217383e-04,-2.93288916e-02]

qacc:
[-2.31163667e+00, 7.06467041e-01,-3.32903755e+00, 6.32117740e+00,
 -4.46515406e+00,-1.96230576e+00, 7.79211274e+00,-1.35531195e+01,
  6.26802409e+00,-7.89732628e-01, 9.43791341e-01, 4.26330399e+00,
 -9.78488365e-01, 7.30791607e-01, 5.66952209e-03,-5.40450157e+00,
  9.35147447e-01,-7.71305233e-01,-8.35144904e-03, 9.45708524e+00,
  1.56136081e+01,-2.58691181e-01]

qfrc_actuator:
[-2.70382549e-06,-3.92113618e-04,-2.81225981e-04,-1.38206407e-04,
 -2.24541736e-05,-4.55463666e-04,-3.78591584e-04,-5.55112314e-05,
  4.14229310e-05,-3.02770244e-04,-2.01479281e-04,-7.56832442e-05,
  5.03084914e-02,-7.71357032e-04, 4.76314682e-02,-3.81445040e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47329862,  1.92873372, -4.03613513,  1.92873372, 23.57757371,
        9.12929282, -4.03613513,  9.12929282,  8.83588171,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002785636960609683
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.98552662e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.98552662e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08277137, -0.05745521,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.35836880e-05,-1.60953187e-05,-1.38629161e-05, 6.60003501e-06,
 -2.64552716e-05,-2.76485285e-05, 1.23861171e-05,-1.66846308e-05,
  3.67424064e-05,-1.73328940e-05, 1.94645130e-05, 1.65680758e-05,
 -3.24622004e-04,-9.96453391e-05,-2.41885587e-04,-9.63751873e-05,
 -6.04734425e-07,-9.66469970e-07,-1.21644046e+00,-1.78765773e-03,
 -2.98389836e-04, 2.31867640e-06]


--- Step 423 ---
qpos:
[ 2.86490006e-03,-5.60574785e-03,-1.01849357e-02, 2.78807095e-03,
 -4.46633960e-03,-5.14617624e-03,-1.77931168e-02, 5.18439977e-03,
 -4.70900293e-03,-3.94455814e-03,-7.73082814e-03,-1.91222532e-02,
  8.31237921e-01, 1.82438486e-02, 7.95636530e-01, 2.71553572e-02,
  9.49368512e-02,-7.00337174e-02, 1.30729899e-01, 9.99567257e-01,
  3.25347667e-04,-4.62021651e-04,-2.94105477e-02]

qacc:
[ -1.57448477,  0.1718585 , -2.73371769, 10.12863965,  0.31130396,
   0.49170122, -2.8108432 ,  6.02292171,  6.77650499, -0.47181531,
   2.75847861, -6.16256821, -1.22395727,  1.30797098,  2.46077589,
 -14.12434788,  0.10684376,  0.85684642,  0.24003038,-11.70609976,
  -0.97855129,  0.25071544]

qfrc_actuator:
[-1.16323396e-05,-3.89627659e-04,-2.66439261e-04,-1.14783785e-04,
 -1.98513988e-05,-4.69530929e-04,-3.88373776e-04,-4.77905915e-05,
  8.02233623e-05,-2.72660356e-04,-1.88664995e-04,-8.35906542e-05,
  5.02022072e-02,-7.83881145e-04, 4.75043188e-02,-3.91913343e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46064123,  1.93151035, -4.02076957,  1.93151035, 14.80805548,
        4.97072449, -4.02076957,  4.97072449,  6.84849401,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027426702226623873
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.96190220e-08,  5.69351604e-07,  1.00000000e+00, -1.68636377e-14,
        1.00000000e+00, -5.69351604e-07, -1.00000000e+00,  3.15544362e-30,
        2.96190220e-08])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09411381, -0.08090489,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.32118923e-06,-9.09214208e-06, 9.99257167e-06, 2.23865923e-05,
  1.83493106e-06,-2.76963607e-05,-1.45381337e-05, 6.64118764e-06,
  3.98455216e-05, 2.51218727e-05, 1.21827314e-05,-7.66021577e-06,
 -3.34509804e-04,-9.37052099e-05,-2.59118129e-04,-1.43419412e-04,
 -2.27426552e-06,-2.72932594e-06,-1.21644290e+00,-1.78853188e-03,
 -2.98696796e-04, 2.45549347e-06]


--- Step 424 ---
qpos:
[ 2.86499309e-03,-5.60617081e-03,-1.01847495e-02, 2.78703578e-03,
 -4.46670382e-03,-5.14583896e-03,-1.77941424e-02, 5.18506498e-03,
 -4.70732492e-03,-3.94347891e-03,-7.72990586e-03,-1.91222585e-02,
  8.32316434e-01, 1.82440804e-02, 7.96898192e-01, 2.71458903e-02,
  9.49419993e-02,-7.00283438e-02, 1.30731298e-01, 9.99564862e-01,
  2.83085680e-04,-4.31071207e-04,-2.94927276e-02]

qacc:
[ -3.96923128, -2.00972455,  6.94115918, -8.76404643,  0.28936199,
   0.39810381, -1.12801035,  1.47569416,  7.02838889, -0.3120054 ,
   3.22653183,-10.5138398 , -0.55661528, -0.45933466,  1.02691162,
  -9.3323331 , -0.87482611,  1.69684033, -0.33651501,-21.49326501,
 -17.26232577, -0.24661473]

qfrc_actuator:
[-3.48531825e-05,-4.05742376e-04,-2.39788683e-04,-1.18358841e-04,
 -1.81520770e-05,-4.24649678e-04,-3.76002252e-04,-4.35119440e-05,
  1.20442110e-04,-2.72814586e-04,-1.99216855e-04,-1.06148302e-04,
  5.01049777e-02,-8.27173905e-04, 4.73933083e-02,-3.99531574e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45706895,  3.45294046, -2.81827355,  3.45294046,  5.96291598,
        1.84495934, -2.81827355,  1.84495934,  6.7175077 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002730380874593902
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.03309186e-13, -2.03309186e-13,  1.00000000e+00,  4.13346250e-26,
        1.00000000e+00,  2.03309186e-13, -1.00000000e+00,  0.00000000e+00,
        2.03309186e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10712389, -0.09390908,  0.06199156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.34907100e-05,-1.81688276e-05, 2.67860156e-05,-3.17953105e-06,
  1.74256960e-06, 2.66817727e-05, 5.09861299e-06, 2.71860307e-06,
  4.13692171e-05, 1.60528088e-05,-4.15213108e-06,-2.12162053e-05,
 -3.30747574e-04,-1.25555118e-04,-2.55622263e-04,-1.19624813e-04,
 -4.89125726e-07,-2.84555564e-06,-1.21644226e+00,-1.78848923e-03,
 -3.00539571e-04, 1.84169185e-06]


--- Step 425 ---
qpos:
[ 2.86480711e-03,-5.60695037e-03,-1.01841793e-02, 2.78633422e-03,
 -4.46670003e-03,-5.14527475e-03,-1.77948010e-02, 5.18609140e-03,
 -4.70586708e-03,-3.94233672e-03,-7.72964343e-03,-1.91221362e-02,
  8.33393065e-01, 1.82440396e-02, 7.98157267e-01, 2.71338046e-02,
  9.49436067e-02,-7.00163032e-02, 1.30731022e-01, 9.99562423e-01,
  1.96873066e-04,-4.32523548e-04,-2.95759403e-02]

qacc:
[-2.42221614e+00,-8.52603233e-01, 9.56199249e-01, 4.45687408e+00,
  3.21726191e+00, 1.21447606e-02,-1.14375790e+00, 6.65327680e+00,
 -1.94931947e+00, 2.19430390e+00,-8.23270768e+00, 1.14368115e+01,
 -1.10055231e+00, 1.04374413e+00, 4.18022516e+00,-1.99897471e+01,
 -8.85157297e-01, 1.66673417e+00,-4.18860231e-01,-2.14881442e+01,
 -1.68426104e+01,-5.02747440e-01]

qfrc_actuator:
[-4.85491532e-05,-4.32833889e-04,-2.24201019e-04,-1.02297969e-04,
  7.45632575e-07,-3.97982933e-04,-3.50402886e-04,-2.34743616e-05,
  1.07914717e-04,-2.91197385e-04,-2.41347502e-04,-1.01672006e-04,
  5.00238903e-02,-8.35043944e-04, 4.72761015e-02,-4.12501265e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44960247, -2.22621652,  3.85265131, -2.22621652, 13.55296519,
        5.26028826,  3.85265131,  5.26028826,  7.4892081 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002704455867705152
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.14301488e-13, -6.15774344e-13,  1.00000000e+00,  1.93538792e-25,
        1.00000000e+00,  6.15774344e-13, -1.00000000e+00,  0.00000000e+00,
        3.14301488e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10712118, -0.09391241,  0.06199164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43732906e-05,-3.18479757e-05, 1.50300115e-05, 1.61512006e-05,
  1.89566550e-05, 4.27554981e-05, 3.18391031e-05, 2.14101019e-05,
 -1.13350044e-05,-1.12024380e-05,-4.00838260e-05, 4.60118070e-06,
 -3.18749183e-04,-9.45324881e-05,-2.57328051e-04,-1.71312553e-04,
  2.73228038e-06,-5.33231131e-07,-1.21644158e+00,-1.78726221e-03,
 -3.02587845e-04, 1.37082776e-06]


--- Step 426 ---
qpos:
[ 2.86480301e-03,-5.60787815e-03,-1.01834953e-02, 2.78616800e-03,
 -4.46612469e-03,-5.14465258e-03,-1.77953097e-02, 5.18704123e-03,
 -4.70526010e-03,-3.94107614e-03,-7.73023429e-03,-1.91216090e-02,
  8.34467512e-01, 1.82448209e-02, 7.99413352e-01, 2.71224856e-02,
  9.49488816e-02,-7.00075472e-02, 1.30731665e-01, 9.99559986e-01,
  1.30281531e-04,-4.01242535e-04,-2.96589952e-02]

qacc:
[  1.59734447,  0.58557329, -4.63720234, 13.83498579,  4.98826929,
  -0.50953653,  2.23455002, -3.82448895, -7.47765129,  3.39037807,
 -13.54072297, 21.78771147, -2.15772052,  3.99998516, -6.55752905,
  16.98976008,  0.91688793, -0.82115314,  0.22979739,  9.32222064,
  16.64968716,  0.07140759]

qfrc_actuator:
[-3.87723113e-05,-4.30810381e-04,-2.15306872e-04,-7.48283592e-05,
  2.96145687e-05,-4.17849994e-04,-3.52752606e-04,-2.98317377e-05,
  6.44419899e-05,-2.84969083e-04,-2.84087578e-04,-8.13590408e-05,
  4.99259290e-02,-7.86328163e-04, 4.71659162e-02,-4.07215684e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45231046, -2.44191814,  3.72291609, -2.44191814, 16.19787065,
        7.70409428,  3.72291609,  7.70409428,  9.50554485,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002713896253651732
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.09088234e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.09088234e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08277964, -0.0574481 ,  0.06199161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.35567342e-06,-1.19706575e-05, 4.73068222e-06, 2.69421479e-05,
  2.94251081e-05, 1.15266776e-05, 1.11424784e-05,-3.00983107e-06,
 -4.37949869e-05,-8.16207162e-06,-4.98462322e-05, 1.85333085e-05,
 -3.21606713e-04,-3.04669219e-05,-2.57093379e-04, 8.09299407e-06,
  5.46754605e-06, 2.56166777e-06,-1.21644562e+00,-1.78537953e-03,
 -3.04166515e-04, 1.70836261e-06]


--- Step 427 ---
qpos:
[ 2.86491583e-03,-5.60870543e-03,-1.01828133e-02, 2.78630791e-03,
 -4.46589752e-03,-5.14372537e-03,-1.77958822e-02, 5.18720047e-03,
 -4.70517903e-03,-3.93968964e-03,-7.73109925e-03,-1.91212294e-02,
  8.35539704e-01, 1.82465604e-02, 8.00666699e-01, 2.71137169e-02,
  9.49578553e-02,-7.00019886e-02, 1.30732795e-01, 9.99557544e-01,
  8.33541700e-05,-3.38107955e-04,-2.97421555e-02]

qacc:
[  1.02119455,  0.76699823, -3.83759196,  9.06839218, -3.04416674,
  -1.0404101 ,  7.64250813,-21.45941291, -4.61500124,  0.63768661,
  -1.39420374, -0.8297597 , -2.25038458,  4.26576826,-11.57509726,
  35.10896078,  0.92468248, -0.79935078,  0.12154332,  9.35536734,
  16.21137737, -0.05881157]

qfrc_actuator:
[-3.30136903e-05,-4.11383591e-04,-2.10312237e-04,-5.86013165e-05,
  1.08575933e-05,-3.94548616e-04,-3.54048885e-04,-6.94854054e-05,
  3.86260755e-05,-2.64054729e-04,-2.91230678e-04,-8.73777008e-05,
  4.98126128e-02,-7.40151780e-04, 4.70760506e-02,-3.92986000e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45288272,  2.07822196, -3.93816683,  2.07822196, 14.6653964 ,
        5.38927658, -3.93816683,  5.38927658,  7.29687421,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027158857017853255
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.04394284e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.04394284e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08278247, -0.05744638,  0.06199161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.02279555e-06, 1.48935571e-05, 4.03984031e-06, 1.64027520e-05,
 -1.79097505e-05, 3.19110128e-05, 2.34833714e-06,-3.88363924e-05,
 -2.70646685e-05, 6.79519233e-06,-1.43334891e-05,-7.73269720e-06,
 -3.24688349e-04,-2.37324838e-05,-2.16298034e-04, 1.07660252e-04,
  4.48538974e-06,-1.38767200e-07,-1.21644360e+00,-1.78491093e-03,
 -3.03901931e-04, 1.00411095e-06]


--- Step 428 ---
qpos:
[ 2.86475181e-03,-5.60919079e-03,-1.01821572e-02, 2.78592060e-03,
 -4.46589661e-03,-5.14262293e-03,-1.77961760e-02, 5.18722136e-03,
 -4.70540823e-03,-3.93840208e-03,-7.73170525e-03,-1.91209335e-02,
  8.36609784e-01, 1.82491475e-02, 8.01917590e-01, 2.71059676e-02,
  9.49705519e-02,-6.99995575e-02, 1.30734048e-01, 9.99555086e-01,
  5.61163219e-05,-2.43818326e-04,-2.98256256e-02]

qacc:
[ -2.42859598, -0.55710459,  4.87552847,-14.21862793, -1.96761835,
  -0.82776416,  3.87836978, -6.85475625, -2.70668554, -1.02177781,
   3.81472174, -5.61171731, -2.14439951,  4.01917871, -6.53019636,
  18.04531357,  0.93070539, -0.78186574,  0.03080207,  9.37703993,
  15.86342125, -0.15961182]

qfrc_actuator:
[-4.74264345e-05,-3.81704284e-04,-2.07587016e-04,-8.46099859e-05,
 -2.78550822e-07,-3.81121693e-04,-3.36806759e-04,-7.51143117e-05,
  2.34196370e-05,-2.69888907e-04,-2.77253459e-04,-9.10521995e-05,
  4.97167975e-02,-6.95964122e-04, 4.69665071e-02,-3.87800976e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44837717,  2.01599175, -3.96532933,  2.01599175, 19.0704919 ,
        7.43395069, -3.96532933,  7.43395069,  8.22783204,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027001700193766964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.05583911e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.05583911e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08278438, -0.05744471,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.42343610e-05, 3.95684921e-05, 6.86782819e-06,-2.49117453e-05,
 -1.16369042e-05, 3.00588637e-05, 2.27747614e-05,-4.93671570e-06,
 -1.59724607e-05,-5.37610828e-06, 1.33420640e-05,-4.03083368e-06,
 -3.06806735e-04,-2.57965284e-05,-2.07862557e-04, 2.76024022e-05,
  3.22607947e-06,-2.59612894e-06,-1.21644376e+00,-1.78471287e-03,
 -3.04139152e-04, 5.19869364e-07]


--- Step 429 ---
qpos:
[ 2.86441624e-03,-5.60916175e-03,-1.01815394e-02, 2.78451230e-03,
 -4.46499458e-03,-5.14159011e-03,-1.77958800e-02, 5.18752950e-03,
 -4.70581825e-03,-3.93690029e-03,-7.73284442e-03,-1.91203240e-02,
  8.37678012e-01, 1.82519531e-02, 8.03165718e-01, 2.71005276e-02,
  9.49869903e-02,-7.00001979e-02, 1.30735120e-01, 9.99552601e-01,
  4.85823154e-05,-1.18924371e-04,-2.99095626e-02]

qacc:
[ -1.5111855 , -1.31289076,  9.9822224 ,-27.97437436,  7.87863107,
  -1.16402946,  2.77811685,  1.32919218, -1.60316207,  2.42262227,
  -9.54192752, 15.65010722, -1.26307057,  1.80835838,-10.98835096,
  32.7424741 ,  0.93548247, -0.7678989 , -0.04510721,  9.39108479,
  15.58917805, -0.23706727]

qfrc_actuator:
[-5.58423684e-05,-3.46155068e-04,-2.06198863e-04,-1.35249203e-04,
  4.64330531e-05,-3.91364288e-04,-3.08758475e-04,-6.06643752e-05,
  1.45736252e-05,-2.56092436e-04,-3.04285367e-04,-7.55724218e-05,
  4.96262253e-02,-6.88747516e-04, 4.68505556e-02,-3.75564846e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43997589,  1.93612398, -3.99559881,  1.93612398, 24.88427451,
        9.90657441, -3.99559881,  9.90657441,  9.24034681,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026705404423667256
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.15729718e-13,  2.07864859e-13,  1.00000000e+00, -8.64155992e-26,
        1.00000000e+00, -2.07864859e-13, -1.00000000e+00,  0.00000000e+00,
        4.15729718e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08278555, -0.05744309,  0.06199175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.80725308e-06, 5.80335406e-05, 9.54485288e-06,-4.91899523e-05,
  4.63877855e-05, 1.10179540e-05, 3.68825270e-05, 1.64285051e-05,
 -9.30086122e-06, 1.33267746e-05,-2.66467474e-05, 1.56311205e-05,
 -2.90745764e-04,-5.93046846e-05,-2.19923758e-04, 9.45866211e-05,
  1.68954768e-06,-4.83964094e-06,-1.21644600e+00,-1.78479289e-03,
 -3.04861063e-04, 2.45276197e-07]


--- Step 430 ---
qpos:
[ 2.86467238e-03,-5.60894417e-03,-1.01810882e-02, 2.78290456e-03,
 -4.46319474e-03,-5.14082441e-03,-1.77948232e-02, 5.18802205e-03,
 -4.70633144e-03,-3.93477812e-03,-7.73505926e-03,-1.91198938e-02,
  8.38744575e-01, 1.82542737e-02, 8.04411511e-01, 2.70948362e-02,
  9.49999693e-02,-6.99939318e-02, 1.30735280e-01, 9.99550086e-01,
 -3.37064302e-06,-2.79917324e-05,-2.99937422e-02]

qacc:
[ 5.16727779e+00, 2.94122788e-01, 1.37189034e-01,-3.44202754e+00,
  7.85834432e+00,-2.11371581e+00, 6.22001043e+00,-4.02082523e+00,
 -9.47822845e-01, 3.45940052e+00,-1.03841928e+01, 8.54001296e+00,
 -6.24100848e-01,-5.25871101e-03,-2.66818392e+00, 4.38380365e+00,
 -8.64870085e-01, 1.72666175e+00,-2.28032407e-01,-2.16916692e+01,
 -1.76373443e+01,-1.18207627e-01]

qfrc_actuator:
[-2.51495086e-05,-3.60651060e-04,-2.23342736e-04,-1.46704184e-04,
  9.13111586e-05,-4.15633828e-04,-2.74649259e-04,-5.22900152e-05,
  9.53850685e-06,-2.13038553e-04,-3.55234203e-04,-8.44691070e-05,
  4.95335258e-02,-7.21176214e-04, 4.67415272e-02,-3.77020443e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43034069,  2.42382665, -3.70850145,  2.42382665, 13.49078544,
        5.92178477, -3.70850145,  5.92178477,  8.30073954,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026360212912306114
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.92275614e-14, -2.10586885e-13,  1.00000000e+00,  1.24725477e-26,
        1.00000000e+00,  2.10586885e-13, -1.00000000e+00,  0.00000000e+00,
        5.92275614e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10710367, -0.09392802,  0.06199185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.04626074e-05, 1.78132858e-05,-5.68677194e-06,-9.59343244e-06,
  4.62095702e-05,-9.81201790e-06, 4.14787973e-05, 1.04369641e-05,
 -5.29193408e-06, 4.56248861e-05,-5.09429839e-05,-8.94542152e-06,
 -2.89734876e-04,-1.00971788e-04,-2.09662938e-04,-3.98379882e-05,
 -1.25008890e-07,-6.89042637e-06,-1.21645026e+00,-1.78515636e-03,
 -3.06054540e-04, 1.72462915e-07]


--- Step 431 ---
qpos:
[ 2.86529444e-03,-5.60863637e-03,-1.01810900e-02, 2.78155070e-03,
 -4.46190522e-03,-5.14000700e-03,-1.77942301e-02, 5.18796509e-03,
 -4.70621097e-03,-3.93242791e-03,-7.73750689e-03,-1.91195817e-02,
  8.39809337e-01, 1.82562732e-02, 8.05654804e-01, 2.70896155e-02,
  9.50109838e-02,-6.99930627e-02, 1.30735762e-01, 9.99547637e-01,
 -1.38804084e-05, 5.51800081e-05,-3.00752159e-02]

qacc:
[  3.18528655,  1.90186168, -7.69050327, 12.7536779 , -4.46626843,
   0.24133244,  1.57332237,-10.39634148,  5.53641551,  0.69810759,
  -1.57243561, -0.24575448, -0.83059301,  0.48497324, -5.07805368,
  12.51139611, -0.49109717, -1.34927609,  0.08054802, 20.82870085,
  -3.25718881,  1.35273037]

qfrc_actuator:
[-7.19126800e-06,-3.69548813e-04,-2.51462167e-04,-1.35061783e-04,
  6.37215053e-05,-4.30341562e-04,-3.08320778e-04,-8.30783320e-05,
  4.22898876e-05,-2.06179945e-04,-3.66519545e-04,-8.98716502e-05,
  4.94342739e-02,-7.41270615e-04, 4.66367135e-02,-3.74100535e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4299974 , -0.87174147,  4.34337931, -0.87174147, 17.48318823,
        2.61985127,  4.34337931,  2.61985127,  4.95581678,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000263478054933691
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.83080702e-07,  1.83080702e-07,  1.00000000e+00,  3.35185433e-14,
        1.00000000e+00, -1.83080702e-07, -1.00000000e+00,  6.31088724e-30,
       -1.83080702e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09995645, -0.04752149,  0.06199186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.88348951e-05,-5.21967014e-07,-2.54781122e-05, 1.20229133e-05,
 -2.62705040e-05,-1.12052526e-05,-3.02516581e-05,-2.95772408e-05,
  3.26231498e-05, 2.14114052e-05,-8.44577272e-06,-5.38599452e-06,
 -3.04636011e-04,-9.50915798e-05,-2.16589150e-04,-2.46481319e-06,
  3.74106482e-06,-4.41117532e-06,-1.21644703e+00,-1.78372897e-03,
 -3.09071991e-04,-1.08309625e-06]


--- Step 432 ---
qpos:
[ 2.86578261e-03,-5.60867531e-03,-1.01812592e-02, 2.78072940e-03,
 -4.46130064e-03,-5.13936073e-03,-1.77942561e-02, 5.18792568e-03,
 -4.70535370e-03,-3.93019596e-03,-7.73967696e-03,-1.91189824e-02,
  8.40872293e-01, 1.82577745e-02, 8.06895438e-01, 2.70870255e-02,
  9.50185385e-02,-6.99855747e-02, 1.30735322e-01, 9.99545155e-01,
 -6.81956209e-05, 1.05051838e-04,-3.01573854e-02]

qacc:
[ -1.17017676,  1.10873886, -6.86210849, 16.5972873 , -5.98993034,
   1.55081544, -5.91205429,  7.31054961,  6.46142948, -0.35318784,
  -0.20012573,  4.83397417, -0.53264191, -0.27400795,-11.89256048,
  35.92001858, -0.86498538,  1.65473544, -0.23052547,-21.39204565,
 -17.30114667, -0.34968247]

qfrc_actuator:
[-1.46373340e-05,-4.10569979e-04,-2.68061347e-04,-1.09934489e-04,
  2.92054645e-05,-4.57276824e-04,-3.46235277e-04,-8.34461978e-05,
  7.92649557e-05,-2.20894319e-04,-3.54419379e-04,-7.54145402e-05,
  4.93364886e-02,-7.71687078e-04, 4.65398532e-02,-3.59741154e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43277515,  0.38152888, -4.41632553,  0.38152888, 16.97217686,
        1.08328605, -4.41632553,  1.08328605,  4.52636085,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002644798420760097
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.61430593e-07, -3.61430842e-07,  1.00000000e+00, -1.30632164e-13,
        1.00000000e+00,  3.61430842e-07, -1.00000000e+00,  0.00000000e+00,
       -3.61430593e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10699218, -0.09326123,  0.06199183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.90811479e-06,-4.60641166e-05,-1.94311693e-05, 2.44587388e-05,
 -3.52705899e-05,-4.07625117e-05,-4.49944751e-05,-2.47247950e-06,
  3.79197100e-05,-4.76171377e-06, 1.52952486e-05, 1.49751726e-05,
 -3.11239013e-04,-1.07747039e-04,-2.07325670e-04, 1.13204103e-04,
  3.52359301e-07,-4.08027192e-06,-1.21644421e+00,-1.78337837e-03,
 -3.08746983e-04,-4.36557448e-07]


--- Step 433 ---
qpos:
[ 2.86583320e-03,-5.60939524e-03,-1.01808752e-02, 2.77986386e-03,
 -4.46076977e-03,-5.13907745e-03,-1.77944187e-02, 5.18821898e-03,
 -4.70440417e-03,-3.92832547e-03,-7.74181805e-03,-1.91181654e-02,
  8.41933299e-01, 1.82592297e-02, 8.08133877e-01, 2.70834374e-02,
  9.50241637e-02,-6.99838527e-02, 1.30735197e-01, 9.99542751e-01,
 -7.95849982e-05, 1.47833574e-04,-3.02367417e-02]

qacc:
[-3.79871614,-2.52964246, 7.91333892,-9.07663454,-0.64068341, 0.58828842,
 -4.19614171,10.43782046, 0.81486522,-0.11213486,-1.21310919, 5.19817121,
 -1.30218781, 1.59782674,-0.12904569,-4.02295442,-0.48235807,-1.44149983,
  0.07862404,21.55991961,-2.89626955, 1.40915216]

qfrc_actuator:
[-3.69725418e-05,-4.52711693e-04,-2.42347491e-04,-1.12601767e-04,
  2.64176072e-05,-4.73593812e-04,-3.50849592e-04,-6.59090560e-05,
  8.29123795e-05,-2.66050036e-04,-3.64210423e-04,-6.71523223e-05,
  4.92396486e-02,-7.72485904e-04, 4.64265662e-02,-3.65381882e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44153485, -0.78279443,  4.37200923, -0.78279443, 18.25366262,
        2.47301781,  4.37200923,  2.47301781,  4.88432087,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026760710763037987
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.07435265e-13,  2.07435265e-13,  1.00000000e+00,  4.30293891e-26,
        1.00000000e+00, -2.07435265e-13, -1.00000000e+00,  0.00000000e+00,
       -2.07435265e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09980322, -0.04648088,  0.06199173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.25485020e-05,-7.08652899e-05, 1.46559291e-05,-4.83481433e-06,
 -3.81125498e-06,-4.85459497e-05,-1.86678053e-05, 1.41856124e-05,
  4.73234448e-06,-4.40588263e-05,-8.37533741e-06, 8.87617302e-06,
 -3.16623442e-04,-8.18938938e-05,-2.06498987e-04,-7.91419099e-05,
  3.68385992e-06,-1.60257073e-06,-1.21644337e+00,-1.78196157e-03,
 -3.11076785e-04,-1.07396326e-06]


--- Step 434 ---
qpos:
[ 2.86527045e-03,-5.61040595e-03,-1.01800240e-02, 2.77858324e-03,
 -4.46027696e-03,-5.13899613e-03,-1.77944243e-02, 5.18833308e-03,
 -4.70376261e-03,-3.92702514e-03,-7.74392647e-03,-1.91172282e-02,
  8.42992209e-01, 1.82610202e-02, 8.09369692e-01, 2.70798428e-02,
  9.50279617e-02,-6.99878413e-02, 1.30734926e-01, 9.99540417e-01,
 -4.86092627e-05, 1.82995380e-04,-3.03136653e-02]

qacc:
[ -5.34581873, -2.53493753, 10.25092651,-17.98735205, -0.32368885,
  -1.07354222,  4.19840826, -7.40411273, -2.68530252, -0.59175586,
   0.51844528,  1.9199508 , -1.69295479,  2.63661594, -3.72229534,
   7.73420271, -0.45678527, -1.42767087, -0.03649263, 21.28789459,
  -3.16783305,  1.21967366]

qfrc_actuator:
[-6.78839886e-05,-4.41794892e-04,-2.09651975e-04,-1.31581999e-04,
  2.45767664e-05,-4.65526882e-04,-3.35718532e-04,-7.34563467e-05,
  6.69130416e-05,-3.11427414e-04,-3.69246008e-04,-6.26523241e-05,
  4.91328019e-02,-7.55766924e-04, 4.63088031e-02,-3.65012379e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44441019, -0.95002186, -4.34168636, -0.95002186, 15.86493438,
       -2.49897084, -4.34168636, -2.49897084,  4.99122005,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002686232697423352
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.06650568e-13, -2.06650568e-13,  1.00000000e+00,  4.27044572e-26,
        1.00000000e+00,  2.06650568e-13, -1.00000000e+00,  0.00000000e+00,
        2.06650568e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09980657, -0.04648165,  0.0619917 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.15789647e-05,-2.58755967e-05, 1.97023868e-05,-2.15999151e-05,
 -1.96687408e-06,-2.23380303e-05, 3.29336938e-06,-9.99793482e-06,
 -1.58757097e-05,-7.14044401e-05,-1.48579367e-05, 2.49497474e-06,
 -3.24989346e-04,-6.11829410e-05,-2.33289825e-04,-2.99339550e-05,
  5.36596601e-07,-1.50011796e-06,-1.21644088e+00,-1.78165517e-03,
 -3.10117865e-04,-6.90967902e-07]


--- Step 435 ---
qpos:
[ 2.86537595e-03,-5.61143391e-03,-1.01791898e-02, 2.77708297e-03,
 -4.45981007e-03,-5.13913418e-03,-1.77942326e-02, 5.18800949e-03,
 -4.70331772e-03,-3.92632459e-03,-7.74574751e-03,-1.91166031e-02,
  8.44049346e-01, 1.82623676e-02, 8.10602779e-01, 2.70762503e-02,
  9.50299648e-02,-6.99972443e-02, 1.30734293e-01, 9.99538139e-01,
  2.25041757e-05, 2.09529906e-04,-3.03885528e-02]

qacc:
[  5.84515405, -0.4387148 ,  2.43854414, -6.17839736, -0.21645237,
  -1.74171862,  7.638383  ,-15.36924764, -1.70273398, -2.23586138,
   8.1426307 ,-13.56377252, -0.70971243,  0.14843024, -4.01066288,
   8.25405138, -0.44874123, -1.3535728 , -0.09031672, 20.19020552,
  -3.7033517 ,  1.02192932]

qfrc_actuator:
[-3.25798488e-05,-4.34666058e-04,-2.08408200e-04,-1.42208842e-04,
  2.32979724e-05,-4.78350708e-04,-3.26731815e-04,-9.56754667e-05,
  5.72415885e-05,-3.38831877e-04,-3.53690956e-04,-7.81520821e-05,
  4.90466639e-02,-7.82158227e-04, 4.61884717e-02,-3.64646499e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44178503, -0.75818894, -4.37659728, -0.75818894, 21.06802067,
       -2.88028054, -4.37659728, -2.88028054,  4.94075643,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002676957227301478
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.83153188e-07,  8.83153603e-07,  1.00000000e+00,  7.79959920e-13,
        1.00000000e+00, -8.83153603e-07, -1.00000000e+00,  2.01948392e-28,
       -8.83153188e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09996918, -0.04752442,  0.06199173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.43952442e-05,-4.17639178e-06,-2.41506160e-06,-1.14695256e-05,
 -1.34268925e-06,-2.50670634e-05, 4.43149918e-06,-2.32571613e-05,
 -1.01470827e-05,-7.03234338e-05,-9.28011701e-07,-1.90226733e-05,
 -3.05298682e-04,-1.02698731e-04,-2.41287963e-04,-3.03406728e-05,
 -2.26472526e-06,-7.54172065e-07,-1.21644128e+00,-1.78200034e-03,
 -3.09192912e-04,-4.03541547e-07]


--- Step 436 ---
qpos:
[ 2.86624843e-03,-5.61251309e-03,-1.01780658e-02, 2.77544984e-03,
 -4.45936218e-03,-5.13939130e-03,-1.77942695e-02, 5.18778434e-03,
 -4.70264743e-03,-3.92621688e-03,-7.74732220e-03,-1.91168572e-02,
  8.45104839e-01, 1.82628038e-02, 8.11833354e-01, 2.70699862e-02,
  9.50284941e-02,-6.99998616e-02, 1.30733329e-01, 9.99535838e-01,
  4.73349635e-05, 2.01512992e-04,-3.04641676e-02]

qacc:
[  6.71883416, -1.16476702,  4.59285779, -7.29344136, -0.17071416,
   0.68440611, -3.0837883 ,  5.24039609,  1.99074351, -3.28747674,
  14.28297166,-29.43612275, -0.33914531, -0.93414066,  4.3677755 ,
 -20.69076046, -0.86845366,  1.69642137, -0.08306186,-22.60557672,
 -17.97097862, -0.36834091]

qfrc_actuator:
[ 5.91210774e-06,-4.29967220e-04,-1.90232674e-04,-1.47853052e-04,
  2.23594955e-05,-4.85858168e-04,-3.39287523e-04,-9.08622663e-05,
  6.91313951e-05,-3.72947537e-04,-3.43801934e-04,-1.23019933e-04,
  4.89570198e-02,-8.33771364e-04, 4.60613774e-02,-3.78485509e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45302049,  0.52802733, -4.42160362,  0.52802733, 22.56031215,
        2.16237043, -4.42160362,  2.16237043,  4.71125048,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027163643631007706
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.04358266e-13, -5.10895666e-14,  1.00000000e+00,  1.04405753e-26,
        1.00000000e+00,  5.10895666e-14, -1.00000000e+00,  0.00000000e+00,
        2.04358266e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10707694, -0.09393572,  0.06199161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.94768153e-05, 1.41559518e-06, 1.66226182e-05,-6.12763320e-06,
 -9.84925124e-07,-2.16029146e-05,-1.79920409e-05, 3.44055000e-06,
  1.15768095e-05,-7.44540791e-05,-5.39568891e-06,-4.82803504e-05,
 -3.05287911e-04,-1.30462370e-04,-2.50787092e-04,-1.73227026e-04,
 -4.64161278e-06, 5.90745922e-07,-1.21644426e+00,-1.78295523e-03,
 -3.08316386e-04,-2.44079230e-07]


--- Step 437 ---
qpos:
[ 2.86688589e-03,-5.61337798e-03,-1.01771620e-02, 2.77445337e-03,
 -4.45892927e-03,-5.13952844e-03,-1.77943047e-02, 5.18757146e-03,
 -4.70184001e-03,-3.92660903e-03,-7.74880521e-03,-1.91176481e-02,
  8.46158394e-01, 1.82629893e-02, 8.13061130e-01, 2.70626899e-02,
  9.50235044e-02,-6.99958036e-02, 1.30731540e-01, 9.99533502e-01,
  2.63367605e-05, 1.60059769e-04,-3.05409918e-02]

qacc:
[ -2.0658868 ,  2.21399543,-10.16345208, 21.36839464, -0.13267408,
   0.17915285, -0.4600814 ,  0.58088547,  1.21161587, -2.02497945,
   8.51903366,-17.57320728, -1.07041794,  0.95246098, -0.94606636,
  -2.52696724, -0.87975851,  1.66881577, -0.20590894,-22.39443199,
 -17.40849037, -0.60875083]

qfrc_actuator:
[-7.30715318e-06,-4.08932885e-04,-1.97703568e-04,-1.15001355e-04,
  2.16286487e-05,-4.54683090e-04,-3.28916354e-04,-8.79433475e-05,
  7.58619229e-05,-3.93104317e-04,-3.37386458e-04,-1.49311392e-04,
  4.88546728e-02,-8.46614429e-04, 4.59462816e-02,-3.82827523e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45861315, -0.76019673,  4.39332814, -0.76019673, 12.46963033,
        1.38618125,  4.39332814,  1.38618125,  4.69847014,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002735702197986245
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01456860e-13, -1.01456860e-13,  1.00000000e+00,  1.02934945e-26,
        1.00000000e+00,  1.01456860e-13, -1.00000000e+00,  0.00000000e+00,
        1.01456860e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10707269, -0.09393602,  0.06199155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20883156e-05, 2.50375115e-05,-5.34241382e-06, 3.33700149e-05,
 -7.66036828e-07, 1.55360064e-05, 3.81580448e-06, 1.43886859e-06,
  7.03604385e-06,-6.49519351e-05,-1.12795511e-05,-3.06032066e-05,
 -3.24354359e-04,-9.60416313e-05,-2.59063232e-04,-8.74353287e-05,
 -1.52616303e-06, 1.67179436e-06,-1.21644069e+00,-1.78279466e-03,
 -3.09711784e-04,-7.45132362e-07]


--- Step 438 ---
qpos:
[ 2.86770510e-03,-5.61372230e-03,-1.01770643e-02, 2.77385937e-03,
 -4.45850858e-03,-5.13951826e-03,-1.77939599e-02, 5.18701913e-03,
 -4.70130289e-03,-3.92766225e-03,-7.75045221e-03,-1.91180186e-02,
  8.47209930e-01, 1.82635690e-02, 8.14286023e-01, 2.70558140e-02,
  9.50149612e-02,-6.99851603e-02, 1.30728514e-01, 9.99531112e-01,
 -4.01134442e-05, 8.60596014e-05,-3.06193988e-02]

qacc:
[  1.55583463,  3.7671786 ,-14.1379208 , 22.01538499, -0.09741835,
  -1.56527003,  7.29725438,-13.88904338, -2.35996049,  0.4553579 ,
  -4.65465616, 12.6633023 , -1.65255965,  2.62976881, -5.40129751,
  13.04587736, -0.88836754,  1.64632944, -0.30932696,-22.21826397,
 -16.95997187, -0.79504084]

qfrc_actuator:
[ 2.39994001e-06,-3.78342269e-04,-2.37920765e-04,-9.52737301e-05,
  2.10259689e-05,-4.35995174e-04,-3.04927990e-04,-1.03866831e-04,
  6.17423700e-05,-4.40246868e-04,-3.50751611e-04,-1.28942622e-04,
  4.87714187e-02,-8.18738687e-04, 4.58331754e-02,-3.79753161e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4578311 , -0.68088468,  4.40552541, -0.68088468, 16.45655534,
        1.85443205,  4.40552541,  1.85443205,  4.74443809,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027330089533532387
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.03113682e-13, -1.52335262e-13,  1.00000000e+00,  3.09413760e-26,
        1.00000000e+00,  1.52335262e-13, -1.00000000e+00,  0.00000000e+00,
        2.03113682e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10706967, -0.09393698,  0.06199156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.37116943e-06, 4.49346545e-05,-3.45472304e-05, 2.12675416e-05,
 -6.19432178e-07, 2.82309499e-05, 2.77196698e-05,-1.50968914e-05,
 -1.39424803e-05,-8.70653241e-05,-2.92043506e-05, 1.66068792e-05,
 -3.09719396e-04,-5.39555372e-05,-2.50937025e-04,-9.44981493e-06,
  1.01109060e-06, 3.63290555e-06,-1.21644222e+00,-1.78194628e-03,
 -3.10602539e-04,-3.57880689e-07]


--- Step 439 ---
qpos:
[ 2.86863424e-03,-5.61366150e-03,-1.01774309e-02, 2.77315235e-03,
 -4.45809829e-03,-5.13941225e-03,-1.77935936e-02, 5.18665704e-03,
 -4.70059420e-03,-3.92949502e-03,-7.75220228e-03,-1.91177852e-02,
  8.48259599e-01, 1.82644313e-02, 8.15508282e-01, 2.70485724e-02,
  9.50043958e-02,-6.99804810e-02, 1.30726308e-01, 9.99528801e-01,
 -6.37467832e-05, 5.30307470e-06,-3.06948026e-02]

qacc:
[ 0.94008364, 1.59825026,-4.44791281, 2.9397509 ,-0.09155631, 0.45820749,
 -2.25287834, 5.44023698, 1.51248473, 0.49858493,-5.82190958,17.00515648,
 -1.49708405, 2.29459901,-2.66607319, 3.97675578,-0.50554125,-1.49099505,
  0.20487421,21.50170493,-2.72114598, 1.50375469]

qfrc_actuator:
[ 7.78746635e-06,-3.60162515e-04,-2.61606434e-04,-1.01193678e-04,
  2.05034185e-05,-4.42627521e-04,-3.08653457e-04,-9.52436970e-05,
  7.09705938e-05,-4.85467105e-04,-3.58013503e-04,-9.90728106e-05,
  4.86890456e-02,-8.02481755e-04, 4.57213712e-02,-3.81209261e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4567515 , -0.6656586 ,  4.40675987, -0.6656586 , 20.74750292,
        2.46078277,  4.40675987,  2.46078277,  4.82846252,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027292852488763897
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.03390801e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.03390801e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09982369, -0.04648295,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.67265646e-06, 3.70958743e-05,-1.79204769e-05,-4.77483961e-06,
 -5.30946402e-07, 1.42294233e-05, 4.99493121e-06, 1.04985979e-05,
  8.79508737e-06,-9.91724124e-05,-2.82334369e-05, 2.54616400e-05,
 -2.90288711e-04,-5.57747378e-05,-2.37378453e-04,-4.94009124e-05,
  3.05951990e-06, 6.48441476e-06,-1.21644863e+00,-1.78040451e-03,
 -3.11029849e-04, 8.70753459e-07]


--- Step 440 ---
qpos:
[ 2.86927604e-03,-5.61340980e-03,-1.01777592e-02, 2.77271795e-03,
 -4.45769744e-03,-5.13912397e-03,-1.77938497e-02, 5.18643530e-03,
 -4.69943623e-03,-3.93159118e-03,-7.75398148e-03,-1.91172677e-02,
  8.49307385e-01, 1.82655395e-02, 8.16727475e-01, 2.70431634e-02,
  9.49919228e-02,-6.99816701e-02, 1.30724373e-01, 9.99526560e-01,
 -4.50822056e-05,-8.28545820e-05,-3.07676430e-02]

qacc:
[-2.51545621, 0.71199379,-3.3147987 , 7.82212573,-0.10469598, 2.26862452,
 -8.33220466,11.62332069, 3.9370844 , 0.31102683,-2.82482428, 7.99302199,
 -1.32192635, 1.90226417,-9.98604751,28.60252791,-0.47688879,-1.46712293,
  0.06775194,21.25257656,-3.04974008, 1.28206699]

qfrc_actuator:
[-7.17026670e-06,-3.49522055e-04,-2.57640060e-04,-8.66423974e-05,
  2.00320143e-05,-4.46706823e-04,-3.46553443e-04,-9.00391209e-05,
  9.38737412e-05,-4.58140509e-04,-3.43856139e-04,-8.16065453e-05,
  4.85912830e-02,-7.93241981e-04, 4.55944522e-02,-3.71119732e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46451796,  0.07852664, -4.4638273 ,  0.07852664, 13.37430289,
        0.15673892, -4.4638273 ,  0.15673892,  4.46727527,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027559248916618484
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09982746, -0.04648349,  0.06199148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47814187e-05, 2.74810486e-05, 9.26021936e-06, 1.54295094e-05,
 -4.82297780e-07, 5.35167667e-06,-3.39870104e-05, 6.19121022e-06,
  2.31122228e-05,-3.27794901e-05,-8.88064184e-06, 1.27453070e-05,
 -2.93732846e-04,-5.90132183e-05,-2.51360606e-04, 6.54162902e-05,
  9.06913568e-07, 5.90735851e-06,-1.21644658e+00,-1.78006351e-03,
 -3.08242625e-04, 3.80546126e-07]


--- Step 441 ---
qpos:
[ 2.86973364e-03,-5.61301048e-03,-1.01780342e-02, 2.77281093e-03,
 -4.45730526e-03,-5.13884876e-03,-1.77941979e-02, 5.18592118e-03,
 -4.69835833e-03,-3.93325148e-03,-7.75594557e-03,-1.91166257e-02,
  8.50353174e-01, 1.82671304e-02, 8.17943696e-01, 2.70412239e-02,
  9.49776327e-02,-6.99886496e-02, 1.30722248e-01, 9.99524371e-01,
  1.54516745e-05,-1.78921597e-04,-3.08382703e-02]

qacc:
[ -1.61167604,  1.1351076 , -5.9848505 , 14.9120571 , -0.07856273,
  -0.36176456,  2.49945332, -7.40338418, -0.7142207 ,  1.35071967,
  -4.50201851,  6.62592094, -1.53879963,  2.47670831,-14.7809801 ,
  45.63550326, -0.45429785, -1.4475797 , -0.04736493, 21.04650903,
  -3.30874476,  1.10496739]

qfrc_actuator:
[-1.62292131e-05,-3.43352997e-04,-2.55151787e-04,-6.01488042e-05,
  1.95944864e-05,-4.49379083e-04,-3.51064919e-04,-1.04664522e-04,
  8.91302441e-05,-3.87490166e-04,-3.34632561e-04,-7.15043089e-05,
  4.84896811e-02,-7.70536306e-04, 4.54852270e-02,-3.52532770e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46546336e+00,  1.37751740e-02, -4.46544211e+00,  1.37751740e-02,
        1.78989652e+01,  4.14402025e-02, -4.46544211e+00,  4.14402025e-02,
        4.46559120e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00])
  dim: 3
  dist: -0.00027591444396356246
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.01189725e-13,  2.01189725e-13,  1.00000000e+00, -4.04773056e-26,
        1.00000000e+00, -2.01189725e-13, -1.00000000e+00,  0.00000000e+00,
        2.01189725e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09983058, -0.04648331,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.47321830e-06, 2.40988956e-05, 9.84104158e-06, 2.82934398e-05,
 -4.48372726e-07,-6.44144864e-06,-7.37848773e-06,-1.54513327e-05,
 -4.10346295e-06, 5.11390941e-05, 1.84481382e-06, 8.64608524e-06,
 -3.00225650e-04,-4.69562598e-05,-2.25999205e-04, 1.55288558e-04,
 -9.09006836e-07, 6.02291322e-06,-1.21644753e+00,-1.78036139e-03,
 -3.05498372e-04,-1.81710920e-07]


--- Step 442 ---
qpos:
[ 2.87042402e-03,-5.61265632e-03,-1.01781902e-02, 2.77358648e-03,
 -4.45692108e-03,-5.13902669e-03,-1.77941680e-02, 5.18595065e-03,
 -4.69734577e-03,-3.93426602e-03,-7.75820471e-03,-1.91162336e-02,
  8.51397098e-01, 1.82689889e-02, 8.19157720e-01, 2.70403749e-02,
  9.49672970e-02,-6.99989935e-02, 1.30721294e-01, 9.99522163e-01,
  9.54663369e-05,-2.44049015e-04,-3.09091621e-02]

qacc:
[ 2.04099641, 1.00972131,-6.57478895,18.23796784,-0.0498293 ,-0.53577446,
 -1.25295892,10.38923738,-0.59238272, 1.16479134,-1.85925492,-2.46769429,
 -1.42056356, 2.1206578 ,-6.43919088,18.09205815, 0.98860849,-0.84111118,
  0.29258919, 9.25867297,15.76281406,-0.13454793]

qfrc_actuator:
[-3.98448010e-06,-3.57652494e-04,-2.53580903e-04,-2.68536409e-05,
  1.91803111e-05,-4.86589949e-04,-3.35824641e-04,-7.75534183e-05,
  8.59010318e-05,-3.44697349e-04,-3.45954483e-04,-8.35270855e-05,
  4.84018309e-02,-7.57838965e-04, 4.53973716e-02,-3.46836971e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.47223627,  -3.24595626,  -3.0764696 ,  -3.24595626,
        14.44477099, -10.52193448,  -3.0764696 , -10.52193448,
        15.57383766,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002782064656552674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.97661055e-14, -1.99532211e-13,  1.00000000e+00,  1.99065516e-26,
        1.00000000e+00,  1.99532211e-13, -1.00000000e+00,  0.00000000e+00,
        9.97661055e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08281108, -0.05741472,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19798107e-05, 2.40547136e-06, 8.73816776e-06, 3.52187611e-05,
 -4.28335593e-07,-4.30038255e-05, 1.24681830e-05, 2.62803692e-05,
 -3.33611888e-06, 7.22244634e-05,-1.90925234e-07,-9.59352581e-06,
 -2.87300913e-04,-5.67550322e-05,-1.84010708e-04, 3.43981608e-05,
 -2.42186164e-06, 6.79476726e-06,-1.21645139e+00,-1.78129522e-03,
 -3.02761827e-04,-8.32393481e-07]


--- Step 443 ---
qpos:
[ 2.87160061e-03,-5.61242893e-03,-1.01779547e-02, 2.77440151e-03,
 -4.45688959e-03,-5.13984577e-03,-1.77935580e-02, 5.18666047e-03,
 -4.69672439e-03,-3.93527711e-03,-7.76004508e-03,-1.91159551e-02,
  8.52439344e-01, 1.82706863e-02, 8.20369991e-01, 2.70354918e-02,
  9.49608834e-02,-7.00126036e-02, 1.30721029e-01, 9.99519931e-01,
  1.95072234e-04,-2.78749819e-04,-3.09805020e-02]

qacc:
[  4.26761751, -1.18881006,  3.81459916, -3.64866246, -3.04646301,
  -1.06106271, -0.30748644, 11.61457764, -3.41177924, -1.3936669 ,
   5.46559239, -8.11432769, -1.20513323,  1.41706271,  9.71885955,
 -37.52966396,  0.98052373, -0.81652394,  0.17228338,  9.32065242,
  15.50878684, -0.22807153]

qfrc_actuator:
[ 2.06991811e-05,-3.66346764e-04,-2.34894697e-04,-2.53489348e-05,
  1.03029393e-06,-5.26326037e-04,-3.09166665e-04,-4.38720715e-05,
  6.58450436e-05,-3.72261200e-04,-3.33914309e-04,-9.07476874e-05,
  4.83169660e-02,-7.68877104e-04, 4.52904204e-02,-3.68304647e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47412624,  4.030401  , -1.9425945 ,  4.030401  ,  8.10630232,
        7.53586303, -1.9425945 ,  7.53586303, 20.10916996,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002788415730960725
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.99077744e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.99077744e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08281193, -0.05741273,  0.06199138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.50239604e-05,-4.04592129e-06, 2.14728481e-05, 2.59281624e-06,
 -1.81788990e-05,-6.00763938e-05, 2.02227330e-05, 3.27821241e-05,
 -2.01310878e-05, 1.24377187e-05, 2.66407770e-05,-4.31419153e-06,
 -2.78008195e-04,-7.95147033e-05,-1.99851299e-04,-2.39179736e-04,
 -3.52750516e-06, 5.66387403e-06,-1.21644928e+00,-1.78298806e-03,
 -3.01208740e-04,-3.67952791e-07]


--- Step 444 ---
qpos:
[ 2.87271909e-03,-5.61228133e-03,-1.01774839e-02, 2.77523315e-03,
 -4.45673137e-03,-5.14083043e-03,-1.77927677e-02, 5.18738945e-03,
 -4.69703779e-03,-3.93684933e-03,-7.76087487e-03,-1.91153876e-02,
  8.53480146e-01, 1.82711170e-02, 8.21579977e-01, 2.70276913e-02,
  9.49509558e-02,-7.00193743e-02, 1.30720420e-01, 9.99517663e-01,
  2.48721533e-04,-3.47855658e-04,-3.10525114e-02]

qacc:
[ -0.49963844, -0.72812749,  2.37468325, -2.40658969,  1.11365907,
  -0.68513398,  2.04096288, -1.87224043, -8.14219348, -2.95509689,
   8.26766008, -4.49714673,  0.10415355, -2.00439382,  5.39920609,
 -23.93002811, -0.87850377,  1.70983461, -0.085777  ,-22.4344146 ,
 -17.90620811, -0.32543891]

qfrc_actuator:
[ 1.69943736e-05,-3.71578219e-04,-2.24012067e-04,-2.47958053e-05,
  8.09193448e-06,-5.13950109e-04,-2.93763940e-04,-4.21080330e-05,
  1.82923536e-05,-4.23902399e-04,-2.90700066e-04,-7.73705641e-05,
  4.82232910e-02,-8.47092786e-04, 4.51880285e-02,-3.82523146e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47914909,  2.59449792, -3.6512131 ,  2.59449792, 14.19179978,
        6.90166564, -3.6512131 ,  6.90166564,  9.38337041,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000280520114455729
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.48414895e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.48414895e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10704563, -0.0939402 ,  0.06199133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.99310934e-06,-2.95526469e-06, 1.27720965e-05, 1.16915291e-06,
  6.51736912e-06,-1.56222174e-05, 6.62136447e-06, 5.27599662e-07,
 -4.81291491e-05,-3.93159286e-05, 4.89492095e-05, 1.47542054e-05,
 -2.86788878e-04,-1.48037467e-04,-2.33290223e-04,-1.84020306e-04,
 -4.91656637e-06, 4.74009609e-06,-1.21644930e+00,-1.78495920e-03,
 -3.00113930e-04, 2.77466769e-07]


--- Step 445 ---
qpos:
[ 2.87343989e-03,-5.61228076e-03,-1.01771286e-02, 2.77644362e-03,
 -4.45580053e-03,-5.14158199e-03,-1.77916905e-02, 5.18772900e-03,
 -4.69791903e-03,-3.93886063e-03,-7.76109269e-03,-1.91153423e-02,
  8.54519185e-01, 1.82707301e-02, 8.22786455e-01, 2.70225894e-02,
  9.49374730e-02,-7.00194296e-02, 1.30718973e-01, 9.99515345e-01,
  2.56818037e-04,-4.50313786e-04,-3.11256588e-02]

qacc:
[ -3.47950006,  0.91569034, -5.1340942 , 11.97037631,  6.74295545,
  -1.30842287,  6.73375475,-14.08000427, -4.94495187, -3.35709184,
  13.34382054,-23.04365633, -0.15477956, -1.26606108,-13.39493825,
  39.24931326, -0.88879861,  1.67883715, -0.20974114,-22.24776767,
 -17.37551567, -0.55742904]

qfrc_actuator:
[-3.39366221e-06,-3.92480882e-04,-2.35564691e-04,-7.05392424e-06,
  4.76948604e-05,-4.70526078e-04,-2.67193963e-04,-5.91053263e-05,
 -9.55304113e-06,-4.53921562e-04,-2.65045946e-04,-1.05250028e-04,
  4.81190436e-02,-8.93434494e-04, 4.50458768e-02,-3.67488763e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48326906, -1.20165271,  4.3192282 , -1.20165271, 12.36020061,
        2.19144155,  4.3192282 ,  2.19144155,  5.09295013,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002818869439404348
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.95390505e-13,  9.84635018e-14,  1.00000000e+00, -2.90851836e-26,
        1.00000000e+00, -9.84635018e-14, -1.00000000e+00,  0.00000000e+00,
        2.95390505e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10704172, -0.0939411 ,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.04762924e-05,-1.98842747e-05,-1.05595132e-05, 1.80766437e-05,
  3.97840166e-05, 3.61055743e-05, 2.41775628e-05,-1.74286843e-05,
 -2.92418323e-05,-4.12148635e-05, 2.41012973e-05,-2.75763122e-05,
 -3.17772661e-04,-1.29343029e-04,-2.79805901e-04, 1.07852702e-04,
 -2.41780955e-06, 5.33574088e-06,-1.21644697e+00,-1.78528618e-03,
 -3.00493651e-04, 4.33703653e-07]


--- Step 446 ---
qpos:
[ 2.87391070e-03,-5.61238618e-03,-1.01771944e-02, 2.77787372e-03,
 -4.45474714e-03,-5.14204197e-03,-1.77900522e-02, 5.18748923e-03,
 -4.69878301e-03,-3.94099621e-03,-7.76139429e-03,-1.91152777e-02,
  8.55556079e-01, 1.82709704e-02, 8.23990055e-01, 2.70188460e-02,
  9.49277951e-02,-7.00228388e-02, 1.30718859e-01, 9.99513021e-01,
  2.84702171e-04,-5.20605204e-04,-3.11988469e-02]

qacc:
[ -2.19805529,  1.49370363, -6.44869252, 10.99311568,  1.08103292,
  -2.37699925, 11.47703569,-22.61245535,  0.1507149 ,  0.10932346,
  -0.70960058,  1.26816171, -1.91040923,  3.24072662, -8.20952363,
  22.94569977,  0.9512444 , -0.83845784,  0.3332789 ,  9.38840658,
  16.38350528, -0.02899634]

qfrc_actuator:
[-1.56761988e-05,-4.04934493e-04,-2.60321682e-04, 2.87972073e-06,
  5.28680735e-05,-4.44310890e-04,-2.34102390e-04,-8.69584960e-05,
 -7.81443663e-06,-4.53112451e-04,-2.67686159e-04,-1.03929898e-04,
  4.80298365e-02,-8.49583680e-04, 4.49279934e-02,-3.60201233e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48479281, -2.34425164,  3.82332981, -2.34425164, 17.4165526 ,
        7.92903062,  3.82332981,  7.92903062,  9.34643017,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002823902061697414
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.96576050e-13,  1.96576050e-13,  1.00000000e+00, -3.86421434e-26,
        1.00000000e+00, -1.96576050e-13, -1.00000000e+00,  0.00000000e+00,
        1.96576050e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08281725, -0.05740722,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.28756379e-05,-2.49958713e-05,-2.95461650e-05, 9.06532757e-06,
  6.32603716e-06, 5.06800692e-05, 4.29181315e-05,-2.58118963e-05,
  8.82756928e-07,-1.83787547e-05,-9.11235366e-06,-1.42042389e-07,
 -3.17871402e-04,-4.29178355e-05,-2.41009011e-04, 4.14608444e-05,
 -4.94492774e-07, 6.82847110e-06,-1.21644961e+00,-1.78492401e-03,
 -3.00361867e-04, 1.47223700e-06]


--- Step 447 ---
qpos:
[ 2.87388557e-03,-5.61271091e-03,-1.01772440e-02, 2.77939612e-03,
 -4.45398430e-03,-5.14227125e-03,-1.77882780e-02, 5.18730011e-03,
 -4.69962002e-03,-3.94298490e-03,-7.76215915e-03,-1.91148611e-02,
  8.56591119e-01, 1.82713641e-02, 8.25191867e-01, 2.70140962e-02,
  9.49219192e-02,-7.00295065e-02, 1.30719570e-01, 9.99510690e-01,
  3.32424039e-04,-5.59516177e-04,-3.12723105e-02]

qacc:
[-4.33385711,-0.13692146,-0.30725205, 2.02381203,-2.53365304, 0.03458301,
  0.11382707, 0.36667496, 0.21917541, 2.21370032,-9.09428823,15.81117649,
 -1.45324413, 2.07694395, 0.52161164,-5.36960911, 0.95047104,-0.81463836,
  0.20637591, 9.42444921,15.99199727,-0.14748654]

qfrc_actuator:
[-4.08366786e-05,-4.12300906e-04,-2.57144207e-04, 8.13608523e-06,
  3.77244800e-05,-4.46325366e-04,-2.32992102e-04,-8.54742679e-05,
 -6.43604703e-06,-4.33945560e-04,-2.86852008e-04,-8.54225887e-05,
  4.79497515e-02,-8.41498178e-04, 4.48726730e-02,-3.64636804e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48841994,  2.82362861, -3.48898769,  2.82362861, 12.99169256,
        6.88167629, -3.48898769,  6.88167629, 10.05774257,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028358333813274794
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95748987e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.95748987e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08281941, -0.05740552,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.55362652e-05,-2.70633192e-05,-5.31240984e-06, 3.33705600e-06,
 -1.49452190e-05, 3.40844450e-05, 1.59583050e-05, 4.63610439e-06,
  1.39049408e-06, 7.07969210e-06,-2.40616380e-05, 1.74072754e-05,
 -2.89866910e-04,-6.45803802e-05,-1.71041526e-04,-7.51695943e-05,
 -1.32937488e-06, 5.12524494e-06,-1.21644544e+00,-1.78586397e-03,
 -2.98681640e-04, 1.49239636e-06]


--- Step 448 ---
qpos:
[ 2.87355878e-03,-5.61309930e-03,-1.01770343e-02, 2.78058684e-03,
 -4.45340889e-03,-5.14213809e-03,-1.77868325e-02, 5.18749127e-03,
 -4.70043433e-03,-3.94464105e-03,-7.76323637e-03,-1.91149514e-02,
  8.57624214e-01, 1.82724455e-02, 8.26391821e-01, 2.70094109e-02,
  9.49201349e-02,-7.00378319e-02, 1.30721139e-01, 9.99508363e-01,
  3.88835468e-04,-5.67278010e-04,-3.13457965e-02]

qacc:
[ -2.62963425, -1.48660049,  6.58733564,-12.7046143 , -1.6507838 ,
   2.18314556, -8.68943229, 15.52493189,  0.18304537,  0.26811978,
   1.81780592,-10.32839147, -1.95478835,  3.4689919 , -2.7699455 ,
   6.13426641,  1.02291249, -0.41440656,  0.21433618,  3.85559472,
  15.70281826, -0.01866028]

qfrc_actuator:
[-5.56253484e-05,-3.98706633e-04,-2.37475059e-04,-7.12705838e-06,
  2.85075232e-05,-4.29828130e-04,-2.50869731e-04,-6.67858443e-05,
 -5.29038468e-06,-4.03985454e-04,-2.97767624e-04,-1.10201263e-04,
  4.78645392e-02,-8.01391248e-04, 4.48069636e-02,-3.63497243e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48602851,  0.91039849, -4.39267872,  0.91039849, 17.92994482,
        2.7863001 , -4.39267872,  2.7863001 ,  5.06349924,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028279744577215774
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.98178447e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.98178447e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08228588, -0.06323553,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.55271060e-05,-2.49382134e-06, 1.35421634e-05,-1.65430849e-05,
 -9.63432982e-06, 3.90345409e-05,-8.72836996e-06, 2.07888563e-05,
  1.18108359e-06, 2.97725932e-05,-1.17842217e-05,-2.49640736e-05,
 -2.81435836e-04,-3.04980479e-05,-1.66005293e-04,-1.77989248e-05,
 -2.45013729e-06, 3.66333211e-06,-1.21644356e+00,-1.78707792e-03,
 -2.97482730e-04, 1.70983833e-06]


--- Step 449 ---
qpos:
[ 2.87374677e-03,-5.61337686e-03,-1.01769538e-02, 2.78158943e-03,
 -4.45260351e-03,-5.14188921e-03,-1.77855085e-02, 5.18792252e-03,
 -4.70088400e-03,-3.94569980e-03,-7.76462974e-03,-1.91150270e-02,
  8.58655204e-01, 1.82746739e-02, 8.27589842e-01, 2.70051537e-02,
  9.49148238e-02,-7.00393442e-02, 1.30721801e-01, 9.99506005e-01,
  4.00376421e-04,-6.08551833e-04,-3.14199879e-02]

qacc:
[  4.49688278,  0.11139772,  0.59419554, -3.70847312,  1.99992697,
   0.9825525 , -4.3020413 ,  8.57438944,  3.17205934,  1.69758844,
  -4.97959492,  5.31138295, -2.47780721,  4.8010888 , -3.92067143,
  10.14600135, -0.88170117,  1.70325835, -0.22663008,-21.89917169,
 -17.45115312, -0.33380587]

qfrc_actuator:
[-2.86815811e-05,-3.90356529e-04,-2.43665605e-04,-1.65622317e-05,
  4.06122712e-05,-4.37953151e-04,-2.61977272e-04,-5.58774126e-05,
  1.34617409e-05,-3.50041184e-04,-3.03698682e-04,-1.06975555e-04,
  4.77603480e-02,-7.42666982e-04, 4.47297658e-02,-3.60854709e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48403816,  2.88029193, -3.43664322,  2.88029193, 11.36217691,
        5.76465064, -3.43664322,  5.76465064,  9.31546104,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002821411104272503
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.83748011e-14, -4.91874005e-14,  1.00000000e+00,  4.83880074e-27,
        1.00000000e+00,  4.91874005e-14, -1.00000000e+00,  0.00000000e+00,
        9.83748011e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10702755, -0.09394823,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.65000452e-05, 9.04855067e-06,-5.60966938e-06,-9.39695270e-06,
  1.18416716e-05, 1.27651255e-05,-3.41941821e-06, 1.26798756e-05,
  1.87913893e-05, 6.71604922e-05,-2.06555052e-06, 3.61304829e-06,
 -2.87532981e-04,-4.53529592e-06,-1.68923643e-04, 1.04715603e-06,
 -3.22037627e-06, 2.10677258e-06,-1.21644273e+00,-1.78840097e-03,
 -2.97131084e-04, 2.13418498e-06]


--- Step 450 ---
qpos:
[ 2.87425624e-03,-5.61366066e-03,-1.01772043e-02, 2.78284577e-03,
 -4.45165934e-03,-5.14165383e-03,-1.77839399e-02, 5.18778197e-03,
 -4.70076086e-03,-3.94582188e-03,-7.76659276e-03,-1.91147450e-02,
  8.59684198e-01, 1.82776740e-02, 8.28785541e-01, 2.70018979e-02,
  9.49136522e-02,-7.00409087e-02, 1.30723580e-01, 9.99503682e-01,
  4.08714622e-04,-6.18944752e-04,-3.14934955e-02]

qacc:
[ 2.80197423e+00, 1.43388938e+00,-6.20502020e+00, 1.11403905e+01,
  1.21804770e+00,-1.88046921e+00, 9.08924825e+00,-1.93631568e+01,
  4.98114659e+00, 3.55728183e+00,-1.24098327e+01, 1.88295833e+01,
 -1.98907837e+00, 3.57140070e+00,-6.29151078e+00, 1.74638441e+01,
  1.03489005e+00,-1.30430993e-02, 2.79149819e-01,-2.08552293e+00,
  1.53826563e+01, 3.37052593e-01]

qfrc_actuator:
[-1.28993838e-05,-4.03054560e-04,-2.65087204e-04,-4.75886235e-06,
  4.74149922e-05,-4.42997146e-04,-2.51345892e-04,-8.51541780e-05,
  4.24267421e-05,-2.82104297e-04,-3.24262921e-04,-8.72661355e-05,
  4.76555056e-02,-7.09011918e-04, 4.46244453e-02,-3.55574052e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48320229, -3.00884021,  3.32354981, -3.00884021, 13.1407249 ,
        7.83773484,  3.32354981,  7.83773484, 11.57877573,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028186486374894416
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08046714e-06,  1.08046753e-06,  1.00000000e+00,  1.16740966e-12,
        1.00000000e+00, -1.08046753e-06, -1.00000000e+00,  0.00000000e+00,
       -1.08046714e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08219722, -0.06929456,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.65439688e-05,-9.18388489e-06,-2.05698785e-05, 1.18111211e-05,
  7.14624696e-06, 1.90976133e-06, 1.32656589e-05,-2.86063603e-05,
  2.95202027e-05, 1.05280709e-04,-6.79446878e-06, 2.25892419e-05,
 -2.86326693e-04,-2.66540929e-05,-1.96318195e-04, 2.81030473e-05,
 -6.52556032e-07, 3.42810486e-06,-1.21644201e+00,-1.78807180e-03,
 -2.97945335e-04, 2.24945820e-06]


--- Step 451 ---
qpos:
[ 2.87460635e-03,-5.61404017e-03,-1.01776940e-02, 2.78458456e-03,
 -4.45098559e-03,-5.14151904e-03,-1.77824791e-02, 5.18732775e-03,
 -4.69994603e-03,-3.94573210e-03,-7.76793570e-03,-1.91145640e-02,
  8.60711493e-01, 1.82807643e-02, 8.29978559e-01, 2.69986506e-02,
  9.49165908e-02,-7.00424829e-02, 1.30726078e-01, 9.99501391e-01,
  4.14108325e-04,-5.98843532e-04,-3.15664249e-02]

qacc:
[-1.39964039e+00, 1.53837410e+00,-7.70037084e+00, 1.64976634e+01,
 -2.36028441e+00,-4.73203839e-01, 2.82651612e+00,-8.01777530e+00,
  6.07123762e+00,-1.67304500e+00, 6.77496418e+00,-9.64197953e+00,
 -1.17141822e+00, 1.53466217e+00,-3.90074208e+00, 8.11564566e+00,
  1.02752463e+00,-2.44439702e-03, 1.79885273e-01,-1.95152958e+00,
  1.51932644e+01, 2.84161462e-01]

qfrc_actuator:
[-2.15793738e-05,-4.10556127e-04,-2.77641397e-04, 1.94210100e-05,
  3.32830418e-05,-4.63862227e-04,-2.63493847e-04,-1.02320934e-04,
  7.71654231e-05,-2.95113238e-04,-2.99969194e-04,-9.35204287e-05,
  4.75716414e-02,-7.08234588e-04, 4.44863785e-02,-3.55886035e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4786245 ,  4.1031353 , -1.79509279,  4.1031353 ,  9.50941561,
       11.49913629, -1.79509279, 11.49913629, 30.76278784,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028034543719262286
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23690739e-06,  1.23690758e-06,  1.00000000e+00,  1.52994013e-12,
        1.00000000e+00, -1.23690758e-06, -1.00000000e+00,  0.00000000e+00,
       -1.23690739e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08219736, -0.06929319,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.20910657e-06,-1.63654573e-05,-1.65739196e-05, 2.33020718e-05,
 -1.39257697e-05,-1.83069607e-05,-1.11304421e-05,-1.71866619e-05,
  3.56154284e-05, 4.54649459e-05, 4.60061577e-05,-1.53805260e-06,
 -2.69581265e-04,-6.28943565e-05,-2.36876056e-04,-2.94360829e-05,
 -5.49427729e-07, 1.61301740e-06,-1.21644029e+00,-1.78865831e-03,
 -2.97925021e-04, 2.39943983e-06]


--- Step 452 ---
qpos:
[ 2.87519465e-03,-5.61442330e-03,-1.01780837e-02, 2.78621854e-03,
 -4.45083094e-03,-5.14183107e-03,-1.77813432e-02, 5.18776789e-03,
 -4.69872055e-03,-3.94582568e-03,-7.76870883e-03,-1.91147493e-02,
  8.61737251e-01, 1.82827970e-02, 8.31169010e-01, 2.69930023e-02,
  9.49200070e-02,-7.00386471e-02, 1.30728429e-01, 9.99499134e-01,
  3.80992064e-04,-5.80216301e-04,-3.16385591e-02]

qacc:
[  2.0867316 , -0.50429453,  2.22650491, -4.19014461, -4.52919806,
   2.16753812,-12.34600256, 28.65765642,  3.61588075, -2.59691561,
  10.43823416,-17.53315281, -0.12521556, -1.4011547 ,  3.4422488 ,
 -17.62944165,  0.11942606,  1.35252884, -0.03692284,-19.22188623,
  -1.34426334,  0.40978585]

qfrc_actuator:
[-9.07915517e-06,-3.97095200e-04,-2.67081908e-04, 1.51913088e-05,
  6.94399597e-06,-5.11880098e-04,-2.89054997e-04,-5.89932089e-05,
  9.72676878e-05,-3.38586884e-04,-2.85227831e-04,-1.15037516e-04,
  4.74631290e-02,-7.80068981e-04, 4.43554087e-02,-3.68370689e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46958042,  2.46621189, -3.7275928 ,  2.46621189, 10.56401895,
        4.0321402 , -3.7275928 ,  4.0321402 ,  7.13728386,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027731070835591213
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.76910079e-07, -4.37691115e-13,  1.00000000e+00,  2.96277527e-19,
        1.00000000e+00,  4.37691115e-13, -1.00000000e+00,  0.00000000e+00,
        6.76910079e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09385494, -0.08908916,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.22609447e-05, 1.89588435e-06, 5.95018048e-06,-5.05254773e-06,
 -2.67434742e-05,-6.13162170e-05,-3.13254568e-05, 4.18216853e-05,
  2.11323640e-05,-8.58644368e-06, 2.97584959e-05,-1.80071613e-05,
 -2.92244475e-04,-1.37658808e-04,-2.52484823e-04,-1.59053210e-04,
 -4.74891132e-07,-1.45039204e-07,-1.21644008e+00,-1.78917348e-03,
 -2.98357781e-04, 2.38145102e-06]


--- Step 453 ---
qpos:
[ 2.87523826e-03,-5.61478614e-03,-1.01780485e-02, 2.78707227e-03,
 -4.45099355e-03,-5.14237470e-03,-1.77803055e-02, 5.18833514e-03,
 -4.69795310e-03,-3.94601176e-03,-7.76980218e-03,-1.91154847e-02,
  8.62760948e-01, 1.82852335e-02, 8.32356205e-01, 2.69846077e-02,
  9.49274586e-02,-7.00347989e-02, 1.30731171e-01, 9.99496905e-01,
  3.45063292e-04,-5.30996552e-04,-3.17101769e-02]

qacc:
[-4.75199086e+00,-2.75814231e+00, 1.31826231e+01,-2.73973740e+01,
 -2.76595658e+00, 2.35436884e-01,-1.81087106e+00, 4.32819079e+00,
 -4.01865959e+00,-3.52606099e-01, 3.41243645e+00,-1.23609613e+01,
 -1.85898225e+00, 2.96058573e+00, 3.66366594e+00,-1.94039816e+01,
  1.00883061e+00, 3.08261660e-03, 9.78479749e-02,-1.88935778e+00,
  1.52442119e+01, 2.53494630e-01]

qfrc_actuator:
[-3.74625261e-05,-3.88863216e-04,-2.42897734e-04,-2.34424769e-05,
 -8.60983210e-06,-5.04792654e-04,-2.86898404e-04,-5.14618739e-05,
  7.30872039e-05,-3.64523630e-04,-3.11920915e-04,-1.45406475e-04,
  4.73611772e-02,-7.52337565e-04, 4.41808514e-02,-3.82592539e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46138838, -2.02032994,  3.97771961, -2.02032994, 15.48568657,
        5.59936895,  3.97771961,  5.59936895,  7.30537284,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027452313863222965
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.37386958e-07,  4.37386958e-07,  1.00000000e+00,  1.91307351e-13,
        1.00000000e+00, -4.37386958e-07, -1.00000000e+00,  0.00000000e+00,
       -4.37386958e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08219737, -0.06929096,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.80310184e-05, 1.03219369e-05, 2.51381532e-05,-3.84475433e-05,
 -1.63423445e-05,-3.18908358e-05,-1.29292964e-05, 4.63246263e-06,
 -2.35815703e-05,-2.53388919e-05,-2.54135036e-05,-3.00559689e-05,
 -3.16438529e-04,-5.54192819e-05,-3.17198779e-04,-1.85540242e-04,
  1.83622392e-06, 3.32621281e-08,-1.21644082e+00,-1.78861078e-03,
 -2.99873256e-04, 2.12202157e-06]


--- Step 454 ---
qpos:
[ 2.87494157e-03,-5.61516085e-03,-1.01779771e-02, 2.78748755e-03,
 -4.45099698e-03,-5.14284268e-03,-1.77793778e-02, 5.18825809e-03,
 -4.69713627e-03,-3.94647007e-03,-7.77085546e-03,-1.91165793e-02,
  8.63782760e-01, 1.82881774e-02, 8.33539814e-01, 2.69758059e-02,
  9.49314640e-02,-7.00243692e-02, 1.30732269e-01, 9.99494631e-01,
  2.66204538e-04,-5.12965706e-04,-3.17828305e-02]

qacc:
[ -2.97576858, -1.01428173,  5.45444241,-13.10245866,  1.38316406,
  -0.92199811,  6.14786448,-17.17401533,  0.43812109, -1.21260113,
   5.31360115,-11.38619537, -1.67050569,  2.76096295, -3.92731954,
   6.39829325, -0.86155402,  1.64538508, -0.41089666,-20.95995641,
 -16.26745472, -0.50158071]

qfrc_actuator:
[-5.41831876e-05,-4.01543695e-04,-2.46408779e-04,-4.64960893e-05,
  6.59041228e-08,-4.82431145e-04,-2.85960587e-04,-8.27515009e-05,
  7.62993859e-05,-3.79955743e-04,-3.09554662e-04,-1.63003587e-04,
  4.72898932e-02,-7.19163017e-04, 4.40335538e-02,-3.83524042e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45112012,  3.17737184, -3.11717477,  3.17737184,  9.13588633,
        4.77523568, -3.11717477,  4.77523568,  9.31857237,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002709751940953902
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17083201e-06, -1.17083134e-06,  1.00000000e+00, -1.37084681e-12,
        1.00000000e+00,  1.17083134e-06, -1.00000000e+00,  2.01948392e-28,
       -1.17083201e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10665717, -0.09342409,  0.06199163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.75166795e-05,-3.36238977e-06, 3.90006526e-07,-2.24898228e-05,
  8.19645861e-06, 2.05693386e-06,-7.08797882e-06,-3.30149599e-05,
  2.53034242e-06,-3.61222694e-05,-7.01887208e-06,-2.01411035e-05,
 -2.84028794e-04,-4.09465187e-05,-3.20283720e-04,-6.18552831e-05,
  2.08630092e-06,-1.68143127e-06,-1.21644218e+00,-1.78847561e-03,
 -3.00715905e-04, 1.63744906e-06]


--- Step 455 ---
qpos:
[ 2.87548115e-03,-5.61536896e-03,-1.01783010e-02, 2.78763068e-03,
 -4.45089675e-03,-5.14293932e-03,-1.77788815e-02, 5.18744507e-03,
 -4.69594266e-03,-3.94716523e-03,-7.77189668e-03,-1.91178790e-02,
  8.64803178e-01, 1.82900206e-02, 8.34720549e-01, 2.69699792e-02,
  9.49391289e-02,-7.00171211e-02, 1.30733870e-01, 9.99492352e-01,
  2.07310655e-04,-4.62958466e-04,-3.18556403e-02]

qacc:
[  7.29982606,  0.75023417, -1.23142566, -2.9423991 ,  0.88375404,
   0.17917746,  3.17690875,-15.49419857,  3.30275185, -0.77558537,
   3.16409632, -6.54244093,  0.35131022, -2.29086684,-13.34760978,
  40.31708335,  0.91490363, -0.79540708,  0.12558383,  9.4692009 ,
  16.29736447, -0.08750778]

qfrc_actuator:
[-1.06348208e-05,-3.91242353e-04,-2.66318369e-04,-6.02313028e-05,
  5.17720796e-06,-4.51119803e-04,-3.03455658e-04,-1.18860511e-04,
  9.56229571e-05,-3.88868348e-04,-3.07737639e-04,-1.72908500e-04,
  4.72104394e-02,-7.89503468e-04, 4.39719942e-02,-3.65953802e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44954127, -2.46515183,  3.70424674, -2.46515183, 16.70758808,
        8.15764951,  3.70424674,  8.15764951,  9.87840334,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027042420025343017
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.10548695e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.10548695e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08283424, -0.0573931 ,  0.06199164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.30485043e-05, 7.54466568e-06,-2.13306747e-05,-1.43029773e-05,
  5.34864588e-06, 2.95921897e-05,-1.90914544e-05,-3.69099622e-05,
  1.93816050e-05,-3.13894164e-05,-7.18425434e-06,-1.20809917e-05,
 -2.68516960e-04,-1.35158797e-04,-2.21079259e-04, 1.29905083e-04,
  4.61473655e-06, 9.01468173e-07,-1.21644471e+00,-1.78679067e-03,
 -3.02350440e-04, 1.64685606e-06]


--- Step 456 ---
qpos:
[ 2.87653827e-03,-5.61544286e-03,-1.01783099e-02, 2.78721722e-03,
 -4.45108085e-03,-5.14257712e-03,-1.77792553e-02, 5.18622473e-03,
 -4.69487169e-03,-3.94820562e-03,-7.77233154e-03,-1.91189695e-02,
  8.65821879e-01, 1.82916513e-02, 8.35899030e-01, 2.69645100e-02,
  9.49504820e-02,-7.00129920e-02, 1.30735609e-01, 9.99490059e-01,
  1.68361080e-04,-3.81717194e-04,-3.19288039e-02]

qacc:
[  4.53434281, -1.85832557,  9.21723622,-19.43545986, -2.51484058,
   2.20300963, -5.24786921, -0.75591151, -1.04852474, -1.71842514,
   4.58596934, -1.68616318, -0.90554908,  0.74442226, -4.36119696,
  10.55885453,  0.92203047, -0.77973751,  0.03452198,  9.46952108,
  15.9267177 , -0.18487383]

qfrc_actuator:
[ 1.47765972e-05,-3.67325626e-04,-2.42392122e-04,-8.61190169e-05,
 -9.61092378e-06,-4.32517150e-04,-3.49397570e-04,-1.39759127e-04,
  8.87609673e-05,-3.93795743e-04,-2.70732901e-04,-1.60455926e-04,
  4.71261074e-02,-7.96279281e-04, 4.38714040e-02,-3.64233416e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44551931,  1.55994643, -4.16283667,  1.55994643, 20.13879905,
        5.88076776, -4.16283667,  5.88076776,  6.6492288 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002690138961498334
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.06350497e-13,  4.12700994e-13,  1.00000000e+00, -8.51610554e-26,
        1.00000000e+00, -4.12700994e-13, -1.00000000e+00,  0.00000000e+00,
        2.06350497e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08283635, -0.05739172,  0.06199169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.66468359e-05, 2.31411847e-05, 2.23659424e-05,-2.65819810e-05,
 -1.46221720e-05, 2.96270895e-05,-4.34619620e-05,-2.10091278e-05,
 -6.32218490e-06,-2.44306356e-05, 2.92422893e-05, 1.06307205e-05,
 -2.82094777e-04,-8.52197647e-05,-1.96458780e-04,-5.95222297e-06,
  3.63989442e-06,-1.42239237e-06,-1.21644387e+00,-1.78635038e-03,
 -3.02462142e-04, 1.04214262e-06]


--- Step 457 ---
qpos:
[ 2.87754736e-03,-5.61554973e-03,-1.01776870e-02, 2.78649563e-03,
 -4.45144035e-03,-5.14220979e-03,-1.77803526e-02, 5.18550294e-03,
 -4.69423602e-03,-3.94975618e-03,-7.77169394e-03,-1.91192234e-02,
  8.66838948e-01, 1.82928801e-02, 8.37075112e-01, 2.69592433e-02,
  9.49655458e-02,-7.00119315e-02, 1.30737181e-01, 9.99487742e-01,
  1.49333264e-04,-2.69828125e-04,-3.20024735e-02]

qacc:
[ -0.40002321, -2.44312007,  9.94977884,-16.26987053, -1.55216281,
   3.05709773,-12.99068578, 22.76826118, -3.76811198, -1.9414138 ,
   2.42891557, 10.68821127, -0.66905722,  0.16629213, -4.12867237,
   9.37541801,  0.92765699, -0.76717833, -0.04166489,  9.46643209,
  15.63407634, -0.25967939]

qfrc_actuator:
[ 1.15374433e-05,-3.70779183e-04,-2.10469223e-04,-1.01152316e-04,
 -1.82395734e-05,-4.57281008e-04,-3.94043828e-04,-1.16060502e-04,
  6.65363302e-05,-4.13881510e-04,-2.13214677e-04,-1.17168414e-04,
  4.70442534e-02,-8.18622237e-04, 4.37634206e-02,-3.63003866e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43754939,  1.48272392, -4.18250815,  1.48272392, 26.22606346,
        7.72415732, -4.18250815,  7.72415732,  7.17580892,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000266190219075646
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.0853941e-13,  4.1707882e-13,  1.0000000e+00, -8.6977371e-26,
        1.0000000e+00, -4.1707882e-13, -1.0000000e+00,  0.0000000e+00,
        2.0853941e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0828377 , -0.05739032,  0.06199177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.46896066e-06, 1.29776070e-05, 3.85377105e-05,-1.37854251e-05,
 -9.03485055e-06,-1.80848238e-05,-4.46044292e-05, 2.30583824e-05,
 -2.24192785e-05,-2.72058139e-05, 5.64626315e-05, 4.34661765e-05,
 -2.77266249e-04,-9.53263862e-05,-2.10202424e-04,-1.58365334e-05,
  2.38656794e-06,-3.53042710e-06,-1.21644516e+00,-1.78619189e-03,
 -3.03061997e-04, 6.53531155e-07]


--- Step 458 ---
qpos:
[ 2.87851001e-03,-5.61551323e-03,-1.01772997e-02, 2.78598252e-03,
 -4.45190023e-03,-5.14246485e-03,-1.77811534e-02, 5.18508139e-03,
 -4.69387210e-03,-3.95134812e-03,-7.77075533e-03,-1.91193090e-02,
  8.67854314e-01, 1.82936119e-02, 8.38248623e-01, 2.69560815e-02,
  9.49772153e-02,-7.00041616e-02, 1.30737685e-01, 9.99485386e-01,
  8.67700173e-05,-1.90206218e-04,-3.20767718e-02]

qacc:
[ -0.41587828,  1.2780798 , -5.16068717,  9.03837933, -0.85543501,
  -1.03049253,  1.2166084 ,  3.95981274, -2.36874961, -0.54488721,
   1.16183197,  1.28919381, -0.50914589, -0.25806046,-10.16984071,
  30.08198337, -0.84855113,  1.67736622, -0.2672108 ,-21.2403325 ,
 -16.82198963, -0.30651033]

qfrc_actuator:
[ 9.21914052e-06,-3.72788791e-04,-2.27448949e-04,-9.19461452e-05,
 -2.31677177e-05,-5.07794592e-04,-3.84453356e-04,-1.01851743e-04,
  5.32084679e-05,-4.07254019e-04,-1.97354892e-04,-1.09348949e-04,
  4.69479631e-02,-8.50030995e-04, 4.36670726e-02,-3.51416039e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42715534,  2.37566186, -3.73576434,  2.37566186, 14.1402977 ,
        6.17681945, -3.73576434,  6.17681945,  8.35514251,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002624479276204017
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.20018101e-07, -2.20017959e-07,  1.00000000e+00, -4.84079334e-14,
        1.00000000e+00,  2.20017959e-07, -1.00000000e+00,  0.00000000e+00,
       -2.20018101e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10664571, -0.09343609,  0.06199189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.38548128e-06, 1.26112442e-05,-1.00346160e-05, 1.08278069e-05,
 -5.19261261e-06,-6.88535077e-05, 1.16889927e-06, 1.23427376e-05,
 -1.39859825e-05, 4.98101956e-06, 1.87113483e-05, 9.45784377e-06,
 -2.91046928e-04,-1.05016361e-04,-2.05163657e-04, 8.56147269e-05,
  8.55095406e-07,-5.44439631e-06,-1.21644849e+00,-1.78631992e-03,
 -3.04135880e-04, 4.71319264e-07]


--- Step 459 ---
qpos:
[ 2.87943743e-03,-5.61542572e-03,-1.01770943e-02, 2.78593768e-03,
 -4.45241572e-03,-5.14334656e-03,-1.77814914e-02, 5.18447732e-03,
 -4.69332659e-03,-3.95239375e-03,-7.76984307e-03,-1.91200441e-02,
  8.68867643e-01, 1.82946455e-02, 8.39419538e-01, 2.69552776e-02,
  9.49923899e-02,-6.99992484e-02, 1.30738498e-01, 9.99483009e-01,
  4.21782669e-05,-8.10791925e-05,-3.21513110e-02]

qacc:
[ -0.31445445,  1.54090242, -7.37185682, 15.72821888, -0.45986655,
  -2.49571348,  8.46971915,-11.91066334,  1.579216  , -0.54515973,
   5.72287594,-17.3061586 , -1.4816207 ,  2.12899682,-10.86605537,
  32.72860538,  0.87627819, -0.71416475,  0.0775721 ,  8.50788765,
  15.033189  , -0.12368844]

qfrc_actuator:
[ 7.47095825e-06,-3.74095180e-04,-2.37650373e-04,-6.85896515e-05,
 -2.58804201e-05,-5.37627284e-04,-3.60803930e-04,-1.11090642e-04,
  6.29818602e-05,-3.49358023e-04,-1.88395067e-04,-1.40229227e-04,
  4.68430761e-02,-8.33365509e-04, 4.35565047e-02,-3.39137367e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42398305, -2.41007924,  3.70987116, -2.41007924, 14.75452496,
        6.71112917,  3.70987116,  6.71112917,  8.78379835,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002612918799572353
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.11514765e-07,  3.11514553e-07,  1.00000000e+00,  9.70413827e-14,
        1.00000000e+00, -3.11514553e-07, -1.00000000e+00,  0.00000000e+00,
       -3.11514765e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0835385 , -0.05844451,  0.06199193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.81242174e-06, 4.12846368e-06,-8.46250078e-06, 2.37604676e-05,
 -2.88614279e-06,-6.75470702e-05, 1.00125852e-05,-1.19047177e-05,
  9.37048226e-06, 6.49942246e-05, 1.26291489e-05,-2.98331307e-05,
 -3.09887198e-04,-6.18590917e-05,-2.05614461e-04, 9.88569971e-05,
  4.13235796e-06,-3.14347641e-06,-1.21644678e+00,-1.78483471e-03,
 -3.06756825e-04,-5.12146926e-07]


--- Step 460 ---
qpos:
[ 2.88033678e-03,-5.61544743e-03,-1.01768995e-02, 2.78549138e-03,
 -4.45296002e-03,-5.14445055e-03,-1.77819595e-02, 5.18341102e-03,
 -4.69301293e-03,-3.95334990e-03,-7.76867943e-03,-1.91207588e-02,
  8.69878991e-01, 1.82958917e-02, 8.40588043e-01, 2.69535939e-02,
  9.50040695e-02,-6.99875507e-02, 1.30738012e-01, 9.99480582e-01,
 -4.68227532e-05,-4.69911779e-06,-3.22267544e-02]

qacc:
[ -0.24431846, -0.94090766,  4.84079352,-11.69209951, -0.25185683,
  -0.88128588,  4.66839328,-12.29825041, -2.02337216, -0.53860342,
   2.01258556, -2.13487705, -1.56222491,  2.23496088, -0.77162877,
  -2.1551996 , -0.87377383,  1.69612679, -0.3250557 ,-21.66676226,
 -17.07893989, -0.45018645]

qfrc_actuator:
[ 6.07221668e-06,-3.92697255e-04,-2.43744252e-04,-9.03440505e-05,
 -2.72684887e-05,-5.37045598e-04,-3.64509422e-04,-1.34035480e-04,
  5.07661060e-05,-3.67787858e-04,-1.83368259e-04,-1.40321060e-04,
  4.67437741e-02,-8.23960671e-04, 4.34268481e-02,-3.44306329e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42292954,  2.38469669, -3.7249869 ,  2.38469669, 12.7102207 ,
        5.30543498, -3.7249869 ,  5.30543498,  7.81941215,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002609064947356743
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13030146e-13, -2.12762627e-13,  1.00000000e+00,  2.40485907e-26,
        1.00000000e+00,  2.12762627e-13, -1.00000000e+00,  0.00000000e+00,
        1.13030146e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10699688, -0.09398292,  0.06199194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45023132e-06,-1.70324102e-05,-5.46548357e-06,-2.14085384e-05,
 -1.49428226e-06,-3.55958256e-05,-1.68199395e-05,-2.57199002e-05,
 -1.19272640e-05, 1.92792674e-05, 1.89775492e-05, 2.54932028e-06,
 -3.06566173e-04,-6.59564897e-05,-2.23918852e-04,-7.50414386e-05,
  2.86941222e-06,-5.17537492e-06,-1.21644925e+00,-1.78455782e-03,
 -3.07829202e-04,-9.27903546e-07]


--- Step 461 ---
qpos:
[ 2.88086749e-03,-5.61562104e-03,-1.01767534e-02, 2.78479655e-03,
 -4.45386194e-03,-5.14545796e-03,-1.77823699e-02, 5.18202341e-03,
 -4.69353794e-03,-3.95401952e-03,-7.76808779e-03,-1.91210914e-02,
  8.70888452e-01, 1.82972401e-02, 8.41754026e-01, 2.69502526e-02,
  9.50137797e-02,-6.99816146e-02, 1.30738155e-01, 9.99478233e-01,
 -9.23371659e-05, 6.43878003e-05,-3.22993555e-02]

qacc:
[ -3.22362207, -0.57041764,  2.80252769, -6.92598568, -3.11889935,
  -0.68905066,  4.00911252, -9.74501872, -7.3647731 ,  2.77942307,
 -10.94531747, 18.22858195, -1.43140251,  1.93282655,  1.40602702,
 -10.04435414, -0.49232601, -1.44040862,  0.15753267, 21.84953588,
  -2.94403451,  1.42139088]

qfrc_actuator:
[-1.28625503e-05,-4.03784281e-04,-2.47472081e-04,-1.02977295e-04,
 -4.56189525e-05,-5.00616355e-04,-3.48714774e-04,-1.47098515e-04,
  7.94503602e-06,-3.60764351e-04,-2.16473730e-04,-1.22349833e-04,
  4.66532171e-02,-8.18943839e-04, 4.33071181e-02,-3.52613358e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42868356, -0.81716765,  4.35264001, -0.81716765, 20.86892752,
        3.0865028 ,  4.35264001,  3.0865028 ,  5.00814573,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002630024918882923
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.22134033e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.22134033e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09990159, -0.04649888,  0.06199187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89810947e-05,-2.26616584e-05,-8.66191246e-06,-1.39683396e-05,
 -1.84039710e-05, 1.19956853e-05, 5.50123154e-06,-1.56648529e-05,
 -4.31578014e-05, 2.18526701e-05,-2.66979771e-05, 1.95047906e-05,
 -2.97328887e-04,-7.00214304e-05,-2.41601695e-04,-1.18423327e-04,
  6.10432341e-06,-2.37389741e-06,-1.21644949e+00,-1.78265771e-03,
 -3.10455966e-04,-1.67335575e-06]


--- Step 462 ---
qpos:
[ 2.88082212e-03,-5.61581584e-03,-1.01767591e-02, 2.78463664e-03,
 -4.45463240e-03,-5.14581183e-03,-1.77829270e-02, 5.18112171e-03,
 -4.69422753e-03,-3.95419210e-03,-7.76800025e-03,-1.91215829e-02,
  8.71896015e-01, 1.82986808e-02, 8.42917264e-01, 2.69475034e-02,
  9.50216261e-02,-6.99813861e-02, 1.30738420e-01, 9.99475958e-01,
 -9.50371343e-05, 1.25673065e-04,-3.23695003e-02]

qacc:
[-5.0432304 , 1.50797258,-7.65817836,17.15558891, 1.13102094, 2.27163422,
 -8.90209196,17.0710743 ,-1.4652492 , 1.74134964,-4.57951481, 2.26230047,
 -1.28191085, 1.62821908,-5.75779972,14.49008597,-0.46595272,-1.42691009,
  0.03026964,21.52197108,-3.2074677 , 1.22968512]

qfrc_actuator:
[-4.19671475e-05,-3.92523282e-04,-2.49738049e-04,-7.46249283e-05,
 -3.83012591e-05,-4.25155900e-04,-3.39108487e-04,-1.18683248e-04,
  7.18226254e-07,-3.20949058e-04,-2.36230471e-04,-1.29416052e-04,
  4.65573184e-02,-8.16534519e-04, 4.32040924e-02,-3.48488155e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43587504, -1.31276557, -4.23717287, -1.31276557, 14.16336257,
       -3.01378091, -4.23717287, -3.01378091,  5.36960797,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002655920139982282
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.27027339e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.27027339e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09990482, -0.04650049,  0.06199179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.96535388e-05,-3.80130748e-06,-8.49509640e-06, 2.68120857e-05,
  6.79472966e-06, 8.26715847e-05, 1.22400299e-05, 2.88217520e-05,
 -8.45297598e-06, 4.73575494e-05,-1.78537134e-05,-6.67171463e-06,
 -2.98123208e-04,-7.11871408e-05,-2.36979247e-04, 1.41224885e-06,
  2.80431904e-06,-2.73851976e-06,-1.21644433e+00,-1.78180438e-03,
 -3.09939373e-04,-1.06067534e-06]


--- Step 463 ---
qpos:
[ 2.88111773e-03,-5.61582346e-03,-1.01769048e-02, 2.78478939e-03,
 -4.45530933e-03,-5.14546226e-03,-1.77839910e-02, 5.18058514e-03,
 -4.69465359e-03,-3.95426619e-03,-7.76804144e-03,-1.91217848e-02,
  8.72901742e-01, 1.82998987e-02, 8.44078162e-01, 2.69434775e-02,
  9.50276931e-02,-6.99868201e-02, 1.30738378e-01, 9.99473749e-01,
 -5.54714117e-05, 1.78763296e-04,-3.24374923e-02]

qacc:
[  2.9751725 ,  1.27665331, -5.5228229 , 11.03077033,  0.78811467,
   3.09514889,-11.23194546, 17.84872012,  2.30142958,  1.08222702,
  -4.8980496 , 10.04783979, -1.08074895,  1.00722298,  0.48093651,
  -6.51819937, -0.44487163, -1.41561984, -0.07656266, 21.25427344,
  -3.41141617,  1.07921985]

qfrc_actuator:
[-2.35608485e-05,-3.67923420e-04,-2.51004228e-04,-5.78704935e-05,
 -3.36813309e-05,-3.97882830e-04,-3.68539022e-04,-1.01564953e-04,
  1.45093561e-05,-3.32794334e-04,-2.47817061e-04,-1.15611091e-04,
  4.64582836e-02,-8.33473105e-04, 4.31005487e-02,-3.54814908e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43691486, -1.38872597, -4.21398311, -1.38872597, 18.60999485,
       -4.67076487, -4.21398311, -4.67076487,  5.97617411,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026596372180572037
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.17434008e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.17434008e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0999075 , -0.04650117,  0.06199178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.75573258e-05, 2.18655135e-05,-2.16601371e-06, 1.68215054e-05,
  4.84186324e-06, 7.72892922e-05,-9.83725234e-06, 2.16487000e-05,
  1.35667039e-05, 1.06647178e-05,-4.23322348e-06, 1.50869573e-05,
 -3.01530978e-04,-9.11804884e-05,-2.21651443e-04,-9.57509811e-05,
 -1.23660263e-07,-2.44999291e-06,-1.21644214e+00,-1.78161274e-03,
 -3.09465849e-04,-5.47632098e-07]


--- Step 464 ---
qpos:
[ 2.88163144e-03,-5.61575986e-03,-1.01770107e-02, 2.78479860e-03,
 -4.45626995e-03,-5.14512024e-03,-1.77847726e-02, 5.17960489e-03,
 -4.69525583e-03,-3.95451253e-03,-7.76810353e-03,-1.91214465e-02,
  8.73905399e-01, 1.83015561e-02, 8.45236591e-01, 2.69392981e-02,
  9.50320479e-02,-6.99978793e-02, 1.30737672e-01, 9.99471594e-01,
  2.59154992e-05, 2.23354308e-04,-3.25035695e-02]

qacc:
[  1.90783565, -0.31631026,  1.86380338, -4.45688674, -2.4653448 ,
  -1.70713492,  7.95418134,-16.08882157, -1.53970585,  0.94658804,
  -5.97660238, 15.47152887, -1.79146169,  2.80759115, -3.03297271,
   5.69185958, -0.428036  , -1.40629755, -0.16612288, 21.03726705,
  -3.56914403,  0.96126453]

qfrc_actuator:
[-1.28398925e-05,-3.71025392e-04,-2.51621703e-04,-6.58191582e-05,
 -4.84473523e-05,-4.35338779e-04,-3.67715076e-04,-1.26803690e-04,
  5.04371667e-06,-3.57683589e-04,-2.54675307e-04,-8.96685220e-05,
  4.63574300e-02,-8.08484527e-04, 4.30020823e-02,-3.54822794e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43302079, -1.48218634, -4.17789385, -1.48218634, 24.23789531,
       -7.02615133, -4.17789385, -7.02615133,  6.92567998,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000264568196538556
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09990975, -0.04650112,  0.06199182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12299216e-05, 9.40543565e-06, 4.21474397e-06,-6.76013623e-06,
 -1.46007566e-05, 4.66207429e-06, 1.63346009e-05,-2.18437451e-05,
 -9.07526201e-06,-1.91468413e-05,-4.65409180e-06, 2.65466298e-05,
 -3.09800782e-04,-5.34940370e-05,-2.21517132e-04,-3.62736359e-05,
 -2.72128805e-06,-1.54015746e-06,-1.21644282e+00,-1.78207496e-03,
 -3.09002388e-04,-1.43528298e-07]


--- Step 465 ---
qpos:
[ 2.88192484e-03,-5.61550927e-03,-1.01771703e-02, 2.78470419e-03,
 -4.45739973e-03,-5.14511969e-03,-1.77853729e-02, 5.17907187e-03,
 -4.69596669e-03,-3.95502044e-03,-7.76788257e-03,-1.91211546e-02,
  8.74907029e-01, 1.83037886e-02, 8.46392634e-01, 2.69356959e-02,
  9.50329081e-02,-7.00021126e-02, 1.30736805e-01, 9.99469410e-01,
  6.07152125e-05, 2.33609326e-04,-3.25705552e-02]

qacc:
[ -1.93213474,  0.18750443,  0.1338587 , -1.98571953, -1.4636142 ,
  -0.03418712, -2.41585416, 10.11204333, -0.93763939, -1.23059377,
   4.08398561, -5.14750953, -1.84770113,  3.04346668, -5.11663501,
  13.17763773, -0.87363852,  1.70647391, -0.04031892,-22.72316733,
 -17.9160593 , -0.45929722]

qfrc_actuator:
[-2.44963034e-05,-3.55202116e-04,-2.51973664e-04,-7.05059173e-05,
 -5.67525108e-05,-4.75697253e-04,-3.67077428e-04,-1.05783356e-04,
 -2.89070505e-07,-3.72415257e-04,-2.41000245e-04,-9.23150581e-05,
  4.62662236e-02,-7.76665402e-04, 4.29120839e-02,-3.51100609e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44477755,  0.48635877, -4.41808812,  0.48635877, 26.86406893,
        2.46799492, -4.41808812,  2.46799492,  4.71646316,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026875273357479523
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.0327551e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.0327551e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10697625, -0.09398779,  0.0619917 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13321516e-05, 2.16649618e-05, 1.87552612e-06,-4.26999297e-06,
 -8.72183789e-06,-3.53196559e-05, 2.86481562e-06, 2.13639909e-05,
 -5.60033213e-06,-2.52590635e-05, 1.00682820e-05,-3.11047358e-06,
 -2.96850010e-04,-4.21298757e-05,-2.06461589e-04, 4.34690885e-06,
 -5.01959056e-06,-3.10522111e-08,-1.21644630e+00,-1.78318453e-03,
 -3.08524623e-04, 1.45770345e-07]


--- Step 466 ---
qpos:
[ 2.88207632e-03,-5.61506990e-03,-1.01773276e-02, 2.78420474e-03,
 -4.45793050e-03,-5.14564999e-03,-1.77858452e-02, 5.17916910e-03,
 -4.69708102e-03,-3.95570887e-03,-7.76749457e-03,-1.91212442e-02,
  8.75906939e-01, 1.83057911e-02, 8.47546644e-01, 2.69337254e-02,
  9.50302383e-02,-6.99996344e-02, 1.30735258e-01, 9.99467186e-01,
  4.94242160e-05, 2.10616591e-04,-3.26388970e-02]

qacc:
[ -1.24472229, -0.58858007,  4.17452683,-11.33148511,  5.23752794,
   0.22833353, -4.51031194, 15.62307898, -3.52404774, -1.48473121,
   6.56735343,-13.31190324, -0.83250818,  0.57695022, -7.90176694,
  23.39835464, -0.8824993 ,  1.67787355, -0.16974784,-22.49151885,
 -17.36569212, -0.68265197]

qfrc_actuator:
[-3.14753173e-05,-3.45920578e-04,-2.52088805e-04,-9.09706773e-05,
 -2.56769272e-05,-5.17460312e-04,-3.66563530e-04,-7.54736606e-05,
 -2.08918539e-05,-3.80894148e-04,-2.33053427e-04,-1.11744597e-04,
  4.61808765e-02,-7.94317258e-04, 4.28538767e-02,-3.41656794e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45271506, -0.75036196,  4.38903501, -0.75036196, 12.58385655,
        1.39012317,  4.38903501,  1.39012317,  4.69037449,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027153030446816495
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02219072e-13,  2.55547679e-13,  1.00000000e+00, -2.61218465e-26,
        1.00000000e+00, -2.55547679e-13, -1.00000000e+00,  0.00000000e+00,
        1.02219072e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10697212, -0.0939877 ,  0.06199161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.29584876e-06, 2.15892001e-05, 4.44249106e-06,-1.95542772e-05,
  3.08122281e-05,-6.00013471e-05,-5.68046025e-06, 2.93142866e-05,
 -2.07731344e-05,-2.06463460e-05, 3.86434948e-06,-2.02233978e-05,
 -2.80099029e-04,-8.70218887e-05,-1.63727960e-04, 6.56419156e-05,
 -1.98095078e-06, 5.80575028e-07,-1.21644096e+00,-1.78323825e-03,
 -3.10024996e-04,-7.09823317e-07]


--- Step 467 ---
qpos:
[ 2.88214326e-03,-5.61495478e-03,-1.01772535e-02, 2.78351459e-03,
 -4.45774006e-03,-5.14651275e-03,-1.77860060e-02, 5.17820942e-03,
 -4.69774417e-03,-3.95621759e-03,-7.76717670e-03,-1.91215961e-02,
  8.76905125e-01, 1.83075927e-02, 8.48698706e-01, 2.69318488e-02,
  9.50240121e-02,-6.99905382e-02, 1.30732597e-01, 9.99464907e-01,
 -7.54448739e-06, 1.55246395e-04,-3.27089415e-02]

qacc:
[ -0.72688061, -1.46700305,  5.41624428, -8.8507754 ,  6.30451769,
  -3.49765447, 16.27487061,-34.79943314,  3.94449574, -0.11443737,
   1.84469286, -6.38556569, -0.96145353,  0.84469373, -3.10110439,
   6.82714519, -0.88911665,  1.65452408, -0.27871014,-22.29812163,
 -16.92557623, -0.85578245]

qfrc_actuator:
[-3.56381741e-05,-3.93898570e-04,-2.52096298e-04,-1.02806718e-04,
  1.05739506e-05,-5.24234888e-04,-3.48390425e-04,-1.28715412e-04,
  2.93955244e-06,-3.50092536e-04,-2.28540754e-04,-1.23137507e-04,
  4.60937642e-02,-8.05571304e-04, 4.27615404e-02,-3.41335378e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45393496, -0.66582224,  4.40388662, -0.66582224, 16.82118364,
        1.86980047,  4.40388662,  1.86980047,  4.73662951,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002719538764760082
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.04119728e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.04119728e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1069692 , -0.09398835,  0.0619916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.36434470e-06,-3.58414494e-05, 4.32043830e-06,-1.11371257e-05,
  3.71122369e-05,-4.02089031e-05, 6.10498754e-06,-5.54377816e-05,
  2.32298541e-05, 1.91981761e-05, 2.79613801e-08,-1.25356315e-05,
 -2.80417317e-04,-8.51804614e-05,-1.72753841e-04,-1.70086386e-05,
  4.89037760e-07, 2.09306145e-06,-1.21644078e+00,-1.78259825e-03,
 -3.11027993e-04,-6.71584998e-07]


--- Step 468 ---
qpos:
[ 2.88215982e-03,-5.61525780e-03,-1.01771290e-02, 2.78340422e-03,
 -4.45780624e-03,-5.14743430e-03,-1.77860819e-02, 5.17659955e-03,
 -4.69708207e-03,-3.95643507e-03,-7.76718922e-03,-1.91217333e-02,
  8.77901664e-01, 1.83092096e-02, 8.49848554e-01, 2.69270602e-02,
  9.50142094e-02,-6.99748996e-02, 1.30728454e-01, 9.99462552e-01,
 -1.09851504e-04, 6.81915378e-05,-3.27809554e-02]

qacc:
[ -0.43158413,  0.50171705, -5.03640246, 15.29554716, -2.23475873,
  -1.64887922,  8.51910368,-19.87341745, 11.58666267,  1.7281931 ,
  -6.54668645, 10.61387696, -1.08647401,  1.13288396,  5.62465519,
 -24.22815653, -0.89412214,  1.63557229, -0.37039459,-22.138688  ,
 -16.57532462, -0.98912199]

qfrc_actuator:
[-3.81119349e-05,-4.22536863e-04,-2.52269391e-04,-7.40126084e-05,
 -3.68968645e-06,-5.10002422e-04,-3.37609196e-04,-1.59642440e-04,
  7.04908389e-05,-3.31515909e-04,-2.43670859e-04,-1.11922493e-04,
  4.60163069e-02,-8.12923870e-04, 4.26274891e-02,-3.57050460e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44975859, -0.56102519,  4.41424991, -0.56102519, 22.33917521,
        2.27363959,  4.41424991,  2.27363959,  4.73872481,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027050013161510067
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.77172040e-14, -4.10433451e-13,  1.00000000e+00,  2.36890712e-26,
        1.00000000e+00,  4.10433451e-13, -1.00000000e+00,  0.00000000e+00,
        5.77172040e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10696723, -0.09398957,  0.06199164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.61102240e-06,-4.82709070e-05,-7.43020757e-06, 2.71924462e-05,
 -1.32117189e-05,-9.31801377e-06, 1.32239411e-06,-3.35146363e-05,
  6.82205353e-05, 2.88025711e-05,-1.15937241e-05, 1.17941953e-05,
 -2.70864604e-04,-8.09166509e-05,-2.27780087e-04,-1.83128221e-04,
  2.47687702e-06, 4.51230236e-06,-1.21644552e+00,-1.78126032e-03,
 -3.11573006e-04, 2.12446626e-07]


--- Step 469 ---
qpos:
[ 2.88214639e-03,-5.61567628e-03,-1.01773825e-02, 2.78328527e-03,
 -4.45873208e-03,-5.14860147e-03,-1.77862828e-02, 5.17536073e-03,
 -4.69561499e-03,-3.95673304e-03,-7.76723412e-03,-1.91217077e-02,
  8.78896574e-01, 1.83107125e-02, 8.50995576e-01, 2.69220461e-02,
  9.50023313e-02,-6.99653032e-02, 1.30725693e-01, 9.99460281e-01,
 -1.68807605e-04,-2.58341048e-05,-3.28499380e-02]

qacc:
[-0.27226055, 0.88678621,-3.3461199 , 3.88606655,-7.49672875, 0.80337196,
 -4.87669918,11.65229431, 7.04765002, 0.30567406,-1.95401209, 4.90536104,
 -0.93998635, 0.91883422,-3.43062127, 6.09864561,-0.5188381 ,-1.5105369 ,
  0.34528626,21.77796369,-2.77314653, 1.51734443]

qfrc_actuator:
[-3.95725923e-05,-4.21595113e-04,-2.70205849e-04,-7.47924856e-05,
 -4.75726872e-05,-5.36564303e-04,-3.48913658e-04,-1.41659332e-04,
  1.09961623e-04,-3.55962949e-04,-2.52545671e-04,-1.05267422e-04,
  4.59393718e-02,-8.17871391e-04, 4.25111092e-02,-3.57236940e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46617474, -0.64141741,  4.41987562, -0.64141741, 24.12796108,
        2.85334095,  4.41987562,  2.85334095,  4.88025485,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002761563743251122
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.01013471e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.01013471e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09992645, -0.04650449,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.55210621e-06,-2.64123085e-05,-2.78790296e-05,-2.57522314e-06,
 -4.42636480e-05,-3.29018729e-05,-1.42101538e-05, 1.69837095e-05,
  4.14282930e-05,-1.01960777e-05,-3.94476299e-06, 7.71516881e-06,
 -2.64703202e-04,-7.51030492e-05,-2.51741435e-04,-4.36662466e-05,
  4.04691307e-06, 7.83783427e-06,-1.21645501e+00,-1.77922215e-03,
 -3.11689097e-04, 1.90669874e-06]


--- Step 470 ---
qpos:
[ 2.88211552e-03,-5.61618713e-03,-1.01778926e-02, 2.78314653e-03,
 -4.45983207e-03,-5.14994984e-03,-1.77863595e-02, 5.17432154e-03,
 -4.69472029e-03,-3.95711111e-03,-7.76764085e-03,-1.91215790e-02,
  8.79889550e-01, 1.83128253e-02, 8.52139932e-01, 2.69182345e-02,
  9.49884971e-02,-6.99616374e-02, 1.30723670e-01, 9.99458085e-01,
 -1.85035573e-04,-1.27460569e-04,-3.29163373e-02]

qacc:
[-0.15901558, 0.55476705,-2.0710644 , 2.20629818,-1.51169701,-0.17263665,
 -0.56945172, 3.95337222,-5.02084872, 1.12778119,-4.59149558, 6.9916236 ,
 -1.75611237, 2.92041079,-7.43414232,20.66227916,-0.48903775,-1.48266261,
  0.18484607,21.47741971,-3.09676848, 1.29096752]

qfrc_actuator:
[-4.04256172e-05,-4.20793395e-04,-2.80639510e-04,-7.52076862e-05,
 -5.52637208e-05,-5.34134567e-04,-3.37788282e-04,-1.30596574e-04,
  7.93163791e-05,-3.70463691e-04,-2.75585813e-04,-1.01382293e-04,
  4.58415046e-02,-7.85867385e-04, 4.24161183e-02,-3.50033673e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4803824 ,  0.10549185, -4.47914031,  0.10549185, 11.48800463,
        0.16504217, -4.47914031,  0.16504217,  4.48426944,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028093021233376037
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09993009, -0.04650573,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.03762336e-07,-1.98191896e-05,-1.94042283e-05,-2.55987961e-06,
 -8.97154582e-06,-1.81440747e-05, 3.18742372e-06, 9.49955810e-06,
 -2.94668562e-05,-2.06563311e-05,-2.53612040e-05, 3.46147921e-06,
 -2.80440156e-04,-3.58658142e-05,-2.23818897e-04, 3.53864771e-05,
  2.03107510e-06, 6.63169868e-06,-1.21645067e+00,-1.77836654e-03,
 -3.08731338e-04, 1.33958434e-06]


--- Step 471 ---
qpos:
[ 2.88207468e-03,-5.61678746e-03,-1.01785728e-02, 2.78334261e-03,
 -4.45998171e-03,-5.15122361e-03,-1.77864218e-02, 5.17339724e-03,
 -4.69454435e-03,-3.95764062e-03,-7.76831952e-03,-1.91210561e-02,
  8.80880857e-01, 1.83147464e-02, 8.53282088e-01, 2.69138480e-02,
  9.49736086e-02,-6.99638909e-02, 1.30722016e-01, 9.99455939e-01,
 -1.59079486e-04,-2.31112488e-04,-3.29810076e-02]

qacc:
[-0.09084548, 1.0466162 ,-5.31631612,11.44820469, 8.2873948 , 0.27864992,
 -1.36353667, 3.30435409,-6.29816608, 1.38449467,-6.86649252,14.20569283,
 -0.95660928, 0.86489971,-1.44612105, 0.50133851,-0.26356914,-1.47982063,
  0.09202868,21.11404693,-0.3180631 , 0.86200914]

qfrc_actuator:
[-4.09146216e-05,-4.20052608e-04,-2.86541662e-04,-5.76368053e-05,
 -6.07595801e-06,-5.14276021e-04,-3.31156942e-04,-1.23663020e-04,
  4.31621498e-05,-3.78964844e-04,-2.89030099e-04,-8.14119178e-05,
  4.57524674e-02,-8.03381255e-04, 4.23233968e-02,-3.52732456e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48627249, -1.3909402 , -4.26519943, -1.3909402 , 17.63570616,
       -4.2882112 , -4.26519943, -4.2882112 ,  5.88471714,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028287775899856247
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.51328349e-08,  5.88711726e-13,  1.00000000e+00,  8.90887736e-21,
        1.00000000e+00, -5.88711726e-13, -1.00000000e+00,  0.00000000e+00,
       -1.51328349e-08])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09741517, -0.04645417,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.18694239e-07,-1.44353703e-05,-1.24623322e-05, 1.60030498e-05,
  4.89237217e-05, 1.08269632e-05, 3.62453816e-06, 6.45726410e-06,
 -3.70036453e-05,-2.51312976e-05,-2.07035007e-05, 1.82785550e-05,
 -2.72089471e-04,-8.23757485e-05,-2.01482455e-04,-5.59921993e-05,
  3.69844157e-07, 6.14108838e-06,-1.21644945e+00,-1.77815627e-03,
 -3.05826348e-04, 7.06888351e-07]


--- Step 472 ---
qpos:
[ 2.88271799e-03,-5.61729135e-03,-1.01794196e-02, 2.78372316e-03,
 -4.45954063e-03,-5.15244164e-03,-1.77866850e-02, 5.17258051e-03,
 -4.69480357e-03,-3.95828962e-03,-7.76860960e-03,-1.91206936e-02,
  8.81870580e-01, 1.83161800e-02, 8.54421833e-01, 2.69091186e-02,
  9.49606564e-02,-6.99707726e-02, 1.30721336e-01, 9.99453782e-01,
 -1.02515647e-04,-3.16863595e-04,-3.30458370e-02]

qacc:
[ 5.97766864, 0.9616463 ,-4.04264176, 7.45239669, 5.14447924, 0.846257  ,
 -3.38221433, 5.54339566,-3.79538012,-1.56740608, 6.04784405,-9.36838405,
 -0.59604135,-0.02368428,-2.50377309, 3.6444344 , 0.48407674,-1.15705223,
  0.24358633,15.00033709, 9.45028549,-0.08184381]

qfrc_actuator:
[-5.68043943e-06,-4.01561679e-04,-2.89708903e-04,-4.73736067e-05,
  2.29263398e-05,-5.19648780e-04,-3.44914500e-04,-1.19202098e-04,
  2.18304971e-05,-3.66010240e-04,-2.61156776e-04,-8.76280737e-05,
  4.56687739e-02,-8.32295697e-04, 4.22161135e-02,-3.54141770e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48896556, -2.61785799, -3.64659174, -2.61785799, 17.63205465,
       -9.43531474, -3.64659174, -9.43531474, 11.26249982,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002837622297141947
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.60427073e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.60427073e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08862866, -0.05212862,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.52167158e-05, 8.55932399e-06,-7.11566376e-06, 9.52737587e-06,
  3.04081533e-05, 1.77307801e-06,-1.08355403e-05, 5.17894300e-06,
 -2.23993500e-05,-4.57847800e-06, 2.07797777e-05,-7.64973987e-06,
 -2.71626465e-04,-1.00170262e-04,-2.17099564e-04,-4.55923887e-05,
 -9.90025242e-07, 6.07546850e-06,-1.21645016e+00,-1.77865008e-03,
 -3.03027598e-04, 1.63608426e-08]


--- Step 473 ---
qpos:
[ 2.88412363e-03,-5.61788227e-03,-1.01799398e-02, 2.78386744e-03,
 -4.45909968e-03,-5.15382047e-03,-1.77864786e-02, 5.17215045e-03,
 -4.69531683e-03,-3.95906716e-03,-7.76853598e-03,-1.91207514e-02,
  8.82858136e-01, 1.83190610e-02, 8.55558550e-01, 2.69049495e-02,
  9.49516345e-02,-6.99809448e-02, 1.30721579e-01, 9.99451607e-01,
 -2.62072026e-05,-3.72100013e-04,-3.31111216e-02]

qacc:
[ 6.67998367e+00,-1.52786560e+00, 6.25544080e+00,-1.07783316e+01,
  1.65764226e-02,-7.28164344e-01, 6.55856368e-01, 5.40346711e+00,
 -2.21062105e+00,-2.04794416e+00, 8.83323793e+00,-1.65931536e+01,
 -2.71472475e+00, 5.30146827e+00,-5.91443158e+00, 1.48402583e+01,
  9.82567812e-01,-8.22621888e-01, 2.30580654e-01, 9.36264604e+00,
  1.55752692e+01,-2.29260709e-01]

qfrc_actuator:
[ 3.25448926e-05,-4.08076065e-04,-2.73417849e-04,-5.92312116e-05,
  2.20442291e-05,-5.22418671e-04,-3.17437960e-04,-9.85107603e-05,
  9.39628296e-06,-3.75658812e-04,-2.44549911e-04,-1.09159092e-04,
  4.55776876e-02,-7.43409498e-04, 4.20682365e-02,-3.51227076e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49418725, -1.77172647, -4.13021844, -1.77172647, 19.90841211,
       -6.61219029, -4.13021844, -6.61219029,  7.33059718,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002854666336838535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.94457582e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.94457582e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08286952, -0.05736125,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.92371255e-05,-2.75202500e-06, 1.75251270e-05,-1.15510852e-05,
 -9.56037646e-09,-3.73476137e-06, 2.67051688e-05, 2.04970057e-05,
 -1.30782843e-05,-8.22706993e-06, 1.79666363e-05,-2.11549154e-05,
 -2.82756497e-04, 1.46457824e-05,-2.62678313e-04,-3.54368177e-06,
 -2.07316574e-06, 5.63162883e-06,-1.21644932e+00,-1.77980682e-03,
 -3.00876842e-04,-1.50190169e-07]


--- Step 474 ---
qpos:
[ 2.88528707e-03,-5.61853031e-03,-1.01802543e-02, 2.78387312e-03,
 -4.45867236e-03,-5.15543315e-03,-1.77858948e-02, 5.17233265e-03,
 -4.69563037e-03,-3.96001953e-03,-7.76849515e-03,-1.91210328e-02,
  8.83843751e-01, 1.83229852e-02, 8.56692577e-01, 2.69003700e-02,
  9.49465108e-02,-6.99943262e-02, 1.30722300e-01, 9.99449410e-01,
  6.98990521e-05,-3.97271419e-04,-3.31770024e-02]

qacc:
[-2.11123893,-0.93145024, 3.80375842,-6.49686836,-0.10276158,-0.10280727,
 -2.665968  ,12.83025275, 1.75024243,-0.60354687, 2.75328063,-6.43283083,
 -2.25453244, 4.19999844,-2.5205024 , 3.57533368, 0.97454728,-0.80228541,
  0.11966258, 9.39562204,15.35203039,-0.30165399]

qfrc_actuator:
[ 1.89551693e-05,-4.11696105e-04,-2.63631199e-04,-6.62617292e-05,
  2.13386535e-05,-5.41185220e-04,-3.01316313e-04,-6.84033101e-05,
  2.00461148e-05,-3.98812448e-04,-2.52586085e-04,-1.21802433e-04,
  4.54876008e-02,-6.92098575e-04, 4.19547294e-02,-3.52895651e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4919552 ,  3.99714352, -2.04951341,  3.99714352,  9.99169722,
       10.72608653, -2.04951341, 10.72608653, 25.41092408,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028473976149751
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94953985e-13, -1.94953985e-13,  1.00000000e+00,  3.80070563e-26,
        1.00000000e+00,  1.94953985e-13, -1.00000000e+00,  0.00000000e+00,
        1.94953985e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08286995, -0.05735948,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24671002e-05,-1.99755593e-06, 1.09867859e-05,-6.76657800e-06,
 -7.09083581e-07,-1.44122708e-05, 1.93640408e-05, 3.12741436e-05,
  1.02712320e-05,-2.49280200e-05,-8.24617491e-06,-1.27837938e-05,
 -2.63989649e-04,-5.00851569e-06,-2.43009618e-04,-5.25046437e-05,
 -3.13897146e-06, 4.65226278e-06,-1.21644769e+00,-1.78139775e-03,
 -2.99511551e-04, 2.83756417e-07]


--- Step 475 ---
qpos:
[ 2.88558895e-03,-5.61891285e-03,-1.01806054e-02, 2.78411488e-03,
 -4.45791198e-03,-5.15714429e-03,-1.77854102e-02, 5.17289032e-03,
 -4.69684897e-03,-3.96080622e-03,-7.76899651e-03,-1.91211264e-02,
  8.84827723e-01, 1.83267327e-02, 8.57824541e-01, 2.68954063e-02,
  9.49452587e-02,-7.00108523e-02, 1.30723129e-01, 9.99447185e-01,
  1.85843141e-04,-3.92741601e-04,-3.32435900e-02]

qacc:
[-7.54186084, 0.95396707,-3.86331543, 7.78458218, 2.90338177, 0.91455892,
 -5.04478515,11.78535446,-7.94301802, 2.1371812 ,-8.06633289,12.02879219,
 -0.95039605, 0.87200207,-1.82272589, 2.11064144, 0.96789239,-0.78618148,
  0.0269005 , 9.42061789,15.17148452,-0.35863012]

qfrc_actuator:
[-2.50239863e-05,-3.78069383e-04,-2.57756752e-04,-5.26465206e-05,
  3.85051909e-05,-5.51659769e-04,-3.09855968e-04,-5.07790729e-05,
 -2.68162931e-05,-3.76713524e-04,-2.75157084e-04,-1.11389059e-04,
  4.53875197e-02,-7.16765574e-04, 4.18938776e-02,-3.53688988e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48449289,  3.92574311, -2.16776785,  3.92574311, 13.32113654,
       16.00281732, -2.16776785, 16.00281732, 33.46497148,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028229124356377033
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.96644963e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.96644963e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08286993, -0.05735776,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.43339681e-05, 3.45082606e-05, 6.59153572e-06, 1.37805265e-05,
  1.71390979e-05,-1.31431559e-05,-8.03707741e-06, 1.82875014e-05,
 -4.65799526e-05, 5.94587199e-06,-2.91670824e-05, 8.81378471e-06,
 -2.66501142e-04,-8.04275063e-05,-1.87628119e-04,-4.41604753e-05,
 -4.48562093e-06, 3.86381883e-06,-1.21644815e+00,-1.78327347e-03,
 -2.98600615e-04, 9.02075917e-07]


--- Step 476 ---
qpos:
[ 2.88536110e-03,-5.61883207e-03,-1.01809954e-02, 2.78449183e-03,
 -4.45695200e-03,-5.15863722e-03,-1.77851683e-02, 5.17362415e-03,
 -4.69861974e-03,-3.96152537e-03,-7.76951296e-03,-1.91207735e-02,
  8.85809937e-01, 1.83302882e-02, 8.58954300e-01, 2.68909701e-02,
  9.49478564e-02,-7.00304724e-02, 1.30723756e-01, 9.99444919e-01,
  3.21657806e-04,-3.58801926e-04,-3.33109701e-02]

qacc:
[-4.64279112, 1.0086166 ,-3.2628493 , 5.30722629, 1.72951263, 1.32520379,
 -5.05655288, 8.33986809,-4.83536568, 1.06047478,-5.51645607,13.19180545,
 -0.95711854, 0.81646669,-4.79602655,12.20170419, 0.96247065,-0.77352827,
 -0.05051259, 9.44079896,15.0270029 ,-0.40334083]

qfrc_actuator:
[-5.10152956e-05,-3.40146997e-04,-2.54069731e-04,-4.47157441e-05,
  4.83011288e-05,-5.21695702e-04,-3.15114004e-04,-4.06528808e-05,
 -5.39032678e-05,-3.63238903e-04,-2.70421192e-04,-8.74637292e-05,
  4.52868111e-02,-7.32958740e-04, 4.18060756e-02,-3.50392865e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027849936155750765
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.99322364e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.99322364e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08286957, -0.05735607,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.72456979e-05, 5.91724523e-05, 1.21132546e-05, 9.90852856e-06,
  1.02822436e-05, 2.17992275e-05,-8.31746919e-06, 9.64166504e-06,
 -2.84173287e-05, 1.11671500e-05, 2.69252845e-06, 2.33472080e-05,
 -2.84309087e-04,-8.62830094e-05,-1.90480446e-04, 3.77708879e-06,
 -6.11225620e-06, 3.25331970e-06,-1.21645062e+00,-1.78543822e-03,
 -2.98136891e-04, 1.70353634e-06]


--- Step 477 ---
qpos:
[ 2.88516797e-03,-5.61829534e-03,-1.01813313e-02, 2.78460969e-03,
 -4.45657171e-03,-5.15993757e-03,-1.77847160e-02, 5.17409954e-03,
 -4.69966720e-03,-3.96212696e-03,-7.76997989e-03,-1.91204934e-02,
  8.86790455e-01, 1.83333707e-02, 8.60081778e-01, 2.68875567e-02,
  9.49469157e-02,-7.00430750e-02, 1.30724562e-01, 9.99442621e-01,
  4.11228938e-04,-3.59566351e-04,-3.33788584e-02]

qacc:
[ 2.97478287e-01,-8.26380041e-02, 2.26159586e+00,-7.16635515e+00,
 -5.05224375e+00,-8.55164112e-01, 4.52674795e+00,-9.49647979e+00,
  6.33162116e+00,-1.45310773e-01, 1.02875692e+00,-2.42948339e+00,
 -6.19521707e-01,-2.07881516e-02,-6.44965373e+00, 1.77244179e+01,
 -8.84607487e-01, 1.75441603e+00, 4.50029287e-02,-2.25310045e+01,
 -1.81127143e+01,-2.40641627e-01]

qfrc_actuator:
[-4.84484673e-05,-3.17703867e-04,-2.51678183e-04,-5.79418139e-05,
  1.81696780e-05,-5.03251016e-04,-3.00467437e-04,-5.27290307e-05,
 -1.58579464e-05,-3.54906986e-04,-2.67364021e-04,-9.12701546e-05,
  4.51964469e-02,-7.61734183e-04, 4.17128421e-02,-3.44718864e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48293097,  2.50778424, -3.71586978,  2.50778424, 18.42866195,
        9.41176265, -3.71586978,  9.41176265, 10.83478704,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002817751135048008
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.85025798e-14, -2.46256450e-13,  1.00000000e+00,  2.42568956e-26,
        1.00000000e+00,  2.46256450e-13, -1.00000000e+00,  0.00000000e+00,
        9.85025798e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10693218, -0.09399656,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.80793338e-06, 5.84511340e-05, 1.64531024e-05,-1.00776895e-05,
 -2.98291465e-05, 2.93831847e-05, 1.84708186e-05,-1.12416081e-05,
  3.72338636e-05, 1.61482677e-05, 6.51606200e-06,-2.77765272e-06,
 -2.86061790e-04,-1.03953675e-04,-1.91668444e-04, 2.99147113e-05,
 -8.01884936e-06, 2.81183243e-06,-1.21645507e+00,-1.78789521e-03,
 -2.98114811e-04, 2.68739848e-06]


--- Step 478 ---
qpos:
[ 2.88500712e-03,-5.61762861e-03,-1.01817613e-02, 2.78462093e-03,
 -4.45621044e-03,-5.16125525e-03,-1.77837160e-02, 5.17442988e-03,
 -4.70094081e-03,-3.96244412e-03,-7.77046477e-03,-1.91206233e-02,
  8.87769497e-01, 1.83354585e-02, 8.61207259e-01, 2.68837483e-02,
  9.49424063e-02,-7.00488158e-02, 1.30724968e-01, 9.99440286e-01,
  4.54993430e-04,-3.93899784e-04,-3.34477651e-02]

qacc:
[  0.27720947,  0.21441846, -0.06618032, -1.72310296, -0.14860291,
  -1.85143267,  7.18158017,-10.5568637 , -1.98533139, -0.41459992,
   3.75811911,-11.03484166, -0.0838806 , -1.35026876, -1.79232558,
   1.89931463, -0.89215707,  1.71541486, -0.10023335,-22.33048153,
 -17.5398519 , -0.4943694 ]

qfrc_actuator:
[-4.68519512e-05,-3.40231518e-04,-2.67893929e-04,-6.57691344e-05,
  1.80391289e-05,-5.09532249e-04,-2.74233937e-04,-6.00098112e-05,
 -2.85510111e-05,-3.31985109e-04,-2.65372655e-04,-1.11375012e-04,
  4.51229987e-02,-8.15454021e-04, 4.16270876e-02,-3.46565085e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49333251, -1.67650498,  4.16885693, -1.67650498, 10.14585239,
        2.27315973,  4.16885693,  2.27315973,  5.40748324,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002851885818203753
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.73235865e-14, -1.45985380e-13,  1.00000000e+00,  1.42078207e-26,
        1.00000000e+00,  1.45985380e-13, -1.00000000e+00,  0.00000000e+00,
        9.73235865e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10692786, -0.09399714,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.66696307e-06, 1.31105430e-05,-2.46681190e-06,-4.95044937e-06,
 -9.75693094e-07, 1.35135901e-05, 3.41989573e-05,-5.59937390e-06,
 -1.16265968e-05, 3.32150915e-05, 6.04240732e-06,-1.92419310e-05,
 -2.73979759e-04,-1.32509334e-04,-1.81503673e-04,-4.39151175e-05,
 -4.75567105e-06, 2.51336921e-06,-1.21644641e+00,-1.78877776e-03,
 -2.99477013e-04, 1.51945896e-06]


--- Step 479 ---
qpos:
[ 2.88486678e-03,-5.61686082e-03,-1.01829206e-02, 2.78493266e-03,
 -4.45585393e-03,-5.16240560e-03,-1.77824508e-02, 5.17466618e-03,
 -4.70304613e-03,-3.96257137e-03,-7.77061984e-03,-1.91210053e-02,
  8.88746989e-01, 1.83366091e-02, 8.62330692e-01, 2.68780369e-02,
  9.49343062e-02,-7.00478220e-02, 1.30724484e-01, 9.99437902e-01,
  4.53323129e-04,-4.60893031e-04,-3.35180853e-02]

qacc:
[  0.15489709,  2.79092022,-11.02618001, 17.31911623, -0.0362036 ,
  -0.71298776,  3.26032935, -5.43520724, -7.27428578, -1.17606472,
   5.64389979,-10.69558846, -0.28051757, -0.96614894,  2.72066404,
 -13.94553812, -0.89770366,  1.68366622, -0.22234393,-22.15875012,
 -17.08094381, -0.69079715]

qfrc_actuator:
[-4.58490779e-05,-3.54092805e-04,-3.12900268e-04,-5.26534281e-05,
  1.78277066e-05,-4.95010887e-04,-2.59222511e-04,-6.44233776e-05,
 -7.10269924e-05,-3.18275776e-04,-2.46220493e-04,-1.23139979e-04,
  4.50384382e-02,-8.65676829e-04, 4.15245738e-02,-3.56373098e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49574849, -1.59927803,  4.20167399, -1.59927803, 13.6567719 ,
        3.48694914,  4.20167399,  3.48694914,  5.82298168,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028597356783482963
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.70564372e-14, -1.94112874e-13,  1.00000000e+00,  1.88399040e-26,
        1.00000000e+00,  1.94112874e-13, -1.00000000e+00,  0.00000000e+00,
        9.70564372e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10692481, -0.09399837,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05372381e-06,-7.26954128e-06,-4.27761015e-05, 1.34951440e-05,
 -2.35824034e-07, 2.89369532e-05, 2.18247660e-05,-2.76004171e-06,
 -4.27973918e-05, 3.27163583e-05, 2.60997978e-05,-1.05057875e-05,
 -2.83933059e-04,-1.31434695e-04,-2.02325064e-04,-1.26467071e-04,
 -2.11832126e-06, 3.09946445e-06,-1.21644292e+00,-1.78897720e-03,
 -3.00308009e-04, 1.26404742e-06]


--- Step 480 ---
qpos:
[ 2.88473979e-03,-5.61639473e-03,-1.01841932e-02, 2.78575426e-03,
 -4.45619250e-03,-5.16336335e-03,-1.77810113e-02, 5.17485071e-03,
 -4.70495448e-03,-3.96250463e-03,-7.77053363e-03,-1.91215200e-02,
  8.89722724e-01, 1.83374446e-02, 8.63451518e-01, 2.68708619e-02,
  9.49225987e-02,-7.00401965e-02, 1.30722701e-01, 9.99435453e-01,
  4.06530220e-04,-5.59821111e-04,-3.35901232e-02]

qacc:
[  0.11871283,  0.96747586, -6.18061806, 15.40785275, -6.05954844,
  -0.32764216,  1.77674158, -3.11586991,  1.72857976, -0.69464525,
   3.40127487, -6.21536714, -0.94512962,  0.68952146,  0.63943887,
  -7.67730382, -0.90184349,  1.6579234 , -0.32492637,-22.01380667,
 -16.71505723, -0.8418498 ]

qfrc_actuator:
[-4.52035166e-05,-3.80529958e-04,-3.21250014e-04,-2.73363547e-05,
 -1.79441507e-05,-4.85938320e-04,-2.50880763e-04,-6.71096224e-05,
 -5.96661569e-05,-3.10113226e-04,-2.34865040e-04,-1.29894860e-04,
  4.49525958e-02,-8.77955729e-04, 4.13961036e-02,-3.63690529e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49171155, -1.49987573,  4.23389247, -1.49987573, 18.3759547 ,
        4.9185565 ,  4.23389247,  4.9185565 ,  6.23413264,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028466026661702615
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95008428e-13, -1.46256321e-13,  1.00000000e+00,  2.85212154e-26,
        1.00000000e+00,  1.46256321e-13, -1.00000000e+00,  0.00000000e+00,
        1.95008428e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10692278, -0.09400011,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.72998458e-07,-3.87739424e-05,-1.46492880e-05, 2.37882216e-05,
 -3.57692861e-05, 2.96698721e-05, 1.69097619e-05,-7.45658144e-07,
  1.01487986e-05, 3.13838480e-05, 2.09675436e-05,-4.65247066e-06,
 -2.91589038e-04,-9.53059938e-05,-2.46491888e-04,-1.08699274e-04,
 -8.16164430e-09, 4.58342438e-06,-1.21644435e+00,-1.78848736e-03,
 -3.00653517e-04, 1.86999378e-06]


--- Step 481 ---
qpos:
[ 2.88462166e-03,-5.61644763e-03,-1.01851496e-02, 2.78652584e-03,
 -4.45695732e-03,-5.16398908e-03,-1.77795323e-02, 5.17499294e-03,
 -4.70671218e-03,-3.96228278e-03,-7.77029522e-03,-1.91217549e-02,
  8.90696632e-01, 1.83383853e-02, 8.64569217e-01, 2.68644908e-02,
  9.49072711e-02,-7.00260224e-02, 1.30719274e-01, 9.99432915e-01,
  3.14872440e-04,-6.90109719e-04,-3.36641109e-02]

qacc:
[  0.09618524, -1.67295877,  5.18066952, -6.17005325, -3.72174582,
   0.24887744, -0.059679  , -0.99290966,  1.32111303,  0.35314254,
  -2.14507234,  6.6290816 , -1.2089267 ,  1.49205   , -6.96949658,
  17.89558957, -0.90502476,  1.63716028, -0.41104784,-21.89359694,
 -16.42534193, -0.95689374]

qfrc_actuator:
[-4.47733967e-05,-4.14150297e-04,-3.07930296e-04,-3.05333042e-05,
 -3.88547947e-05,-4.62474615e-04,-2.46556220e-04,-6.87641106e-05,
 -5.22045004e-05,-3.05358780e-04,-2.28231026e-04,-1.15909726e-04,
  4.48713847e-02,-8.67715654e-04, 4.12628352e-02,-3.58829859e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48267572, -1.37519231,  4.26652408, -1.37519231, 24.68430725,
        6.51141958,  4.26652408,  6.51141958,  6.58144605,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028169064706204394
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.85321164e-14, -1.97064233e-13,  1.00000000e+00,  1.94171559e-26,
        1.00000000e+00,  1.97064233e-13, -1.00000000e+00,  0.00000000e+00,
        9.85321164e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10692154, -0.09400226,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.35090291e-07,-5.73126844e-05, 4.33709201e-06,-4.90223275e-06,
 -2.19263543e-05, 4.35206483e-05, 1.25054249e-05, 1.87389612e-07,
  7.76197595e-06, 2.64308044e-05, 1.55345758e-05, 1.59640369e-05,
 -2.84257304e-04,-6.78251991e-05,-2.67570786e-04, 8.88066064e-06,
  1.64836421e-06, 6.96973155e-06,-1.21645054e+00,-1.78730468e-03,
 -3.00547330e-04, 3.29889825e-06]


--- Step 482 ---
qpos:
[ 2.88416442e-03,-5.61662120e-03,-1.01860954e-02, 2.78722295e-03,
 -4.45796727e-03,-5.16422236e-03,-1.77777666e-02, 5.17508884e-03,
 -4.70871169e-03,-3.96164201e-03,-7.77065494e-03,-1.91214569e-02,
  8.91668907e-01, 1.83388562e-02, 8.65684514e-01, 2.68591893e-02,
  9.48959443e-02,-7.00137358e-02, 1.30718370e-01, 9.99430392e-01,
  2.31571934e-04,-7.86145918e-04,-3.37375148e-02]

qacc:
[ -2.96385871, -0.33631966,  1.29206425, -2.5194789 , -2.1355488 ,
  -0.37391084,  2.28868026, -3.84585984, -2.1426248 ,  3.32791404,
 -13.30028052, 23.15459713, -0.56950718, -0.08311061, -6.77380466,
  18.58992542,  1.00022241, -0.47188542,  0.63099345,  3.59992846,
  17.25725983,  0.28372891]

qfrc_actuator:
[-6.22260135e-05,-3.98484687e-04,-2.99745656e-04,-3.27300891e-05,
 -5.08395045e-05,-4.30592678e-04,-2.26824063e-04,-6.97883216e-05,
 -6.48674467e-05,-2.84935294e-04,-2.59942568e-04,-8.98398355e-05,
  4.47876959e-02,-8.97516283e-04, 4.11907379e-02,-3.52156318e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49782253, -2.72073291,  3.58162253, -2.72073291, 19.17919822,
       11.15251582,  3.58162253, 11.15251582, 12.96968592,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002866451270827217
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.83626656e-08,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.83626656e-08, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0823223 , -0.06317566,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.74591568e-05,-1.56860465e-05,-3.27897711e-06,-4.59723925e-06,
 -1.25986083e-05, 5.88068115e-05, 3.02587884e-05, 1.27553235e-06,
 -1.24324540e-05, 3.90825220e-05,-2.37937991e-05, 2.80489283e-05,
 -2.76089436e-04,-1.01414823e-04,-2.01396053e-04, 3.12205621e-05,
  2.90626740e-06, 1.02569059e-05,-1.21646135e+00,-1.78542729e-03,
 -3.00014202e-04, 5.52240144e-06]


--- Step 483 ---
qpos:
[ 2.88350138e-03,-5.61673166e-03,-1.01867874e-02, 2.78819219e-03,
 -4.45911297e-03,-5.16444272e-03,-1.77753141e-02, 5.17519256e-03,
 -4.71119247e-03,-3.96035734e-03,-7.77148936e-03,-1.91215770e-02,
  8.92639642e-01, 1.83384119e-02, 8.66797500e-01, 2.68559478e-02,
  9.48883433e-02,-7.00048238e-02, 1.30719189e-01, 9.99427875e-01,
  1.68468126e-04,-8.49216446e-04,-3.38108499e-02]

qacc:
[-1.79317013e+00,-6.23436329e-02,-7.99237566e-01, 5.04955590e+00,
 -1.16263864e+00,-1.88292116e+00, 6.70999734e+00,-7.68764453e+00,
 -4.23927738e+00, 1.32486953e+00,-1.71157781e+00,-5.25129650e+00,
 -3.84239966e-02,-1.39189348e+00,-9.70028417e+00, 2.88700351e+01,
  9.31419921e-01,-8.43649767e-01, 4.30581482e-01, 9.53653297e+00,
  1.68141508e+01, 2.26883486e-02]

qfrc_actuator:
[-7.23112290e-05,-3.71190850e-04,-2.76710167e-04,-1.65296996e-05,
 -5.74792695e-05,-4.47110933e-04,-1.98110522e-04,-7.04134102e-05,
 -8.92729492e-05,-2.37683588e-04,-2.78466729e-04,-1.10142214e-04,
  4.47025690e-02,-9.50808331e-04, 4.11074585e-02,-3.40903264e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5144981 ,  4.45482688,  0.73158085,  4.45482688,  4.92392102,
       -2.49310551,  0.73158085, -2.49310551, 19.69580497,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002919684595861921
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.90127219e-13,  1.90127219e-13,  1.00000000e+00, -3.61483594e-26,
        1.00000000e+00, -1.90127219e-13, -1.00000000e+00,  0.00000000e+00,
        1.90127219e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08288949, -0.05734487,  0.06199098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05879848e-05, 1.76590366e-05, 1.92451519e-05, 1.53271120e-05,
 -6.98168966e-06, 2.26538057e-05, 4.46139002e-05, 2.96334681e-06,
 -2.47454006e-05, 6.53628697e-05,-1.24174741e-05,-1.89069353e-05,
 -2.78819940e-04,-1.29672046e-04,-1.82650348e-04, 8.60665501e-05,
  3.21844946e-06, 7.84176749e-06,-1.21645372e+00,-1.78473159e-03,
 -2.98238154e-04, 4.88635934e-06]


--- Step 484 ---
qpos:
[ 2.88306726e-03,-5.61664863e-03,-1.01872427e-02, 2.78898619e-03,
 -4.45998442e-03,-5.16482211e-03,-1.77723825e-02, 5.17532512e-03,
 -4.71394659e-03,-3.95850840e-03,-7.77199130e-03,-1.91223312e-02,
  8.93608672e-01, 1.83373715e-02, 8.67908714e-01, 2.68506663e-02,
  9.48844773e-02,-6.99991886e-02, 1.30721156e-01, 9.99425364e-01,
  1.25524050e-04,-8.80297804e-04,-3.38843728e-02]

qacc:
[  2.00642018, -0.7705392 ,  3.85125509, -7.39724173,  2.40947015,
  -1.49384826,  4.89202178, -5.03409345, -2.3926151 , -1.48522235,
   9.05734647,-20.97591281, -0.73787704,  0.09616844,  3.59491666,
 -16.2853267 ,  0.93375931, -0.81921   ,  0.2870794 ,  9.53322859,
  16.32622972, -0.10494766]

qfrc_actuator:
[-6.02210297e-05,-3.54808234e-04,-2.62764446e-04,-2.51130597e-05,
 -4.31707655e-05,-4.74694135e-04,-1.82275420e-04,-7.08346409e-05,
 -1.02635187e-04,-1.92480144e-04,-2.53457372e-04,-1.39777312e-04,
  4.46113037e-02,-9.82056757e-04, 4.10122224e-02,-3.51897994e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52185197,  2.17181822, -3.96615063,  2.17181822, 12.43330602,
        4.33222074, -3.96615063,  4.33222074,  6.89412594,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002942742926735492
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88637447e-13,  3.77274894e-13,  1.00000000e+00, -7.11681727e-26,
        1.00000000e+00, -3.77274894e-13, -1.00000000e+00,  0.00000000e+00,
        1.88637447e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08289254, -0.05734354,  0.06199091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17932015e-05, 3.08978723e-05, 2.05025418e-05,-6.86226528e-06,
  1.41143375e-05,-5.59692771e-06, 2.60864760e-05, 2.14604232e-06,
 -1.40416289e-05, 7.83265797e-05, 3.63195553e-05,-2.76338445e-05,
 -2.92367096e-04,-1.13573326e-04,-1.80393200e-04,-1.31073799e-04,
  2.83536181e-06, 5.32084217e-06,-1.21644693e+00,-1.78430415e-03,
 -2.96603832e-04, 4.10182446e-06]


--- Step 485 ---
qpos:
[ 2.88278128e-03,-5.61619889e-03,-1.01881341e-02, 2.78935039e-03,
 -4.46067773e-03,-5.16515231e-03,-1.77696126e-02, 5.17581520e-03,
 -4.71580456e-03,-3.95646453e-03,-7.77206813e-03,-1.91227034e-02,
  8.94575673e-01, 1.83368432e-02, 8.69018252e-01, 2.68426708e-02,
  9.48843517e-02,-6.99967515e-02, 1.30723790e-01, 9.99422858e-01,
  1.02698191e-04,-8.80175386e-04,-3.39582835e-02]

qacc:
[  1.27564689,  0.81582753, -0.39582291, -6.61011702,  1.54785739,
   1.24952631, -5.87575805, 12.29213417,  7.85563815, -0.15890398,
  -0.69717455,  6.51124528, -2.03392964,  3.25539215,  5.92826796,
 -23.87435043,  0.93511899, -0.79950604,  0.16668631,  9.52449688,
  15.93374671, -0.20456391]

qfrc_actuator:
[-5.29306125e-05,-3.45127973e-04,-2.89862151e-04,-4.82281695e-05,
 -3.44016385e-05,-4.73244240e-04,-1.91987087e-04,-5.34050729e-05,
 -5.61289719e-05,-2.01941481e-04,-2.38450470e-04,-1.21370911e-04,
  4.45217515e-02,-9.46774167e-04, 4.09418017e-02,-3.65262229e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52141033,  2.10918533, -3.99931101,  2.10918533, 16.77087716,
        6.46021169, -3.99931101,  6.46021169,  7.9284431 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002941365162205112
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88725806e-13,  1.88725806e-13,  1.00000000e+00, -3.56174300e-26,
        1.00000000e+00, -1.88725806e-13, -1.00000000e+00,  0.00000000e+00,
        1.88725806e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08289458, -0.05734215,  0.06199091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.63777023e-06, 3.09053892e-05,-1.84250258e-05,-2.12166930e-05,
  9.17065343e-06, 3.78418756e-06,-7.61071515e-06, 1.81277011e-05,
  4.61374240e-05, 4.05835692e-05, 3.46855130e-05, 2.24780671e-05,
 -2.95972312e-04,-4.69431353e-05,-1.80234032e-04,-1.66910694e-04,
  2.16690656e-06, 3.06741506e-06,-1.21644253e+00,-1.78414969e-03,
 -2.95475179e-04, 3.54596140e-06]


--- Step 486 ---
qpos:
[ 2.88224022e-03,-5.61560177e-03,-1.01889940e-02, 2.78943095e-03,
 -4.46126068e-03,-5.16504331e-03,-1.77674170e-02, 5.17614332e-03,
 -4.71640066e-03,-3.95432199e-03,-7.77241482e-03,-1.91227907e-02,
  8.95540479e-01, 1.83376161e-02, 8.70125047e-01, 2.68371277e-02,
  9.48879698e-02,-6.99974491e-02, 1.30726687e-01, 9.99420353e-01,
  9.99491523e-05,-8.49478189e-04,-3.40327378e-02]

qacc:
[ -2.23300419, -0.47295971,  3.17371515, -8.2492068 ,  0.93692339,
   1.84955133, -5.07254005,  2.86925302, 11.03698919,  1.45006621,
  -6.21828435, 11.5419848 , -2.49114257,  4.66055675,-11.2489908 ,
  34.04886926,  0.9358928 , -0.78368043,  0.06590326,  9.51324419,
  15.61942613, -0.28198089]

qfrc_actuator:
[-6.62834870e-05,-3.39719735e-04,-2.87749926e-04,-6.19850349e-05,
 -2.89697216e-05,-4.36766485e-04,-2.16577716e-04,-6.11105164e-05,
  7.48551139e-06,-2.26305425e-04,-2.65175927e-04,-1.10407449e-04,
  4.44279920e-02,-8.72442585e-04, 4.08383932e-02,-3.51494955e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51478504,  2.0261093 , -4.03462081,  2.0261093 , 22.56750219,
        9.06572882, -4.03462081,  9.06572882,  9.06742043,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029205890273019397
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08289583, -0.05734071,  0.06199098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31227497e-05, 1.79725974e-05, 5.49664731e-06,-1.34832835e-05,
  5.69568843e-06, 3.77801551e-05,-2.41493220e-05,-7.46079973e-06,
  6.49502063e-05, 6.39479972e-06,-1.33194635e-05, 1.43333544e-05,
 -2.87755901e-04, 3.25752355e-06,-2.17903234e-04, 1.02274969e-04,
  1.21745871e-06, 1.04668322e-06,-1.21644036e+00,-1.78427569e-03,
 -2.94833435e-04, 3.20595481e-06]


--- Step 487 ---
qpos:
[ 2.88154368e-03,-5.61530349e-03,-1.01893621e-02, 2.78971694e-03,
 -4.46142903e-03,-5.16460008e-03,-1.77652256e-02, 5.17565936e-03,
 -4.71657392e-03,-3.95215701e-03,-7.77327987e-03,-1.91230630e-02,
  8.96503536e-01, 1.83386661e-02, 8.71229199e-01, 2.68322310e-02,
  9.48953333e-02,-7.00012308e-02, 1.30729512e-01, 9.99417840e-01,
  1.17238923e-04,-7.88706791e-04,-3.41078556e-02]

qacc:
[-1.33933178e+00,-1.34386279e+00, 3.35600381e+00,-3.72510560e-01,
  3.60940667e+00,-1.22571395e+00, 8.42750826e+00,-2.27090422e+01,
  3.68509178e+00, 1.09048190e+00,-3.07722170e+00, 7.03069360e-01,
 -1.34821347e+00, 1.91274925e+00,-5.75666291e+00, 1.47402987e+01,
  9.36368760e-01,-7.71037055e-01,-1.82620801e-02, 9.50156148e+00,
  1.53693359e+01,-3.41776153e-01]

qfrc_actuator:
[-7.39257340e-05,-3.72307335e-04,-2.68404866e-04,-5.23485690e-05,
 -7.79097517e-06,-4.15186942e-04,-2.14113052e-04,-1.01273114e-04,
  2.73828919e-05,-2.41840009e-04,-2.98663238e-04,-1.21718010e-04,
  4.43424475e-02,-8.64438758e-04, 4.07100227e-02,-3.48485796e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50346604,  1.91970156, -4.073813  ,  1.91970156, 30.27293444,
       12.14333809, -4.073813  , 12.14333809, 10.22576725,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028846172103735856
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92438536e-13,  3.84877072e-13,  1.00000000e+00, -7.40651801e-26,
        1.00000000e+00, -3.84877072e-13, -1.00000000e+00,  0.00000000e+00,
        1.92438536e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08289644, -0.05733922,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.01172475e-06,-2.19942347e-05, 2.32718954e-05, 1.03353607e-05,
  2.13564944e-05, 3.73698488e-05, 7.00696135e-06,-3.95309767e-05,
  2.17607901e-05,-1.41484079e-05,-3.33350807e-05,-1.12250919e-05,
 -2.63123322e-04,-5.23743129e-05,-2.27149714e-04, 5.55439691e-06,
 -9.91033311e-09,-7.67116229e-07,-1.21644032e+00,-1.78468748e-03,
 -2.94663992e-04, 3.07192630e-06]


--- Step 488 ---
qpos:
[ 2.88145074e-03,-5.61535414e-03,-1.01896723e-02, 2.78980802e-03,
 -4.46168690e-03,-5.16394521e-03,-1.77632449e-02, 5.17438265e-03,
 -4.71719621e-03,-3.95032857e-03,-7.77412003e-03,-1.91234594e-02,
  8.97464663e-01, 1.83409652e-02, 8.72330932e-01, 2.68269748e-02,
  9.49064438e-02,-7.00080566e-02, 1.30731983e-01, 9.99415310e-01,
  1.54535081e-04,-6.98255949e-04,-3.41837292e-02]

qacc:
[  5.28757306, -1.03495895,  3.82592103, -7.01576175, -0.79131285,
  -0.76204584,  6.47222143,-20.0141309 , -3.92470096, -0.76267395,
   2.61086557, -4.56585841, -2.44041654,  4.63553426, -2.24850366,
   3.26704757,  0.9367544 , -0.76100999, -0.08837146,  9.49092235,
  15.17221919, -0.38754857]

qfrc_actuator:
[-4.26339184e-05,-4.09552535e-04,-2.74698300e-04,-6.45569671e-05,
 -1.30177766e-05,-4.20369684e-04,-2.31260990e-04,-1.42442468e-04,
  3.63164780e-06,-2.69792839e-04,-3.00345958e-04,-1.28284498e-04,
  4.42671968e-02,-7.89212217e-04, 4.06040453e-02,-3.50073744e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48875857,  1.78639861, -4.11797686,  1.78639861, 40.45009272,
       15.6002036 , -4.11797686, 15.6002036 , 11.2562036 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002836943810866771
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08289656, -0.05733771,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.10531653e-05,-4.43023190e-05,-7.61115807e-06,-1.21443392e-05,
 -4.60016575e-06, 1.54345117e-05,-9.96484306e-06,-4.01008781e-05,
 -2.31270156e-05,-4.32910200e-05,-9.11462277e-06,-8.54753130e-06,
 -2.50351832e-04, 1.04557075e-05,-2.18987915e-04,-4.68340836e-05,
 -1.51339586e-06,-2.39287329e-06,-1.21644231e+00,-1.78538885e-03,
 -2.94955539e-04, 3.13641719e-06]


--- Step 489 ---
qpos:
[ 2.88207833e-03,-5.61561335e-03,-1.01900957e-02, 2.78974660e-03,
 -4.46200496e-03,-5.16332865e-03,-1.77616980e-02, 5.17336158e-03,
 -4.71844295e-03,-3.94883539e-03,-7.77496895e-03,-1.91239293e-02,
  8.98423790e-01, 1.83448004e-02, 8.73430274e-01, 2.68211493e-02,
  9.49213031e-02,-7.00178950e-02, 1.30733867e-01, 9.99412749e-01,
  2.11812221e-04,-5.78432880e-04,-3.42604280e-02]

qacc:
[ 6.3025711 ,-0.28556564, 1.24073945,-3.52263848,-0.53768396, 1.68846279,
 -7.17157351,12.3166006 ,-5.46129998,-0.55912463, 1.67823326,-2.70586321,
 -2.76655402, 5.43205183,-1.53716548, 0.92711894, 0.93719656,-0.7531385 ,
 -0.14661882, 9.48233728,15.01896448,-0.42212651]

qfrc_actuator:
[-6.43118701e-06,-4.13917401e-04,-2.78385088e-04,-7.18014983e-05,
 -1.59970015e-05,-4.41620885e-04,-2.59968206e-04,-1.30652490e-04,
 -2.78533858e-05,-2.87094002e-04,-3.01034453e-04,-1.31991243e-04,
  4.41715727e-02,-7.10240131e-04, 4.05009270e-02,-3.52569959e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027804623082486324
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99647199e-13,  1.99647199e-13,  1.00000000e+00, -3.98590041e-26,
        1.00000000e+00, -1.99647199e-13, -1.00000000e+00,  0.00000000e+00,
        1.99647199e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0828963 , -0.05733617,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.70760792e-05,-3.12149166e-05,-1.41926585e-05,-9.64315082e-06,
 -3.10364225e-06,-1.64424491e-05,-2.81624371e-05, 1.13230588e-05,
 -3.21550147e-05,-4.38234256e-05,-1.10586465e-05,-6.04295362e-06,
 -2.49014208e-04, 2.83582431e-05,-2.19230155e-04,-5.80124015e-05,
 -3.29241912e-06,-3.84417092e-06,-1.21644627e+00,-1.78638249e-03,
 -2.95699385e-04, 3.39396066e-06]


--- Step 490 ---
qpos:
[ 2.88313511e-03,-5.61587170e-03,-1.01906764e-02, 2.78957459e-03,
 -4.46166667e-03,-5.16270954e-03,-1.77599999e-02, 5.17278902e-03,
 -4.72005779e-03,-3.94733032e-03,-7.77600491e-03,-1.91241272e-02,
  8.99381434e-01, 1.83482289e-02, 8.74527200e-01, 2.68143188e-02,
  9.49399136e-02,-7.00307215e-02, 1.30734972e-01, 9.99410143e-01,
  2.89052798e-04,-4.29472074e-04,-3.43380034e-02]

qacc:
[ 3.74917316, 0.2059885 ,-0.27870635,-1.37035018, 5.72893123, 0.49326862,
 -3.66668617,11.2066654 ,-3.22843413, 1.10498273,-5.05154464,10.03050477,
 -0.64756433, 0.18282099,-0.49485495,-3.36835874, 0.93779667,-0.7470471 ,
 -0.19488284, 9.47647292,14.9021851 ,-0.4477317 ]

qfrc_actuator:
[ 1.46070989e-05,-3.98554876e-04,-2.80359871e-04,-7.60321435e-05,
  1.78840660e-05,-4.19089985e-04,-2.42045765e-04,-1.05570822e-04,
 -4.58710443e-05,-2.62365546e-04,-3.01102735e-04,-1.16230718e-04,
  4.40691261e-02,-7.54075812e-04, 4.03942831e-02,-3.57351041e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002717557804705478
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.08537041e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.08537041e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08289575, -0.05733464,  0.0619916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.20893071e-05,-5.41228021e-06,-1.04983484e-05,-6.24690841e-06,
  3.37870225e-05, 7.96528563e-06, 1.14259046e-05, 2.36205472e-05,
 -1.89467536e-05,-2.37851393e-06,-1.06972627e-05, 1.33842036e-05,
 -2.51036862e-04,-9.09437816e-05,-2.24265654e-04,-8.15452901e-05,
 -5.34758363e-06,-5.13042616e-06,-1.21645216e+00,-1.78767029e-03,
 -2.96888939e-04, 3.84073110e-06]


--- Step 491 ---
qpos:
[ 2.88409112e-03,-5.61592227e-03,-1.01914054e-02, 2.78932529e-03,
 -4.46092506e-03,-5.16188731e-03,-1.77584567e-02, 5.17217069e-03,
 -4.72118665e-03,-3.94557438e-03,-7.77718201e-03,-1.91241697e-02,
  9.00337523e-01, 1.83512137e-02, 8.75621872e-01, 2.68081411e-02,
  9.49550597e-02,-7.00364413e-02, 1.30736072e-01, 9.99407507e-01,
  3.20801627e-04,-3.15352171e-04,-3.44155882e-02]

qacc:
[-8.89636243e-01, 5.31309843e-01,-1.16672201e+00,-9.00989657e-02,
  3.50913870e+00, 5.99691264e-01,-1.56757943e+00, 8.86759126e-01,
  4.24586530e+00, 1.03809378e+00,-3.88948196e+00, 6.63360059e+00,
 -5.73985558e-01,-1.63356940e-02,-5.28920173e+00, 1.37213367e+01,
 -8.66094685e-01, 1.77666903e+00,-1.39887387e-03,-2.21342713e+01,
 -1.81912316e+01, 9.65614343e-03]

qfrc_actuator:
[ 8.79721807e-06,-3.71481901e-04,-2.81217986e-04,-7.84353769e-05,
  3.76835879e-05,-4.05820616e-04,-2.49814837e-04,-1.08314534e-04,
 -2.03095854e-05,-2.30385000e-04,-3.00617092e-04,-1.06858367e-04,
  4.39839146e-02,-7.81504537e-04, 4.03228926e-02,-3.52785114e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44046898,  2.40198712, -3.73473194,  2.40198712, 17.64253108,
        8.49088602, -3.73473194,  8.49088602,  9.90136932,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026722913711174634
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.84236863e-14, -2.07728662e-13,  1.00000000e+00,  1.21362742e-26,
        1.00000000e+00,  2.07728662e-13, -1.00000000e+00,  0.00000000e+00,
        5.84236863e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10688719, -0.0940319 ,  0.06199174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.17830612e-06, 2.16311302e-05,-3.47713438e-06,-3.11886685e-06,
  2.07694353e-05, 2.10661626e-05,-3.92618028e-06,-1.55259786e-06,
  2.50230974e-05, 2.89605591e-05,-8.65978945e-07, 9.16084031e-06,
 -2.61477392e-04,-9.65952214e-05,-1.92837746e-04, 1.02021644e-05,
 -7.68063077e-06,-6.25772787e-06,-1.21645996e+00,-1.78925361e-03,
 -2.98519295e-04, 4.47425852e-06]


--- Step 492 ---
qpos:
[ 2.88497040e-03,-5.61591833e-03,-1.01921193e-02, 2.78940249e-03,
 -4.46029619e-03,-5.16113640e-03,-1.77571780e-02, 5.17156775e-03,
 -4.72131040e-03,-3.94399234e-03,-7.77760232e-03,-1.91244530e-02,
  9.01292094e-01, 1.83535761e-02, 8.76714225e-01, 2.68028204e-02,
  9.49667030e-02,-7.00352258e-02, 1.30736621e-01, 9.99404836e-01,
  3.07317011e-04,-2.34872859e-04,-3.44938169e-02]

qacc:
[ -0.67149852,  0.70383057, -3.78089824,  9.36491817, -0.99023932,
   0.67866668, -2.618418  ,  3.35711392,  8.82583893, -2.85878149,
  10.84326707,-16.05461201, -0.36919693, -0.52070754, -6.02752045,
  16.10591099, -0.87571477,  1.73385181, -0.13747821,-22.02453861,
 -17.58880631, -0.30986698]

qfrc_actuator:
[ 4.98934159e-06,-3.73095180e-04,-2.81352358e-04,-6.19785844e-05,
  3.12720268e-05,-4.33815029e-04,-2.72753348e-04,-1.09685972e-04,
  3.06925123e-05,-2.47554839e-04,-2.64264920e-04,-1.19063878e-04,
  4.39037783e-02,-8.16642124e-04, 4.02247944e-02,-3.48062354e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44992688, -2.10344399,  3.92139932, -2.10344399,  9.38490646,
        2.64712983,  3.92139932,  2.64712983,  5.86985096,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027055891012749134
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02586071e-13,  2.56465178e-13,  1.00000000e+00, -2.63097550e-26,
        1.00000000e+00, -2.56465178e-13, -1.00000000e+00,  0.00000000e+00,
        1.02586071e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10688246, -0.09403325,  0.06199164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.94710836e-06, 9.63710779e-06, 3.80639109e-06, 1.72049122e-05,
 -5.80858720e-06,-1.71311770e-05,-1.91519476e-05,-6.39724829e-07,
  5.17307985e-05,-8.06360311e-07, 4.25352379e-05,-1.08193203e-05,
 -2.63261240e-04,-1.08083128e-04,-1.96152424e-04, 2.06302727e-05,
 -3.23941313e-06,-5.40885418e-06,-1.21644937e+00,-1.78911796e-03,
 -3.01819797e-04, 2.14120253e-06]


--- Step 493 ---
qpos:
[ 2.88510765e-03,-5.61621269e-03,-1.01926735e-02, 2.79005736e-03,
 -4.45974885e-03,-5.16050323e-03,-1.77558974e-02, 5.17128632e-03,
 -4.72082145e-03,-3.94269669e-03,-7.77747326e-03,-1.91248513e-02,
  9.02245140e-01, 1.83554716e-02, 8.77803609e-01, 2.68001309e-02,
  9.49748154e-02,-7.00272132e-02, 1.30736163e-01, 9.99402120e-01,
  2.48825000e-04,-1.87069472e-04,-3.45731876e-02]

qacc:
[ -6.48032569,  0.36160567, -4.27778367, 14.21548033, -0.70886203,
   0.50213627, -3.37112109,  9.01664364,  5.38613812, -2.16146863,
   7.6226245 ,-10.2554332 , -0.36592224, -0.4052123 ,-12.36437825,
  36.87678489, -0.88271502,  1.69926229, -0.25181105,-21.92687214,
 -17.10465787, -0.56112159]

qfrc_actuator:
[-3.31063176e-05,-4.09602700e-04,-2.81156424e-04,-3.45786601e-05,
  2.72411830e-05,-4.33116612e-04,-2.69116482e-04,-9.25242573e-05,
  6.07402135e-05,-2.76137841e-04,-2.42739567e-04,-1.26129324e-04,
  4.38320654e-02,-8.38296216e-04, 4.00894555e-02,-3.34415705e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45243181, -2.04151801,  3.956811  , -2.04151801, 12.16832276,
        3.98101661,  3.956811  ,  3.98101661,  6.50643872,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000271431830892066
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.04512312e-13, -1.02256156e-13,  1.00000000e+00,  2.09126428e-26,
        1.00000000e+00,  1.02256156e-13, -1.00000000e+00,  0.00000000e+00,
        2.04512312e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10687906, -0.09403503,  0.06199161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.82052792e-05,-2.95911467e-05, 3.25814322e-06, 2.82808274e-05,
 -4.20253748e-06,-1.29073962e-05,-2.30518879e-06, 1.57495430e-05,
  3.15279749e-05,-2.07459689e-05, 2.62080505e-05,-5.84310491e-06,
 -2.58435033e-04,-9.71370559e-05,-2.33447434e-04, 1.10091548e-04,
  5.76931823e-07,-3.79816590e-06,-1.21644401e+00,-1.78833228e-03,
 -3.04585961e-04, 7.02388051e-07]


--- Step 494 ---
qpos:
[ 2.88444220e-03,-5.61659121e-03,-1.01935516e-02, 2.79104211e-03,
 -4.45925416e-03,-5.16002407e-03,-1.77543098e-02, 5.17154100e-03,
 -4.72066541e-03,-3.94152375e-03,-7.77767985e-03,-1.91249447e-02,
  9.03196572e-01, 1.83573525e-02, 8.78889795e-01, 2.68004257e-02,
  9.49793766e-02,-7.00125148e-02, 1.30734314e-01, 9.99399341e-01,
  1.45518299e-04,-1.71168857e-04,-3.46540901e-02]

qacc:
[ -7.02989781,  1.48731256, -6.83300821, 13.09596808, -0.44655671,
   0.04323571, -2.71106396, 11.61021219, -2.92283436,  1.40972524,
  -6.53576401, 12.42128486, -0.80497146,  0.72378716,-13.72108208,
  41.25707949, -0.88781178,  1.67143037, -0.34780841,-21.8425936 ,
 -16.71673921, -0.75836886]

qfrc_actuator:
[-7.33260223e-05,-4.13457854e-04,-2.98665700e-04,-1.87472639e-05,
  2.46526670e-05,-4.32880188e-04,-2.49695168e-04,-6.45549323e-05,
  4.27003602e-05,-2.93634079e-04,-2.65710866e-04,-1.12387696e-04,
  4.37601362e-02,-8.34014127e-04, 3.99425657e-02,-3.19176964e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44930733, -1.96098698,  3.9938535 , -1.96098698, 15.92125989,
        5.6327428 ,  3.9938535 ,  5.6327428 ,  7.21499097,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027034243573828554
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02668216e-13,  1.02668216e-13,  1.00000000e+00, -1.05407626e-26,
        1.00000000e+00, -1.02668216e-13, -1.00000000e+00,  0.00000000e+00,
        1.02668216e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10687671, -0.09403714,  0.06199165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.13219208e-05,-1.85159435e-05,-2.22317629e-05, 1.52286977e-05,
 -2.71405682e-06,-6.82152773e-06, 1.69947305e-05, 2.76395972e-05,
 -1.71433928e-05,-2.39693961e-05,-2.42470948e-05, 1.36426666e-05,
 -2.53507037e-04,-6.80375425e-05,-2.49776034e-04, 1.26750626e-04,
  3.86894940e-06,-1.37997260e-06,-1.21644363e+00,-1.78688171e-03,
 -3.06867545e-04, 1.11580664e-07]


--- Step 495 ---
qpos:
[ 2.88398906e-03,-5.61672665e-03,-1.01947819e-02, 2.79182329e-03,
 -4.45879444e-03,-5.15966137e-03,-1.77521957e-02, 5.17176293e-03,
 -4.72072627e-03,-3.94075311e-03,-7.77775528e-03,-1.91248687e-02,
  9.04146396e-01, 1.83592713e-02, 8.79973861e-01, 2.68003570e-02,
  9.49803715e-02,-6.99912199e-02, 1.30730752e-01, 9.99396477e-01,
 -2.44370697e-06,-1.86553961e-04,-3.47368286e-02]

qacc:
[  1.84183885,  0.88278903, -1.82850878, -1.30320602, -0.28664019,
  -1.6911841 ,  5.94647465, -7.27147863, -1.88778062, -0.5455289 ,
   0.46550354,  2.54511557, -1.12268614,  1.35161882, -1.94545162,
   2.47582099, -0.89154939,  1.64915655, -0.42837432,-21.77230306,
 -16.40734843, -0.91281852]

qfrc_actuator:
[-6.12047853e-05,-3.80063784e-04,-3.08625654e-04,-2.75928738e-05,
  2.29332643e-05,-4.32837593e-04,-2.21109063e-04,-6.59495105e-05,
  3.20137835e-05,-3.22279995e-04,-2.61456983e-04,-1.04288245e-04,
  4.36828143e-02,-8.32188460e-04, 3.98581082e-02,-3.20876144e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44180503, -1.85935095,  4.03391199, -1.85935095, 20.97076863,
        7.61869474,  4.03391199,  7.61869474,  7.95348979,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026770280499925636
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.07361112e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.07361112e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10687519, -0.09403953,  0.06199173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09359166e-05, 1.91097316e-05,-1.59811445e-05,-1.01093909e-05,
 -1.80142296e-06, 8.84914472e-07, 3.02024711e-05,-5.65834431e-07,
 -1.11806136e-05,-4.65186282e-05,-3.22138306e-06, 6.49845676e-06,
 -2.49582870e-04,-6.40380999e-05,-1.92206260e-04,-4.36214255e-05,
  6.71166955e-06, 1.87498873e-06,-1.21644806e+00,-1.78475593e-03,
 -3.08701712e-04, 3.33771106e-07]


--- Step 496 ---
qpos:
[ 2.88402926e-03,-5.61675197e-03,-1.01955607e-02, 2.79245293e-03,
 -4.45835875e-03,-5.15956210e-03,-1.77499258e-02, 5.17201130e-03,
 -4.72056984e-03,-3.94055459e-03,-7.77738294e-03,-1.91250414e-02,
  9.05094609e-01, 1.83612266e-02, 8.81056221e-01, 2.67989382e-02,
  9.49850204e-02,-6.99734004e-02, 1.30729116e-01, 9.99393611e-01,
 -1.30573793e-04,-1.67801019e-04,-3.48190212e-02]

qacc:
[  4.32750964, -1.43714661,  5.96037296, -9.37037411, -0.20013743,
  -0.72869376,  1.9823204 , -1.58125726,  1.92597386, -2.52424613,
   8.94440986,-13.53317508, -1.2091434 ,  1.50727259,  1.66353214,
  -9.23762909,  0.91349021, -0.86888582,  0.48178473,  9.31710277,
  17.40316943,  0.27091907]

qfrc_actuator:
[-3.61255437e-05,-3.60119014e-04,-2.78392927e-04,-3.30905776e-05,
  2.17387230e-05,-4.68392499e-04,-2.22871476e-04,-6.68553706e-05,
  4.35089531e-05,-3.57287057e-04,-2.41200548e-04,-1.17313335e-04,
  4.36023143e-02,-8.31883248e-04, 3.97951507e-02,-3.27196881e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44923093, -2.39300192,  3.75089292, -2.39300192, 18.37132671,
        8.88204562,  3.75089292,  8.88204562, 10.11581559,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027031572463864784
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.05356722e-13,  2.05356722e-13,  1.00000000e+00, -4.21713834e-26,
        1.00000000e+00, -2.05356722e-13, -1.00000000e+00,  0.00000000e+00,
        2.05356722e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08291178, -0.05732379,  0.06199165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.54010741e-05, 2.69195871e-05, 3.18759507e-05,-5.42774610e-06,
 -1.24706872e-06,-2.88851820e-05, 2.09186362e-06, 1.60275611e-07,
  1.11618860e-05,-6.14383714e-05, 1.04685064e-05,-1.50034640e-05,
 -2.49091217e-04,-6.41845418e-05,-1.67072226e-04,-9.28181862e-05,
  9.16122156e-06, 5.98432689e-06,-1.21645716e+00,-1.78194768e-03,
 -3.10116095e-04, 1.34284997e-06]


--- Step 497 ---
qpos:
[ 2.88436981e-03,-5.61665409e-03,-1.01956706e-02, 2.79264888e-03,
 -4.45828552e-03,-5.15974942e-03,-1.77481755e-02, 5.17195253e-03,
 -4.72096695e-03,-3.94060414e-03,-7.77718252e-03,-1.91250222e-02,
  9.06041208e-01, 1.83629639e-02, 8.82136765e-01, 2.67957042e-02,
  9.49904606e-02,-6.99602598e-02, 1.30729209e-01, 9.99390764e-01,
 -2.26363079e-04,-1.35592640e-04,-3.49002931e-02]

qacc:
[  2.64589358, -2.60488529, 11.34563857,-20.00147801, -3.17264601,
   0.44706776, -0.83656706, -3.44839461, -4.84701132,  0.55764108,
  -3.2563364 ,  7.01491859, -1.00655547,  0.92854489,  2.88539724,
 -13.80929674,  0.19781425, -1.1696941 ,  0.43212082, 15.92642027,
   7.28661766,  0.45861281]

qfrc_actuator:
[-2.13900787e-05,-3.48208089e-04,-2.42460100e-04,-5.43027556e-05,
  3.10950310e-06,-5.07359727e-04,-2.60435703e-04,-8.52667338e-05,
  1.47078481e-05,-3.60274801e-04,-2.47216914e-04,-1.07157344e-04,
  4.35093140e-02,-8.50256865e-04, 3.97131776e-02,-3.36177362e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46151973,  4.45207948, -0.2900804 ,  4.45207948,  4.5136423 ,
        0.79996383, -0.2900804 ,  0.79996383, 16.73915918,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002745681299940038
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.62876221e-07, -5.36286822e-07,  1.00000000e+00,  1.94605735e-13,
        1.00000000e+00,  5.36286822e-07, -1.00000000e+00, -2.52435490e-29,
        3.62876221e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09141138, -0.05187249,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54705466e-05, 3.33334375e-05, 4.52386950e-05,-1.90620664e-05,
 -1.86751400e-05,-5.47119371e-05,-4.32954599e-05,-1.95792470e-05,
 -2.85026157e-05,-3.58308474e-05,-1.79423941e-05, 7.59362411e-06,
 -2.61050316e-04,-8.29490259e-05,-1.81565378e-04,-1.19280073e-04,
  8.56640590e-06, 2.67310794e-06,-1.21645251e+00,-1.78057011e-03,
 -3.09594968e-04, 2.83206577e-08]


--- Step 498 ---
qpos:
[ 2.88453965e-03,-5.61638244e-03,-1.01953362e-02, 2.79259806e-03,
 -4.45843624e-03,-5.16008769e-03,-1.77472430e-02, 5.17167770e-03,
 -4.72205118e-03,-3.94066777e-03,-7.77718156e-03,-1.91249101e-02,
  9.06985958e-01, 1.83646274e-02, 8.83215323e-01, 2.67906841e-02,
  9.49947074e-02,-6.99529752e-02, 1.30730020e-01, 9.99387992e-01,
 -2.79050911e-04,-1.04649724e-04,-3.49793079e-02]

qacc:
[ -1.48242195, -1.51734806,  6.78996494,-11.90423017, -1.97618119,
   1.64396287, -5.23287365,  2.90569032, -6.02147205,  0.74212416,
  -3.04383061,  4.95672674, -1.29850344,  1.46912696,  2.57622637,
 -13.01829422, -0.29834001, -1.46399862,  0.17932357, 21.55984171,
   0.11953084,  1.12604054]

qfrc_actuator:
[-3.06178662e-05,-3.41174608e-04,-2.21257736e-04,-6.68482351e-05,
 -7.87984092e-06,-5.12740552e-04,-3.01115158e-04,-9.61057695e-05,
 -1.98344860e-05,-3.44146148e-04,-2.50803753e-04,-1.01186638e-04,
  4.33982204e-02,-8.61845111e-04, 3.96251922e-02,-3.44877894e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47535586,  4.4518245 , -0.45833257,  4.4518245 ,  4.59127298,
        1.12591319, -0.45833257,  1.12591319, 15.41144965,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002792537386555385
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.16013075e-07, -5.96351743e-13,  1.00000000e+00, -6.91845996e-20,
        1.00000000e+00,  5.96351743e-13, -1.00000000e+00,  1.20370622e-35,
       -1.16013075e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09751096, -0.04646704,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.77525612e-06, 3.42028955e-05, 3.29990176e-05,-9.92397468e-06,
 -1.15412304e-05,-4.57769467e-05,-5.80085591e-05,-1.50651503e-05,
 -3.53683345e-05,-7.30024083e-06,-1.29356178e-05, 3.96403194e-06,
 -2.90836465e-04,-8.21951914e-05,-1.96549685e-04,-1.19664396e-04,
  6.46135050e-06, 5.38368449e-07,-1.21644728e+00,-1.77933505e-03,
 -3.08804854e-04,-3.43503534e-07]


--- Step 499 ---
qpos:
[ 2.88494275e-03,-5.61604031e-03,-1.01949655e-02, 2.79278463e-03,
 -4.45837291e-03,-5.16055666e-03,-1.77466458e-02, 5.17192923e-03,
 -4.72285137e-03,-3.94097378e-03,-7.77657474e-03,-1.91250997e-02,
  9.07928735e-01, 1.83664978e-02, 8.84291049e-01, 2.67863433e-02,
  9.49970484e-02,-6.99514031e-02, 1.30730991e-01, 9.99385308e-01,
 -2.89043965e-04,-8.16630911e-05,-3.50558934e-02]

qacc:
[  2.0404344 ,  0.47644251, -2.57255841,  6.57839087,  1.8588202 ,
   1.84395657, -9.05415773, 18.80409634,  2.50963512, -2.64057874,
  10.21231267,-16.20904877, -1.43716273,  1.88681908, -6.13131901,
  15.65664719, -0.47647107, -1.42815729,  0.04014404, 21.47361619,
  -3.22932486,  1.21213254]

qfrc_actuator:
[-1.83674187e-05,-3.54920075e-04,-2.26689237e-04,-5.64545013e-05,
  3.47384088e-06,-4.97990533e-04,-3.07652569e-04,-6.68643507e-05,
 -4.20865845e-06,-3.52187695e-04,-2.17331298e-04,-1.15457447e-04,
  4.32976530e-02,-8.51666519e-04, 3.94963996e-02,-3.40913934e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48105557,  1.00457473, -4.36699996,  1.00457473, 14.7584914 ,
        2.36419795, -4.36699996,  2.36419795,  5.02491029,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002811537122445612
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.94881154e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.94881154e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10003271, -0.0465302 ,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20094640e-05, 1.17546286e-05, 5.34781755e-06, 1.28070302e-05,
  1.10098263e-05,-2.34772063e-05,-2.36657055e-05, 2.49791720e-05,
  1.46134354e-05,-1.46395399e-05, 3.05094088e-05,-1.49526696e-05,
 -2.98464646e-04,-6.69140116e-05,-2.43889096e-04, 5.14275160e-06,
  3.34913891e-06,-4.16467292e-07,-1.21644236e+00,-1.77851366e-03,
 -3.07611860e-04,-1.52873878e-07]


--- Step 500 ---
qpos:
[ 2.88548964e-03,-5.61586297e-03,-1.01945238e-02, 2.79312293e-03,
 -4.45851907e-03,-5.16106313e-03,-1.77462177e-02, 5.17250460e-03,
 -4.72345821e-03,-3.94165626e-03,-7.77575239e-03,-1.91254144e-02,
  9.08869681e-01, 1.83684442e-02, 8.85364124e-01, 2.67814252e-02,
  9.49975676e-02,-6.99554931e-02, 1.30731681e-01, 9.99382703e-01,
 -2.56888912e-04,-6.70348047e-05,-3.51303587e-02]

qacc:
[ 1.26287984,-0.10625177,-0.58181161, 3.21980841,-1.83147945, 1.09316294,
 -5.3307646 ,11.22725055, 1.70579067,-1.36101019, 4.6516405 ,-6.87459172,
 -1.30549806, 1.60439095,-2.06900326, 1.80536483,-0.45542756,-1.41548391,
 -0.07023322,21.20770238,-3.43813759, 1.05794478]

qfrc_actuator:
[-1.13183451e-05,-3.81099125e-04,-2.30118241e-04,-5.04353252e-05,
 -7.62034373e-06,-4.88874515e-04,-3.11612721e-04,-4.97359324e-05,
  5.31649232e-06,-3.92250047e-04,-2.15606708e-04,-1.23762995e-04,
  4.32141307e-02,-8.46431690e-04, 3.93752250e-02,-3.43728475e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48014148, -1.24258396, -4.30437601, -1.24258396, 18.56701045,
       -4.0665865 , -4.30437601, -4.0665865 ,  5.65408054,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002808501648765144
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.95307948e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.95307948e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10003547, -0.04653056,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.39417141e-06,-1.79666907e-05, 9.12403619e-08, 6.95455886e-06,
 -1.07868455e-05,-7.81682904e-06,-1.08627020e-05, 1.57884277e-05,
  9.93636356e-06,-4.25805748e-05, 1.93666131e-06,-8.16904999e-06,
 -2.82933054e-04,-7.06443488e-05,-2.41218980e-04,-6.10966227e-05,
  4.68456979e-07,-3.04265873e-07,-1.21644015e+00,-1.77824384e-03,
 -3.06422174e-04, 9.52292504e-08]


--- Step 501 ---
qpos:
[ 2.88611691e-03,-5.61594651e-03,-1.01937561e-02, 2.79318052e-03,
 -4.45914167e-03,-5.16185735e-03,-1.77457213e-02, 5.17295107e-03,
 -4.72429121e-03,-3.94227115e-03,-7.77565664e-03,-1.91254720e-02,
  9.09808969e-01, 1.83698781e-02, 8.86435042e-01, 2.67747105e-02,
  9.49963320e-02,-6.99652032e-02, 1.30731720e-01, 9.99380166e-01,
 -1.83029301e-04,-6.10777280e-05,-3.52029476e-02]

qacc:
[  0.71759089, -1.83545738,  7.22656784,-12.4113927 , -4.14811526,
  -0.828166  ,  2.9594005 , -5.10315684, -2.00372442,  2.65403722,
 -10.40881116, 15.9565013 , -0.75344267,  0.20931211,  2.292424  ,
 -12.54558738, -0.43870008, -1.40504703, -0.16267809, 20.99179008,
  -3.6006192 ,  0.93624667]

qfrc_actuator:
[-7.39392934e-06,-3.96778625e-04,-2.14642312e-04,-6.48028039e-05,
 -3.18453248e-05,-5.18685085e-04,-3.14058563e-04,-5.76359568e-05,
 -6.59431696e-06,-3.80283321e-04,-2.50535466e-04,-1.10792769e-04,
  4.31249164e-02,-8.79620262e-04, 3.92906617e-02,-3.52286889e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47388495, -1.33774968, -4.26920043, -1.33774968, 24.39369051,
       -6.24185113, -4.26920043, -6.24185113,  6.42976275,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027876059634326933
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99135574e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.99135574e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10003779, -0.0465302 ,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.12810559e-06,-2.54211790e-05, 1.20078080e-05,-1.50013237e-05,
 -2.45371515e-05,-3.57405670e-05,-4.85208952e-06,-8.30421937e-06,
 -1.16430373e-05,-1.17765975e-05,-4.37695534e-05, 1.10545083e-05,
 -2.80087733e-04,-1.06254788e-04,-2.10970486e-04,-1.21936931e-04,
 -2.08058856e-06, 4.37922356e-07,-1.21644083e+00,-1.77862355e-03,
 -3.05242356e-04, 2.39692163e-07]


--- Step 502 ---
qpos:
[ 2.88678622e-03,-5.61598589e-03,-1.01931864e-02, 2.79271727e-03,
 -4.45970501e-03,-5.16294609e-03,-1.77452352e-02, 5.17330622e-03,
 -4.72491576e-03,-3.94263455e-03,-7.77588374e-03,-1.91247353e-02,
  9.10746566e-01, 1.83709142e-02, 8.87503730e-01, 2.67688760e-02,
  9.49933947e-02,-6.99804996e-02, 1.30730800e-01, 9.99377680e-01,
 -6.78210611e-05,-6.40359092e-05,-3.52738528e-02]

qacc:
[  0.36048087, -0.46169863,  3.92813169,-12.65647857,  0.52145198,
  -0.54954582,  1.77862825, -3.12468971,  1.81095669,  2.86764727,
 -13.0951571 , 27.1656936 , -0.71048451,  0.20516555, -5.92819394,
  16.04167573, -0.42544088, -1.39657449, -0.23998209, 20.81847723,
  -3.72722168,  0.8401357 ]

qfrc_actuator:
[-5.33841254e-06,-3.88243740e-04,-2.23612055e-04,-9.10305322e-05,
 -2.80927799e-05,-5.36081078e-04,-3.15765584e-04,-6.24772290e-05,
  4.48072268e-06,-3.37392625e-04,-2.53342439e-04,-6.76366322e-05,
  4.30429887e-02,-8.99799399e-04, 3.92227903e-02,-3.46393974e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46357866, -1.45495663, -4.21979095, -1.45495663, 31.69341889,
       -9.38867284, -4.21979095, -9.38867284,  7.70073235,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002752721178494594
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10003978, -0.04652928,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.16423776e-06,-3.84976710e-06,-1.32696649e-05,-2.71953543e-05,
  3.03721450e-06,-3.87263909e-05,-9.97075797e-06,-6.70143416e-06,
  1.07378790e-05, 2.77529690e-05,-1.02418260e-05, 4.13542719e-05,
 -2.78663733e-04,-9.93836183e-05,-1.88697123e-04, 2.27146731e-05,
 -4.32879351e-06, 1.78544335e-06,-1.21644433e+00,-1.77964690e-03,
 -3.04047114e-04, 2.73278527e-07]


--- Step 503 ---
qpos:
[ 2.88712994e-03,-5.61569491e-03,-1.01934651e-02, 2.79229699e-03,
 -4.45952950e-03,-5.16429978e-03,-1.77448052e-02, 5.17394534e-03,
 -4.72574762e-03,-3.94297647e-03,-7.77606043e-03,-1.91238296e-02,
  9.11682547e-01, 1.83716339e-02, 8.88570067e-01, 2.67617829e-02,
  9.49887974e-02,-7.00013553e-02, 1.30728661e-01, 9.99375226e-01,
  8.84545659e-05,-7.61005083e-05,-3.53432267e-02]

qacc:
[-2.880205  , 2.90226036,-9.88626913,11.73325912, 6.4465755 , 0.37880279,
 -3.07939305, 8.30269194,-1.81365467, 0.23892752,-1.51641227, 4.33388694,
 -0.85477917, 0.56663068, 0.3882829 ,-6.26877073,-0.41497267,-1.38982365,
 -0.30452901,20.68157478,-3.82612379, 0.76415847]

qfrc_actuator:
[-2.21506819e-05,-3.65380928e-04,-2.64608270e-04,-8.85167357e-05,
  9.85379112e-06,-5.45906476e-04,-3.16978110e-04,-4.77166191e-05,
 -6.50214203e-06,-3.47169001e-04,-2.54742067e-04,-6.02668628e-05,
  4.29708215e-02,-9.12082680e-04, 3.90957829e-02,-3.53329233e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.45034888,  -1.5983305 ,  -4.15342567,  -1.5983305 ,
        40.64070602, -13.92685368,  -4.15342567, -13.92685368,
         9.80971167,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00027070622880820405
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.05060487e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.05060487e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1000415 , -0.04652793,  0.06199163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.67504588e-05, 1.67982649e-05,-4.43728910e-05, 1.35998483e-06,
  3.80208066e-05,-3.37933753e-05,-1.06653994e-05, 1.26263163e-05,
 -1.06690855e-05, 5.41450892e-06, 4.50614167e-06, 9.00822500e-06,
 -2.65695458e-04,-9.03320401e-05,-2.21953425e-04,-9.47540411e-05,
 -6.29889209e-06, 3.72185503e-06,-1.21645058e+00,-1.78130905e-03,
 -3.02817609e-04, 1.91226632e-07]


--- Step 504 ---
qpos:
[ 2.88795935e-03,-5.61519239e-03,-1.01942679e-02, 2.79224802e-03,
 -4.45890043e-03,-5.16604948e-03,-1.77440174e-02, 5.17405368e-03,
 -4.72670457e-03,-3.94323566e-03,-7.77650040e-03,-1.91235190e-02,
  9.12616906e-01, 1.83721745e-02, 8.89633559e-01, 2.67545645e-02,
  9.49807499e-02,-7.00152701e-02, 1.30727055e-01, 9.99372730e-01,
  1.97113296e-04,-1.23673225e-04,-3.54131568e-02]

qacc:
[  4.22861163,  2.50060166,-10.09191046, 17.21562523,  3.97314706,
  -2.62325524, 10.82198085,-20.27623185, -1.10514422, -0.37816961,
   4.01855434,-13.95118258, -0.8807315 ,  0.71895693, -3.77052865,
   7.22967058, -0.86256607,  1.73522553,  0.1333401 ,-23.16610745,
 -18.58446005, -0.27525753]

qfrc_actuator:
[ 3.32508340e-06,-3.51977847e-04,-2.88585393e-04,-6.91134968e-05,
  3.21082147e-05,-5.68853900e-04,-3.00091307e-04,-7.47915566e-05,
 -1.26347284e-05,-3.52910946e-04,-2.73294049e-04,-9.18138531e-05,
  4.28939132e-02,-9.19550685e-04, 3.89653401e-02,-3.53580623e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45719707,  0.52608954, -4.42604062,  0.52608954, 30.0703208 ,
        3.04443578, -4.42604062,  3.04443578,  4.81906583,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002730822909816216
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.01638138e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.01638138e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10683711, -0.09404998,  0.06199156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.50040568e-05, 1.36761364e-05,-2.59247390e-05, 1.86155429e-05,
  2.33324714e-05,-4.34504082e-05, 9.03784809e-06,-2.86470986e-05,
 -6.43702239e-06,-1.39161858e-06,-1.65633691e-05,-3.09843956e-05,
 -2.61317936e-04,-8.05616796e-05,-2.52480718e-04,-3.84396111e-05,
 -8.00744483e-06, 6.23733521e-06,-1.21645955e+00,-1.78360606e-03,
 -3.01539792e-04,-9.59405768e-09]


--- Step 505 ---
qpos:
[ 2.88943243e-03,-5.61462240e-03,-1.01950481e-02, 2.79241217e-03,
 -4.45800923e-03,-5.16798909e-03,-1.77433277e-02, 5.17280610e-03,
 -4.72738294e-03,-3.94334665e-03,-7.77667492e-03,-1.91232886e-02,
  9.13549571e-01, 1.83726574e-02, 8.90694991e-01, 2.67471343e-02,
  9.49692071e-02,-7.00223760e-02, 1.30725350e-01, 9.99370185e-01,
  2.58836108e-04,-2.05446140e-04,-3.54841475e-02]

qacc:
[ 5.63006755e+00, 4.54253790e-01,-2.40892184e+00, 6.03233710e+00,
  2.28533859e+00,-2.77252005e+00, 1.52381917e+01,-3.84014408e+01,
  2.44463443e+00,-7.16194101e-01, 3.16704834e+00,-5.07748652e+00,
 -1.09767700e+00, 1.17373095e+00,-2.32155491e+00, 3.90637344e+00,
 -8.73831022e-01, 1.70222884e+00,-2.49918258e-02,-2.28477301e+01,
 -1.79205550e+01,-5.24645868e-01]

qfrc_actuator:
[ 3.57399986e-05,-3.44263930e-04,-2.84583536e-04,-5.76747494e-05,
  4.49371042e-05,-5.81684864e-04,-3.08241681e-04,-1.44019271e-04,
  1.89618852e-06,-3.20796816e-04,-2.48586015e-04,-9.27566939e-05,
  4.28088930e-02,-9.24140286e-04, 3.89075259e-02,-3.53435212e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47349249, -0.49101089,  4.44646415, -0.49101089,  9.40657876,
        0.54474724,  4.44646415,  0.54474724,  4.53364744,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027862882371250397
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05840805e-13,  1.99229751e-13,  1.00000000e+00, -2.10866373e-26,
        1.00000000e+00, -1.99229751e-13, -1.00000000e+00,  0.00000000e+00,
        1.05840805e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10683173, -0.09404867,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.31338405e-05, 1.08016927e-05, 4.27942744e-06, 1.14895369e-05,
  1.34834234e-05,-3.64265471e-05,-1.69928702e-05,-7.13332193e-05,
  1.43473516e-05, 2.65965327e-05, 2.13153645e-05,-2.17782935e-06,
 -2.64820243e-04,-7.47925399e-05,-1.85719647e-04,-3.48201534e-05,
 -4.95152111e-06, 5.69843997e-06,-1.21645175e+00,-1.78477128e-03,
 -3.02266025e-04,-6.91653366e-07]


--- Step 506 ---
qpos:
[ 2.89024809e-03,-5.61405235e-03,-1.01954683e-02, 2.79269701e-03,
 -4.45697109e-03,-5.16990256e-03,-1.77431667e-02, 5.17108640e-03,
 -4.72822706e-03,-3.94311569e-03,-7.77635921e-03,-1.91234584e-02,
  9.14480491e-01, 1.83731306e-02, 8.91754761e-01, 2.67389539e-02,
  9.49541350e-02,-7.00227818e-02, 1.30723011e-01, 9.99367576e-01,
  2.74192710e-04,-3.20373244e-04,-3.55565876e-02]

qacc:
[ -5.73928694, -0.7467527 ,  2.1726745 , -0.68103658,  1.26430067,
   0.53721165,  0.12319259, -7.4630425 , -1.4417877 , -1.74016216,
   8.55107401,-16.51087257, -1.2368986 ,  1.43956292, -0.08706888,
  -3.01751109, -0.88231741,  1.67502283, -0.15844643,-22.58042141,
 -17.3894811 , -0.71626198]

qfrc_actuator:
[ 9.55614487e-07,-3.39904060e-04,-2.64131184e-04,-5.10050402e-05,
  5.21206894e-05,-5.70741017e-04,-3.31101533e-04,-1.66490692e-04,
 -7.03369459e-06,-2.83820224e-04,-2.16098029e-04,-1.11119067e-04,
  4.27190706e-02,-9.27052502e-04, 3.88507145e-02,-3.56588563e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48112011, -0.41921783,  4.46146768, -0.41921783, 12.85874438,
        0.78719598,  4.46146768,  0.78719598,  4.55508828,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002811751287488534
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.52951471e-13, -7.89702154e-13,  1.00000000e+00,  1.99756322e-25,
        1.00000000e+00,  7.89702154e-13, -1.00000000e+00,  0.00000000e+00,
        2.52951471e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10682783, -0.09404837,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.38353055e-05, 1.17714493e-05, 2.36074684e-05, 7.50266988e-06,
  7.56105640e-06,-1.59218541e-05,-3.49286525e-05,-2.60035586e-05,
 -8.51213737e-06, 5.61669108e-05, 4.05327717e-05,-1.65288925e-05,
 -2.69417686e-04,-7.33903590e-05,-1.57201207e-04,-5.98459509e-05,
 -2.56306276e-06, 6.11417698e-06,-1.21644934e+00,-1.78523452e-03,
 -3.02441422e-04,-4.16315381e-07]


--- Step 507 ---
qpos:
[ 2.89029597e-03,-5.61359204e-03,-1.01955646e-02, 2.79307618e-03,
 -4.45619974e-03,-5.17183513e-03,-1.77428270e-02, 5.17010271e-03,
 -4.72917146e-03,-3.94248080e-03,-7.77621197e-03,-1.91241548e-02,
  9.15409544e-01, 1.83739067e-02, 8.92811982e-01, 2.67341291e-02,
  9.49355078e-02,-7.00165768e-02, 1.30719588e-01, 9.99364883e-01,
  2.43656031e-04,-4.67621588e-04,-3.56307736e-02]

qacc:
[ -6.70389709, -0.84253707,  2.4181162 , -1.24696525, -2.32028995,
   0.99492162, -6.68346848, 19.14184583, -0.89029703, -0.07804611,
   3.27494202,-12.41041331, -1.29327229,  1.72973574,-13.83350489,
  43.17201495, -0.88879543,  1.65269387, -0.27085366,-22.35777981,
 -16.9665565 , -0.86215024]

qfrc_actuator:
[-3.75994590e-05,-3.55268823e-04,-2.51907811e-04,-4.71895566e-05,
  3.81747843e-05,-5.45672380e-04,-3.09059315e-04,-1.25744494e-04,
 -1.19545223e-05,-2.79684458e-04,-2.32530920e-04,-1.39580992e-04,
  4.26264326e-02,-9.11230744e-04, 3.87519366e-02,-3.38580459e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48152356, -0.32883301,  4.46944317, -0.32883301, 17.38259324,
        0.94917811,  4.46944317,  0.94917811,  4.55135801,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028130895103117837
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.91165008e-13,  3.94663241e-13,  1.00000000e+00,  7.54458015e-26,
        1.00000000e+00, -3.94663241e-13, -1.00000000e+00,  0.00000000e+00,
       -1.91165008e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10682511, -0.09404889,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.95207180e-05,-3.61512717e-06, 1.78204571e-05, 5.28305752e-06,
 -1.37322173e-05, 7.91083272e-06, 1.35750411e-05, 3.83566011e-05,
 -5.14423757e-06, 4.31905917e-05,-4.18296795e-07,-2.49766455e-05,
 -2.74311793e-04,-5.56626012e-05,-1.90536769e-04, 1.53654562e-04,
 -7.28877574e-07, 7.48004018e-06,-1.21645202e+00,-1.78499319e-03,
 -3.02116040e-04, 7.52125093e-07]


--- Step 508 ---
qpos:
[ 2.88988115e-03,-5.61331934e-03,-1.01957155e-02, 2.79353503e-03,
 -4.45560147e-03,-5.17374285e-03,-1.77425484e-02, 5.16997035e-03,
 -4.72947757e-03,-3.94160567e-03,-7.77618924e-03,-1.91251681e-02,
  9.16336787e-01, 1.83751311e-02, 8.93866744e-01, 2.67330987e-02,
  9.49206517e-02,-7.00139025e-02, 1.30718298e-01, 9.99362189e-01,
  2.33035239e-04,-5.81589419e-04,-3.57046543e-02]

qacc:
[-4.04586093e+00, 7.63742533e-02,-9.54685047e-01, 2.54394875e+00,
 -1.51132426e+00, 1.95940729e+00,-1.05278894e+01, 2.53369905e+01,
  5.57972173e+00, 1.94450155e-03, 1.77046186e+00,-7.20718181e+00,
 -1.35741868e+00, 1.98391470e+00,-1.50200340e+01, 4.75402070e+01,
  9.42798359e-01,-8.82676209e-01, 5.33032827e-01, 9.35878558e+00,
  1.69845339e+01, 1.43844495e-01]

qfrc_actuator:
[-6.02909881e-05,-3.82358592e-04,-2.62482127e-04,-4.51085374e-05,
  2.96587687e-05,-5.47599337e-04,-3.13829812e-04,-8.35922778e-05,
  2.10361636e-05,-2.77699312e-04,-2.42348466e-04,-1.56063683e-04,
  4.25481563e-02,-8.84477251e-04, 3.86547477e-02,-3.18907617e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48498449, -2.29562462,  3.85294608, -2.29562462, 19.65112174,
        9.03613946,  3.85294608,  9.03613946,  9.86880867,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002824534289231351
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82660247e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.82660247e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08293165, -0.05729723,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.38247120e-05,-2.52343682e-05,-8.94676613e-06, 2.64557739e-06,
 -8.90906085e-06, 7.00767719e-06,-1.15420762e-07, 4.37138426e-05,
  3.28619324e-05, 2.49531178e-05,-1.82085235e-06,-1.51339685e-05,
 -2.58762656e-04,-4.26401776e-05,-1.77868321e-04, 1.78514716e-04,
  6.34928189e-07, 9.78654249e-06,-1.21645955e+00,-1.78404675e-03,
 -3.01326733e-04, 2.76586959e-06]


--- Step 509 ---
qpos:
[ 2.88885220e-03,-5.61312119e-03,-1.01960256e-02, 2.79400848e-03,
 -4.45511010e-03,-5.17546321e-03,-1.77429201e-02, 5.17001934e-03,
 -4.72938592e-03,-3.94044095e-03,-7.77631516e-03,-1.91263755e-02,
  9.17262418e-01, 1.83766134e-02, 8.94919558e-01, 2.67330235e-02,
  9.49095669e-02,-7.00146349e-02, 1.30718502e-01, 9.99359494e-01,
  2.42390014e-04,-6.63305294e-04,-3.57785402e-02]

qacc:
[-5.37562867e+00, 3.87126134e-01,-1.56669921e+00, 2.10911272e+00,
 -9.55696555e-01, 2.43912278e+00,-9.10061673e+00, 1.31389306e+01,
  3.47251761e+00, 3.91435367e-01,-3.34491280e-02,-3.28767692e+00,
 -1.25198991e+00, 1.73135165e+00,-5.66967531e+00, 1.59117551e+01,
  9.42820261e-01,-8.51669803e-01, 3.73601461e-01, 9.40563942e+00,
  1.64723025e+01,-1.21575301e-02]

qfrc_actuator:
[-9.12149856e-05,-3.80856339e-04,-2.68733673e-04,-4.40912726e-05,
  2.44137026e-05,-5.48007342e-04,-3.52272044e-04,-7.65114333e-05,
  4.05700510e-05,-2.59249793e-04,-2.48173379e-04,-1.65357871e-04,
  4.24785590e-02,-8.69183809e-04, 3.85639215e-02,-3.14391421e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49846393,  2.81300193, -3.51044126,  2.81300193,  9.3835348 ,
        3.91452606, -3.51044126,  3.91452606,  7.63526884,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002868523764041203
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.93518185e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.93518185e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08293508, -0.05729556,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.16142882e-05,-1.43596638e-05,-1.24754323e-05,-3.22261589e-07,
 -5.49983241e-06, 5.42298025e-06,-3.54764741e-05, 8.23224250e-06,
  2.04843410e-05, 3.13597716e-05,-1.42876785e-06,-8.58439002e-06,
 -2.37422038e-04,-4.83470256e-05,-1.63346977e-04, 2.98476494e-05,
  2.18588331e-07, 7.60880013e-06,-1.21645172e+00,-1.78446248e-03,
 -2.98951588e-04, 2.40564612e-06]


--- Step 510 ---
qpos:
[ 2.88780511e-03,-5.61280365e-03,-1.01964970e-02, 2.79411994e-03,
 -4.45468553e-03,-5.17704447e-03,-1.77435004e-02, 5.17047414e-03,
 -4.72940533e-03,-3.93907376e-03,-7.77652937e-03,-1.91269874e-02,
  9.18186503e-01, 1.83780315e-02, 8.95970538e-01, 2.67317804e-02,
  9.49022507e-02,-7.00186744e-02, 1.30719665e-01, 9.99356794e-01,
  2.71755437e-04,-7.13600975e-04,-3.58526749e-02]

qacc:
[-0.16606514,-0.13655095, 2.24429576,-8.33926182,-0.59121914, 1.60290429,
 -7.16008028,14.41346113,-0.97820984, 1.74322474,-8.33354556,18.61964772,
 -1.0572601 , 1.155684  , 0.90888979,-6.908225  , 0.94214917,-0.82678279,
  0.23967423, 9.43674889,16.05797918,-0.13488   ]

qfrc_actuator:
[-9.12366987e-05,-3.62236876e-04,-2.72264999e-04,-6.14316787e-05,
  2.11342577e-05,-5.29923775e-04,-3.57045934e-04,-5.46386945e-05,
  3.42624362e-05,-2.48819718e-04,-2.51528774e-04,-1.34829618e-04,
  4.23929134e-02,-8.78508080e-04, 3.84716296e-02,-3.20612315e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50344751,  2.76586224, -3.55401823,  2.76586224, 12.43680675,
        6.17401976, -3.55401823,  6.17401976,  9.30828728,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002884557805934995
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.62212494e-14,  1.92442499e-13,  1.00000000e+00, -1.85170577e-26,
        1.00000000e+00, -1.92442499e-13, -1.00000000e+00,  0.00000000e+00,
        9.62212494e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08293744, -0.05729391,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.30179108e-07, 7.98642342e-06,-8.04265348e-06,-1.83929236e-05,
 -3.43412846e-06, 1.42060563e-05,-7.71449644e-06, 2.10424031e-05,
 -5.70795479e-06, 2.72729897e-05, 2.63858651e-06, 3.16542168e-05,
 -2.41976261e-04,-6.91644806e-05,-1.75864045e-04,-8.42220313e-05,
 -4.85134872e-07, 5.72313455e-06,-1.21644639e+00,-1.78514009e-03,
 -2.97080995e-04, 2.25537713e-06]


--- Step 511 ---
qpos:
[ 2.88676555e-03,-5.61229700e-03,-1.01973701e-02, 2.79437555e-03,
 -4.45430377e-03,-5.17844817e-03,-1.77436016e-02, 5.17078866e-03,
 -4.72915483e-03,-3.93779019e-03,-7.77638823e-03,-1.91268775e-02,
  9.19108752e-01, 1.83800150e-02, 8.97019596e-01, 2.67293991e-02,
  9.48986990e-02,-7.00259415e-02, 1.30721337e-01, 9.99354087e-01,
  3.21151203e-04,-7.33147027e-04,-3.59272495e-02]

qacc:
[ 0.05024823, 1.66937891,-6.1982002 , 9.19616354,-0.36141882,-1.39156346,
  5.8960901 ,-9.22279544, 2.37596036, 0.37845936,-4.56029634,16.54467063,
 -1.82681223, 2.90193849, 0.77224714,-6.41175028, 0.94113334,-0.80687835,
  0.12738755, 9.45734525,15.72393308,-0.23127462]

qfrc_actuator:
[-9.08199982e-05,-3.51263858e-04,-2.91851075e-04,-5.39106906e-05,
  1.90368451e-05,-5.00771959e-04,-3.24047789e-04,-5.96930972e-05,
  4.83049007e-05,-2.60982661e-04,-2.35650716e-04,-9.88726199e-05,
  4.22976909e-02,-8.49126137e-04, 3.83891698e-02,-3.26000326e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50147097,  2.69924816, -3.60240202,  2.69924816, 16.61134816,
        9.07382452, -3.60240202,  9.07382452, 11.30040792,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028782130944331186
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.85733435e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.85733435e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08293895, -0.05729227,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.93450273e-07, 1.29864541e-05,-1.95608668e-05, 7.22722344e-06,
 -2.19146695e-06, 3.64659679e-05, 3.57347292e-05,-4.29918817e-06,
  1.38915485e-05, 4.94086358e-06, 2.29193693e-05, 3.78316048e-05,
 -2.59439916e-04,-3.51777876e-05,-1.84281558e-04,-8.38084045e-05,
 -1.47253868e-06, 4.08946894e-06,-1.21644338e+00,-1.78609023e-03,
 -2.95696353e-04, 2.30729597e-06]


--- Step 512 ---
qpos:
[ 2.88573921e-03,-5.61189366e-03,-1.01980885e-02, 2.79471825e-03,
 -4.45394995e-03,-5.18002366e-03,-1.77425595e-02, 5.17069313e-03,
 -4.72908289e-03,-3.93641212e-03,-7.77662629e-03,-1.91266544e-02,
  9.20029448e-01, 1.83820180e-02, 8.98066291e-01, 2.67250623e-02,
  9.48994818e-02,-7.00334094e-02, 1.30723806e-01, 9.99351415e-01,
  3.68883541e-04,-7.21767437e-04,-3.60012958e-02]

qacc:
[  0.12225639, -0.38982708,  0.82382142,  0.51245062, -0.20530145,
  -4.26468829, 16.60947874,-25.41109463, -1.57665808,  1.42104245,
  -5.35619507,  7.84166263, -1.15531179,  1.39158608,  2.52310424,
 -13.66215078,  1.08360874, -0.05023276,  0.19918741, -1.38652472,
  15.42304987,  0.26024026]

qfrc_actuator:
[-9.01586830e-05,-3.62748797e-04,-2.85259840e-04,-4.95868246e-05,
  1.76513732e-05,-5.18331197e-04,-2.68990533e-04,-8.05199998e-05,
  3.87156002e-05,-2.68743684e-04,-2.61898814e-04,-9.55281173e-05,
  4.22234329e-02,-8.50382168e-04, 3.82647511e-02,-3.36170633e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49493862,  0.21654467, -4.48971955,  0.21654467, 17.09967895,
        0.60794207, -4.48971955,  0.60794207,  4.52426041,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028571075444266524
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.69127580e-07, -3.69126923e-07,  1.00000000e+00, -1.36254928e-13,
        1.00000000e+00,  3.69126923e-07, -1.00000000e+00, -2.52435490e-29,
       -3.69127580e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08179828, -0.06857891,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.76822507e-07,-7.95895145e-06, 7.11913799e-06, 4.34451841e-06,
 -1.43683360e-06, 1.00797561e-05, 6.68595513e-05,-1.81087845e-05,
 -9.18913871e-06, 1.31314278e-06,-2.11130760e-05, 5.08171075e-06,
 -2.41532416e-04,-6.33575345e-05,-2.30122665e-04,-1.32685823e-04,
 -2.74081774e-06, 2.67823005e-06,-1.21644255e+00,-1.78732067e-03,
 -2.94783077e-04, 2.55528760e-06]


--- Step 513 ---
qpos:
[ 2.88541884e-03,-5.61202279e-03,-1.01979122e-02, 2.79442346e-03,
 -4.45396053e-03,-5.18143895e-03,-1.77411898e-02, 5.17001754e-03,
 -4.72981600e-03,-3.93496575e-03,-7.77744908e-03,-1.91263745e-02,
  9.20948905e-01, 1.83833617e-02, 8.99109885e-01, 2.67185856e-02,
  9.49045614e-02,-7.00410011e-02, 1.30726719e-01, 9.99348773e-01,
  4.14822735e-04,-6.79659368e-04,-3.60748771e-02]

qacc:
[  6.21202178, -4.52953424, 17.79903743,-29.84812558, -3.1707979 ,
  -1.89148346,  9.51129521,-20.20469645, -7.06745938,  1.85563486,
  -6.69978052,  8.53869963, -0.28473874, -0.56304435,  1.89065819,
 -13.27661939,  1.07420703, -0.03091278,  0.11090076, -1.44896077,
  15.32209351,  0.22794318]

qfrc_actuator:
[-5.38540234e-05,-4.05244379e-04,-2.45605312e-04,-8.26871043e-05,
 -1.05730314e-06,-5.10380830e-04,-2.54811672e-04,-1.10484538e-04,
 -2.46488719e-06,-2.74008229e-04,-2.95077558e-04,-9.36785208e-05,
  4.21617943e-02,-8.87454032e-04, 3.80992886e-02,-3.47307809e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028286774048699725
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.96244192e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.96244192e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08178021, -0.06874729,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.63201523e-05,-4.52930648e-05, 3.90417170e-05,-3.31102772e-05,
 -1.87482932e-05, 2.66654529e-05, 2.38769262e-05,-2.75698909e-05,
 -4.14376388e-05,-8.72396858e-06,-3.53454214e-05, 1.27164760e-06,
 -2.25137872e-04,-1.00065927e-04,-2.95013419e-04,-1.50361983e-04,
 -2.95749174e-06, 8.85909530e-07,-1.21644181e+00,-1.78849703e-03,
 -2.95078862e-04, 2.91702399e-06]


--- Step 514 ---
qpos:
[ 2.88553620e-03,-5.61267592e-03,-1.01974719e-02, 2.79377772e-03,
 -4.45385069e-03,-5.18229112e-03,-1.77400860e-02, 5.16863230e-03,
 -4.73069178e-03,-3.93386786e-03,-7.77850331e-03,-1.91260449e-02,
  9.21866826e-01, 1.83846204e-02, 9.00150331e-01, 2.67130053e-02,
  9.49139012e-02,-7.00486915e-02, 1.30729778e-01, 9.99346155e-01,
  4.59129478e-04,-6.06982166e-04,-3.61480621e-02]

qacc:
[  3.84605486, -2.16057903,  8.16716968,-14.26333193,  1.03198737,
   0.02390047,  3.98680197,-16.25414949, -1.25030822,  0.29116566,
  -1.91103828,  3.3907665 , -0.82035279,  0.71274432, -7.31725108,
  18.97572666,  1.06505733, -0.02470521,  0.03665594, -1.36695378,
  15.24525828,  0.1926216 ]

qfrc_actuator:
[-3.23666540e-05,-4.48123227e-04,-2.40172586e-04,-1.02046859e-04,
  5.69300131e-06,-4.69635354e-04,-2.64801456e-04,-1.45597624e-04,
 -8.64427253e-06,-3.13291745e-04,-3.14304860e-04,-9.27148219e-05,
  4.20811260e-02,-8.92086416e-04, 3.79892381e-02,-3.41175814e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002787664569463971
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.95656935e-14, -1.99131387e-13,  1.00000000e+00,  1.98266547e-26,
        1.00000000e+00,  1.99131387e-13, -1.00000000e+00,  0.00000000e+00,
        9.95656935e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08177909, -0.06874644,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.25097254e-05,-6.15441542e-05,-2.60728245e-07,-2.05947676e-05,
  6.22232785e-06, 5.94374491e-05,-2.49205453e-06,-3.36785243e-05,
 -7.36060240e-06,-5.14679671e-05,-2.53454009e-05,-6.08485969e-07,
 -2.43422698e-04,-7.03744025e-05,-2.67507010e-04, 1.38935226e-05,
 -3.19339393e-06,-8.72598233e-07,-1.21644254e+00,-1.78962165e-03,
 -2.95844602e-04, 3.12735805e-06]


--- Step 515 ---
qpos:
[ 2.88591055e-03,-5.61373330e-03,-1.01972679e-02, 2.79292506e-03,
 -4.45331575e-03,-5.18301362e-03,-1.77390106e-02, 5.16791251e-03,
 -4.73129010e-03,-3.93330187e-03,-7.77965275e-03,-1.91263822e-02,
  9.22782889e-01, 1.83862512e-02, 9.01188251e-01, 2.67102996e-02,
  9.49197724e-02,-7.00494684e-02, 1.30731889e-01, 9.99343508e-01,
  4.58860704e-04,-5.67477016e-04,-3.62218107e-02]

qacc:
[  2.24729102, -0.30441436,  1.17611257, -4.07389269,  3.70444513,
   1.61341849, -8.32617006, 19.8077301 ,  2.4348137 , -1.81542201,
   8.25517274,-19.23390441, -1.37799174,  1.92274914,-12.33104662,
  37.99379575, -0.86715109,  1.72840138, -0.23702164,-21.67379717,
 -17.38097902, -0.26101072]

qfrc_actuator:
[-1.97838212e-05,-4.73274882e-04,-2.55000061e-04,-1.13193854e-04,
  2.73796163e-05,-4.80690336e-04,-2.71077303e-04,-1.12427684e-04,
  5.83664162e-06,-3.54844557e-04,-3.25280675e-04,-1.27803507e-04,
  4.19784597e-02,-8.77565580e-04, 3.79232022e-02,-3.24900344e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46569432,  3.21677709, -3.09754273,  3.21677709, 11.37929315,
        7.17972542, -3.09754273,  7.17972542, 11.9217904 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002759930218263762
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.01132445e-13, -5.02831112e-14,  1.00000000e+00,  1.01135651e-26,
        1.00000000e+00,  5.02831112e-14, -1.00000000e+00,  0.00000000e+00,
        2.01132445e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10679769, -0.09406693,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.32073212e-05,-6.04761223e-05,-2.82817656e-05,-1.41928648e-05,
  2.18872360e-05, 2.02476653e-05, 4.52822306e-06, 3.49770685e-05,
  1.42562643e-05,-7.56279067e-05,-2.47506682e-05,-3.81822816e-05,
 -2.68892652e-04,-5.02432837e-05,-1.93643173e-04, 1.27776411e-04,
 -3.46709290e-06,-2.59820017e-06,-1.21644475e+00,-1.79069900e-03,
 -2.97068549e-04, 3.19019849e-06]


--- Step 516 ---
qpos:
[ 2.88712273e-03,-5.61500318e-03,-1.01973480e-02, 2.79192417e-03,
 -4.45252486e-03,-5.18372749e-03,-1.77379740e-02, 5.16830303e-03,
 -4.73171012e-03,-3.93348778e-03,-7.78055166e-03,-1.91271325e-02,
  9.23696999e-01, 1.83884231e-02, 9.02224396e-01, 2.67084075e-02,
  9.49221423e-02,-7.00434676e-02, 1.30732657e-01, 9.99340818e-01,
  4.14128598e-04,-5.60271071e-04,-3.62966190e-02]

qacc:
[  7.32339421,  0.19355784, -0.49661584, -1.4315814 ,  2.23149364,
   2.40118219,-13.24021659, 32.52151395,  1.58140413, -2.54804329,
   9.37785829,-16.35966539, -1.77800837,  2.72415825, -4.9300024 ,
  13.83081601, -0.87534406,  1.69440257, -0.33581625,-21.63239382,
 -16.94452726, -0.51025435]

qfrc_actuator:
[ 2.29672128e-05,-4.69947743e-04,-2.63836362e-04,-1.19416833e-04,
  3.99225591e-05,-4.87112133e-04,-2.75255912e-04,-5.71318169e-05,
  1.45980426e-05,-3.97436135e-04,-3.13596632e-04,-1.48321687e-04,
  4.18786561e-02,-8.51976086e-04, 3.78570036e-02,-3.20525100e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46244002, -2.32535472,  3.80868696, -2.32535472, 12.4914319 ,
        4.90201857,  3.80868696,  4.90201857,  7.45531714,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027488309056313
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07283060e-13, -2.01944583e-13,  1.00000000e+00,  2.16652329e-26,
        1.00000000e+00,  2.01944583e-13, -1.00000000e+00,  0.00000000e+00,
        1.07283060e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10679479, -0.09406973,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.31124475e-05,-3.68999458e-05,-2.52918675e-05,-1.00658809e-05,
  1.31758222e-05, 7.35734349e-06, 1.76833758e-06, 5.70007786e-05,
  9.14526043e-06,-9.16327730e-05,-8.29940401e-06,-2.53553842e-05,
 -2.75432953e-04,-4.19027639e-05,-1.50986447e-04, 2.37402184e-05,
 -1.98478102e-07,-1.26618176e-06,-1.21644068e+00,-1.79016599e-03,
 -2.99098955e-04, 2.25112319e-06]


--- Step 517 ---
qpos:
[ 2.88849302e-03,-5.61628322e-03,-1.01977081e-02, 2.79152019e-03,
 -4.45158969e-03,-5.18427234e-03,-1.77370217e-02, 5.16899036e-03,
 -4.73236686e-03,-3.93417417e-03,-7.78144891e-03,-1.91274475e-02,
  9.24609609e-01, 1.83897528e-02, 9.03259207e-01, 2.67055938e-02,
  9.49209859e-02,-7.00307981e-02, 1.30731750e-01, 9.99338064e-01,
  3.25032090e-04,-5.84668541e-04,-3.63728743e-02]

qacc:
[  1.37478828,  1.99559823, -9.65907495, 20.44956047,  1.25290149,
   1.06717776, -4.73846146,  9.89091626, -2.06350062,  0.23460003,
  -3.62355428, 11.50801352, -0.35012736, -0.70290646,  0.81453818,
  -5.72026239, -0.88156072,  1.66717844, -0.41857651,-21.59442274,
 -16.59674793, -0.70516096]

qfrc_actuator:
[ 2.98776289e-05,-4.49563378e-04,-2.68935644e-04,-8.71560551e-05,
  4.69783913e-05,-4.72932204e-04,-2.78154411e-04,-4.25293225e-05,
  2.16328564e-06,-4.04712940e-04,-3.06376961e-04,-1.24579419e-04,
  4.17912974e-02,-9.08826339e-04, 3.78067080e-02,-3.24974135e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4545972 , -2.24484255,  3.847612  , -2.24484255, 16.10900842,
        6.79962486,  3.847612  ,  6.79962486,  8.42175584,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027218345555753143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.03947559e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.03947559e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10679285, -0.09407268,  0.06199159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.13547678e-06,-5.84533022e-06,-1.61698451e-05, 2.96118516e-05,
  7.43367399e-06, 2.11190592e-05, 8.06384296e-07, 1.60862168e-05,
 -1.22058410e-05,-6.12966247e-05,-1.35923293e-05, 1.90408682e-05,
 -2.64692185e-04,-1.24465172e-04,-1.29983166e-04,-6.54873744e-05,
  2.56247586e-06, 8.72169936e-07,-1.21644142e+00,-1.78897246e-03,
 -3.00646080e-04, 2.14055666e-06]


--- Step 518 ---
qpos:
[ 2.88959083e-03,-5.61724831e-03,-1.01985704e-02, 2.79113336e-03,
 -4.45092199e-03,-5.18461923e-03,-1.77360878e-02, 5.16914843e-03,
 -4.73351305e-03,-3.93459038e-03,-7.78266386e-03,-1.91268632e-02,
  9.25520810e-01, 1.83898357e-02, 9.04292760e-01, 2.67005218e-02,
  9.49237367e-02,-7.00199212e-02, 1.30732151e-01, 9.99335328e-01,
  2.44463079e-04,-5.75995540e-04,-3.64487465e-02]

qacc:
[-2.40457593e+00, 1.86017257e+00,-6.09287935e+00, 6.95260860e+00,
 -2.33691274e+00,-7.71931266e-01, 5.37430920e+00,-1.46594649e+01,
 -4.29902937e+00, 3.10613338e+00,-1.43314456e+01, 3.01730645e+01,
 -1.75773111e-02,-1.57082931e+00, 4.93736625e+00,-2.00738016e+01,
  9.76813411e-01,-4.48136067e-01, 3.26725606e-01, 3.65960109e+00,
  1.66794430e+01, 1.83799664e-01]

qfrc_actuator:
[ 1.56282630e-05,-4.19062012e-04,-2.89435900e-04,-8.57487776e-05,
  3.29986230e-05,-4.64307719e-04,-2.80223909e-04,-6.97261116e-05,
 -2.26454770e-05,-3.37493658e-04,-3.01687251e-04,-7.49639803e-05,
  4.17114348e-02,-9.78468321e-04, 3.77500011e-02,-3.36352025e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45199487, -2.70731414,  3.53421964, -2.70731414, 16.19489213,
        8.99539786,  3.53421964,  8.99539786, 11.34272897,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027127983108894325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -2.1290099e-07,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  2.1290099e-07, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08235574, -0.06310976,  0.06199162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.40149676e-05, 2.52113617e-05,-2.26563479e-05, 1.17759531e-06,
 -1.37599956e-05, 2.12995807e-05, 2.94199491e-06,-2.59536996e-05,
 -2.51821158e-05, 3.09802743e-05,-8.96692579e-06, 4.68954512e-05,
 -2.69110819e-04,-1.50573795e-04,-1.37390313e-04,-1.37231295e-04,
  4.88633962e-06, 3.84657351e-06,-1.21644681e+00,-1.78710797e-03,
 -3.01745438e-04, 2.82920027e-06]


--- Step 519 ---
qpos:
[ 2.89016442e-03,-5.61775784e-03,-1.01997712e-02, 2.79039127e-03,
 -4.45042670e-03,-5.18507060e-03,-1.77353491e-02, 5.16937650e-03,
 -4.73425826e-03,-3.93438936e-03,-7.78455435e-03,-1.91264008e-02,
  9.26430178e-01, 1.83897043e-02, 9.05324726e-01, 2.66940718e-02,
  9.49301315e-02,-7.00123077e-02, 1.30733276e-01, 9.99332590e-01,
  1.83954717e-04,-5.35263906e-04,-3.65247013e-02]

qacc:
[-4.60409373, 0.82565298,-0.55518734,-5.40369587,-1.50774202, 0.55439912,
 -2.46771032, 4.06319742, 3.47851842, 2.44626474,-7.03529232, 5.56321602,
 -1.17068605, 1.09943861, 1.91569346,-9.88792887, 0.91097182,-0.8158748 ,
  0.18116257, 9.43938579,16.38424463,-0.05092272]

qfrc_actuator:
[-1.09496240e-05,-3.82811491e-04,-3.01089758e-04,-1.02512608e-04,
  2.45041716e-05,-4.94618313e-04,-2.99580732e-04,-6.80372170e-05,
 -1.27333114e-06,-2.97157710e-04,-3.33702091e-04,-8.14732842e-05,
  4.16201387e-02,-9.84033320e-04, 3.76841627e-02,-3.42840386e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45569332,  4.10866661,  1.72396683,  4.10866661,  8.25499763,
       -9.05474193,  1.72396683, -9.05474193, 26.035526  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002725628870348523
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08295377, -0.05727959,  0.06199158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.69647776e-05, 4.57568991e-05,-9.17451718e-06,-1.64393683e-05,
 -8.88052282e-06,-1.89078372e-05,-1.54998835e-05, 2.19703754e-06,
  2.06597913e-05, 5.78317626e-05,-2.50803348e-05,-4.57658818e-06,
 -2.89346648e-04,-9.23517765e-05,-1.57721864e-04,-9.32373512e-05,
  4.81032706e-06, 1.53872023e-06,-1.21644484e+00,-1.78638847e-03,
 -3.01561259e-04, 2.04673889e-06]


--- Step 520 ---
qpos:
[ 2.89041512e-03,-5.61820587e-03,-1.02004539e-02, 2.79013560e-03,
 -4.45038198e-03,-5.18572777e-03,-1.77347870e-02, 5.16963546e-03,
 -4.73439635e-03,-3.93429623e-03,-7.78649842e-03,-1.91266597e-02,
  9.27337592e-01, 1.83897911e-02, 9.06354638e-01, 2.66872044e-02,
  9.49401961e-02,-7.00078858e-02, 1.30734724e-01, 9.99329843e-01,
  1.43497445e-04,-4.63252917e-04,-3.66009528e-02]

qacc:
[ -2.8088753 , -0.35963945, -0.64350459,  8.17767355, -3.93147976,
   0.29269592, -1.55546998,  2.50966043,  5.31498393, -1.48924558,
   8.12512018,-20.41399698, -1.55382271,  2.06120062, -1.64262513,
   1.66303484,  0.91748489, -0.797869  ,  0.08074214,  9.44754068,
  15.99538913, -0.15673379]

qfrc_actuator:
[-2.68112583e-05,-3.78883342e-04,-2.71893325e-04,-7.65556414e-05,
  1.56018886e-06,-5.12561429e-04,-3.11373154e-04,-6.71571142e-05,
  2.93600931e-05,-3.44417414e-04,-3.51749476e-04,-1.20995945e-04,
  4.15273969e-02,-9.69438582e-04, 3.75916173e-02,-3.44617460e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45381619,  1.78601458, -4.08002826,  1.78601458, 18.04676491,
        5.95025403, -4.08002826,  5.95025403,  7.05851395,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002719126775952846
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08295608, -0.05727815,  0.0619916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.66123140e-05, 2.69389848e-05, 3.69711079e-05, 2.72865386e-05,
 -2.32046295e-05,-3.16194603e-05,-1.75346739e-05,-4.24422750e-07,
  3.12435811e-05,-2.02780159e-05,-9.33280226e-06,-3.80011146e-05,
 -2.90064640e-04,-6.56591379e-05,-1.88336774e-04,-4.61371013e-05,
  3.82261289e-06,-8.83818540e-07,-1.21644346e+00,-1.78594849e-03,
 -3.01498612e-04, 1.41295036e-06]


--- Step 521 ---
qpos:
[ 2.89116349e-03,-5.61878499e-03,-1.02003729e-02, 2.79020041e-03,
 -4.45061287e-03,-5.18641030e-03,-1.77344205e-02, 5.16919042e-03,
 -4.73485551e-03,-3.93482707e-03,-7.78786729e-03,-1.91266756e-02,
  9.28243144e-01, 1.83902716e-02, 9.07382237e-01, 2.66798111e-02,
  9.49539511e-02,-7.00065975e-02, 1.30736159e-01, 9.99327075e-01,
  1.23076251e-04,-3.60579926e-04,-3.66776668e-02]

qacc:
[ 4.37956689e+00,-1.65639983e+00, 4.28697247e+00, 1.50609027e-01,
 -2.40957123e+00,-9.31727972e-01, 6.25372486e+00,-1.81158198e+01,
 -2.78205926e+00,-1.92642072e+00, 4.65601704e+00,-9.21125387e-01,
 -1.63053578e+00, 2.37261658e+00,-1.68201265e+00, 1.27945332e+00,
  9.22560297e-01,-7.83423434e-01,-3.35101035e-03, 9.45009074e+00,
  1.56873590e+01,-2.38256770e-01]

qfrc_actuator:
[-7.29524919e-07,-3.94136766e-04,-2.36660645e-04,-6.11710472e-05,
 -1.19537373e-05,-5.05188317e-04,-3.18567474e-04,-1.02256434e-04,
  1.19258403e-05,-3.90498386e-04,-3.26262867e-04,-1.08667866e-04,
  4.14498420e-02,-9.43094742e-04, 3.74831467e-02,-3.47159226e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44736615,  1.71172574, -4.10476074,  1.71172574, 23.63035644,
        7.99949629, -4.10476074,  7.99949629,  7.78323506,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000269662697310033
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.05854024e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.05854024e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08295757, -0.0572767 ,  0.06199167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.56158717e-05, 8.63490492e-06, 4.63094497e-05, 1.83529918e-05,
 -1.41894543e-05,-1.39396027e-05,-1.58985112e-05,-3.70685321e-05,
 -1.65488921e-05,-6.09449677e-05, 1.88549027e-05, 1.04002540e-05,
 -2.69573134e-04,-4.88765987e-05,-2.11458436e-04,-5.47111790e-05,
  2.55919459e-06,-3.07999474e-06,-1.21644423e+00,-1.78578759e-03,
 -3.01927392e-04, 9.96454028e-07]


--- Step 522 ---
qpos:
[ 2.89187363e-03,-5.61943659e-03,-1.01998214e-02, 2.79046228e-03,
 -4.45065921e-03,-5.18718371e-03,-1.77344272e-02, 5.16834910e-03,
 -4.73552024e-03,-3.93535862e-03,-7.78945066e-03,-1.91262240e-02,
  9.29147041e-01, 1.83907475e-02, 9.08407367e-01, 2.66727629e-02,
  9.49714126e-02,-7.00083968e-02, 1.30737299e-01, 9.99324274e-01,
  1.22674717e-04,-2.27729989e-04,-3.67549700e-02]

qacc:
[-0.31832999,-1.00427202, 2.61111113, 0.09896159, 1.59906522, 0.10350542,
  1.12400907,-7.312841  ,-1.80615478, 1.5653487 ,-7.54632656,15.96633624,
 -1.05998098, 1.13977241,-4.61922106,11.05606759, 0.92664437,-0.77189392,
 -0.07362539, 9.44957981,15.44541503,-0.30048244]

qfrc_actuator:
[-3.43106500e-06,-4.02978515e-04,-2.16011708e-04,-5.21585103e-05,
 -2.05174695e-06,-5.18228858e-04,-3.40665954e-04,-1.22715606e-04,
  1.84159966e-06,-3.64302349e-04,-3.28521105e-04,-8.36578929e-05,
  4.13708097e-02,-9.45469436e-04, 3.73811957e-02,-3.44806472e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4374759 ,  1.61788022, -4.13202806,  1.61788022, 30.93242813,
       10.37400001, -4.13202806, 10.37400001,  8.49937702,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002661639969488844
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.08559955e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.08559955e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08295843, -0.05727524,  0.06199178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.96728644e-06, 6.36529640e-06, 2.87756456e-05, 1.13419468e-05,
  9.49253370e-06,-2.56909270e-05,-2.82137034e-05,-2.23258031e-05,
 -1.05823767e-05,-3.51628451e-06,-1.21415093e-05, 2.32596992e-05,
 -2.55231516e-04,-6.96097634e-05,-2.15187320e-04,-8.91088393e-06,
  1.02021673e-06,-5.07363915e-06,-1.21644705e+00,-1.78591123e-03,
 -3.02832671e-04, 7.87330367e-07]


--- Step 523 ---
qpos:
[ 2.89254599e-03,-5.61989074e-03,-1.01993792e-02, 2.79083595e-03,
 -4.45058683e-03,-5.18786398e-03,-1.77345373e-02, 5.16722653e-03,
 -4.73595620e-03,-3.93570116e-03,-7.79089242e-03,-1.91255261e-02,
  9.30049221e-01, 1.83914940e-02, 9.09430013e-01, 2.66669601e-02,
  9.49890029e-02,-7.00081196e-02, 1.30739656e-01, 9.99321456e-01,
  1.08987056e-04,-9.69824710e-05,-3.68321427e-02]

qacc:
[-0.33713286, 0.79761977,-2.93609813, 4.8993479 , 1.03032048,-0.169181  ,
  1.96564467,-6.73284581, 2.00411783, 0.35722683,-1.95587238, 5.85545709,
 -1.28881053, 1.72993276,-7.339514  ,20.60761024, 0.03219769, 0.51913897,
  0.30414364,-6.59992163,-1.29465934, 0.06651031]

qfrc_actuator:
[-5.31310411e-06,-3.90226816e-04,-2.21877872e-04,-4.69739676e-05,
  3.79725545e-06,-4.90184027e-04,-3.35945833e-04,-1.34416817e-04,
  1.39329213e-05,-3.30619062e-04,-3.11361367e-04,-6.91131000e-05,
  4.12909395e-02,-9.29329328e-04, 3.72832537e-02,-3.37807816e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4258238 ,  2.320249  , -3.76886733,  2.320249  , 15.89420411,
        7.06034349, -3.76886733,  7.06034349,  8.77242279,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002619634926560914
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.19944381e-07,  8.62929986e-14,  1.00000000e+00, -5.34968596e-20,
        1.00000000e+00, -8.62929986e-14, -1.00000000e+00,  0.00000000e+00,
        6.19944381e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09487067, -0.07568832,  0.0619919 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93623217e-06, 2.27546094e-05,-6.14527583e-07, 6.67334644e-06,
  6.11423348e-06, 6.92799225e-06,-4.82381746e-06,-1.42096249e-05,
  1.17841971e-05, 3.02363115e-05, 1.57663168e-05, 1.44310142e-05,
 -2.51941360e-04,-5.18974069e-05,-2.06973274e-04, 3.97982392e-05,
 -7.95057999e-07,-6.88185193e-06,-1.21645186e+00,-1.78632322e-03,
 -3.04203042e-04, 7.78161895e-07]


--- Step 524 ---
qpos:
[ 2.89319057e-03,-5.62009835e-03,-1.01993149e-02, 2.79128138e-03,
 -4.45044490e-03,-5.18843987e-03,-1.77343413e-02, 5.16559631e-03,
 -4.73624369e-03,-3.93638753e-03,-7.79132647e-03,-1.91246514e-02,
  9.30949859e-01, 1.83921309e-02, 9.10450505e-01, 2.66622437e-02,
  9.50032003e-02,-7.00009809e-02, 1.30740812e-01, 9.99318596e-01,
  5.07933919e-05, 7.83584271e-07,-3.69099113e-02]

qacc:
[ -0.25905948,  1.52995726, -5.28443018,  6.94830642,  0.61409838,
  -1.76317492,  8.62824512,-17.97889279,  1.33752744, -2.90972319,
   8.96371317, -7.25539259, -0.85443136,  0.74231943, -6.41928654,
  17.97713224, -0.84820747,  1.71536276, -0.30021778,-21.63053961,
 -17.29920178, -0.29454317]

qfrc_actuator:
[-6.68861082e-06,-3.82512597e-04,-2.43261413e-04,-4.40797836e-05,
  7.20647773e-06,-4.73140903e-04,-3.15255086e-04,-1.58572395e-04,
  2.12248398e-05,-3.63643365e-04,-2.65068523e-04,-6.08130935e-05,
  4.12159573e-02,-9.37858718e-04, 3.72037848e-02,-3.31675958e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42740898,  2.40992321, -3.71405714,  2.40992321,  8.4722379 ,
        2.62454958, -3.71405714,  2.62454958,  6.13038842,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026254007256962253
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12326849e-13, -2.11438775e-13,  1.00000000e+00,  2.37502513e-26,
        1.00000000e+00,  2.11438775e-13, -1.00000000e+00,  0.00000000e+00,
        1.12326849e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10677051, -0.09409339,  0.06199189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.42224802e-06, 2.06052749e-05,-1.65294736e-05, 3.97690570e-06,
  3.58770623e-06, 1.93427161e-05, 2.10472681e-05,-2.42982263e-05,
  7.63533182e-06,-1.22114462e-05, 5.49974416e-05, 1.04232011e-05,
 -2.40764644e-04,-7.26107129e-05,-1.79572718e-04, 3.48362117e-05,
  3.34904083e-07,-6.79587749e-06,-1.21645158e+00,-1.78599823e-03,
 -3.06649346e-04,-1.24165439e-07]


--- Step 525 ---
qpos:
[ 2.89312391e-03,-5.62022500e-03,-1.01991737e-02, 2.79174791e-03,
 -4.45026303e-03,-5.18903446e-03,-1.77338630e-02, 5.16405191e-03,
 -4.73644124e-03,-3.93763534e-03,-7.79098600e-03,-1.91239845e-02,
  9.31849042e-01, 1.83926305e-02, 9.11468685e-01, 2.66579431e-02,
  9.50139653e-02,-6.99871014e-02, 1.30740419e-01, 9.99315677e-01,
 -5.18369594e-05, 6.64506254e-05,-3.69887951e-02]

qacc:
[ -6.22033481, -0.05199101,  0.27257541, -0.11243409,  0.35739429,
  -0.63741822,  1.87363593, -0.82516626,  0.82106489, -3.33681289,
  11.69229856,-16.10450683, -0.7988699 ,  0.66000225, -4.62491157,
  11.35112571, -0.85810888,  1.68519144, -0.38715878,-21.61081617,
 -16.85867628, -0.55756003]

qfrc_actuator:
[-4.32603389e-05,-3.77948948e-04,-2.38138008e-04,-4.25645096e-05,
  9.15350206e-06,-4.80499931e-04,-3.03102624e-04,-1.54356436e-04,
  2.56258925e-05,-4.18482367e-04,-2.37723827e-04,-7.40416829e-05,
  4.11492799e-02,-9.43165453e-04, 3.70928531e-02,-3.29648647e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42347351, -2.08144529,  3.90316582, -2.08144529, 13.60422113,
        4.89582681,  3.90316582,  4.89582681,  7.03427616,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002611055788872829
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.97938633e-14, -6.37801208e-13,  1.00000000e+00,  3.81365982e-26,
        1.00000000e+00,  6.37801208e-13, -1.00000000e+00,  0.00000000e+00,
        5.97938633e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10676749, -0.09409616,  0.06199193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.66041833e-05, 1.28455006e-05, 7.48126934e-06, 1.90282651e-06,
  2.05678699e-06, 6.78703157e-06, 1.79075009e-05, 5.30448874e-06,
  4.60973456e-06,-4.98321240e-05, 3.19672995e-05,-1.16455972e-05,
 -2.29938024e-04,-7.10743200e-05,-2.00119192e-04,-3.23552267e-06,
  4.01815163e-06,-4.48857342e-06,-1.21644858e+00,-1.78452780e-03,
 -3.09637534e-04,-1.41195669e-06]


--- Step 526 ---
qpos:
[ 2.89261969e-03,-5.62066476e-03,-1.01985074e-02, 2.79224863e-03,
 -4.45005920e-03,-5.18958726e-03,-1.77335379e-02, 5.16293812e-03,
 -4.73658449e-03,-3.93938679e-03,-7.79025806e-03,-1.91234609e-02,
  9.32746678e-01, 1.83933516e-02, 9.12484086e-01, 2.66549260e-02,
  9.50226497e-02,-6.99790138e-02, 1.30740745e-01, 9.99312857e-01,
 -1.11117157e-04, 1.25040464e-04,-3.70646219e-02]

qacc:
[-3.80561924,-1.8038793 , 5.69996313,-5.73182087, 0.18641357, 1.36901175,
 -6.61989881,14.28789536, 0.49609868,-2.04485492, 6.92635994,-9.64857772,
 -1.09742558, 1.42346122,-7.91030148,21.92602743,-0.52015796,-1.44795415,
  0.17966786,21.79103355,-2.73452725, 1.53060866]

qfrc_actuator:
[-6.47499659e-05,-4.10713941e-04,-2.17413866e-04,-4.18546191e-05,
  1.02250150e-05,-4.84666292e-04,-3.13924486e-04,-1.33507958e-04,
  2.82915906e-05,-4.50549785e-04,-2.21917905e-04,-8.21208973e-05,
  4.10769815e-02,-9.28714246e-04, 3.69631355e-02,-3.22959389e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42437973, -0.74356333,  4.3614504 , -0.74356333, 21.06517728,
        2.83701193,  4.3614504 ,  2.83701193,  4.90804866,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026143680154054605
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.30827631e-14,  1.06165526e-13,  1.00000000e+00,  5.63555948e-27,
        1.00000000e+00, -1.06165526e-13, -1.00000000e+00,  0.00000000e+00,
       -5.30827631e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10012546, -0.04654596,  0.06199192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.25315586e-05,-2.39655853e-05, 2.43651609e-05, 1.55665360e-06,
  1.13190113e-06, 3.57509902e-06,-7.02572545e-06, 2.18658618e-05,
  2.77566867e-06,-5.37886768e-05, 9.05642016e-06,-9.33370361e-06,
 -2.29070842e-04,-4.83941897e-05,-2.31546352e-04, 3.88573249e-05,
  7.23067452e-06,-1.40840796e-06,-1.21645041e+00,-1.78240323e-03,
 -3.12163372e-04,-1.88917289e-06]


--- Step 527 ---
qpos:
[ 2.89220640e-03,-5.62144714e-03,-1.01972288e-02, 2.79240669e-03,
 -4.44949932e-03,-5.18990420e-03,-1.77337064e-02, 5.16208180e-03,
 -4.73635001e-03,-3.94130936e-03,-7.78974015e-03,-1.91230392e-02,
  9.33642894e-01, 1.83934809e-02, 9.13497235e-01, 2.66525789e-02,
  9.50293713e-02,-6.99766548e-02, 1.30741266e-01, 9.99310129e-01,
 -1.27699410e-04, 1.75958386e-04,-3.71378234e-02]

qacc:
[  0.82028408, -2.87113548, 11.02374919,-17.67789901,  3.08568126,
   2.2149513 , -8.54327005, 13.62799469,  3.30318647,  0.14443257,
  -0.42420562, -0.86592414, -0.36061954, -0.44946913, -5.36062231,
  13.92060861, -0.4907011 , -1.43216257,  0.04892578, 21.47632243,
  -3.04218285,  1.31567109]

qfrc_actuator:
[-5.94268822e-05,-4.30009165e-04,-1.87808403e-04,-5.94021132e-05,
  2.85258330e-05,-4.69217437e-04,-3.38208440e-04,-1.20811717e-04,
  4.76683600e-05,-4.51034839e-04,-2.30710646e-04,-8.70919404e-05,
  4.09853937e-02,-9.73722842e-04, 3.68808553e-02,-3.18902163e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43260803, -0.96332555, -4.32666359, -0.96332555, 13.3576297 ,
       -1.9871435 , -4.32666359, -1.9871435 ,  4.87504273,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026441971114207763
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.09935753e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.09935753e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10012911, -0.04654751,  0.06199183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.67030452e-06,-2.75965688e-05, 2.77078745e-05,-1.77015073e-05,
  1.83338879e-05, 1.69528893e-05,-2.36491879e-05, 1.30348275e-05,
  1.94325843e-05,-2.90383159e-05,-1.90994050e-05,-7.14198071e-06,
 -2.43029882e-04,-1.03157469e-04,-1.92157973e-04, 1.12381512e-05,
  3.83751813e-06,-1.99779741e-06,-1.21644449e+00,-1.78134887e-03,
 -3.11385849e-04,-1.35504816e-06]


--- Step 528 ---
qpos:
[ 2.89254931e-03,-5.62192492e-03,-1.01961401e-02, 2.79232533e-03,
 -4.44872463e-03,-5.18980678e-03,-1.77340063e-02, 5.16133582e-03,
 -4.73623019e-03,-3.94325627e-03,-7.78968022e-03,-1.91230274e-02,
  9.34537346e-01, 1.83937529e-02, 9.14508222e-01, 2.66496762e-02,
  9.50342241e-02,-6.99799718e-02, 1.30741545e-01, 9.99307486e-01,
 -1.02118042e-04, 2.18742727e-04,-3.72087395e-02]

qacc:
[ 6.60333491, 0.42685179, 0.05035484,-4.09023986, 1.86222543, 1.13760988,
 -3.73401721, 5.55602699,-1.01802207, 0.40571472, 0.23833032,-6.58086736,
 -1.34900483, 1.7059634 ,-1.40157938, 0.54328022,-0.46719225,-1.41901796,
 -0.06081091,21.21810233,-3.28120509, 1.14664593]

qfrc_actuator:
[-2.06170148e-05,-3.87809881e-04,-1.88676457e-04,-6.97882336e-05,
  3.90687489e-05,-4.24457598e-04,-3.34662493e-04,-1.13005934e-04,
  4.12213563e-05,-4.50454165e-04,-2.53820069e-04,-1.07934698e-04,
  4.08929281e-02,-9.64919354e-04, 3.67791581e-02,-3.21739925e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43454938, -1.03260772, -4.31264994, -1.03260772, 17.58253214,
       -3.1481128 , -4.31264994, -3.1481128 ,  5.18832389,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002651171419478099
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.09383485e-13,  1.04691743e-13,  1.00000000e+00, -2.19207220e-26,
        1.00000000e+00, -1.04691743e-13, -1.00000000e+00,  0.00000000e+00,
        2.09383485e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10013213, -0.04654815,  0.06199181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.89344814e-05, 3.17480209e-05,-3.77388914e-06,-1.09558569e-05,
  1.10748338e-05, 4.99353946e-05, 4.59220302e-06, 7.96966216e-06,
 -5.90660741e-06,-1.98379627e-05,-3.16915808e-05,-2.28847748e-05,
 -2.64082021e-04,-6.33808455e-05,-1.98473366e-04,-5.46399512e-05,
  8.31970794e-07,-1.92706079e-06,-1.21644152e+00,-1.78095266e-03,
 -3.10667405e-04,-9.08136411e-07]


--- Step 529 ---
qpos:
[ 2.89335482e-03,-5.62201661e-03,-1.01960206e-02, 2.79285424e-03,
 -4.44782907e-03,-5.18982246e-03,-1.77337739e-02, 5.16071060e-03,
 -4.73618866e-03,-3.94507991e-03,-7.78999185e-03,-1.91236359e-02,
  9.35430096e-01, 1.83941223e-02, 9.15516822e-01, 2.66454332e-02,
  9.50372832e-02,-6.99889217e-02, 1.30741212e-01, 9.99304915e-01,
 -3.48074070e-05, 2.53035119e-04,-3.72776376e-02]

qacc:
[  4.00983138,  4.46852491,-17.78181107, 29.62402984,  1.07274977,
  -1.38977362,  4.22547035, -2.90017011, -0.69944367, -0.07483527,
   3.12021904,-13.34602006, -1.29922807,  1.60932468,  0.63705084,
  -7.08382093, -0.44845022, -1.40819175, -0.15279376, 21.0079553 ,
  -3.46679881,  1.01381425]

qfrc_actuator:
[ 2.07802125e-06,-3.80234587e-04,-2.42776864e-04,-4.03384499e-05,
  4.49557383e-05,-4.51147174e-04,-3.14583603e-04,-1.08090269e-04,
  3.73740257e-05,-4.31559761e-04,-2.67434900e-04,-1.37951790e-04,
  4.08106696e-02,-9.59831648e-04, 3.66605578e-02,-3.28618936e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43141615, -1.11869596, -4.28788625, -1.11869596, 23.00397153,
       -4.84552097, -4.28788625, -4.84552097,  5.69559726,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026399034111095065
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.10277206e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.10277206e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10013465, -0.04654808,  0.06199184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.38199408e-05, 2.40971586e-05,-4.83954469e-05, 3.04633805e-05,
  6.22138788e-06, 2.52945790e-06, 3.12380267e-05, 7.37084960e-06,
 -4.02680387e-06, 3.43479445e-07,-2.23848233e-05,-3.24042649e-05,
 -2.57816174e-04,-6.41063190e-05,-2.26223593e-04,-9.96551273e-05,
 -1.83044828e-06,-1.23035017e-06,-1.21644142e+00,-1.78120765e-03,
 -3.09970934e-04,-5.61237159e-07]


--- Step 530 ---
qpos:
[ 2.89373703e-03,-5.62231211e-03,-1.01960636e-02, 2.79409781e-03,
 -4.44721462e-03,-5.18990407e-03,-1.77335387e-02, 5.16018052e-03,
 -4.73584896e-03,-3.94664329e-03,-7.79060535e-03,-1.91242770e-02,
  9.36321137e-01, 1.83945836e-02, 9.16523103e-01, 2.66393024e-02,
  9.50369482e-02,-6.99910716e-02, 1.30740410e-01, 9.99302309e-01,
 -1.39339153e-05, 2.53430427e-04,-3.73474291e-02]

qacc:
[ -3.70387485,  1.66410845, -9.32827642, 22.09263461, -2.45030044,
   0.10585241, -0.89722199,  2.57905988,  2.59637109,  1.1154709 ,
  -3.34881729,  3.08379947, -1.33987713,  1.67139989,  2.40329694,
 -13.10051812, -0.84848981,  1.69997184, -0.11730233,-22.57051899,
 -17.8022749 , -0.45354481]

qfrc_actuator:
[-2.04099860e-05,-4.11389659e-04,-2.56950691e-04,-5.49367633e-06,
  3.03045510e-05,-4.67086786e-04,-3.20701216e-04,-1.04963242e-04,
  5.28486156e-05,-4.01815002e-04,-2.75256211e-04,-1.37593864e-04,
  4.07239415e-02,-9.56985243e-04, 3.65585428e-02,-3.37821989e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42876292,  0.46457767, -4.4043284 ,  0.46457767, 24.4555133 ,
        2.11246303, -4.4043284 ,  2.11246303,  4.65158989,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026303125005415484
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.22087879e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.22087879e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10674839, -0.09410245,  0.06199187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.17980437e-05,-2.63645930e-05,-1.41066074e-05, 3.47931370e-05,
 -1.44735185e-05,-7.75580006e-06,-1.49333889e-06, 4.46056068e-06,
  1.53557517e-05, 2.39954311e-05,-1.16019556e-05,-1.02647082e-06,
 -2.59183254e-04,-6.48314949e-05,-2.26055220e-04,-1.28657181e-04,
 -4.18286733e-06, 6.84172716e-08,-1.21644412e+00,-1.78210797e-03,
 -3.09268954e-04,-3.22789074e-07]


--- Step 531 ---
qpos:
[ 2.89419181e-03,-5.62277142e-03,-1.01959786e-02, 2.79537871e-03,
 -4.44747036e-03,-5.18991581e-03,-1.77334029e-02, 5.15933678e-03,
 -4.73601629e-03,-3.94811718e-03,-7.79129300e-03,-1.91245578e-02,
  9.37210295e-01, 1.83959311e-02, 9.17527040e-01, 2.66306987e-02,
  9.50331763e-02,-6.99865242e-02, 1.30738674e-01, 9.99299655e-01,
 -3.90550186e-05, 2.20976036e-04,-3.74185643e-02]

qacc:
[  0.64154534, -0.4990481 ,  1.30550025, -0.74144633, -7.59318611,
  -0.26114576,  2.41492097, -7.76401074, -4.44250701,  1.0765239 ,
  -5.16997272, 11.43626027, -2.20256575,  3.71712171,  4.23679507,
 -19.32304195, -0.85923804,  1.67433374, -0.23348086,-22.36765672,
 -17.27226467, -0.67830485]

qfrc_actuator:
[-1.60490644e-05,-4.12089580e-04,-2.47587589e-04,-3.26566517e-06,
 -1.40685343e-05,-4.58825720e-04,-3.24467501e-04,-1.20684712e-04,
  2.63133252e-05,-4.01251569e-04,-2.79522486e-04,-1.19350451e-04,
  4.06452453e-02,-9.02259154e-04, 3.64505812e-02,-3.50086379e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43376142, -0.63849626,  4.38754634, -0.63849626, 13.64797742,
        1.3408958 ,  4.38754634,  1.3408958 ,  4.62889485,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002648343541442749
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.58515451e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.58515451e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10674441, -0.09410266,  0.06199182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.72855856e-06,-1.68665081e-05, 3.38535082e-06, 1.28624948e-06,
 -4.47908404e-05, 3.80308281e-06,-5.39785364e-06,-1.60171822e-05,
 -2.60935895e-05, 1.16129302e-05,-7.48013903e-07, 1.88553381e-05,
 -2.52167736e-04,-1.34097702e-05,-2.35295145e-04,-1.60890975e-04,
 -1.22085716e-06, 9.95809215e-07,-1.21644037e+00,-1.78193269e-03,
 -3.10669942e-04,-9.09658037e-07]


--- Step 532 ---
qpos:
[ 2.89469478e-03,-5.62290203e-03,-1.01962471e-02, 2.79595532e-03,
 -4.44791111e-03,-5.19009222e-03,-1.77329447e-02, 5.15831214e-03,
 -4.73615538e-03,-3.94960633e-03,-7.79169769e-03,-1.91246291e-02,
  9.38097724e-01, 1.83981647e-02, 9.18528776e-01, 2.66228170e-02,
  9.50264638e-02,-6.99814186e-02, 1.30738458e-01, 9.99296993e-01,
 -6.70404396e-05, 1.67747172e-04,-3.74898338e-02]

qacc:
[  0.40451533, -0.0285601 ,  3.70358716,-15.5671687 , -1.60074888,
  -1.48724327,  5.75658658, -9.28830152,  0.25651283, -0.380104  ,
   0.44180396,  2.74127782, -1.88903162,  3.23013117, -5.25877228,
  14.12375728, -0.73515912,  0.1395574 ,  0.37997622, -1.0424657 ,
 -10.43354694, -0.06796471]

qfrc_actuator:
[-1.36579580e-05,-3.76722260e-04,-2.59833287e-04,-3.79688876e-05,
 -2.23153521e-05,-4.71658933e-04,-3.08969387e-04,-1.29591894e-04,
  2.85159368e-05,-4.00377657e-04,-2.64010064e-04,-1.08508276e-04,
  4.05767711e-02,-8.52741561e-04, 3.63977213e-02,-3.44525644e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43206246, -0.5992773 ,  4.39136019, -0.5992773 , 19.40122321,
        2.04280172,  4.39136019,  2.04280172,  4.7108382 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002642232821633305
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.62614780e-14, -7.80045941e-07,  1.00000000e+00,  2.04851593e-20,
        1.00000000e+00,  7.80045941e-07, -1.00000000e+00, -3.00926554e-36,
        2.62614780e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10344   , -0.07030756,  0.06199184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.49271426e-06, 2.67025539e-05,-1.52672077e-05,-3.52859818e-05,
 -9.52865905e-06,-1.25226305e-05, 1.50666246e-05,-9.23931826e-06,
  1.45531604e-06, 8.07318695e-06, 1.84980132e-05, 1.16872355e-05,
 -2.26313139e-04,-6.97485944e-06,-1.88013326e-04, 1.43964439e-05,
  1.19798890e-06, 2.81688836e-06,-1.21644169e+00,-1.78106694e-03,
 -3.11579477e-04,-6.17762217e-07]


--- Step 533 ---
qpos:
[ 2.89487779e-03,-5.62296443e-03,-1.01963393e-02, 2.79645334e-03,
 -4.44775809e-03,-5.19024472e-03,-1.77323695e-02, 5.15717857e-03,
 -4.73592291e-03,-3.95059087e-03,-7.79157997e-03,-1.91246542e-02,
  9.38983656e-01, 1.84007122e-02, 9.19528702e-01, 2.66177914e-02,
  9.50178048e-02,-6.99820878e-02, 1.30738097e-01, 9.99294420e-01,
 -5.31874272e-05, 1.06855838e-04,-3.75585987e-02]

qacc:
[ -2.79453817, -0.55907023,  2.46533141, -4.16773287,  5.18136078,
  -0.52966225,  2.37685873, -4.44820585,  3.26061334, -0.70466439,
   3.27362044, -3.66810095, -1.09808761,  1.50540569,-11.23977019,
  35.65455226, -0.48662081, -1.44369178, -0.03637982, 21.04793571,
  -3.0443758 ,  1.25631282]

qfrc_actuator:
[-3.02060371e-05,-3.73399477e-04,-2.49108484e-04,-4.08462538e-05,
  8.52913237e-06,-4.61436874e-04,-3.00047186e-04,-1.34417811e-04,
  4.76288253e-05,-3.28237969e-04,-2.19205247e-04,-1.02100137e-04,
  4.05038326e-02,-8.42208766e-04, 3.63620163e-02,-3.28490418e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43417676, -0.68084147,  4.38159542, -0.68084147, 12.51289433,
        1.25532492,  4.38159542,  1.25532492,  4.6292375 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026498346107743653
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.14233675e-13,  1.04744558e-13,  1.00000000e+00, -3.29142675e-26,
        1.00000000e+00, -1.04744558e-13, -1.00000000e+00,  0.00000000e+00,
        3.14233675e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10014718, -0.04654819,  0.06199181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64648562e-05, 1.35953218e-05, 1.31416431e-05,-2.94893566e-06,
  3.05667263e-05, 5.93560367e-06, 7.87133452e-06,-5.01881703e-06,
  1.91508885e-05, 8.10341965e-05, 4.91770003e-05, 7.62572821e-06,
 -2.12502482e-04,-3.94888108e-05,-1.30885982e-04, 1.34677708e-04,
  1.23765932e-06, 4.02066852e-06,-1.21644346e+00,-1.78037163e-03,
 -3.10823408e-04,-2.86825113e-07]


--- Step 534 ---
qpos:
[ 2.89486120e-03,-5.62313464e-03,-1.01962326e-02, 2.79727926e-03,
 -4.44792654e-03,-5.19017185e-03,-1.77317874e-02, 5.15597732e-03,
 -4.73580826e-03,-3.95091338e-03,-7.79100879e-03,-1.91246193e-02,
  9.39868179e-01, 1.84034000e-02, 9.20527160e-01, 2.66133209e-02,
  9.50072852e-02,-6.99884674e-02, 1.30737204e-01, 9.99291921e-01,
  2.14255870e-06, 3.78117451e-05,-3.76251890e-02]

qacc:
[-1.73755323e+00,-1.97170451e-02,-1.51460777e+00, 6.94417501e+00,
 -2.80715302e+00, 1.44692031e-01, 2.11359867e-01,-1.56948387e+00,
 -1.02849924e+00,-2.66661055e-01, 1.96948919e+00,-2.14358237e+00,
 -1.05292749e+00, 1.32959332e+00,-3.76422385e+00, 1.02352053e+01,
 -4.65144303e-01,-1.42761802e+00,-1.32785434e-01, 2.08768430e+01,
 -3.29465634e+00, 1.08991419e+00]

qfrc_actuator:
[-4.00161027e-05,-3.89174403e-04,-2.42742507e-04,-2.49720954e-05,
 -8.88690952e-06,-4.37504346e-04,-2.94994148e-04,-1.36794573e-04,
  4.10280025e-05,-2.84863096e-04,-1.92682884e-04,-9.82728551e-05,
  4.04335825e-02,-8.37096468e-04, 3.62940423e-02,-3.25940670e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43191385, -0.12085831, -4.43026564, -0.12085831, 20.51377297,
       -0.43871552, -4.43026564, -0.43871552,  4.44388207,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026416974342693966
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.57600802e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.57600802e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10015025, -0.04654771,  0.06199184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02761240e-05,-5.58833389e-06, 1.06920429e-05, 1.68539051e-05,
 -1.65378000e-05, 2.86744502e-05, 7.07133395e-06,-1.94741704e-06,
 -6.03094266e-06, 9.92142555e-05, 4.95896743e-05, 9.14876984e-06,
 -2.07591083e-04,-4.87474849e-05,-1.25430840e-04, 1.34010168e-05,
 -6.39892530e-07, 4.16835223e-06,-1.21644383e+00,-1.78057657e-03,
 -3.08578413e-04,-6.48777810e-07]


--- Step 535 ---
qpos:
[ 2.89438213e-03,-5.62341496e-03,-1.01960159e-02, 2.79829569e-03,
 -4.44864691e-03,-5.19003174e-03,-1.77311083e-02, 5.15511619e-03,
 -4.73611783e-03,-3.95110236e-03,-7.79042229e-03,-1.91240943e-02,
  9.40751325e-01, 1.84059194e-02, 9.21523882e-01, 2.66101626e-02,
  9.49933567e-02,-6.99881817e-02, 1.30735342e-01, 9.99289364e-01,
  1.13732735e-05,-6.43388029e-05,-3.76930139e-02]

qacc:
[ -4.04003039, -0.05272726, -0.8136343 ,  4.0009961 , -4.81106358,
   0.52732592, -3.17085433,  8.83521747, -3.71540671,  1.15037834,
  -5.89820843, 14.23515694, -0.69345037,  0.47776724, -6.49939204,
  19.11758316, -0.85223025,  1.66634575, -0.24221426,-22.41047293,
 -17.40875371, -0.61875961]

qfrc_actuator:
[-6.35283887e-05,-3.98506589e-04,-2.39084948e-04,-1.59747059e-05,
 -3.68289036e-05,-4.41061830e-04,-2.92199286e-04,-1.19946900e-04,
  1.93397079e-05,-3.30116922e-04,-2.12775280e-04,-7.82738968e-05,
  4.03543399e-02,-8.52940999e-04, 3.62227184e-02,-3.18939524e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4296195 ,  0.52569623, -4.39831472,  0.52569623, 22.77168112,
        2.19228346, -4.39831472,  2.19228346,  4.69164603,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002633413817221264
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05397699e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.05397699e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10673132, -0.09410606,  0.06199186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.38088068e-05,-9.52699759e-06, 4.40276656e-06, 9.45469540e-06,
 -2.84062944e-05, 1.38416538e-05, 9.51687709e-06, 1.82849521e-05,
 -2.18287093e-05, 2.08636381e-05, 6.82112093e-06, 2.61413505e-05,
 -2.15974661e-04,-7.02883460e-05,-1.40526236e-04, 5.16814896e-05,
 -2.21387502e-06, 4.94597242e-06,-1.21644703e+00,-1.78141500e-03,
 -3.06337138e-04,-1.10085793e-06]


--- Step 536 ---
qpos:
[ 2.89396992e-03,-5.62401635e-03,-1.01953624e-02, 2.79941670e-03,
 -4.44900696e-03,-5.18986903e-03,-1.77303782e-02, 5.15481809e-03,
 -4.73633997e-03,-3.95124986e-03,-7.78998652e-03,-1.91229635e-02,
  9.41633176e-01, 1.84077347e-02, 9.22518449e-01, 2.66098594e-02,
  9.49794696e-02,-6.99861487e-02, 1.30735333e-01, 9.99286790e-01,
  6.29198926e-06,-1.67610402e-04,-3.77608753e-02]

qacc:
[ 6.04052394e-01,-1.43112176e+00, 4.04356234e+00,-2.69381376e+00,
  3.14375765e+00, 1.04024483e+00,-6.05334879e+00, 1.57114647e+01,
  7.60290339e-01, 1.72289075e+00,-8.61906945e+00, 1.93082935e+01,
 -3.61592156e-02,-1.04216219e+00,-1.18730951e+01, 3.68198646e+01,
  1.03604265e-02, 4.36797634e-01, 4.63120895e-01,-7.12978736e+00,
 -8.29859169e-01,-1.81008387e-02]

qfrc_actuator:
[-5.94140068e-05,-4.21680336e-04,-2.19290464e-04,-1.10971497e-05,
 -1.74695428e-05,-4.43292714e-04,-2.90852231e-04,-9.19452777e-05,
  2.44577276e-05,-3.39521105e-04,-2.25074518e-04,-4.90259026e-05,
  4.02750755e-02,-8.98859660e-04, 3.61334842e-02,-3.04039655e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42778302, -1.9737844 ,  3.96351329, -1.9737844 , 19.03980718,
        7.27662132,  3.96351329,  7.27662132,  8.05145743,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000262675886067321
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.17660304e-07, -7.69464426e-07,  1.00000000e+00,  9.05354187e-14,
        1.00000000e+00,  7.69464426e-07, -1.00000000e+00,  0.00000000e+00,
        1.17660304e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09481488, -0.07535417,  0.06199188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.43046538e-06,-2.71881779e-05, 1.86960092e-05, 4.80468788e-06,
  1.85487006e-05, 8.23734068e-06, 6.00461412e-06, 2.92811833e-05,
  4.50066431e-06, 4.78123692e-06,-6.25069009e-06, 3.08852550e-05,
 -2.25958884e-04,-1.06458127e-04,-1.60053196e-04, 1.31100855e-04,
 -4.46795691e-07, 6.25357890e-06,-1.21644947e+00,-1.78111511e-03,
 -3.06111012e-04,-7.78246705e-08]


--- Step 537 ---
qpos:
[ 2.89395485e-03,-5.62476652e-03,-1.01947515e-02, 2.79990812e-03,
 -4.44947718e-03,-5.18990227e-03,-1.77292179e-02, 5.15451450e-03,
 -4.73649932e-03,-3.95138723e-03,-7.78909757e-03,-1.91218741e-02,
  9.42513511e-01, 1.84093301e-02, 9.23510853e-01, 2.66106781e-02,
  9.49693668e-02,-6.99874910e-02, 1.30736267e-01, 9.99284205e-01,
  2.09103254e-05,-2.39442578e-04,-3.78288189e-02]

qacc:
[  3.47476405, -1.38092824,  7.28422998,-17.98987306, -0.94395827,
  -1.46991779,  4.89209933, -5.53488313,  0.56383292, -1.33998557,
   4.96923142, -6.41472532, -0.73962997,  0.45667311, -6.55215297,
  18.39090818,  0.94606396, -0.84379664,  0.23568479,  9.24918827,
  16.08043641, -0.04301218]

qfrc_actuator:
[-3.90679745e-05,-4.35151387e-04,-2.25689944e-04,-4.41870364e-05,
 -2.36787230e-05,-4.62462518e-04,-2.72614028e-04,-9.31155096e-05,
  2.75649389e-05,-3.27376876e-04,-1.97032665e-04,-5.00456392e-05,
  4.01958401e-02,-9.08961916e-04, 3.60229525e-02,-2.98809437e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43430923, -2.0710571 ,  3.92094642, -2.0710571 , 14.35138021,
        5.2382303 ,  3.92094642,  5.2382303 ,  7.20116012,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002650309952085539
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.09451544e-13, -2.09451544e-13,  1.00000000e+00,  4.38699494e-26,
        1.00000000e+00,  2.09451544e-13, -1.00000000e+00,  0.00000000e+00,
        2.09451544e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08298424, -0.05724361,  0.06199181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.04346573e-05,-2.45929295e-05,-9.54910826e-06,-3.35170249e-05,
 -5.67601744e-06,-1.20760862e-05, 2.16820607e-05,-4.16874540e-08,
  3.23657352e-06, 1.48480974e-05, 2.93218231e-05,-4.33299052e-07,
 -2.40100815e-04,-7.99980895e-05,-1.79879898e-04, 3.66771657e-05,
  4.14936555e-08, 6.32329129e-06,-1.21644960e+00,-1.78106780e-03,
 -3.04964080e-04, 6.51388298e-07]


--- Step 538 ---
qpos:
[ 2.89383881e-03,-5.62551303e-03,-1.01942975e-02, 2.79998777e-03,
 -4.45036289e-03,-5.19006798e-03,-1.77277944e-02, 5.15351233e-03,
 -4.73731002e-03,-3.95141304e-03,-7.78788560e-03,-1.91211552e-02,
  9.43391994e-01, 1.84114508e-02, 9.24501276e-01, 2.66107346e-02,
  9.49630432e-02,-6.99921166e-02, 1.30737709e-01, 9.99281607e-01,
  5.53170046e-05,-2.80487107e-04,-3.78970628e-02]

qacc:
[ -0.88845842, -0.40275269,  3.18413191,-10.06521928, -3.61341688,
  -2.34165627, 11.0571575 ,-23.48566102, -5.69427446, -1.50755964,
   7.16895894,-14.19258205, -1.77421865,  2.67950274, -0.45844517,
  -2.24458123,  0.94479596, -0.82084886,  0.12703101,  9.30472334,
  15.757085  , -0.15301048]

qfrc_actuator:
[-4.48452493e-05,-4.25092047e-04,-2.29748407e-04,-6.38597805e-05,
 -4.49026770e-05,-4.73833528e-04,-2.62393288e-04,-1.29198189e-04,
 -6.04994298e-06,-3.20041467e-04,-1.80835037e-04,-6.88209648e-05,
  4.01007114e-02,-8.80024243e-04, 3.59263495e-02,-3.02872418e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43571356,  3.11908994, -3.15385997,  3.11908994, 13.50695775,
        8.97123742, -3.15385997,  8.97123742, 13.30804673,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026553422722905284
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04527299e-13, -4.18109197e-13,  1.00000000e+00,  4.37038251e-26,
        1.00000000e+00,  4.18109197e-13, -1.00000000e+00,  0.00000000e+00,
        1.04527299e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0829859 , -0.05724177,  0.06199179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.19836827e-06,-7.07550934e-06,-1.14746140e-05,-2.17108901e-05,
 -2.13917596e-05,-1.36609983e-05, 1.03836547e-05,-3.58521583e-05,
 -3.35177494e-05, 2.16688272e-05, 2.28492454e-05,-1.71376609e-05,
 -2.59023903e-04,-3.87557906e-05,-1.85421782e-04,-6.40185021e-05,
 -6.41138180e-07, 4.68858895e-06,-1.21644510e+00,-1.78177074e-03,
 -3.03307948e-04, 5.66731175e-07]


--- Step 539 ---
qpos:
[ 2.89399967e-03,-5.62640305e-03,-1.01938778e-02, 2.80018656e-03,
 -4.45115144e-03,-5.19005888e-03,-1.77269615e-02, 5.15245102e-03,
 -4.73782744e-03,-3.95124204e-03,-7.78678669e-03,-1.91206474e-02,
  9.44268729e-01, 1.84139191e-02, 9.25489725e-01, 2.66118471e-02,
  9.49604934e-02,-6.99999525e-02, 1.30739295e-01, 9.99278992e-01,
  1.09577097e-04,-2.91268283e-04,-3.79657780e-02]

qacc:
[ 2.42350423, 0.14643343,-1.30834935, 3.5391047 , 0.82594692, 1.75782255,
 -5.6861472 , 5.48277345, 2.56048287, 0.13617818, 0.77330655,-4.37968591,
 -1.4228999 , 1.97534353,-5.99407366,17.0377016 , 0.94345139,-0.80257906,
  0.03606589, 9.3460639 ,15.49698349,-0.23944134]

qfrc_actuator:
[-3.04519822e-05,-4.36512673e-04,-2.32270876e-04,-5.76955969e-05,
 -3.92808340e-05,-4.62757744e-04,-2.92493531e-04,-1.32275145e-04,
  1.00014864e-05,-3.15696834e-04,-1.89547695e-04,-8.01514350e-05,
  4.00174345e-02,-8.63825111e-04, 3.58647943e-02,-2.96390422e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43219181,  3.04805576, -3.21771353,  3.04805576, 17.7702115 ,
       12.63475674, -3.21771353, 12.63475674, 16.40076598,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026426987212538333
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05027393e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.05027393e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08298691, -0.05724002,  0.06199183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.42454732e-05,-1.86575764e-05,-6.14505093e-06, 5.04210595e-06,
  5.00489662e-06, 4.02936935e-06,-3.28951235e-05,-4.00041768e-06,
  1.51028910e-05, 2.04180492e-05,-2.03082989e-06,-9.94862377e-06,
 -2.49507234e-04,-4.75823696e-05,-1.64948489e-04, 3.49410082e-05,
 -1.60103576e-06, 3.28012892e-06,-1.21644280e+00,-1.78274704e-03,
 -3.02126027e-04, 6.73940741e-07]


--- Step 540 ---
qpos:
[ 2.89433178e-03,-5.62742773e-03,-1.01934928e-02, 2.80045653e-03,
 -4.45152185e-03,-5.18983252e-03,-1.77266200e-02, 5.15238456e-03,
 -4.73780365e-03,-3.95108453e-03,-7.78568636e-03,-1.91206053e-02,
  9.45144009e-01, 1.84159897e-02, 9.26476405e-01, 2.66126424e-02,
  9.49617123e-02,-7.00109409e-02, 1.30740721e-01, 9.99276350e-01,
  1.83740065e-04,-2.72205207e-04,-3.80350980e-02]

qacc:
[  1.49926202,  0.06313981, -0.78882769,  2.18092112,  3.62798799,
   3.70061321,-16.99104896, 34.84999312,  4.73800758, -0.99015644,
   5.4505343 ,-13.47583931, -0.65867235,  0.20586973, -1.61963804,
   1.9598255 ,  0.94219845, -0.78811303, -0.03993948,  9.37764533,
  15.28914414, -0.30716398]

qfrc_actuator:
[-2.20465017e-05,-4.42922928e-04,-2.33931769e-04,-5.41480806e-05,
 -1.78979809e-05,-4.38468163e-04,-3.10532378e-04,-8.04034222e-05,
  3.74159763e-05,-3.31029174e-04,-1.95147015e-04,-1.04778742e-04,
  3.99413261e-02,-8.90806678e-04, 3.57870577e-02,-2.97934874e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42486467,  2.95428476, -3.29418106,  2.95428476, 23.71037025,
       17.29561136, -3.29418106, 17.29561136, 19.93590071,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026161382328758476
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.12187378e-13, -2.12187378e-13,  1.00000000e+00,  4.50234834e-26,
        1.00000000e+00,  2.12187378e-13, -1.00000000e+00,  0.00000000e+00,
        2.12187378e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08298739, -0.05723835,  0.06199192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.80851509e-06,-1.78655453e-05,-6.09288528e-06, 2.63358056e-06,
  2.15292320e-05, 1.95709921e-05,-2.14050070e-05, 5.08283960e-05,
  2.78551771e-05,-4.77672378e-06,-1.99356035e-06,-2.40215530e-05,
 -2.37972683e-04,-9.06746807e-05,-1.61056715e-04,-3.72698939e-05,
 -2.83759719e-06, 2.07529585e-06,-1.21644261e+00,-1.78400377e-03,
 -3.01406851e-04, 9.69991045e-07]


--- Step 541 ---
qpos:
[ 2.89441706e-03,-5.62822984e-03,-1.01932793e-02, 2.80038474e-03,
 -4.45163318e-03,-5.18931598e-03,-1.77262893e-02, 5.15289650e-03,
 -4.73745123e-03,-3.95100770e-03,-7.78462333e-03,-1.91208468e-02,
  9.46017716e-01, 1.84180272e-02, 9.27461267e-01, 2.66105641e-02,
  9.49595280e-02,-7.00150456e-02, 1.30741342e-01, 9.99273676e-01,
  2.12630242e-04,-2.86590708e-04,-3.81050353e-02]

qacc:
[ -2.16849592,  0.07353447,  1.61442094, -7.42635766,  2.2545643 ,
   1.59980316, -7.59740293, 17.42058305,  2.87710699, -0.59244837,
   3.14359665, -7.91976195, -1.22806289,  1.419778  ,  6.11907302,
 -25.04968814, -0.85083133,  1.72094929, -0.2013178 ,-21.98398507,
 -17.57322477, -0.29985285]

qfrc_actuator:
[-3.49914446e-05,-4.10773158e-04,-2.35061357e-04,-6.99228971e-05,
 -5.17098057e-06,-4.06362680e-04,-3.03444821e-04,-4.98507112e-05,
  5.35304327e-05,-3.40283482e-04,-1.98947587e-04,-1.19292637e-04,
  3.98642295e-02,-8.89832665e-04, 3.56836877e-02,-3.13076429e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42205087,  2.4150632 , -3.7043223 ,  2.4150632 , 15.53066941,
        7.24235465, -3.7043223 ,  7.24235465,  9.14376318,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002605845043426036
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.13025526e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.13025526e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10671   , -0.09411591,  0.06199195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.26964823e-05, 2.10476474e-05,-5.47302991e-06,-1.66994773e-05,
  1.33497708e-05, 4.08014761e-05, 1.02446767e-05, 3.16377684e-05,
  1.69109790e-05,-1.33747794e-05,-5.87971482e-06,-1.52591893e-05,
 -2.41935352e-04,-6.85214827e-05,-1.92970412e-04,-1.76783561e-04,
 -4.35070623e-06, 1.05771879e-06,-1.21644445e+00,-1.78554615e-03,
 -3.01141517e-04, 1.45260498e-06]


--- Step 542 ---
qpos:
[ 2.89400169e-03,-5.62877489e-03,-1.01931384e-02, 2.80011264e-03,
 -4.45159082e-03,-5.18854851e-03,-1.77261238e-02, 5.15344072e-03,
 -4.73690797e-03,-3.95106658e-03,-7.78418376e-03,-1.91205216e-02,
  9.46889944e-01, 1.84200148e-02, 9.28443844e-01, 2.66056692e-02,
  9.49538977e-02,-7.00123895e-02, 1.30740748e-01, 9.99270953e-01,
  1.96470862e-04,-3.33484212e-04,-3.81760783e-02]

qacc:
[ -4.38599556,  0.13869574,  0.85874199, -4.41444192,  1.33079197,
   0.85659835, -2.71408346,  3.35746257,  1.65368616,  2.72782368,
 -12.37927309, 23.27973511, -1.10964985,  1.24113964,  5.24502822,
 -23.02215505, -0.8614749 ,  1.69015424, -0.30385032,-21.88921267,
 -17.10062779, -0.54342896]

qfrc_actuator:
[-6.03970502e-05,-3.91295990e-04,-2.35721693e-04,-7.91540253e-05,
  2.35429451e-06,-4.05232752e-04,-3.17070727e-04,-4.98235299e-05,
  6.28609555e-05,-3.63571028e-04,-2.37136035e-04,-9.22288683e-05,
  3.97972547e-02,-8.90043467e-04, 3.55703314e-02,-3.27231611e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42310531, -1.68391515,  4.09002327, -1.68391515, 13.46530003,
        3.72278779,  4.09002327,  3.72278779,  5.95582489,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002609708435834801
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.65303486e-14, -2.12710165e-13,  1.00000000e+00, -9.89747814e-27,
        1.00000000e+00,  2.12710165e-13, -1.00000000e+00,  0.00000000e+00,
       -4.65303486e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1067065 , -0.09411761,  0.06199194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.57578932e-05, 2.94230498e-05, 2.44268948e-06,-8.84173815e-06,
  7.92048900e-06, 2.73982438e-05,-2.85319857e-06, 2.74204339e-06,
  9.81094856e-06,-3.26421993e-05,-4.22161332e-05, 2.59878232e-05,
 -2.30030697e-04,-6.58366686e-05,-2.32407465e-04,-1.78605214e-04,
 -1.55059356e-06, 1.88305202e-06,-1.21644104e+00,-1.78550328e-03,
 -3.02294154e-04, 1.02906226e-06]


--- Step 543 ---
qpos:
[ 2.89294032e-03,-5.62941797e-03,-1.01928779e-02, 2.80010981e-03,
 -4.45180329e-03,-5.18754920e-03,-1.77263682e-02, 5.15365581e-03,
 -4.73660180e-03,-3.95142097e-03,-7.78387014e-03,-1.91198882e-02,
  9.47760705e-01, 1.84219841e-02, 9.29424038e-01, 2.65976936e-02,
  9.49482340e-02,-7.00078165e-02, 1.30741643e-01, 9.99268221e-01,
  1.66043790e-04,-3.81297926e-04,-3.82472151e-02]

qacc:
[-5.64502994e+00, 1.01796538e-01,-1.66840744e+00, 6.18859713e+00,
 -2.23919729e+00, 7.78690902e-01,-9.35271752e-01,-4.28332838e+00,
 -2.07420705e+00, 6.00296435e-01,-3.99827039e+00, 9.73679201e+00,
 -1.14013250e+00, 1.32160905e+00, 5.90299288e+00,-2.55251777e+01,
 -8.35529965e-03, 4.79264773e-01, 3.72452359e-01,-7.11109459e+00,
 -7.32122705e-01,-4.45948091e-02]

qfrc_actuator:
[-9.29265111e-05,-4.15051167e-04,-2.36130692e-04,-6.67110391e-05,
 -1.09923200e-05,-4.05012341e-04,-3.42966072e-04,-6.77969052e-05,
  5.03748376e-05,-3.77438572e-04,-2.42098217e-04,-7.64608022e-05,
  3.97257494e-02,-8.90934941e-04, 3.54617425e-02,-3.42460976e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41866065, -2.24202643,  3.8076081 , -2.24202643, 17.11953566,
        7.47863137,  3.8076081 ,  7.47863137,  8.82228852,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002593373053192887
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.55468330e-07,  2.72788335e-13,  1.00000000e+00, -1.78804115e-19,
        1.00000000e+00, -2.72788335e-13, -1.00000000e+00,  2.40741243e-35,
        6.55468330e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09485244, -0.07568351,  0.06199199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.32534874e-05,-7.16500474e-06, 5.67028133e-06, 1.36187606e-05,
 -1.31099912e-05, 1.50412041e-05,-2.05053788e-05,-1.68485030e-05,
 -1.22163840e-05,-3.97259890e-05,-1.60095180e-05, 1.34136394e-05,
 -2.27398161e-04,-6.29989309e-05,-2.43728376e-04,-1.93996382e-04,
  7.18138223e-07, 3.56163390e-06,-1.21644250e+00,-1.78478601e-03,
 -3.02952322e-04, 1.45737334e-06]


--- Step 544 ---
qpos:
[ 2.89184203e-03,-5.63010329e-03,-1.01928552e-02, 2.79958367e-03,
 -4.45217367e-03,-5.18676403e-03,-1.77267375e-02, 5.15369223e-03,
 -4.73575818e-03,-3.95159276e-03,-7.78353280e-03,-1.91198341e-02,
  9.48629834e-01, 1.84245171e-02, 9.30401538e-01, 2.65868946e-02,
  9.49462467e-02,-7.00065269e-02, 1.30743081e-01, 9.99265486e-01,
  1.55513441e-04,-3.97582993e-04,-3.83184767e-02]

qacc:
[ -0.33010132, -0.46833728,  3.7988466 ,-12.445111  , -1.37748302,
  -0.29960669,  1.41659641, -4.15711962,  4.70229342, -1.02751356,
   6.43902666,-16.61051889, -1.73261657,  2.71354474,  4.73257053,
 -21.92855723,  0.91908641, -0.82086364,  0.13566494,  9.33811614,
  16.13327405, -0.06880608]

qfrc_actuator:
[-9.38794132e-05,-4.28988223e-04,-2.54304675e-04,-9.49109327e-05,
 -1.87624114e-05,-4.40924187e-04,-3.58159443e-04,-7.84694976e-05,
  7.84082040e-05,-3.32182151e-04,-2.27372778e-04,-1.02943475e-04,
  3.96515780e-02,-8.56741402e-04, 3.53348019e-02,-3.56420520e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42077682, -2.30917364,  3.76974598, -2.30917364, 12.82317868,
        5.14692635,  3.76974598,  5.14692635,  7.57354805,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002601167084406719
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06704317e-13, -2.13408633e-13,  1.00000000e+00,  2.27716224e-26,
        1.00000000e+00,  2.13408633e-13, -1.00000000e+00,  0.00000000e+00,
        1.06704317e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0829947 , -0.05723191,  0.06199196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.90486025e-06,-1.61769801e-05,-1.84773739e-05,-2.80431590e-05,
 -8.13914674e-06,-3.24966188e-05,-1.52045322e-05,-1.10673312e-05,
  2.76700424e-05, 2.03141091e-05, 5.01250206e-06,-2.84774499e-05,
 -2.28022331e-04,-2.66810114e-05,-2.68432407e-04,-1.83471525e-04,
  1.38812867e-06, 3.73119791e-06,-1.21644307e+00,-1.78432350e-03,
 -3.02659740e-04, 1.79010327e-06]


--- Step 545 ---
qpos:
[ 2.89108542e-03,-5.63081306e-03,-1.01927948e-02, 2.79870269e-03,
 -4.45228919e-03,-5.18668339e-03,-1.77267885e-02, 5.15397900e-03,
 -4.73493053e-03,-3.95102117e-03,-7.78390544e-03,-1.91197748e-02,
  9.49497577e-01, 1.84268923e-02, 9.31375479e-01, 2.65768211e-02,
  9.49479519e-02,-7.00084483e-02, 1.30744697e-01, 9.99262743e-01,
  1.64923564e-04,-3.83019701e-04,-3.83900708e-02]

qacc:
[  2.99021172, -0.8743613 ,  4.55838001,-10.73084633,  2.24462015,
  -1.30853465,  2.25068104,  2.09911624, -0.17477377,  2.97823855,
  -9.21328433,  9.88749601, -0.63495096,  0.3752851 , -7.42460762,
  18.42649359,  0.9231315 , -0.80275888,  0.0443049 ,  9.37181652,
  15.79486681, -0.17269952]

qfrc_actuator:
[-7.62370434e-05,-4.19298354e-04,-2.47322841e-04,-1.11306435e-04,
 -5.42893723e-06,-4.98162138e-04,-3.49300304e-04,-6.70277844e-05,
  7.68156851e-05,-2.69563865e-04,-2.54191943e-04,-1.00754506e-04,
  3.95758747e-02,-8.73081922e-04, 3.51809867e-02,-3.51768040e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41867961,  2.22645146, -3.81675823,  2.22645146, 18.86205315,
        8.4253359 , -3.81675823,  8.4253359 ,  9.33347911,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025934430025353894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08299658, -0.05723031,  0.06199199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.75864483e-05,-4.34599570e-06, 4.04142161e-07,-1.82708831e-05,
  1.30898793e-05,-7.90516183e-05,-1.13603669e-07, 9.30713366e-06,
 -7.94443901e-07, 7.38080512e-05,-2.29936637e-05, 2.67641973e-06,
 -2.21984418e-04,-7.00392269e-05,-3.04416838e-04, 3.24413653e-07,
  4.95698364e-07, 1.84097944e-06,-1.21644049e+00,-1.78463558e-03,
 -3.01802959e-04, 1.53850434e-06]


--- Step 546 ---
qpos:
[ 2.89089110e-03,-5.63167617e-03,-1.01920951e-02, 2.79829688e-03,
 -4.45224435e-03,-5.18691827e-03,-1.77268458e-02, 5.15402785e-03,
 -4.73447279e-03,-3.95003168e-03,-7.78480185e-03,-1.91196611e-02,
  9.50364008e-01, 1.84283307e-02, 9.32346310e-01, 2.65704919e-02,
  9.49533618e-02,-7.00135231e-02, 1.30746184e-01, 9.99259981e-01,
  1.94304470e-04,-3.38149137e-04,-3.84621593e-02]

qacc:
[ 4.94132354e+00,-1.02033982e+00, 1.32160242e+00, 6.01051135e+00,
  1.40355197e+00,-8.92221666e-01, 3.57606177e+00,-7.44714229e+00,
 -3.26184199e+00, 2.13495609e+00,-7.02817738e+00, 8.48506475e+00,
  2.66260635e-01,-1.73626836e+00,-1.60186025e+01, 4.91767896e+01,
  9.26182788e-01,-7.88345160e-01,-3.21257972e-02, 9.39618745e+00,
  1.55257593e+01,-2.53642668e-01]

qfrc_actuator:
[-4.78013620e-05,-4.13185856e-04,-2.07675260e-04,-8.50731720e-05,
  2.46444598e-06,-4.96609186e-04,-3.44155268e-04,-7.81803052e-05,
  5.77860629e-05,-2.68172834e-04,-2.87461032e-04,-9.94679446e-05,
  3.94886373e-02,-9.36999486e-04, 3.50911084e-02,-3.30864504e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41271721,  2.14538653, -3.85608477,  2.14538653, 24.67890961,
       11.27537874, -3.85608477, 11.27537874, 10.6859314 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002571319869725669
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07942913e-13, -4.31771651e-13,  1.00000000e+00,  4.66066896e-26,
        1.00000000e+00,  4.31771651e-13, -1.00000000e+00,  0.00000000e+00,
        1.07942913e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08299776, -0.05722876,  0.06199205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.89399194e-05, 3.01833585e-06, 3.81770477e-05, 2.57082518e-05,
  8.24067128e-06,-4.22753136e-05,-1.08763065e-05,-1.43635228e-05,
 -1.90242911e-05, 3.80154044e-05,-2.07654755e-05, 3.70359905e-06,
 -2.39692123e-04,-1.24858219e-04,-2.33237063e-04, 1.69200515e-04,
 -6.72353232e-07, 1.71876571e-07,-1.21644006e+00,-1.78522504e-03,
 -3.01424527e-04, 1.48785795e-06]


--- Step 547 ---
qpos:
[ 2.89069431e-03,-5.63247160e-03,-1.01912655e-02, 2.79821487e-03,
 -4.45210550e-03,-5.18700926e-03,-1.77270574e-02, 5.15354777e-03,
 -4.73355641e-03,-3.94914715e-03,-7.78586731e-03,-1.91194893e-02,
  9.51229012e-01, 1.84290302e-02, 9.33315365e-01, 2.65648092e-02,
  9.49589291e-02,-7.00166476e-02, 1.30748800e-01, 9.99257218e-01,
  2.10676502e-04,-2.94742154e-04,-3.85341462e-02]

qacc:
[ -0.01852327,  0.39335632, -2.63949313,  7.98585273,  0.81227691,
  -0.46902684,  4.17845773,-13.18898785,  4.01154521,  0.4456327 ,
  -2.0481498 ,  3.41381031, -0.2816456 , -0.69178297, -4.59448354,
  12.23830221,  0.03933712,  0.4875772 ,  0.28240816, -6.47146026,
  -0.98141375,  0.05307436]

qfrc_actuator:
[-4.87522291e-05,-4.09081111e-04,-2.02302762e-04,-6.94559949e-05,
  7.08632277e-06,-4.59888883e-04,-3.41041669e-04,-1.02501239e-04,
  8.19123934e-05,-3.03490006e-04,-3.06749656e-04,-9.87741437e-05,
  3.94158257e-02,-9.75363389e-04, 3.50343542e-02,-3.27170197e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.40406046,  2.34075784, -3.73049612,  2.34075784, 15.28862917,
        6.82969201, -3.73049612,  6.82969201,  8.68945699,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002538758106609363
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.76734915e-13, -1.89017846e-07,  1.00000000e+00,  5.23078373e-20,
        1.00000000e+00,  1.89017846e-07, -1.00000000e+00,  0.00000000e+00,
        2.76734915e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09468352, -0.07542733,  0.06199215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23175676e-07, 1.48145770e-05, 1.15898399e-05, 1.75680346e-05,
  4.84440174e-06, 1.02303126e-05,-7.45217326e-06,-2.67879769e-05,
  2.35992349e-05,-1.82203102e-05,-1.38662954e-05, 1.67589761e-06,
 -2.46621291e-04,-1.15084162e-04,-1.51243754e-04, 1.50384999e-05,
 -2.11586544e-06,-1.29779873e-06,-1.21644170e+00,-1.78609793e-03,
 -3.01512134e-04, 1.63266668e-06]


--- Step 548 ---
qpos:
[ 2.89048781e-03,-5.63289570e-03,-1.01910715e-02, 2.79868035e-03,
 -4.45156733e-03,-5.18704871e-03,-1.77272607e-02, 5.15312517e-03,
 -4.73270302e-03,-3.94850309e-03,-7.78654131e-03,-1.91189862e-02,
  9.52092129e-01, 1.84304099e-02, 9.34282683e-01, 2.65588946e-02,
  9.49611138e-02,-7.00130005e-02, 1.30749918e-01, 9.99254417e-01,
  1.82619074e-04,-2.83813436e-04,-3.86069416e-02]

qacc:
[ -0.11084805,  3.3948246 ,-13.70283734, 23.9204191 ,  3.48185563,
   0.15639746, -0.71329241,  1.66978396, -0.53472251, -0.72852251,
   0.74124222,  4.53832212, -1.91471776,  2.9923207 , -1.68562902,
   2.6156553 , -0.84564928,  1.69288955, -0.37467688,-21.57258312,
 -17.08318658, -0.39473132]

qfrc_actuator:
[-4.92425490e-05,-3.88588060e-04,-2.34994278e-04,-4.24945391e-05,
  2.75001345e-05,-4.55659277e-04,-3.38996218e-04,-9.88317709e-05,
  7.79938371e-05,-3.07218519e-04,-2.82289957e-04,-8.07087993e-05,
  3.93357499e-02,-9.27207560e-04, 3.49548600e-02,-3.28315611e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.40233759,  2.43277041, -3.66908768,  2.43277041,  7.46746241,
        2.03231582, -3.66908768,  2.03231582,  5.74985452,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025322137029341885
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.19219852e-13, -3.83634740e-13,  1.00000000e+00,  8.41003509e-26,
        1.00000000e+00,  3.83634740e-13, -1.00000000e+00,  0.00000000e+00,
        2.19219852e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10668772, -0.09413267,  0.06199218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.88181683e-07, 3.19439622e-05,-2.75959711e-05, 2.83393436e-05,
  2.05576743e-05, 7.27192760e-06, 2.31787456e-06, 3.33004964e-06,
 -3.24874102e-06,-1.67182456e-05, 1.90483137e-05, 1.68371444e-05,
 -2.54973406e-04,-2.86601961e-05,-1.58726460e-04,-3.26192386e-05,
 -1.27202675e-06,-1.37074186e-06,-1.21644113e+00,-1.78629203e-03,
 -3.02602640e-04, 1.33042084e-06]


--- Step 549 ---
qpos:
[ 2.89096680e-03,-5.63290452e-03,-1.01913458e-02, 2.79979336e-03,
 -4.45078861e-03,-5.18698210e-03,-1.77277631e-02, 5.15310938e-03,
 -4.73224812e-03,-3.94772864e-03,-7.78730489e-03,-1.91189760e-02,
  9.52953504e-01, 1.84323231e-02, 9.35247753e-01, 2.65551953e-02,
  9.49598739e-02,-7.00026838e-02, 1.30749243e-01, 9.99251558e-01,
  1.10196473e-04,-3.04596216e-04,-3.86809963e-02]

qacc:
[  5.97465486,  3.17975893,-13.29466614, 24.96635751,  2.08695209,
   1.80900303, -7.9716005 , 15.4211154 , -3.49403338, -0.58596296,
   4.42869743,-12.91833459, -1.48493774,  2.20195456, -9.90499278,
  30.14767909, -0.85614173,  1.66742354, -0.44808337,-21.55407933,
 -16.70045275, -0.62112583]

qfrc_actuator:
[-1.39430542e-05,-3.58592763e-04,-2.54305492e-04,-9.07971179e-06,
  3.92935613e-05,-4.53136657e-04,-3.55445246e-04,-7.87429106e-05,
  5.75864961e-05,-2.91816334e-04,-2.85332040e-04,-1.05774895e-04,
  3.92567341e-02,-8.99274131e-04, 3.48671080e-02,-3.16325528e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.39666167, -1.88494108,  3.97210662, -1.88494108, 16.18021449,
        5.59181939,  3.97210662,  5.59181939,  7.05022843,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002510499607978056
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.52789881e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.52789881e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10668514, -0.09413538,  0.06199224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.52976775e-05, 4.33850424e-05,-1.51295361e-05, 3.43797186e-05,
  1.23850703e-05, 7.22240182e-06,-1.45432895e-05, 2.05460890e-05,
 -2.05059684e-05, 1.06937957e-05,-3.56631083e-06,-2.47959476e-05,
 -2.39463638e-04,-3.35190310e-05,-1.76421554e-04, 9.49834871e-05,
  1.53447221e-06, 4.28586286e-07,-1.21644051e+00,-1.78536042e-03,
 -3.04163159e-04, 1.03378262e-06]


--- Step 550 ---
qpos:
[ 2.89186517e-03,-5.63254852e-03,-1.01918403e-02, 2.80094173e-03,
 -4.45021938e-03,-5.18667180e-03,-1.77284955e-02, 5.15262126e-03,
 -4.73273107e-03,-3.94698062e-03,-7.78804831e-03,-1.91192536e-02,
  9.53813457e-01, 1.84337434e-02, 9.36210925e-01, 2.65515471e-02,
  9.49622853e-02,-6.99956959e-02, 1.30749405e-01, 9.99248698e-01,
  5.77100957e-05,-2.93197346e-04,-3.87550072e-02]

qacc:
[ 3.65518709e+00, 1.16327176e+00,-3.60974964e+00, 4.31884626e+00,
 -1.83862491e+00,-4.22646494e-03, 2.48241493e+00,-1.04751823e+01,
 -8.20941921e+00,-6.67909166e-01, 3.57084183e+00,-8.58800631e+00,
 -5.22445549e-01,-8.78851787e-02,-2.93923127e+00, 6.26425237e+00,
  9.12820355e-01,-8.32229965e-01, 2.09075710e-01, 9.33824926e+00,
  1.64643613e+01, 1.71205599e-02]

qfrc_actuator:
[ 6.63375222e-06,-3.40841221e-04,-2.65501519e-04,-7.61717116e-06,
  2.81611622e-05,-4.33960732e-04,-3.64934258e-04,-1.02432629e-04,
  9.89397406e-06,-3.00715669e-04,-2.86798114e-04,-1.20522826e-04,
  3.91730834e-02,-9.36857326e-04, 3.47798358e-02,-3.16217473e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.3990746 , -2.32296504,  3.73573163, -2.32296504, 17.66601001,
        8.24968982,  3.73573163,  8.24968982,  9.52892412,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002519759719006448
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10151676e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.10151676e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0830051 , -0.05722222,  0.06199221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.16000828e-05, 4.03723230e-05,-2.90950961e-06, 3.46364179e-06,
 -1.07750975e-05, 2.10988933e-05,-9.07311753e-06,-2.34831686e-05,
 -4.82715381e-05,-4.74276663e-06,-5.53342331e-07,-1.48952387e-05,
 -2.35786808e-04,-9.65448405e-05,-1.68015948e-04,-1.85894544e-05,
  3.88313384e-06, 3.05110403e-06,-1.21644457e+00,-1.78376285e-03,
 -3.05264110e-04, 1.54321135e-06]


--- Step 551 ---
qpos:
[ 2.89300369e-03,-5.63214560e-03,-1.01920554e-02, 2.80210507e-03,
 -4.44978790e-03,-5.18614527e-03,-1.77293391e-02, 5.15150299e-03,
 -4.73378184e-03,-3.94662922e-03,-7.78811443e-03,-1.91190130e-02,
  9.54671603e-01, 1.84354069e-02, 9.37172602e-01, 2.65464898e-02,
  9.49683725e-02,-6.99919555e-02, 1.30749994e-01, 9.99245830e-01,
  2.51944257e-05,-2.50411718e-04,-3.88292125e-02]

qacc:
[  2.10867276, -0.69198141,  2.48692103, -2.70128192, -1.20875017,
  -0.69875203,  5.57043811,-16.46268281, -4.94265057, -1.34041571,
   1.85043303,  6.30306804, -1.5714431 ,  2.09826937,  2.19608224,
 -10.54636938,  0.91896342, -0.81184602,  0.10676033,  9.36962619,
  16.06856356, -0.10118449]

qfrc_actuator:
[ 1.83688664e-05,-3.48304220e-04,-2.54136604e-04,-7.22021039e-06,
  2.13797308e-05,-4.22725511e-04,-3.70196687e-04,-1.33920446e-04,
 -1.79656561e-05,-3.24091249e-04,-2.51887219e-04,-9.35826774e-05,
  3.90760340e-02,-9.24174363e-04, 3.47195296e-02,-3.23110833e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.40129689,  2.08514433, -3.87602727,  2.08514433, 16.35640102,
        6.43135764, -3.87602727,  6.43135764,  7.86110457,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025282500909090677
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.19563529e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.19563529e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08300772, -0.05722076,  0.06199219])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23656944e-05, 1.46557329e-05, 1.94628775e-05, 2.09018545e-06,
 -7.08162125e-06, 2.01480704e-05,-2.82838827e-06,-3.13524060e-05,
 -2.92376039e-05,-2.68160436e-05, 3.33498203e-05, 2.64304036e-05,
 -2.61504143e-04,-5.79435346e-05,-1.50241934e-04,-9.39605394e-05,
  3.03151331e-06, 7.17887075e-07,-1.21644200e+00,-1.78345028e-03,
 -3.04775543e-04, 9.47458410e-07]


--- Step 552 ---
qpos:
[ 2.89392937e-03,-5.63181540e-03,-1.01917893e-02, 2.80361088e-03,
 -4.45047559e-03,-5.18563595e-03,-1.77301745e-02, 5.15038335e-03,
 -4.73446915e-03,-3.94632936e-03,-7.78813845e-03,-1.91184520e-02,
  9.55528176e-01, 1.84371254e-02, 9.38132522e-01, 2.65428753e-02,
  9.49781544e-02,-6.99913970e-02, 1.30750666e-01, 9.99242945e-01,
  1.26690768e-05,-1.76871302e-04,-3.89037975e-02]

qacc:
[-1.84525213,-0.73210097, 1.03155842, 4.17255406,-9.75972006,-0.02907762,
  0.10941212,-0.1688928 , 3.18421696, 0.46789412,-3.12794925, 8.64939033,
 -1.02655372, 1.1223851 ,-6.88955477,20.5266626 , 0.92366353,-0.79551025,
  0.02095096, 9.39048304,15.75389478,-0.1929039 ]

qfrc_actuator:
[ 7.05779690e-06,-3.52971343e-04,-2.29646566e-04, 1.02962784e-05,
 -3.60369731e-05,-4.34077358e-04,-3.72950043e-04,-1.34235100e-04,
  1.58482535e-06,-3.20266561e-04,-2.49073253e-04,-7.78257479e-05,
  3.90136378e-02,-9.17375936e-04, 3.46701095e-02,-3.14533166e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.39905756,  2.01757825, -3.90910289,  2.01757825, 21.32544439,
        8.73609904, -3.90910289,  8.73609904,  8.90795997,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025196944657239484
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.20309057e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.20309057e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08300949, -0.05721933,  0.06199221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09546818e-05, 7.62420067e-06, 2.99804980e-05, 1.88548509e-05,
 -5.76112671e-05,-2.02187047e-06,-1.87312094e-08,-1.56015652e-07,
  1.87048154e-05,-3.17665162e-06, 2.29342830e-06, 1.62768224e-05,
 -2.33285976e-04,-6.20858191e-05,-1.41576948e-04, 5.83988451e-05,
  1.90559374e-06,-1.38091638e-06,-1.21644161e+00,-1.78341184e-03,
 -3.04780963e-04, 5.65561727e-07]


--- Step 553 ---
qpos:
[ 2.89436729e-03,-5.63125962e-03,-1.01915837e-02, 2.80496858e-03,
 -4.45219101e-03,-5.18523692e-03,-1.77310438e-02, 5.15031973e-03,
 -4.73526190e-03,-3.94611423e-03,-7.78838092e-03,-1.91176839e-02,
  9.56383456e-01, 1.84380534e-02, 9.39090896e-01, 2.65395633e-02,
  9.49916458e-02,-6.99939685e-02, 1.30751135e-01, 9.99240031e-01,
  2.01448441e-05,-7.30749776e-05,-3.89789049e-02]

qacc:
[ -4.27230746,  0.17030079,  0.46489877, -3.11290466, -8.96131237,
   2.14007367,-12.27016338, 30.65033025, -0.92831509,  0.92713034,
  -4.33739194,  8.32578293, -0.17704008, -0.84773207, -3.2211671 ,
   7.90671422,  0.92736949, -0.78247757, -0.05089037,  9.40440632,
  15.50555496, -0.26351322]

qfrc_actuator:
[-1.77240417e-05,-3.38107433e-04,-2.33100319e-04, 2.24573713e-06,
 -8.72930418e-05,-4.41081864e-04,-3.74272723e-04,-8.07173251e-05,
 -4.38066250e-06,-3.35813392e-04,-2.65153153e-04,-6.87881875e-05,
  3.89401225e-02,-9.67275178e-04, 3.46059952e-02,-3.12879078e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.39333809,  1.93087557, -3.94628168,  1.93087557, 27.88678846,
       11.49510679, -3.94628168, 11.49510679, 10.01777716,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024976732766497645
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.22251452e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.22251452e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08301061, -0.05721792,  0.06199228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.50958911e-05, 2.61027706e-05, 2.45552584e-06,-6.32387496e-06,
 -5.29083420e-05,-8.17198054e-06,-1.73933984e-06, 5.34330984e-05,
 -5.43217157e-06,-1.61599202e-05,-1.58963280e-05, 9.29500204e-06,
 -2.27903796e-04,-1.13476095e-04,-1.34563798e-04,-1.07727365e-06,
  5.05180149e-07,-3.27085463e-06,-1.21644331e+00,-1.78365424e-03,
 -3.05265125e-04, 3.88888492e-07]


--- Step 554 ---
qpos:
[ 2.89484965e-03,-5.63057611e-03,-1.01916387e-02, 2.80590079e-03,
 -4.45381845e-03,-5.18475313e-03,-1.77319758e-02, 5.15052926e-03,
 -4.73577459e-03,-3.94641720e-03,-7.78833259e-03,-1.91167924e-02,
  9.57237139e-01, 1.84385099e-02, 9.40047589e-01, 2.65370925e-02,
  9.50052721e-02,-6.99944842e-02, 1.30752814e-01, 9.99237105e-01,
  1.41799104e-05, 2.87583133e-05,-3.90539006e-02]

qacc:
[ 0.37809546, 0.02011639, 1.96795025,-9.00754072, 0.76411637, 0.84820132,
 -4.01763118, 8.78618932, 2.46982142,-1.24835883, 2.92872391,-0.8690871 ,
 -0.63742529, 0.04875377,-5.00527177,13.97489378, 0.03373487, 0.51394717,
  0.30255645,-6.67698065,-1.24272193, 0.05606432]

qfrc_actuator:
[-1.47230274e-05,-3.47299371e-04,-2.52971209e-04,-2.07914380e-05,
 -8.12386101e-05,-4.27625385e-04,-3.74698377e-04,-6.69674609e-05,
  1.01730352e-05,-3.80681971e-04,-2.56820401e-04,-6.37971571e-05,
  3.88439899e-02,-9.97111542e-04, 3.45384344e-02,-3.08221777e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.38620891,  2.31071972, -3.72819031,  2.31071972, 15.61379625,
        6.9588206 , -3.72819031,  6.9588206 ,  8.69926235,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002469875532524798
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14291316e-06, -1.02060611e-13,  1.00000000e+00,  1.16646415e-19,
        1.00000000e+00,  1.02060611e-13, -1.00000000e+00, -2.40741243e-35,
        1.14291316e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09484456, -0.07568945,  0.06199237])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.29076720e-06, 5.60533674e-06,-1.44068951e-05,-2.19606429e-05,
  4.53267293e-06, 1.07942216e-05,-4.70894494e-07, 1.43829463e-05,
  1.43937642e-05,-5.68014090e-05, 3.35681102e-06, 3.92837868e-06,
 -2.59053890e-04,-1.02477641e-04,-1.41552790e-04, 2.64951339e-05,
 -1.17052815e-06,-4.97033169e-06,-1.21644702e+00,-1.78418228e-03,
 -3.06216334e-04, 4.10905579e-07]


--- Step 555 ---
qpos:
[ 2.89570910e-03,-5.63012986e-03,-1.01915138e-02, 2.80691199e-03,
 -4.45501638e-03,-5.18404292e-03,-1.77331981e-02, 5.14986356e-03,
 -4.73610881e-03,-3.94734133e-03,-7.78807367e-03,-1.91161740e-02,
  9.58089130e-01, 1.84388802e-02, 9.41002327e-01, 2.65365028e-02,
  9.50155363e-02,-6.99881579e-02, 1.30753204e-01, 9.99234138e-01,
 -3.64026047e-05, 9.79033438e-05,-3.91296219e-02]

qacc:
[  3.30821283, -0.65990014,  1.55332801, -0.28712169,  3.73221284,
  -0.69902465,  6.60874516,-21.44537337,  1.57943969, -1.97530394,
   6.99681022,-11.5913661 , -0.95360221,  0.83705087, -8.5221989 ,
  25.78231248, -0.84053865,  1.71051277, -0.32246544,-21.65345872,
 -17.2029112 , -0.3637105 ]

qfrc_actuator:
[ 4.61060719e-06,-3.70917211e-04,-2.46962766e-04,-1.69786973e-05,
 -5.92551399e-05,-4.19795864e-04,-3.92295908e-04,-1.12223133e-04,
  1.89422959e-05,-4.24923703e-04,-2.52014560e-04,-7.89857841e-05,
  3.87663156e-02,-9.97160450e-04, 3.44582219e-02,-2.98277981e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.38897778,  2.40386684, -3.67213156,  2.40386684,  8.02835141,
        2.38242269, -3.67213156,  2.38242269,  5.94856976,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002480718515448094
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.99282674e-15, -2.23770456e-13,  1.00000000e+00,  1.56478802e-27,
        1.00000000e+00,  2.23770456e-13, -1.00000000e+00,  0.00000000e+00,
        6.99282674e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10666439, -0.09414998,  0.06199233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.94002674e-05,-2.44270349e-05, 4.62177864e-06, 3.12328081e-06,
  2.21165975e-05, 1.43790225e-05,-1.49236684e-05,-4.45291978e-05,
  9.15945004e-06,-7.51313970e-05,-6.37686653e-06,-1.74306611e-05,
 -2.56582130e-04,-7.76687370e-05,-1.54369436e-04, 8.00067569e-05,
 -1.21180267e-07,-4.92783091e-06,-1.21644669e+00,-1.78399089e-03,
 -3.08217169e-04,-2.98426497e-07]


--- Step 556 ---
qpos:
[ 2.89679350e-03,-5.62983374e-03,-1.01910573e-02, 2.80793903e-03,
 -4.45559649e-03,-5.18323298e-03,-1.77346370e-02, 5.14936304e-03,
 -4.73668048e-03,-3.94840964e-03,-7.78821280e-03,-1.91161066e-02,
  9.58939684e-01, 1.84388564e-02, 9.41955238e-01, 2.65360646e-02,
  9.50238107e-02,-6.99874601e-02, 1.30753538e-01, 9.99231269e-01,
 -4.42426709e-05, 1.59466796e-04,-3.92026098e-02]

qacc:
[ 1.98057372e+00,-1.09663380e+00, 3.54866358e+00,-3.68734926e+00,
  5.37963423e+00, 1.06644054e+00,-4.32697338e+00, 7.47889557e+00,
 -2.08899862e+00,-2.08937737e-01, 2.79845634e+00,-1.15931510e+01,
 -6.19914039e-01, 1.45621477e-01,-3.12957810e+00, 7.10736852e+00,
 -4.97437924e-01,-1.40714048e+00,-1.37845697e-02, 2.15030572e+01,
 -2.95169246e+00, 1.36950189e+00]

qfrc_actuator:
[ 1.56407519e-05,-3.67371434e-04,-2.25762901e-04,-1.51429357e-05,
 -2.80909539e-05,-4.15518086e-04,-4.02191348e-04,-1.03079859e-04,
  6.47783410e-06,-4.15221132e-04,-2.67113616e-04,-1.05935124e-04,
  3.87051081e-02,-1.01503884e-03, 3.43705036e-02,-2.97726765e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.38929876, -0.75011888,  4.32472719, -0.75011888, 18.95923181,
        2.52713788,  4.32472719,  2.52713788,  4.82762787,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002481971582896786
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.59143703e-14, -1.11828741e-13,  1.00000000e+00, -6.25283360e-27,
        1.00000000e+00,  1.11828741e-13, -1.00000000e+00,  0.00000000e+00,
       -5.59143703e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1002243 , -0.04656236,  0.06199233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15740535e-05,-9.04121392e-06, 1.68210357e-05, 1.00535998e-06,
  3.18056879e-05, 7.32587328e-06,-1.02982904e-05, 8.37790078e-06,
 -1.22306718e-05,-3.43428818e-05,-3.19997104e-05,-3.07272209e-05,
 -2.32974799e-04,-8.99709989e-05,-1.61031447e-04,-1.24068403e-05,
  3.26116107e-06,-2.77729417e-06,-1.21644466e+00,-1.78266576e-03,
 -3.10728781e-04,-1.24044766e-06]


--- Step 557 ---
qpos:
[ 2.89800174e-03,-5.62951221e-03,-1.01906946e-02, 2.80898667e-03,
 -4.45579828e-03,-5.18245748e-03,-1.77358817e-02, 5.14930972e-03,
 -4.73739741e-03,-3.94924547e-03,-7.78876528e-03,-1.91164108e-02,
  9.59788717e-01, 1.84388645e-02, 9.42906533e-01, 2.65339559e-02,
  9.50292448e-02,-6.99860750e-02, 1.30755116e-01, 9.99228398e-01,
 -5.43165225e-05, 1.99798709e-04,-3.92755035e-02]

qacc:
[  1.07990453,  0.33615302, -1.2404286 ,  1.73219834,  3.30619828,
   0.32614389, -3.12795488, 10.59474848, -1.28887003,  0.69982085,
  -0.478394  , -5.46306785, -1.18474812,  1.38987306,  2.77113973,
 -12.91251236, -0.7100832 ,  0.17184186,  0.31103227, -0.6998758 ,
 -10.65139658,  0.04643352]

qfrc_actuator:
[ 2.16901157e-05,-3.65272331e-04,-2.31177202e-04,-1.44617936e-05,
 -9.53109469e-06,-4.13335230e-04,-3.89670432e-04,-7.97401574e-05,
 -6.29712293e-07,-3.73380494e-04,-2.75878566e-04,-1.21801061e-04,
  3.86378412e-02,-1.00776730e-03, 3.42943181e-02,-3.06263921e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.38960866,  0.10917691, -4.38825074,  0.10917691, 18.95671913,
        0.36242051, -4.38825074,  0.36242051,  4.39862545,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024831806768700507
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11774290e-13,  1.05433334e-06,  1.00000000e+00, -1.17847360e-19,
        1.00000000e+00, -1.05433334e-06, -1.00000000e+00, -2.40741243e-35,
        1.11774290e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10343972, -0.07033823,  0.06199233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.37468402e-06, 5.43082385e-07,-5.18779122e-06, 8.90726724e-07,
  1.94742737e-05, 4.51097125e-06, 1.30625848e-05, 2.34614611e-05,
 -7.46975457e-06, 1.47451355e-05,-2.08486440e-05,-1.90391544e-05,
 -2.28161516e-04,-6.17182712e-05,-1.62510386e-04,-1.09230222e-04,
  2.12475809e-07,-2.53690286e-06,-1.21644216e+00,-1.78238982e-03,
 -3.10188306e-04,-7.27368019e-07]


--- Step 558 ---
qpos:
[ 2.89927317e-03,-5.62917145e-03,-1.01904008e-02, 2.81003340e-03,
 -4.45577587e-03,-5.18159427e-03,-1.77367313e-02, 5.14950632e-03,
 -4.73853889e-03,-3.95011458e-03,-7.78936889e-03,-1.91168945e-02,
  9.60636220e-01, 1.84389620e-02, 9.43856036e-01, 2.65291350e-02,
  9.50327891e-02,-6.99902809e-02, 1.30755993e-01, 9.99225618e-01,
 -2.26445439e-05, 2.32169712e-04,-3.93460332e-02]

qacc:
[  0.55028345,  0.21484441, -0.72719414,  0.80944843,  1.96622634,
  -0.4772285 ,  0.80831102,  2.8275926 , -3.71779192, -0.26347261,
   1.64440405, -4.65450296, -1.29769415,  1.62038987,  5.67967406,
 -23.42988941, -0.47243181, -1.3977729 , -0.17535667, 21.0129102 ,
  -3.15766199,  1.18676034]

qfrc_actuator:
[ 2.47621338e-05,-3.64156728e-04,-2.34514554e-04,-1.44845221e-05,
  1.45854533e-06,-3.94562426e-04,-3.64023891e-04,-6.59833331e-05,
 -2.22729407e-05,-3.83586528e-04,-2.80668525e-04,-1.30975998e-04,
  3.85616723e-02,-1.00342677e-03, 3.42037959e-02,-3.20077943e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.38882151, -0.87819218,  4.30006194, -0.87819218,  9.98073394,
        1.14202396,  4.30006194,  1.14202396,  4.62205455,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024801081219705257
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.23825529e-13,  2.23825529e-13,  1.00000000e+00, -5.00978674e-26,
        1.00000000e+00, -2.23825529e-13, -1.00000000e+00,  0.00000000e+00,
        2.23825529e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10023077, -0.04656365,  0.06199234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.25298024e-06, 3.66058686e-07,-3.84518527e-06,-1.66002862e-07,
  1.15479902e-05, 2.49918969e-05, 2.90041779e-05, 1.48591537e-05,
 -2.18530415e-05,-7.04961425e-06,-4.95447397e-06,-9.63155537e-06,
 -2.28043512e-04,-5.77306267e-05,-1.88876093e-04,-1.67704644e-04,
  4.25309153e-07,-1.32733217e-06,-1.21644079e+00,-1.78189928e-03,
 -3.10847869e-04,-8.46808697e-07]


--- Step 559 ---
qpos:
[ 2.90022667e-03,-5.62882065e-03,-1.01901499e-02, 2.81107102e-03,
 -4.45596668e-03,-5.18047627e-03,-1.77375833e-02, 5.14952671e-03,
 -4.73958596e-03,-3.95121254e-03,-7.78993662e-03,-1.91174648e-02,
  9.61482075e-01, 1.84396805e-02, 9.44803512e-01, 2.65235950e-02,
  9.50329873e-02,-6.99877657e-02, 1.30755707e-01, 9.99222798e-01,
 -3.65091809e-05, 2.31643733e-04,-3.94175679e-02]

qacc:
[-2.78252585e+00, 1.19999355e-01,-3.60703008e-01, 2.54031412e-01,
 -1.86399389e+00,-1.59979576e-02, 1.29580576e+00,-4.53609321e+00,
  8.31377697e-01,-5.83082523e-01, 2.00282896e+00,-3.38854296e+00,
 -1.69614598e+00, 2.64211018e+00,-6.58532399e-01,-1.64829209e+00,
 -8.36539339e-01, 1.68028257e+00,-2.90698928e-01,-2.21033774e+01,
 -1.73315807e+01,-5.08512129e-01]

qfrc_actuator:
[ 8.30622396e-06,-3.63635209e-04,-2.36593208e-04,-1.49163089e-05,
 -9.84378705e-06,-3.83696649e-04,-3.66285821e-04,-7.57104614e-05,
 -1.67949310e-05,-4.07095166e-04,-2.83270389e-04,-1.36179849e-04,
  3.84908691e-02,-9.65409768e-04, 3.41313746e-02,-3.22685008e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.38950025,  0.39754305, -4.37146108,  0.39754305, 21.60743148,
        1.56580803, -4.37146108,  1.56580803,  4.53189568,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024827578128806815
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04806244e-13,  4.47173308e-13,  1.00000000e+00,  4.68665549e-26,
        1.00000000e+00, -4.47173308e-13, -1.00000000e+00,  0.00000000e+00,
       -1.04806244e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1066496 , -0.09415647,  0.06199233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.63642336e-05,-9.61484928e-08,-2.49360182e-06,-5.56524511e-07,
 -1.09643480e-05, 3.14506537e-05, 6.98619629e-06,-7.36435394e-06,
  4.84861319e-06,-2.88581707e-05,-4.98334701e-06,-5.85965058e-06,
 -2.22241986e-04,-2.29648174e-05,-1.88320859e-04,-6.20223037e-05,
 -2.09931409e-06,-5.77944581e-07,-1.21644123e+00,-1.78226111e-03,
 -3.10025079e-04,-5.82928550e-07]


--- Step 560 ---
qpos:
[ 2.90028568e-03,-5.62831924e-03,-1.01905487e-02, 2.81211955e-03,
 -4.45629138e-03,-5.17904382e-03,-1.77387016e-02, 5.14840547e-03,
 -4.73986994e-03,-3.95223293e-03,-7.79066260e-03,-1.91181190e-02,
  9.62326183e-01, 1.84414463e-02, 9.45748923e-01, 2.65183499e-02,
  9.50303108e-02,-6.99846461e-02, 1.30756575e-01, 9.99219975e-01,
 -5.30365324e-05, 2.10266236e-04,-3.94891580e-02]

qacc:
[-7.84712294e+00, 2.05272628e+00,-7.04985136e+00, 8.13837414e+00,
 -1.18202014e+00,-1.18818795e+00, 9.66296829e+00,-2.92312524e+01,
  6.67422754e+00, 3.59235344e-01,-8.01210375e-01,-4.28111525e-01,
 -2.06498456e+00, 3.54172053e+00,-3.74113087e+00, 9.16241729e+00,
 -7.18690602e-01, 1.51116905e-01, 2.88334155e-01,-9.19358063e-01,
 -1.04701331e+01,-2.84522538e-02]

qfrc_actuator:
[-3.72632258e-05,-3.63468647e-04,-2.73420243e-04,-1.55849545e-05,
 -1.64209304e-05,-3.77777266e-04,-3.85053447e-04,-1.34707059e-04,
  2.23593325e-05,-3.85118593e-04,-2.84625941e-04,-1.39021965e-04,
  3.84126997e-02,-9.07754349e-04, 3.40539222e-02,-3.20433974e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.38718092, -0.64417731,  4.3396304 , -0.64417731, 18.35850728,
        2.07391196,  4.3396304 ,  2.07391196,  4.69503364,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024736887810913026
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.76587371e-14, -1.22335580e-06,  1.00000000e+00,  1.07237824e-19,
        1.00000000e+00,  1.22335580e-06, -1.00000000e+00, -1.20370622e-35,
        8.76587371e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10343898, -0.0703406 ,  0.06199236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.60386488e-05,-4.52803637e-07,-3.71829657e-05,-7.73046189e-07,
 -6.88046529e-06, 2.45993341e-05,-1.16685388e-05,-5.75508487e-05,
  3.92789284e-05, 4.60506059e-06,-8.11302697e-06,-4.35990523e-06,
 -2.17848674e-04, 4.82920420e-06,-1.81018712e-04,-7.40287945e-06,
  6.85615686e-07, 9.74946404e-07,-1.21644013e+00,-1.78155406e-03,
 -3.11416835e-04,-8.45521311e-07]


--- Step 561 ---
qpos:
[ 2.89979778e-03,-5.62753450e-03,-1.01917449e-02, 2.81280004e-03,
 -4.45634736e-03,-5.17768704e-03,-1.77396295e-02, 5.14695045e-03,
 -4.73933770e-03,-3.95305555e-03,-7.79123156e-03,-1.91184949e-02,
  9.63168751e-01, 1.84436663e-02, 9.46691799e-01, 2.65147378e-02,
  9.50247835e-02,-6.99809401e-02, 1.30758276e-01, 9.99217147e-01,
 -7.22851535e-05, 1.68173007e-04,-3.95608263e-02]

qacc:
[ -4.81404761,  1.85451008, -4.49919576, -0.82126785,  2.35054497,
  -1.32384179,  5.97660891,-11.99452326,  7.14723966,  0.38179077,
  -2.17924729,  6.62130923, -1.2817795 ,  1.85579311, -8.58316104,
  24.8642279 , -0.71267615,  0.14656998,  0.20842374, -0.95054204,
 -10.40351478, -0.04002862]

qfrc_actuator:
[-6.40918117e-05,-3.45907001e-04,-3.12719759e-04,-3.41647417e-05,
 -2.40436752e-06,-3.92739907e-04,-3.77954206e-04,-1.51218918e-04,
  6.32602517e-05,-3.53818406e-04,-2.67301298e-04,-1.22662657e-04,
  3.83301787e-02,-8.92248359e-04, 3.39415727e-02,-3.11790182e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024613923468034095
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.64289968e-14,  1.04907787e-06,  1.00000000e+00, -2.77260756e-20,
        1.00000000e+00, -1.04907787e-06, -1.00000000e+00, -6.01853108e-36,
        2.64289968e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10343926, -0.07034108,  0.06199239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.81444528e-05, 9.56279818e-06,-4.40015311e-05,-1.99015562e-05,
  1.38307670e-05,-6.12155588e-06, 8.75022254e-06,-1.69797660e-05,
  4.20206422e-05, 3.20726090e-05, 1.71457213e-05, 1.61945961e-05,
 -2.12918738e-04,-3.08633741e-05,-2.06743377e-04, 6.04486782e-05,
  8.07140008e-07, 2.15868246e-06,-1.21644082e+00,-1.78101464e-03,
 -3.11144399e-04,-6.96972494e-07]


--- Step 562 ---
qpos:
[ 2.89933673e-03,-5.62681031e-03,-1.01930392e-02, 2.81324827e-03,
 -4.45623478e-03,-5.17661388e-03,-1.77403752e-02, 5.14568176e-03,
 -4.73866377e-03,-3.95400875e-03,-7.79118548e-03,-1.91183166e-02,
  9.64010070e-01, 1.84455245e-02, 9.47632041e-01, 2.65128171e-02,
  9.50173392e-02,-6.99828887e-02, 1.30759192e-01, 9.99214411e-01,
 -5.02890878e-05, 1.18296273e-04,-3.96301042e-02]

qacc:
[ 0.2327588 ,-0.28455432, 1.87802942,-5.69511106, 1.48066685,-0.5027325 ,
  0.45725211, 2.69011082, 1.26223921,-0.75262464, 0.09215709, 8.61045666,
 -0.3534707 ,-0.20283581,-9.01476905,25.8956722 ,-0.47926175,-1.41363177,
 -0.196268  ,20.75996243,-3.07296283, 1.19931655]

qfrc_actuator:
[-6.19130179e-05,-3.53606540e-04,-3.17589927e-04,-4.53639782e-05,
  5.86673017e-06,-4.19967440e-04,-3.73437822e-04,-1.42591121e-04,
  6.93455460e-05,-3.70333168e-04,-2.39020509e-04,-9.51110586e-05,
  3.82610685e-02,-9.19610646e-04, 3.38243789e-02,-3.03006882e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.38226544, -0.69145855,  4.32737051, -0.69145855, 12.17951058,
        1.2459002 ,  4.32737051,  1.2459002 ,  4.58134439,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000245432850514371
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.69632400e-13,  1.13088267e-13,  1.00000000e+00, -1.91834340e-26,
        1.00000000e+00, -1.13088267e-13, -1.00000000e+00,  0.00000000e+00,
        1.69632400e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10024414, -0.04656326,  0.06199242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37892973e-06,-1.23178008e-05,-8.99849866e-06,-1.26987940e-05,
  8.66580863e-06,-2.96011697e-05, 3.73996633e-06, 8.33956533e-06,
  7.29187212e-06, 5.70856714e-06, 3.75931434e-05, 2.98359453e-05,
 -2.04877076e-04,-7.97642991e-05,-2.13759682e-04, 6.27862220e-05,
  8.91670936e-07, 3.34503073e-06,-1.21644219e+00,-1.78044770e-03,
 -3.10556339e-04,-4.53571404e-07]


--- Step 563 ---
qpos:
[ 2.89890524e-03,-5.62639242e-03,-1.01939854e-02, 2.81321404e-03,
 -4.45602391e-03,-5.17566049e-03,-1.77411083e-02, 5.14451718e-03,
 -4.73826661e-03,-3.95513256e-03,-7.79099075e-03,-1.91177714e-02,
  9.64850217e-01, 1.84465361e-02, 9.48570258e-01, 2.65101717e-02,
  9.50080539e-02,-6.99904495e-02, 1.30759053e-01, 9.99211750e-01,
  1.26930544e-05, 6.01621533e-05,-3.96972958e-02]

qacc:
[ 2.74412231e-01,-2.37211557e+00, 9.90609436e+00,-1.85863590e+01,
  8.59637927e-01, 1.92592525e-02,-7.40766445e-01, 2.61387922e+00,
 -2.41515663e+00, 1.19363097e-01,-2.29073749e+00, 8.51311713e+00,
 -8.21272753e-02,-9.90343701e-01,-8.26763971e-01,-1.51832025e+00,
 -4.60241261e-01,-1.40305206e+00,-2.63748637e-01, 2.06404382e+01,
 -3.31336502e+00, 1.04598210e+00]

qfrc_actuator:
[-6.04374384e-05,-3.76232245e-04,-3.02182794e-04,-6.98760977e-05,
  1.06832172e-05,-4.18810416e-04,-3.70538955e-04,-1.37018764e-04,
  5.48895068e-05,-3.97535037e-04,-2.40192125e-04,-7.89839499e-05,
  3.81893822e-02,-9.72059431e-04, 3.37363336e-02,-3.06637875e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.37626953, -0.35209263, -4.36208273, -0.35209263, 24.94150359,
       -1.65995644, -4.36208273, -1.65995644,  4.51025562,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024304499354584064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.71298996e-13, -1.14199331e-13,  1.00000000e+00, -1.95622307e-26,
        1.00000000e+00,  1.14199331e-13, -1.00000000e+00,  0.00000000e+00,
       -1.71298996e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10024712, -0.04656237,  0.06199249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.51052873e-06,-3.19268030e-05, 1.13210699e-05,-2.55981326e-05,
  5.05408659e-06,-1.42903601e-05,-2.46721180e-06, 4.59758786e-06,
 -1.42515006e-05,-1.49290699e-05, 5.68039907e-06, 1.82546138e-05,
 -2.13920890e-04,-1.12902067e-04,-1.86634651e-04,-6.19306649e-05,
 -1.01891074e-06, 3.67562198e-06,-1.21644298e+00,-1.78076282e-03,
 -3.08504789e-04,-7.40558433e-07]


--- Step 564 ---
qpos:
[ 2.89849479e-03,-5.62624072e-03,-1.01947374e-02, 2.81289199e-03,
 -4.45575688e-03,-5.17486394e-03,-1.77415306e-02, 5.14375760e-03,
 -4.73735621e-03,-3.95604714e-03,-7.79120243e-03,-1.91173923e-02,
  9.65688724e-01, 1.84476005e-02, 9.49506565e-01, 2.65063555e-02,
  9.49954306e-02,-6.99913563e-02, 1.30757721e-01, 9.99209036e-01,
  2.98421295e-05,-3.09597744e-05,-3.97655755e-02]

qacc:
[  0.19447894, -1.48749422,  6.00752481,-11.10248821,  0.50237941,
  -0.24288505, -1.14592227,  7.77505737,  4.47670496,  1.06188957,
  -2.69973856,  0.33986699, -1.2417258 ,  1.44054288,  0.82480786,
  -6.7273291 , -0.83449719,  1.66350658, -0.29839865,-22.24367317,
 -17.39063254, -0.54577383]

qfrc_actuator:
[-5.93972300e-05,-3.89791035e-04,-2.92768929e-04,-8.42801917e-05,
  1.34297909e-05,-4.18425697e-04,-3.50761294e-04,-1.15519359e-04,
  8.17283422e-05,-3.77799001e-04,-2.58814801e-04,-8.74984729e-05,
  3.81002111e-02,-9.67920083e-04, 3.36551657e-02,-3.12217695e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.37504713,  0.48774769, -4.34777409,  0.48774769, 23.27665672,
        2.12044515, -4.34777409,  2.12044515,  4.61292568,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024255455739738419
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.00632289e-14, -2.28860475e-13,  1.00000000e+00, -1.14574944e-26,
        1.00000000e+00,  2.28860475e-13, -1.00000000e+00,  0.00000000e+00,
       -5.00632289e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10663274, -0.09416317,  0.0619925 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.07250148e-06,-3.01727621e-05, 3.33444949e-06,-1.58772529e-05,
  2.88638291e-06,-7.94064788e-06, 1.66810177e-05, 2.08931421e-05,
  2.64223935e-05, 1.33762734e-05,-2.03643484e-05,-8.60038650e-06,
 -2.44264289e-04,-6.51881488e-05,-1.83056610e-04,-8.53153577e-05,
 -2.63807577e-06, 4.61507001e-06,-1.21644654e+00,-1.78170531e-03,
 -3.06447348e-04,-1.11998363e-06]


--- Step 565 ---
qpos:
[ 2.89775498e-03,-5.62617168e-03,-1.01954871e-02, 2.81308001e-03,
 -4.45614890e-03,-5.17397695e-03,-1.77418075e-02, 5.14324069e-03,
 -4.73544144e-03,-3.95700977e-03,-7.79127847e-03,-1.91171226e-02,
  9.66525629e-01, 1.84487044e-02, 9.50441134e-01, 2.64991520e-02,
  9.49794177e-02,-6.99856809e-02, 1.30754857e-01, 9.99206246e-01,
  1.48756677e-06,-1.54207908e-04,-3.98353298e-02]

qacc:
[ -2.87914432,  0.94015718, -5.65396154, 14.52790695, -5.74434173,
   0.22413461, -1.63077844,  5.51086562,  8.79772697, -0.68533721,
   2.78264671, -4.82387708, -1.36151449,  1.64703612,  7.81151507,
 -30.75537691, -0.84740269,  1.64554891, -0.38270706,-22.09508629,
 -16.95515979, -0.7370861 ]

qfrc_actuator:
[-7.63741787e-05,-3.80074652e-04,-2.86936253e-04,-5.71158749e-05,
 -2.05680349e-05,-4.00666751e-04,-3.38912303e-04,-1.02558878e-04,
  1.32664803e-04,-3.83469718e-04,-2.51907257e-04,-9.26592442e-05,
  3.80219365e-02,-9.65893972e-04, 3.35675353e-02,-3.29544797e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.37466594, -0.33764449,  4.36161648, -0.33764449, 17.63451402,
        1.02648059,  4.36161648,  1.02648059,  4.45412857,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024240136861480854
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14502553e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.14502553e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10662945, -0.09416387,  0.06199251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.69559445e-05,-7.14212657e-06,-5.30318419e-07, 2.56799667e-05,
 -3.39193942e-05, 1.76378882e-05, 1.29839956e-05, 1.36049362e-05,
  5.16938342e-05,-2.71835874e-06, 6.87682524e-06,-5.45921285e-06,
 -2.40391545e-04,-6.46200874e-05,-1.91612834e-04,-2.03864393e-04,
 -7.10557651e-07, 5.75046737e-06,-1.21644786e+00,-1.78152595e-03,
 -3.06392897e-04,-3.29992360e-07]


--- Step 566 ---
qpos:
[ 2.89681737e-03,-5.62603092e-03,-1.01965156e-02, 2.81359132e-03,
 -4.45729016e-03,-5.17302817e-03,-1.77422001e-02, 5.14290491e-03,
 -4.73362040e-03,-3.95841738e-03,-7.79081949e-03,-1.91165480e-02,
  9.67361161e-01, 1.84492452e-02, 9.51374097e-01, 2.64884494e-02,
  9.49671810e-02,-6.99834825e-02, 1.30753511e-01, 9.99203449e-01,
 -7.01751637e-06,-2.45229307e-04,-3.99049708e-02]

qacc:
[ -1.74001077,  1.54356822, -6.72480163, 12.7065024 , -6.53876909,
   0.79035099, -3.44230283,  6.69316567, -0.79598435, -1.45407992,
   3.04806453,  1.69507466, -0.69067637,  0.16382618,  8.26778497,
 -32.25972989,  0.94404248, -0.86926382,  0.37918626,  9.2749895 ,
  16.4959314 ,  0.05491163]

qfrc_actuator:
[-8.60668118e-05,-3.74222843e-04,-3.00890873e-04,-4.11985406e-05,
 -5.81671315e-05,-4.08173077e-04,-3.49532010e-04,-9.47214306e-05,
  1.26352884e-04,-4.21963523e-04,-2.30061071e-04,-7.80452880e-05,
  3.79502555e-02,-1.00064878e-03, 3.35080353e-02,-3.46550742e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.38188347, -2.17488057,  3.80405011, -2.17488057, 19.88943776,
        8.86609733,  3.80405011,  8.86609733,  9.45087633,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024528160024889223
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13158001e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.13158001e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08303171, -0.05719052,  0.06199242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.01802854e-05, 2.85094691e-06,-1.45976096e-05, 1.60947374e-05,
 -3.85664121e-05, 5.58171678e-06,-4.91099225e-06, 9.30847976e-06,
 -4.83972692e-06,-3.87680808e-05, 2.19542282e-05, 1.46291155e-05,
 -2.31833012e-04,-1.00183021e-04,-1.80685997e-04,-2.08364556e-04,
  7.34902889e-07, 7.79694941e-06,-1.21645398e+00,-1.78065302e-03,
 -3.05866307e-04, 1.30196117e-06]


--- Step 567 ---
qpos:
[ 2.89611558e-03,-5.62573573e-03,-1.01979963e-02, 2.81360031e-03,
 -4.45887328e-03,-5.17238116e-03,-1.77425196e-02, 5.14235481e-03,
 -4.73188892e-03,-3.96001845e-03,-7.79011751e-03,-1.91165053e-02,
  9.68195152e-01, 1.84496688e-02, 9.52304641e-01, 2.64793940e-02,
  9.49587176e-02,-6.99846534e-02, 1.30753163e-01, 9.99200643e-01,
  4.41031755e-06,-3.04829214e-04,-3.99747592e-02]

qacc:
[  2.04567747,  0.42899703,  0.87986581, -8.95632105, -3.84605058,
  -1.03648248,  4.03499579, -7.6537288 , -0.77341844, -2.02918132,
   9.10774049,-18.55282546, -0.80099289,  0.60934929, -8.51640912,
  24.72838822,  0.94331914, -0.84230426,  0.24965037,  9.33156477,
  16.09594305, -0.07612596]

qfrc_actuator:
[-7.36360326e-05,-3.70811093e-04,-3.26437504e-04,-6.75518945e-05,
 -7.98205321e-05,-4.48598721e-04,-3.55677421e-04,-1.07745960e-04,
  1.21893553e-04,-4.26477150e-04,-2.17457969e-04,-1.05194953e-04,
  3.78772419e-02,-1.00362752e-03, 3.34281838e-02,-3.36588359e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.39164634,  2.96393863, -3.24062115,  2.96393863, 11.51961079,
        6.51938261, -3.24062115,  6.51938261, 10.35440751,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002491112348387975
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.11418402e-13, -4.45673607e-13,  1.00000000e+00, -4.96562409e-26,
        1.00000000e+00,  4.45673607e-13, -1.00000000e+00,  0.00000000e+00,
       -1.11418402e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08303442, -0.05718899,  0.0619923 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21412349e-05, 2.68556629e-06,-2.61882557e-05,-2.64216223e-05,
 -2.27572391e-05,-3.79624998e-05,-5.27958071e-06,-1.27730441e-05,
 -4.61643819e-06,-2.09831359e-05, 7.81777234e-06,-2.77641160e-05,
 -2.36039055e-04,-7.38050778e-05,-1.96656800e-04, 6.24388057e-05,
  2.41859808e-07, 5.85358393e-06,-1.21644765e+00,-1.78104585e-03,
 -3.03885145e-04, 9.97767800e-07]


--- Step 568 ---
qpos:
[ 2.89556810e-03,-5.62523852e-03,-1.01998539e-02, 2.81362765e-03,
 -4.46035902e-03,-5.17225245e-03,-1.77422469e-02, 5.14199069e-03,
 -4.73022463e-03,-3.96164970e-03,-7.78906175e-03,-1.91168171e-02,
  9.69027491e-01, 1.84505788e-02, 9.53232158e-01, 2.64736301e-02,
  9.49540231e-02,-6.99891071e-02, 1.30753378e-01, 9.99197825e-01,
  3.58281417e-05,-3.33657727e-04,-4.00448993e-02]

qacc:
[  1.33450117,  1.35614168, -4.52993289,  5.30679644,  0.87661794,
  -1.95781404,  5.19938466, -2.5442025 , -0.57684096, -1.75804643,
   7.70575217,-14.3797989 , -1.24909262,  1.76365358,-14.34159973,
  43.93498287,  0.94224106, -0.82072189,  0.14086488,  9.37191245,
  15.7729428 , -0.17909655]

qfrc_actuator:
[-6.60383431e-05,-3.51222135e-04,-3.40902009e-04,-6.53134828e-05,
 -7.41615874e-05,-4.72931852e-04,-3.23775442e-04,-9.74594114e-05,
  1.18579100e-04,-4.10676181e-04,-1.92570056e-04,-1.21182679e-04,
  3.78088191e-02,-9.70008626e-04, 3.32883203e-02,-3.19695960e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.39565838,  2.90902471, -3.29535853,  2.90902471, 15.09789037,
        9.44754784, -3.29535853,  9.44754784, 12.73561591,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025066364729012247
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10728364e-13,  2.21456728e-13,  1.00000000e+00,  2.45215413e-26,
        1.00000000e+00, -2.21456728e-13, -1.00000000e+00,  0.00000000e+00,
       -1.10728364e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08303628, -0.05718752,  0.06199225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.94837827e-06, 1.45623287e-05,-1.80357166e-05, 9.35275052e-07,
  4.99405476e-06,-4.72257397e-05, 2.29668158e-05, 8.23017195e-06,
 -3.45711161e-06, 4.54655552e-06, 2.05686192e-05,-1.71539829e-05,
 -2.27251685e-04,-3.31171015e-05,-2.31916454e-04, 1.45223762e-04,
 -5.30535427e-07, 4.16478092e-06,-1.21644365e+00,-1.78170661e-03,
 -3.02393583e-04, 8.94408186e-07]


--- Step 569 ---
qpos:
[ 2.89546089e-03,-5.62457943e-03,-1.02013618e-02, 2.81398082e-03,
 -4.46142092e-03,-5.17235108e-03,-1.77417051e-02, 5.14208248e-03,
 -4.72895810e-03,-3.96323143e-03,-7.78779033e-03,-1.91166288e-02,
  9.69858322e-01, 1.84516104e-02, 9.54157157e-01, 2.64701551e-02,
  9.49530929e-02,-6.99967749e-02, 1.30753793e-01, 9.99194988e-01,
  8.72756458e-05,-3.32237442e-04,-4.01155510e-02]

qacc:
[  3.85944467, -0.10038876, -0.72003328,  5.69445754,  3.70881295,
  -0.12087038, -1.94200506,  9.58293268, -3.47585668,  0.49987164,
  -3.7840096 , 12.04021072, -0.93025887,  1.0159125 ,-10.58713176,
  31.80562758,  0.9410542 , -0.80351252,  0.04964893,  9.40106632,
  15.51329782, -0.25982055]

qfrc_actuator:
[-4.36006907e-05,-3.22036234e-04,-3.13106121e-04,-4.62397517e-05,
 -5.24777163e-05,-4.69519593e-04,-3.05098603e-04,-7.35007849e-05,
  9.82124013e-05,-4.00525001e-04,-1.78271890e-04,-9.49325942e-05,
  3.77325646e-02,-9.68245800e-04, 3.31871524e-02,-3.07752198e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.39494938,  2.83374954, -3.35938144,  2.83374954, 20.02611055,
       13.1854023 , -3.35938144, 13.1854023 , 15.51727306,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025039019638073423
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.21698581e-13, -4.43397162e-13,  1.00000000e+00,  9.83005216e-26,
        1.00000000e+00,  4.43397162e-13, -1.00000000e+00,  0.00000000e+00,
        2.21698581e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08303746, -0.05718609,  0.06199226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.26709213e-05, 3.36520052e-05, 2.86307598e-05, 1.90945332e-05,
  2.18092897e-05,-1.79050304e-05, 1.20324276e-05, 2.28899389e-05,
 -2.04680979e-05, 1.62587526e-05, 1.71862675e-05, 2.68248961e-05,
 -2.20820074e-04,-5.45086457e-05,-1.98137533e-04, 9.62912798e-05,
 -1.58088533e-06, 2.70079703e-06,-1.21644184e+00,-1.78264398e-03,
 -3.01376988e-04, 9.86839736e-07]


--- Step 570 ---
qpos:
[ 2.89596836e-03,-5.62381927e-03,-1.02019381e-02, 2.81452614e-03,
 -4.46221515e-03,-5.17189220e-03,-1.77418086e-02, 5.14173178e-03,
 -4.72898040e-03,-3.96470577e-03,-7.78636401e-03,-1.91161309e-02,
  9.70687657e-01, 1.84526985e-02, 9.55080309e-01, 2.64670001e-02,
  9.49559223e-02,-7.00076021e-02, 1.30754100e-01, 9.99192125e-01,
  1.58781856e-04,-3.00985760e-04,-4.01868385e-02]

qacc:
[  5.40441486, -2.08461244,  6.79716326, -5.01570416,  2.30448589,
   1.62352701, -2.86010988, -4.16725816,-11.27977575,  0.36858048,
  -2.37481965,  7.35966103, -1.03999946,  1.15647446, -3.61769717,
   8.89847205,  0.93993272, -0.78986657, -0.02670712,  9.42282344,
  15.30599246, -0.32287781]

qfrc_actuator:
[-1.26067385e-05,-3.04885454e-04,-2.60530113e-04,-3.51322746e-05,
 -3.92969329e-05,-4.14038498e-04,-3.29775967e-04,-9.49411433e-05,
  3.24665220e-05,-3.93831308e-04,-1.70330946e-04,-7.95580220e-05,
  3.76569834e-02,-9.67673657e-04, 3.31145908e-02,-3.05910065e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.39050679,  2.73441585, -3.43504292,  2.73441585, 26.83370453,
       17.86558044, -3.43504292, 17.86558044, 18.6121417 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002486680602444835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.23233942e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.23233942e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08303812, -0.0571847 ,  0.06199232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.16511009e-05, 4.27023249e-05, 6.37227410e-05, 1.39119027e-05,
  1.37983103e-05, 4.89393368e-05,-2.61075030e-05,-2.13476817e-05,
 -6.63302086e-05, 2.05228504e-05, 1.43492145e-05, 1.71891352e-05,
 -2.20828218e-04,-5.88243630e-05,-1.61180570e-04,-3.52212605e-06,
 -2.90824836e-06, 1.43979648e-06,-1.21644213e+00,-1.78386429e-03,
 -3.00823935e-04, 1.27108411e-06]


--- Step 571 ---
qpos:
[ 2.89649873e-03,-5.62294720e-03,-1.02021205e-02, 2.81558142e-03,
 -4.46250003e-03,-5.17107153e-03,-1.77421971e-02, 5.14112681e-03,
 -4.73013586e-03,-3.96581396e-03,-7.78521119e-03,-1.91158015e-02,
  9.71515388e-01, 1.84543537e-02, 9.56001252e-01, 2.64650771e-02,
  9.49589643e-02,-7.00164625e-02, 1.30755785e-01, 9.99189259e-01,
  2.17213835e-04,-2.71522082e-04,-4.02579632e-02]

qacc:
[ 0.21096127, 0.09642502,-2.282464  ,10.39624597, 4.42680091, 0.74258442,
 -0.89581558,-3.29830788,-9.93502782, 0.92082041,-1.83696404,-0.94576214,
 -1.47274383, 2.21207578,-6.86413257,19.60428127, 0.05311672, 0.49172857,
  0.34443002,-6.49588284,-1.15597395, 0.08347028]

qfrc_actuator:
[-1.23348065e-05,-3.12712325e-04,-2.47065472e-04,-1.10485789e-05,
 -1.34787437e-05,-3.99020525e-04,-3.44153897e-04,-1.07399578e-04,
 -2.39514147e-05,-3.71537165e-04,-1.83982491e-04,-8.84707857e-05,
  3.75871852e-02,-9.32294245e-04, 3.30166170e-02,-2.99371996e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.38262037,  2.37770592, -3.68155889,  2.37770592, 16.39739707,
        7.75964924, -3.68155889,  7.75964924,  9.39412893,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002455732859213674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.00437849e-14,  5.77020716e-07,  1.00000000e+00, -3.46465077e-20,
        1.00000000e+00, -5.77020716e-07, -1.00000000e+00,  0.00000000e+00,
        6.00437849e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09466209, -0.07542602,  0.06199241])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18639431e-06, 2.97983046e-05, 3.06103974e-05, 2.83861029e-05,
  2.62327674e-05, 3.60675910e-05,-8.22846238e-06,-1.16812076e-05,
 -5.83094353e-05, 3.74826540e-05,-7.04858279e-06,-7.20097431e-06,
 -2.15731680e-04,-2.50794957e-05,-1.83116180e-04, 4.20722809e-05,
 -4.51232112e-06, 3.65998322e-07,-1.21644446e+00,-1.78537223e-03,
 -3.00725560e-04, 1.74416851e-06]


--- Step 572 ---
qpos:
[ 2.89668360e-03,-5.62191039e-03,-1.02023621e-02, 2.81659714e-03,
 -4.46247261e-03,-5.17063489e-03,-1.77419002e-02, 5.14075138e-03,
 -4.73126927e-03,-3.96661639e-03,-7.78476068e-03,-1.91158887e-02,
  9.72341727e-01, 1.84558912e-02, 9.56920194e-01, 2.64648410e-02,
  9.49586363e-02,-7.00184667e-02, 1.30756397e-01, 9.99186359e-01,
  2.30642471e-04,-2.75020554e-04,-4.03297855e-02]

qacc:
[ -3.026818  ,  0.30811329, -0.60552325, -0.11626447,  2.75172103,
  -1.95528915,  5.25761535, -2.08964329,  0.16553131,  1.50869595,
  -3.03625437, -3.27269104, -0.71185079,  0.51938471, -8.02330531,
  23.88753647, -0.84247403,  1.71401908, -0.26817377,-21.82002479,
 -17.37366476, -0.33953615]

qfrc_actuator:
[-3.01501601e-05,-3.17824422e-04,-2.56902826e-04,-1.50790759e-05,
  1.82051510e-06,-4.43812981e-04,-3.16948842e-04,-9.67274590e-05,
 -2.11548342e-05,-3.75689720e-04,-2.27975704e-04,-1.11601744e-04,
  3.75102688e-02,-9.47574220e-04, 3.29461012e-02,-2.90120356e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.38666994,  2.47674652, -3.62058005,  2.47674652,  8.66819753,
        2.92888388, -3.62058005,  2.92888388,  6.39024474,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002471685117032413
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.00047876e-13, -8.98353125e-13,  1.00000000e+00,  3.59384260e-25,
        1.00000000e+00,  8.98353125e-13, -1.00000000e+00,  0.00000000e+00,
        4.00047876e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10660238, -0.09417412,  0.06199236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.77762464e-05, 1.90571774e-05, 1.05938731e-06,-1.14606945e-06,
  1.60646837e-05,-2.68385002e-05, 3.32320618e-05, 1.17046125e-05,
  1.14277612e-06, 1.50452258e-05,-3.73687795e-05,-2.19084574e-05,
 -2.12264400e-04,-6.75632945e-05,-1.59479428e-04, 6.92039178e-05,
 -3.69201244e-06, 1.09340267e-07,-1.21644305e+00,-1.78621067e-03,
 -3.01627581e-04, 1.52706729e-06]


--- Step 573 ---
qpos:
[ 2.89665339e-03,-5.62062936e-03,-1.02027240e-02, 2.81720584e-03,
 -4.46260671e-03,-5.17048553e-03,-1.77409690e-02, 5.14049805e-03,
 -4.73236065e-03,-3.96755670e-03,-7.78441514e-03,-1.91158907e-02,
  9.73166685e-01, 1.84570354e-02, 9.57837477e-01, 2.64633204e-02,
  9.49548957e-02,-7.00137293e-02, 1.30755577e-01, 9.99183406e-01,
  1.99224953e-04,-3.10615336e-04,-4.04027781e-02]

qacc:
[ -1.88952027, -0.17584938,  2.81970851, -9.85800031, -1.38386106,
  -1.89736884,  5.70417195, -4.40015321,  0.36705498,  0.2860883 ,
  -1.64481854,  3.38932203, -0.69374401,  0.28854154,  1.48073568,
  -8.63176541, -0.85317862,  1.68542716, -0.35807965,-21.75776884,
 -16.93955762, -0.57591074]

qfrc_actuator:
[-4.07060226e-05,-3.03652614e-04,-2.62672943e-04,-3.56325624e-05,
 -6.95091506e-06,-4.52880059e-04,-2.83403285e-04,-9.03117460e-05,
 -1.90367514e-05,-3.95796370e-04,-2.36377812e-04,-1.07442785e-04,
  3.74291201e-02,-9.75039221e-04, 3.28601663e-02,-2.97087996e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.38651394, -1.74397968,  4.02492726, -1.74397968, 14.65378273,
        4.44875323,  4.02492726,  4.44875323,  6.31413517,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024710729821364463
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.91408567e-14, -4.49287833e-13,  1.00000000e+00, -2.20783890e-26,
        1.00000000e+00,  4.49287833e-13, -1.00000000e+00,  0.00000000e+00,
       -4.91408567e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10659915, -0.09417599,  0.06199236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10605153e-05, 2.49545708e-05,-1.75391048e-06,-1.97259349e-05,
 -8.32209313e-06,-1.67224195e-05, 3.24925481e-05, 6.64220730e-06,
  2.15628536e-06,-2.03291539e-05,-1.06519479e-05, 3.08451823e-06,
 -2.23692540e-04,-8.79464423e-05,-1.61687188e-04,-8.86109129e-05,
 -8.17923398e-07, 1.20707346e-06,-1.21644022e+00,-1.78591894e-03,
 -3.02970093e-04, 1.08434167e-06]


--- Step 574 ---
qpos:
[ 2.89649668e-03,-5.61908792e-03,-1.02034565e-02, 2.81757890e-03,
 -4.46284481e-03,-5.17050624e-03,-1.77396681e-02, 5.14067206e-03,
 -4.73376333e-03,-3.96836205e-03,-7.78429821e-03,-1.91158696e-02,
  9.73990094e-01, 1.84584064e-02, 9.58753099e-01, 2.64599063e-02,
  9.49477090e-02,-7.00023419e-02, 1.30753023e-01, 9.99180379e-01,
  1.23095135e-04,-3.77619267e-04,-4.04773085e-02]

qacc:
[ -1.12275689,  0.89674505, -1.69956022, -1.98173922, -0.89234057,
  -0.37587185, -0.78669975,  7.71322862, -2.73468036,  0.87043352,
  -2.93250238,  3.58758846, -1.38658754,  1.8336426 ,  3.4063228 ,
 -15.16710463, -0.86148598,  1.66247858, -0.43359236,-21.70361717,
 -16.59516564, -0.75964013]

qfrc_actuator:
[-4.68984086e-05,-2.95808477e-04,-2.83670766e-04,-4.79639235e-05,
 -1.20632206e-05,-4.58207676e-04,-2.64029004e-04,-6.86816089e-05,
 -3.51071993e-05,-3.71896245e-04,-2.41494322e-04,-1.04997780e-04,
  3.73614586e-02,-9.56234669e-04, 3.27863243e-02,-3.06456471e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.38252196, -1.65870097,  4.05650216, -1.65870097, 18.89804567,
        5.93538778,  4.05650216,  5.93538778,  6.80949798,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002455343567295959
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.69562272e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.69562272e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10659688, -0.09417809,  0.06199241])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.50271830e-06, 2.05440363e-05,-1.67535109e-05,-1.17097104e-05,
 -5.35829944e-06,-7.70153892e-06, 2.01410714e-05, 2.21658947e-05,
 -1.60182911e-05, 1.04914869e-05,-1.05148019e-05, 1.26694133e-06,
 -2.22107517e-04,-4.82898245e-05,-1.68833002e-04,-1.21840749e-04,
  1.55457418e-06, 3.14801485e-06,-1.21644217e+00,-1.78495629e-03,
 -3.03831004e-04, 1.47622610e-06]


--- Step 575 ---
qpos:
[ 2.89626696e-03,-5.61748012e-03,-1.02046499e-02, 2.81783293e-03,
 -4.46279773e-03,-5.17039595e-03,-1.77385443e-02, 5.14144832e-03,
 -4.73569298e-03,-3.96867007e-03,-7.78442863e-03,-1.91162108e-02,
  9.74811745e-01, 1.84605977e-02, 9.59667344e-01, 2.64558841e-02,
  9.49441810e-02,-6.99943802e-02, 1.30751901e-01, 9.99177356e-01,
  6.70834409e-05,-4.11782283e-04,-4.05516503e-02]

qacc:
[-6.54266112e-01, 1.13232331e+00,-3.40551046e+00, 2.03180255e+00,
  2.47975760e+00, 1.90273325e+00,-9.08432713e+00, 1.97043166e+01,
 -4.62973320e+00, 6.11393955e-01, 3.16771880e-01,-6.57007118e+00,
 -1.97948086e+00, 3.17145906e+00,-2.09022851e-04,-2.47487510e+00,
  9.14634135e-01,-8.56397177e-01, 3.58331040e-01, 9.38619646e+00,
  1.68141753e+01, 8.84605369e-02]

qfrc_actuator:
[-5.04752527e-05,-3.09627447e-04,-3.13506766e-04,-5.53705695e-05,
  2.77967268e-06,-4.43541299e-04,-2.70899224e-04,-3.82769062e-05,
 -6.17542502e-05,-3.21809739e-04,-2.44473822e-04,-1.21305738e-04,
  3.72806510e-02,-9.10131060e-04, 3.27570785e-02,-3.08276854e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.39310922, -2.29886008,  3.74361469, -2.29886008, 18.78064754,
        8.83502718,  3.74361469,  8.83502718,  9.81847828,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024967869591764613
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.22330348e-13, -2.22330348e-13,  1.00000000e+00,  4.94307834e-26,
        1.00000000e+00,  2.22330348e-13, -1.00000000e+00,  0.00000000e+00,
        2.22330348e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08304863, -0.05717713,  0.06199228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.75857473e-06,-6.34284637e-06,-2.80711386e-05,-7.33638000e-06,
  1.46848632e-05, 1.54527387e-05,-5.22793596e-06, 3.12001399e-05,
 -2.71029009e-05, 5.38534984e-05,-2.05653747e-06,-1.61959053e-05,
 -2.25396125e-04,-1.23759993e-05,-1.31313684e-04,-4.91364270e-05,
  3.49724578e-06, 5.95378050e-06,-1.21644879e+00,-1.78331426e-03,
 -3.04245399e-04, 2.67212142e-06]


--- Step 576 ---
qpos:
[ 2.89530644e-03,-5.61616995e-03,-1.02057664e-02, 2.81800627e-03,
 -4.46257332e-03,-5.16984017e-03,-1.77382169e-02, 5.14258532e-03,
 -4.73758264e-03,-3.96816585e-03,-7.78424134e-03,-1.91168259e-02,
  9.75631871e-01, 1.84630636e-02, 9.60579977e-01, 2.64512954e-02,
  9.49443325e-02,-6.99897470e-02, 1.30751708e-01, 9.99174334e-01,
  3.12117517e-05,-4.14042789e-04,-4.06260775e-02]

qacc:
[ -6.38502905, -0.762288  ,  2.50946926, -3.83360327,  1.51416506,
   3.55299363,-13.34313512, 20.53968836,  0.34598124, -0.37938378,
   4.06257629, -9.90089056, -1.32379548,  1.76974965, -0.5482828 ,
  -1.24635161,  0.9199009 , -0.83214084,  0.23197987,  9.41485137,
  16.34648541, -0.04786751]

qfrc_actuator:
[-8.79909301e-05,-3.36354398e-04,-3.12901759e-04,-5.98447651e-05,
  1.14954585e-05,-4.17111552e-04,-3.10869880e-04,-2.07059361e-05,
 -5.89018087e-05,-2.38675133e-04,-2.10555687e-04,-1.30736630e-04,
  3.72026819e-02,-9.01590350e-04, 3.26853894e-02,-3.10946976e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.40184973,  2.16055595, -3.83513742,  2.16055595, 13.24718164,
        4.98308988, -3.83513742,  4.98308988,  7.20911406,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002530356602571393
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09690372e-13,  2.19380743e-13,  1.00000000e+00, -2.40639553e-26,
        1.00000000e+00, -2.19380743e-13, -1.00000000e+00,  0.00000000e+00,
        1.09690372e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.083052  , -0.05717587,  0.06199218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.76277995e-05,-3.64319498e-05,-4.42169490e-06,-5.86140448e-06,
  9.14106371e-06, 3.53139625e-05,-3.63600328e-05, 1.86542803e-05,
  2.09680384e-06, 1.12128699e-04, 4.42325667e-05,-7.50859541e-06,
 -2.15388939e-04,-4.37322443e-05,-1.50371263e-04,-4.91999915e-05,
  2.88190905e-06, 3.49629352e-06,-1.21644372e+00,-1.78299150e-03,
 -3.03047266e-04, 1.98887540e-06]


--- Step 577 ---
qpos:
[ 2.89390364e-03,-5.61515940e-03,-1.02068546e-02, 2.81812844e-03,
 -4.46259063e-03,-5.16925749e-03,-1.77382091e-02, 5.14359984e-03,
 -4.73942373e-03,-3.96670999e-03,-7.78400307e-03,-1.91178953e-02,
  9.76450898e-01, 1.84647444e-02, 9.61490716e-01, 2.64457335e-02,
  9.49481788e-02,-6.99883643e-02, 1.30752018e-01, 9.99171305e-01,
  1.54867149e-05,-3.85152415e-04,-4.07008036e-02]

qacc:
[ -3.86270433, -0.5728476 ,  1.69706392, -2.42170006, -2.11859038,
   0.68031327, -1.85017604,  0.2144572 ,  0.41025608,  0.17858636,
   3.1012048 ,-11.73670945, -0.11314396, -0.84988238,  0.12522741,
  -4.5530646 ,  0.92369076, -0.81263224,  0.12582055,  9.4321782 ,
  15.97181335, -0.15414803]

qfrc_actuator:
[-1.09677647e-04,-3.52736058e-04,-3.12138365e-04,-6.25501999e-05,
 -1.22385712e-06,-4.37248568e-04,-3.34505389e-04,-2.85872263e-05,
 -5.64584704e-05,-1.89483399e-04,-2.08222976e-04,-1.53737425e-04,
  3.71424357e-02,-9.50874904e-04, 3.25936308e-02,-3.15882036e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.40484064,  2.10396326, -3.86987851,  2.10396326, 17.41557769,
        7.0736362 , -3.86987851,  7.0736362 ,  8.2506127 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002541714586741378
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09200206e-13,  2.18400412e-13,  1.00000000e+00,  2.38493699e-26,
        1.00000000e+00, -2.18400412e-13, -1.00000000e+00,  0.00000000e+00,
       -1.09200206e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08305438, -0.0571746 ,  0.06199215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.27775007e-05,-3.79638226e-05,-7.50952747e-06,-4.53257444e-06,
 -1.24442541e-05,-7.12390424e-06,-2.01883208e-05,-7.26837898e-06,
  2.54253965e-06, 1.20683547e-04, 3.06713981e-05,-1.68152710e-05,
 -1.99225114e-04,-1.05606605e-04,-1.77769845e-04,-7.39806776e-05,
  1.98929880e-06, 1.30297435e-06,-1.21644097e+00,-1.78293811e-03,
 -3.02355017e-04, 1.52695917e-06]


--- Step 578 ---
qpos:
[ 2.89328596e-03,-5.61417438e-03,-1.02083294e-02, 2.81821071e-03,
 -4.46310483e-03,-5.16893418e-03,-1.77383570e-02, 5.14453823e-03,
 -4.74122064e-03,-3.96485632e-03,-7.78374257e-03,-1.91195033e-02,
  9.77268554e-01, 1.84661698e-02, 9.62399570e-01, 2.64408409e-02,
  9.49557310e-02,-6.99901696e-02, 1.30752476e-01, 9.99168260e-01,
  1.99063221e-05,-3.25710314e-04,-4.07759945e-02]

qacc:
[  6.85588047,  0.95133336, -3.29572525,  3.26738047, -4.33386569,
  -0.05592917,  0.03808509, -0.93175651,  0.38042539, -0.646611  ,
   5.33671972,-14.97625175, -0.65798303,  0.33306882, -4.77672814,
  12.76198204,  0.92648232, -0.79699887,  0.03677161,  9.44214581,
  15.67314964, -0.23660688]

qfrc_actuator:
[-6.86052988e-05,-3.45036869e-04,-3.29014639e-04,-6.41916204e-05,
 -2.64561186e-05,-4.67332626e-04,-3.48498073e-04,-3.36483276e-05,
 -5.42851696e-05,-2.14379585e-04,-2.24701883e-04,-1.84590152e-04,
  3.70715366e-02,-9.62894184e-04, 3.25325203e-02,-3.11461151e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.40314939,  2.02902446, -3.90778508,  2.02902446, 22.95542165,
        9.63282612, -3.90778508,  9.63282612,  9.40476524,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002535300024175402
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08305597, -0.05717332,  0.06199217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.04064744e-05,-1.53032641e-05,-2.57968352e-05,-3.61499419e-06,
 -2.55903712e-05,-3.85768440e-05,-1.82112910e-05,-6.20951766e-06,
  2.29212931e-06, 4.81461908e-05, 1.16238232e-05,-2.49524688e-05,
 -2.15042615e-04,-7.71822236e-05,-1.60360885e-04, 1.51455828e-05,
  8.20824562e-07,-6.59102455e-07,-1.21644042e+00,-1.78316237e-03,
 -3.02150598e-04, 1.27593423e-06]


--- Step 579 ---
qpos:
[ 2.89351001e-03,-5.61328206e-03,-1.02097270e-02, 2.81824880e-03,
 -4.46322806e-03,-5.16860069e-03,-1.77387947e-02, 5.14538335e-03,
 -4.74263223e-03,-3.96288333e-03,-7.78351345e-03,-1.91214275e-02,
  9.78084695e-01, 1.84677393e-02, 9.63306545e-01, 2.64374306e-02,
  9.49669978e-02,-6.99951131e-02, 1.30752782e-01, 9.99165189e-01,
  4.44647388e-05,-2.36190728e-04,-4.08517779e-02]

qacc:
[ 7.36676974,-0.44377959, 1.56617084,-2.35932431, 3.40041221, 0.62439253,
 -1.82474982, 0.67919804, 3.37005729,-0.41236788, 3.02002094,-8.51162606,
 -1.04960136, 1.21711877,-7.18332432,21.30679121, 0.92863406,-0.78453514,
 -0.03779621, 9.44771374,15.43681351,-0.3001446 ]

qfrc_actuator:
[-2.64332545e-05,-3.40796049e-04,-3.20565860e-04,-6.51854464e-05,
 -5.58639976e-06,-4.49851500e-04,-3.56741087e-04,-3.70146650e-05,
 -3.45363055e-05,-2.30297444e-04,-2.34706763e-04,-2.02135400e-04,
  3.69996355e-02,-9.52770148e-04, 3.24632371e-02,-3.03327286e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.39778616,  1.93276612, -3.95030862,  1.93276612, 30.2949542 ,
       12.67069835, -3.95030862, 12.67069835, 10.5971743 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002514820433473508
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10368022e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.10368022e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08305694, -0.05717203,  0.06199223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.33211394e-05,-9.80277385e-06, 1.98971093e-06,-2.61319123e-06,
  2.01236497e-05,-8.13938825e-06,-1.86723875e-05,-5.77168083e-06,
  1.98375130e-05, 1.22659836e-05, 4.84618957e-07,-1.55686014e-05,
 -2.18227466e-04,-5.31193168e-05,-1.51536929e-04, 5.92761155e-05,
 -6.22814001e-07,-2.41402567e-06,-1.21644196e+00,-1.78367019e-03,
 -3.02420022e-04, 1.22775620e-06]


--- Step 580 ---
qpos:
[ 2.89423799e-03,-5.61242052e-03,-1.02104973e-02, 2.81822769e-03,
 -4.46275576e-03,-5.16808449e-03,-1.77391161e-02, 5.14509430e-03,
 -4.74310602e-03,-3.96095329e-03,-7.78335604e-03,-1.91228320e-02,
  9.78899319e-01, 1.84694448e-02, 9.64212060e-01, 2.64319536e-02,
  9.49819862e-02,-7.00031552e-02, 1.30752687e-01, 9.99162077e-01,
  8.91557998e-05,-1.16965193e-04,-4.09282514e-02]

qacc:
[  4.42822003, -1.92455206,  7.03786198, -9.0264661 ,  5.1934913 ,
  -2.42841445, 13.77987381,-33.71177497,  8.20856618,  1.19829646,
  -6.57266916, 15.73495164, -1.31159419,  1.64402385,  4.21939497,
 -17.6006478 ,  0.93041227, -0.77466973, -0.10012877,  9.45106768,
  15.25178288, -0.34861759]

qfrc_actuator:
[-1.72468270e-06,-3.20800230e-04,-2.79478631e-04,-6.57704636e-05,
  2.45027715e-05,-4.21749700e-04,-3.43585292e-04,-9.25744477e-05,
  1.31517185e-05,-2.40708957e-04,-2.40782511e-04,-1.76197932e-04,
  3.69218698e-02,-9.47409949e-04, 3.23837917e-02,-3.14376853e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.38965542,  1.81153664, -3.9984259 ,  1.81153664, 39.97757597,
       16.12355051, -3.9984259 , 16.12355051, 11.69463073,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002483363057157323
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.35298242e-13, -8.94128647e-13,  1.00000000e+00,  2.99799764e-25,
        1.00000000e+00,  8.94128647e-13, -1.00000000e+00,  0.00000000e+00,
        3.35298242e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08305741, -0.05717074,  0.06199233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.59419479e-05, 1.48114648e-05, 3.92208922e-05,-9.87848618e-07,
  3.06642110e-05, 1.94444289e-05, 8.97320006e-06,-5.66695358e-05,
  4.82655572e-05,-4.18645365e-06,-4.04495774e-06, 2.61746889e-05,
 -2.20115602e-04,-5.38000896e-05,-1.53214769e-04,-1.29074544e-04,
 -2.34172718e-06,-3.97919169e-06,-1.21644551e+00,-1.78446581e-03,
 -3.03152531e-04, 1.37638664e-06]


--- Step 581 ---
qpos:
[ 2.89491196e-03,-5.61160408e-03,-1.02107422e-02, 2.81820800e-03,
 -4.46227093e-03,-5.16773607e-03,-1.77388732e-02, 5.14415533e-03,
 -4.74334913e-03,-3.95917348e-03,-7.78293349e-03,-1.91239243e-02,
  9.79712328e-01, 1.84715341e-02, 9.65115692e-01, 2.64241907e-02,
  9.49936190e-02,-7.00041396e-02, 1.30752182e-01, 9.99158936e-01,
  8.84000512e-05,-3.16073673e-05,-4.10050177e-02]

qacc:
[ -0.45523419, -1.52418317,  5.34365286, -6.12792895,  0.12944931,
  -3.13656437, 13.60582337,-25.63407748,  2.03060607, -0.30069951,
  -0.53872854,  5.63106689, -1.58334598,  2.23367928,  4.28858756,
 -18.67492786, -0.83889176,  1.76444186, -0.10269754,-22.01130712,
 -17.84970996, -0.14271784]

qfrc_actuator:
[-5.24572718e-06,-3.26881514e-04,-2.54894568e-04,-6.60775210e-05,
  2.42574065e-05,-4.40709984e-04,-3.17880376e-04,-1.25114187e-04,
  2.36387442e-05,-2.47702109e-04,-2.26695260e-04,-1.60385503e-04,
  3.68406400e-02,-9.27204964e-04, 3.22876274e-02,-3.25989311e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.38902684,  2.32715275, -3.72127891,  2.32715275, 16.097364  ,
        7.32196906, -3.72127891,  7.32196906,  8.96792051,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002480910082258564
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11876588e-13, -2.23753177e-13,  1.00000000e+00,  2.50327421e-26,
        1.00000000e+00,  2.23753177e-13, -1.00000000e+00,  0.00000000e+00,
        1.11876588e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10657084, -0.09419274,  0.06199233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.77790269e-06, 1.02449797e-05, 3.24375073e-05, 1.66413656e-06,
  6.42469473e-07,-8.66534131e-06, 2.88624912e-05,-3.25001762e-05,
  1.18690040e-05,-9.10195995e-06, 1.36062847e-05, 1.59991924e-05,
 -2.25425869e-04,-3.92636742e-05,-1.92543171e-04,-1.45604832e-04,
 -4.33690206e-06,-5.36684361e-06,-1.21645103e+00,-1.78555224e-03,
 -3.04339936e-04, 1.71746216e-06]


--- Step 582 ---
qpos:
[ 2.89553906e-03,-5.61121059e-03,-1.02107640e-02, 2.81860049e-03,
 -4.46144735e-03,-5.16786766e-03,-1.77381605e-02, 5.14322622e-03,
 -4.74380907e-03,-3.95739052e-03,-7.78262978e-03,-1.91255023e-02,
  9.80523734e-01, 1.84736716e-02, 9.66016334e-01, 2.64174814e-02,
  9.50018546e-02,-6.99982160e-02, 1.30750797e-01, 9.99155750e-01,
  4.23994725e-05, 2.09541520e-05,-4.10826586e-02]

qacc:
[ -0.39550218, -0.33295111, -1.36238905,  8.4487317 ,  2.9770678 ,
  -1.93184266,  5.91660375, -6.13433148, -1.90228786, -0.6604891 ,
   4.4145541 ,-12.63272238, -0.99218843,  1.01161707, -7.53965519,
  20.14345132, -0.84930513,  1.72698659, -0.21996788,-21.93099349,
 -17.31203309, -0.43570309]

qfrc_actuator:
[-7.59553314e-06,-3.84087701e-04,-2.58114012e-04,-4.85020872e-05,
  4.16613620e-05,-4.87630118e-04,-3.02893282e-04,-1.26119873e-04,
  1.21371572e-05,-2.52519781e-04,-2.36323651e-04,-1.86153671e-04,
  3.67467437e-02,-9.33900659e-04, 3.21495676e-02,-3.20082268e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.3957884 , -1.98519329,  3.9219846 , -1.98519329, 11.02864407,
        3.35735653,  3.9219846 ,  3.35735653,  6.09518356,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025071375336740975
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.91913967e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.91913967e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10656655, -0.09419408,  0.06199225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.42933892e-06,-4.47354090e-05, 2.94258039e-06, 1.91679893e-05,
  1.74195377e-05,-4.72099199e-05, 1.56232078e-05,-1.00994513e-06,
 -1.11611676e-05,-6.47556013e-06,-9.30304634e-06,-2.53787139e-05,
 -2.38497518e-04,-6.40655687e-05,-2.52546892e-04, 2.40446617e-05,
 -4.22221400e-07,-4.01318497e-06,-1.21644447e+00,-1.78494585e-03,
 -3.07157673e-04, 1.01653392e-07]


--- Step 583 ---
qpos:
[ 2.89578839e-03,-5.61152165e-03,-1.02103485e-02, 2.81922313e-03,
 -4.46042176e-03,-5.16815215e-03,-1.77373849e-02, 5.14262406e-03,
 -4.74405813e-03,-3.95551559e-03,-7.78306911e-03,-1.91269990e-02,
  9.81333691e-01, 1.84752199e-02, 9.66914113e-01, 2.64104706e-02,
  9.50066619e-02,-6.99855052e-02, 1.30748137e-01, 9.99152499e-01,
 -4.86701753e-05, 4.15777715e-05,-4.11616300e-02]

qacc:
[ -3.27864656, -1.67303192,  3.65393336,  0.13585611,  1.76644842,
   0.29211387, -2.72096916,  8.39814494,  1.821254  ,  2.36263986,
  -8.59517829, 11.12555213, -0.44000573, -0.30680892, -3.31134036,
   5.46505376, -0.85707137,  1.69680821, -0.31857248,-21.85944761,
 -16.88127425, -0.66580331]

qfrc_actuator:
[-2.69807687e-05,-4.36067672e-04,-2.42418222e-04,-3.83611428e-05,
  5.15710561e-05,-4.79936298e-04,-2.94467931e-04,-1.08604918e-04,
  2.33029114e-05,-2.56125462e-04,-2.77656127e-04,-1.82939298e-04,
  3.66612818e-02,-9.74307234e-04, 3.20131670e-02,-3.21658681e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.39714113, -1.9182846 ,  3.95664433, -1.9182846 , 14.23231369,
        4.76834874,  3.95664433,  4.76834874,  6.70896124,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002512343089618868
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.17381655e-13, -2.20953704e-13,  1.00000000e+00,  2.59359116e-26,
        1.00000000e+00,  2.20953704e-13, -1.00000000e+00,  0.00000000e+00,
        1.17381655e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10656344, -0.09419577,  0.06199224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.94725004e-05,-7.55847128e-05, 7.47530470e-06, 8.69735639e-06,
  1.03919983e-05,-1.55174235e-05, 5.58451569e-07, 1.60133067e-05,
  1.08518360e-05,-1.03050564e-05,-4.47147118e-05, 2.12029717e-06,
 -2.43805139e-04,-1.05791773e-04,-2.55504185e-04,-4.81139483e-05,
  2.94055358e-06,-1.86877403e-06,-1.21644297e+00,-1.78368167e-03,
 -3.09471629e-04,-6.51954066e-07]


--- Step 584 ---
qpos:
[ 2.89580312e-03,-5.61218376e-03,-1.02095595e-02, 2.81957608e-03,
 -4.45997514e-03,-5.16835473e-03,-1.77366646e-02, 5.14290451e-03,
 -4.74486144e-03,-3.95335482e-03,-7.78413830e-03,-1.91284784e-02,
  9.82142060e-01, 1.84772756e-02, 9.67809749e-01, 2.64040892e-02,
  9.50093083e-02,-6.99786238e-02, 1.30746384e-01, 9.99149368e-01,
 -9.63572735e-05, 5.50563719e-05,-4.12374657e-02]

qacc:
[ -2.03449398, -2.05919783,  7.81422961,-12.82800063, -5.05175082,
   2.08931296,-11.00178555, 26.28778996, -4.8767988 ,  2.18364372,
  -7.29291204,  8.36844332, -1.4512238 ,  2.11062559, -4.94330048,
  13.02269147, -0.54025018, -1.45734506,  0.22659526, 21.81987957,
  -2.67671246,  1.56974431]

qfrc_actuator:
[-3.84849725e-05,-4.31203237e-04,-2.15676715e-04,-5.04163498e-05,
  2.14801725e-05,-4.57361835e-04,-2.89760620e-04,-6.25459888e-05,
 -5.52980056e-06,-2.23588759e-04,-3.01834056e-04,-1.80460818e-04,
  3.66182050e-02,-9.27806418e-04, 3.19577448e-02,-3.16980208e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4027094 , -0.67931165,  4.34998687, -0.67931165, 20.84504181,
        2.56770155,  4.34998687,  2.56770155,  4.80369212,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002533627858577886
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.47743733e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.47743733e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1003179 , -0.04658487,  0.06199217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20873540e-05,-3.54885301e-05, 1.23485394e-05,-1.48666636e-05,
 -2.97990799e-05, 1.47048698e-05, 2.12035048e-06, 4.57249060e-05,
 -2.85194918e-05, 1.75730388e-05,-3.17543192e-05, 5.31011258e-07,
 -2.14364924e-04,-2.87193215e-05,-1.83805648e-04, 1.00549993e-05,
  5.83811092e-06, 1.10413355e-06,-1.21644632e+00,-1.78174663e-03,
 -3.11324869e-04,-5.81570529e-07]


--- Step 585 ---
qpos:
[ 2.89602417e-03,-5.61260302e-03,-1.02089893e-02, 2.81940029e-03,
 -4.46023729e-03,-5.16863878e-03,-1.77360982e-02, 5.14376236e-03,
 -4.74600385e-03,-3.95110823e-03,-7.78493302e-03,-1.91296091e-02,
  9.82949015e-01, 1.84797742e-02, 9.68703575e-01, 2.63994852e-02,
  9.50099160e-02,-6.99774999e-02, 1.30744987e-01, 9.99146345e-01,
 -1.01312777e-04, 6.07568963e-05,-4.13106204e-02]

qacc:
[  1.7934062 , -0.16009822,  3.26228191,-12.23513183, -6.18436422,
   1.5227684 , -8.00269874, 18.2799963 , -2.96130733,  0.07025295,
  -1.54574502,  7.06274597, -1.20762855,  1.73143415, -7.95083371,
  24.19862281, -0.50965668, -1.43940296,  0.08898856, 21.50792844,
  -3.00479064,  1.34239377]

qfrc_actuator:
[-2.75000000e-05,-3.92303833e-04,-2.17924093e-04,-7.53814710e-05,
 -1.41582640e-05,-4.79290531e-04,-3.04943841e-04,-3.55523728e-05,
 -2.21755542e-05,-2.05102552e-04,-2.80029967e-04,-1.60639741e-04,
  3.65633434e-02,-9.01032718e-04, 3.19083417e-02,-3.06854589e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41368378, -0.77177204, -4.34568434, -0.77177204, 12.75629541,
       -1.48160656, -4.34568434, -1.48160656,  4.67680978,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002574922877703889
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.07791872e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.07791872e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10032163, -0.04658668,  0.06199204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06284593e-05, 2.09775414e-05,-8.57302224e-06,-2.63483087e-05,
 -3.64895449e-05,-1.13209052e-05,-1.03078862e-05, 2.85864538e-05,
 -1.74473545e-05, 2.17021217e-05, 2.15319777e-05, 1.94872265e-05,
 -1.89775835e-04,-2.62218296e-05,-1.42054455e-04, 7.61320028e-05,
  2.81817385e-06, 5.40579422e-07,-1.21644164e+00,-1.78092775e-03,
 -3.09877751e-04,-3.86605817e-07]


--- Step 586 ---
qpos:
[ 2.89637487e-03,-5.61257327e-03,-1.02085993e-02, 2.81889665e-03,
 -4.46057996e-03,-5.16897672e-03,-1.77359657e-02, 5.14460839e-03,
 -4.74664700e-03,-3.94904680e-03,-7.78534789e-03,-1.91301210e-02,
  9.83754740e-01, 1.84818281e-02, 9.69595805e-01, 2.63940825e-02,
  9.50085824e-02,-6.99820741e-02, 1.30743483e-01, 9.99143417e-01,
 -6.40712526e-05, 5.81856171e-05,-4.13814533e-02]

qacc:
[ 1.12062632e+00, 4.19778745e-01, 7.44279037e-01,-6.45598058e+00,
 -7.14924178e-01, 1.11839786e+00,-4.03908668e+00, 4.56622491e+00,
  4.38623352e+00,-4.05108497e-02,-2.83362821e+00, 1.30786764e+01,
 -5.13166672e-01, 1.04818362e-02, 8.29515771e-02,-3.65274626e+00,
 -4.85315971e-01,-1.42449971e+00,-2.66446744e-02, 2.12512940e+01,
 -3.26089898e+00, 1.16267054e+00]

qfrc_actuator:
[-2.11212274e-05,-3.51189572e-04,-2.19369349e-04,-8.99729794e-05,
 -1.72585689e-05,-4.92285250e-04,-3.31940709e-04,-3.77984194e-05,
  4.00268159e-06,-2.30466214e-04,-2.66794295e-04,-1.30751372e-04,
  3.64801492e-02,-9.39491495e-04, 3.18253167e-02,-3.11353274e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41821816, -0.83729314, -4.33815536, -0.83729314, 16.87856842,
       -2.40493135, -4.33815536, -2.40493135,  4.88238608,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002591739502722512
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.14184918e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.14184918e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10032471, -0.04658755,  0.06199199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.69208849e-06, 4.99571006e-05, 9.18071063e-07,-1.45026074e-05,
 -4.15107557e-06,-2.02405543e-05,-2.96194621e-05,-2.53244679e-06,
  2.56919536e-05,-8.02536356e-06, 2.10293394e-05, 3.19419534e-05,
 -2.02199634e-04,-8.56958985e-05,-1.50640902e-04,-6.14282104e-05,
  1.86040882e-07, 6.51359812e-07,-1.21643996e+00,-1.78076368e-03,
 -3.08491438e-04,-2.71582015e-07]


--- Step 587 ---
qpos:
[ 2.89645452e-03,-5.61220621e-03,-1.02079622e-02, 2.81855133e-03,
 -4.46026772e-03,-5.16946260e-03,-1.77357979e-02, 5.14436482e-03,
 -4.74662624e-03,-3.94754394e-03,-7.78507087e-03,-1.91305891e-02,
  9.84558920e-01, 1.84838438e-02, 9.70486357e-01, 2.63884471e-02,
  9.50053849e-02,-6.99922972e-02, 1.30741485e-01, 9.99140568e-01,
  1.49317360e-05, 4.69569293e-05,-4.14502487e-02]

qacc:
[ -2.36892939,  0.08571498, -0.31913103,  2.4072035 ,  5.7145278 ,
  -2.54865559, 13.38463488,-32.17063646,  5.84348499, -2.59337165,
   7.96960961, -7.88194004, -1.0494502 ,  1.0610524 , -1.693322  ,
   2.52998129, -0.46598705, -1.41223204, -0.1237059 , 21.04191745,
  -3.46098894,  1.02048337]

qfrc_actuator:
[-3.52646718e-05,-3.26802322e-04,-2.02531717e-04,-8.05770883e-05,
  1.65718981e-05,-4.99914573e-04,-3.30178737e-04,-9.27352617e-05,
  3.74199546e-05,-2.81903149e-04,-2.41162225e-04,-1.30737443e-04,
  3.63906415e-02,-9.45368873e-04, 3.17594450e-02,-3.12013194e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.417454  , -0.91902735, -4.32079721, -0.91902735, 22.20553713,
       -3.78349967, -4.32079721, -3.78349967,  5.22219893,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002588915295340527
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.14418569e-13,  1.07209284e-13,  1.00000000e+00,  2.29876613e-26,
        1.00000000e+00, -1.07209284e-13, -1.00000000e+00,  0.00000000e+00,
       -2.14418569e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10032729, -0.04658768,  0.061992  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.39345723e-05, 5.18883250e-05, 2.67634925e-05, 1.12857212e-05,
  3.37057060e-05,-2.51666551e-05,-6.15436795e-06,-5.68796274e-05,
  3.41520006e-05,-5.02750039e-05, 2.76498558e-05, 1.01601526e-06,
 -2.30028597e-04,-6.81969536e-05,-1.52639085e-04,-3.17874848e-05,
 -2.10193695e-06, 1.39981424e-06,-1.21644118e+00,-1.78124845e-03,
 -3.07127488e-04,-2.51344815e-07]


--- Step 588 ---
qpos:
[ 2.89601932e-03,-5.61175681e-03,-1.02067400e-02, 2.81867560e-03,
 -4.45920758e-03,-5.17008475e-03,-1.77356369e-02, 5.14346628e-03,
 -4.74654953e-03,-3.94671646e-03,-7.78437263e-03,-1.91306733e-02,
  9.85361568e-01, 1.84855629e-02, 9.71374668e-01, 2.63828069e-02,
  9.49988156e-02,-6.99956727e-02, 1.30739190e-01, 9.99137672e-01,
  4.71054180e-05, 1.89823479e-06,-4.15199920e-02]

qacc:
[ -4.4863092 , -0.55031824,  0.15305569,  6.9614502 ,  6.52431921,
  -1.52193212,  7.90849152,-19.10998174,  0.51471641, -1.28037193,
   1.64972769,  4.81508759, -0.77092692,  0.41818351, -3.24967422,
   6.68215249, -0.84295354,  1.71189797, -0.07409239,-22.69337637,
 -17.87101528, -0.4753258 ]

qfrc_actuator:
[-6.13725955e-05,-3.30271811e-04,-1.75079652e-04,-5.71437881e-05,
  5.41049679e-05,-5.04209048e-04,-3.29209956e-04,-1.24946181e-04,
  3.93110369e-05,-3.30783956e-04,-2.26308926e-04,-1.12815550e-04,
  3.63027441e-02,-9.67431338e-04, 3.16453464e-02,-3.12169775e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42016812,  0.44055394, -4.39815853,  0.44055394, 24.69077095,
        2.03046202, -4.39815853,  2.03046202,  4.62355507,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002598928277210144
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.67476471e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.67476471e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10654387, -0.09419853,  0.06199197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.64913804e-05, 3.15332500e-05, 4.18466196e-05, 2.68014022e-05,
  3.84931459e-05,-2.20476885e-05,-6.95295922e-06,-3.46094004e-05,
  2.85263123e-06,-7.12845478e-05, 7.88879476e-06, 1.67409353e-05,
 -2.40593739e-04,-8.72362940e-05,-1.98776143e-04,-2.54089824e-05,
 -4.07807562e-06, 2.76022642e-06,-1.21644523e+00,-1.78237690e-03,
 -3.05757292e-04,-3.35997436e-07]


--- Step 589 ---
qpos:
[ 2.89630912e-03,-5.61120253e-03,-1.02051263e-02, 2.81874504e-03,
 -4.45770534e-03,-5.17099006e-03,-1.77354352e-02, 5.14254960e-03,
 -4.74714040e-03,-3.94627787e-03,-7.78353716e-03,-1.91312496e-02,
  9.86163013e-01, 1.84861282e-02, 9.72260682e-01, 2.63771293e-02,
  9.49888334e-02,-6.99923060e-02, 1.30736106e-01, 9.99134712e-01,
  3.29432723e-05,-7.59486627e-05,-4.15911087e-02]

qacc:
[  6.35223509, -1.08122487,  4.2661913 , -5.8951837 ,  3.86156733,
  -0.53262796,  1.4197945 , -1.57662872, -5.83357528, -1.8999808 ,
   8.12204635,-16.58545174,  0.19831541, -1.66548783, -3.34931937,
   6.63026026, -0.85320482,  1.68555893, -0.19718802,-22.46724976,
 -17.34192834, -0.6867516 ]

qfrc_actuator:
[-2.32964652e-05,-3.32582667e-04,-1.59448271e-04,-6.11679028e-05,
  7.57520026e-05,-5.24207747e-04,-3.28688966e-04,-1.25767696e-04,
  4.87617668e-06,-3.42285558e-04,-2.17928984e-04,-1.37764343e-04,
  3.62371703e-02,-1.03443635e-03, 3.15450290e-02,-3.12037819e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42753386, -0.5348129 ,  4.39511447, -0.5348129 , 13.40589888,
        1.09251885,  4.39511447,  1.09251885,  4.56047537,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002625854257038013
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.60632048e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.60632048e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1065398 , -0.09419828,  0.06199189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.73244776e-05, 2.50759940e-05, 2.82083724e-05,-7.06154739e-07,
  2.27445459e-05,-3.52104168e-05,-6.08126332e-06,-2.67895072e-06,
 -3.43759691e-05,-4.90539240e-05,-4.81026241e-06,-2.74060094e-05,
 -2.29511877e-04,-1.38302980e-04,-2.02994366e-04,-2.75217223e-05,
 -1.50094368e-06, 3.56000625e-06,-1.21644301e+00,-1.78239116e-03,
 -3.06469794e-04,-3.57205119e-07]


--- Step 590 ---
qpos:
[ 2.89705286e-03,-5.61062694e-03,-1.02035130e-02, 2.81845907e-03,
 -4.45664494e-03,-5.17184957e-03,-1.77353955e-02, 5.14194697e-03,
 -4.74813982e-03,-3.94555868e-03,-7.78318218e-03,-1.91325095e-02,
  9.86963026e-01, 1.84863884e-02, 9.73144757e-01, 2.63697373e-02,
  9.49754071e-02,-6.99822832e-02, 1.30731819e-01, 9.99131664e-01,
 -2.71454761e-05,-1.85754023e-04,-4.16639264e-02]

qacc:
[  3.97016378, -0.71053531,  4.06112654,-10.212752  , -3.85893512,
   1.16701076, -5.38627722, 11.03354916, -3.59690554,  0.31296539,
   2.3157172 ,-13.58771317, -0.82504498,  0.54104835,  2.38496307,
 -12.35671958, -0.86105726,  1.66402646, -0.30092253,-22.27890075,
 -16.92050521, -0.84932323]

qfrc_actuator:
[-1.00170821e-06,-3.52006453e-04,-1.68702530e-04,-8.13298846e-05,
  5.23688110e-05,-5.00169683e-04,-3.28481450e-04,-1.08130418e-04,
 -1.51478508e-05,-2.95870732e-04,-2.31070165e-04,-1.69960445e-04,
  3.61796906e-02,-1.03866795e-03, 3.14583919e-02,-3.20605619e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42877166, -0.44963128,  4.40588812, -0.44963128, 17.79530916,
        1.36408669,  4.40588812,  1.36408669,  4.56797992,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026303441425928886
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.11041401e-13, -1.58281051e-13,  1.00000000e+00,  3.34038546e-26,
        1.00000000e+00,  1.58281051e-13, -1.00000000e+00,  0.00000000e+00,
        2.11041401e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10653691, -0.09419876,  0.06199187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.33657562e-05, 3.68180758e-07,-6.51805311e-07,-1.81317993e-05,
 -2.27431031e-05, 3.01830000e-06,-7.89756293e-06, 1.58687748e-05,
 -2.10193736e-05, 1.67787042e-05,-2.48264159e-05,-3.49971209e-05,
 -2.26729865e-04,-8.36849224e-05,-1.90639177e-04,-1.15000118e-04,
  5.40237069e-07, 5.28534608e-06,-1.21644586e+00,-1.78170758e-03,
 -3.06686681e-04, 5.05683494e-07]


--- Step 591 ---
qpos:
[ 2.89702383e-03,-5.61022213e-03,-1.02022095e-02, 2.81832630e-03,
 -4.45656274e-03,-5.17254553e-03,-1.77352189e-02, 5.14255954e-03,
 -4.74902689e-03,-3.94447936e-03,-7.78342414e-03,-1.91334576e-02,
  9.87761403e-01, 1.84871091e-02, 9.74026330e-01, 2.63630157e-02,
  9.49657409e-02,-6.99758089e-02, 1.30729663e-01, 9.99128617e-01,
 -6.70814682e-05,-2.62453516e-04,-4.17364807e-02]

qacc:
[ -6.76638004,  0.96929232, -4.40734108,  7.65536548, -8.52879472,
   2.35192839,-13.17382948, 33.83599058,  0.9587971 ,  2.78486106,
 -10.55444299, 16.63424086, -1.42124315,  1.99248233, -5.60322645,
  14.54868966,  0.94005139, -0.88713801,  0.53288897,  9.37799274,
  16.95837808,  0.13021251]

qfrc_actuator:
[-4.14526106e-05,-3.81656381e-04,-1.92652828e-04,-7.53467968e-05,
  2.67457381e-06,-4.67677885e-04,-3.10523016e-04,-4.42375414e-05,
 -8.76474023e-06,-2.68477871e-04,-2.56561206e-04,-1.52858791e-04,
  3.61111538e-02,-1.00562271e-03, 3.13533845e-02,-3.16471434e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44778121, -2.23280877,  3.84672883, -2.23280877, 20.17162773,
        9.1268046 ,  3.84672883,  9.1268046 ,  9.74537566,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000269808224548293
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02871496e-13, -4.11485983e-13,  1.00000000e+00,  4.23301785e-26,
        1.00000000e+00,  4.11485983e-13, -1.00000000e+00,  0.00000000e+00,
        1.02871496e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08308326, -0.05715187,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.97855927e-05,-3.03888320e-05,-2.46086160e-05, 5.61803785e-06,
 -5.03455038e-05, 3.32524761e-05, 1.81700263e-05, 6.40618851e-05,
  5.79355611e-06, 3.01110466e-05,-2.63039735e-05, 1.62809436e-05,
 -2.23608943e-04,-3.42657275e-05,-2.14575066e-04, 8.40443458e-06,
  2.12841293e-06, 7.93516507e-06,-1.21645356e+00,-1.78032322e-03,
 -3.06445409e-04, 2.20759799e-06]


--- Step 592 ---
qpos:
[ 2.89651040e-03,-5.60998165e-03,-1.02014601e-02, 2.81793771e-03,
 -4.45673216e-03,-5.17318684e-03,-1.77344735e-02, 5.14357076e-03,
 -4.74983054e-03,-3.94334718e-03,-7.78360247e-03,-1.91342002e-02,
  9.88558439e-01, 1.84876222e-02, 9.74905406e-01, 2.63606941e-02,
  9.49598347e-02,-6.99727630e-02, 1.30729008e-01, 9.99125568e-01,
 -8.68353790e-05,-3.07032568e-04,-4.18090611e-02]

qacc:
[-4.25196601e+00, 8.12615624e-01,-2.11829438e+00,-1.31785919e+00,
 -2.17726212e+00,-6.91814860e-01, 8.96223945e-01, 5.04530226e+00,
  7.31528782e-01, 3.14017118e-01,-1.88703556e+00, 5.30330168e+00,
 -3.83074738e-01,-7.56888807e-02,-1.70152173e+01, 5.41792518e+01,
  9.40000542e-01,-8.57079419e-01, 3.75116424e-01, 9.41194705e+00,
  1.64673907e+01,-1.46821701e-02]

qfrc_actuator:
[-6.52478762e-05,-3.99505793e-04,-2.25111052e-04,-8.95483972e-05,
 -8.83528836e-06,-4.65755188e-04,-2.82148097e-04,-2.46285862e-05,
 -4.64745206e-06,-2.70442598e-04,-2.53648258e-04,-1.42405558e-04,
  3.60467044e-02,-1.02186541e-03, 3.12854075e-02,-2.92459129e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46238151,  2.73558961, -3.52553517,  2.73558961,  9.94255477,
        4.25226363, -3.52553517,  4.25226363,  7.76186589,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002748630813116104
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.03918569e-13,  4.03918569e-13,  1.00000000e+00, -1.63150210e-25,
        1.00000000e+00, -4.03918569e-13, -1.00000000e+00,  0.00000000e+00,
        4.03918569e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08308668, -0.05715048,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.49448182e-05,-3.97286929e-05,-4.15900683e-05,-1.62477083e-05,
 -1.29449182e-05, 2.70192598e-05, 3.97051693e-05, 2.29112279e-05,
  4.29661242e-06, 1.01026148e-05, 6.44699881e-06, 1.11494929e-05,
 -2.06240919e-04,-7.24503008e-05,-1.73282660e-04, 2.11343889e-04,
  1.67242203e-06, 5.59843878e-06,-1.21644677e+00,-1.78026804e-03,
 -3.04623579e-04, 1.62438797e-06]


--- Step 593 ---
qpos:
[ 2.89640505e-03,-5.60980940e-03,-1.02011862e-02, 2.81736434e-03,
 -4.45669404e-03,-5.17337933e-03,-1.77340182e-02, 5.14378225e-03,
 -4.75023365e-03,-3.94203496e-03,-7.78379464e-03,-1.91348229e-02,
  9.89354094e-01, 1.84884406e-02, 9.75782901e-01, 2.63588097e-02,
  9.49576860e-02,-6.99730486e-02, 1.30729323e-01, 9.99122513e-01,
 -8.63973556e-05,-3.20286866e-04,-4.18818943e-02]

qacc:
[  3.55588992,  0.85126777, -2.39808204,  0.02365265,  1.79285256,
  -0.24649369,  5.10945277,-18.81029349,  3.50302501,  0.51678952,
  -2.01445841,  3.99003471, -1.1731482 ,  1.57440157, -3.55753417,
   9.31151799,  0.93934989, -0.83288636,  0.24249809,  9.43227046,
  16.07079494, -0.12813617]

qfrc_actuator:
[-4.35237524e-05,-3.92460399e-04,-2.44553362e-04,-9.77604290e-05,
  2.23016305e-06,-4.46625198e-04,-3.01267847e-04,-6.67647954e-05,
  1.58469589e-05,-2.54353387e-04,-2.51867324e-04,-1.35959897e-04,
  3.59953912e-02,-9.96186395e-04, 3.12131094e-02,-2.90649720e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46900678,  2.6863545 , -3.57148724,  2.6863545 , 13.26520271,
        6.61620746, -3.57148724,  6.61620746,  9.44549906,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002771167251786888
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00316856e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.00316856e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08308906, -0.05714907,  0.06199144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.09982136e-05,-2.44815702e-05,-3.33428219e-05,-1.16698710e-05,
  1.07012300e-05, 4.34294040e-05,-7.85789074e-06,-3.91605325e-05,
  2.06231694e-05, 2.35093035e-05, 5.03685408e-06, 7.31764154e-06,
 -1.90408714e-04,-3.52268076e-05,-1.36569797e-04, 5.77296954e-06,
  9.35353520e-07, 3.54156056e-06,-1.21644241e+00,-1.78047838e-03,
 -3.03310485e-04, 1.25972101e-06]


--- Step 594 ---
qpos:
[ 2.89621562e-03,-5.60956682e-03,-1.02013049e-02, 2.81736346e-03,
 -4.45686862e-03,-5.17295864e-03,-1.77344726e-02, 5.14385507e-03,
 -4.74935299e-03,-3.94079419e-03,-7.78359462e-03,-1.91350142e-02,
  9.90148436e-01, 1.84893026e-02, 9.76658814e-01, 2.63577541e-02,
  9.49592909e-02,-6.99765881e-02, 1.30730162e-01, 9.99119447e-01,
 -6.57689401e-05,-3.02856507e-04,-4.19551570e-02]

qacc:
[ -0.74872559,  2.37105117,-10.73313496, 21.21430548, -1.89395473,
   3.06976566, -9.1787575 ,  7.77718513, 11.25271248, -0.32386934,
  -0.83936101,  7.76825613, -0.87603276,  0.92448728, -4.78089846,
  13.50126165,  0.93842413, -0.81347605,  0.13121619,  9.44370259,
  15.75168827, -0.21669546]

qfrc_actuator:
[-4.84446303e-05,-3.70508491e-04,-2.56043034e-04,-6.68421665e-05,
 -9.02297649e-06,-4.17586868e-04,-3.48253029e-04,-7.38986458e-05,
  8.13224298e-05,-2.63085406e-04,-2.32960965e-04,-1.14162725e-04,
  3.59253826e-02,-9.99042175e-04, 3.11542034e-02,-2.85964404e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46901874,  2.61700509, -3.62262513,  2.61700509, 17.80449807,
        9.63362647, -3.62262513,  9.63362647, 11.42840555,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027712077037703176
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.00313932e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.00313932e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08309061, -0.05714764,  0.06199144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.32815246e-06, 8.74027333e-07,-2.10620130e-05, 2.84878274e-05,
 -1.09292644e-05, 5.00278267e-05,-4.03421394e-05,-6.30876759e-06,
  6.60759489e-05, 5.73000711e-06, 2.46226247e-05, 2.31186649e-05,
 -1.91294891e-04,-5.22236019e-05,-1.32243345e-04, 2.70949377e-05,
 -8.01581046e-08, 1.72820644e-06,-1.21644031e+00,-1.78096352e-03,
 -3.02487577e-04, 1.10394373e-06]


--- Step 595 ---
qpos:
[ 2.89527898e-03,-5.60919950e-03,-1.02016078e-02, 2.81736546e-03,
 -4.45683163e-03,-5.17213842e-03,-1.77354780e-02, 5.14418980e-03,
 -4.74803905e-03,-3.93960071e-03,-7.78313826e-03,-1.91349364e-02,
  9.90941241e-01, 1.84902917e-02, 9.77533179e-01, 2.63604767e-02,
  9.49646457e-02,-6.99833194e-02, 1.30731154e-01, 9.99116359e-01,
 -2.49571390e-05,-2.55253564e-04,-4.20289861e-02]

qacc:
[-6.54402938e+00, 6.98209419e-01,-2.24031943e+00, 2.46890279e+00,
  1.82128505e+00, 2.60237838e+00,-9.62536251e+00, 1.47533937e+01,
  3.80225296e+00,-2.32325024e-01,-4.09307312e-01, 4.70064003e+00,
 -9.16512433e-01, 9.58396382e-01,-1.36656108e+01, 4.46509571e+01,
  9.37455651e-01,-7.97973083e-01, 3.80160980e-02, 9.44977234e+00,
  1.54964218e+01,-2.85509663e-01]

qfrc_actuator:
[-8.67761954e-05,-3.57476579e-04,-2.62653731e-04,-6.63869836e-05,
  2.17522732e-06,-4.00700058e-04,-3.75716507e-04,-6.03722456e-05,
  1.01732549e-04,-2.68778048e-04,-2.21932470e-04,-1.01266818e-04,
  3.58335490e-02,-1.00112657e-03, 3.11246930e-02,-2.65408085e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46376793,  2.52459056, -3.68125884,  2.52459056, 24.00209562,
       13.39929622, -3.68125884, 13.39929622, 13.65294431,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002753367127555778
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.01611876e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.01611876e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08309149, -0.05714619,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.84559456e-05, 1.03824496e-05,-8.03976320e-06, 3.18227951e-07,
  1.09042398e-05, 3.62452475e-05,-2.23176539e-05, 1.41513183e-05,
  2.23012184e-05, 3.56625732e-06, 1.60262628e-05, 1.44379655e-05,
 -2.17387086e-04,-5.53490092e-05,-9.84570493e-05, 1.87549493e-04,
 -1.37220399e-06, 1.31584578e-07,-1.21644037e+00,-1.78173010e-03,
 -3.02140362e-04, 1.14945940e-06]


--- Step 596 ---
qpos:
[ 2.89458001e-03,-5.60878653e-03,-1.02022301e-02, 2.81704727e-03,
 -4.45666036e-03,-5.17156726e-03,-1.77362246e-02, 5.14402091e-03,
 -4.74717980e-03,-3.93849381e-03,-7.78220646e-03,-1.91350601e-02,
  9.91732410e-01, 1.84913720e-02, 9.78406314e-01, 2.63636202e-02,
  9.49737469e-02,-6.99931935e-02, 1.30731986e-01, 9.99113239e-01,
  3.60298660e-05,-1.77884370e-04,-4.21034873e-02]

qacc:
[  2.06811565,  0.28985037,  0.39858584, -5.45492588,  1.18301874,
  -2.09076373,  9.09970977,-18.0431923 , -3.96447019, -1.85073859,
   7.29428509,-11.48669559, -1.21297212,  1.37437467, -2.99310643,
   8.08126994,  0.93660703, -0.78566871, -0.03988143,  9.45307936,
  15.29394972, -0.33862871]

qfrc_actuator:
[-7.34468831e-05,-3.67631836e-04,-2.84141153e-04,-8.38690294e-05,
  8.75240796e-06,-4.44393678e-04,-3.73709302e-04,-8.80527106e-05,
  7.76878050e-05,-2.72642654e-04,-1.97899092e-04,-1.11474426e-04,
  3.57393392e-02,-1.00284912e-03, 3.10542899e-02,-2.64061471e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45449934,  2.40522692, -3.74932632,  2.40522692, 32.45480009,
       17.96244746, -3.74932632, 17.96244746, 15.97757267,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027214954776974554
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.03972969e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.03972969e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08309186, -0.05714472,  0.06199159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.22332848e-05,-6.01662733e-06,-2.03203763e-05,-1.73075673e-05,
  6.90273323e-06,-2.74438112e-05, 7.23502446e-06,-2.66252245e-05,
 -2.34036162e-05, 2.02127208e-06, 2.72243125e-05,-9.22380885e-06,
 -2.34634517e-04,-6.22721498e-05,-1.07282347e-04, 8.42798190e-06,
 -2.93972945e-06,-1.26787022e-06,-1.21644249e+00,-1.78278293e-03,
 -3.02257573e-04, 1.39045960e-06]


--- Step 597 ---
qpos:
[ 2.89439072e-03,-5.60826666e-03,-1.02031521e-02, 2.81651314e-03,
 -4.45641127e-03,-5.17141027e-03,-1.77371027e-02, 5.14357116e-03,
 -4.74661512e-03,-3.93751031e-03,-7.78068545e-03,-1.91349631e-02,
  9.92522089e-01, 1.84921641e-02, 9.79277879e-01, 2.63652815e-02,
  9.49865920e-02,-7.00061715e-02, 1.30732399e-01, 9.99110072e-01,
  1.17185763e-04,-7.10675793e-05,-4.21787411e-02]

qacc:
[  4.44691323,  0.5252316 , -0.77128208, -2.54914868,  0.68146378,
  -0.75961313,  3.09770496, -7.44152473, -2.55803294, -1.35051745,
   3.65611318, -0.69820094, -0.89520358,  0.63902365,  2.23498673,
 -11.02201626,  0.93598859, -0.7759883 , -0.10485203,  9.45551417,
  15.13531506, -0.37923656]

qfrc_actuator:
[-4.75596895e-05,-3.56164937e-04,-2.96592952e-04,-9.40388704e-05,
  1.25496467e-05,-4.88441504e-04,-3.90114157e-04,-1.04291257e-04,
  6.31900848e-05,-2.75352233e-04,-1.66384419e-04,-9.96759982e-05,
  3.56597453e-02,-1.02212213e-03, 3.09593786e-02,-2.72280815e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002678793788648548
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03612214e-13, -6.21673286e-13,  1.00000000e+00,  6.44129457e-26,
        1.00000000e+00,  6.21673286e-13, -1.00000000e+00,  0.00000000e+00,
        1.03612214e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08309183, -0.05714325,  0.06199172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.62356673e-05, 3.16300158e-06,-1.67930552e-05,-1.14668491e-05,
  3.98636048e-06,-5.90498212e-05,-2.21012888e-05,-1.76817398e-05,
 -1.51616337e-05, 3.59254407e-06, 3.49442965e-05, 1.26441976e-05,
 -2.32358989e-04,-8.49856538e-05,-1.56420429e-04,-9.84845735e-05,
 -4.78261602e-06,-2.48415664e-06,-1.21644661e+00,-1.78412548e-03,
 -3.02830522e-04, 1.82267551e-06]


--- Step 598 ---
qpos:
[ 2.89382334e-03,-5.60749439e-03,-1.02043021e-02, 2.81549187e-03,
 -4.45577407e-03,-5.17118631e-03,-1.77381488e-02, 5.14356163e-03,
 -4.74588372e-03,-3.93666075e-03,-7.77904228e-03,-1.91343463e-02,
  9.93310052e-01, 1.84937767e-02, 9.80147657e-01, 2.63658997e-02,
  9.49960784e-02,-7.00120248e-02, 1.30732795e-01, 9.99106878e-01,
  1.52355757e-04, 1.53609521e-06,-4.22542617e-02]

qacc:
[-3.31904756e+00,-2.61144889e-02, 2.64451472e+00,-1.09083705e+01,
  3.37860476e+00, 1.45756597e+00,-6.93871101e+00, 1.47899725e+01,
  1.46594301e+00, 5.49246677e-01,-4.41049028e+00, 1.33057731e+01,
 -1.94440378e+00, 3.05935185e+00, 7.10196956e-01,-5.84294156e+00,
 -8.39685013e-01, 1.78119187e+00,-4.17374577e-03,-2.22509646e+01,
 -1.80611651e+01,-1.30204029e-01]

qfrc_actuator:
[-6.77627235e-05,-3.31804257e-04,-3.03515480e-04,-1.17550191e-04,
  3.24342943e-05,-4.43673967e-04,-3.81774378e-04,-7.81807120e-05,
  7.21949470e-05,-2.95049972e-04,-1.66190175e-04,-7.50155234e-05,
  3.55996185e-02,-9.62819353e-04, 3.08817918e-02,-2.77189939e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45084474,  2.36730581, -3.76906913,  2.36730581, 17.44801903,
        8.16336476, -3.76906913,  8.16336476,  9.57815339,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002708791969535662
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.11333596e-13, -2.04929547e-13,  1.00000000e+00,  4.33084981e-26,
        1.00000000e+00,  2.04929547e-13, -1.00000000e+00,  0.00000000e+00,
        2.11333596e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10650458, -0.09421147,  0.06199163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.94515320e-05, 2.21722870e-05,-8.72942535e-06,-2.41790458e-05,
  1.99799478e-05, 6.43170995e-06,-7.18201494e-06, 2.24740094e-05,
  8.57589884e-06,-9.98692355e-06, 5.64924539e-06, 2.62644774e-05,
 -2.17893363e-04,-1.01705570e-05,-1.71285224e-04,-7.71254148e-05,
 -6.90172774e-06,-3.52691303e-06,-1.21645268e+00,-1.78576023e-03,
 -3.03852587e-04, 2.44315631e-06]


--- Step 599 ---
qpos:
[ 2.89336349e-03,-5.60666999e-03,-1.02054951e-02, 2.81455491e-03,
 -4.45524842e-03,-5.17097614e-03,-1.77382890e-02, 5.14414439e-03,
 -4.74505011e-03,-3.93595501e-03,-7.77736480e-03,-1.91334311e-02,
  9.94096524e-01, 1.84962451e-02, 9.81015728e-01, 2.63628727e-02,
  9.50021677e-02,-7.00109158e-02, 1.30732630e-01, 9.99103646e-01,
  1.41850010e-04, 4.10779533e-05,-4.23306336e-02]

qacc:
[  0.93841215,  0.36130293, -1.54733356,  3.04060511, -0.94393219,
  -1.32777786,  2.21117162,  6.59709813,  0.89856196,  0.32714944,
  -2.7033333 ,  7.91922086, -1.98629962,  3.24206745,  8.7234738 ,
 -33.67165641, -0.84927205,  1.74054608, -0.1401821 ,-22.11896829,
 -17.48120629, -0.42363485]

qfrc_actuator:
[-6.16781021e-05,-3.35400818e-04,-3.07072242e-04,-1.13203557e-04,
  2.61247046e-05,-4.16943214e-04,-3.22993341e-04,-4.50220629e-05,
  7.72052751e-05,-3.07128078e-04,-1.66804190e-04,-6.07777522e-05,
  3.55459199e-02,-9.10622390e-04, 3.07880468e-02,-2.96074924e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45981657, -1.92779395,  4.02163826, -1.92779395,  9.9485942 ,
        2.63107511,  4.02163826,  2.63107511,  5.72103659,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002739839708109093
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.08938773e-13,  2.02607295e-13,  1.00000000e+00, -4.23325197e-26,
        1.00000000e+00, -2.02607295e-13, -1.00000000e+00,  0.00000000e+00,
        2.08938773e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10650008, -0.09421258,  0.06199153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.53670409e-06, 5.94587679e-06,-8.80764535e-07, 4.52800737e-06,
 -5.73522323e-06, 2.98179240e-05, 6.00113654e-05, 3.36241294e-05,
  5.25492017e-06,-1.54171794e-05,-1.10237186e-06, 1.45097596e-05,
 -1.85862509e-04, 2.04196934e-06,-1.91428293e-04,-2.17482038e-04,
 -2.91819581e-06,-2.81899821e-06,-1.21644413e+00,-1.78571228e-03,
 -3.06479753e-04, 6.81746818e-07]


--- Step 600 ---
qpos:
[ 2.89332504e-03,-5.60610024e-03,-1.02063398e-02, 2.81438042e-03,
 -4.45480209e-03,-5.17096174e-03,-1.77378483e-02, 5.14482007e-03,
 -4.74485271e-03,-3.93522142e-03,-7.77576953e-03,-1.91323664e-02,
  9.94881944e-01, 1.84984683e-02, 9.81881761e-01, 2.63545830e-02,
  9.50048317e-02,-7.00029763e-02, 1.30731447e-01, 9.99100358e-01,
  8.59357447e-05, 4.84816896e-05,-4.24083138e-02]

qacc:
[  3.70189659,  0.25275235, -4.6203433 , 17.4593681 , -0.6701986 ,
  -1.6886569 ,  5.25617808, -4.43625765, -5.57287198,  0.58542461,
  -2.64477143,  5.31936063, -0.82655639,  0.73587915, 12.99973731,
 -49.66941354, -0.85633712,  1.70765076, -0.2544995 ,-22.00366385,
 -17.01583467, -0.6533839 ]

qfrc_actuator:
[-4.01552745e-05,-3.55672430e-04,-2.90950553e-04,-7.47661196e-05,
  2.21956193e-05,-4.54238446e-04,-3.05964830e-04,-4.34679924e-05,
  4.43114327e-05,-2.96818305e-04,-1.67864183e-04,-5.27802919e-05,
  3.54854683e-02,-9.34062968e-04, 3.06740125e-02,-3.23043492e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46173732, -1.86028994,  4.05541876, -1.86028994, 13.04603344,
        3.93776344,  4.05541876,  3.93776344,  6.26805676,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002746426424205667
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.42140529e-14, -2.02121385e-13,  1.00000000e+00, -8.93660561e-27,
        1.00000000e+00,  2.02121385e-13, -1.00000000e+00,  0.00000000e+00,
       -4.42140529e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10649686, -0.09421418,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.16817875e-05,-1.69450060e-05, 1.74047015e-05, 3.87526228e-05,
 -4.08691367e-06,-6.79471381e-06, 3.17417027e-05, 5.56163095e-06,
 -3.27455842e-05, 2.03953567e-06,-3.90732214e-06, 7.57417026e-06,
 -1.71843849e-04,-6.31860539e-05,-2.35850999e-04,-3.08553297e-04,
  4.71567024e-07,-1.29475280e-06,-1.21644073e+00,-1.78500073e-03,
 -3.08584518e-04,-1.88966435e-07]


--- Step 601 ---
qpos:
[ 2.89320000e-03,-5.60588267e-03,-1.02063383e-02, 2.81464571e-03,
 -4.45440646e-03,-5.17086657e-03,-1.77378078e-02, 5.14554286e-03,
 -4.74505104e-03,-3.93434146e-03,-7.77452151e-03,-1.91315566e-02,
  9.95666494e-01, 1.84993930e-02, 9.82745270e-01, 2.63446748e-02,
  9.50040493e-02,-6.99883122e-02, 1.30728862e-01, 9.99096991e-01,
 -1.51616654e-05, 2.44858699e-05,-4.24876581e-02]

qacc:
[ -0.7246615 , -1.9232905 ,  4.32832751,  2.18609195, -0.45599989,
   1.32252601, -4.75840437,  6.15332832, -3.47793659,  0.64592107,
  -0.93591129, -3.03759171,  0.46818856, -2.05518915,  1.07926255,
  -9.40918757, -0.86157109,  1.6811391 , -0.35052351,-21.90540334,
 -16.64379393, -0.83274036]

qfrc_actuator:
[-4.52316748e-05,-3.67910510e-04,-2.45643462e-04,-5.20913357e-05,
  1.97072252e-05,-4.58751256e-04,-3.31777760e-04,-4.28615731e-05,
  2.48779016e-05,-2.90942597e-04,-1.86841591e-04,-6.62500033e-05,
  3.54156532e-02,-1.01987993e-03, 3.05851763e-02,-3.29700967e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45797125, -1.77321476,  4.09013656, -1.77321476, 17.21329059,
        5.52986928,  4.09013656,  5.52986928,  6.85535962,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027334918814986287
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.34618119e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.34618119e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10649465, -0.09421618,  0.06199155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.46584847e-06,-1.64609438e-05, 4.52945255e-05, 2.33053779e-05,
 -2.60943739e-06,-1.52654546e-06,-2.31203976e-05, 1.51965738e-06,
 -2.03639314e-05, 6.47515215e-06,-1.88034136e-05,-1.33762500e-05,
 -1.89084048e-04,-1.35714519e-04,-2.38504527e-04,-1.15607175e-04,
  3.36458938e-06, 1.07810422e-06,-1.21644227e+00,-1.78361387e-03,
 -3.10213708e-04,-2.14818866e-07]


--- Step 602 ---
qpos:
[ 2.89301517e-03,-5.60583844e-03,-1.02057893e-02, 2.81483287e-03,
 -4.45438874e-03,-5.17052336e-03,-1.77384269e-02, 5.14591894e-03,
 -4.74513591e-03,-3.93352160e-03,-7.77342130e-03,-1.91312469e-02,
  9.96449595e-01, 1.85002359e-02, 9.83606457e-01, 2.63381430e-02,
  9.50001671e-02,-6.99730082e-02, 1.30728081e-01, 9.99093603e-01,
 -1.18997357e-04,-1.93985838e-05,-4.25670973e-02]

qacc:
[ -0.50293504, -1.9190986 ,  6.84169378, -8.94359794, -3.32087865,
   1.46292545, -3.26616877, -1.87348582,  0.98936988, -0.69840356,
   4.47935081,-12.84291713, -0.65152517,  0.40719142,-13.62597489,
  42.77300173, -0.77498466,  0.15997794,  0.4509089 , -0.9453927 ,
  -9.99350787, -0.04799607]

qfrc_actuator:
[-4.81755428e-05,-3.75129081e-04,-2.18967522e-04,-5.66090898e-05,
  3.33723063e-07,-4.43792837e-04,-3.64794223e-04,-6.05677360e-05,
  3.12871765e-05,-3.05609601e-04,-1.98518884e-04,-9.22554717e-05,
  3.53455674e-02,-1.01770302e-03, 3.05435309e-02,-3.10123596e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45035691, -0.70565784,  4.39405549, -0.70565784, 21.92261008,
        2.80593462,  4.39405549,  2.80593462,  4.90097247,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002707090307943469
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.84989053e-14,  4.56850967e-07,  1.00000000e+00,  3.58623008e-20,
        1.00000000e+00, -4.56850967e-07, -1.00000000e+00,  0.00000000e+00,
       -7.84989053e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10343285, -0.07038767,  0.06199163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.08079050e-06,-6.07872063e-06, 2.96585364e-05,-3.20296969e-06,
 -1.94479704e-05, 9.38797010e-06,-3.61304268e-05,-1.85439191e-05,
  5.83553706e-06,-1.55586860e-05,-1.31446345e-05,-2.66449178e-05,
 -2.15565185e-04,-6.75102662e-05,-1.69514698e-04, 1.57499482e-04,
  5.83315485e-06, 4.31865132e-06,-1.21644856e+00,-1.78154380e-03,
 -3.11402147e-04, 5.69679984e-07]


--- Step 603 ---
qpos:
[ 2.89314139e-03,-5.60589035e-03,-1.02054703e-02, 2.81500905e-03,
 -4.45529313e-03,-5.17007047e-03,-1.77391168e-02, 5.14536609e-03,
 -4.74548829e-03,-3.93280876e-03,-7.77243776e-03,-1.91315924e-02,
  9.97230774e-01, 1.85025071e-02, 9.84466014e-01, 2.63332042e-02,
  9.49940991e-02,-6.99635636e-02, 1.30728092e-01, 9.99090337e-01,
 -1.79907373e-04,-7.04139442e-05,-4.26434200e-02]

qacc:
[  2.71532048,  0.48770375, -1.88603482,  2.14410667, -8.04634202,
  -1.55399703,  9.7001092 ,-25.77480382, -2.34417438, -1.16064838,
   6.70262803,-17.77670696, -2.43380588,  4.19247285, -6.9850644 ,
  21.55276979, -0.54643264, -1.464849  ,  0.19799687, 21.5951924 ,
  -2.64879514,  1.55857317]

qfrc_actuator:
[-3.20794246e-05,-3.97126538e-04,-2.39015261e-04,-5.93477285e-05,
 -4.65759763e-05,-4.35103899e-04,-3.66208102e-04,-1.06639100e-04,
  1.73459858e-05,-3.14701699e-04,-2.05876664e-04,-1.25435219e-04,
  3.52700766e-02,-9.27921791e-04, 3.04823406e-02,-3.01869010e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46634656, -0.79535819,  4.39495813, -0.79535819, 16.439533  ,
        2.16679468,  4.39495813,  2.16679468,  4.85847269,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002762147658722791
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00970977e-13,  1.00485488e-13,  1.00000000e+00, -2.01946667e-26,
        1.00000000e+00, -1.00485488e-13, -1.00000000e+00,  0.00000000e+00,
        2.00970977e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10038325, -0.0466052 ,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.60041442e-05,-1.94166510e-05,-1.77680445e-05,-2.03672075e-06,
 -4.74617113e-05, 5.66862954e-06,-4.56419694e-06,-4.72798328e-05,
 -1.37745538e-05,-2.16899151e-05,-1.31355829e-05,-3.48248501e-05,
 -2.18597232e-04, 2.74695614e-05,-1.30175791e-04, 6.76264490e-05,
  5.64925485e-06, 5.71333668e-06,-1.21645034e+00,-1.77966594e-03,
 -3.10741217e-04, 1.19757329e-06]


--- Step 604 ---
qpos:
[ 2.89311470e-03,-5.60619694e-03,-1.02050563e-02, 2.81549483e-03,
 -4.45675291e-03,-5.16963043e-03,-1.77395369e-02, 5.14460260e-03,
 -4.74669508e-03,-3.93182566e-03,-7.77146849e-03,-1.91323891e-02,
  9.98010347e-01, 1.85055573e-02, 9.85324173e-01, 2.63282260e-02,
  9.49860247e-02,-6.99599020e-02, 1.30728361e-01, 9.99087179e-01,
 -1.98475760e-04,-1.28792057e-04,-4.27171263e-02]

qacc:
[ -1.33001609,  0.03809602, -1.92655719,  7.31532603, -4.83502694,
  -1.19462132,  5.14072322, -9.22640632, -7.48539935, -0.51765542,
   4.2905056 ,-12.29469467, -1.7812192 ,  2.79224289, -1.77148461,
   3.63154189, -0.50160993, -1.44576591,  0.06448373, 21.30864473,
  -2.77546317,  1.30712274]

qfrc_actuator:
[-4.04115069e-05,-4.10246563e-04,-2.33280899e-04,-4.33021525e-05,
 -7.38067767e-05,-4.30137496e-04,-3.48985394e-04,-1.15750789e-04,
 -2.62225317e-05,-2.67119973e-04,-1.92862113e-04,-1.44811679e-04,
  3.51914378e-02,-8.93571161e-04, 3.04200961e-02,-3.02140073e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47345882, -0.46486654, -4.44923959, -0.46486654, 13.01758692,
       -0.89270968, -4.44923959, -0.89270968,  4.56673113,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002786175141597516
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.74930802e-07,  6.74931327e-07,  1.00000000e+00, -4.55531942e-13,
        1.00000000e+00, -6.74931327e-07, -1.00000000e+00,  0.00000000e+00,
        6.74930802e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10020751, -0.04659885,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.88083906e-06,-2.77323106e-05,-5.39638179e-07, 1.45574812e-05,
 -2.85872611e-05, 5.14414590e-06, 1.62010407e-05,-9.94326367e-06,
 -4.39642720e-05, 3.12059270e-05, 5.69307754e-06,-2.14403625e-05,
 -2.01148002e-04,-8.57486271e-06,-1.26554459e-04,-1.83451084e-05,
  3.06123122e-06, 4.72419209e-06,-1.21644552e+00,-1.77873451e-03,
 -3.08291476e-04, 9.36382857e-07]


--- Step 605 ---
qpos:
[ 2.89264371e-03,-5.60687280e-03,-1.02045301e-02, 2.81652796e-03,
 -4.45818334e-03,-5.16910669e-03,-1.77400841e-02, 5.14409597e-03,
 -4.74738020e-03,-3.93034767e-03,-7.77052422e-03,-1.91330961e-02,
  9.98788477e-01, 1.85088142e-02, 9.86180749e-01, 2.63248530e-02,
  9.49775289e-02,-6.99621242e-02, 1.30728612e-01, 9.99084078e-01,
 -1.75316278e-04,-1.83847438e-04,-4.27894963e-02]

qacc:
[-3.87636029e+00, 3.33210277e-01,-4.19337439e+00, 1.37438602e+01,
  2.50688276e-01, 9.93780337e-01,-4.46832350e+00, 9.05694237e+00,
  4.55788513e+00, 8.99999545e-01,-2.65352390e+00, 3.89780443e+00,
 -1.05771029e+00, 1.27269288e+00,-7.11415779e+00, 2.17095955e+01,
 -1.05335183e-01,-1.47094105e+00,-4.28743997e-03, 2.07740123e+01,
  2.55096793e+00, 6.66419181e-01]

qfrc_actuator:
[-6.30609705e-05,-4.35595768e-04,-2.30062903e-04,-1.63022579e-05,
 -7.14754830e-05,-4.27325955e-04,-3.56398173e-04,-1.03033390e-04,
  1.88961341e-06,-2.21373707e-04,-1.85432530e-04,-1.38095540e-04,
  3.51109508e-02,-8.92400894e-04, 3.03679086e-02,-2.93224903e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47392225, -2.77858993, -3.50648232, -2.77858993, 13.15981172,
       -6.88283093, -3.50648232, -6.88283093,  9.92798216,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027877311516015985
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.41204279e-08,  5.41208262e-08,  1.00000000e+00,  2.92904227e-15,
        1.00000000e+00, -5.41208262e-08, -1.00000000e+00,  3.94430453e-31,
       -5.41204279e-08])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09553243, -0.04641061,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.28845145e-05,-4.03423877e-05,-2.07505469e-06, 2.60753347e-05,
  1.51333424e-06, 8.58904942e-06,-4.69597464e-06, 1.33077835e-05,
  2.68721604e-05, 6.33898081e-05, 1.38138076e-05, 7.83108879e-06,
 -2.01358381e-04,-4.53266750e-05,-1.24437208e-04, 6.91693283e-05,
  8.50257556e-07, 4.40289510e-06,-1.21644368e+00,-1.77845112e-03,
 -3.05908264e-04, 6.05570598e-07]


--- Step 606 ---
qpos:
[ 2.89293963e-03,-5.60792659e-03,-1.02041940e-02, 2.81755378e-03,
 -4.45923006e-03,-5.16861700e-03,-1.77404057e-02, 5.14408168e-03,
 -4.74668852e-03,-3.92846461e-03,-7.76975672e-03,-1.91336955e-02,
  9.99565403e-01, 1.85115482e-02, 9.87035440e-01, 2.63216090e-02,
  9.49688363e-02,-6.99700939e-02, 1.30728510e-01, 9.99081014e-01,
 -1.11347607e-04,-2.34969206e-04,-4.28609347e-02]

qacc:
[ 6.70892790e+00, 3.78210762e-03,-7.29939581e-01, 1.20982882e+00,
  3.35425665e+00, 3.31733866e-01,-3.33781510e+00, 1.15353084e+01,
  1.20411250e+01, 1.22753811e+00,-4.09354884e+00, 5.98072652e+00,
 -3.53299961e-01,-2.95226251e-01,-3.17214481e+00, 7.06909902e+00,
 -4.91917539e-02,-1.43687155e+00,-8.84576961e-02, 2.03018356e+01,
  2.83802954e+00, 4.62788675e-01]

qfrc_actuator:
[-2.29377720e-05,-4.68066017e-04,-2.46162552e-04,-1.85966110e-05,
 -5.17695108e-05,-4.25898752e-04,-3.42798113e-04,-7.76017887e-05,
  7.19758413e-05,-2.12566712e-04,-1.99090118e-04,-1.33836914e-04,
  3.50400496e-02,-9.28630780e-04, 3.02632385e-02,-2.93162983e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47004588e+00,  1.32777939e-02, -4.47002616e+00,  1.32777939e-02,
        2.21324422e+01,  5.24644934e-02, -4.47002616e+00,  5.24644934e-02,
        4.47020172e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00])
  dim: 3
  dist: -0.00027746797533965376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04892909e-06,  1.04892914e-06,  1.00000000e+00, -1.10025228e-12,
        1.00000000e+00, -1.04892914e-06, -1.00000000e+00,  2.01948392e-28,
        1.04892909e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09503097, -0.04671758,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.94554599e-05,-5.43316559e-05,-2.37851321e-05,-3.58810200e-06,
  1.97519876e-05, 5.81942327e-06, 1.52575058e-05, 2.58972303e-05,
  7.08803596e-05, 4.73869806e-05, 1.37890213e-06, 7.59865493e-06,
 -2.00047509e-04,-9.08346281e-05,-1.65540003e-04,-1.40761721e-05,
 -1.08825027e-06, 4.18163194e-06,-1.21644355e+00,-1.77894440e-03,
 -3.03727644e-04, 2.36032553e-07]


--- Step 607 ---
qpos:
[ 2.89371374e-03,-5.60902724e-03,-1.02041848e-02, 2.81816593e-03,
 -4.46003233e-03,-5.16827574e-03,-1.77404863e-02, 5.14438587e-03,
 -4.74550637e-03,-3.92655668e-03,-7.76925534e-03,-1.91341833e-02,
  1.00034120e+00, 1.85133132e-02, 9.87887521e-01, 2.63184802e-02,
  9.49639937e-02,-6.99814174e-02, 1.30728913e-01, 9.99077928e-01,
 -2.76523328e-05,-2.56234637e-04,-4.29328165e-02]

qacc:
[ 4.17316190e+00,-8.43213317e-03, 1.67216127e+00,-8.25866547e+00,
  2.14210750e+00,-2.17778185e-01,-8.59663968e-01, 6.10309317e+00,
  4.28521582e+00, 9.98379783e-01,-3.99655277e+00, 6.34884291e+00,
  1.20609732e-01,-1.35006114e+00,-4.26260990e+00, 9.18223570e+00,
  9.62462615e-01,-8.38430344e-01, 1.26281395e-01, 9.21434922e+00,
  1.53372215e+01,-2.22646442e-01]

qfrc_actuator:
[ 5.57630992e-07,-4.51394633e-04,-2.55842691e-04,-3.81317935e-05,
 -3.97574638e-05,-4.42970505e-04,-3.34644816e-04,-6.26325114e-05,
  9.51721923e-05,-2.43784046e-04,-2.25238241e-04,-1.31106482e-04,
  3.49696046e-02,-9.86653850e-04, 3.01218372e-02,-2.93003816e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46695864, -2.78646562, -3.49132193, -2.78646562, 14.902855  ,
       -8.3290132 , -3.49132193, -8.3290132 , 11.11444329,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002764226413734805
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00819842e-13, -2.00819842e-13,  1.00000000e+00,  4.03286090e-26,
        1.00000000e+00,  2.00819842e-13, -1.00000000e+00,  0.00000000e+00,
        2.00819842e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08311494, -0.05712421,  0.06199146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.46080204e-05,-1.87329660e-05,-2.39524422e-05,-2.27583819e-05,
  1.25786161e-05,-9.56370157e-06, 1.21282948e-05, 1.62495092e-05,
  2.52432718e-05,-4.15746263e-06,-1.59597377e-05, 4.94806615e-06,
 -2.10259491e-04,-1.21647582e-04,-2.28246753e-04,-2.25319238e-05,
 -2.94875058e-06, 4.58191290e-06,-1.21644600e+00,-1.78005788e-03,
 -3.01708530e-04,-1.29785620e-08]


--- Step 608 ---
qpos:
[ 2.89372898e-03,-5.61002991e-03,-1.02041355e-02, 2.81849427e-03,
 -4.46102883e-03,-5.16836970e-03,-1.77402776e-02, 5.14455599e-03,
 -4.74439926e-03,-3.92486184e-03,-7.76920010e-03,-1.91349355e-02,
  1.00111577e+00, 1.85141282e-02, 9.88737219e-01, 2.63156174e-02,
  9.49629743e-02,-6.99960147e-02, 1.30729450e-01, 9.99074811e-01,
  7.58789720e-05,-2.47991653e-04,-4.30052806e-02]

qacc:
[-6.63864454,-0.55411257, 3.3840421 ,-8.45636001,-1.67750784,-1.65586434,
  5.64157792,-8.11121446,-0.66749861, 0.42211022,-0.79621801,-2.91007606,
  0.01654341,-1.2115389 ,-4.37273045,10.08084111, 0.95582523,-0.81847167,
  0.03347488, 9.27535532,15.16641621,-0.29364774]

qfrc_actuator:
[-3.91995776e-05,-4.23170789e-04,-2.43705693e-04,-4.98495712e-05,
 -5.01286294e-05,-4.88766269e-04,-3.29865165e-04,-7.17163362e-05,
  9.05702298e-05,-2.81045164e-04,-2.58720636e-04,-1.47092738e-04,
  3.48994696e-02,-1.03934490e-03, 3.00277656e-02,-2.91014806e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46125262,  4.16181766, -1.60687545,  4.16181766,  8.24981059,
        9.81238932, -1.60687545,  9.81238932, 29.87540356,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002744766242254032
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01121819e-13,  2.02243639e-13,  1.00000000e+00, -2.04512447e-26,
        1.00000000e+00, -2.02243639e-13, -1.00000000e+00,  0.00000000e+00,
        1.01121819e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08311501, -0.05712212,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.90551556e-05, 1.18701604e-05, 4.53931860e-06,-1.37923220e-05,
 -1.00150760e-05,-4.79501930e-05, 4.85643843e-06,-8.75937632e-06,
 -3.87564376e-06,-4.27317244e-05,-3.61624224e-05,-1.66252512e-05,
 -2.24022587e-04,-1.24820715e-04,-2.07270495e-04,-1.19804275e-05,
 -4.34329825e-06, 3.56647173e-06,-1.21644623e+00,-1.78178422e-03,
 -3.00830858e-04, 5.15154836e-07]


--- Step 609 ---
qpos:
[ 2.89326779e-03,-5.61085310e-03,-1.02040104e-02, 2.81866574e-03,
 -4.46214189e-03,-5.16872705e-03,-1.77400271e-02, 5.14426635e-03,
 -4.74301069e-03,-3.92334582e-03,-7.76957342e-03,-1.91358783e-02,
  1.00188886e+00, 1.85148126e-02, 9.89584919e-01, 2.63125489e-02,
  9.49657566e-02,-7.00138230e-02, 1.30729810e-01, 9.99071651e-01,
  1.99333116e-04,-2.10518934e-04,-4.30784349e-02]

qacc:
[ -4.16825033, -0.28961148,  2.05295371, -5.03609689, -1.01097176,
  -1.4093968 ,  6.46484716,-14.29962987,  2.45367001,  0.56411323,
  -1.55841111, -0.91377081, -0.8954222 ,  0.75379534, -2.26548653,
   3.80308243,  0.95041956, -0.80274894, -0.04400953,  9.3236029 ,
  15.0297076 , -0.34930383]

qfrc_actuator:
[-6.26046767e-05,-4.05894208e-04,-2.36467255e-04,-5.68412774e-05,
 -5.58361921e-05,-4.98192378e-04,-3.27254428e-04,-9.49068779e-05,
  1.05163868e-04,-2.86199294e-04,-2.78564476e-04,-1.56224970e-04,
  3.48402226e-02,-1.03521033e-03, 2.99515138e-02,-2.91498115e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45167416,  4.10490747, -1.7225381 ,  4.10490747, 10.55796669,
       14.55164672, -1.7225381 , 14.55164672, 39.1290862 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002711681927408116
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02355573e-13, -2.04711145e-13,  1.00000000e+00,  2.09533264e-26,
        1.00000000e+00,  2.04711145e-13, -1.00000000e+00,  0.00000000e+00,
        1.02355573e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08311473, -0.05712014,  0.06199162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.45137399e-05, 2.42823982e-05, 9.78415366e-06,-6.59146285e-06,
 -6.01122812e-06,-3.56146698e-05,-6.99945762e-06,-2.52476149e-05,
  1.44754810e-05,-3.72887462e-05,-3.37163418e-05,-1.25389476e-05,
 -2.21457957e-04,-7.21053506e-05,-1.79836260e-04,-3.36916408e-05,
 -6.01212727e-06, 2.73909390e-06,-1.21644846e+00,-1.78379326e-03,
 -3.00399916e-04, 1.22240986e-06]


--- Step 610 ---
qpos:
[ 2.89321903e-03,-5.61134643e-03,-1.02038963e-02, 2.81908365e-03,
 -4.46331497e-03,-5.16906963e-03,-1.77401819e-02, 5.14404156e-03,
 -4.74145796e-03,-3.92208000e-03,-7.76991510e-03,-1.91369463e-02,
  1.00266035e+00, 1.85160386e-02, 9.90430695e-01, 2.63109908e-02,
  9.49651989e-02,-7.00245669e-02, 1.30730224e-01, 9.99068462e-01,
  2.76318213e-04,-2.07481999e-04,-4.31519164e-02]

qacc:
[ 3.60178618e+00, 9.67107798e-01,-3.86815949e+00, 7.92124778e+00,
 -5.36414653e-01, 1.28642826e+00,-4.83080558e+00, 6.58912543e+00,
  1.44238775e+00,-6.79924974e-01, 2.46729129e+00,-4.49372865e+00,
 -1.44385323e+00, 2.06190010e+00,-7.28739553e+00, 2.16918828e+01,
 -8.34978772e-01, 1.76609148e+00, 1.32978338e-02,-2.24712656e+01,
 -1.82028505e+01,-1.55783007e-01]

qfrc_actuator:
[-4.06721386e-05,-3.77554032e-04,-2.32219713e-04,-4.32581396e-05,
 -5.87455738e-05,-4.85794435e-04,-3.43565939e-04,-9.06768550e-05,
  1.13195744e-04,-2.89790885e-04,-2.72311691e-04,-1.61212818e-04,
  3.47769222e-02,-9.97419673e-04, 2.98913308e-02,-2.82776704e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45951129,  2.45476179, -3.72308816,  2.45476179, 17.15629972,
        8.37143517, -3.72308816,  8.37143517,  9.97909028,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027387908970959163
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.70051233e-14, -4.05369766e-13,  1.00000000e+00,  2.31081535e-26,
        1.00000000e+00,  4.05369766e-13, -1.00000000e+00,  0.00000000e+00,
        5.70051233e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10645922, -0.09422817,  0.06199154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.12427110e-05, 4.36783838e-05, 1.02495734e-05, 1.48361145e-05,
 -3.09279940e-06,-1.00364082e-05,-2.54014662e-05, 1.97161074e-06,
  8.43835500e-06,-3.19830987e-05,-6.04578714e-06,-7.99620386e-06,
 -2.11393413e-04,-2.67215257e-05,-1.55534163e-04, 6.02326777e-05,
 -7.95655894e-06, 2.08959379e-06,-1.21645267e+00,-1.78608956e-03,
 -3.00410415e-04, 2.10947554e-06]


--- Step 611 ---
qpos:
[ 2.89377835e-03,-5.61168585e-03,-1.02036774e-02, 2.82002080e-03,
 -4.46416890e-03,-5.16955297e-03,-1.77405195e-02, 5.14421886e-03,
 -4.74051059e-03,-3.92120355e-03,-7.76983201e-03,-1.91384210e-02,
  1.00343019e+00, 1.85182366e-02, 9.91275472e-01, 2.63092834e-02,
  9.49612571e-02,-7.00283964e-02, 1.30730135e-01, 9.99065232e-01,
  3.07251678e-04,-2.37701069e-04,-4.32262799e-02]

qacc:
[  5.32011272,  0.96977489, -5.37232215, 14.09719013,  2.78029787,
   1.14715305, -6.06733478, 13.43326701, -5.28007801, -2.52937545,
  10.00245019,-17.44348061, -2.00310133,  3.25292983, -0.81952926,
   1.22721539, -0.84606294,  1.72862139, -0.12571916,-22.28692201,
 -17.60624651, -0.43206821]

qfrc_actuator:
[-9.98793483e-06,-3.78303144e-04,-2.29710273e-04,-1.76706554e-05,
 -4.22333172e-05,-4.95980142e-04,-3.53047705e-04,-7.03351967e-05,
  8.17900172e-05,-3.10054676e-04,-2.50689696e-04,-1.81455810e-04,
  3.47112553e-02,-9.40055363e-04, 2.98728091e-02,-2.82897941e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46927384, -1.45671686,  4.22520824, -1.45671686, 10.31415142,
        2.01512713,  4.22520824,  2.01512713,  5.16402532,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027720705794280487
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.38679279e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.38679279e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10645454, -0.09422869,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.13069191e-05, 2.64519043e-05, 1.33101142e-05, 2.81014263e-05,
  1.64210362e-05,-2.09464467e-05,-1.46092108e-05, 1.90727128e-05,
 -3.11718844e-05,-3.97713202e-05, 1.39876576e-05,-2.19772712e-05,
 -1.96659218e-04, 4.60700357e-06,-9.32843545e-05,-2.00756664e-05,
 -4.48960234e-06, 2.10399830e-06,-1.21644471e+00,-1.78673142e-03,
 -3.01960045e-04, 9.77984904e-07]


--- Step 612 ---
qpos:
[ 2.89401166e-03,-5.61192651e-03,-1.02039300e-02, 2.82130500e-03,
 -4.46516344e-03,-5.16986138e-03,-1.77411211e-02, 5.14460319e-03,
 -4.73994703e-03,-3.92048443e-03,-7.76959572e-03,-1.91397927e-02,
  1.00419898e+00, 1.85201908e-02, 9.92119196e-01, 2.63055409e-02,
  9.49538975e-02,-7.00254333e-02, 1.30729076e-01, 9.99061942e-01,
  2.92488221e-04,-3.00232713e-04,-4.33019558e-02]

qacc:
[ -2.8681088 ,  2.16854508, -8.99782669, 15.67471943, -1.23730497,
   1.39694755, -5.51557267,  9.38803994, -3.35261594, -0.41743863,
   0.76365975,  0.8765688 , -0.67639989,  0.48528877,  4.65954866,
 -18.42953276, -0.85443311,  1.69813761, -0.24264098,-22.1288738 ,
 -17.129048  , -0.64647691]

qfrc_actuator:
[-2.76712630e-05,-3.96461823e-04,-2.63860241e-04,-3.00456660e-06,
 -4.99285164e-05,-4.66308500e-04,-3.58491987e-04,-5.84423868e-05,
  6.29308530e-05,-3.04577279e-04,-2.38004597e-04,-1.75015133e-04,
  3.46602070e-02,-9.60357083e-04, 2.98153606e-02,-2.93545013e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47164999, -1.38428707,  4.25198812, -1.38428707, 13.69130293,
        3.00157151,  4.25198812,  3.00157151,  5.44884854,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002780090583678202
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.23980919e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.23980919e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10645119, -0.09422984,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.67803512e-05, 6.03434632e-07,-2.60767628e-05, 1.68037557e-05,
 -7.23196919e-06, 1.57850617e-05,-1.09017762e-05, 1.08617689e-05,
 -1.97602791e-05,-1.48519369e-05, 5.42726976e-06, 4.79613936e-06,
 -1.65440721e-04,-6.32682047e-05,-1.16272271e-04,-1.22666414e-04,
 -1.64318826e-06, 2.99338672e-06,-1.21644192e+00,-1.78669604e-03,
 -3.02971689e-04, 7.59099307e-07]


--- Step 613 ---
qpos:
[ 2.89403158e-03,-5.61218358e-03,-1.02044970e-02, 2.82206918e-03,
 -4.46693209e-03,-5.17005793e-03,-1.77415538e-02, 5.14579508e-03,
 -4.73995938e-03,-3.91951145e-03,-7.76940180e-03,-1.91411166e-02,
  1.00496684e+00, 1.85213734e-02, 9.92961428e-01, 2.63002026e-02,
  9.49430946e-02,-7.00157764e-02, 1.30726653e-01, 9.99058571e-01,
  2.32324945e-04,-3.94325710e-04,-4.33792763e-02]

qacc:
[ -1.87633089, -0.21035035,  2.91988915,-11.41157501, -6.74729682,
   1.35143927, -7.99069007, 21.59080212, -5.04762118,  0.56214607,
  -1.7016073 ,  2.38951119, -0.08686724, -0.78909264,  2.60797954,
 -12.37105113, -0.86082334,  1.67344178, -0.34091081,-21.99551678,
 -16.7490764 , -0.81189634]

qfrc_actuator:
[-3.81789650e-05,-4.07320027e-04,-2.83966331e-04,-3.04320865e-05,
 -8.95687243e-05,-4.48487117e-04,-3.43606948e-04,-1.60793803e-05,
  3.38675837e-05,-2.65978830e-04,-2.30579967e-04,-1.70663867e-04,
  3.46019586e-02,-1.00867879e-03, 2.97452486e-02,-3.01436717e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46805322, -1.2918116 ,  4.27723303, -1.2918116 , 18.19064173,
        4.14450157,  4.27723303,  4.14450157,  5.71977721,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027679386655847515
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.56680086e-13,  4.01101021e-13,  1.00000000e+00, -6.28445426e-26,
        1.00000000e+00, -4.01101021e-13, -1.00000000e+00,  0.00000000e+00,
        1.56680086e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10644887, -0.09423149,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09859709e-05,-1.51849304e-05,-2.26086301e-05,-2.79780633e-05,
 -3.98420318e-05, 2.48768100e-05, 1.71884379e-05, 4.28749335e-05,
 -2.96309020e-05, 3.15888330e-05, 5.18470075e-06, 3.99824362e-06,
 -1.70941860e-04,-9.83339740e-05,-1.49143969e-04,-1.03396871e-04,
  6.86237704e-07, 4.77521803e-06,-1.21644405e+00,-1.78597539e-03,
 -3.03493686e-04, 1.40133834e-06]


--- Step 614 ---
qpos:
[ 2.89427024e-03,-5.61258947e-03,-1.02049668e-02, 2.82214218e-03,
 -4.46847216e-03,-5.17054083e-03,-1.77415854e-02, 5.14717503e-03,
 -4.73997527e-03,-3.91815180e-03,-7.76948873e-03,-1.91423792e-02,
  1.00573329e+00, 1.85226567e-02, 9.93802019e-01, 2.62938932e-02,
  9.49322294e-02,-7.00043394e-02, 1.30726164e-01, 9.99055175e-01,
  1.57797425e-04,-4.88100236e-04,-4.34567988e-02]

qacc:
[ 1.91842600e+00,-1.89552589e+00, 9.38419817e+00,-2.13849108e+01,
  2.01101556e+00,-1.11519685e+00, 2.62688815e+00, 2.04131266e-01,
 -4.64000058e-02, 1.42251530e+00,-4.58812676e+00, 5.81117112e+00,
 -1.12287803e+00, 1.30190422e+00, 6.13057869e-01,-5.42247498e+00,
 -1.55602674e-02, 4.45047246e-01, 4.83655427e-01,-7.18230501e+00,
 -1.52497658e-01,-9.86023622e-02]

qfrc_actuator:
[-2.66109002e-05,-4.13722270e-04,-2.77861930e-04,-6.46348897e-05,
 -7.66756503e-05,-4.91040672e-04,-3.34604243e-04,-9.37550085e-06,
  3.45327383e-05,-2.43361267e-04,-2.43929977e-04,-1.67552185e-04,
  3.45234394e-02,-1.00217658e-03, 2.96782673e-02,-3.05862449e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4594214 , -2.22263482,  3.86604885, -2.22263482, 19.08529413,
        8.40857818,  3.86604885,  8.40857818,  9.29360725,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002738481983065982
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.81865648e-14, -3.23587647e-07,  1.00000000e+00, -3.17719594e-20,
        1.00000000e+00,  3.23587647e-07, -1.00000000e+00, -6.01853108e-36,
       -9.81865648e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09462804, -0.07541968,  0.06199154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12520964e-05,-2.07521071e-05,-7.76757414e-07,-3.61797254e-05,
  1.17571192e-05,-2.32597488e-05, 1.77484240e-05, 9.19946186e-06,
 -1.67329548e-07, 4.14790347e-05,-6.05816810e-06, 4.72329625e-06,
 -2.02977077e-04,-5.21635669e-05,-1.56899347e-04,-7.14102814e-05,
  2.57566374e-06, 7.45698190e-06,-1.21645093e+00,-1.78456451e-03,
 -3.03561767e-04, 2.86618186e-06]


--- Step 615 ---
qpos:
[ 2.89464560e-03,-5.61311802e-03,-1.02053840e-02, 2.82180428e-03,
 -4.46915632e-03,-5.17125065e-03,-1.77417270e-02, 5.14830820e-03,
 -4.73998286e-03,-3.91688482e-03,-7.76981098e-03,-1.91435356e-02,
  1.00649820e+00, 1.85240959e-02, 9.94640837e-01, 2.62863840e-02,
  9.49249926e-02,-6.99963699e-02, 1.30727119e-01, 9.99051786e-01,
  1.03393737e-04,-5.49096658e-04,-4.35340865e-02]

qacc:
[  1.19938617, -1.15793747,  5.62378337,-12.72446512,  7.46475166,
  -0.51545898,  2.41940822, -6.3208852 ,  0.0669421 ,  0.75402109,
  -3.31353737,  5.59375448, -1.26363114,  1.51893042,  1.12389139,
  -7.45971709,  0.90707541, -0.86690153,  0.36092946,  9.34025089,
  16.81084573,  0.10989357]

qfrc_actuator:
[-1.98967562e-05,-4.17311971e-04,-2.74069658e-04,-8.47710625e-05,
 -3.29556660e-05,-5.16207840e-04,-3.47183168e-04,-2.37706256e-05,
  3.49403121e-05,-2.83824480e-04,-2.69489332e-04,-1.65216901e-04,
  3.44381606e-02,-9.98849078e-04, 2.95972543e-02,-3.11757782e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47275512, -2.28755911,  3.84351554, -2.28755911, 15.47991363,
        6.55117053,  3.84351554,  6.55117053,  8.37183909,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002783810137604592
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.99407102e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.99407102e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0831304, -0.0571092,  0.0619914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.03178857e-06,-1.68817494e-05,-1.83248045e-06,-2.17551153e-05,
  4.40478124e-05,-3.40948898e-05,-1.48759470e-05,-1.46008493e-05,
  4.21290842e-07,-1.83628644e-05,-1.75869375e-05, 3.99397958e-06,
 -2.17580027e-04,-5.28412617e-05,-1.71237531e-04,-8.53613221e-05,
  3.23068032e-06, 7.81317143e-06,-1.21645237e+00,-1.78347455e-03,
 -3.02588367e-04, 3.51218617e-06]


--- Step 616 ---
qpos:
[ 2.89544346e-03,-5.61367029e-03,-1.02055503e-02, 2.82154613e-03,
 -4.46931108e-03,-5.17207013e-03,-1.77420864e-02, 5.14959827e-03,
 -4.74067514e-03,-3.91585590e-03,-7.77032870e-03,-1.91449833e-02,
  1.00726165e+00, 1.85258204e-02, 9.95477820e-01, 2.62781426e-02,
  9.49214040e-02,-6.99917657e-02, 1.30728996e-01, 9.99048399e-01,
  6.91467608e-05,-5.78278485e-04,-4.36114265e-02]

qacc:
[ 3.70397337,-0.57541272, 1.65706895,-0.64720969, 4.61198717, 0.77791071,
 -3.66211244, 6.82402442,-5.99658213,-0.35653566, 2.062795  ,-6.63402288,
 -1.29038518, 1.67572432,-0.37609242,-2.32852715, 0.91205918,-0.84131474,
  0.23048374, 9.37627466,16.33096386,-0.03323611]

qfrc_actuator:
[ 1.65218699e-06,-4.01428139e-04,-2.53906405e-04,-7.87184405e-05,
 -6.96356303e-06,-5.13135421e-04,-3.54607975e-04,-1.49602656e-05,
 -3.22353606e-07,-3.08553603e-04,-2.84554847e-04,-1.81169535e-04,
  3.43755163e-02,-9.79769122e-04, 2.95238707e-02,-3.14922623e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47845178,  2.28814399, -3.84979576,  2.28814399, 12.41083362,
        4.71464798, -3.84979576,  4.71464798,  7.28062469,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002802878909774903
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.9805048e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.9805048e-13, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08313355, -0.05710757,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.17471739e-05, 5.15890953e-06, 1.57088220e-05, 4.84495401e-06,
  2.72441395e-05,-1.96510931e-05,-1.67991615e-05, 6.54810853e-06,
 -3.52530423e-05,-3.84983622e-05,-2.08945937e-05,-1.72692985e-05,
 -2.03800938e-04,-4.05392183e-05,-1.71257659e-04,-6.05517316e-05,
  2.68203087e-06, 5.27527911e-06,-1.21644597e+00,-1.78321753e-03,
 -3.00956808e-04, 2.82187437e-06]


--- Step 617 ---
qpos:
[ 2.89580351e-03,-5.61400555e-03,-1.02056056e-02, 2.82168572e-03,
 -4.46915274e-03,-5.17294071e-03,-1.77425634e-02, 5.15062365e-03,
 -4.74178491e-03,-3.91481046e-03,-7.77063593e-03,-1.91459813e-02,
  1.00802374e+00, 1.85277269e-02, 9.96312431e-01, 2.62722149e-02,
  9.49214777e-02,-6.99904446e-02, 1.30731358e-01, 9.99045010e-01,
  5.50717420e-05,-5.76418758e-04,-4.36890432e-02]

qacc:
[ -3.82964666,  0.80340059, -4.11439715, 10.64695823,  2.72764438,
  -0.28949312,  2.04244185, -6.38828385, -3.64855992,  0.36668692,
  -3.15848417, 10.57117404, -0.86333062,  0.96775703,-10.45100031,
  31.63378944,  0.91557754, -0.82076122,  0.12108383,  9.39941802,
  15.94586148, -0.14516643]

qfrc_actuator:
[-2.14963500e-05,-3.73910069e-04,-2.41892424e-04,-5.72788162e-05,
  8.37596878e-06,-5.10898388e-04,-3.58788315e-04,-2.80368513e-05,
 -2.07922285e-05,-2.70401917e-04,-2.57764520e-04,-1.54482033e-04,
  3.43158511e-02,-9.69182112e-04, 2.94338308e-02,-3.02245828e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47753648,  2.23019326, -3.88259848,  2.23019326, 16.3505628 ,
        6.81995406, -3.88259848,  6.81995406,  8.39496849,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027998267977769054
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96532752e-13,  1.98266376e-13,  1.00000000e+00, -7.86191116e-26,
        1.00000000e+00, -1.98266376e-13, -1.00000000e+00,  0.00000000e+00,
        3.96532752e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08313571, -0.05710596,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.25240453e-05, 3.38828928e-05, 1.51894565e-05, 2.22996630e-05,
  1.61140923e-05,-1.19003820e-05,-1.00722182e-05,-1.43738296e-05,
 -2.14860047e-05, 1.15259365e-05, 1.56657957e-05, 2.39830553e-05,
 -1.89864776e-04,-4.32088682e-05,-1.84911148e-04, 9.93006579e-05,
  1.85858417e-06, 3.01447387e-06,-1.21644193e+00,-1.78322579e-03,
 -2.99830668e-04, 2.35056662e-06]


--- Step 618 ---
qpos:
[ 2.89588357e-03,-5.61420034e-03,-1.02054421e-02, 2.82139250e-03,
 -4.46881141e-03,-5.17404321e-03,-1.77427062e-02, 5.15078551e-03,
 -4.74347658e-03,-3.91389385e-03,-7.77003669e-03,-1.91463376e-02,
  1.00878435e+00, 1.85298535e-02, 9.97144958e-01, 2.62671163e-02,
  9.49252238e-02,-6.99923407e-02, 1.30733837e-01, 9.99041611e-01,
  6.11735136e-05,-5.44135001e-04,-4.37671114e-02]

qacc:
[ -2.44484295, -1.3127717 ,  6.78522602,-14.73776119,  1.60964297,
  -3.02080372, 13.96673523,-29.27110906, -5.06344159, -1.37223269,
   1.95660131,  7.77074787, -1.11677471,  1.34622295, -5.49694373,
  14.99487075,  0.91811101, -0.80431348,  0.02952725,  9.41403266,
  15.6382244 , -0.23237479]

qfrc_actuator:
[-3.52668044e-05,-3.75147958e-04,-2.34728453e-04,-8.02147893e-05,
  1.73284870e-05,-5.26929906e-04,-3.43282592e-04,-7.16393958e-05,
 -5.01323777e-05,-2.65691616e-04,-2.06188473e-04,-1.20587427e-04,
  3.42313863e-02,-9.63701705e-04, 2.93392374e-02,-2.98091999e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47139505,  2.15358253, -3.91860383,  2.15358253, 21.61220779,
        9.42023137, -3.91860383,  9.42023137,  9.64855675,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002779231585951919
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99735609e-13,  1.99735609e-13,  1.00000000e+00, -3.98943134e-26,
        1.00000000e+00, -1.99735609e-13, -1.00000000e+00,  0.00000000e+00,
        1.99735609e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08313707, -0.05710436,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44028451e-05, 2.18059381e-05, 1.68101444e-05,-2.05231423e-05,
  9.41131609e-06,-2.53418077e-05, 1.13223965e-05,-4.47406982e-05,
 -2.99485202e-05, 1.53752371e-05, 5.67091931e-05, 3.53984323e-05,
 -2.06880284e-04,-4.58047531e-05,-1.76158936e-04, 2.16184812e-05,
  7.61913023e-07, 9.94881327e-07,-1.21644010e+00,-1.78350855e-03,
 -2.99191457e-04, 2.08819922e-06]


--- Step 619 ---
qpos:
[ 2.89579784e-03,-5.61437530e-03,-1.02048420e-02, 2.82082750e-03,
 -4.46905516e-03,-5.17518176e-03,-1.77427431e-02, 5.15041420e-03,
 -4.74585179e-03,-3.91303746e-03,-7.76906378e-03,-1.91462571e-02,
  1.00954341e+00, 1.85326080e-02, 9.97975582e-01, 2.62631254e-02,
  9.49326500e-02,-6.99974017e-02, 1.30736129e-01, 9.99038192e-01,
  8.74517975e-05,-4.81917346e-04,-4.38457663e-02]

qacc:
[ -1.43713482, -1.75106202,  7.43349115,-12.85499708, -5.09878987,
  -1.4310018 ,  7.30150135,-16.69122648, -5.97128403, -0.21257097,
  -1.17899341,  8.15894433, -1.50593342,  2.22438642, -6.02678268,
  17.35093773,  0.92001845, -0.79122145, -0.04692342,  9.42336853,
  15.39411561, -0.29995917]

qfrc_actuator:
[-4.33931164e-05,-3.75897068e-04,-2.12874188e-04,-9.35994034e-05,
 -1.30515823e-05,-5.18216036e-04,-3.34122579e-04,-9.73475606e-05,
 -8.44632913e-05,-2.80907423e-04,-1.93779051e-04,-1.00493186e-04,
  3.41640569e-02,-9.25890891e-04, 2.92686002e-02,-2.91894979e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46129454,  2.05547337, -3.95956793,  2.05547337, 28.61867213,
       12.54047091, -3.95956793, 12.54047091, 10.97124828,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002744909858126976
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01116529e-13, -2.02233057e-13,  1.00000000e+00,  2.04491047e-26,
        1.00000000e+00,  2.02233057e-13, -1.00000000e+00,  0.00000000e+00,
        1.01116529e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08313781, -0.05710277,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.52967021e-06, 1.40382517e-05, 2.77203805e-05,-1.22667578e-05,
 -3.01177104e-05,-4.99074191e-06, 3.78605623e-06,-2.72708921e-05,
 -3.51810877e-05, 6.55557541e-06, 2.37767963e-05, 2.34022941e-05,
 -2.00268058e-04,-1.79950477e-05,-1.57895325e-04, 3.86069949e-05,
 -6.07029146e-07,-8.09920465e-07,-1.21644039e+00,-1.78407248e-03,
 -2.99024802e-04, 2.02696763e-06]


--- Step 620 ---
qpos:
[ 2.89492532e-03,-5.61436811e-03,-1.02040511e-02, 2.82044783e-03,
 -4.46966148e-03,-5.17584630e-03,-1.77429427e-02, 5.15003520e-03,
 -4.74862020e-03,-3.91224078e-03,-7.76789172e-03,-1.91459238e-02,
  1.01030130e+00, 1.85349508e-02, 9.98804350e-01, 2.62624580e-02,
  9.49437625e-02,-7.00055862e-02, 1.30737979e-01, 9.99034741e-01,
  1.33905054e-04,-3.90151188e-04,-4.39251121e-02]

qacc:
[ -6.87917933,  0.10260933, -0.77559537,  3.51875671, -3.17510666,
   1.07129597, -2.86792687,  2.63540434, -3.43500951, -0.10804854,
  -0.78360006,  4.86946043, -0.19137196, -0.45155543,-12.8267383 ,
  40.85479698,  0.92156543, -0.78087774, -0.11061012,  9.4298305 ,
  15.20229745, -0.35193085]

qfrc_actuator:
[-8.36403909e-05,-3.58535805e-04,-2.00263647e-04,-8.34884724e-05,
 -3.08310817e-05,-4.59252760e-04,-3.28675325e-04,-9.45514012e-05,
 -1.03701635e-04,-2.90343331e-04,-1.86946759e-04,-8.87309501e-05,
  3.41017434e-02,-9.57940893e-04, 2.92177214e-02,-2.73881480e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44833794,  1.93227322, -4.00674814,  1.93227322, 37.91314076,
       16.13855921, -4.00674814, 16.13855921, 12.23123435,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000270003268557667
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02797184e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.02797184e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08313807, -0.05710119,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.04867208e-05, 3.04096302e-05, 1.84969454e-05, 1.14335738e-05,
 -1.86436508e-05, 5.58182009e-05, 3.95491412e-06, 2.18727731e-06,
 -2.02389160e-05, 8.07130259e-08, 1.19018159e-05, 1.33180138e-05,
 -1.84575221e-04,-8.04581580e-05,-1.28855595e-04, 1.59834341e-04,
 -2.24803183e-06,-2.41919780e-06,-1.21644270e+00,-1.78492239e-03,
 -2.99319608e-04, 2.16098184e-06]


--- Step 621 ---
qpos:
[ 2.89426689e-03,-5.61415594e-03,-1.02031143e-02, 2.82019222e-03,
 -4.47013144e-03,-5.17635492e-03,-1.77426814e-02, 5.14934405e-03,
 -4.75090784e-03,-3.91187005e-03,-7.76614721e-03,-1.91457757e-02,
  1.01105810e+00, 1.85364120e-02, 9.99631653e-01, 2.62635435e-02,
  9.49585668e-02,-7.00168619e-02, 1.30739174e-01, 9.99031244e-01,
  2.00533226e-04,-2.69135472e-04,-4.40052277e-02]

qacc:
[  1.87378574,  0.11520467, -0.54770215,  2.31752818,  1.20073065,
  -1.72690649,  7.77054961,-14.02150398,  4.23417639, -2.55317391,
   9.05201652,-12.839944  ,  0.09840562, -1.22653095, -7.52405684,
  23.06016349,  0.92294643, -0.77278991, -0.16353698,  9.4351787 ,
  15.05369435, -0.39144509]

qfrc_actuator:
[-7.14624187e-05,-3.48231221e-04,-1.93128175e-04,-7.73812419e-05,
 -2.32860818e-05,-4.59398653e-04,-3.07476821e-04,-1.10470124e-04,
 -7.83960946e-05,-3.31792978e-04,-1.65683069e-04,-9.97112995e-05,
  3.40318075e-02,-1.01336625e-03, 2.91574587e-02,-2.65021360e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000264722433985648
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04847841e-13, -2.09695682e-13,  1.00000000e+00,  2.19861394e-26,
        1.00000000e+00,  2.09695682e-13, -1.00000000e+00,  0.00000000e+00,
        1.04847841e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08313795, -0.05709963,  0.06199182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10294468e-05, 3.16002656e-05, 1.60848536e-05, 8.27369742e-06,
  7.02976269e-06, 3.19987166e-05, 3.33022463e-05,-1.33441936e-05,
  2.47303637e-05,-3.84350527e-05, 2.31812251e-05,-1.03106333e-05,
 -1.96736792e-04,-1.14232866e-04,-1.11507021e-04, 7.87277556e-05,
 -4.16171073e-06,-3.84671300e-06,-1.21644699e+00,-1.78606178e-03,
 -3.00067387e-04, 2.48596495e-06]


--- Step 622 ---
qpos:
[ 2.89410418e-03,-5.61385856e-03,-1.02023236e-02, 2.82039312e-03,
 -4.47050745e-03,-5.17660587e-03,-1.77427541e-02, 5.14885542e-03,
 -4.75252948e-03,-3.91198702e-03,-7.76436487e-03,-1.91453692e-02,
  1.01181342e+00, 1.85375879e-02, 1.00045729e+00, 2.62653727e-02,
  9.49700826e-02,-7.00210178e-02, 1.30740065e-01, 9.99027727e-01,
  2.21660316e-04,-1.82258123e-04,-4.40853584e-02]

qacc:
[ 4.33044667e+00, 1.45269351e+00,-6.95784179e+00, 1.50453043e+01,
  8.04654272e-01, 1.68924346e+00,-6.38716543e+00, 1.02409680e+01,
  5.84050282e+00,-2.29360517e-01,-1.22636077e+00, 6.01493600e+00,
 -7.38414932e-01, 3.78318386e-01,-4.66439008e+00, 1.28662964e+01,
 -8.22118659e-01, 1.77994680e+00,-7.60008505e-02,-2.19773674e+01,
 -1.80537950e+01, 1.52716326e-03]

qfrc_actuator:
[-4.62680812e-05,-3.60008951e-04,-2.07061707e-04,-5.59364551e-05,
 -1.86529123e-05,-4.59376295e-04,-3.30644171e-04,-1.01804974e-04,
 -4.48335373e-05,-3.74308120e-04,-1.71718758e-04,-8.84949271e-05,
  3.39466834e-02,-1.02892434e-03, 2.90702941e-02,-2.61629145e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42899116,  2.32905001, -3.76715925,  2.32905001, 16.55683014,
        7.49804868, -3.76715925,  7.49804868,  9.06466732,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002631139335854821
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.93374553e-14, -4.21955238e-13,  1.00000000e+00,  2.50377501e-26,
        1.00000000e+00,  4.21955238e-13, -1.00000000e+00,  0.00000000e+00,
        5.93374553e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10641705, -0.09425694,  0.06199187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.55180282e-05, 9.55802800e-06,-5.15134058e-06, 2.35140540e-05,
  4.84507118e-06, 2.42420193e-05,-1.29133018e-05, 1.09306911e-05,
  3.42578262e-05,-5.96942145e-05,-1.15042620e-05, 1.01651458e-05,
 -2.26755333e-04,-8.46202697e-05,-1.40665346e-04, 2.14757991e-05,
 -6.34955956e-06,-5.10192268e-06,-1.21645321e+00,-1.78749319e-03,
 -3.01261732e-04, 2.99899592e-06]


--- Step 623 ---
qpos:
[ 2.89424486e-03,-5.61350510e-03,-1.02019707e-02, 2.82121942e-03,
 -4.47082529e-03,-5.17619912e-03,-1.77430576e-02, 5.14910629e-03,
 -4.75373599e-03,-3.91250910e-03,-7.76297043e-03,-1.91444665e-02,
  1.01256724e+00, 1.85383293e-02, 1.00128157e+00, 2.62652034e-02,
  9.49782615e-02,-7.00182142e-02, 1.30740159e-01, 9.99024172e-01,
  1.97494646e-04,-1.28366600e-04,-4.41661380e-02]

qacc:
[  2.63944499,  2.58046194,-11.74190686, 23.23360264,  0.48924998,
   3.03481754,-12.68377711, 25.37069115,  3.62947126,  1.56379339,
  -8.45472454, 17.96262786, -0.83945292,  0.42594071,  4.09961224,
 -17.11570477, -0.8342223 ,  1.73986668, -0.19936233,-21.89732155,
 -17.4753262 , -0.31714992]

qfrc_actuator:
[-3.13838289e-05,-3.67245671e-04,-2.33403079e-04,-2.56712271e-05,
 -1.57789798e-05,-3.88406569e-04,-3.26562350e-04,-6.10266872e-05,
 -2.44469515e-05,-3.99477802e-04,-1.93828442e-04,-6.43301628e-05,
  3.38631717e-02,-1.05631102e-03, 2.89990136e-02,-2.72138453e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4353732 , -1.9973473 ,  3.96019434, -1.9973473 , 10.15914188,
        2.88681638,  3.96019434,  2.88681638,  5.89135602,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002654123782010881
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.20261816e-13, -2.09150574e-13,  1.00000000e+00,  6.69829427e-26,
        1.00000000e+00,  2.09150574e-13, -1.00000000e+00,  0.00000000e+00,
        3.20261816e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10641246, -0.09425859,  0.0619918 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56143634e-05,-1.95944304e-06,-2.42019662e-05, 3.09502614e-05,
  3.02135304e-06, 8.23395817e-05, 7.88116177e-06, 4.15844213e-05,
  2.13455964e-05,-6.05018551e-05,-3.55277226e-05, 2.14018615e-05,
 -2.36226514e-04,-9.67044722e-05,-1.44018080e-04,-1.24332533e-04,
 -2.15790151e-06,-4.03058997e-06,-1.21644499e+00,-1.78717977e-03,
 -3.04183713e-04, 1.17039555e-06]


--- Step 624 ---
qpos:
[ 2.89490813e-03,-5.61346207e-03,-1.02011987e-02, 2.82204462e-03,
 -4.47110598e-03,-5.17548820e-03,-1.77429127e-02, 5.14984114e-03,
 -4.75434373e-03,-3.91315644e-03,-7.76225027e-03,-1.91436427e-02,
  1.01331920e+00, 1.85400749e-02, 1.00210398e+00, 2.62634513e-02,
  9.49830672e-02,-7.00085804e-02, 1.30739041e-01, 9.99020561e-01,
  1.28219203e-04,-1.06537627e-04,-4.42480630e-02]

qacc:
[  4.58978878, -1.59270181,  5.0727596 , -5.51698002,  0.33315416,
   0.14502975, -1.97798836,  9.41478244,  5.22304069,  1.54655564,
  -5.43838954,  5.26084872, -2.23056465,  3.51328059,  2.25567489,
 -11.3450563 , -0.84330945,  1.70755411, -0.30299295,-21.82490458,
 -17.0119102 , -0.56735668]

qfrc_actuator:
[-4.93894388e-06,-3.89515364e-04,-2.13581175e-04,-2.59704829e-05,
 -1.39623787e-05,-3.81887321e-04,-3.06100806e-04,-3.71037571e-05,
  5.77115500e-06,-3.96375082e-04,-2.25171913e-04,-6.82426751e-05,
  3.37966595e-02,-9.84015653e-04, 2.89053417e-02,-2.80092613e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43567642, -1.93403598,  3.99183293, -1.93403598, 13.06841429,
        4.18254621,  3.99183293,  4.18254621,  6.46211265,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026552093589451986
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79992484e-14,  4.18130126e-13,  1.00000000e+00,  4.09764381e-26,
        1.00000000e+00, -4.18130126e-13, -1.00000000e+00,  0.00000000e+00,
       -9.79992484e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10640915, -0.09426059,  0.0619918 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.68885238e-05,-2.70521747e-05, 1.74962092e-05,-6.22380790e-07,
  1.92989768e-06, 5.59618038e-05, 3.98766379e-05, 2.85319786e-05,
  3.08070287e-05,-3.71468407e-05,-4.74892233e-05,-7.32112153e-06,
 -2.27995638e-04,-1.65395732e-06,-1.84761073e-04,-1.07459738e-04,
  1.44577864e-06,-2.18458161e-06,-1.21644187e+00,-1.78621648e-03,
 -3.06580195e-04, 2.18521928e-07]


--- Step 625 ---
qpos:
[ 2.89588356e-03,-5.61396661e-03,-1.02000269e-02, 2.82254669e-03,
 -4.47101751e-03,-5.17476464e-03,-1.77426119e-02, 5.15091545e-03,
 -4.75423990e-03,-3.91344806e-03,-7.76219685e-03,-1.91429353e-02,
  1.01406968e+00, 1.85422902e-02, 1.00292391e+00, 2.62627346e-02,
  9.49844722e-02,-6.99922201e-02, 1.30736363e-01, 9.99016868e-01,
  1.39895883e-05,-1.16034001e-04,-4.43315215e-02]

qacc:
[  2.75213211, -2.51215247,  9.26178916,-15.08048105,  3.22428906,
   0.27372798, -2.3957084 ,  8.02413269,  6.20273062,  2.08206425,
  -6.27058278,  5.0818838 , -1.27961103,  1.77340457, -6.68383152,
  18.3522853 , -0.8501623 ,  1.68161642, -0.3900048 ,-21.76210492,
 -16.64200333, -0.76336804]

qfrc_actuator:
[ 1.03491151e-05,-4.38213402e-04,-2.02248240e-04,-4.42320800e-05,
  4.97019512e-06,-4.13947912e-04,-3.11903484e-04,-2.33343270e-05,
  4.15384925e-05,-3.40921460e-04,-2.43861501e-04,-7.08723782e-05,
  3.37351077e-02,-9.59691868e-04, 2.88036554e-02,-2.74048484e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43112876, -1.8529617 ,  4.02510062, -1.8529617 , 16.96755591,
        5.77116489,  4.02510062,  5.77116489,  7.08789402,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026388667118490416
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11753652e-13,  2.10359815e-13,  1.00000000e+00, -2.35084774e-26,
        1.00000000e+00, -2.10359815e-13, -1.00000000e+00,  0.00000000e+00,
        1.11753652e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10640685, -0.09426286,  0.06199185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.60453548e-05,-6.02435025e-05, 7.86551395e-06,-1.88322834e-05,
  1.90046294e-05, 8.66325272e-06, 1.16440256e-05, 1.80988019e-05,
  3.66351693e-05, 2.45812148e-05,-3.24687511e-05,-6.00953459e-06,
 -1.96738417e-04,-2.66096937e-05,-2.08087330e-04, 2.86050793e-05,
  4.55845544e-06, 4.79284819e-07,-1.21644365e+00,-1.78458851e-03,
 -3.08499109e-04, 1.01353217e-07]


--- Step 626 ---
qpos:
[ 2.89668997e-03,-5.61483039e-03,-1.01993200e-02, 2.82286271e-03,
 -4.47070261e-03,-5.17423946e-03,-1.77419681e-02, 5.15250699e-03,
 -4.75336307e-03,-3.91341796e-03,-7.76217061e-03,-1.91423064e-02,
  1.01481918e+00, 1.85438915e-02, 1.00374212e+00, 2.62625426e-02,
  9.49894617e-02,-6.99793464e-02, 1.30735168e-01, 9.99013179e-01,
 -8.01756124e-05,-9.21738948e-05,-4.44145601e-02]

qacc:
[-1.4869219 , 0.4444193 ,-1.48304982,-0.73462558, 1.98903103,-0.1595986 ,
 -2.00139809,10.55757221, 6.76113393, 0.32637966,-0.23902407,-1.28600002,
 -0.10328195,-0.66625216,-4.16509448,10.81575504, 0.89612232,-0.87165044,
  0.37099868, 9.28299674,17.10658953, 0.20839782]

qfrc_actuator:
[ 1.19186197e-06,-4.66901866e-04,-2.31662385e-04,-5.51959954e-05,
  1.60728546e-05,-4.33481271e-04,-2.97846308e-04, 2.04655983e-06,
  8.02830476e-05,-3.07746076e-04,-2.36943940e-04,-7.26633099e-05,
  3.36872166e-02,-9.99523462e-04, 2.87558662e-02,-2.70455455e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42729598, -2.30592102,  3.77937533, -2.30592102, 17.43064295,
        7.93376907,  3.77937533,  7.93376907,  9.26794907,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026249902517475054
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05735919e-13, -4.22943675e-13,  1.00000000e+00,  4.47203381e-26,
        1.00000000e+00,  4.22943675e-13, -1.00000000e+00,  0.00000000e+00,
        1.05735919e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08315037, -0.05709105,  0.06199189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.71891714e-06,-6.15530176e-05,-4.15513112e-05,-1.36429798e-05,
  1.16492727e-05,-1.15340379e-05, 1.78920926e-05, 2.65018029e-05,
  3.98001227e-05, 3.99789803e-05, 7.78763088e-06,-1.98116243e-06,
 -1.70737856e-04,-8.89669774e-05,-1.47117238e-04, 9.26186929e-06,
  7.25233163e-06, 3.98834326e-06,-1.21645015e+00,-1.78228546e-03,
 -3.09976136e-04, 7.87286485e-07]


--- Step 627 ---
qpos:
[ 2.89703565e-03,-5.61608223e-03,-1.01989996e-02, 2.82338892e-03,
 -4.47025669e-03,-5.17410612e-03,-1.77412789e-02, 5.15409113e-03,
 -4.75271795e-03,-3.91335679e-03,-7.76193269e-03,-1.91420288e-02,
  1.01556739e+00, 1.85456024e-02, 1.00455861e+00, 2.62620677e-02,
  9.49922655e-02,-6.99722339e-02, 1.30734754e-01, 9.99009618e-01,
 -1.30954774e-04,-7.56948969e-05,-4.44945049e-02]

qacc:
[ -4.03548096,  1.00812429, -5.21215441,  9.73842933,  1.15081478,
  -0.66181701,  1.63591771, -1.54443419, -2.02260738, -1.27037627,
   6.07604948,-12.51832284, -0.97788543,  1.11517095, -1.58790569,
   2.09335042, -0.54642834, -1.4402892 ,  0.19497158, 21.8356746 ,
  -2.7235445 ,  1.54594588]

qfrc_actuator:
[-2.22762809e-05,-4.83553887e-04,-2.49314656e-04,-4.40364893e-05,
  2.24726382e-05,-4.80797587e-04,-3.07628019e-04,-1.42449398e-06,
  6.72099871e-05,-3.23551172e-04,-2.32787594e-04,-9.16950049e-05,
  3.36262276e-02,-9.88189234e-04, 2.86765276e-02,-2.71873971e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4388068 ,  4.32115062,  1.01521582,  4.32115062,  5.01599845,
       -2.45675054,  1.01521582, -2.45675054, 14.89568588,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000266638309306233
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.08188956e-13,  2.08188956e-13,  1.00000000e+00, -4.33426414e-26,
        1.00000000e+00, -2.08188956e-13, -1.00000000e+00,  0.00000000e+00,
        2.08188956e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10047002, -0.04662347,  0.06199176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.37346272e-05,-6.02231936e-05,-3.59560301e-05, 6.81865993e-06,
  6.72788795e-06,-4.89611810e-05,-9.06057207e-06,-2.83688960e-06,
 -1.19225518e-05, 8.08844166e-06, 1.33015584e-05,-1.70917248e-05,
 -1.82383316e-04,-4.58861276e-05,-1.55132637e-04,-3.46627337e-05,
  6.38286076e-06, 1.00515288e-06,-1.21644680e+00,-1.78141310e-03,
 -3.09549034e-04,-1.96593692e-07]


--- Step 628 ---
qpos:
[ 2.89709704e-03,-5.61735239e-03,-1.01990965e-02, 2.82399868e-03,
 -4.46939263e-03,-5.17415885e-03,-1.77410276e-02, 5.15528403e-03,
 -4.75292389e-03,-3.91333302e-03,-7.76158750e-03,-1.91419648e-02,
  1.01631432e+00, 1.85472129e-02, 1.00537310e+00, 2.62610869e-02,
  9.49937588e-02,-6.99709036e-02, 1.30734631e-01, 9.99006149e-01,
 -1.39133761e-04,-6.15057650e-05,-4.45723169e-02]

qacc:
[-2.49955755, 1.31889375,-5.08185881, 7.19924928, 3.63578952, 0.16507721,
  0.69378137,-6.61438293,-7.4471438 ,-0.77485812, 3.61618624,-7.48050876,
 -0.80332406, 0.68853621,-1.36931238, 0.64319733,-0.32761725,-1.44555519,
  0.07266898,21.33002206,-0.19619835, 1.06561776]

qfrc_actuator:
[-3.62190034e-05,-4.57306261e-04,-2.59802280e-04,-3.76773843e-05,
  4.38081498e-05,-4.91252979e-04,-3.31552556e-04,-2.18889727e-05,
  2.37418573e-05,-3.33077351e-04,-2.30515955e-04,-1.03014275e-04,
  3.35521162e-02,-9.99891516e-04, 2.85783199e-02,-2.74464376e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44654224, -2.14469079, -3.8951302 , -2.14469079, 10.88313223,
       -3.5440395 , -3.8951302 , -3.5440395 ,  6.3979196 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002693735066436352
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.63486388e-14, -6.07804470e-07,  1.00000000e+00,  3.42489545e-20,
        1.00000000e+00,  6.07804470e-07, -1.00000000e+00,  0.00000000e+00,
        5.63486388e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09811977, -0.0465219 ,  0.06199168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.46374006e-05,-1.45331242e-05,-2.71097934e-05, 2.66908158e-06,
  2.15117811e-05,-3.98412883e-05,-3.52651428e-05,-2.29366613e-05,
 -4.38051014e-05,-2.99551205e-06, 4.98617735e-06,-1.08461051e-05,
 -1.92437256e-04,-6.20748258e-05,-1.82918801e-04,-4.99205296e-05,
  3.18553899e-06, 4.54276915e-07,-1.21644188e+00,-1.78053738e-03,
 -3.08058479e-04, 2.35564379e-08]


--- Step 629 ---
qpos:
[ 2.89699032e-03,-5.61829501e-03,-1.01992435e-02, 2.82426325e-03,
 -4.46827949e-03,-5.17446569e-03,-1.77407736e-02, 5.15585524e-03,
 -4.75330426e-03,-3.91352328e-03,-7.76112236e-03,-1.91420147e-02,
  1.01705999e+00, 1.85486888e-02, 1.00618558e+00, 2.62613629e-02,
  9.49932821e-02,-6.99752125e-02, 1.30734301e-01, 9.99002781e-01,
 -1.05109079e-04,-5.57920690e-05,-4.46478325e-02]

qacc:
[ -1.47776981, -0.13483629,  2.57084502, -8.71076588,  2.17622853,
  -1.62750257,  7.93315643,-18.50325934, -1.51976622, -0.84987791,
   3.10480351, -5.11393973, -0.63317646,  0.40468547, -6.74047858,
  19.365325  , -0.49249971, -1.40978578, -0.05151658, 21.26982491,
  -3.29310534,  1.14742611]

qfrc_actuator:
[-4.44386114e-05,-4.05533370e-04,-2.48053147e-04,-5.19085837e-05,
  5.60129534e-05,-4.97393486e-04,-3.27992379e-04,-5.21627090e-05,
  1.60066283e-05,-3.56532751e-04,-2.29355423e-04,-1.09703263e-04,
  3.34914808e-02,-1.00749674e-03, 2.85114850e-02,-2.67072715e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44901188,  0.98323686, -4.33900357,  0.98323686, 17.00073946,
        2.84427543, -4.33900357,  2.84427543,  5.09353692,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002702391215248373
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.05414934e-13,  2.05414934e-13,  1.00000000e+00, -4.21952950e-26,
        1.00000000e+00, -2.05414934e-13, -1.00000000e+00,  0.00000000e+00,
        2.05414934e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10047681, -0.04662588,  0.06199165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.63804736e-06, 3.82010178e-05, 5.51547716e-06,-1.57377508e-05,
  1.28099630e-05,-3.66823463e-05,-9.81279616e-06,-3.36515838e-05,
 -8.98649084e-06,-2.45860806e-05, 7.77778599e-07,-6.85511435e-06,
 -1.88994558e-04,-6.36664228e-05,-1.64612422e-04, 4.58052136e-05,
  3.83126491e-07, 2.41171537e-07,-1.21643999e+00,-1.78040021e-03,
 -3.06728480e-04, 1.29597408e-07]


--- Step 630 ---
qpos:
[ 2.89678575e-03,-5.61882620e-03,-1.01993390e-02, 2.82433622e-03,
 -4.46737331e-03,-5.17517811e-03,-1.77401342e-02, 5.15570642e-03,
 -4.75342985e-03,-3.91394940e-03,-7.76063524e-03,-1.91417891e-02,
  1.01780459e+00, 1.85494975e-02, 1.00699653e+00, 2.62613962e-02,
  9.49909111e-02,-6.99851197e-02, 1.30733388e-01, 9.98999499e-01,
 -2.93383785e-05,-5.89260497e-05,-4.47213326e-02]

qacc:
[-8.61535285e-01, 6.76558562e-03, 1.57642078e+00,-5.28043058e+00,
 -1.78634862e+00,-3.09128226e+00, 1.32908034e+01,-2.60783961e+01,
  2.23546223e+00, 1.89996511e-01,-2.29832903e+00, 7.20872477e+00,
 -1.90602867e-01,-5.96044252e-01,-1.52555298e+00, 2.04747901e+00,
 -4.73595206e-01,-1.39957477e+00,-1.45809737e-01, 2.10497700e+01,
 -3.48759570e+00, 1.00703039e+00]

qfrc_actuator:
[-4.92268317e-05,-3.74289113e-04,-2.40914723e-04,-6.03460175e-05,
  4.49885050e-05,-5.18555219e-04,-3.08206894e-04,-8.79350465e-05,
  2.93749299e-05,-3.70401465e-04,-2.28917120e-04,-9.58757008e-05,
  3.34336491e-02,-1.04807480e-03, 2.84528950e-02,-2.68049958e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44550631, -1.29258254, -4.25344058, -1.29258254, 21.76923575,
       -5.26452639, -4.25344058, -5.26452639,  6.04534878,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002690093217584122
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.06354006e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.06354006e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10047939, -0.0466259 ,  0.06199169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.01825732e-06, 5.31038873e-05, 1.51765381e-05,-6.91388473e-06,
 -1.06682256e-05,-4.51315149e-05, 9.83428253e-06,-3.83402584e-05,
  1.31032174e-05,-2.77528257e-05,-4.78429781e-06, 1.26678921e-05,
 -1.83930832e-04,-9.65099416e-05,-1.37688336e-04,-3.02944775e-05,
 -2.12753412e-06, 1.02039285e-06,-1.21644091e+00,-1.78081935e-03,
 -3.05395636e-04, 2.11991096e-07]


--- Step 631 ---
qpos:
[ 2.89687021e-03,-5.61875335e-03,-1.02002824e-02, 2.82434514e-03,
 -4.46695123e-03,-5.17606335e-03,-1.77393773e-02, 5.15546373e-03,
 -4.75373943e-03,-3.91426537e-03,-7.76085216e-03,-1.91413937e-02,
  1.01854807e+00, 1.85495743e-02, 1.00780630e+00, 2.62572565e-02,
  9.49867056e-02,-7.00005918e-02, 1.30731576e-01, 9.98996282e-01,
  8.78106238e-05,-7.11988014e-05,-4.47930391e-02]

qacc:
[  2.49129155,  3.03119537, -9.38766363,  9.19993556, -4.2152476 ,
  -0.74163184,  2.72364338, -4.42480127, -1.63474431,  2.46673751,
  -9.29283893, 13.26534043, -0.48399025, -0.20384278, 10.90076686,
 -40.62998474, -0.45861858, -1.3912508 , -0.22476995, 20.87285421,
  -3.63959182,  0.89600225]

qfrc_actuator:
[-3.42065860e-05,-3.55576937e-04,-2.89882287e-04,-6.53227050e-05,
  2.03829073e-05,-5.12971309e-04,-2.96822624e-04,-9.11542763e-05,
  1.95406466e-05,-3.60658106e-04,-2.64367444e-04,-8.78347102e-05,
  3.33668761e-02,-1.09009741e-03, 2.83779772e-02,-2.89926231e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43787775, -1.39393511, -4.21327709, -1.39393511, 28.21214619,
       -7.86556086, -4.21327709, -7.86556086,  7.040147  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026630732739189866
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.08447705e-13, -2.08447705e-13,  1.00000000e+00,  4.34504457e-26,
        1.00000000e+00,  2.08447705e-13, -1.00000000e+00,  0.00000000e+00,
        2.08447705e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10048159, -0.04662531,  0.06199177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48967915e-05, 5.12656643e-05,-3.63608453e-05,-2.30928892e-06,
 -2.49259764e-05,-1.92497857e-05, 1.94872682e-06,-5.55786317e-06,
 -9.47093317e-06,-6.20812250e-06,-4.13353064e-05, 6.93237166e-06,
 -1.97381928e-04,-1.04128892e-04,-1.51527472e-04,-2.40399265e-04,
 -4.31851465e-06, 2.40926731e-06,-1.21644465e+00,-1.78188262e-03,
 -3.04056826e-04, 1.87891205e-07]


--- Step 632 ---
qpos:
[ 2.89747906e-03,-5.61830487e-03,-1.02017498e-02, 2.82430196e-03,
 -4.46717244e-03,-5.17700109e-03,-1.77385338e-02, 5.15482512e-03,
 -4.75450918e-03,-3.91466508e-03,-7.76143316e-03,-1.91412487e-02,
  1.01928997e+00, 1.85500240e-02, 1.00861442e+00, 2.62514558e-02,
  9.49791989e-02,-7.00091193e-02, 1.30729867e-01, 9.98993024e-01,
  1.57603123e-04,-1.18000421e-04,-4.48653550e-02]

qacc:
[  4.56410211,  1.84517085, -5.65421276,  5.3309542 , -5.60676523,
  -1.11506099,  5.565732  ,-12.53870375, -4.03884944,  0.39894138,
  -0.51313114, -3.19036923, -1.51895628,  2.03215044,  2.74923289,
 -12.78219038, -0.82527967,  1.73617527,  0.02588441,-22.88117893,
 -18.30775431, -0.30208919]

qfrc_actuator:
[-7.64900850e-06,-3.44741197e-04,-3.18376805e-04,-6.82738634e-05,
 -1.20114572e-05,-5.09163173e-04,-2.90365351e-04,-1.10685051e-04,
 -3.87832530e-06,-3.72504423e-04,-2.85128440e-04,-1.01022844e-04,
  3.32947823e-02,-1.06164467e-03, 2.83199168e-02,-2.97310235e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44922762,  0.41875979, -4.42947702,  0.41875979, 26.71017672,
        2.10453523, -4.42947702,  2.10453523,  4.64818897,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027031456680425003
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.77568256e-14, -2.05357602e-13,  1.00000000e+00,  1.18608032e-26,
        1.00000000e+00,  2.05357602e-13, -1.00000000e+00,  0.00000000e+00,
        5.77568256e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10637776, -0.09427007,  0.06199165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.70035320e-05, 3.19073476e-05,-2.24543606e-05,-2.05647036e-06,
 -3.31154888e-05,-6.77670428e-06, 2.53205344e-06,-2.03944016e-05,
 -2.36913605e-05,-2.35497003e-05,-2.68889311e-05,-1.47485300e-05,
 -2.13105114e-04,-3.80632579e-05,-1.64868037e-04,-1.09044716e-04,
 -6.21476500e-06, 4.39007863e-06,-1.21645116e+00,-1.78358535e-03,
 -3.02690564e-04, 5.09144956e-08]


--- Step 633 ---
qpos:
[ 2.89805686e-03,-5.61778124e-03,-1.02028913e-02, 2.82420338e-03,
 -4.46778077e-03,-5.17754665e-03,-1.77380923e-02, 5.15358844e-03,
 -4.75520880e-03,-3.91534880e-03,-7.76163883e-03,-1.91412884e-02,
  1.02003027e+00, 1.85508492e-02, 1.00942060e+00, 2.62477038e-02,
  9.49683419e-02,-7.00108223e-02, 1.30727700e-01, 9.98989707e-01,
  1.80619901e-04,-1.98126473e-04,-4.49387732e-02]

qacc:
[ -0.26270865, -0.92554633,  3.67889788, -5.21532143, -3.39564896,
   0.41620177,  1.80405799,-11.81305063,  0.63058811, -1.80638717,
   6.67175024,-10.25338357, -1.26234689,  1.61727996, -8.96038211,
  27.46061905, -0.8375881 ,  1.7061011 , -0.11466527,-22.61681367,
 -17.69483302, -0.54650951]

qfrc_actuator:
[-1.00252689e-05,-3.38644524e-04,-2.99066781e-04,-6.99960203e-05,
 -3.09736174e-05,-4.70966434e-04,-3.04632882e-04,-1.39663150e-04,
  4.06923200e-07,-3.79402082e-04,-2.61628928e-04,-1.08843435e-04,
  3.32142512e-02,-1.04497666e-03, 2.82667284e-02,-2.85431577e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46038362, -0.51658742,  4.43036787, -0.51658742, 10.90593556,
        0.75156085,  4.43036787,  0.75156085,  4.54801672,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000274178644142295
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.32698247e-15, -4.04926878e-13,  1.00000000e+00,  2.56196526e-27,
        1.00000000e+00,  4.04926878e-13, -1.00000000e+00,  0.00000000e+00,
        6.32698247e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10637291, -0.09426941,  0.06199153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.59225171e-06, 1.92216023e-05, 2.30740688e-05,-1.17093295e-06,
 -1.99131096e-05, 3.40705003e-05,-1.60572305e-05,-2.95747535e-05,
  3.60035841e-06,-2.62416256e-05, 1.48248107e-05,-1.00438921e-05,
 -2.14948105e-04,-3.90699889e-05,-1.50944020e-04, 8.93431541e-05,
 -3.30449809e-06, 4.56663314e-06,-1.21644623e+00,-1.78414961e-03,
 -3.03464053e-04,-2.97484613e-07]


--- Step 634 ---
qpos:
[ 2.89825702e-03,-5.61716870e-03,-1.02037844e-02, 2.82408827e-03,
 -4.46792198e-03,-5.17805877e-03,-1.77377377e-02, 5.15238367e-03,
 -4.75516228e-03,-3.91590494e-03,-7.76229603e-03,-1.91414176e-02,
  1.02076922e+00, 1.85515673e-02, 1.01022475e+00, 2.62457109e-02,
  9.49540969e-02,-7.00057997e-02, 1.30724601e-01, 9.98986310e-01,
  1.57345294e-04,-3.10616029e-04,-4.50136735e-02]

qacc:
[ -3.29695818, -0.60393475,  2.4046759 , -3.1648766 ,  4.0705374 ,
   0.34479228, -1.31389134,  1.99587851,  6.51591126,  1.23394032,
  -3.7993443 ,  2.9033988 , -0.68398026,  0.4684422 , -8.29670902,
  24.76275248, -0.84699778,  1.68141476, -0.23309991,-22.39526013,
 -17.20568433, -0.73465175]

qfrc_actuator:
[-2.94161454e-05,-3.35241061e-04,-2.87219821e-04,-7.09566369e-05,
 -6.37004536e-06,-4.83570741e-04,-3.13128897e-04,-1.38443855e-04,
  3.87210984e-05,-3.65344150e-04,-2.83177416e-04,-1.13409035e-04,
  3.31500201e-02,-1.05328383e-03, 2.81739427e-02,-2.76501964e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46405843, -0.44146311,  4.44217605, -0.44146311, 14.61296394,
        1.00859744,  4.44217605,  1.00859744,  4.56429277,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027543581848747667
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.40867292e-14, -6.04618000e-13,  1.00000000e+00, -2.66556300e-26,
        1.00000000e+00,  6.04618000e-13, -1.00000000e+00,  0.00000000e+00,
       -4.40867292e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1063694 , -0.09426962,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.94310334e-05, 1.88604029e-05, 1.86258682e-05, 6.40167676e-07,
  2.40464838e-05, 1.87445264e-06,-4.45557556e-06, 1.55155867e-06,
  3.84052637e-05, 2.04187583e-06,-2.54805365e-05,-5.37026068e-06,
 -1.99023011e-04,-6.51598217e-05,-1.61786558e-04, 7.27504467e-05,
 -9.95618601e-07, 5.67930028e-06,-1.21644653e+00,-1.78401787e-03,
 -3.03706585e-04, 2.76443445e-07]


--- Step 635 ---
qpos:
[ 2.89856811e-03,-5.61647057e-03,-1.02045076e-02, 2.82396853e-03,
 -4.46742228e-03,-5.17884320e-03,-1.77370624e-02, 5.15121426e-03,
 -4.75500160e-03,-3.91665510e-03,-7.76307752e-03,-1.91419268e-02,
  1.02150692e+00, 1.85521401e-02, 1.01102698e+00, 2.62457321e-02,
  9.49398679e-02,-6.99990197e-02, 1.30723668e-01, 9.98982891e-01,
  1.19434683e-04,-4.23281892e-04,-4.50886929e-02]

qacc:
[ 9.74051638e-01,-3.73380289e-01, 1.51169611e+00,-1.92314744e+00,
  5.60391474e+00,-1.19366996e+00, 3.56611869e+00,-3.24688203e+00,
  9.98617060e-01,-6.93921177e-01, 3.70059460e+00,-9.92758326e+00,
 -5.68457237e-01, 2.97748954e-01,-8.90913473e+00, 2.71252192e+01,
  4.00038289e-03, 4.39352356e-01, 5.41731802e-01,-7.30663208e+00,
 -4.17487541e-01,-5.76679639e-02]

qfrc_actuator:
[-2.31515292e-05,-3.33497348e-04,-2.79903334e-04,-7.14770578e-05,
  2.59209346e-05,-5.08701169e-04,-3.00563565e-04,-1.37249527e-04,
  4.34906850e-05,-3.92268754e-04,-2.95572708e-04,-1.33795723e-04,
  3.30956033e-02,-1.05849116e-03, 2.81000835e-02,-2.65844238e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46299915, -2.05985151,  3.95921371, -2.05985151, 19.20346862,
        7.66899202,  3.95921371,  7.66899202,  8.45292897,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002750742146258286
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54506395e-13,  1.10370186e-06,  1.00000000e+00, -1.70528996e-19,
        1.00000000e+00, -1.10370186e-06, -1.00000000e+00,  2.40741243e-35,
        1.54506395e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0946094 , -0.07541826,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.71405048e-06, 1.61463439e-05, 1.35327529e-05, 9.46315538e-07,
  3.29810981e-05,-2.49105165e-05, 1.24608943e-05, 1.15269542e-06,
  5.86580007e-06,-3.12339535e-05,-1.52846304e-05,-2.12839900e-05,
 -1.86326178e-04,-6.40080268e-05,-1.48706348e-04, 8.79212120e-05,
  8.13333676e-07, 7.72719683e-06,-1.21645178e+00,-1.78318644e-03,
 -3.03463835e-04, 1.71746563e-06]


--- Step 636 ---
qpos:
[ 2.89895165e-03,-5.61562884e-03,-1.02054261e-02, 2.82386165e-03,
 -4.46722955e-03,-5.17902992e-03,-1.77369094e-02, 5.15035975e-03,
 -4.75547434e-03,-3.91795790e-03,-7.76328187e-03,-1.91426785e-02,
  1.02224333e+00, 1.85526602e-02, 1.01182758e+00, 2.62476000e-02,
  9.49293243e-02,-6.99957429e-02, 1.30724212e-01, 9.98979473e-01,
  1.01603003e-04,-5.03652475e-04,-4.51635670e-02]

qacc:
[  0.62530709,  0.76087656, -2.49395452,  2.92535502, -2.70333779,
   2.90216082,-10.52269821, 16.3598735 , -5.51800037, -2.83233508,
  10.07808634,-14.80346795, -0.71403406,  0.57154788, -7.9404605 ,
  24.42365924,  0.92133946, -0.87579682,  0.36917014,  9.30120831,
  16.58389201,  0.06644203]

qfrc_actuator:
[-1.95837407e-05,-3.32781726e-04,-2.93078771e-04,-7.17386306e-05,
  9.20584305e-06,-4.34539109e-04,-3.11239496e-04,-1.18333747e-04,
  1.07144118e-05,-4.25759661e-04,-2.67117452e-04,-1.45596011e-04,
  3.30311373e-02,-1.06175747e-03, 2.80429689e-02,-2.56020768e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47818414, -2.11319229,  3.94823397, -2.11319229, 15.16739466,
        5.72112936,  3.94823397,  5.72112936,  7.54027381,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028019869120539387
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.9056764e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        9.9056764e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08317139, -0.05707047,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.73470324e-06, 1.25649870e-05,-8.14063521e-06, 9.16966397e-07,
 -1.57788536e-05, 6.28901253e-05,-1.42436503e-05, 1.83036423e-05,
 -3.26214411e-05,-5.49852071e-05, 1.94041792e-05,-1.40767858e-05,
 -1.88509154e-04,-5.89875550e-05,-1.24671847e-04, 8.19981473e-05,
  1.38109725e-06, 7.92670059e-06,-1.21645248e+00,-1.78266343e-03,
 -3.02211522e-04, 2.52040947e-06]


--- Step 637 ---
qpos:
[ 2.89868525e-03,-5.61471572e-03,-1.02064686e-02, 2.82375713e-03,
 -4.46723842e-03,-5.17867517e-03,-1.77366981e-02, 5.15039489e-03,
 -4.75564661e-03,-3.91956817e-03,-7.76325657e-03,-1.91428826e-02,
  1.02297836e+00, 1.85534272e-02, 1.01262728e+00, 2.62478494e-02,
  9.49224715e-02,-6.99958628e-02, 1.30725704e-01, 9.98976054e-01,
  1.03909410e-04,-5.52597534e-04,-4.52385660e-02]

qacc:
[ -5.69042471,  0.45683105, -1.48274031,  1.64881332, -1.76496946,
   2.38747879,-11.2245464 , 26.12488494,  2.64332265,  0.07429165,
  -3.1710306 , 12.50707182, -1.31799772,  1.69345771,  3.68775928,
 -14.53666111,  0.92271729, -0.84920113,  0.23691094,  9.3490927 ,
  16.15147383, -0.06914458]

qfrc_actuator:
[-5.31452299e-05,-3.32775196e-04,-3.00499454e-04,-7.18605302e-05,
 -7.16124002e-07,-3.90325814e-04,-2.99640274e-04,-7.13261533e-05,
  2.71230524e-05,-4.27248879e-04,-2.50308840e-04,-1.16724818e-04,
  3.29660170e-02,-1.04614108e-03, 2.80012689e-02,-2.64514311e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48387697,  2.72274027, -3.56256061,  2.72274027, 11.90040925,
        5.66819581, -3.56256061,  5.66819581,  8.81588047,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002820878687008199
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.95180106e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.95180106e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08317405, -0.05706871,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.34517789e-05, 5.37126198e-06,-5.79568206e-06, 1.52800205e-07,
 -1.03525475e-05, 7.72246772e-05, 2.34707512e-05, 4.95681012e-05,
  1.54532243e-05,-2.87933396e-05, 7.37474941e-06, 2.69200129e-05,
 -1.88838842e-04,-3.97160956e-05,-1.00232547e-04,-9.87303701e-05,
  7.69002436e-07, 5.78035790e-06,-1.21644635e+00,-1.78295239e-03,
 -3.00338869e-04, 2.14512788e-06]


--- Step 638 ---
qpos:
[ 2.89801844e-03,-5.61353595e-03,-1.02074145e-02, 2.82361121e-03,
 -4.46702105e-03,-5.17831760e-03,-1.77358003e-02, 5.15067307e-03,
 -4.75562125e-03,-3.92158032e-03,-7.76271237e-03,-1.91424022e-02,
  1.02371179e+00, 1.85549799e-02, 1.01342578e+00, 2.62457381e-02,
  9.49193121e-02,-6.99992944e-02, 1.30727700e-01, 9.98972627e-01,
  1.26391399e-04,-5.70817339e-04,-4.53139018e-02]

qacc:
[-3.50391329e+00, 4.09378092e-03, 6.83340568e-01,-1.76332789e+00,
  1.99449011e+00,-1.41763506e+00, 4.02781293e+00,-9.14741304e-01,
  1.75378616e+00,-5.74928272e-01,-1.61245701e+00, 1.29235273e+01,
 -1.94062311e+00, 2.96850879e+00, 5.57657209e+00,-2.15915791e+01,
  9.23336770e-01,-8.27900379e-01, 1.26016070e-01, 9.38238551e+00,
  1.58032340e+01,-1.75536503e-01]

qfrc_actuator:
[-7.27855869e-05,-2.97674102e-04,-2.86707874e-04,-7.18932915e-05,
  1.12078303e-05,-4.17522510e-04,-2.75047577e-04,-6.14220653e-05,
  3.68568636e-05,-4.45066450e-04,-2.22618955e-04,-8.18963050e-05,
  3.28899073e-02,-1.00172091e-03, 2.79368572e-02,-2.76624359e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48285249,  2.66237743, -3.6066207 ,  2.66237743, 15.71407758,
        8.29079703, -3.6066207 ,  8.29079703, 10.60304996,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002817491483992074
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.85116575e-14,  1.97023315e-13,  1.00000000e+00, -1.94090933e-26,
        1.00000000e+00, -1.97023315e-13, -1.00000000e+00,  0.00000000e+00,
        9.85116575e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08317581, -0.05706699,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.05961547e-05, 3.68826479e-05, 1.41958313e-05, 1.76883195e-09,
  1.16511101e-05, 2.29393576e-05, 4.51436437e-05, 1.49888853e-05,
  1.01585166e-05,-3.11792750e-05, 2.36006915e-05, 3.43780309e-05,
 -1.95681590e-04,-6.64737190e-06,-1.34198996e-04,-1.42357892e-04,
 -1.18442958e-07, 3.90030004e-06,-1.21644255e+00,-1.78350815e-03,
 -2.98959292e-04, 1.97508038e-06]


--- Step 639 ---
qpos:
[ 2.89815571e-03,-5.61198691e-03,-1.02085520e-02, 2.82381754e-03,
 -4.46700722e-03,-5.17815531e-03,-1.77344142e-02, 5.15076280e-03,
 -4.75582451e-03,-3.92375053e-03,-7.76160544e-03,-1.91418883e-02,
  1.02444391e+00, 1.85567735e-02, 1.01422233e+00, 2.62412442e-02,
  9.49198468e-02,-7.00059696e-02, 1.30729829e-01, 9.98969184e-01,
  1.69072919e-04,-5.58873204e-04,-4.53897397e-02]

qacc:
[  7.02133527,  1.73542977, -6.99028332, 13.14706386, -1.75647577,
  -2.00662579,  7.58235418,-11.48862085, -1.98122841, -1.70901766,
   5.65479713, -5.86353387, -1.2428208 ,  1.59639976,  4.44153988,
 -19.44517437,  0.92353095, -0.81091305,  0.03322789,  9.40582379,
  15.52409853, -0.25879663]

qfrc_actuator:
[-3.08049467e-05,-2.77245346e-04,-2.95865133e-04,-5.40770989e-05,
  3.86886370e-07,-4.51737882e-04,-2.61062994e-04,-7.34893476e-05,
  2.48157924e-05,-4.36958366e-04,-1.88781410e-04,-7.93547268e-05,
  3.28232494e-02,-9.93913907e-04, 2.78269225e-02,-2.88990079e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47652176,  2.58162779, -3.65710884,  2.58162779, 20.90103207,
       11.59439711, -3.65710884, 11.59439711, 12.66124337,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002796437947175656
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.92533220e-14, -1.98506644e-13,  1.00000000e+00,  1.97024439e-26,
        1.00000000e+00,  1.98506644e-13, -1.00000000e+00,  0.00000000e+00,
        9.92533220e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08317686, -0.05706529,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.14015347e-05, 4.39495376e-05, 2.08870287e-07, 1.98885397e-05,
 -1.04813775e-05,-1.14414130e-05, 2.47866751e-05,-9.23436069e-06,
 -1.17699682e-05,-2.91133551e-06, 3.15095373e-05, 2.69399324e-06,
 -1.83109161e-04,-3.71922070e-05,-1.99004096e-04,-1.51417879e-04,
 -1.27985487e-06, 2.25419966e-06,-1.21644094e+00,-1.78433963e-03,
 -2.98056906e-04, 2.00367017e-06]


--- Step 640 ---
qpos:
[ 2.89914016e-03,-5.61062891e-03,-1.02095576e-02, 2.82463121e-03,
 -4.46712289e-03,-5.17837163e-03,-1.77327198e-02, 5.15074442e-03,
 -4.75582611e-03,-3.92537862e-03,-7.76067469e-03,-1.91413874e-02,
  1.02517483e+00, 1.85584188e-02, 1.01501648e+00, 2.62352747e-02,
  9.49240757e-02,-7.00158347e-02, 1.30731780e-01, 9.98965716e-01,
  2.31970388e-04,-5.17212120e-04,-4.54662081e-02]

qacc:
[ 7.41822789, 0.61506393,-5.14796581,15.61528105,-1.11345662,-1.58167277,
  5.37412467,-7.4644939 , 1.75072475, 1.17879532,-3.11417262, 2.77767898,
 -0.74491561, 0.5885074 , 0.99020644,-8.45298713, 0.9235419 ,-0.79744627,
 -0.04423655, 9.4229587 ,15.30189691,-0.32369513]

qfrc_actuator:
[ 1.15987160e-05,-3.19087160e-04,-3.00789499e-04,-2.59286388e-05,
 -5.98910017e-06,-4.89967490e-04,-2.53519676e-04,-8.06525372e-05,
  3.55622648e-05,-3.77872704e-04,-1.87011922e-04,-7.80554546e-05,
  3.27569695e-02,-1.00784433e-03, 2.77164145e-02,-2.96086796e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4661748 ,  2.47723615, -3.71618331,  2.47723615, 27.95478094,
       15.65768407, -3.71618331, 15.65768407, 14.90370647,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027615639415004556
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.01013456e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.01013456e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08317736, -0.05706363,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.35976866e-05,-1.63990749e-05, 4.86061328e-06, 3.04227476e-05,
 -6.68106849e-06,-3.99296161e-05, 7.89601494e-06,-6.97858341e-06,
  1.04023230e-05, 6.41408510e-05, 5.15372112e-06, 2.31890698e-06,
 -1.83701426e-04,-6.22478392e-05,-2.26502616e-04,-1.06675517e-04,
 -2.71437527e-06, 8.18299059e-07,-1.21644144e+00,-1.78545335e-03,
 -2.97619327e-04, 2.22577203e-06]


--- Step 641 ---
qpos:
[ 2.89993592e-03,-5.60969382e-03,-1.02104316e-02, 2.82546148e-03,
 -4.46731430e-03,-5.17866368e-03,-1.77316173e-02, 5.15100982e-03,
 -4.75604420e-03,-3.92619849e-03,-7.76017311e-03,-1.91408923e-02,
  1.02590436e+00, 1.85602433e-02, 1.01580830e+00, 2.62293735e-02,
  9.49319988e-02,-7.00288471e-02, 1.30733297e-01, 9.98962211e-01,
  3.15097095e-04,-4.46186653e-04,-4.55434063e-02]

qacc:
[-1.63913663,-0.88931849, 2.29544818,-1.91361747,-0.67758706, 2.13881214,
 -8.96762376,14.87996993,-1.92260999, 2.25980194,-6.4758306 , 6.45864982,
 -1.05128808, 1.22205887,-3.57012583, 7.70109889, 0.92354271,-0.78685877,
 -0.10875687, 9.43643031,15.1267843 ,-0.3739839 ]

qfrc_actuator:
[ 6.33565598e-07,-3.62373466e-04,-3.03421072e-04,-2.74820652e-05,
 -9.69071626e-06,-4.94838925e-04,-2.85361632e-04,-6.71256010e-05,
  2.41371585e-05,-3.24342716e-04,-2.03969459e-04,-7.74684400e-05,
  3.26856274e-02,-9.99019101e-04, 2.76323008e-02,-2.94691729e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002716064986375555
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02190396e-13, -2.04380792e-13,  1.00000000e+00, -2.08857540e-26,
        1.00000000e+00,  2.04380792e-13, -1.00000000e+00,  0.00000000e+00,
       -1.02190396e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08317742, -0.05706198,  0.06199161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.72969641e-06,-5.01763300e-05,-4.37619736e-06,-1.50035425e-06,
 -3.90710585e-06,-2.58822269e-05,-3.93751677e-05, 1.19505853e-05,
 -1.11100804e-05, 9.06115593e-05,-2.98809256e-06, 3.55733655e-06,
 -1.95222550e-04,-4.50796961e-05,-2.05837023e-04,-2.23557479e-05,
 -4.42183143e-06,-4.24621454e-07,-1.21644396e+00,-1.78685408e-03,
 -2.97636967e-04, 2.63757580e-06]


--- Step 642 ---
qpos:
[ 2.90024953e-03,-5.60910244e-03,-1.02115894e-02, 2.82594089e-03,
 -4.46823853e-03,-5.17897653e-03,-1.77306863e-02, 5.15139885e-03,
 -4.75708711e-03,-3.92654610e-03,-7.75947036e-03,-1.91407401e-02,
  1.02663254e+00, 1.85619445e-02, 1.01659785e+00, 2.62245763e-02,
  9.49366346e-02,-7.00347841e-02, 1.30734423e-01, 9.98958685e-01,
  3.52621634e-04,-4.09054358e-04,-4.56207675e-02]

qacc:
[ -4.22072691, -0.37532992,  2.17441225, -7.55513625, -6.39574919,
   0.7186117 , -3.10257132,  5.50869515, -7.22312248, -0.63040647,
   4.62231033,-11.24571336, -0.70244623,  0.48241309, -6.63780755,
  18.48996181, -0.82180442,  1.76886085, -0.09779135,-22.00564984,
 -17.96746797, -0.0663831 ]

qfrc_actuator:
[-2.39032485e-05,-3.88465533e-04,-3.22481996e-04,-4.65088161e-05,
 -4.72949375e-05,-4.79846889e-04,-2.86800066e-04,-5.92858747e-05,
 -1.80060405e-05,-3.10134336e-04,-1.96334474e-04,-9.50634338e-05,
  3.26113084e-02,-1.01231390e-03, 2.75481275e-02,-2.88296944e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44843309,  2.34415132, -3.78067606,  2.34415132, 16.37340311,
        7.39389828, -3.78067606,  7.39389828,  9.03290849,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027003658130542174
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49682198e-14,  2.05569005e-13,  1.00000000e+00,  9.24407218e-27,
        1.00000000e+00, -2.05569005e-13, -1.00000000e+00,  0.00000000e+00,
       -4.49682198e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10633954, -0.09428665,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.48344048e-05,-5.51504077e-05,-3.00191796e-05,-2.13590092e-05,
 -3.77241674e-05,-7.10624006e-06,-1.12312538e-05, 5.59852127e-06,
 -4.24308574e-05, 6.44312023e-05, 2.61080825e-05,-1.37486160e-05,
 -2.00146510e-04,-6.64085494e-05,-1.87973070e-04, 3.47828724e-05,
 -6.40284269e-06,-1.48671299e-06,-1.21644845e+00,-1.78854534e-03,
 -2.98102471e-04, 3.23642893e-06]


--- Step 643 ---
qpos:
[ 2.90095634e-03,-5.60889167e-03,-1.02130065e-02, 2.82688267e-03,
 -4.46960642e-03,-5.17924984e-03,-1.77298373e-02, 5.15186414e-03,
 -4.75793695e-03,-3.92686579e-03,-7.75847695e-03,-1.91404030e-02,
  1.02735942e+00, 1.85630267e-02, 1.01738568e+00, 2.62214099e-02,
  9.49379357e-02,-7.00337969e-02, 1.30734675e-01, 9.98955119e-01,
  3.44782328e-04,-4.04716435e-04,-4.56988786e-02]

qacc:
[  3.43805861,  1.16716023, -6.85456948, 15.56333264, -3.87238642,
   0.44571003, -1.82232038,  3.2300866 ,  1.699119  , -0.39814298,
   0.6879627 ,  2.02998635, -0.27709385, -0.51798182, -7.50714926,
  22.53082926, -0.83367961,  1.73106361, -0.21837877,-21.9103974 ,
 -17.41501878, -0.36042065]

qfrc_actuator:
[-2.95622815e-06,-4.04151095e-04,-3.33285120e-04,-2.24008583e-05,
 -6.90480949e-05,-4.70714056e-04,-2.87932623e-04,-5.48118243e-05,
 -6.87463692e-06,-3.37258879e-04,-1.92155288e-04,-8.77229371e-05,
  3.25299233e-02,-1.05640255e-03, 2.75012762e-02,-2.79008634e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45300967, -1.88439792,  4.03464243, -1.88439792, 10.81535747,
        2.9715632 ,  4.03464243,  2.9715632 ,  5.84089164,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002716326780732442
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08566831e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.08566831e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10633527, -0.09428833,  0.06199161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.02192951e-05,-5.36602488e-05,-2.66253312e-05, 2.02916291e-05,
 -2.28368675e-05, 3.06555978e-06,-3.79674219e-06, 3.88919198e-06,
  9.94137369e-06, 1.36946145e-05, 2.02230118e-05, 1.07358355e-05,
 -2.14496903e-04,-1.03384595e-04,-1.36588957e-04, 6.90735534e-05,
 -2.72022385e-06,-7.26404109e-07,-1.21644171e+00,-1.78853804e-03,
 -3.00215380e-04, 1.98024873e-06]


--- Step 644 ---
qpos:
[ 2.90190846e-03,-5.60908572e-03,-1.02142912e-02, 2.82842677e-03,
 -4.47122482e-03,-5.17933231e-03,-1.77296643e-02, 5.15274644e-03,
 -4.75830213e-03,-3.92719793e-03,-7.75766149e-03,-1.91395967e-02,
  1.02808482e+00, 1.85638762e-02, 1.01817231e+00, 2.62195668e-02,
  9.49358660e-02,-7.00260074e-02, 1.30733648e-01, 9.98951493e-01,
  2.91785723e-04,-4.32295027e-04,-4.57781976e-02]

qacc:
[  2.15723117,  0.33130849, -4.50725849, 15.02528694, -2.20881714,
   3.00342605,-12.09680573, 20.24850199,  4.23792945,  1.43944814,
  -7.14791626, 15.57085856, -0.76710427,  0.45563016, -5.73148779,
  17.60225154, -0.84270262,  1.70055914, -0.31965852,-21.8260171 ,
 -16.97362217, -0.59005252]

qfrc_actuator:
[ 9.09334165e-06,-4.13418379e-04,-3.21291969e-04, 9.16242220e-06,
 -8.12866344e-05,-4.65148755e-04,-3.24407865e-04,-3.46066259e-05,
  1.77809228e-05,-3.53422489e-04,-2.07972164e-04,-6.58117106e-05,
  3.24603214e-02,-1.06516457e-03, 2.74715259e-02,-2.71631579e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45153081, -1.81512948,  4.06465638, -1.81512948, 14.00595029,
        4.26666041,  4.06465638,  4.26666041,  6.35686802,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027111827341130823
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08772820e-13,  2.04748837e-13,  1.00000000e+00, -2.22711084e-26,
        1.00000000e+00, -2.04748837e-13, -1.00000000e+00,  0.00000000e+00,
        1.08772820e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10633222, -0.09429037,  0.06199162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26095589e-05,-4.38927994e-05,-1.65773089e-06, 2.87373476e-05,
 -1.28921501e-05, 6.65292538e-06,-3.61820559e-05, 2.02794681e-05,
  2.49430344e-05,-3.86897697e-06,-1.01360857e-05, 2.34035872e-05,
 -2.18576612e-04,-8.01984966e-05,-9.44601275e-05, 5.79134233e-05,
  3.83482049e-07, 8.49823471e-07,-1.21643999e+00,-1.78787097e-03,
 -3.01803925e-04, 1.60049767e-06]


--- Step 645 ---
qpos:
[ 2.90230777e-03,-5.60943214e-03,-1.02152167e-02, 2.82959739e-03,
 -4.47297754e-03,-5.17923347e-03,-1.77302191e-02, 5.15352380e-03,
 -4.75871386e-03,-3.92743665e-03,-7.75705496e-03,-1.91388905e-02,
  1.02880879e+00, 1.85645699e-02, 1.01895793e+00, 2.62159289e-02,
  9.49303978e-02,-7.00115137e-02, 1.30731003e-01, 9.98947779e-01,
  1.93805978e-04,-4.91091745e-04,-4.58590801e-02]

qacc:
[ -4.82199421, -1.96524972,  8.30778617,-15.25151329, -1.19729485,
   2.05901032, -6.54738305,  5.75817983, -0.41578804,  0.50210548,
  -1.18748301, -0.28041291, -1.04052093,  0.94586482,  4.03221368,
 -16.05461274, -0.84961816,  1.67605099, -0.40467504,-21.75375788,
 -16.62256753, -0.76867242]

qfrc_actuator:
[-1.97102159e-05,-4.00905604e-04,-2.95908990e-04,-8.38391439e-06,
 -8.78320922e-05,-4.61891083e-04,-3.63709234e-04,-4.08392774e-05,
  1.46769069e-05,-3.45227692e-04,-2.17681705e-04,-7.10217241e-05,
  3.23925249e-02,-1.07062196e-03, 2.74094446e-02,-2.81413128e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44528175, -1.72712115,  4.09604473, -1.72712115, 18.27609933,
        5.8318449 ,  4.09604473,  5.8318449 ,  6.90431317,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002689302921321801
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03207323e-13,  1.03207323e-13,  1.00000000e+00,  1.06517516e-26,
        1.00000000e+00, -1.03207323e-13, -1.00000000e+00,  0.00000000e+00,
       -1.03207323e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10633014, -0.09429271,  0.06199169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.84579852e-05,-1.11233034e-05, 1.71191613e-05,-1.89258862e-05,
 -6.91210350e-06, 3.67997401e-07,-4.16851183e-05,-6.80666928e-06,
 -2.39370619e-06, 4.94825804e-06,-1.09561316e-05,-5.27471240e-06,
 -2.12997008e-04,-7.30230222e-05,-1.11210692e-04,-1.09461598e-04,
  3.00251483e-06, 3.27383939e-06,-1.21644308e+00,-1.78653232e-03,
 -3.02913914e-04, 2.05545948e-06]


--- Step 646 ---
qpos:
[ 2.90235875e-03,-5.60970307e-03,-1.02161959e-02, 2.83020225e-03,
 -4.47445013e-03,-5.17926110e-03,-1.77311876e-02, 5.15492931e-03,
 -4.75915936e-03,-3.92765758e-03,-7.75625720e-03,-1.91386157e-02,
  1.02953141e+00, 1.85651270e-02, 1.01974202e+00, 2.62088646e-02,
  9.49285216e-02,-7.00005434e-02, 1.30730109e-01, 9.98944079e-01,
  1.16128412e-04,-5.16549601e-04,-4.59396019e-02]

qacc:
[ -3.05014964, -0.90923063,  5.78501853,-15.55691101,  2.43262154,
   2.27686798,-11.02139254, 22.65750861, -0.29017454, -1.39922432,
   6.84179979,-14.62072118, -1.06785502,  1.03624005,  8.2197081 ,
 -31.79054031,  0.89797245, -0.88084939,  0.43776212,  9.37605057,
  17.117449  ,  0.17226493]

qfrc_actuator:
[-3.68203822e-05,-3.93167950e-04,-2.98277189e-04,-3.69085007e-05,
 -7.32250541e-05,-4.77837446e-04,-3.86631446e-04,-9.32157450e-06,
  1.30071241e-05,-3.40271374e-04,-2.05872054e-04,-9.21227982e-05,
  3.23311877e-02,-1.07408042e-03, 2.73120133e-02,-2.99455688e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45603504, -2.30222038,  3.81523651, -2.30222038, 18.60221433,
        8.53620009,  3.81523651,  8.53620009,  9.60701684,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027268103406907773
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.03575402e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.03575402e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08319029, -0.05705366,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.79254980e-05, 4.25222313e-06,-3.19906057e-06,-2.87758302e-05,
  1.44109808e-05,-2.46434062e-05,-2.82129573e-05, 2.99579788e-05,
 -1.73575005e-06, 5.23239054e-06, 1.12935996e-05,-2.13733045e-05,
 -2.02457864e-04,-6.77231787e-05,-1.72821183e-04,-2.03527126e-04,
  5.20701461e-06, 6.56435381e-06,-1.21645085e+00,-1.78451404e-03,
 -3.03579279e-04, 3.31393736e-06]


--- Step 647 ---
qpos:
[ 2.90185902e-03,-5.60970734e-03,-1.02176200e-02, 2.83115375e-03,
 -4.47573633e-03,-5.17939475e-03,-1.77321889e-02, 5.15701755e-03,
 -4.75927641e-03,-3.92799404e-03,-7.75526121e-03,-1.91385793e-02,
  1.03025274e+00, 1.85655832e-02, 1.02052392e+00, 2.62000220e-02,
  9.49302649e-02,-6.99929872e-02, 1.30730396e-01, 9.98940383e-01,
  5.87674835e-05,-5.09738012e-04,-4.60200740e-02]

qacc:
[-4.83559555e+00, 2.31915366e+00,-9.20455469e+00, 1.57013660e+01,
  1.62668362e+00, 1.35403152e+00,-7.91909551e+00, 1.98723943e+01,
  2.88365232e+00,-1.20358204e+00, 5.06440863e+00,-9.40725922e+00,
 -8.83347929e-01, 7.99764987e-01, 2.19965772e+00,-1.22448964e+01,
  9.04900809e-01,-8.53513844e-01, 2.95456010e-01, 9.40638270e+00,
  1.65843588e+01, 1.78124841e-02]

qfrc_actuator:
[-6.46505160e-05,-3.70709646e-04,-3.17026784e-04,-1.84204754e-05,
 -6.40398743e-05,-4.69565686e-04,-3.81996550e-04, 2.64025837e-05,
  2.99563491e-05,-3.54972520e-04,-1.99220104e-04,-1.04634495e-04,
  3.22737698e-02,-1.07629640e-03, 2.72094320e-02,-3.08017816e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46611941,  2.1324986 , -3.92411421,  2.1324986 , 11.2513809 ,
        3.68734443, -3.92411421,  3.68734443,  6.46994917,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002761375669432936
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00513581e-13, -2.01027161e-13,  1.00000000e+00, -2.02059598e-26,
        1.00000000e+00,  2.01027161e-13, -1.00000000e+00,  0.00000000e+00,
       -1.00513581e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08319413, -0.05705224,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.83379125e-05, 2.29559119e-05,-1.92471127e-05, 1.80016191e-05,
  9.58959684e-06,-1.00381899e-05,-2.88592238e-06, 3.42735359e-05,
  1.69020862e-05,-1.03618828e-05, 8.37638209e-06,-1.23149285e-05,
 -1.92558858e-04,-6.21763347e-05,-2.13845779e-04,-1.21202246e-04,
  4.53053768e-06, 3.73209311e-06,-1.21644543e+00,-1.78391295e-03,
 -3.02432006e-04, 2.43335021e-06]


--- Step 648 ---
qpos:
[ 2.90102961e-03,-5.60979129e-03,-1.02185805e-02, 2.83230048e-03,
 -4.47655778e-03,-5.17920754e-03,-1.77332933e-02, 5.15877601e-03,
 -4.75884439e-03,-3.92851637e-03,-7.75439713e-03,-1.91390060e-02,
  1.03097266e+00, 1.85665260e-02, 1.02130363e+00, 2.61917444e-02,
  9.49356480e-02,-6.99887568e-02, 1.30731387e-01, 9.98936684e-01,
  2.17213185e-05,-4.71513686e-04,-4.61007390e-02]

qacc:
[ -2.86771956, -0.99330567,  2.57453255,  0.11084051,  4.04414963,
   0.02519748,  1.9038684 , -7.66775953,  4.80578552, -0.84037359,
   4.57558522,-12.21868611, -1.29017589,  1.79280366, -4.80302135,
  12.43842373,  0.9099576 , -0.83147975,  0.17589588,  9.42376137,
  16.15716255, -0.10249636]

qfrc_actuator:
[-8.08182699e-05,-3.75145586e-04,-2.91934740e-04,-7.91625276e-06,
 -4.03734889e-05,-4.28980299e-04,-3.78795369e-04, 1.10868756e-05,
  5.77282601e-05,-3.81341944e-04,-2.13498902e-04,-1.29765652e-04,
  3.22187461e-02,-1.04224265e-03, 2.71411573e-02,-3.03818372e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46897887,  2.08216672, -3.95428298,  2.08216672, 14.85012227,
        5.4662935 , -3.95428298,  5.4662935 ,  7.34730966,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002771072822526782
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.00323683e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.00323683e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08319683, -0.05705079,  0.06199144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.69683605e-05, 5.20309776e-06, 2.81021642e-05, 1.11745037e-05,
  2.39364806e-05, 3.58597446e-05, 1.96665116e-06,-1.51811098e-05,
  2.82510943e-05,-3.09550562e-05,-1.58219925e-05,-2.55271479e-05,
 -1.83573993e-04,-2.21485646e-05,-1.86511979e-04, 6.35581800e-06,
  3.58136006e-06, 1.19001215e-06,-1.21644239e+00,-1.78357575e-03,
 -3.01803984e-04, 1.78492920e-06]


--- Step 649 ---
qpos:
[ 2.90070275e-03,-5.61040341e-03,-1.02186527e-02, 2.83255659e-03,
 -4.47674426e-03,-5.17866578e-03,-1.77344058e-02, 5.16032576e-03,
 -4.75842784e-03,-3.92894882e-03,-7.75381896e-03,-1.91401004e-02,
  1.03169132e+00, 1.85678255e-02, 1.02208100e+00, 2.61862884e-02,
  9.49446861e-02,-6.99877816e-02, 1.30732681e-01, 9.98932971e-01,
  4.97886194e-06,-4.02559943e-04,-4.61817850e-02]

qacc:
[  4.43228332, -5.0238153 , 20.64409749,-37.07315473,  5.53118893,
   0.05026992,  1.36298444, -5.2030625 , -0.14636814, -0.45701053,
   4.61635251,-15.77096915, -0.89746653,  1.15046606,-11.94961365,
  36.94191653,  0.91371858, -0.81377397,  0.0756334 ,  9.43264545,
  15.81637172, -0.19575865]

qfrc_actuator:
[-5.44840923e-05,-4.30983656e-04,-2.59020821e-04,-5.54474359e-05,
 -8.37129048e-06,-4.04896469e-04,-3.76371010e-04, 1.39193520e-06,
  5.61365246e-05,-3.61337877e-04,-2.22332670e-04,-1.62148414e-04,
  3.21652167e-02,-1.02247943e-03, 2.70562625e-02,-2.88574651e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46598102,  2.01444271, -3.98585085,  2.01444271, 19.64330235,
        7.67059419, -3.98585085,  7.67059419,  8.34268718,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027609051880513047
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.01061418e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.01061418e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08319864, -0.05704932,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.58504457e-05,-4.66365575e-05, 3.78479940e-05,-4.61176814e-05,
  3.27014581e-05, 4.39027144e-05, 9.55386407e-06,-8.38883013e-06,
 -7.94937764e-07,-1.64597898e-06,-1.80629425e-05,-3.47537613e-05,
 -1.66674478e-04,-2.57903006e-05,-1.77354963e-04, 1.27194005e-04,
  2.36043145e-06,-1.10097222e-06,-1.21644157e+00,-1.78351208e-03,
 -3.01674100e-04, 1.35549636e-06]


--- Step 650 ---
qpos:
[ 2.90069361e-03,-5.61096828e-03,-1.02187937e-02, 2.83223422e-03,
 -4.47689043e-03,-5.17773192e-03,-1.77352353e-02, 5.16172168e-03,
 -4.75768872e-03,-3.92897594e-03,-7.75357072e-03,-1.91412673e-02,
  1.03240899e+00, 1.85685755e-02, 1.02285657e+00, 2.61829034e-02,
  9.49573905e-02,-6.99900048e-02, 1.30733942e-01, 9.98929232e-01,
  8.52511297e-06,-3.03418313e-04,-4.62633571e-02]

qacc:
[ 2.77582741e+00,-9.42126750e-01, 5.88216587e+00,-1.58081792e+01,
  3.53663979e-01,-5.89650950e-01, 3.50264638e+00,-6.90467329e+00,
  2.80674240e+00, 1.30313028e+00,-3.57226678e+00, 2.55640029e+00,
 -5.77873291e-02,-6.84315069e-01,-8.96636406e+00, 2.74339981e+01,
  9.16616753e-01,-7.99608918e-01,-8.27688320e-03, 9.43635843e+00,
  1.55463155e+01,-2.67560789e-01]

qfrc_actuator:
[-3.88543726e-05,-4.10666860e-04,-2.57529220e-04,-8.35342267e-05,
 -7.22899549e-06,-3.73122970e-04,-3.56713996e-04,-4.91969727e-06,
  7.27767829e-05,-3.13711117e-04,-2.27692646e-04,-1.62987112e-04,
  3.21019695e-02,-1.06461330e-03, 2.69934448e-02,-2.77604221e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4584243 ,  1.92680058, -4.02057046,  1.92680058, 26.00332171,
       10.32508227, -4.02057046, 10.32508227,  9.40657151,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002735052173031549
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01480973e-13, -4.05923893e-13,  1.00000000e+00,  4.11935517e-26,
        1.00000000e+00,  4.05923893e-13, -1.00000000e+00,  0.00000000e+00,
        1.01480973e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08319973, -0.05704784,  0.06199155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.63546393e-05, 1.11841489e-07,-5.06874550e-06,-2.96730042e-05,
  2.09504144e-06, 5.79388295e-05, 2.96135287e-05,-4.26682453e-06,
  1.66181669e-05, 4.14995967e-05,-9.12585446e-06,-2.20857027e-06,
 -1.66996476e-04,-8.48221800e-05,-1.37169376e-04, 9.24547373e-05,
  8.68143529e-07,-3.16955203e-06,-1.21644287e+00,-1.78372882e-03,
 -3.02025977e-04, 1.13481235e-06]


--- Step 651 ---
qpos:
[ 2.90018205e-03,-5.61112833e-03,-1.02191348e-02, 2.83188549e-03,
 -4.47736621e-03,-5.17649325e-03,-1.77360558e-02, 5.16306116e-03,
 -4.75641065e-03,-3.92908488e-03,-7.75325822e-03,-1.91417097e-02,
  1.03312517e+00, 1.85699984e-02, 1.02363107e+00, 2.61806971e-02,
  9.49737709e-02,-6.99953814e-02, 1.30734889e-01, 9.98925451e-01,
  3.23448934e-05,-1.74513977e-04,-4.63455662e-02]

qacc:
[-4.40795648, 1.04862703,-2.836507  , 2.38644063,-2.87954881, 0.26714456,
 -0.12005945,-1.10587408, 4.72229323, 1.19545329,-7.48848172,19.99044223,
 -1.52341905, 2.25283481,-4.99635284,15.55989218, 0.91897522,-0.78834623,
 -0.07835398, 9.43735281,15.33437072,-0.32229911]

qfrc_actuator:
[-6.51687758e-05,-3.62773914e-04,-2.56536583e-04,-8.21576323e-05,
 -2.42619737e-05,-3.72420311e-04,-3.62510369e-04,-9.17275692e-06,
  1.00024378e-04,-3.38625313e-04,-2.30809973e-04,-1.27474792e-04,
  3.20382391e-02,-1.01885333e-03, 2.69705375e-02,-2.71010814e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44747082,  1.81603806, -4.05980326,  1.81603806, 34.40757609,
       13.40180498, -4.05980326, 13.40180498, 10.44238891,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002696994068240449
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.05826004e-13, -2.05826004e-13,  1.00000000e+00,  4.23643440e-26,
        1.00000000e+00,  2.05826004e-13, -1.00000000e+00,  0.00000000e+00,
        2.05826004e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08320027, -0.05704635,  0.06199167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.58434922e-05, 4.56656696e-05,-6.27068731e-07, 6.30066123e-07,
 -1.69537192e-05, 3.90088689e-05, 9.66667455e-06,-8.32342666e-07,
  2.77370386e-05,-3.67848817e-06, 4.25385820e-06, 3.69323743e-05,
 -1.80889009e-04,-1.05870974e-05,-8.44061292e-05, 5.14897858e-05,
 -8.95812689e-07,-5.03661224e-06,-1.21644619e+00,-1.78423086e-03,
 -3.02846991e-04, 1.11508705e-06]


--- Step 652 ---
qpos:
[ 2.89935945e-03,-5.61124343e-03,-1.02190634e-02, 2.83155902e-03,
 -4.47804223e-03,-5.17521297e-03,-1.77367808e-02, 5.16402246e-03,
 -4.75481556e-03,-3.92956560e-03,-7.75253388e-03,-1.91417094e-02,
  1.03384001e+00, 1.85719430e-02, 1.02440461e+00, 2.61769430e-02,
  9.49938355e-02,-7.00038759e-02, 1.30735289e-01, 9.98921613e-01,
  7.64255083e-05,-1.61762753e-05,-4.64284958e-02]

qacc:
[ -2.70858928, -1.04215238,  3.71721503, -4.0343934 , -1.74416728,
  -0.9872014 ,  5.20230398,-11.93778128,  2.7948314 , -0.73616787,
   0.03619407,  7.24492839, -1.50381467,  2.16488342,  3.43428076,
 -13.68209413,  0.92103294, -0.77946786, -0.13675349,  9.43741674,
  15.17035234, -0.36343244]

qfrc_actuator:
[-8.04513447e-05,-3.69722277e-04,-2.37931868e-04,-8.11763646e-05,
 -3.40936754e-05,-3.90429699e-04,-3.65665323e-04,-2.99791412e-05,
  1.15538328e-04,-3.71233788e-04,-2.15091294e-04,-1.06425138e-04,
  3.19742983e-02,-9.92370299e-04, 2.69129914e-02,-2.79464093e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002649618528381137
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04753101e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.04753101e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08320038, -0.05704486,  0.06199181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.60043476e-05, 1.84886086e-05, 2.79900830e-05, 2.93152309e-06,
 -1.03044635e-05, 5.72078195e-06, 6.05701972e-06,-1.88199483e-05,
  1.63029250e-05,-3.21902118e-05, 1.67594319e-05, 2.17580036e-05,
 -1.70905348e-04,-1.68047100e-05,-1.03221090e-04,-9.53472899e-05,
 -2.93254518e-06,-6.71707531e-06,-1.21645148e+00,-1.78502167e-03,
 -3.04127503e-04, 1.29056314e-06]


--- Step 653 ---
qpos:
[ 2.89870502e-03,-5.61164254e-03,-1.02185770e-02, 2.83128951e-03,
 -4.47883090e-03,-5.17410477e-03,-1.77368248e-02, 5.16402356e-03,
 -4.75304695e-03,-3.93011128e-03,-7.75141691e-03,-1.91418403e-02,
  1.03455383e+00, 1.85734008e-02, 1.02517633e+00, 2.61729365e-02,
  9.50106516e-02,-7.00051901e-02, 1.30735551e-01, 9.98917750e-01,
  7.47584380e-05, 1.07997406e-04,-4.65114190e-02]

qacc:
[ 1.48896779e+00,-1.42126202e+00, 4.27750968e+00,-3.74133613e+00,
 -9.58855544e-01,-4.10452061e+00, 1.83626502e+01,-3.59487612e+01,
  1.53262961e+00,-1.45666456e+00, 5.61609197e+00,-8.45717026e+00,
 -2.80042222e-01,-2.99693468e-01,-1.94243952e+00, 2.87256885e+00,
 -8.12094198e-01, 1.79507366e+00,-3.45490560e-02,-2.20560829e+01,
 -1.81255875e+01, 4.26886341e-03]

qfrc_actuator:
[-7.13525882e-05,-4.09377500e-04,-2.27045029e-04,-8.04703729e-05,
 -3.96021507e-05,-4.01772412e-04,-3.31820405e-04,-7.81258489e-05,
  1.24018464e-04,-3.54878259e-04,-1.88444291e-04,-1.11813693e-04,
  3.19102727e-02,-1.03082922e-03, 2.68187125e-02,-2.80742491e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44106429,  2.31352103, -3.79086698,  2.31352103, 16.43294707,
        7.31850343, -3.79086698,  7.31850343,  8.90745988,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002674403251359536
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.14051021e-13, -4.15129253e-13,  1.00000000e+00,  8.88588406e-26,
        1.00000000e+00,  4.15129253e-13, -1.00000000e+00,  0.00000000e+00,
        2.14051021e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10629822, -0.09431287,  0.06199174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.64689068e-06,-2.34080949e-05, 1.82576393e-05, 2.52543004e-06,
 -5.80134141e-06,-7.74274079e-06, 3.51131358e-05,-4.80612610e-05,
  8.93209838e-06, 2.76795479e-06, 2.28133868e-05,-5.76454026e-06,
 -1.67509165e-04,-8.04281714e-05,-1.64474701e-04,-3.40887702e-05,
 -5.24402432e-06,-8.22123030e-06,-1.21645871e+00,-1.78610367e-03,
 -3.05860256e-04, 1.65716797e-06]


--- Step 654 ---
qpos:
[ 2.89816454e-03,-5.61212995e-03,-1.02182897e-02, 2.83139416e-03,
 -4.47967942e-03,-5.17330155e-03,-1.77364066e-02, 5.16417078e-03,
 -4.75257020e-03,-3.93034388e-03,-7.75041314e-03,-1.91423942e-02,
  1.03526647e+00, 1.85747236e-02, 1.02594630e+00, 2.61703588e-02,
  9.50241724e-02,-6.99994913e-02, 1.30735151e-01, 9.98913843e-01,
  2.75721927e-05, 1.99206708e-04,-4.65949903e-02]

qacc:
[  0.99213973,  1.20870813, -6.06169796, 12.92414482, -0.50220462,
  -1.3922945 ,  3.76485311, -1.75343427,-11.31920425, -0.11890871,
   2.84508239,-10.24909203, -0.58636505,  0.34984385, -6.87262737,
  20.38778269, -0.82383022,  1.75324007, -0.16537491,-21.9683093 ,
 -17.52295426, -0.32590076]

qfrc_actuator:
[-6.57324689e-05,-4.15087950e-04,-2.38709228e-04,-6.22205144e-05,
 -4.25241712e-05,-4.26670698e-04,-3.11904462e-04,-7.09329397e-05,
  5.72844501e-05,-3.27055062e-04,-1.90891092e-04,-1.32668372e-04,
  3.18515399e-02,-1.03644293e-03, 2.67664171e-02,-2.72457820e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44888304, -2.01454033,  3.96663429, -2.01454033,  9.63563412,
        2.63420282,  3.96663429,  2.63420282,  5.78671947,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000270194055298989
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.1459408e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        3.1459408e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10629345, -0.0943144 ,  0.06199165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.85906977e-06,-1.49063862e-05,-1.41631584e-05, 1.79280062e-05,
 -3.09044712e-06,-2.40764202e-05, 2.09667113e-05, 7.13872018e-06,
 -6.64792634e-05, 3.38518140e-05, 7.30268139e-07,-2.00600733e-05,
 -1.75946803e-04,-6.07538886e-05,-1.39637123e-04, 5.80307804e-05,
 -6.81695870e-07,-6.74303331e-06,-1.21645012e+00,-1.78538962e-03,
 -3.09401950e-04,-5.12649799e-07]


--- Step 655 ---
qpos:
[ 2.89735055e-03,-5.61238686e-03,-1.02182959e-02, 2.83168204e-03,
 -4.48021166e-03,-5.17262544e-03,-1.77358262e-02, 5.16509156e-03,
 -4.75324173e-03,-3.93036203e-03,-7.74970323e-03,-1.91431684e-02,
  1.03597774e+00, 1.85760615e-02, 1.02671513e+00, 2.61686349e-02,
  9.50343632e-02,-6.99869145e-02, 1.30733651e-01, 9.98909872e-01,
 -6.49333975e-05, 2.58414957e-04,-4.66797237e-02]

qacc:
[ -2.40539105,  1.50691459, -5.69625288,  9.15826726,  2.76600393,
   0.96613565, -6.96362315, 20.19641545,-10.06592136,  0.67077612,
  -1.01753059, -2.51723469, -0.92947311,  0.91225077, -4.19380567,
  12.41500407, -0.83251819,  1.71950523, -0.27530681,-21.88939953,
 -17.0389848 , -0.58602141]

qfrc_actuator:
[-7.99651985e-05,-3.82761006e-04,-2.45703141e-04,-5.15369556e-05,
 -2.61494356e-05,-4.23995346e-04,-3.00399498e-04,-3.12584861e-05,
  7.58325886e-08,-3.28208574e-04,-2.10445390e-04,-1.44705866e-04,
  3.17747320e-02,-1.04025934e-03, 2.67393700e-02,-2.67469634e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45007644, -1.95373995,  3.99825969, -1.95373995, 12.42541423,
        3.89712957,  3.99825969,  3.89712957,  6.35439941,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027061113373530454
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08976666e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.08976666e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10629   , -0.09431632,  0.06199164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.40694148e-05, 2.18517184e-05,-1.11946899e-05, 9.90379177e-06,
  1.62765968e-05,-6.18705740e-06, 9.34738365e-06, 3.95044932e-05,
 -5.90942337e-05, 1.70442261e-05,-1.31711582e-05,-1.09507077e-05,
 -1.93485709e-04,-5.68728301e-05,-9.38521715e-05, 3.31331333e-05,
  3.30064023e-06,-4.51026117e-06,-1.21644672e+00,-1.78402993e-03,
 -3.12423161e-04,-1.80512946e-06]


--- Step 656 ---
qpos:
[ 2.89637244e-03,-5.61260025e-03,-1.02180420e-02, 2.83173547e-03,
 -4.48054372e-03,-5.17181665e-03,-1.77351930e-02, 5.16610889e-03,
 -4.75424893e-03,-3.93084123e-03,-7.74867344e-03,-1.91436903e-02,
  1.03668762e+00, 1.85773878e-02, 1.02748289e+00, 2.61671329e-02,
  9.50423124e-02,-6.99801331e-02, 1.30733084e-01, 9.98906043e-01,
 -1.14016821e-04, 3.10495317e-04,-4.67611814e-02]

qacc:
[-1.42836359,-1.14936545, 5.17599128,-9.68649583, 1.74516736, 0.22308114,
 -0.95448805, 2.44987437,-2.92070722,-0.97841904, 1.55106799, 2.62740854,
 -0.96779729, 0.9465968 ,-2.18203794, 5.52354083,-0.56038573,-1.44884738,
  0.23351837,21.85336073,-2.54671631, 1.64474728]

qfrc_actuator:
[-8.80151424e-05,-3.81153007e-04,-2.31968313e-04,-6.31045423e-05,
 -1.63014695e-05,-4.04831670e-04,-2.93825954e-04,-2.60388914e-05,
 -1.55391322e-05,-3.82279997e-04,-2.04532987e-04,-1.33733901e-04,
  3.17031155e-02,-1.04309337e-03, 2.66955252e-02,-2.66234258e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44995597, -0.64951622,  4.40229904, -0.64951622, 19.80897836,
        2.26607372,  4.40229904,  2.26607372,  4.78429301,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002705690672783895
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.0516444e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -2.0516444e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10057242, -0.04665309,  0.06199164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.44363436e-06, 1.19459198e-05, 1.72161100e-05,-1.08252384e-05,
  1.03103898e-05, 1.92993982e-05, 7.79675331e-06, 6.04134163e-06,
 -1.72950425e-05,-4.77584322e-05, 7.42703463e-06, 1.10354867e-05,
 -1.96681769e-04,-5.95068086e-05,-9.52160595e-05,-5.44569611e-07,
  6.80087892e-06,-1.47482842e-06,-1.21644829e+00,-1.78200820e-03,
 -3.14972374e-04,-2.26321938e-06]


--- Step 657 ---
qpos:
[ 2.89565024e-03,-5.61276382e-03,-1.02176147e-02, 2.83165503e-03,
 -4.48075494e-03,-5.17097973e-03,-1.77344206e-02, 5.16684288e-03,
 -4.75543612e-03,-3.93155607e-03,-7.74788413e-03,-1.91444116e-02,
  1.03739624e+00, 1.85788580e-02, 1.02824932e+00, 2.61654521e-02,
  9.50481505e-02,-6.99790775e-02, 1.30732888e-01, 9.98902342e-01,
 -1.20359485e-04, 3.54789511e-04,-4.68398378e-02]

qacc:
[ 2.24297415,-0.6988592 , 3.14477204,-5.76712773, 1.05764921,-0.93702363,
  4.58774097,-9.73146632,-1.57941539,-0.04659334, 0.55975012,-3.45396113,
 -1.01343488, 1.17026261,-1.32288087, 2.01385127,-0.52777765,-1.43146148,
  0.09270231,21.52861931,-2.88969951, 1.40834825]

qfrc_actuator:
[-7.46027582e-05,-3.80128970e-04,-2.23984990e-04,-6.99257966e-05,
 -1.03799680e-05,-4.11489225e-04,-2.90166801e-04,-4.11246272e-05,
 -2.43038263e-05,-3.96501907e-04,-2.19342022e-04,-1.44845859e-04,
  3.16559677e-02,-1.02756468e-03, 2.66309856e-02,-2.67221523e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45964064, -0.8740939 , -4.37314012, -0.8740939 , 11.94677876,
       -1.49651317, -4.37314012, -1.49651317,  4.75876049,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002739235363977133
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.02651995e-13,  2.02651995e-13,  1.00000000e+00,  4.10678312e-26,
        1.00000000e+00, -2.02651995e-13, -1.00000000e+00,  0.00000000e+00,
       -2.02651995e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10057641, -0.04665475,  0.06199154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31753882e-05, 1.08013083e-05, 1.21975904e-05,-5.92403860e-06,
  6.22323901e-06, 5.96827928e-06, 8.79531339e-06,-1.38773828e-05,
 -9.27657617e-06,-3.89243191e-05,-2.33822759e-05,-1.26849447e-05,
 -1.74752986e-04,-4.24504404e-05,-1.20402324e-04,-2.48485367e-05,
  3.28326779e-06,-1.86484937e-06,-1.21644312e+00,-1.78110885e-03,
 -3.13984359e-04,-1.79380268e-06]


--- Step 658 ---
qpos:
[ 2.89474942e-03,-5.61280542e-03,-1.02173926e-02, 2.83151066e-03,
 -4.48089328e-03,-5.17023180e-03,-1.77338173e-02, 5.16742736e-03,
 -4.75602977e-03,-3.93217670e-03,-7.74744773e-03,-1.91452950e-02,
  1.03810375e+00, 1.85801891e-02, 1.02901417e+00, 2.61643036e-02,
  9.50519816e-02,-6.99836899e-02, 1.30732590e-01, 9.98898755e-01,
 -8.45203686e-05, 3.90786120e-04,-4.69160662e-02]

qacc:
[-1.57092359, 0.60586995,-1.65115395, 0.77703796, 0.63163336, 0.04579489,
  0.29499597,-2.54421946, 5.18354912, 0.76675034,-1.88652307,-0.4056368 ,
 -0.59929307, 0.39511053,-3.91397561,10.39526485,-0.50176008,-1.41699936,
 -0.02553227,21.26164457,-3.15651106, 1.2222687 ]

qfrc_actuator:
[-8.41726213e-05,-3.79479013e-04,-2.37222566e-04,-7.39060596e-05,
 -6.81509207e-06,-4.33588039e-04,-3.06116411e-04,-5.02996577e-05,
  6.52549195e-06,-3.69102467e-04,-2.28398872e-04,-1.51104992e-04,
  3.16022371e-02,-1.03667453e-03, 2.65647416e-02,-2.64185397e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46224166, -0.9365736 , -4.36284661, -0.9365736 , 15.80050542,
       -2.43398851, -4.36284661, -2.43398851,  4.98474671,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027481524293782034
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.0099722e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.0099722e-13, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10057972, -0.04665546,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.18967028e-06, 8.96374733e-06,-9.71173783e-06,-3.21150329e-06,
  3.74558340e-06,-1.75782711e-05,-1.41344298e-05,-8.89055521e-06,
  3.05506966e-05, 2.71746246e-07,-2.04152023e-05,-8.98045712e-06,
 -1.65308359e-04,-5.78289787e-05,-1.34980515e-04, 1.11131105e-05,
  1.77216920e-07,-1.59098148e-06,-1.21644091e+00,-1.78086721e-03,
 -3.13069839e-04,-1.40553154e-06]


--- Step 659 ---
qpos:
[ 2.89374131e-03,-5.61309938e-03,-1.02171646e-02, 2.83135383e-03,
 -4.48098768e-03,-5.16966451e-03,-1.77333814e-02, 5.16825488e-03,
 -4.75624946e-03,-3.93268294e-03,-7.74722659e-03,-1.91455688e-02,
  1.03881016e+00, 1.85811725e-02, 1.02977758e+00, 2.61627922e-02,
  9.50538885e-02,-6.99939227e-02, 1.30731793e-01, 9.98895265e-01,
 -6.95451710e-06, 4.18087754e-04,-4.69901607e-02]

qacc:
[-0.93399348,-0.37381232, 0.9046691 ,-0.94737577, 0.38124174, 0.72852376,
 -3.97143339, 8.57997106, 3.26554741, 2.00244615,-9.5000744 ,20.31221448,
 -0.49850401, 0.09810169,-1.00155366, 0.48507118,-0.48102534,-1.40508715,
 -0.12467031,21.04394599,-3.36398219, 1.07586544]

qfrc_actuator:
[-8.94470440e-05,-4.14650836e-04,-2.45130890e-04,-7.61980971e-05,
 -4.66454915e-06,-4.47093105e-04,-3.15826036e-04,-3.81961369e-05,
  2.49044197e-05,-3.52471073e-04,-2.33795803e-04,-1.18904522e-04,
  3.15392626e-02,-1.06034213e-03, 2.65028718e-02,-2.65900252e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45910529, -1.01435909, -4.3421994 , -1.01435909, 20.78588144,
       -3.81401503, -4.3421994 , -3.81401503,  5.35007791,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002737395238428114
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53485277e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.53485277e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1005825 , -0.0466554 ,  0.06199154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.53348605e-06,-3.23040363e-05,-7.36465625e-06,-2.30606016e-06,
  2.25272442e-06,-2.66693356e-05,-1.54065478e-05, 1.06837029e-05,
  1.92509482e-05, 1.22102622e-05,-8.16361468e-06, 3.13319126e-05,
 -1.72864726e-04,-7.36057994e-05,-1.32048745e-04,-3.59879142e-05,
 -2.56540235e-06,-6.89454991e-07,-1.21644157e+00,-1.78127664e-03,
 -3.12188282e-04,-1.11304177e-06]


--- Step 660 ---
qpos:
[ 2.89267794e-03,-5.61392610e-03,-1.02166016e-02, 2.83118469e-03,
 -4.48105556e-03,-5.16926130e-03,-1.77330571e-02, 5.16886959e-03,
 -4.75590218e-03,-3.93275429e-03,-7.74779426e-03,-1.91454565e-02,
  1.03951556e+00, 1.85815765e-02, 1.03053927e+00, 2.61600917e-02,
  9.50525416e-02,-6.99972414e-02, 1.30730820e-01, 9.98891741e-01,
  2.35128110e-05, 4.11559410e-04,-4.70650544e-02]

qacc:
[ -0.46378304, -1.66466507,  4.96737617, -5.32586649,  0.230512  ,
  -0.34366743,  1.80835199, -5.19154276,  4.93176357,  3.56553411,
 -13.52122848, 21.15307928, -0.27757712, -0.36441752,  1.04721409,
  -7.36546292, -0.81348203,  1.72852746, -0.04411145,-22.72824107,
 -18.00287598, -0.40988523]

qfrc_actuator:
[-9.21440815e-05,-4.53237567e-04,-2.32218000e-04,-7.75031188e-05,
 -3.36283070e-06,-4.55314670e-04,-3.21725732e-04,-4.91634832e-05,
  5.35479104e-05,-3.24605750e-04,-2.72498519e-04,-9.98405140e-05,
  3.14867582e-02,-1.09247995e-03, 2.64117160e-02,-2.72172719e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47088582,  0.39665914, -4.45325516,  0.39665914, 23.87695423,
        1.72853209, -4.45325516,  1.72853209,  4.62484916,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002777514708408313
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.56139900e-13, -5.99577216e-13,  1.00000000e+00,  9.36179266e-26,
        1.00000000e+00,  5.99577216e-13, -1.00000000e+00,  0.00000000e+00,
        1.56139900e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10626894, -0.09432014,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.86533909e-06,-5.82616609e-05, 5.25567792e-06,-2.98794279e-06,
  1.35716832e-06,-2.58861281e-05,-1.29500671e-05,-1.24394101e-05,
  2.91950868e-05, 3.43712764e-05,-3.60992363e-05, 1.99149047e-05,
 -1.70473749e-04,-8.74067016e-05,-1.65581158e-04,-8.38906901e-05,
 -4.98037065e-06, 8.14456708e-07,-1.21644502e+00,-1.78233143e-03,
 -3.11309656e-04,-9.26041722e-07]


--- Step 661 ---
qpos:
[ 2.89193526e-03,-5.61512685e-03,-1.02156481e-02, 2.83097692e-03,
 -4.48179719e-03,-5.16877544e-03,-1.77332104e-02, 5.16934170e-03,
 -4.75521410e-03,-3.93254282e-03,-7.74849070e-03,-1.91458335e-02,
  1.04021964e+00, 1.85821762e-02, 1.03129911e+00, 2.61572553e-02,
  9.50478948e-02,-6.99937577e-02, 1.30729151e-01, 9.98888165e-01,
  7.40129256e-06, 3.72328535e-04,-4.71412197e-02]

qacc:
[  2.82374018, -1.67109879,  5.39467366, -6.40245571, -5.89228426,
   1.16147071, -3.36127544,  1.5752599 ,  2.97450875, -0.28007943,
   3.59337623,-12.04655413, -1.06531287,  1.2575378 , -2.21210588,
   4.02797587, -0.82494411,  1.70058391, -0.17398123,-22.49377709,
 -17.42926615, -0.64559637]

qfrc_actuator:
[-7.55511689e-05,-4.57986627e-04,-2.07143765e-04,-7.82110915e-05,
 -3.80758284e-05,-4.42557822e-04,-3.43080989e-04,-5.58620982e-05,
  7.02549070e-05,-3.08118943e-04,-2.77267168e-04,-1.24183969e-04,
  3.14245892e-02,-1.07607146e-03, 2.63403470e-02,-2.72206306e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4776373 , -0.54385211,  4.44448655, -0.54385211, 12.08554835,
        0.93094633,  4.44448655,  0.93094633,  4.59155308,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002800163220169627
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05316358e-13,  1.98242555e-13,  1.00000000e+00, -2.08781838e-26,
        1.00000000e+00, -1.98242555e-13, -1.00000000e+00,  0.00000000e+00,
        1.05316358e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10626464, -0.0943201 ,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.64926790e-05,-3.63454266e-05, 1.35884705e-05,-3.07928591e-06,
 -3.46820842e-05,-4.94564419e-06,-2.87377136e-05,-8.50104248e-06,
  1.75525472e-05, 2.91241127e-05,-1.42013585e-06,-2.37327025e-05,
 -1.82699698e-04,-4.10943308e-05,-1.64826920e-04,-2.80860447e-05,
 -1.79689809e-06, 1.66132095e-06,-1.21644090e+00,-1.78226282e-03,
 -3.12726610e-04,-1.50831275e-06]


--- Step 662 ---
qpos:
[ 2.89139712e-03,-5.61644710e-03,-1.02147620e-02, 2.83041562e-03,
 -4.48294915e-03,-5.16821280e-03,-1.77336445e-02, 5.16937133e-03,
 -4.75433092e-03,-3.93201486e-03,-7.74898509e-03,-1.91468722e-02,
  1.04092232e+00, 1.85830176e-02, 1.03205718e+00, 2.61550082e-02,
  9.50399134e-02,-6.99835630e-02, 1.30726349e-01, 9.98884513e-01,
 -5.48578122e-05, 3.01295099e-04,-4.72190226e-02]

qacc:
[ 1.78879725e+00,-7.00920042e-01, 3.75622712e+00,-9.67216780e+00,
 -3.58894822e+00,-1.80797408e-02, 2.09166280e+00,-9.37025585e+00,
  1.70852261e+00,-1.51295967e+00, 8.78367267e+00,-2.07737583e+01,
 -1.10850395e+00, 1.32773993e+00,-4.31421698e+00, 1.15216688e+01,
 -8.33665960e-01, 1.67775214e+00,-2.83313091e-01,-2.22982281e+01,
 -1.69713195e+01,-8.28109870e-01]

qfrc_actuator:
[-6.54907625e-05,-4.60131343e-04,-2.10467622e-04,-9.62822200e-05,
 -5.82027242e-05,-4.35147638e-04,-3.55546215e-04,-7.77371738e-05,
  7.97993902e-05,-2.80728518e-04,-2.62019883e-04,-1.56098244e-04,
  3.13513612e-02,-1.06658360e-03, 2.62755962e-02,-2.68554327e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47741317, -0.46359617,  4.45334787, -0.46359617, 16.09203767,
        1.20908935,  4.45334787,  1.20908935,  4.60328009,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002799415268708999
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05344496e-13,  1.98295522e-13,  1.00000000e+00, -2.08893419e-26,
        1.00000000e+00, -1.98295522e-13, -1.00000000e+00,  0.00000000e+00,
        1.05344496e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10626158, -0.09432082,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05215574e-05,-1.97533847e-05,-9.26064095e-06,-1.92176589e-05,
 -2.11213368e-05,-1.68433928e-06,-1.73246170e-05,-2.32473034e-05,
  1.00568195e-05, 4.23764227e-05, 2.02731522e-05,-3.11769109e-05,
 -1.89637740e-04,-4.04768380e-05,-1.51993037e-04, 1.19144574e-05,
  8.32802391e-07, 3.41915967e-06,-1.21644192e+00,-1.78150260e-03,
 -3.13639246e-04,-1.19535751e-06]


--- Step 663 ---
qpos:
[ 2.89063899e-03,-5.61776183e-03,-1.02142508e-02, 2.82930224e-03,
 -4.48364378e-03,-5.16781656e-03,-1.77343862e-02, 5.16848133e-03,
 -4.75333990e-03,-3.93127601e-03,-7.74955408e-03,-1.91479073e-02,
  1.04162376e+00, 1.85837076e-02, 1.03281363e+00, 2.61528000e-02,
  9.50289098e-02,-6.99727712e-02, 1.30725305e-01, 9.98880840e-01,
 -1.20304610e-04, 2.10034325e-04,-4.72970179e-02]

qacc:
[ -1.9363755 , -0.07854429,  2.62755515,-11.59402529,  3.98116857,
  -1.26164985,  8.04830447,-23.33616411,  0.93825599,  0.49295952,
  -1.37164911,  1.40192116, -0.72134607,  0.52234254, -2.45570126,
   5.25285636, -0.75555352,  0.14927624,  0.43954776, -1.11448281,
 -10.17763916, -0.09758879]

qfrc_actuator:
[-7.71146099e-05,-4.60818377e-04,-2.30528495e-04,-1.24440894e-04,
 -3.40666082e-05,-4.66477919e-04,-3.80435876e-04,-1.26113845e-04,
  8.50557593e-05,-2.82447968e-04,-2.70547623e-04,-1.56681650e-04,
  3.12875293e-02,-1.07912510e-03, 2.62095513e-02,-2.68083874e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47131055, -0.50429215,  4.4427815 , -0.50429215, 20.74902981,
        1.84765468,  4.4427815 ,  1.84765468,  4.68103451,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002778946775338915
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.34089155e-14, -2.61731002e-07,  1.00000000e+00,  6.12683892e-21,
        1.00000000e+00,  2.61731002e-07, -1.00000000e+00,  0.00000000e+00,
        2.34089155e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10342482, -0.07046175,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13254592e-05,-1.44253644e-05,-2.59403071e-05,-2.96976439e-05,
  2.35317117e-05,-3.68693338e-05,-2.81769652e-05,-4.95003348e-05,
  5.55979408e-06, 2.48246230e-05, 1.64545306e-06, 1.32778066e-06,
 -1.83663636e-04,-6.41957774e-05,-1.43502145e-04,-1.61517232e-05,
  2.99989919e-06, 6.09237037e-06,-1.21644785e+00,-1.78004596e-03,
 -3.14089026e-04,-3.63972043e-08]


--- Step 664 ---
qpos:
[ 2.89009240e-03,-5.61889528e-03,-1.02144005e-02, 2.82820277e-03,
 -4.48404394e-03,-5.16748410e-03,-1.77357848e-02, 5.16737567e-03,
 -4.75298311e-03,-3.93043707e-03,-7.75071683e-03,-1.91488903e-02,
  1.04232357e+00, 1.85853852e-02, 1.03356845e+00, 2.61502822e-02,
  9.50157346e-02,-6.99678241e-02, 1.30724726e-01, 9.98877294e-01,
 -1.43486183e-04, 1.11218820e-04,-4.73721341e-02]

qacc:
[ 1.82658124, 2.11228859,-7.24873945, 8.42002628, 2.54857694, 1.30209661,
 -3.86366609, 1.23868213,-5.57281451, 1.91032528,-6.81897949, 8.57295847,
 -1.9576694 , 3.05292787,-1.25993973, 1.42104773,-0.54288197,-1.46117036,
  0.11626411,21.28732522,-2.77381463, 1.44485294]

qfrc_actuator:
[-6.59010470e-05,-4.42955385e-04,-2.60297305e-04,-1.22806860e-04,
 -1.95814881e-05,-4.67582117e-04,-4.12641132e-04,-1.36479444e-04,
  5.22431990e-05,-3.01654337e-04,-3.10897169e-04,-1.56619837e-04,
  3.12187193e-02,-1.01582461e-03, 2.61374537e-02,-2.69490872e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48091773, -0.58095878,  4.44309696, -0.58095878, 14.70764912,
        1.33720004,  4.44309696,  1.33720004,  4.65576381,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002811079665725885
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94945415e-13,  9.87363537e-14,  1.00000000e+00, -3.89954702e-26,
        1.00000000e+00, -9.87363537e-14, -1.00000000e+00,  0.00000000e+00,
        3.94945415e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10060116, -0.04665732,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08909769e-05, 3.20824059e-06,-3.69581979e-05,-4.54791365e-07,
  1.51500338e-05,-2.96575149e-05,-4.49995145e-05,-1.38820459e-05,
 -3.26436893e-05,-4.94056605e-06,-3.49724820e-05, 1.20961040e-06,
 -1.90721974e-04, 7.60125880e-06,-1.49036763e-04,-3.54672641e-05,
  2.90974166e-06, 7.45199462e-06,-1.21645101e+00,-1.77879128e-03,
 -3.12737102e-04, 6.17283389e-07]


--- Step 665 ---
qpos:
[ 2.89002924e-03,-5.61976877e-03,-1.02150435e-02, 2.82779986e-03,
 -4.48461214e-03,-5.16715965e-03,-1.77373496e-02, 5.16576736e-03,
 -4.75302228e-03,-3.92957321e-03,-7.75204098e-03,-1.91502299e-02,
  1.04302201e+00, 1.85875204e-02, 1.03432116e+00, 2.61486205e-02,
  9.50004967e-02,-6.99686368e-02, 1.30724117e-01, 9.98873854e-01,
 -1.24866371e-04, 4.23848881e-06,-4.74447856e-02]

qacc:
[ 4.20916113e+00, 3.14837444e+00,-1.36815298e+01, 2.63491115e+01,
 -1.47086783e+00,-5.78208458e-01, 4.17319601e+00,-1.26064319e+01,
 -3.47237115e+00,-2.43690461e-01, 2.43134492e+00,-8.37046225e+00,
 -1.20614779e+00, 1.63929559e+00,-5.62379289e+00, 1.53896159e+01,
 -5.15708324e-01,-1.43994756e+00,-7.34688958e-03, 2.10704908e+01,
 -3.08790225e+00, 1.23526392e+00]

qfrc_actuator:
[-4.13285675e-05,-4.14140344e-04,-2.77702056e-04,-8.58897407e-05,
 -2.86596693e-05,-4.50586719e-04,-4.13258012e-04,-1.59879771e-04,
  3.27934771e-05,-2.95821166e-04,-3.16532910e-04,-1.73973465e-04,
  3.11523286e-02,-9.96860589e-04, 2.60404800e-02,-2.64889993e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48329725e+00, -1.10690688e-02, -4.48328359e+00, -1.10690688e-02,
        1.50073899e+01, -2.59836129e-02, -4.48328359e+00, -2.59836129e-02,
        4.48336140e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00])
  dim: 3
  dist: -0.0002818962645837336
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.96920492e-13,  9.84602462e-14,  1.00000000e+00, -1.93888402e-26,
        1.00000000e+00, -9.84602462e-14, -1.00000000e+00,  0.00000000e+00,
        1.96920492e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10060484, -0.0466573 ,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.48903488e-05, 2.30063816e-05,-2.12925336e-05, 3.57718168e-05,
 -8.65183202e-06,-9.46611906e-06,-1.27519808e-05,-2.64942438e-05,
 -2.03810015e-05,-4.12594524e-06,-1.09139640e-05,-1.87473164e-05,
 -1.75608468e-04,-2.19627458e-05,-1.79152776e-04, 2.27211625e-05,
  9.15423135e-07, 6.93297036e-06,-1.21644934e+00,-1.77850000e-03,
 -3.09696394e-04, 6.17789845e-09]


--- Step 666 ---
qpos:
[ 2.88957145e-03,-5.62046545e-03,-1.02156187e-02, 2.82781350e-03,
 -4.48528486e-03,-5.16658775e-03,-1.77388399e-02, 5.16453118e-03,
 -4.75294935e-03,-3.92911380e-03,-7.75301315e-03,-1.91510566e-02,
  1.04371921e+00, 1.85894491e-02, 1.03507223e+00, 2.61463980e-02,
  9.49832813e-02,-6.99751400e-02, 1.30723065e-01, 9.98870502e-01,
 -6.48267491e-05,-1.11389167e-04,-4.75153032e-02]

qacc:
[-3.45266316, 0.90917603,-4.64927136,11.60742333,-0.91318486, 0.88660308,
 -4.2546982 ,10.39086415, 0.99970784,-0.4640839 ,-1.28581822, 9.89206254,
 -0.73381377, 0.49479785,-0.65545737,-1.06736032,-0.49433976,-1.42262023,
 -0.11094493,20.89171831,-3.33634986, 1.06735321]

qfrc_actuator:
[-6.23551396e-05,-3.96657897e-04,-2.69839192e-04,-6.39962360e-05,
 -3.37784729e-05,-4.05009187e-04,-3.95149872e-04,-1.37469797e-04,
  3.91295320e-05,-3.28187014e-04,-3.01535227e-04,-1.48130609e-04,
  3.10714460e-02,-1.02211608e-03, 2.59766164e-02,-2.67440152e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47956907, -0.08089874, -4.47883852, -0.08089874, 19.92381713,
       -0.27896075, -4.47883852, -0.27896075,  4.48460778,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028065985714216535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.88939989e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.88939989e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10060791, -0.04665665,  0.06199133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.03042684e-05, 2.75311567e-05, 1.12478325e-05, 2.28419557e-05,
 -5.36851016e-06, 3.65222533e-05, 1.36836828e-05, 2.10541580e-05,
  5.75494382e-06,-3.77501687e-05, 1.21618265e-05, 2.49283932e-05,
 -1.88716104e-04,-6.92349897e-05,-1.50993104e-04,-4.88795060e-05,
 -7.34579481e-07, 7.08503073e-06,-1.21645063e+00,-1.77884134e-03,
 -3.06689407e-04,-6.77325914e-07]


--- Step 667 ---
qpos:
[ 2.88886569e-03,-5.62126637e-03,-1.02159425e-02, 2.82776754e-03,
 -4.48566922e-03,-5.16545823e-03,-1.77400374e-02, 5.16420708e-03,
 -4.75314614e-03,-3.92909624e-03,-7.75347844e-03,-1.91512279e-02,
  1.04441483e+00, 1.85919641e-02, 1.03582170e+00, 2.61411971e-02,
  9.49641555e-02,-6.99872775e-02, 1.30721222e-01, 9.98867214e-01,
  3.63226560e-05,-2.36047785e-04,-4.75839521e-02]

qacc:
[ -2.1593128 , -0.95913461,  3.47881834, -4.84360378,  2.51496725,
   1.79152718, -9.17772972, 24.09503131, -2.33744364, -0.64605526,
  -1.2991968 , 12.14143957, -1.77627548,  2.51707505,  6.83126686,
 -26.89391111, -0.47762459, -1.40858264, -0.1976501 , 20.74633586,
  -3.53376596,  0.93225504]

qfrc_actuator:
[-7.45511776e-05,-4.21501110e-04,-2.64931985e-04,-6.88681539e-05,
 -1.87653249e-05,-3.42534639e-04,-3.65980946e-04,-8.82473442e-05,
  2.50820978e-05,-3.47547625e-04,-2.74606301e-04,-1.14849224e-04,
  3.09978854e-02,-9.84659016e-04, 2.58847186e-02,-2.83049802e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47110528, -0.16928063, -4.46789956, -0.16928063, 26.36278241,
       -0.82943603, -4.46789956, -0.82943603,  4.50253111,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002778254798110752
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99805832e-13,  1.99805832e-13,  1.00000000e+00, -3.99223706e-26,
        1.00000000e+00, -1.99805832e-13, -1.00000000e+00,  0.00000000e+00,
        1.99805832e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10061051, -0.04665551,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27653669e-05,-6.11941726e-06, 1.27859690e-05,-2.85476225e-06,
  1.48705646e-05, 8.66235536e-05, 3.91405403e-05, 5.16756340e-05,
 -1.38974948e-05,-3.68919788e-05, 2.14999342e-05, 3.25736211e-05,
 -1.99662958e-04,-2.05634396e-05,-1.75655826e-04,-1.80216143e-04,
 -2.07121204e-06, 7.87583823e-06,-1.21645481e+00,-1.77981326e-03,
 -3.03683318e-04,-1.44906415e-06]


--- Step 668 ---
qpos:
[ 2.88870911e-03,-5.62238558e-03,-1.02160845e-02, 2.82804222e-03,
 -4.48587067e-03,-5.16381860e-03,-1.77408136e-02, 5.16378093e-03,
 -4.75316491e-03,-3.92941929e-03,-7.75329929e-03,-1.91517125e-02,
  1.04510919e+00, 1.85945824e-02, 1.03656884e+00, 2.61348384e-02,
  9.49489155e-02,-7.00028956e-02, 1.30720449e-01, 9.98863882e-01,
  1.57467196e-04,-3.30642131e-04,-4.76530245e-02]

qacc:
[  4.81507934, -0.2778563 , -0.98932446,  6.4993176 ,  1.5995692 ,
  -0.71621503,  3.95752124, -6.76722752,  1.58434448, -2.9000823 ,
  11.00073219,-17.18886485, -0.98536923,  1.08720394,  0.14366208,
  -5.2943293 ,  0.97146133, -0.87013992,  0.26743973,  9.27090448,
  15.49081913, -0.21547425]

qfrc_actuator:
[-4.59324575e-05,-4.53776765e-04,-2.62009026e-04,-5.39845299e-05,
 -9.77670458e-06,-3.23588914e-04,-3.48176258e-04,-9.46367521e-05,
  3.46468083e-05,-3.58905898e-04,-2.40814328e-04,-1.30710445e-04,
  3.09394424e-02,-9.81295270e-04, 2.57760566e-02,-2.88478330e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.47773189,  -3.48222869,  -2.81498957,  -3.48222869,
        14.7729914 , -12.73555269,  -2.81498957, -12.73555269,
        20.23200233,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00028004787949165166
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0832341 , -0.05701012,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.82542140e-05,-3.31482506e-05, 3.14955627e-06, 1.50115837e-05,
  9.44140901e-06, 7.76624026e-05, 4.23074346e-05,-3.17443627e-07,
  9.15229407e-06,-2.61527148e-05, 2.99531469e-05,-1.60611344e-05,
 -1.80165065e-04,-4.57050412e-05,-2.18324271e-04,-8.88514734e-05,
 -3.11696163e-06, 9.28288672e-06,-1.21646179e+00,-1.78141374e-03,
 -3.00653239e-04,-2.32052412e-06]


--- Step 669 ---
qpos:
[ 2.88855171e-03,-5.62372735e-03,-1.02159195e-02, 2.82847234e-03,
 -4.48630733e-03,-5.16185924e-03,-1.77415384e-02, 5.16367791e-03,
 -4.75272411e-03,-3.92989603e-03,-7.75361425e-03,-1.91519825e-02,
  1.04580240e+00, 1.85967417e-02, 1.03731375e+00, 2.61274390e-02,
  9.49375202e-02,-7.00218988e-02, 1.30720279e-01, 9.98860501e-01,
  2.98716761e-04,-3.95587659e-04,-4.77226766e-02]

qacc:
[ 6.37931186e-03,-8.32066003e-01, 1.88389294e+00, 4.78945928e-01,
 -2.05488807e+00, 9.48145832e-01,-4.12486280e+00, 9.39272499e+00,
  4.01064104e+00, 1.61215475e+00,-6.95947313e+00, 1.15842911e+01,
 -4.50042017e-01,-7.52244611e-02,-1.24702808e-01,-4.29662005e+00,
  9.61165864e-01,-8.46290082e-01, 1.50721793e-01, 9.33457216e+00,
  1.52865453e+01,-2.96365714e-01]

qfrc_actuator:
[-4.67807335e-05,-4.54750855e-04,-2.42554911e-04,-4.53566099e-05,
 -2.21653262e-05,-3.30936035e-04,-3.55188394e-04,-8.04860779e-05,
  5.80389671e-05,-3.83139910e-04,-2.74255360e-04,-1.22092748e-04,
  3.08687966e-02,-1.01589152e-03, 2.56840883e-02,-2.93186896e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47801832,  4.30780555, -1.2228898 ,  4.30780555,  6.12519604,
        5.8024209 , -1.2228898 ,  5.8024209 , 24.91788214,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002801434085821508
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.90763115e-14,  1.98152623e-13,  1.00000000e+00, -1.96322310e-26,
        1.00000000e+00, -1.98152623e-13, -1.00000000e+00,  0.00000000e+00,
        9.90763115e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08323445, -0.05700811,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.94089101e-08,-1.81649707e-05, 1.35276368e-05, 7.60984765e-06,
 -1.20925603e-05, 4.47598564e-05, 1.42200468e-05, 1.89346841e-05,
  2.36429158e-05,-3.33458595e-05,-3.57069152e-05, 8.22233923e-06,
 -1.87569375e-04,-8.46352152e-05,-2.07786045e-04,-8.13012658e-05,
 -4.31904820e-06, 8.61730329e-06,-1.21645978e+00,-1.78374496e-03,
 -2.98706081e-04,-1.54079887e-06]


--- Step 670 ---
qpos:
[ 2.88838538e-03,-5.62491889e-03,-1.02153837e-02, 2.82860404e-03,
 -4.48688888e-03,-5.15972025e-03,-1.77422202e-02, 5.16341937e-03,
 -4.75200651e-03,-3.93024438e-03,-7.75478600e-03,-1.91514671e-02,
  1.04649430e+00, 1.85987814e-02, 1.03805646e+00, 2.61207459e-02,
  9.49228360e-02,-7.00339130e-02, 1.30720021e-01, 9.98857067e-01,
  3.93133804e-04,-4.94568031e-04,-4.77928999e-02]

qacc:
[-6.92622449e-02,-1.45213609e+00, 6.72553380e+00,-1.25935997e+01,
 -1.26538197e+00,-2.00676984e-01, 1.72075073e+00,-4.61782176e+00,
  2.39471790e+00, 4.17808015e+00,-1.79671759e+01, 3.28286358e+01,
 -7.09217232e-01, 4.98326107e-01,-5.34208536e+00, 1.40921588e+01,
 -8.22212235e-01, 1.74724766e+00,-2.20844130e-02,-2.25775662e+01,
 -1.81156129e+01,-2.72143475e-01]

qfrc_actuator:
[-4.72262517e-05,-4.19159810e-04,-2.13380021e-04,-5.81978004e-05,
 -2.92827138e-05,-3.36319887e-04,-3.59136552e-04,-8.99009631e-05,
  7.16222043e-05,-3.61892146e-04,-3.11650163e-04,-8.14375751e-05,
  3.08068419e-02,-1.01948500e-03, 2.56075369e-02,-2.88552558e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48847587,  2.5032222 , -3.7256267 ,  2.5032222 , 15.64758543,
        7.49772669, -3.7256267 ,  7.49772669,  9.52614534,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002836016827193477
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.52919004e-13, -1.95736325e-13,  1.00000000e+00,  2.99318039e-26,
        1.00000000e+00,  1.95736325e-13, -1.00000000e+00,  0.00000000e+00,
        1.52919004e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10622957, -0.0943256 ,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.50133525e-07, 2.85996266e-05, 2.73653229e-05,-1.30015825e-05,
 -7.44978739e-06, 2.33272491e-05, 7.69010872e-06,-6.63853270e-06,
  1.42459745e-05,-4.39076277e-06,-4.83860720e-05, 3.81532734e-05,
 -1.91980244e-04,-6.44263773e-05,-1.86929551e-04, 1.38438501e-05,
 -5.79962995e-06, 8.15888381e-06,-1.21645987e+00,-1.78635775e-03,
 -2.97205772e-04,-5.86101650e-07]


--- Step 671 ---
qpos:
[ 2.88787004e-03,-5.62574600e-03,-1.02148659e-02, 2.82823426e-03,
 -4.48755111e-03,-5.15771731e-03,-1.77424841e-02, 5.16271994e-03,
 -4.75113180e-03,-3.93021270e-03,-7.75626573e-03,-1.91512305e-02,
  1.04718501e+00, 1.86002395e-02, 1.03879722e+00, 2.61168381e-02,
  9.49048157e-02,-7.00390686e-02, 1.30719135e-01, 9.98853560e-01,
  4.41207553e-04,-6.26472457e-04,-4.78641745e-02]

qacc:
[ -3.05998205, -0.4950586 ,  4.59102662,-13.52036005, -0.6886149 ,
  -2.25329836,  9.63755428,-17.83997242,  1.35905023,  0.78611469,
  -0.90298371, -3.70231596, -0.13065063, -0.66179734,-11.33428879,
  35.42476981, -0.83403022,  1.7146669 , -0.15679865,-22.35864162,
 -17.55087715, -0.50887997]

qfrc_actuator:
[-6.51743028e-05,-3.97418705e-04,-2.14064468e-04,-8.35287762e-05,
 -3.32335964e-05,-3.58266202e-04,-3.43505960e-04,-1.13105810e-04,
  7.93190217e-05,-3.13575918e-04,-3.15351643e-04,-9.32271860e-05,
  3.07395050e-02,-1.05789046e-03, 2.55562904e-02,-2.73119772e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49549046, -0.97855399,  4.3876949 , -0.97855399, 11.4126418 ,
        1.54267929,  4.3876949 ,  1.54267929,  4.8395424 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028588986761379775
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.06780328e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.06780328e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10622527, -0.09432597,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.79482977e-05, 4.28664813e-05, 8.15140244e-06,-2.34104792e-05,
 -4.15633873e-06,-7.66968512e-06, 2.11501460e-05,-2.20708468e-05,
  8.10026564e-06, 3.75334617e-05,-9.23087002e-06,-1.29071029e-05,
 -1.94421889e-04,-9.59909957e-05,-1.42288036e-04, 1.29620462e-04,
 -3.39980406e-06, 7.92720752e-06,-1.21645599e+00,-1.78735175e-03,
 -2.97133533e-04,-3.83996652e-07]


--- Step 672 ---
qpos:
[ 2.88748865e-03,-5.62633131e-03,-1.02145729e-02, 2.82724898e-03,
 -4.48825546e-03,-5.15602918e-03,-1.77424380e-02, 5.16177895e-03,
 -4.75086144e-03,-3.92976308e-03,-7.75784132e-03,-1.91515028e-02,
  1.04787459e+00, 1.86004819e-02, 1.03953655e+00, 2.61150217e-02,
  9.48874230e-02,-7.00388466e-02, 1.30719192e-01, 9.98850080e-01,
  4.48818611e-04,-7.59088071e-04,-4.79347420e-02]

qacc:
[  1.16025015, -0.32209252,  4.20617504,-14.67224875, -0.35231861,
  -1.77837463,  6.75866183,-11.20573246, -5.30127793, -0.21756871,
   3.7396864 ,-12.71228956,  0.3393738 , -1.78864537, -8.54417349,
  26.60318052,  0.15689651,  1.34439058,  0.23573244,-20.19091561,
  -1.32337837,  0.36662302]

qfrc_actuator:
[-5.77749521e-05,-4.02014479e-04,-2.32424120e-04,-1.16031187e-04,
 -3.52908162e-05,-3.89906172e-04,-3.34272752e-04,-1.26484410e-04,
  4.79877085e-05,-2.84826870e-04,-3.16795845e-04,-1.17980888e-04,
  3.06636504e-02,-1.13442591e-03, 2.55096314e-02,-2.62095647e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49490689, -3.56245768,  2.74100041, -3.56245768, 11.47341285,
        9.06991184,  2.74100041,  9.06991184, 16.28300328,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028570045216405517
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.64752530e-07,  2.88411742e-14,  1.00000000e+00, -4.75165642e-21,
        1.00000000e+00, -2.88411742e-14, -1.00000000e+00,  0.00000000e+00,
        1.64752530e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09324578, -0.08904151,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.90412772e-06, 2.00760175e-05,-9.30559040e-06,-3.08369468e-05,
 -2.17897966e-06,-3.25755106e-05, 9.47201994e-06,-1.34070100e-05,
 -3.10873528e-05, 4.72994571e-05, 4.74158453e-06,-2.37144614e-05,
 -2.10562347e-04,-1.42530518e-04,-1.05794978e-04, 9.73593321e-05,
 -1.58339340e-06, 8.63771169e-06,-1.21645714e+00,-1.78765234e-03,
 -2.96529651e-04, 7.23282309e-07]


--- Step 673 ---
qpos:
[ 2.88788870e-03,-5.62674297e-03,-1.02147590e-02, 2.82590908e-03,
 -4.48897911e-03,-5.15450985e-03,-1.77423337e-02, 5.16102925e-03,
 -4.75062353e-03,-3.92914712e-03,-7.75937359e-03,-1.91513563e-02,
  1.04856264e+00, 1.86006190e-02, 1.04027451e+00, 2.61141859e-02,
  9.48748621e-02,-7.00349014e-02, 1.30720145e-01, 9.98846767e-01,
  4.24526677e-04,-8.58999566e-04,-4.80022695e-02]

qacc:
[ 6.81703163e+00, 8.25151767e-01,-1.13531654e+00,-4.33835954e+00,
 -1.63591489e-01, 8.25436842e-03,-1.16006419e+00, 4.50111992e+00,
 -2.85347484e-01, 9.62129283e-01,-4.87554995e+00, 1.19247086e+01,
 -9.31161978e-01, 7.57846394e-01,-4.92507185e+00, 1.44652287e+01,
  1.20796482e+00, 9.30784316e-01, 2.23974295e-01,-1.67158686e+01,
  1.55693706e+01, 1.52698564e+00]

qfrc_actuator:
[-1.77579019e-05,-4.04682906e-04,-2.61174889e-04,-1.34769227e-04,
 -3.62181469e-05,-3.91623884e-04,-3.28937213e-04,-1.16237601e-04,
  4.71960100e-05,-2.85760684e-04,-3.16974622e-04,-9.69135977e-05,
  3.05986994e-02,-1.12645679e-03, 2.54444463e-02,-2.57309257e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5068493 , -3.54814216,  2.77891667, -3.54814216, 11.4445944 ,
        8.85816624,  2.77891667,  8.85816624, 15.81702402,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028954332819457196
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.58598348e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.58598348e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08015429, -0.08370579,  0.06199105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.02247948e-05, 5.33830617e-06,-2.68114601e-05,-1.87974119e-05,
 -1.00098561e-06,-1.86122806e-05,-7.08143236e-07, 8.91626788e-06,
 -1.66238551e-06, 2.54723058e-05, 9.36940061e-06, 2.27997003e-05,
 -2.19196200e-04,-7.28102382e-05,-1.13049107e-04, 3.74247908e-05,
 -3.24628306e-07, 8.22954982e-06,-1.21645546e+00,-1.78782695e-03,
 -2.95797516e-04, 2.50037949e-06]


--- Step 674 ---
qpos:
[ 2.88876544e-03,-5.62709107e-03,-1.02152508e-02, 2.82401226e-03,
 -4.48970844e-03,-5.15289755e-03,-1.77426030e-02, 5.16109479e-03,
 -4.75005203e-03,-3.92872981e-03,-7.76068890e-03,-1.91512685e-02,
  1.04924916e+00, 1.86012524e-02, 1.04101100e+00, 2.61135853e-02,
  9.48670494e-02,-7.00272233e-02, 1.30721474e-01, 9.98843616e-01,
  3.69038409e-04,-9.26504694e-04,-4.80669895e-02]

qacc:
[  4.15873631, -0.21701123,  3.23237368,-12.41360854, -0.06225218,
   2.84487946,-13.40733849, 28.0470779 ,  2.93063119, -0.99564799,
   3.40589872, -4.60921411, -1.46204614,  1.97448235, -2.74153938,
   6.78710872,  1.18704202,  0.93324908,  0.09384949,-16.35679674,
  15.43641609,  1.41259855]

qfrc_actuator:
[ 5.62345433e-06,-4.06223490e-04,-2.78063371e-04,-1.63015954e-04,
 -3.64734989e-05,-3.75408334e-04,-3.43565235e-04,-7.43991479e-05,
  6.43979268e-05,-3.22172430e-04,-3.16494962e-04,-1.02335745e-04,
  3.05456929e-02,-1.08616172e-03, 2.53735169e-02,-2.56238095e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51052062,  4.34559254,  1.20856185,  4.34559254,  5.65368689,
       -4.11045145,  1.20856185, -4.11045145, 19.29035761,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029071081643211594
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0801537 , -0.08370356,  0.06199102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.45365311e-05,-4.86607400e-06,-1.97308115e-05,-2.93090606e-05,
 -2.90883851e-07, 5.98831816e-06,-1.82683508e-05, 4.11881318e-05,
  1.71624212e-05,-1.92607193e-05, 7.69428227e-06,-3.56137365e-06,
 -1.96065424e-04,-2.63400120e-05,-1.29479647e-04,-4.13618414e-06,
  8.22760864e-07, 6.22946540e-06,-1.21644943e+00,-1.78801041e-03,
 -2.95277003e-04, 3.77544017e-06]


--- Step 675 ---
qpos:
[ 2.88922629e-03,-5.62753211e-03,-1.02156439e-02, 2.82212918e-03,
 -4.49043508e-03,-5.15128090e-03,-1.77433236e-02, 5.16202318e-03,
 -4.75031361e-03,-3.92840225e-03,-7.76197677e-03,-1.91515916e-02,
  1.04993458e+00, 1.86016848e-02, 1.04174587e+00, 2.61134139e-02,
  9.48634334e-02,-7.00198019e-02, 1.30723981e-01, 9.98840512e-01,
  3.11947772e-04,-9.61481133e-04,-4.81311672e-02]

qacc:
[-3.63312100e+00,-3.63289186e-01, 1.07138199e+00,-9.36312990e-01,
  9.73591600e-03, 3.04279988e+00,-1.44842467e+01, 3.01378197e+01,
 -7.29125803e+00,-1.02778511e+00, 5.24916795e+00,-1.23604286e+01,
 -5.47896487e-01, 2.72789423e-01,-3.66025957e+00, 9.41696116e+00,
  1.04916176e+00,-6.41810535e-02, 2.94693343e-01,-1.58179369e+00,
  1.62071475e+01, 2.66687066e-01]

qfrc_actuator:
[-1.64897113e-05,-4.07046735e-04,-2.70063762e-04,-1.61118473e-04,
 -3.63315761e-05,-3.84132336e-04,-3.69762812e-04,-3.20588052e-05,
  2.10324318e-05,-3.26314574e-04,-3.15811230e-04,-1.23341613e-04,
  3.04999089e-02,-1.09804111e-03, 2.53045249e-02,-2.53810214e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50975329,  1.56985034,  4.22769969,  1.56985034, 24.07662998,
       -7.26566936,  4.22769969, -7.26566936,  7.20767755,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029046733359212873
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.82219581e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.82219581e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08181175, -0.06842476,  0.06199103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.14095785e-05,-8.84734139e-06, 3.56211979e-06, 4.40688321e-07,
  1.34696516e-07,-7.43963671e-06,-2.58016563e-05, 4.27632404e-05,
 -4.28822820e-05,-1.34680791e-05,-2.45981508e-06,-2.16326409e-05,
 -1.65207706e-04,-6.21635645e-05,-1.39103924e-04, 5.14578931e-06,
  2.15702303e-06, 4.72499384e-06,-1.21644666e+00,-1.78765642e-03,
 -2.95127690e-04, 4.39364306e-06]


--- Step 676 ---
qpos:
[ 2.88907386e-03,-5.62796996e-03,-1.02162813e-02, 2.82064008e-03,
 -4.49080947e-03,-5.14984511e-03,-1.77436803e-02, 5.16272836e-03,
 -4.75143768e-03,-3.92816790e-03,-7.76327112e-03,-1.91518158e-02,
  1.05061886e+00, 1.86019867e-02, 1.04247939e+00, 2.61124499e-02,
  9.48639968e-02,-7.00126015e-02, 1.30727248e-01, 9.98837454e-01,
  2.53427446e-04,-9.64478316e-04,-4.81948833e-02]

qacc:
[ -5.37194608,  1.50915723, -7.01965772, 14.20679525,  3.08641144,
  -1.7209612 ,  6.72174169,-11.02341401, -7.54940531,  0.11373939,
  -0.97620649,  2.74037761, -0.74142353,  0.59855108,  0.46012446,
  -4.36557412,  1.04486837, -0.05524816,  0.19001132, -1.48339985,
  15.9367758 ,  0.22729461]

qfrc_actuator:
[-4.74450510e-05,-4.07308501e-04,-2.82918617e-04,-1.41482365e-04,
 -1.82047437e-05,-3.90016008e-04,-3.49417059e-04,-4.30489310e-05,
 -2.21350160e-05,-3.28877036e-04,-3.14902302e-04,-1.17816615e-04,
  3.04424969e-02,-1.10522112e-03, 2.52474133e-02,-2.57698182e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50512039,  2.86763712, -3.47458876,  2.86763712, 21.49861288,
       14.02501797, -3.47458876, 14.02501797, 16.08020593,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002889912957681484
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.92085893e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.92085893e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08181247, -0.06842372,  0.06199107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.15683472e-05,-4.43871577e-06,-1.42139853e-05, 1.93957317e-05,
  1.81273589e-05,-1.35932788e-05, 1.70979577e-05,-1.13735420e-05,
 -4.43960670e-05,-1.15401006e-05,-2.91081858e-06, 4.44652108e-06,
 -1.67872422e-04,-5.83882797e-05,-1.29224377e-04,-5.84383069e-05,
  2.52555108e-06, 3.02983613e-06,-1.21644382e+00,-1.78723527e-03,
 -2.94625978e-04, 4.09614444e-06]


--- Step 677 ---
qpos:
[ 2.88889646e-03,-5.62857624e-03,-1.02169977e-02, 2.81940878e-03,
 -4.49130846e-03,-5.14879737e-03,-1.77430829e-02, 5.16259115e-03,
 -4.75238074e-03,-3.92833256e-03,-7.76442459e-03,-1.91515973e-02,
  1.05130195e+00, 1.86020009e-02, 1.04321180e+00, 2.61115555e-02,
  9.48681495e-02,-7.00085978e-02, 1.30730772e-01, 9.98834387e-01,
  2.15696693e-04,-9.36733634e-04,-4.82591298e-02]

qacc:
[-2.17860975e-01, 5.29500564e-01,-3.29834112e+00, 8.00929283e+00,
 -1.05075340e+00,-4.91020787e+00, 2.03245016e+01,-3.61504760e+01,
  1.59609126e+00,-1.26819248e-02,-2.59053135e+00, 1.03172745e+01,
 -6.16145335e-01, 2.78259226e-01,-1.80540297e+00, 4.04405179e+00,
  8.97308683e-01,-7.99179913e-01, 6.41925658e-02, 9.64164642e+00,
  1.58539677e+01,-2.79000571e-01]

qfrc_actuator:
[-4.78366788e-05,-4.25044963e-04,-2.90229928e-04,-1.29341447e-04,
 -2.51428728e-05,-4.11764651e-04,-3.01779979e-04,-8.52964127e-05,
 -1.15631049e-05,-3.65957588e-04,-3.13835310e-04,-9.67187741e-05,
  3.03728255e-02,-1.12732420e-03, 2.52240932e-02,-2.56394315e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49756909,  1.45718314,  4.2549671 ,  1.45718314, 20.55295725,
       -5.49843053,  4.2549671 , -5.49843053,  6.38059664,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028656317921403607
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.6856741e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        9.6856741e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08325244, -0.05699725,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.29335949e-06,-2.23074742e-05,-9.29047940e-06, 1.18434543e-05,
 -6.42344181e-06,-2.63489290e-05, 4.65271055e-05,-4.24643063e-05,
  9.29938384e-06,-4.39564082e-05,-1.50766286e-06, 2.05939865e-05,
 -1.80773333e-04,-7.30666163e-05,-9.88696908e-05,-8.99452481e-06,
  2.85798275e-06, 1.38987610e-06,-1.21644262e+00,-1.78675657e-03,
 -2.94606253e-04, 3.64624349e-06]


--- Step 678 ---
qpos:
[ 2.88906046e-03,-5.62958247e-03,-1.02168494e-02, 2.81829689e-03,
 -4.49223146e-03,-5.14803124e-03,-1.77419308e-02, 5.16230806e-03,
 -4.75250040e-03,-3.92886541e-03,-7.76551534e-03,-1.91514711e-02,
  1.05198368e+00, 1.86020680e-02, 1.04394300e+00, 2.61117610e-02,
  9.48759077e-02,-7.00077496e-02, 1.30734222e-01, 9.98831305e-01,
  1.98652862e-04,-8.78846931e-04,-4.83240324e-02]

qacc:
[  3.02028417, -2.70552694,  8.3654818 , -7.37660894, -3.67594568,
  -2.21451036,  7.98489042,-11.2040319 ,  7.21696678, -0.866148  ,
   2.74656142, -4.14491563, -0.92456791,  0.91988403, -5.05204954,
  15.25395964,  0.90139442, -0.78887424, -0.01866821,  9.60378551,
  15.55253225, -0.34095768]

qfrc_actuator:
[-3.02330811e-05,-4.35343278e-04,-2.41024877e-04,-1.21719058e-04,
 -4.67840265e-05,-4.25000093e-04,-2.74009186e-04,-9.23319555e-05,
  3.05539324e-05,-3.87900657e-04,-3.12818266e-04,-1.02165615e-04,
  3.03064961e-02,-1.12266639e-03, 2.51837941e-02,-2.50254605e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48755076,  0.75200115, -4.42409382,  0.75200115, 29.56577183,
        4.26276023, -4.42409382,  4.26276023,  5.21212866,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002832980402851931
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.95946118e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.95946118e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08325362, -0.05699616,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.75616229e-05,-2.41510843e-05, 4.38811875e-05, 6.58140704e-06,
 -2.18345946e-05,-2.02259456e-05, 2.65717677e-05,-7.38394445e-06,
  4.23647989e-05,-4.59334907e-05,-7.52143049e-06,-6.97860553e-06,
 -1.87473259e-04,-5.30986533e-05,-9.78007500e-05, 4.56977751e-05,
  1.95399860e-06,-4.88283522e-07,-1.21644133e+00,-1.78657411e-03,
 -2.94451930e-04, 3.20729733e-06]


--- Step 679 ---
qpos:
[ 2.88977889e-03,-5.63062933e-03,-1.02162069e-02, 2.81691852e-03,
 -4.49271721e-03,-5.14714500e-03,-1.77411554e-02, 5.16195573e-03,
 -4.75245911e-03,-3.92988006e-03,-7.76654386e-03,-1.91510508e-02,
  1.05266393e+00, 1.86025008e-02, 1.04467262e+00, 2.61117532e-02,
  9.48872845e-02,-7.00100239e-02, 1.30737320e-01, 9.98828199e-01,
  2.02210855e-04,-7.91291509e-04,-4.83896872e-02]

qacc:
[  4.86560974, -1.99299073,  8.13647647,-13.4905489 ,  3.79961863,
   1.06075379, -3.27275311,  2.60271354,  1.41940744, -0.20761249,
  -1.42813415,  6.77456688, -1.344098  ,  1.71744115, -1.56655402,
   2.39741829,  0.90463789, -0.78063431, -0.08772976,  9.57168897,
  15.31471849, -0.3882473 ]

qfrc_actuator:
[-2.18873286e-06,-4.23127168e-04,-2.12080037e-04,-1.34525145e-04,
 -2.36398426e-05,-4.15326218e-04,-2.93645557e-04,-9.63525159e-05,
  3.76253408e-05,-4.18385066e-04,-3.11809361e-04,-8.76761930e-05,
  3.02315775e-02,-1.10217776e-03, 2.50907507e-02,-2.51970783e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47415142,  0.65079028, -4.42656785,  0.65079028, 38.57166808,
        5.01298819, -4.42656785,  5.01298819,  5.21115672,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002788500193757759
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.97215141e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.97215141e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08325421, -0.05699495,  0.06199138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.85390712e-05, 8.09955657e-06, 2.96006638e-05,-1.21907097e-05,
  2.25104438e-05, 3.48727229e-06,-2.08172060e-05,-4.11405666e-06,
  8.26299023e-06,-5.79763602e-05,-9.62927925e-06, 1.21277505e-05,
 -1.94928485e-04,-3.43517866e-05,-1.44022951e-04,-2.96851734e-05,
  7.75686631e-07,-2.16296321e-06,-1.21644212e+00,-1.78668393e-03,
 -2.94767461e-04, 2.97839027e-06]


--- Step 680 ---
qpos:
[ 2.89082787e-03,-5.63131494e-03,-1.02159620e-02, 2.81575283e-03,
 -4.49326698e-03,-5.14594426e-03,-1.77410175e-02, 5.16155108e-03,
 -4.75233312e-03,-3.93130465e-03,-7.76756976e-03,-1.91504651e-02,
  1.05334277e+00, 1.86031858e-02, 1.04540056e+00, 2.61101924e-02,
  9.49022907e-02,-7.00153947e-02, 1.30739838e-01, 9.98825057e-01,
  2.26302062e-04,-6.74436821e-04,-4.84561667e-02]

qacc:
[  2.87294415,  2.02077708, -7.41984731, 11.48085571, -0.58364422,
   2.09000903, -6.62681363,  6.50858943,  0.74869684, -0.20993113,
  -0.73700583,  3.89654779, -1.28431756,  1.57741743,  2.34825515,
 -11.51055028,  0.90734093, -0.77411892, -0.14513663,  9.54536264,
  15.12916726, -0.42383266]

qfrc_actuator:
[ 1.40178510e-05,-3.97601746e-04,-2.30771827e-04,-1.23744937e-04,
 -2.75740202e-05,-3.92195822e-04,-3.23264230e-04,-9.85823752e-05,
  4.17551013e-05,-4.35980775e-04,-3.10829957e-04,-7.93271681e-05,
  3.01622177e-02,-1.09027708e-03, 2.50034181e-02,-2.60088433e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027350802576753264
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01479931e-13, -4.05919724e-13,  1.00000000e+00,  4.11927057e-26,
        1.00000000e+00,  4.05919724e-13, -1.00000000e+00,  0.00000000e+00,
        1.01479931e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08325434, -0.05699367,  0.06199155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.70273487e-05, 3.56877825e-05,-1.37886387e-05, 1.19169071e-05,
 -3.28665873e-06, 2.05717813e-05,-3.16247990e-05,-2.88480118e-06,
  4.34119055e-06,-5.14344234e-05,-1.17389163e-05, 5.77241720e-06,
 -1.90180390e-04,-3.98730597e-05,-1.66163410e-04,-1.03418879e-04,
 -6.75133245e-07,-3.65052964e-06,-1.21644493e+00,-1.78708824e-03,
 -2.95542096e-04, 2.95080755e-06]


--- Step 681 ---
qpos:
[ 2.89206317e-03,-5.63153937e-03,-1.02160197e-02, 2.81470581e-03,
 -4.49420426e-03,-5.14451230e-03,-1.77412548e-02, 5.16111513e-03,
 -4.75181432e-03,-3.93246141e-03,-7.76857701e-03,-1.91505636e-02,
  1.05402053e+00, 1.86036512e-02, 1.04612648e+00, 2.61079706e-02,
  9.49209357e-02,-7.00238417e-02, 1.30741585e-01, 9.98821863e-01,
  2.70873250e-04,-5.28566752e-04,-4.85235245e-02]

qacc:
[  1.61230444,  1.69688382, -5.67231764,  7.8767968 , -3.39534815,
   1.29565971, -4.03313845,  3.90943299,  3.43460914, -1.11439377,
   7.35880664,-19.40417443, -0.56798849,  0.29710902, -0.94852741,
  -0.92285472,  0.90972791, -0.76904659, -0.19272693,  9.52468192,
  14.98671907, -0.4500421 ]

qfrc_actuator:
[ 2.31238677e-05,-3.64476369e-04,-2.41846406e-04,-1.16938141e-04,
 -4.74288394e-05,-3.78986579e-04,-3.40708043e-04,-9.97270432e-05,
  6.18843748e-05,-3.74711879e-04,-2.92080891e-04,-1.10156530e-04,
  3.01175427e-02,-1.10131466e-03, 2.49142516e-02,-2.63028144e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026751033692988535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03755152e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.03755152e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08325412, -0.05699232,  0.06199173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.60734996e-06, 5.07716878e-05,-4.98303905e-06, 8.09337526e-06,
 -1.99404609e-05, 1.80117277e-05,-1.72050474e-05,-1.41579649e-06,
  2.02300791e-05, 3.03938405e-05, 6.90686142e-06,-3.33218196e-05,
 -1.64696659e-04,-6.26830287e-05,-1.85433908e-04,-5.83726671e-05,
 -2.39805053e-06,-4.96253623e-06,-1.21644970e+00,-1.78778852e-03,
 -2.96767649e-04, 3.11825538e-06]


--- Step 682 ---
qpos:
[ 2.89339820e-03,-5.63135168e-03,-1.02162004e-02, 2.81339678e-03,
 -4.49502711e-03,-5.14331084e-03,-1.77412410e-02, 5.16068483e-03,
 -4.75174857e-03,-3.93282790e-03,-7.76995688e-03,-1.91507271e-02,
  1.05469723e+00, 1.86039592e-02, 1.04684983e+00, 2.61057710e-02,
  9.49432287e-02,-7.00353495e-02, 1.30742404e-01, 9.98818602e-01,
  3.35885452e-04,-3.53894378e-04,-4.85917988e-02]

qacc:
[ 0.86134475, 0.34694112, 0.656234  ,-5.29405634, 1.0098332 ,-0.99618647,
  3.08299771,-3.21395307,-3.99156352, 1.96019769,-5.18594858, 4.06183037,
 -0.52428863, 0.27680193,-3.83679861, 7.9872847 , 0.9119642 ,-0.76518486,
 -0.23207516, 9.5094382 ,14.87997853,-0.46870417]

qfrc_actuator:
[ 2.79815788e-05,-3.44788083e-04,-2.48286416e-04,-1.30259086e-04,
 -4.09816744e-05,-4.07277812e-04,-3.33101695e-04,-1.00220678e-04,
  3.80134665e-05,-3.02143268e-04,-2.98192369e-04,-1.10451545e-04,
  3.00663963e-02,-1.10799159e-03, 2.47867956e-02,-2.62888179e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002610524518383006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.25287339e-13, -2.12643669e-13,  1.00000000e+00,  9.04346602e-26,
        1.00000000e+00,  2.12643669e-13, -1.00000000e+00,  0.00000000e+00,
        4.25287339e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08325363, -0.05699095,  0.06199193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.15085991e-06, 4.74079848e-05, 3.71753798e-06,-1.11581316e-05,
  5.88258596e-06,-2.18887531e-05, 9.14594355e-06,-3.45753890e-07,
 -2.32861994e-05, 8.96268133e-05,-1.10827771e-07, 6.01104437e-07,
 -1.62271410e-04,-5.75155856e-05,-2.25676874e-04,-2.71243736e-05,
 -4.39394427e-06,-6.10674039e-06,-1.21645638e+00,-1.78878574e-03,
 -2.98437979e-04, 3.47637308e-06]


--- Step 683 ---
qpos:
[ 2.89443649e-03,-5.63110742e-03,-1.02160677e-02, 2.81264463e-03,
 -4.49542154e-03,-5.14243072e-03,-1.77407835e-02, 5.16025047e-03,
 -4.75265889e-03,-3.93269377e-03,-7.77162755e-03,-1.91505165e-02,
  1.05537262e+00, 1.86042953e-02, 1.04757150e+00, 2.61010867e-02,
  9.49621959e-02,-7.00396794e-02, 1.30743246e-01, 9.98815292e-01,
  3.54735557e-04,-2.12921137e-04,-4.86604756e-02]

qacc:
[-2.58632397e+00, 3.50776404e-01,-3.48413964e+00, 1.25696606e+01,
  3.75566666e+00,-1.67970691e+00, 5.37783362e+00,-5.90829995e+00,
 -8.56276144e+00, 2.26199042e+00,-8.65219707e+00, 1.51850131e+01,
 -1.09248980e+00, 1.17113363e+00, 5.14414967e+00,-2.13502603e+01,
 -8.31430997e-01, 1.79445280e+00, 5.79503437e-03,-2.22350925e+01,
 -1.79512861e+01,-1.88316332e-01]

qfrc_actuator:
[ 1.25497210e-05,-3.51050088e-04,-2.34251757e-04,-1.02065567e-04,
 -1.91002684e-05,-4.24594835e-04,-3.10941393e-04,-1.00348128e-04,
 -1.15688132e-05,-2.94434925e-04,-3.18836371e-04,-9.27715839e-05,
  2.99901019e-02,-1.11202646e-03, 2.47217008e-02,-2.75144388e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4323111 ,  2.26253448, -3.8113409 ,  2.26253448, 20.33546361,
        9.44062256, -3.8113409 ,  9.44062256, 10.03656814,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002643128291385799
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11573468e-13, -2.10020646e-13,  1.00000000e+00,  2.34327320e-26,
        1.00000000e+00,  2.10020646e-13, -1.00000000e+00,  0.00000000e+00,
        1.11573468e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10619086, -0.09436096,  0.06199183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52679361e-05, 2.05342433e-05, 2.39002101e-05, 3.01386836e-05,
  2.20420447e-05,-2.77236282e-05, 1.87404008e-05,-7.57497235e-07,
 -5.02186053e-05, 5.78518764e-05,-2.10326349e-06, 2.15313702e-05,
 -1.85381072e-04,-5.28293531e-05,-1.76025304e-04,-1.53985277e-04,
 -6.66488607e-06,-7.08784988e-06,-1.21646496e+00,-1.79008051e-03,
 -3.00548589e-04, 4.02235193e-06]


--- Step 684 ---
qpos:
[ 2.89528198e-03,-5.63107065e-03,-1.02153452e-02, 2.81259645e-03,
 -4.49520576e-03,-5.14177009e-03,-1.77400569e-02, 5.15947160e-03,
 -4.75346668e-03,-3.93226279e-03,-7.77345690e-03,-1.91497326e-02,
  1.05604705e+00, 1.86035335e-02, 1.04829199e+00, 2.60947514e-02,
  9.49778092e-02,-7.00369958e-02, 1.30743564e-01, 9.98811923e-01,
  3.27733063e-04,-1.04543970e-04,-4.87301132e-02]

qacc:
[ -1.66408023, -0.46942216, -1.68994528, 13.07644166,  5.33387472,
  -1.76145954,  7.29653027,-13.50954508,  0.88796523,  2.01496846,
  -9.03329435, 18.98198022,  0.07235229, -1.2322826 ,  3.21493551,
 -13.87865897, -0.83845872,  1.753366  , -0.13113263,-22.10616099,
 -17.39450998, -0.47062806]

qfrc_actuator:
[ 3.05332501e-06,-3.72691571e-04,-2.08319480e-04,-6.74301012e-05,
  1.16819338e-05,-4.35144296e-04,-2.98094423e-04,-1.18001058e-04,
 -4.86314044e-06,-2.90163947e-04,-3.30380023e-04,-6.47196957e-05,
  2.99254070e-02,-1.18560925e-03, 2.47046865e-02,-2.82161664e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44231695, -2.05283131,  3.93955118, -2.05283131, 10.12422908,
        2.96074516,  3.93955118,  2.96074516,  5.98510954,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026788400562556547
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10086076e-13,  2.07220850e-13,  1.00000000e+00, -2.28121303e-26,
        1.00000000e+00, -2.07220850e-13, -1.00000000e+00,  0.00000000e+00,
        1.10086076e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10618662, -0.09436188,  0.06199172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.92860249e-06,-3.94791140e-06, 3.41574092e-05, 3.69301911e-05,
  3.14036631e-05,-2.22427011e-05, 9.38747949e-06,-1.82098930e-05,
  5.28971877e-06, 3.71029076e-05, 9.09757861e-07, 3.08807315e-05,
 -1.85288755e-04,-1.26983671e-04,-1.22882738e-04,-1.03098582e-04,
 -2.35786185e-06,-6.44281635e-06,-1.21645400e+00,-1.78978939e-03,
 -3.04077537e-04, 1.42496437e-06]


--- Step 685 ---
qpos:
[ 2.89600690e-03,-5.63117540e-03,-1.02142557e-02, 2.81262567e-03,
 -4.49462280e-03,-5.14085302e-03,-1.77396271e-02, 5.15777447e-03,
 -4.75315362e-03,-3.93139854e-03,-7.77572403e-03,-1.91489619e-02,
  1.05672063e+00, 1.86015382e-02, 1.04901095e+00, 2.60879094e-02,
  9.49900491e-02,-7.00274318e-02, 1.30742896e-01, 9.98808481e-01,
  2.55144243e-04,-2.78737105e-05,-4.88011505e-02]

qacc:
[ -1.04067593, -1.05130043,  3.15386525, -2.3008534 ,  3.18813518,
  -0.72880115,  6.9559485 ,-22.55098198,  9.79146197,  1.75026977,
  -5.38674648,  5.5749914 ,  0.38556588, -1.74599511, -0.8037455 ,
  -0.65783312, -0.84337593,  1.72013406, -0.24618302,-21.99360309,
 -16.94556537, -0.69324007]

qfrc_actuator:
[-2.86702121e-06,-3.85566675e-04,-1.93402954e-04,-6.48045595e-05,
  2.96988125e-05,-4.06101269e-04,-3.08590996e-04,-1.63579817e-04,
  5.26797483e-05,-2.70199238e-04,-3.54231900e-04,-6.62986370e-05,
  2.98889922e-02,-1.24654807e-03, 2.46419750e-02,-2.84244287e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44541044, -1.98232791,  3.97895087, -1.98232791, 13.34862302,
        4.43561316,  3.97895087,  4.43561316,  6.65524918,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026897558337503347
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.44937155e-15, -2.06379890e-13,  1.00000000e+00,  1.33102059e-27,
        1.00000000e+00,  2.06379890e-13, -1.00000000e+00,  0.00000000e+00,
        6.44937155e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10618358, -0.0943633 ,  0.06199169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.20926718e-06,-6.46078535e-06, 1.95770551e-05, 4.35580277e-06,
  1.89097153e-05, 1.77439721e-05,-1.45803106e-05,-4.65639817e-05,
  5.77052177e-05, 4.22261603e-05,-1.49944851e-05, 6.43724031e-07,
 -1.73292219e-04,-1.32105086e-04,-1.40332883e-04,-4.45257033e-05,
  1.38946681e-06,-4.99422655e-06,-1.21644829e+00,-1.78883853e-03,
 -3.07097175e-04,-2.88434445e-07]


--- Step 686 ---
qpos:
[ 2.89596516e-03,-5.63121082e-03,-1.02130331e-02, 2.81233015e-03,
 -4.49382789e-03,-5.13987754e-03,-1.77398630e-02, 5.15594107e-03,
 -4.75180812e-03,-3.93045731e-03,-7.77784769e-03,-1.91482103e-02,
  1.05739283e+00, 1.85998648e-02, 1.04972835e+00, 2.60804843e-02,
  9.49989018e-02,-7.00110942e-02, 1.30740858e-01, 9.98804946e-01,
  1.37193259e-04, 1.78045982e-05,-4.88739318e-02]

qacc:
[ -6.70318343, -0.93636742,  4.86499249,-10.77356615,  1.82662601,
   1.65292638, -5.21301999,  3.8836661 ,  9.04192723, -0.35614104,
   1.46679114, -2.04811685, -1.2604996 ,  1.58988642, -0.43205479,
  -1.55857633, -0.84678517,  1.69337058, -0.34279028,-21.89784843,
 -16.58459838, -0.86861825]

qfrc_actuator:
[-4.21421162e-05,-3.75412291e-04,-1.85109016e-04,-8.10399972e-05,
  4.00554482e-05,-4.24701403e-04,-3.50388107e-04,-1.71944640e-04,
  1.04160387e-04,-2.76578697e-04,-3.49620871e-04,-6.75464133e-05,
  2.98376138e-02,-1.21056261e-03, 2.45732221e-02,-2.86965052e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.442884  , -1.89094595,  4.02039073, -1.89094595, 17.70687884,
        6.23857209,  4.02039073,  6.23857209,  7.37712682,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002680845319498609
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10003732e-13,  2.07065849e-13,  1.00000000e+00, -2.27780162e-26,
        1.00000000e+00, -2.07065849e-13, -1.00000000e+00,  0.00000000e+00,
        1.10003732e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1061815 , -0.09436514,  0.06199172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.94565845e-05, 1.07584510e-05, 9.50946304e-06,-1.57521925e-05,
  1.09074199e-05,-1.37123579e-05,-4.15524363e-05,-9.01546589e-06,
  5.31444064e-05, 1.41783689e-05, 1.15207456e-05, 5.33883698e-08,
 -1.82760655e-04,-3.34961939e-05,-1.46398256e-04,-4.95524169e-05,
  4.66704412e-06,-2.70693885e-06,-1.21644756e+00,-1.78721563e-03,
 -3.09651494e-04,-1.16156252e-06]


--- Step 687 ---
qpos:
[ 2.89545288e-03,-5.63113547e-03,-1.02117200e-02, 2.81149460e-03,
 -4.49291432e-03,-5.13950989e-03,-1.77403585e-02, 5.15477097e-03,
 -4.75054498e-03,-3.92995476e-03,-7.77908873e-03,-1.91474640e-02,
  1.05806341e+00, 1.85991770e-02, 1.05044436e+00, 2.60733360e-02,
  9.50043580e-02,-6.99880689e-02, 1.30737124e-01, 9.98801292e-01,
 -2.59360629e-05, 3.30635934e-05,-4.89487262e-02]

qacc:
[ -4.11513668, -1.21038423,  6.82142885,-16.40836128,  1.0374878 ,
   1.28549039, -8.5529699 , 20.89948031, -0.68583949, -3.05697706,
  10.08200249,-11.26335647, -1.90687052,  2.92873746, -2.68840056,
   6.91760847, -0.84914185,  1.67194156, -0.42387686,-21.81879224,
 -16.295639  , -1.00655548]

qfrc_actuator:
[-6.52304824e-05,-3.69347094e-04,-1.80701628e-04,-1.08220835e-04,
  4.58242958e-05,-4.89544615e-04,-3.74972541e-04,-1.40643138e-04,
  9.83858386e-05,-3.16334324e-04,-3.10585610e-04,-6.85843377e-05,
  2.97666852e-02,-1.15298989e-03, 2.45328577e-02,-2.84714985e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43596742, -1.77573276,  4.06504368, -1.77573276, 23.58038006,
        8.36285252,  4.06504368,  8.36285252,  8.08911174,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002656250661707549
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.53072205e-15, -2.08983106e-13,  1.00000000e+00,  1.36481057e-27,
        1.00000000e+00,  2.08983106e-13, -1.00000000e+00,  0.00000000e+00,
        6.53072205e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10618016, -0.0943673 ,  0.06199179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.42131655e-05, 1.33446808e-05, 7.24428619e-06,-2.66977453e-05,
  6.07878611e-06,-8.15046709e-05,-3.28524387e-05, 2.91025311e-05,
 -4.25146541e-06,-2.94334624e-05, 4.33958562e-05,-3.20777798e-08,
 -1.84549958e-04, 8.85970033e-06,-1.22091100e-04,-1.04069755e-06,
  7.54200836e-06, 4.40952312e-07,-1.21645165e+00,-1.78491211e-03,
 -3.11773448e-04,-1.22763048e-06]


--- Step 688 ---
qpos:
[ 2.89535740e-03,-5.63099197e-03,-1.02109210e-02, 2.81073299e-03,
 -4.49193866e-03,-5.13972195e-03,-1.77408561e-02, 5.15396411e-03,
 -4.75039522e-03,-3.92966421e-03,-7.77987601e-03,-1.91467352e-02,
  1.05873258e+00, 1.85991868e-02, 1.05115857e+00, 2.60668567e-02,
  9.50074603e-02,-6.99710420e-02, 1.30735276e-01, 9.98797777e-01,
 -1.45010622e-04, 4.09861139e-05,-4.90201779e-02]

qacc:
[ 3.62844162e+00, 1.67188985e+00,-6.15488600e+00, 8.21970610e+00,
  5.51582745e-01,-1.30969492e-02,-2.60016346e+00, 9.31871035e+00,
 -9.72947986e+00,-1.56543529e+00, 5.28043244e+00,-6.18454226e+00,
 -1.47093700e+00, 2.14966396e+00,-4.55201257e+00, 1.24061854e+01,
 -5.88453696e-01,-1.49960898e+00, 4.71601962e-01, 2.21804794e+01,
 -2.58567359e+00, 1.67335689e+00]

qfrc_actuator:
[-4.30910103e-05,-3.83557207e-04,-2.14141888e-04,-1.06118466e-04,
  4.88489831e-05,-5.10480277e-04,-3.71616649e-04,-1.21792181e-04,
  4.12073744e-05,-3.22372869e-04,-2.87197617e-04,-6.95023142e-05,
  2.97000743e-02,-1.11876252e-03, 2.44456569e-02,-2.81320363e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42932657, -0.56629082,  4.39297718, -0.56629082, 25.35866714,
        2.69796381,  4.39297718,  2.69796381,  4.77711625,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002632353755190192
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05440143e-13, -1.05440143e-13,  1.00000000e+00,  1.11176237e-26,
        1.00000000e+00,  1.05440143e-13, -1.00000000e+00,  0.00000000e+00,
        1.05440143e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10068024, -0.04667341,  0.06199187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.14514725e-05,-6.41832657e-06,-3.07282034e-05, 2.40506556e-06,
  3.17061410e-06,-7.20540506e-05,-1.65146982e-05, 1.47910755e-05,
 -5.73114213e-05,-1.35386694e-05, 2.26607746e-05,-6.77256424e-07,
 -1.70669636e-04,-5.34231836e-06,-1.53787440e-04, 1.59122148e-05,
  1.00646398e-05, 4.46194703e-06,-1.21646042e+00,-1.78192195e-03,
 -3.13487650e-04,-5.11494901e-07]


--- Step 689 ---
qpos:
[ 2.89552786e-03,-5.63084966e-03,-1.02108099e-02, 2.81036952e-03,
 -4.49093451e-03,-5.14021232e-03,-1.77414534e-02, 5.15335696e-03,
 -4.75093231e-03,-3.92904421e-03,-7.78117096e-03,-1.91456808e-02,
  1.05940025e+00, 1.86002140e-02, 1.05187098e+00, 2.60598056e-02,
  9.50083520e-02,-6.99599040e-02, 1.30734599e-01, 9.98794393e-01,
 -2.20816163e-04, 4.08991795e-05,-4.90887880e-02]

qacc:
[  2.30489659,  2.73649307,-11.447597  , 19.44698369,  0.25017299,
   0.32128976, -2.52325266,  6.34484274, -6.03446605,  2.53711252,
  -9.76521105, 15.94064677, -1.87616749,  2.94335698, -0.71510616,
  -0.85258849, -0.55267566, -1.47222406,  0.29253192, 21.80476336,
  -2.93959413,  1.42262746]

qfrc_actuator:
[-3.00192068e-05,-3.92181563e-04,-2.51969888e-04,-8.68441396e-05,
  5.02362722e-05,-5.04856391e-04,-3.69402739e-04,-1.10376807e-04,
  7.50842321e-06,-2.90479762e-04,-3.08627417e-04,-5.25815473e-05,
  2.96307685e-02,-1.06314329e-03, 2.43570709e-02,-2.84390351e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45057879, -0.39442788, -4.43306646, -0.39442788,  9.40933171,
       -0.44120034, -4.43306646, -0.44120034,  4.48983418,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027078644575116717
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.04999741e-13,  2.04999741e-13,  1.00000000e+00, -4.20248938e-26,
        1.00000000e+00, -2.04999741e-13, -1.00000000e+00,  0.00000000e+00,
        2.04999741e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10068411, -0.04667604,  0.06199163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.36827042e-05,-1.84626501e-05,-4.28655525e-05, 1.79815534e-05,
  1.45308462e-06,-3.74291625e-05,-1.41812065e-05, 8.04785397e-06,
 -3.53409415e-05, 2.89513129e-05,-2.14519491e-05, 1.71137107e-05,
 -1.69329133e-04, 1.62380690e-05,-1.65722534e-04,-5.13847135e-05,
  6.83017590e-06, 2.73349975e-06,-1.21645079e+00,-1.78003022e-03,
 -3.11827791e-04,-3.19964001e-07]


--- Step 690 ---
qpos:
[ 2.89585391e-03,-5.63092821e-03,-1.02105129e-02, 2.80986212e-03,
 -4.49026664e-03,-5.14067806e-03,-1.77421662e-02, 5.15250740e-03,
 -4.75186963e-03,-3.92827147e-03,-7.78212120e-03,-1.91444687e-02,
  1.06006673e+00, 1.86016318e-02, 1.05258199e+00, 2.60532722e-02,
  9.50071471e-02,-6.99545638e-02, 1.30734489e-01, 9.98791132e-01,
 -2.54005970e-04, 3.22799083e-05,-4.91549528e-02]

qacc:
[ 1.37053615,-1.11033985, 4.13830591,-6.75874043,-2.93701997,-0.13809242,
  1.57284468,-5.61244156,-3.49567022,-0.43014802, 1.1734509 , 0.87739737,
 -1.08304451, 1.44530543,-3.55788588, 9.66351736,-0.52413737,-1.44945089,
  0.14196172,21.49156321,-3.21532017, 1.22407458]

qfrc_actuator:
[-2.24038730e-05,-3.97412389e-04,-2.38793161e-04,-9.31256636e-05,
  3.28972633e-05,-4.83366298e-04,-3.67775694e-04,-1.21157184e-04,
 -1.20840109e-05,-2.71789561e-04,-2.85157456e-04,-4.30462423e-05,
  2.95758817e-02,-1.04854565e-03, 2.43263009e-02,-2.80590192e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46291686, -0.45314376, -4.43985221, -0.45314376, 13.04637318,
       -0.87605161, -4.43985221, -0.87605161,  4.55232914,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002750460954124151
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10068733, -0.04667753,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.00045496e-06,-2.36403527e-05, 4.70252320e-06,-8.20625655e-06,
 -1.73101789e-05,-1.99763937e-06,-7.55823195e-06,-1.27144166e-05,
 -2.05905626e-05, 3.11580719e-05, 2.74061094e-05, 1.03666727e-05,
 -1.49476310e-04,-1.92378244e-05,-1.20743109e-04, 1.20732558e-05,
  4.03650009e-06, 1.72109413e-06,-1.21644436e+00,-1.77880121e-03,
 -3.10259878e-04,-1.93092479e-07]


--- Step 691 ---
qpos:
[ 2.89592401e-03,-5.63136749e-03,-1.02096974e-02, 2.80893267e-03,
 -4.49015701e-03,-5.14064763e-03,-1.77433686e-02, 5.15115450e-03,
 -4.75303455e-03,-3.92774805e-03,-7.78200854e-03,-1.91434957e-02,
  1.06073230e+00, 1.86027095e-02, 1.05329140e+00, 2.60508088e-02,
  9.50039365e-02,-6.99549461e-02, 1.30734442e-01, 9.98787981e-01,
 -2.45120187e-04, 1.47215751e-05,-4.92189863e-02]

qacc:
[-2.21675488e+00,-2.79083801e+00, 1.10481110e+01,-1.89242379e+01,
 -4.89263927e+00, 9.96526757e-01,-4.60773047e-01,-7.84996596e+00,
 -1.95512942e+00,-3.78936964e+00, 1.40449041e+01,-1.96970364e+01,
 -4.00695749e-02,-5.18151865e-01,-1.47030179e+01, 4.79637915e+01,
 -5.01412814e-01,-1.43061501e+00, 1.55102114e-02, 2.12320415e+01,
 -3.43028860e+00, 1.06665134e+00]

qfrc_actuator:
[-3.58110854e-05,-4.18139578e-04,-2.13364767e-04,-1.14357899e-04,
  4.67584860e-06,-4.34795460e-04,-3.84197677e-04,-1.44892772e-04,
 -2.32244004e-05,-2.96481450e-04,-2.35396951e-04,-5.56570976e-05,
  2.95243455e-02,-1.07609383e-03, 2.42929708e-02,-2.58551940e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46761532, -0.52829739, -4.43626967, -0.52829739, 17.85450937,
       -1.59419101, -4.43626967, -1.59419101,  4.65746108,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027664543323525914
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00329058e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.00329058e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10069002, -0.0466781 ,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31865994e-05,-3.33249286e-05, 2.08384822e-05,-2.22418952e-05,
 -2.87174898e-05, 4.53690424e-05,-1.81892417e-05,-2.43249499e-05,
 -1.17173462e-05,-1.19369054e-06, 5.99293097e-05,-1.01280780e-05,
 -1.42285429e-04,-6.54800413e-05,-9.69538852e-05, 2.03429265e-04,
  1.62915531e-06, 1.37588532e-06,-1.21644097e+00,-1.77822763e-03,
 -3.08737739e-04,-1.49856306e-07]


--- Step 692 ---
qpos:
[ 2.89548788e-03,-5.63186086e-03,-1.02089897e-02, 2.80810535e-03,
 -4.49038664e-03,-5.14020492e-03,-1.77448519e-02, 5.15055947e-03,
 -4.75397911e-03,-3.92739470e-03,-7.78178336e-03,-1.91429703e-02,
  1.06139686e+00, 1.86032844e-02, 1.05399986e+00, 2.60492632e-02,
  9.49987925e-02,-6.99609890e-02, 1.30734032e-01, 9.98784928e-01,
 -1.94602053e-04,-1.20929278e-05,-4.92811374e-02]

qacc:
[ -4.43034841,  0.44868372, -2.11962502,  4.08298226, -2.97415034,
   2.89540191,-12.72311754, 25.97616142,  1.93549945, -1.46513462,
   6.77730604,-14.56386025, -0.25544102, -0.34226988, -4.20037188,
  12.63436047, -0.48336272, -1.41514306, -0.09054219, 21.01873445,
  -3.5981559 ,  0.94163675]

qfrc_actuator:
[-6.14825038e-05,-4.12431113e-04,-2.16497635e-04,-1.08719596e-04,
 -1.19659098e-05,-4.05962824e-04,-3.93276173e-04,-1.05033066e-04,
 -1.15534677e-05,-3.29108985e-04,-2.41728712e-04,-8.12219978e-05,
  2.94588613e-02,-1.11060243e-03, 2.42475195e-02,-2.54350956e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4660477 , -0.6236414 , -4.42229053, -0.6236414 , 24.14061588,
       -2.77455203, -4.42229053, -2.77455203,  4.8573213 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002761131913002757
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.01044908e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.01044908e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10069232, -0.04667793,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.60591214e-05,-9.57192186e-06,-8.22113417e-06, 4.50039294e-06,
 -1.74473950e-05, 4.94095802e-05,-2.77218203e-06, 4.07074725e-05,
  1.13358689e-05,-2.13810110e-05, 4.41983451e-07,-2.37430696e-05,
 -1.61992031e-04,-8.20850452e-05,-7.65798706e-05, 3.88049783e-05,
 -4.32610065e-07, 1.66194945e-06,-1.21644052e+00,-1.77830304e-03,
 -3.07226892e-04,-2.03293365e-07]


--- Step 693 ---
qpos:
[ 2.89509195e-03,-5.63205169e-03,-1.02085041e-02, 2.80731353e-03,
 -4.49081395e-03,-5.13979582e-03,-1.77459684e-02, 5.15045888e-03,
 -4.75408660e-03,-3.92729145e-03,-7.78158506e-03,-1.91423890e-02,
  1.06206004e+00, 1.86043073e-02, 1.05470770e+00, 2.60451943e-02,
  9.49917722e-02,-6.99726420e-02, 1.30732905e-01, 9.98781955e-01,
 -1.02811558e-04,-4.84118188e-05,-4.93416038e-02]

qacc:
[  0.33954603,  1.09295367, -3.46784329,  4.21615708, -1.71171487,
  -0.04766594, -1.97585566,  9.96509881,  7.33170721, -0.1546042 ,
  -0.18864156,  1.40884665, -1.56372244,  2.12093251,  6.90282547,
 -25.06239652, -0.4690762 , -1.40254677, -0.17936087, 20.84531722,
  -3.72960876,  0.84214332]

qfrc_actuator:
[-5.86545378e-05,-3.73270962e-04,-2.18595775e-04,-1.05066959e-04,
 -2.16555587e-05,-4.24592968e-04,-3.80208779e-04,-8.13339512e-05,
  3.11999535e-05,-3.48724807e-04,-2.45685345e-04,-7.87499068e-05,
  2.93957010e-02,-1.07797794e-03, 2.42054478e-02,-2.67800986e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4595465 , -0.74365922, -4.39710427, -0.74365922, 32.26003431,
       -4.70175094, -4.39710427, -4.70175094,  5.25472902,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002738911908182623
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02675928e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.02675928e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1006943 , -0.04667718,  0.06199154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.08095385e-06, 3.23059232e-05,-4.93136283e-06, 3.04816297e-06,
 -1.01741373e-05, 1.01674612e-05, 2.43543131e-05, 2.65168403e-05,
  4.30720961e-05,-3.25131183e-05,-9.14913399e-06, 1.10633655e-06,
 -1.74857506e-04,-2.34213511e-05,-8.42279253e-05,-1.44730250e-04,
 -2.17913468e-06, 2.55342257e-06,-1.21644292e+00,-1.77902192e-03,
 -3.05701538e-04,-3.62331800e-07]


--- Step 694 ---
qpos:
[ 2.89507760e-03,-5.63190821e-03,-1.02081036e-02, 2.80655736e-03,
 -4.49135425e-03,-5.13933480e-03,-1.77471254e-02, 5.14962500e-03,
 -4.75471543e-03,-3.92751307e-03,-7.78113627e-03,-1.91414469e-02,
  1.06272201e+00, 1.86056471e-02, 1.05541411e+00, 2.60405791e-02,
  9.49829206e-02,-6.99898647e-02, 1.30730763e-01, 9.98779043e-01,
  2.99630020e-05,-9.44305944e-05,-4.94005429e-02]

qacc:
[  3.3293714 ,  0.74674322, -2.1832489 ,  2.70265058, -0.98803292,
  -1.32621659,  7.9274085 ,-20.59633403, -4.5505312 , -0.37755427,
  -0.7821916 ,  6.84292286, -1.12168081,  1.4379804 , -0.36126435,
  -1.55348869, -0.45782441, -1.3924099 , -0.25364386, 20.70641652,
  -3.83300223,  0.76272951]

qfrc_actuator:
[-3.90708771e-05,-3.49880074e-04,-2.19915687e-04,-1.02579955e-04,
 -2.71798177e-05,-4.35914521e-04,-3.89894381e-04,-1.20628803e-04,
  3.13487001e-06,-3.60385546e-04,-2.30369892e-04,-5.97800910e-05,
  2.93446568e-02,-1.05908120e-03, 2.41387779e-02,-2.70231057e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44932184, -0.89360515, -4.35866203, -0.89360515, 42.58935139,
       -7.81940114, -4.35866203, -7.81940114,  6.05244158,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027034750710622224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.0533258e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.0533258e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10069603, -0.04667597,  0.06199165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.96547475e-05, 4.05733982e-05, 4.84982816e-06, 3.76098816e-06,
 -5.81444960e-06, 5.25372443e-07,-3.65879655e-06,-3.74980602e-05,
 -2.68454598e-05,-3.16768728e-05, 7.50487238e-06, 1.72786413e-05,
 -1.56895191e-04,-2.60997844e-05,-1.34027930e-04,-4.59969741e-05,
 -3.63279818e-06, 4.03245532e-06,-1.21644811e+00,-1.78037961e-03,
 -3.04142327e-04,-6.33091018e-07]


--- Step 695 ---
qpos:
[ 2.89598808e-03,-5.63158404e-03,-1.02079799e-02, 2.80656068e-03,
 -4.49161170e-03,-5.13892018e-03,-1.77483627e-02, 5.14868840e-03,
 -4.75636523e-03,-3.92796921e-03,-7.78054802e-03,-1.91399438e-02,
  1.06338294e+00, 1.86069335e-02, 1.05611861e+00, 2.60360520e-02,
  9.49743131e-02,-7.00051874e-02, 1.30730858e-01, 9.98776119e-01,
  1.47876403e-04,-1.42916583e-04,-4.94592866e-02]

qacc:
[  8.07808397,  2.56070564,-12.01689983, 25.49997227,  2.46507067,
  -0.05310243,  0.52569796, -2.13197632, -8.92966666,  0.47333916,
  -4.47175527, 14.08998333, -0.62762887,  0.50818359, -3.04551697,
   6.67167323,  0.06103361,  0.47498744,  0.55913523, -7.36055675,
  -1.59917266,  0.09799908]

qfrc_actuator:
[ 7.96137034e-06,-3.53856142e-04,-2.38569370e-04,-6.53014091e-05,
 -1.24578250e-05,-4.42923010e-04,-3.95218735e-04,-1.25679558e-04,
 -4.86451118e-05,-3.67098412e-04,-2.21510427e-04,-3.12388545e-05,
  2.92902644e-02,-1.06622191e-03, 2.40467938e-02,-2.69696448e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44117731, -0.91119468, -4.34669761, -0.91119468, 34.32723383,
       -6.26498967, -4.34669761, -6.26498967,  5.75450198,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026748039512556666
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.05009274e-07,  1.47543371e-13,  1.00000000e+00, -1.18773782e-19,
        1.00000000e+00, -1.47543371e-13, -1.00000000e+00,  0.00000000e+00,
        8.05009274e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09472355, -0.07568313,  0.06199173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.76071071e-05, 1.98742908e-05,-9.55086317e-06, 3.92576588e-05,
  1.45572073e-05,-9.08036593e-06,-6.95396593e-06,-5.88104769e-06,
 -5.25587415e-05,-2.21470427e-05, 3.83464295e-06, 2.77791260e-05,
 -1.51253355e-04,-4.82710352e-05,-1.67781351e-04,-1.64613789e-05,
 -4.80985727e-06, 6.08772559e-06,-1.21645605e+00,-1.78237227e-03,
 -3.02534697e-04,-1.01980477e-06]


--- Step 696 ---
qpos:
[ 2.89676587e-03,-5.63149234e-03,-1.02078785e-02, 2.80704691e-03,
 -4.49169055e-03,-5.13883787e-03,-1.77492895e-02, 5.14839898e-03,
 -4.75793333e-03,-3.92862931e-03,-7.77955635e-03,-1.91384783e-02,
  1.06404284e+00, 1.86081416e-02, 1.05682135e+00, 2.60305566e-02,
  9.49623968e-02,-7.00136499e-02, 1.30730562e-01, 9.98773122e-01,
  2.18734268e-04,-2.24467447e-04,-4.95192214e-02]

qacc:
[ -1.15701965,  0.75232826, -5.1626603 , 13.72267559,  1.5733449 ,
   0.02286671, -3.45606628, 14.4106723 ,  0.73139082, -1.47613868,
   5.02724963, -6.16783009, -0.68295795,  0.57898564,  0.38192334,
  -4.98146346, -0.82719778,  1.71505134, -0.09762761,-22.68137002,
 -17.67596384, -0.59081401]

qfrc_actuator:
[-2.43621779e-07,-3.91985130e-04,-2.49645052e-04,-4.33913034e-05,
 -3.69136021e-06,-4.65018753e-04,-3.80117583e-04,-9.27684701e-05,
 -4.29353307e-05,-3.70802965e-04,-1.98761101e-04,-3.28046102e-05,
  2.92392176e-02,-1.07098884e-03, 2.39663445e-02,-2.74525685e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45449775,  2.96668993, -3.32284532,  2.96668993,  7.79724144,
        2.98445551, -3.32284532,  2.98445551,  7.11906779,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027214899490175803
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.59354206e-13, -6.11920150e-13,  1.00000000e+00,  9.75120494e-26,
        1.00000000e+00,  6.11920150e-13, -1.00000000e+00,  0.00000000e+00,
        1.59354206e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10614801, -0.09437149,  0.06199159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.83976214e-06,-2.73054555e-05,-6.79656138e-06, 2.31920819e-05,
  9.18111887e-06,-2.88550958e-05, 1.21766239e-05, 3.21702532e-05,
  4.19927404e-06,-1.41246728e-05, 1.96039462e-05,-1.84245535e-06,
 -1.50403787e-04,-4.95447322e-05,-1.66223523e-04,-7.22830130e-05,
 -4.21300695e-06, 5.48978069e-06,-1.21645333e+00,-1.78416878e-03,
 -3.02275370e-04,-7.33953136e-07]


--- Step 697 ---
qpos:
[ 2.89674998e-03,-5.63177181e-03,-1.02075317e-02, 2.80779190e-03,
 -4.49166361e-03,-5.13901978e-03,-1.77500214e-02, 5.14850542e-03,
 -4.75976633e-03,-3.92935978e-03,-7.77829723e-03,-1.91377416e-02,
  1.06470176e+00, 1.86090416e-02, 1.05752233e+00, 2.60250951e-02,
  9.49471368e-02,-7.00153524e-02, 1.30729393e-01, 9.98770034e-01,
  2.43058328e-04,-3.38137265e-04,-4.95807075e-02]

qacc:
[-6.92814919e+00,-6.30206850e-01, 4.66485933e-01, 3.86690640e+00,
  9.33471414e-01,-8.03622748e-02,-1.89425262e+00, 8.63140753e+00,
 -2.30987002e+00,-2.33740918e+00, 1.12775718e+01,-2.42619350e+01,
 -4.00409272e-01, 1.62368006e-02,-2.67389156e+00, 5.64476415e+00,
 -8.35947808e-01, 1.69000444e+00,-2.18390101e-01,-2.24432685e+01,
 -1.71921127e+01,-7.68233291e-01]

qfrc_actuator:
[-4.09033880e-05,-4.14759719e-04,-2.38564895e-04,-3.07294785e-05,
  1.49290187e-06,-4.78109726e-04,-3.70872445e-04,-7.32943630e-05,
 -5.66838728e-05,-3.72639283e-04,-1.85750223e-04,-6.98129749e-05,
  2.91848884e-02,-1.09203784e-03, 2.39035232e-02,-2.73594776e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45929376, -0.34042352,  4.44628077, -0.34042352, 14.8108252 ,
        0.79255111,  4.44628077,  0.79255111,  4.51997437,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027380432397490495
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.58390804e-13, -2.02740229e-13,  1.00000000e+00,  3.21121877e-26,
        1.00000000e+00,  2.02740229e-13, -1.00000000e+00,  0.00000000e+00,
        1.58390804e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10614455, -0.09437145,  0.06199154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.08659715e-05,-3.84644780e-05, 5.40150326e-06, 1.17067101e-05,
  5.43554917e-06,-2.53214349e-05, 5.90868733e-06, 1.92875097e-05,
 -1.36350631e-05,-5.75906445e-06, 1.24353296e-05,-3.69753488e-05,
 -1.53646659e-04,-6.58614650e-05,-1.54404041e-04,-1.76599652e-05,
 -2.21276664e-06, 5.37971488e-06,-1.21645008e+00,-1.78487433e-03,
 -3.02225945e-04,-5.52555318e-07]


--- Step 698 ---
qpos:
[ 2.89590176e-03,-5.63220560e-03,-1.02071464e-02, 2.80901454e-03,
 -4.49122997e-03,-5.13916302e-03,-1.77510308e-02, 5.14883830e-03,
 -4.76140485e-03,-3.93013289e-03,-7.77745072e-03,-1.91374100e-02,
  1.06535955e+00, 1.86097519e-02, 1.05822166e+00, 2.60210127e-02,
  9.49285058e-02,-7.00103770e-02, 1.30726943e-01, 9.98766834e-01,
  2.21280851e-04,-4.83174374e-04,-4.96440197e-02]

qacc:
[ -7.27634775,  0.6862754 , -4.73435309, 13.02574946,  3.53783288,
   1.28535081, -5.47711403,  9.82510627,  1.69014697,  0.25908037,
   0.69700202, -7.00714787, -0.50882686,  0.20654771, -6.60110111,
  19.60539988, -0.8427301 ,  1.66948241, -0.32001821,-22.24510585,
 -16.80746968, -0.90305139]

qfrc_actuator:
[-8.25693191e-05,-4.10337356e-04,-2.32202823e-04,-5.83301029e-06,
  2.22818399e-05,-4.67980389e-04,-3.82902136e-04,-6.18899868e-05,
 -4.62882308e-05,-3.91159290e-04,-2.14113068e-04,-9.18754067e-05,
  2.91232973e-02,-1.10484238e-03, 2.38513411e-02,-2.65718762e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45785618, -0.241658  ,  4.45130128, -0.241658  , 19.79940072,
        0.83288161,  4.45130128,  0.83288161,  4.50307273,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027330953849988293
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.44297129e-14, -2.03107259e-13,  1.00000000e+00, -9.02399721e-27,
        1.00000000e+00,  2.03107259e-13, -1.00000000e+00,  0.00000000e+00,
       -4.44297129e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10614215, -0.09437216,  0.06199155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.28476996e-05,-1.54795472e-05,-5.13430346e-07, 2.36630520e-05,
  2.09348767e-05,-1.96658906e-06,-1.58541531e-05, 1.09009462e-05,
  1.00044064e-05,-2.07559754e-05,-2.93092210e-05,-2.26013453e-05,
 -1.66162179e-04,-6.24261508e-05,-1.32475766e-04, 5.62988699e-05,
 -7.15158656e-07, 6.23570064e-06,-1.21645183e+00,-1.78487518e-03,
 -3.01689610e-04, 5.07725150e-07]


--- Step 699 ---
qpos:
[ 2.89525009e-03,-5.63269896e-03,-1.02067297e-02, 2.81051388e-03,
 -4.49055049e-03,-5.13925638e-03,-1.77522048e-02, 5.14929594e-03,
 -4.76187162e-03,-3.93074790e-03,-7.77708330e-03,-1.91370210e-02,
  1.06601615e+00, 1.86101155e-02, 1.05891937e+00, 2.60191662e-02,
  9.49135760e-02,-7.00089515e-02, 1.30726304e-01, 9.98763627e-01,
  2.20025921e-04,-5.95910407e-04,-4.97072871e-02]

qacc:
[ 1.72136757e+00, 4.00220754e-01,-2.71506449e+00, 7.50396930e+00,
  2.13811592e+00, 7.78272174e-01,-3.21338359e+00, 5.60708214e+00,
  1.02406461e+01, 1.64637470e+00,-5.84253231e+00, 7.51978015e+00,
 -3.81316668e-01,-1.16377214e-01,-9.14460066e+00, 2.85599379e+01,
  9.25298580e-01,-8.87491865e-01, 4.52586753e-01, 9.44685364e+00,
  1.66400361e+01, 1.36382725e-02]

qfrc_actuator:
[-7.12249262e-05,-4.07417828e-04,-2.28562839e-04, 8.32923761e-06,
  3.43377219e-05,-4.61868692e-04,-3.89549742e-04,-5.53163872e-05,
  1.37457720e-05,-3.66431215e-04,-2.31221820e-04,-8.72497634e-05,
  2.90520711e-02,-1.13044812e-03, 2.37949456e-02,-2.53811541e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46510926, -2.17038082,  3.90213376, -2.17038082, 21.90244306,
        9.69870771,  3.90213376,  9.69870771,  9.85956534,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002757939154639094
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.0127765e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.0127765e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0832865 , -0.0569604 ,  0.06199148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01141044e-05,-4.83263095e-06, 1.19857855e-06, 1.39411300e-05,
  1.26555017e-05, 2.22801904e-06,-8.61765593e-06, 6.15382095e-06,
  6.03130526e-05, 6.11557446e-06,-2.57912014e-05, 2.28101263e-06,
 -1.81367156e-04,-7.77055903e-05,-1.19373508e-04, 1.03322653e-04,
  3.56044257e-07, 8.04639861e-06,-1.21645840e+00,-1.78417113e-03,
 -3.00700041e-04, 2.40334025e-06]


--- Step 700 ---
qpos:
[ 2.89611850e-03,-5.63303334e-03,-1.02063514e-02, 2.81180232e-03,
 -4.49007618e-03,-5.13970845e-03,-1.77530162e-02, 5.15019023e-03,
 -4.76127014e-03,-3.93142895e-03,-7.77659688e-03,-1.91365930e-02,
  1.06667142e+00, 1.86104733e-02, 1.05961564e+00, 2.60170819e-02,
  9.49023436e-02,-7.00109694e-02, 1.30726894e-01, 9.98760409e-01,
  2.39304437e-04,-6.77236039e-04,-4.97707654e-02]

qacc:
[13.29226262,-0.14275569, 1.65919313,-5.31619664,-1.77175377,-0.58419743,
 -0.44192253, 7.67645552, 9.35709413,-0.35766307, 0.95213185,-0.38352775,
 -0.95057461, 0.90702836,-1.34413473, 1.78799104, 0.9243389 ,-0.86082931,
  0.3071843 , 9.47330528,16.19608766,-0.11516611]

qfrc_actuator:
[ 6.73497804e-06,-3.87680390e-04,-2.26564333e-04,-1.69181382e-06,
  2.33993245e-05,-4.93699522e-04,-3.75217348e-04,-3.38774979e-05,
  6.70024613e-05,-3.69195842e-04,-2.23593957e-04,-8.46643932e-05,
  2.89857623e-02,-1.12799630e-03, 2.37147744e-02,-2.55603820e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47531701,  2.6812722 , -3.58318876,  2.6812722 , 11.67165208,
        5.38496139, -3.58318876,  5.38496139,  8.5048416 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027924072708288006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.98793177e-13, -3.97586354e-13,  1.00000000e+00,  7.90374543e-26,
        1.00000000e+00,  3.97586354e-13, -1.00000000e+00,  0.00000000e+00,
        1.98793177e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08328931, -0.05695905,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.82475154e-05, 1.78951676e-05, 1.62814491e-06,-9.91876339e-06,
 -1.05747450e-05,-3.20806702e-05, 1.39572966e-05, 2.13571841e-05,
  5.49806220e-05,-4.53746321e-06, 5.79252587e-06, 1.99642756e-06,
 -1.88175906e-04,-5.70537050e-05,-1.32436928e-04,-2.94974657e-05,
 -8.45984092e-09, 6.30904610e-06,-1.21645120e+00,-1.78466390e-03,
 -2.98438155e-04, 2.13820511e-06]


--- Step 701 ---
qpos:
[ 2.89722470e-03,-5.63294442e-03,-1.02063507e-02, 2.81260449e-03,
 -4.49008143e-03,-5.14049383e-03,-1.77536327e-02, 5.15168841e-03,
 -4.76037931e-03,-3.93221903e-03,-7.77625366e-03,-1.91364589e-02,
  1.06732540e+00, 1.86110508e-02, 1.06031009e+00, 2.60118713e-02,
  9.48948030e-02,-7.00163449e-02, 1.30728224e-01, 9.98757177e-01,
  2.79114862e-04,-7.27871938e-04,-4.98346554e-02]

qacc:
[  2.06055014,  0.60920866,  0.68506931, -8.80055791, -4.1701503 ,
   0.26633246, -4.12397658, 14.49396814,  2.53033084, -0.35419447,
   2.28400804, -7.04779459, -1.2663692 ,  1.55029918,  6.9146216 ,
 -27.77082269,  0.92297662, -0.83942828,  0.18512733,  9.4893649 ,
  15.83673502, -0.21656614]

qfrc_actuator:
[ 1.67462369e-05,-3.58046941e-04,-2.43246090e-04,-2.58459045e-05,
 -9.82959044e-07,-5.12401965e-04,-3.66510821e-04,-3.88123738e-06,
  8.03223013e-05,-3.88295218e-04,-2.37035830e-04,-1.01060459e-04,
  2.89331114e-02,-1.10891221e-03, 2.35937524e-02,-2.72558915e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47809471,  2.62033223, -3.63141725,  2.62033223, 15.69330678,
        8.09259295, -3.63141725,  8.09259295, 10.31749038,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002801688797589297
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.97201912e-13, -3.96269216e-13,  1.00000000e+00,  1.17771969e-25,
        1.00000000e+00,  3.96269216e-13, -1.00000000e+00,  0.00000000e+00,
        2.97201912e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0832912 , -0.05695766,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.22547288e-05, 3.95811503e-05,-1.31354802e-05,-2.35304568e-05,
 -2.46980666e-05,-3.28235925e-05, 4.55206020e-06, 2.95217341e-05,
  1.48864401e-05,-2.03156850e-05,-1.35968401e-05,-1.63537909e-05,
 -1.74118425e-04,-3.68542192e-05,-1.94340784e-04,-1.90254298e-04,
 -6.53919685e-07, 4.83833180e-06,-1.21644641e+00,-1.78542892e-03,
 -2.96668603e-04, 2.08008516e-06]


--- Step 702 ---
qpos:
[ 2.89706344e-03,-5.63251009e-03,-1.02065598e-02, 2.81310917e-03,
 -4.49003446e-03,-5.14111373e-03,-1.77545801e-02, 5.15281594e-03,
 -4.76002532e-03,-3.93285453e-03,-7.77619733e-03,-1.91365459e-02,
  1.06797814e+00, 1.86120647e-02, 1.06100186e+00, 2.60066865e-02,
  9.48909484e-02,-7.00250098e-02, 1.30729886e-01, 9.98753925e-01,
  3.39449679e-04,-7.48399141e-04,-4.98991143e-02]

qacc:
[-11.09916337,  0.45176199,  0.34476023, -5.45228237,  0.44197189,
   0.37908543,  0.5286828 , -6.53441276, -4.7115809 ,  0.55976814,
  -0.75074833, -2.74763647, -1.11516494,  1.48744127, -3.94145618,
   8.28868979,  0.92148131, -0.82232613,  0.08286531,  9.49900998,
  15.54696515, -0.29626655]

qfrc_actuator:
[-4.88426844e-05,-3.40556412e-04,-2.53028870e-04,-4.03674665e-05,
  2.43012584e-06,-4.87604033e-04,-3.78909917e-04,-2.23503572e-05,
  5.22790054e-05,-3.63868127e-04,-2.45152324e-04,-1.10775424e-04,
  2.88833725e-02,-1.08007197e-03, 2.34749334e-02,-2.71684399e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47485572,  2.53739273, -3.68591533,  2.53739273, 21.18269469,
       11.50171541, -3.68591533, 11.50171541, 12.39266349,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027908618891508974
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.97806509e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.97806509e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08329236, -0.05695623,  0.06199138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.52237786e-05, 3.58987108e-05,-4.04363872e-06,-1.37408765e-05,
  2.69222171e-06, 8.67207333e-06,-1.75822324e-05,-1.91425013e-05,
 -2.76261697e-05, 9.59029085e-06,-1.45477616e-05,-1.13735820e-05,
 -1.60131453e-04,-1.82296593e-05,-2.35957063e-04,-2.82784300e-05,
 -1.57721460e-06, 3.60247979e-06,-1.21644388e+00,-1.78647424e-03,
 -2.95375441e-04, 2.22182255e-06]


--- Step 703 ---
qpos:
[ 2.89611757e-03,-5.63197543e-03,-1.02067953e-02, 2.81345475e-03,
 -4.48960236e-03,-5.14153951e-03,-1.77557091e-02, 5.15335381e-03,
 -4.76001009e-03,-3.93342098e-03,-7.77600534e-03,-1.91360771e-02,
  1.06862987e+00, 1.86131032e-02, 1.06169151e+00, 2.60037557e-02,
  9.48914225e-02,-7.00339257e-02, 1.30732259e-01, 9.98750713e-01,
  3.98371149e-04,-7.38042958e-04,-4.99630897e-02]

qacc:
[ -6.86567569, -0.10784198,  1.27167833, -4.08182031,  3.3495425 ,
  -0.45677101,  4.47878276,-14.52433916, -2.96240382,  0.86309784,
  -5.2780425 , 14.61286438, -0.48423917,  0.3611657 , -9.94399276,
  30.2960941 ,  1.08215879, -0.0627507 ,  0.17790575, -1.47614582,
  15.38728539,  0.2377515 ]

qfrc_actuator:
[-8.73710603e-05,-3.48195709e-04,-2.58689050e-04,-4.91037842e-05,
  2.21804951e-05,-4.72576593e-04,-3.85771877e-04,-5.14130766e-05,
  3.56335311e-05,-3.49050418e-04,-2.32119988e-04,-8.09315821e-05,
  2.88407492e-02,-1.08118781e-03, 2.34268153e-02,-2.58526994e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46983199,  0.03821955, -4.46966859,  0.03821955, 20.02039718,
        0.13297086, -4.46966859,  0.13297086,  4.47096901,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027739572316437533
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00115382e-13, -2.00115382e-13,  1.00000000e+00,  4.00461663e-26,
        1.00000000e+00,  2.00115382e-13, -1.00000000e+00,  0.00000000e+00,
        2.00115382e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08181426, -0.06837723,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.03805912e-05, 1.09746854e-05, 7.80461866e-07,-7.60443002e-06,
  1.98320771e-05, 1.54571440e-05,-7.88337414e-06,-2.96713355e-05,
 -1.74319567e-05, 1.67027559e-05, 1.28363394e-05, 2.95324755e-05,
 -1.40910428e-04,-4.04035288e-05,-1.63241692e-04, 9.89395510e-05,
 -2.77603017e-06, 2.57813492e-06,-1.21644349e+00,-1.78780574e-03,
 -2.94546179e-04, 2.55788182e-06]


--- Step 704 ---
qpos:
[ 2.89506171e-03,-5.63156331e-03,-1.02069671e-02, 2.81337050e-03,
 -4.48893680e-03,-5.14189835e-03,-1.77566293e-02, 5.15387355e-03,
 -4.76019495e-03,-3.93370691e-03,-7.77575165e-03,-1.91352771e-02,
  1.06928068e+00, 1.86136563e-02, 1.06238016e+00, 2.60005396e-02,
  9.48961817e-02,-7.00430652e-02, 1.30735007e-01, 9.98747536e-01,
  4.56049825e-04,-6.96991325e-04,-5.00266549e-02]

qacc:
[ -0.95834415, -1.22342536,  5.94470099,-13.39857143,  2.04137459,
  -0.53578462,  2.10860778, -2.79834322, -1.75436676,  0.88384044,
  -4.00298913,  9.41713886, -0.29602255, -0.23866398, -0.59295578,
  -0.03090158,  1.07130355, -0.05590639,  0.09354062, -1.38729592,
  15.2975994 ,  0.19999842]

qfrc_actuator:
[-9.18863399e-05,-3.70805979e-04,-2.61975103e-04,-7.21409727e-05,
  3.36267969e-05,-4.63506291e-04,-3.71575918e-04,-5.09594381e-05,
  2.58434146e-05,-3.22222016e-04,-2.24458779e-04,-6.35463952e-05,
  2.87811152e-02,-1.11779273e-03, 2.34051869e-02,-2.59526877e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000274630976725726
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.04259941e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.04259941e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08181337, -0.0683763 ,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.66683464e-06,-1.66662889e-05,-1.18782475e-06,-2.26875349e-05,
  1.20217582e-05, 1.48487162e-05, 1.54068783e-05, 2.67021042e-07,
 -1.02853433e-05, 4.00956762e-05, 1.37178369e-05, 1.91201266e-05,
 -1.50668932e-04,-7.74203928e-05,-9.18177382e-05,-2.68343981e-05,
 -3.09098129e-06, 1.04231290e-06,-1.21644275e+00,-1.78908711e-03,
 -2.94839602e-04, 3.00942242e-06]


--- Step 705 ---
qpos:
[ 2.89395958e-03,-5.63132586e-03,-1.02071395e-02, 2.81302255e-03,
 -4.48813876e-03,-5.14258138e-03,-1.77569465e-02, 5.15510810e-03,
 -4.76049582e-03,-3.93382060e-03,-7.77531806e-03,-1.91349600e-02,
  1.06993030e+00, 1.86141312e-02, 1.06306776e+00, 2.59975040e-02,
  9.49057560e-02,-7.00484457e-02, 1.30737313e-01, 9.98744525e-01,
  4.83896856e-04,-6.25124796e-04,-5.00874062e-02]

qacc:
[ -0.40180415, -0.77157215,  3.53059201, -7.96641105,  1.1802924 ,
  -0.64395133, -1.3468581 , 12.99616103, -1.01314566, -1.26812538,
   6.89004729,-15.65775254, -0.77639181,  0.65191589, -2.04447655,
   5.04220821,  1.20376082,  0.93973204, -0.11034544,-15.66698166,
  14.64266197,  1.4128204 ]

qfrc_actuator:
[-9.41071595e-05,-3.84463464e-04,-2.63916251e-04,-8.56716960e-05,
  4.00882859e-05,-4.93466012e-04,-3.45062798e-04,-1.53790013e-05,
  2.01633393e-05,-3.23931544e-04,-2.20000548e-04,-8.91392107e-05,
  2.87166300e-02,-1.12193308e-03, 2.33674719e-02,-2.58205784e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45463887, -0.05468361, -4.45430322, -0.05468361, 15.64169742,
       -0.13733881, -4.45430322, -0.13733881,  4.45632492,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002721978947519965
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.03936740e-13, -2.03936740e-13,  1.00000000e+00,  4.15901938e-26,
        1.00000000e+00,  2.03936740e-13, -1.00000000e+00,  0.00000000e+00,
        2.03936740e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08009338, -0.08365059,  0.06199159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.38872112e-06,-2.42061060e-05,-6.31639002e-06,-1.47274041e-05,
  6.81065581e-06,-1.84358486e-05, 3.15006232e-05, 3.67562056e-05,
 -5.96163983e-06, 2.43653387e-05, 1.50895887e-05,-2.30301335e-05,
 -1.68901264e-04,-5.64386390e-05,-9.32837302e-05,-2.42427644e-06,
 -3.44092330e-06,-4.56599201e-07,-1.21644350e+00,-1.79032005e-03,
 -2.95592561e-04, 3.31012686e-06]


--- Step 706 ---
qpos:
[ 2.89318426e-03,-5.63127380e-03,-1.02073494e-02, 2.81286454e-03,
 -4.48726927e-03,-5.14359486e-03,-1.77571242e-02, 5.15644758e-03,
 -4.76086241e-03,-3.93385835e-03,-7.77481112e-03,-1.91342412e-02,
  1.07057858e+00, 1.86150889e-02, 1.06375378e+00, 2.59966571e-02,
  9.49119752e-02,-7.00468810e-02, 1.30738597e-01, 9.98741455e-01,
  4.66538691e-04,-5.85113034e-04,-5.01492438e-02]

qacc:
[  2.8606739 ,  0.24538799, -2.04180591,  5.53562266,  0.63315248,
  -0.61138822,  1.10141268,  0.73658311, -0.57426469,  0.72414124,
  -4.12771165, 10.9000421 , -1.14824514,  1.52579768, -8.84893826,
  27.8421716 , -0.83876276,  1.73633443, -0.25548584,-21.7767846 ,
 -17.03977444, -0.52222222]

qfrc_actuator:
[-7.72184142e-05,-3.92648133e-04,-2.65011646e-04,-7.57400975e-05,
  4.35664651e-05,-5.28726739e-04,-3.47142573e-04,-1.27060824e-05,
  1.69452425e-05,-3.25015131e-04,-2.17606989e-04,-6.88266817e-05,
  2.86599427e-02,-1.08905509e-03, 2.33041689e-02,-2.46650958e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44761986,  4.33693066, -0.98608058,  4.33693066,  5.44417546,
        4.38300137, -0.98608058,  4.38300137, 23.72471895,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026975166519423166
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02893065e-13, -1.02893065e-13,  1.00000000e+00, -1.05869828e-26,
        1.00000000e+00,  1.02893065e-13, -1.00000000e+00,  0.00000000e+00,
       -1.02893065e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10611773, -0.09438692,  0.06199167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.68123883e-05,-2.36596426e-05,-7.38175455e-06, 8.39017949e-06,
  3.66418109e-06,-3.74605807e-05,-7.26464643e-07, 3.68776530e-06,
 -3.37934589e-06, 1.46670637e-05, 8.48319682e-06, 2.14284335e-05,
 -1.66289922e-04,-1.88165184e-05,-1.17102978e-04, 1.01035591e-04,
 -2.00040624e-06,-2.43971133e-06,-1.21644386e+00,-1.79101811e-03,
 -2.97624708e-04, 2.91981046e-06]


--- Step 707 ---
qpos:
[ 2.89296222e-03,-5.63135516e-03,-1.02075771e-02, 2.81247324e-03,
 -4.48636505e-03,-5.14446148e-03,-1.77580442e-02, 5.15746393e-03,
 -4.76091961e-03,-3.93408204e-03,-7.77441470e-03,-1.91332377e-02,
  1.07122570e+00, 1.86161461e-02, 1.06443841e+00, 2.59968234e-02,
  9.49148197e-02,-7.00384925e-02, 1.30738479e-01, 9.98738306e-01,
  4.04133767e-04,-5.76231312e-04,-5.02125535e-02]

qacc:
[  4.84122621, -0.61639677,  2.91031353, -6.80336996,  0.27698538,
   1.60192301, -4.06755038, -0.44405295,  2.70859522,  0.64432749,
  -3.86247798,  9.10758218, -0.79970796,  0.82055212, -5.07677791,
  14.91420247, -0.84370832,  1.70593676, -0.35056639,-21.71487121,
 -16.67532751, -0.71659664]

qfrc_actuator:
[-4.92184879e-05,-3.97468520e-04,-2.65562435e-04,-8.75845263e-05,
  4.52627077e-05,-5.13774256e-04,-3.83908300e-04,-2.94537096e-05,
  3.29530961e-05,-3.61201004e-04,-2.34170272e-04,-5.71677687e-05,
  2.86026650e-02,-1.08775367e-03, 2.32415752e-02,-2.41590766e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44445626, -2.30214641,  3.80175135, -2.30214641, 15.04635944,
        6.419971  ,  3.80175135,  6.419971  ,  8.33206274,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002686395082665133
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.13095516e-13, -4.13276153e-13,  1.00000000e+00,  8.80672951e-26,
        1.00000000e+00,  4.13276153e-13, -1.00000000e+00,  0.00000000e+00,
        2.13095516e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10611551, -0.09438929,  0.0619917 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.84722309e-05,-1.92069327e-05,-6.05447601e-06,-1.29501405e-05,
  1.78808472e-06,-5.95007924e-06,-4.44541554e-05,-1.83064738e-05,
  1.59157726e-05,-2.53228068e-05,-1.17550231e-05, 1.29951770e-05,
 -1.56573934e-04,-4.08440382e-05,-1.14334695e-04, 3.91361152e-05,
  7.85970238e-07,-1.22583270e-06,-1.21644100e+00,-1.79031399e-03,
 -2.99424307e-04, 2.12482443e-06]


--- Step 708 ---
qpos:
[ 2.89376747e-03,-5.63160079e-03,-1.02075067e-02, 2.81157967e-03,
 -4.48510272e-03,-5.14515188e-03,-1.77592019e-02, 5.15823265e-03,
 -4.76078449e-03,-3.93447022e-03,-7.77443876e-03,-1.91327732e-02,
  1.07187156e+00, 1.86175354e-02, 1.06512212e+00, 2.59945239e-02,
  9.49142745e-02,-7.00233776e-02, 1.30736640e-01, 9.98735057e-01,
  2.96815949e-04,-5.97901308e-04,-5.02776354e-02]

qacc:
[ 8.99756696e+00,-2.10214293e+00, 9.26995661e+00,-1.82853654e+01,
  3.11255924e+00, 3.81124523e-01, 1.36229934e-02,-4.03705325e+00,
  1.67294709e+00,-1.55572982e-01, 2.50571685e+00,-1.10273759e+01,
 -1.35016054e+00, 1.75071187e+00, 6.26509850e+00,-2.35270624e+01,
 -8.47382491e-01, 1.68159114e+00,-4.30247535e-01,-2.16615645e+01,
 -1.63845679e+01,-8.68418890e-01]

qfrc_actuator:
[ 2.84357364e-06,-4.00248158e-04,-2.48038488e-04,-1.12147321e-04,
  6.36505611e-05,-4.86791598e-04,-3.87401720e-04,-3.97149424e-05,
  4.23950441e-05,-3.82711495e-04,-2.61953132e-04,-8.62498954e-05,
  2.85397383e-02,-1.06970276e-03, 2.31900999e-02,-2.54599462e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4370262 , -2.20238366,  3.85184471, -2.20238366, 19.80149553,
        8.78500013,  3.85184471,  8.78500013,  9.4600586 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002660034824602808
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.21714516e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.21714516e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10611407, -0.09439188,  0.06199178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.28704986e-05,-1.53085427e-05, 1.23662934e-05,-2.58468869e-05,
  1.84395903e-05, 1.37298173e-05,-1.08135001e-05,-1.24092289e-05,
  9.88744220e-06,-3.75356633e-05,-3.40162296e-05,-3.03235715e-05,
 -1.62113794e-04,-2.69535721e-05,-1.08919079e-04,-1.44678539e-04,
  3.14007330e-06, 8.44891642e-07,-1.21644290e+00,-1.78893596e-03,
 -3.00769745e-04, 2.14305576e-06]


--- Step 709 ---
qpos:
[ 2.89553561e-03,-5.63199978e-03,-1.02069308e-02, 2.81003723e-03,
 -4.48362978e-03,-5.14580925e-03,-1.77598399e-02, 5.15918260e-03,
 -4.76088250e-03,-3.93440484e-03,-7.77540768e-03,-1.91323584e-02,
  1.07251622e+00, 1.86191583e-02, 1.06580484e+00, 2.59892893e-02,
  9.49173209e-02,-7.00117004e-02, 1.30736199e-01, 9.98731806e-01,
  2.10278591e-04,-5.87113370e-04,-5.03427233e-02]

qacc:
[ 8.44061130e+00,-2.96870305e+00, 1.30012791e+01,-2.48956736e+01,
  1.85260896e+00,-1.03876549e+00, 2.99621284e+00,-7.08978998e-01,
 -2.07834268e+00, 3.14212362e+00,-1.01146903e+01, 1.04185493e+01,
 -1.26546423e+00, 1.57506504e+00, 7.54274546e+00,-2.82146883e+01,
  8.97871697e-01,-8.59416835e-01, 3.49677380e-01, 9.56113155e+00,
  1.67308330e+01,-1.39901677e-02]

qfrc_actuator:
[ 5.08949743e-05,-4.01719129e-04,-2.19978438e-04,-1.43978838e-04,
  7.39634804e-05,-4.70431574e-04,-3.53386767e-04,-2.82779684e-05,
  3.01381477e-05,-3.24353289e-04,-2.96113560e-04,-8.58089754e-05,
  2.84787990e-02,-1.05962720e-03, 2.31453014e-02,-2.69265807e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43988128, -2.2937974 ,  3.80145226, -2.2937974 , 20.71512122,
        9.82048452,  3.80145226,  9.82048452, 10.3655645 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002670204306408075
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.07891026e-13, -4.15782052e-13,  1.00000000e+00,  8.64373572e-26,
        1.00000000e+00,  4.15782052e-13, -1.00000000e+00,  0.00000000e+00,
        2.07891026e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08330353, -0.05694744,  0.06199175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.95586487e-05,-8.55867367e-06, 2.55278573e-05,-3.25625622e-05,
  1.08472584e-05, 2.13158663e-05, 3.51085057e-05, 1.14111304e-05,
 -1.19861708e-05, 2.90612076e-05,-4.71483124e-05,-2.93437884e-06,
 -1.60460566e-04,-3.27056061e-05,-1.21628393e-04,-1.71109632e-04,
  5.11822009e-06, 3.78876027e-06,-1.21644943e+00,-1.78687709e-03,
 -3.01688819e-04, 2.94941882e-06]


--- Step 710 ---
qpos:
[ 2.89717639e-03,-5.63224038e-03,-1.02058934e-02, 2.80843296e-03,
 -4.48273444e-03,-5.14623501e-03,-1.77598396e-02, 5.15988206e-03,
 -4.76112637e-03,-3.93428279e-03,-7.77642908e-03,-1.91319535e-02,
  1.07315977e+00, 1.86206640e-02, 1.06648606e+00, 2.59852534e-02,
  9.49239804e-02,-7.00033759e-02, 1.30736649e-01, 9.98728547e-01,
  1.44457125e-04,-5.44775316e-04,-5.04080506e-02]

qacc:
[ -1.10231457, -1.2055643 ,  4.86681505, -6.79509154, -5.02149528,
  -1.98322926,  8.59041168,-14.13618238, -1.27968184,  0.20394022,
  -0.57279989,  0.44085126, -0.57915439,  0.36220358, -5.80609382,
  17.19476705,  0.90328577, -0.83817817,  0.22247509,  9.55058134,
  16.27647143, -0.12921982]

qfrc_actuator:
[ 4.29355559e-05,-3.66844843e-04,-1.85923509e-04,-1.44318819e-04,
  4.39304234e-05,-4.42619804e-04,-3.15281794e-04,-3.96571298e-05,
  2.29630843e-05,-3.25141921e-04,-2.97902703e-04,-8.56804187e-05,
  2.84190930e-02,-1.07212385e-03, 2.31098756e-02,-2.61702761e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44650412,  1.72101513, -4.09993974,  1.72101513, 15.05337482,
        4.45240325, -4.09993974,  4.45240325,  6.31547144,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002693601187959832
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.09127896e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.09127896e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08330661, -0.05694647,  0.06199168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.54463280e-06, 3.39888865e-05, 3.43022360e-05,-4.56481320e-07,
 -2.97165583e-05, 4.75049863e-05, 4.72401807e-05,-9.02847511e-06,
 -7.50589001e-06, 5.60195446e-06,-1.68515206e-06,-3.13716648e-07,
 -1.59939826e-04,-5.61174903e-05,-1.20399528e-04, 4.82332433e-05,
  4.54416319e-06, 1.35643087e-06,-1.21644567e+00,-1.78599460e-03,
 -3.01217894e-04, 2.03669282e-06]


--- Step 711 ---
qpos:
[ 2.89801960e-03,-5.63221223e-03,-1.02045217e-02, 2.80717612e-03,
 -4.48255076e-03,-5.14641744e-03,-1.77596171e-02, 5.16012168e-03,
 -4.76041971e-03,-3.93420104e-03,-7.77713055e-03,-1.91319092e-02,
  1.07380209e+00, 1.86223218e-02, 1.06716577e+00, 2.59830942e-02,
  9.49342691e-02,-6.99983354e-02, 1.30737561e-01, 9.98725269e-01,
  9.92886162e-05,-4.71612080e-04,-5.04737982e-02]

qacc:
[ -6.97033928,  0.14972238, -1.46141425,  6.71614753, -6.20409381,
  -1.23344994,  6.82705169,-15.34313046,  8.33223346, -1.70666865,
   7.49860525,-14.1833606 , -0.82544118,  0.86505253, -7.85731677,
  24.4027793 ,  0.90729977, -0.8210014 ,  0.11566231,  9.53631688,
  15.91349692, -0.21824213]

qfrc_actuator:
[ 2.07474536e-06,-3.45919051e-04,-1.66182360e-04,-1.26091376e-04,
  8.14637620e-06,-4.43654035e-04,-3.10554636e-04,-6.43667549e-05,
  7.21010151e-05,-3.25697923e-04,-2.80783507e-04,-1.03512014e-04,
  2.83601617e-02,-1.06240111e-03, 2.30535255e-02,-2.51749624e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4469413 ,  1.65592779, -4.12712855,  1.65592779, 20.06090199,
        6.26478946, -4.12712855,  6.26478946,  6.96056278,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026951362759901343
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02983941e-13,  2.05967883e-13,  1.00000000e+00, -2.12113843e-26,
        1.00000000e+00, -2.05967883e-13, -1.00000000e+00,  0.00000000e+00,
        1.02983941e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08330874, -0.05694539,  0.06199167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.10373628e-05, 4.69909659e-05, 3.09640332e-05, 2.08635957e-05,
 -3.66208673e-05, 3.49043033e-05, 2.00507801e-05,-2.12145595e-05,
  4.89250415e-05, 2.21831699e-06, 1.80675049e-05,-1.76547344e-05,
 -1.63599228e-04,-3.97281362e-05,-1.15055902e-04, 8.47971071e-05,
  3.69558895e-06,-8.26230713e-07,-1.21644417e+00,-1.78539214e-03,
 -3.01252341e-04, 1.35673348e-06]


--- Step 712 ---
qpos:
[ 2.89836651e-03,-5.63184802e-03,-1.02037786e-02, 2.80655132e-03,
 -4.48245276e-03,-5.14625261e-03,-1.77602326e-02, 5.16081518e-03,
 -4.75843998e-03,-3.93389824e-03,-7.77800758e-03,-1.91320782e-02,
  1.07444322e+00, 1.86238709e-02, 1.06784412e+00, 2.59814381e-02,
  9.49481993e-02,-6.99965236e-02, 1.30738578e-01, 9.98721962e-01,
  7.47148654e-05,-3.68199133e-04,-5.05401054e-02]

qacc:
[-4.36623006e+00, 3.51163024e+00,-1.45295259e+01, 2.62101156e+01,
 -7.79068552e-01, 3.73560398e+00,-1.45681331e+01, 2.35073619e+01,
  1.11358137e+01, 3.21669271e-01, 1.38795682e-01,-3.66998006e+00,
 -7.15897992e-01, 5.35280753e-01,-3.47694131e+00, 9.38500731e+00,
  9.10374462e-01,-8.07163344e-01, 2.61363015e-02, 9.52071347e+00,
  1.56252889e+01,-2.86469032e-01]

qfrc_actuator:
[-2.23004792e-05,-3.51288725e-04,-2.08344915e-04,-9.71079924e-05,
  4.78210840e-06,-4.44347597e-04,-3.61198472e-04,-4.35072018e-05,
  1.36236045e-04,-3.08287415e-04,-2.88175999e-04,-1.14012361e-04,
  2.82910938e-02,-1.07507451e-03, 2.29900020e-02,-2.49354500e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44244051,  1.57143482, -4.15522205,  1.57143482, 26.64163737,
        8.39536143, -4.15522205,  8.39536143,  7.61742445,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026792771745484667
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03593521e-13, -2.07187042e-13,  1.00000000e+00,  2.14632352e-26,
        1.00000000e+00,  2.07187042e-13, -1.00000000e+00,  0.00000000e+00,
        1.03593521e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0833101 , -0.05694423,  0.06199172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.55351174e-05, 2.81663260e-05,-2.79330410e-05, 3.24755523e-05,
 -4.40180431e-06, 2.20479058e-05,-4.16981223e-05, 2.26369004e-05,
  6.55325138e-05, 2.16510820e-05,-5.31400929e-06,-1.01245907e-05,
 -1.71673034e-04,-5.92136783e-05,-1.15995595e-04, 1.18733981e-05,
  2.57402273e-06,-2.78747859e-06,-1.21644481e+00,-1.78507535e-03,
 -3.01774230e-04, 8.95932346e-07]


--- Step 713 ---
qpos:
[ 2.89772822e-03,-5.63102770e-03,-1.02036080e-02, 2.80626002e-03,
 -4.48205147e-03,-5.14553972e-03,-1.77618347e-02, 5.16139289e-03,
 -4.75674107e-03,-3.93357685e-03,-7.77891451e-03,-1.91320103e-02,
  1.07508314e+00, 1.86250631e-02, 1.06852133e+00, 2.59803222e-02,
  9.49657809e-02,-6.99978960e-02, 1.30739399e-01, 9.98718611e-01,
  7.06844829e-05,-2.34989374e-04,-5.06070777e-02]

qacc:
[ -8.64311014,  2.90642874,-10.8669021 , 17.18704622,  2.60486375,
   3.23659681,-10.01034917,  9.19201588, -2.45958418,  0.60086434,
  -3.09649728,  7.21688366, -0.53909626,  0.10546261, -3.2957577 ,
   9.15293009,  0.9128543 , -0.79607544, -0.04875449,  9.50546871,
  15.39846426, -0.33815869]

qfrc_actuator:
[-7.22718629e-05,-3.19352585e-04,-2.33562452e-04,-7.98472670e-05,
  2.05283893e-05,-4.09532761e-04,-4.08588413e-04,-4.92938378e-05,
  1.19903443e-04,-3.15847488e-04,-2.92155338e-04,-1.02364315e-04,
  2.82213115e-02,-1.10098553e-03, 2.29541695e-02,-2.46106112e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43415345,  1.46455517, -4.18530704,  1.46455517, 35.23305956,
       10.77739259, -4.18530704, 10.77739259,  8.20546243,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026497509806197583
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04747864e-13,  2.09495729e-13,  1.00000000e+00, -2.19442302e-26,
        1.00000000e+00, -2.09495729e-13, -1.00000000e+00,  0.00000000e+00,
        1.04747864e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08331087, -0.056943  ,  0.06199181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.06934136e-05, 4.32779971e-05,-2.17273108e-05, 1.81329824e-05,
  1.56285305e-05, 3.94992621e-05,-4.71853963e-05,-5.84478225e-06,
 -1.44529642e-05, 3.04473998e-06,-5.05767972e-07, 1.21935939e-05,
 -1.81736574e-04,-7.88946478e-05,-9.71101335e-05, 1.61616983e-05,
  1.18009135e-06,-4.54787752e-06,-1.21644750e+00,-1.78504807e-03,
 -3.02769730e-04, 6.43885938e-07]


--- Step 714 ---
qpos:
[ 2.89649581e-03,-5.63005506e-03,-1.02033494e-02, 2.80582560e-03,
 -4.48180938e-03,-5.14458150e-03,-1.77633845e-02, 5.16186330e-03,
 -4.75490565e-03,-3.93327018e-03,-7.77928423e-03,-1.91318387e-02,
  1.07572177e+00, 1.86262107e-02, 1.06919746e+00, 2.59795421e-02,
  9.49870225e-02,-7.00024175e-02, 1.30739776e-01, 9.98715201e-01,
  8.71541925e-05,-7.23348121e-05,-5.06747944e-02]

qacc:
[-5.1967909 ,-0.32888543, 2.08644099,-4.83501664,-1.39100385,-0.0398951 ,
  1.07036897,-3.19645172, 1.21228623,-1.30974757, 4.19924542,-3.2462945 ,
 -0.8740417 , 0.77369245,-2.53254827, 6.73375252, 0.91499447,-0.78725799,
 -0.11127807, 9.49176871,15.22222815,-0.37666056]

qfrc_actuator:
[-1.01408262e-04,-3.18545327e-04,-2.30665168e-04,-8.73270522e-05,
  1.18810355e-05,-3.89257843e-04,-4.00284343e-04,-5.29274255e-05,
  1.27345440e-04,-3.02770608e-04,-2.58656968e-04,-9.55447353e-05,
  2.81617955e-02,-1.09904231e-03, 2.29136781e-02,-2.44144848e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002609656851318143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.12714370e-13, -2.12714370e-13,  1.00000000e+00,  4.52474031e-26,
        1.00000000e+00,  2.12714370e-13, -1.00000000e+00,  0.00000000e+00,
        2.12714370e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08331116, -0.05694172,  0.06199194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.05728005e-05, 2.12506785e-05, 9.77966709e-06,-6.02370550e-06,
 -8.18340895e-06, 3.23632566e-05, 1.04561301e-05,-3.68787734e-06,
  7.02994892e-06, 1.51963686e-05, 3.44958457e-05, 7.17197039e-06,
 -1.81370724e-04,-5.83017737e-05,-9.35556179e-05, 5.73751504e-06,
 -4.86528114e-07,-6.12213518e-06,-1.21645219e+00,-1.78531292e-03,
 -3.04228267e-04, 5.92795578e-07]


--- Step 715 ---
qpos:
[ 2.89526831e-03,-5.62916029e-03,-1.02029619e-02, 2.80567732e-03,
 -4.48167212e-03,-5.14418648e-03,-1.77639259e-02, 5.16266937e-03,
 -4.75299561e-03,-3.93277549e-03,-7.77902218e-03,-1.91319655e-02,
  1.07635923e+00, 1.86272888e-02, 1.06987231e+00, 2.59789906e-02,
  9.50049951e-02,-6.99998508e-02, 1.30739731e-01, 9.98711733e-01,
  5.76982444e-05, 5.73249978e-05,-5.07431490e-02]

qacc:
[  0.04850614,  0.12582157, -1.80593445,  6.60932798, -0.87299738,
  -2.86861979,  7.73517677, -3.12906555,  0.66971955, -2.13344239,
   9.22125759,-15.52363705, -0.74291331,  0.6139139 , -2.52745058,
   6.2385314 , -0.81725875,  1.77204722, -0.10542823,-22.09734578,
 -17.63984685, -0.31694576]

qfrc_actuator:
[-1.00288031e-04,-3.36294051e-04,-2.29082918e-04,-7.38026411e-05,
  6.69130447e-06,-4.48633914e-04,-3.59208023e-04,-3.74787320e-05,
  1.30994564e-04,-2.77285686e-04,-2.20979756e-04,-1.09336522e-04,
  2.81138170e-02,-1.09830868e-03, 2.28544488e-02,-2.42957043e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42616548,  2.25673289, -3.80763674,  2.25673289, 18.06923545,
        8.08605623, -3.80763674,  8.08605623,  9.21865761,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002620879121258135
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.61886106e-15, -2.11803554e-13,  1.00000000e+00,  1.40189830e-27,
        1.00000000e+00,  2.11803554e-13, -1.00000000e+00,  0.00000000e+00,
        6.61886106e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10609298, -0.0944077 ,  0.0619919 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.50419989e-07,-4.14736643e-06, 6.95697571e-06, 1.46558345e-05,
 -5.41329582e-06,-3.92976142e-05, 4.89275313e-05, 1.71259803e-05,
  3.85412486e-06, 4.14157756e-05, 4.53145973e-05,-1.18080243e-05,
 -1.64715263e-04,-5.45412651e-05,-1.12231481e-04,-2.21148883e-06,
 -2.42713501e-06,-7.52041776e-06,-1.21645881e+00,-1.78587161e-03,
 -3.06141850e-04, 7.36981721e-07]


--- Step 716 ---
qpos:
[ 2.89440839e-03,-5.62839217e-03,-1.02025248e-02, 2.80604972e-03,
 -4.48090833e-03,-5.14444557e-03,-1.77637963e-02, 5.16334492e-03,
 -4.75105676e-03,-3.93178061e-03,-7.77870689e-03,-1.91322570e-02,
  1.07699571e+00, 1.86280351e-02, 1.07054566e+00, 2.59785750e-02,
  9.50196681e-02,-6.99903387e-02, 1.30738789e-01, 9.98708190e-01,
 -1.74358746e-05, 1.54988647e-04,-5.08126603e-02]

qacc:
[ 3.21926525e+00, 7.59914297e-01,-5.16100013e+00, 1.41974309e+01,
  5.49623219e+00,-3.01796722e+00, 1.00397997e+01,-1.28722141e+01,
  2.45273497e-01, 1.72445398e-01, 1.03753243e+00,-4.33775366e+00,
 -3.99135693e-01,-4.84853859e-03,-2.61244588e+00, 5.96640204e+00,
 -8.24903125e-01, 1.73636384e+00,-2.24145484e-01,-2.19978343e+01,
 -1.71364290e+01,-5.79826391e-01]

qfrc_actuator:
[-8.13752088e-05,-3.47254478e-04,-2.28365969e-04,-4.80477434e-05,
  3.90907271e-05,-5.01832270e-04,-3.34950770e-04,-4.64859706e-05,
  1.32375251e-04,-2.44552793e-04,-2.16609936e-04,-1.17381847e-04,
  2.80674697e-02,-1.11601061e-03, 2.27840342e-02,-2.42236007e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4312541 , -1.94411282,  3.98201435, -1.94411282, 11.88484724,
        3.63901903,  3.98201435,  3.63901903,  6.20790857,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026393189326801014
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.64315447e-13, -6.30971315e-13,  1.00000000e+00,  1.03678333e-25,
        1.00000000e+00,  6.30971315e-13, -1.00000000e+00,  0.00000000e+00,
        1.64315447e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10608929, -0.09440906,  0.06199184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.89144441e-05,-1.12472953e-05, 1.21092660e-06, 2.61008851e-05,
  3.22278429e-05,-6.43454058e-05, 2.27604974e-05,-8.66565093e-06,
  1.50568511e-06, 6.47328102e-05, 1.80897106e-05,-4.93495142e-06,
 -1.53216104e-04,-6.79702826e-05,-1.31688368e-04,-9.45469758e-06,
  1.48685311e-06,-6.05942877e-06,-1.21645209e+00,-1.78486086e-03,
 -3.09460662e-04,-1.25918898e-06]


--- Step 717 ---
qpos:
[ 2.89412678e-03,-5.62780435e-03,-1.02022937e-02, 2.80640755e-03,
 -4.47976243e-03,-5.14495474e-03,-1.77634895e-02, 5.16389007e-03,
 -4.74946097e-03,-3.93058112e-03,-7.77848403e-03,-1.91325942e-02,
  1.07763088e+00, 1.86289264e-02, 1.07121771e+00, 2.59768540e-02,
  9.50310194e-02,-6.99739961e-02, 1.30736552e-01, 9.98704550e-01,
 -1.38037720e-04, 2.21459187e-04,-5.08837357e-02]

qacc:
[  5.05511442,  0.29795682, -1.36368494,  1.59226504,  3.34209614,
  -1.10055922,  3.98399019, -6.32853362, -3.00975727,  0.44072382,
  -0.97638853,  0.17328789, -1.12891435,  1.27162742,  2.13599614,
 -10.00360037, -0.83041003,  1.70762029, -0.32388533,-21.91187288,
 -16.7315537 , -0.78737178]

qfrc_actuator:
[-5.21514624e-05,-3.71814619e-04,-2.45893087e-04,-5.08087999e-05,
  5.78489376e-05,-4.97749928e-04,-3.20850832e-04,-5.20822130e-05,
  1.14658203e-04,-2.61116381e-04,-2.31898742e-04,-1.21993592e-04,
  2.79954985e-02,-1.10897865e-03, 2.27229516e-02,-2.48895967e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43058649, -1.86669212,  4.01815346, -1.86669212, 15.56558632,
        5.17292749,  4.01815346,  5.17292749,  6.83374583,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026369092204787947
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.10515974e-13,  2.10515974e-13,  1.00000000e+00, -4.43169752e-26,
        1.00000000e+00, -2.10515974e-13, -1.00000000e+00,  0.00000000e+00,
        2.10515974e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10608667, -0.09441082,  0.06199185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.97563441e-05,-2.95056216e-05,-1.88128056e-05,-2.69718848e-06,
  1.96590573e-05,-2.75517223e-05, 3.31218622e-06,-7.73669071e-06,
 -1.76485575e-05, 2.31272248e-05, 1.25795823e-07,-1.31169716e-06,
 -1.75924462e-04,-4.35517220e-05,-1.30785134e-04,-8.58743639e-05,
  4.90731068e-06,-3.78957429e-06,-1.21645046e+00,-1.78318653e-03,
 -3.12300548e-04,-2.40522202e-06]


--- Step 718 ---
qpos:
[ 2.89385288e-03,-5.62748961e-03,-1.02019113e-02, 2.80602650e-03,
 -4.47874504e-03,-5.14581841e-03,-1.77632465e-02, 5.16439407e-03,
 -4.74843436e-03,-3.92958081e-03,-7.77851274e-03,-1.91329197e-02,
  1.07826482e+00, 1.86296637e-02, 1.07188845e+00, 2.59755733e-02,
  9.50401260e-02,-6.99635048e-02, 1.30735668e-01, 9.98701049e-01,
 -2.14894757e-04, 2.79962128e-04,-5.09518375e-02]

qacc:
[  0.07647393, -2.30610768, 10.81746492,-23.64595531, -1.11670686,
  -0.37250099,  0.82595635, -1.17944503, -4.98761341,  0.47372844,
  -2.10289821,  2.83422946, -0.7124685 ,  0.48618942, -3.22199078,
   8.58472376, -0.56116098, -1.46284577,  0.33834063, 22.04646108,
  -2.86591008,  1.49274016]

qfrc_actuator:
[-5.26041840e-05,-3.86677652e-04,-2.38625464e-04,-8.81050919e-05,
  5.06636145e-05,-5.30452064e-04,-3.30372604e-04,-5.55797857e-05,
  8.58428564e-05,-3.07162366e-04,-2.58858339e-04,-1.24598397e-04,
  2.79295198e-02,-1.12295553e-03, 2.26888074e-02,-2.45643736e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45071877, -0.59725782,  4.41046264, -0.59725782, 23.95209906,
        2.64084584,  4.41046264,  2.64084584,  4.80833791,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002708352696446231
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10076987, -0.04669815,  0.06199163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.86173545e-07,-3.53776449e-05,-1.24886873e-06,-3.92678012e-05,
 -6.63119395e-06,-4.77356925e-05,-1.50718711e-05,-4.71557413e-06,
 -2.93072479e-05,-3.31899463e-05,-2.22262505e-05,-1.63693283e-06,
 -1.77060610e-04,-6.40074142e-05,-1.12945286e-04, 8.89731136e-06,
  7.91070401e-06,-6.79323795e-07,-1.21645371e+00,-1.78083712e-03,
 -3.14699448e-04,-2.73704010e-06]


--- Step 719 ---
qpos:
[ 2.89392084e-03,-5.62747814e-03,-1.02011569e-02, 2.80518993e-03,
 -4.47747687e-03,-5.14665109e-03,-1.77635649e-02, 5.16483745e-03,
 -4.74776144e-03,-3.92852612e-03,-7.77868641e-03,-1.91333133e-02,
  1.07889764e+00, 1.86301950e-02, 1.07255758e+00, 2.59743661e-02,
  9.50471088e-02,-6.99587821e-02, 1.30735506e-01, 9.98697680e-01,
 -2.48755954e-04, 3.29974705e-04,-5.10173775e-02]

qacc:
[  3.00679415, -2.38429195,  9.83229844,-18.07619312,  2.16897256,
   1.48009423, -4.96979566,  4.80401616, -3.1019178 ,  0.34278851,
  -0.82004903, -0.17826033, -0.60478511,  0.32803676, -2.56067816,
   5.60862439, -0.53098755, -1.44213165,  0.18045368, 21.68595046,
  -3.14460271,  1.28769901]

qfrc_actuator:
[-3.50182553e-05,-3.95557520e-04,-2.16756098e-04,-1.09887111e-04,
  6.37751990e-05,-5.14009917e-04,-3.53897190e-04,-5.78552451e-05,
  6.84845233e-05,-2.81812674e-04,-2.57119045e-04,-1.26038100e-04,
  2.78778285e-02,-1.13154427e-03, 2.26069647e-02,-2.45442842e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46537782, -0.90354376, -4.373009  , -0.90354376, 11.7709131 ,
       -1.50945741, -4.373009  , -1.50945741,  4.77725937,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027588533392693126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.02421908e-13,  1.00605477e-13,  1.00000000e+00, -4.04858480e-26,
        1.00000000e+00, -1.00605477e-13, -1.00000000e+00,  0.00000000e+00,
        4.02421908e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10077312, -0.04670029,  0.06199148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.75849929e-05,-3.06175921e-05, 1.30421685e-05,-2.41060012e-05,
  1.29056385e-05,-1.35413439e-05,-3.53977079e-05,-4.93352627e-06,
 -1.82027979e-05, 2.08713727e-06,-7.91833699e-06,-3.66196530e-06,
 -1.67575248e-04,-6.41090900e-05,-1.42168359e-04,-1.41130832e-05,
  4.65004667e-06,-1.51581179e-06,-1.21644642e+00,-1.77950821e-03,
 -3.14002070e-04,-2.18168104e-06]


--- Step 720 ---
qpos:
[ 2.89419897e-03,-5.62766571e-03,-1.02001844e-02, 2.80409570e-03,
 -4.47606186e-03,-5.14705632e-03,-1.77641494e-02, 5.16552293e-03,
 -4.74833706e-03,-3.92718178e-03,-7.77843258e-03,-1.91337924e-02,
  1.07952917e+00, 1.86313465e-02, 1.07322479e+00, 2.59722216e-02,
  9.50520642e-02,-6.99597588e-02, 1.30735535e-01, 9.98694432e-01,
 -2.40238824e-04, 3.71093753e-04,-5.10806800e-02]

qacc:
[  1.84854577, -1.40695994,  5.71623228,-10.37104039,  1.2652612 ,
   1.80417211, -6.6400488 , 10.94705987,-10.92214211, -0.96699853,
   4.39976386, -6.81310706, -1.40658487,  2.00514167,  0.1524897 ,
  -4.28814628, -0.50682756, -1.42486978,  0.04778379, 21.38807679,
  -3.36025586,  1.12630161]

qfrc_actuator:
[-2.46989906e-05,-4.00708067e-04,-2.04159360e-04,-1.22348390e-04,
  7.09844178e-05,-4.50572248e-04,-3.49795132e-04,-4.16088559e-05,
  4.75467039e-06,-2.31552092e-04,-2.20413758e-04,-1.26703596e-04,
  2.78347452e-02,-1.08352848e-03, 2.25019026e-02,-2.50604219e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47193046, -0.97639521, -4.36403648, -0.97639521, 16.10661119,
       -2.60310532, -4.36403648, -2.60310532,  5.05434071,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002781035190383696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99212145e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.99212145e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10077585, -0.04670137,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08110210e-05,-2.06123162e-05, 7.03687879e-06,-1.37916079e-05,
  7.57608570e-06, 4.83802627e-05,-3.21417015e-06, 1.43462414e-05,
 -6.42453794e-05, 4.95958934e-05, 3.60264302e-05,-9.21574156e-07,
 -1.54256209e-04,-5.00459362e-06,-1.79778442e-04,-7.24092498e-05,
  1.80341052e-06,-1.69075625e-06,-1.21644219e+00,-1.77884543e-03,
 -3.13362969e-04,-1.71855736e-06]


--- Step 721 ---
qpos:
[ 2.89390866e-03,-5.62759265e-03,-1.01995531e-02, 2.80283993e-03,
 -4.47491602e-03,-5.14728012e-03,-1.77646488e-02, 5.16674919e-03,
 -4.74967211e-03,-3.92557767e-03,-7.77773757e-03,-1.91342741e-02,
  1.08015969e+00, 1.86327228e-02, 1.07389059e+00, 2.59686488e-02,
  9.50550696e-02,-6.99663780e-02, 1.30735310e-01, 9.98691292e-01,
 -1.89849210e-04, 4.03008422e-04,-5.11420000e-02]

qacc:
[ -4.98741271,  0.97499246, -2.27785208, -0.18230137, -2.3477271 ,
   1.11980287, -5.91998906, 15.00173893, -6.63925938, -0.88210868,
   3.67541569, -4.63749524, -0.96763887,  1.19223373,  2.32057075,
 -10.93356211, -0.48750456, -1.4105999 , -0.0635437 , 21.14363603,
  -3.52700222,  0.99932073]

qfrc_actuator:
[-5.42500554e-05,-3.68098676e-04,-2.14873802e-04,-1.29232869e-04,
  5.69032008e-05,-4.48109293e-04,-3.46940403e-04,-1.45278530e-05,
 -3.25038766e-05,-2.19859909e-04,-1.98748616e-04,-1.26859915e-04,
  2.77915549e-02,-1.07330438e-03, 2.24575553e-02,-2.57109551e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47176425, -1.06759382, -4.3424554 , -1.06759382, 21.72837536,
       -4.24254247, -4.3424554 , -4.24254247,  5.51479445,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002780475459189663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99646255e-13,  2.99469382e-13,  1.00000000e+00, -5.97879407e-26,
        1.00000000e+00, -2.99469382e-13, -1.00000000e+00,  0.00000000e+00,
        1.99646255e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10077818, -0.04670159,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.92491587e-05, 2.19462936e-05,-1.45900067e-05,-7.79239341e-06,
 -1.38476219e-05, 2.94903680e-05, 1.29578523e-05, 2.93222218e-05,
 -3.90728766e-05, 4.67526657e-05, 3.62984345e-05, 3.19623224e-06,
 -1.33803825e-04,-2.50659854e-05,-1.41445687e-04,-9.35970805e-05,
 -6.76322238e-07,-1.24078548e-06,-1.21644091e+00,-1.77884026e-03,
 -3.12745623e-04,-1.35895308e-06]


--- Step 722 ---
qpos:
[ 2.89361126e-03,-5.62703621e-03,-1.01995038e-02, 2.80184426e-03,
 -4.47394752e-03,-5.14768274e-03,-1.77649189e-02, 5.16832722e-03,
 -4.75075374e-03,-3.92391642e-03,-7.77723037e-03,-1.91343382e-02,
  1.08078930e+00, 1.86337545e-02, 1.07455521e+00, 2.59638548e-02,
  9.50561866e-02,-6.99785928e-02, 1.30734457e-01, 9.98688246e-01,
 -9.79978081e-05, 4.25478860e-04,-5.12015385e-02]

qacc:
[ -0.08849646,  2.80131066,-10.15889725, 15.23525137, -1.53606815,
  -0.14978817, -1.28849148,  7.13557813,  2.21196793,  1.45629957,
  -6.84945249, 14.33413478, -0.4504489 ,  0.09019937,  1.9863503 ,
  -9.40354649, -0.47207742, -1.39892164, -0.15682645, 20.9449121 ,
  -3.65590391,  0.89946823]

qfrc_actuator:
[-5.37708804e-05,-3.30966013e-04,-2.39102933e-04,-1.15011686e-04,
  4.81576481e-05,-4.82156125e-04,-3.45078860e-04, 9.05775031e-07,
 -1.83640600e-05,-2.49147367e-04,-2.21797511e-04,-1.09006904e-04,
  2.77323453e-02,-1.10336059e-03, 2.24230323e-02,-2.62559406e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46625539, -1.18123773, -4.30721658, -1.18123773, 28.90783178,
       -6.7030092 , -4.30721658, -6.7030092 ,  6.30453012,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027618378432059387
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00993521e-13, -1.00496760e-13,  1.00000000e+00,  2.01991977e-26,
        1.00000000e+00,  1.00496760e-13, -1.00000000e+00,  0.00000000e+00,
        2.00993521e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10078018, -0.04670115,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.48873659e-07, 4.60410065e-05,-2.17666706e-05, 1.45074803e-05,
 -9.13396812e-06,-1.36168679e-05, 1.05699911e-05, 1.77157387e-05,
  1.30444319e-05, 4.40745249e-06,-8.83686156e-06, 2.11706335e-05,
 -1.42550101e-04,-6.56112702e-05,-1.17942556e-04,-7.96716478e-05,
 -2.82437709e-06,-1.92112472e-07,-1.21644248e+00,-1.77948552e-03,
 -3.12122966e-04,-1.11012573e-06]


--- Step 723 ---
qpos:
[ 2.89366665e-03,-5.62623221e-03,-1.01996890e-02, 2.80103276e-03,
 -4.47309141e-03,-5.14838561e-03,-1.77647776e-02, 5.17008164e-03,
 -4.75131245e-03,-3.92259698e-03,-7.77706076e-03,-1.91341247e-02,
  1.08141772e+00, 1.86348145e-02, 1.07521777e+00, 2.59601657e-02,
  9.50554645e-02,-6.99963656e-02, 1.30732665e-01, 9.98685273e-01,
  3.49860112e-05, 4.38319590e-04,-5.12594532e-02]

qacc:
[ 3.07450551, 1.35629179,-5.14897082, 8.54054942,-0.96223422,-1.18078828,
  2.89347326,-0.2818471 , 4.5734059 , 1.05500514,-5.60208391,11.20997791,
 -0.72424323, 0.63794376,-6.32875382,17.86942879,-0.45979269,-1.38948685,
 -0.23487596,20.78541702,-3.75561189, 0.82098523]

qfrc_actuator:
[-3.56075176e-05,-3.26951658e-04,-2.53310984e-04,-1.06236778e-04,
  4.26293079e-05,-5.02315878e-04,-3.26238876e-04, 9.32368252e-06,
  8.15306313e-06,-3.02923886e-04,-2.53469669e-04,-9.85199531e-05,
  2.76635510e-02,-1.10384765e-03, 2.23251979e-02,-2.56687976e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.456672  ,  -1.3219516 ,  -4.25609789,  -1.3219516 ,
        37.90683324, -10.38967974,  -4.25609789, -10.38967974,
         7.68372506,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00027290107657595986
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.52558443e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.52558443e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10078194, -0.04670018,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.81681144e-05, 2.58684192e-05,-6.88155364e-06, 1.02777149e-05,
 -5.79609502e-06,-2.48208979e-05, 1.79473563e-05, 8.54345016e-06,
  2.68964090e-05,-5.22952605e-05,-3.11445645e-05, 1.07767075e-05,
 -1.66107694e-04,-4.80890093e-05,-1.69818224e-04, 3.71243634e-05,
 -4.66691656e-06, 1.43725944e-06,-1.21644684e+00,-1.78077520e-03,
 -3.11474951e-04,-9.76631354e-07]


--- Step 724 ---
qpos:
[ 2.89359456e-03,-5.62544017e-03,-1.01999299e-02, 2.80035410e-03,
 -4.47299796e-03,-5.14954495e-03,-1.77640189e-02, 5.17192925e-03,
 -4.75120389e-03,-3.92164309e-03,-7.77694399e-03,-1.91341482e-02,
  1.08204486e+00, 1.86359264e-02, 1.07587834e+00, 2.59568367e-02,
  9.50514368e-02,-7.00071223e-02, 1.30731340e-01, 9.98682241e-01,
  1.19751429e-04, 4.17421167e-04,-5.13185515e-02]

qacc:
[ -1.1165432 ,  0.41535324, -2.06080538,  4.4533164 , -6.62410564,
  -2.1229674 ,  6.3238778 , -5.38773054,  5.84629353, -0.8353729 ,
   3.25723731, -6.9830696 , -0.86144904,  0.82483472, -3.97273996,
   9.78797125, -0.82642017,  1.75403858,  0.11674827,-23.21251799,
 -18.08322962, -0.60253189]

qfrc_actuator:
[-4.26959679e-05,-3.42765805e-04,-2.61620915e-04,-1.00757731e-04,
  3.53204087e-06,-5.31703067e-04,-2.97485568e-04, 1.35668302e-05,
  4.17257055e-05,-3.17759860e-04,-2.54585626e-04,-1.10232462e-04,
  2.75943901e-02,-1.10458083e-03, 2.22321043e-02,-2.54859110e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47548892,  0.37974854, -4.45934884,  0.37974854, 34.43994477,
        2.55170852, -4.45934884,  2.55170852,  4.69278692,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027929828989545213
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42853148e-13, -1.98752206e-13,  1.00000000e+00, -2.83923783e-26,
        1.00000000e+00,  1.98752206e-13, -1.00000000e+00,  0.00000000e+00,
       -1.42853148e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10605939, -0.0944113 ,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.56249821e-06,-2.34851663e-06,-3.46480772e-06, 6.54899782e-06,
 -3.92731621e-05,-3.91759116e-05, 2.61360614e-05, 3.96464897e-06,
  3.43276663e-05,-5.00929992e-05,-1.53997049e-05,-1.48248330e-05,
 -1.75924888e-04,-4.94818606e-05,-1.73114127e-04,-2.80218202e-06,
 -6.22315078e-06, 3.63594928e-06,-1.21645393e+00,-1.78270440e-03,
 -3.10786731e-04,-9.61254530e-07]


--- Step 725 ---
qpos:
[ 2.89343828e-03,-5.62480346e-03,-1.01999113e-02, 2.79974332e-03,
 -4.47337410e-03,-5.15089030e-03,-1.77629894e-02, 5.17380253e-03,
 -4.75034874e-03,-3.92082966e-03,-7.77696065e-03,-1.91343357e-02,
  1.08267072e+00, 1.86370662e-02, 1.07653755e+00, 2.59548858e-02,
  9.50440765e-02,-7.00109870e-02, 1.30729858e-01, 9.98679137e-01,
  1.57009469e-04, 3.63909093e-04,-5.13792233e-02]

qacc:
[ -0.72563353, -0.78941596,  2.23277159, -1.36140303, -4.08380053,
  -0.94158792,  2.90631447, -2.77371143,  6.53438752, -0.16311738,
   0.98119472, -3.47548846, -0.82888213,  0.75292291, -6.11745796,
  18.64856928, -0.83312128,  1.72298963, -0.03947926,-22.88521232,
 -17.50442141, -0.7954679 ]

qfrc_actuator:
[-4.68437152e-05,-3.52563935e-04,-2.48724533e-04,-9.72785384e-05,
 -1.95061121e-05,-5.30845131e-04,-2.80907477e-04, 1.53177560e-05,
  7.91781363e-05,-3.09071037e-04,-2.55270197e-04,-1.17108259e-04,
  2.75303847e-02,-1.10549661e-03, 2.22111593e-02,-2.46549175e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49019229, -0.24725066,  4.48337974, -0.24725066, 10.92453912,
        0.35484313,  4.48337974,  0.35484313,  4.50976128,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028416388893014177
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03779193e-13, -1.95349069e-13,  1.00000000e+00,  2.02731688e-26,
        1.00000000e+00,  1.95349069e-13, -1.00000000e+00,  0.00000000e+00,
        1.03779193e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1060551 , -0.09440992,  0.06199122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.33839644e-06,-1.15729165e-05, 1.22065278e-05, 3.38671004e-06,
 -2.41788695e-05,-1.54653840e-05, 1.18453974e-05, 1.05247289e-06,
  3.84196075e-05,-2.31620223e-05,-1.34542584e-05,-9.84623998e-06,
 -1.76730497e-04,-5.22520897e-05,-1.07072357e-04, 5.93306291e-05,
 -3.51838380e-06, 3.06583709e-06,-1.21644627e+00,-1.78359315e-03,
 -3.11676573e-04,-1.82091193e-06]


--- Step 726 ---
qpos:
[ 2.89426808e-03,-5.62426893e-03,-1.01997219e-02, 2.79883297e-03,
 -4.47333455e-03,-5.15176848e-03,-1.77623361e-02, 5.17564243e-03,
 -4.74905107e-03,-3.92000754e-03,-7.77736327e-03,-1.91346063e-02,
  1.08329546e+00, 1.86378985e-02, 1.07719608e+00, 2.59514831e-02,
  9.50333642e-02,-7.00080622e-02, 1.30727690e-01, 9.98675946e-01,
  1.47351874e-04, 2.78685741e-04,-5.14417677e-02]

qacc:
[  8.63235252, -1.24611597,  5.48241108,-10.83313636,  3.60556275,
   1.59248222, -4.65399743,  4.34824363,  3.86191889,  0.91169166,
  -2.89613488,  2.08258857, -0.697264  ,  0.3957349 ,  3.4558959 ,
 -13.40112059, -0.83800243,  1.69737207, -0.17108371,-22.61183508,
 -17.04007147, -0.94337831]

qfrc_actuator:
[ 4.03856169e-06,-3.58604303e-04,-2.41149874e-04,-1.12740071e-04,
  2.60847427e-06,-4.76422728e-04,-2.89287578e-04, 1.56035937e-05,
  1.00859580e-04,-3.04098842e-04,-2.73346857e-04,-1.21060399e-04,
  2.74748461e-02,-1.12427136e-03, 2.21855857e-02,-2.53994719e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49617417, -0.15784348,  4.49340268, -0.15784348, 15.2788879 ,
        0.37877333,  4.49340268,  0.37877333,  4.50947966,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002861115746959908
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03072723e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.03072723e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10605204, -0.09440961,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.07516902e-05,-9.86843398e-06, 6.79894182e-06,-1.54689756e-05,
  2.14155424e-05, 4.82901752e-05,-1.00783214e-05, 5.11551817e-08,
  2.27739726e-05,-1.11931619e-05,-2.48679141e-05,-5.60405891e-06,
 -1.67983509e-04,-7.16526047e-05,-7.75696091e-05,-8.70033151e-05,
 -1.36655816e-06, 3.49222732e-06,-1.21644395e+00,-1.78376879e-03,
 -3.12065629e-04,-1.75341302e-06]


--- Step 727 ---
qpos:
[ 2.89535644e-03,-5.62391124e-03,-1.01996951e-02, 2.79812291e-03,
 -4.47303043e-03,-5.15222239e-03,-1.77620833e-02, 5.17713273e-03,
 -4.74750333e-03,-3.91905420e-03,-7.77809284e-03,-1.91345969e-02,
  1.08391950e+00, 1.86373597e-02, 1.07785352e+00, 2.59462256e-02,
  9.50192855e-02,-6.99984319e-02, 1.30724396e-01, 9.98672646e-01,
  9.12672648e-05, 1.62471297e-04,-5.15064122e-02]

qacc:
[  2.25966561,  0.62870807, -3.43382943,  7.29835785,  2.28745059,
   0.95494053, -1.12358404, -4.58992144,  2.17693285,  1.65970888,
  -6.85234534, 12.12481443,  0.44626583, -1.82956566,  3.91362015,
 -16.2445621 , -0.84162028,  1.67634931, -0.28186148,-22.38535204,
 -16.66931245, -1.05563692]

qfrc_actuator:
[ 1.58917249e-05,-3.80133656e-04,-2.54535913e-04,-1.03720481e-04,
  1.56119951e-05,-4.61450950e-04,-3.12103839e-04,-2.69346586e-06,
  1.13083860e-04,-2.83696954e-04,-2.83800222e-04,-1.05520974e-04,
  2.74297446e-02,-1.20669517e-03, 2.21252675e-02,-2.63564610e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49496215, -0.04686534,  4.49471783, -0.04686534, 20.93255023,
        0.17139076,  4.49471783,  0.17139076,  4.4967492 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028571839380756026
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.46430038e-14, -3.88572472e-13,  1.00000000e+00,  2.12327670e-26,
        1.00000000e+00,  3.88572472e-13, -1.00000000e+00,  0.00000000e+00,
        5.46430038e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10604997, -0.09441015,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.32989400e-05,-2.63106773e-05,-1.51315943e-05, 8.52908937e-06,
  1.36346869e-05, 3.99234770e-05,-1.40841455e-05,-1.65803531e-05,
  1.28741008e-05, 8.75403993e-06,-1.60258125e-05, 1.40895393e-05,
 -1.57230525e-04,-1.37921008e-04,-1.17004508e-04,-1.13063419e-04,
  3.22704961e-07, 4.89959040e-06,-1.21644669e+00,-1.78323167e-03,
 -3.11992969e-04,-8.15840825e-07]


--- Step 728 ---
qpos:
[ 2.89519930e-03,-5.62385174e-03,-1.01995085e-02, 2.79786531e-03,
 -4.47257225e-03,-5.15283681e-03,-1.77612893e-02, 5.17805706e-03,
 -4.74651055e-03,-3.91826617e-03,-7.77828630e-03,-1.91344238e-02,
  1.08454253e+00, 1.86361037e-02, 1.07850920e+00, 2.59408826e-02,
  9.50018292e-02,-6.99821649e-02, 1.30719601e-01, 9.98669210e-01,
 -1.08450677e-05, 1.58367314e-05,-5.15733272e-02]

qacc:
[-10.88417404,  0.11274706, -2.8467832 , 10.6013188 ,  1.36292665,
  -2.89157436, 12.38769115,-22.92682164, -4.83884777, -1.37029428,
   3.89397251, -1.81322546, -0.11806436, -0.68003115, -2.35477816,
   4.42845622, -0.84439223,  1.65921571, -0.37505107,-22.19970807,
 -16.37532596, -1.13959229]

qfrc_actuator:
[-4.85973803e-05,-3.93088234e-04,-2.44728105e-04,-8.03922473e-05,
  2.31337164e-05,-4.88046140e-04,-2.90149226e-04,-3.18106901e-05,
  8.41440274e-05,-2.89668520e-04,-2.54078985e-04,-9.63689993e-05,
  2.73802559e-02,-1.23735866e-03, 2.20441649e-02,-2.63659171e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48806252,  0.08836414,  4.48719255,  0.08836414, 28.16066465,
       -0.46617324,  4.48719255, -0.46617324,  4.49724265,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028346606663408325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.50771790e-14, -1.95829970e-13,  1.00000000e+00,  1.07857623e-26,
        1.00000000e+00,  1.95829970e-13, -1.00000000e+00,  0.00000000e+00,
        5.50771790e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10604867, -0.09441136,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.41189532e-05,-3.04381602e-05, 2.79987843e-06, 2.18432706e-05,
  7.92777154e-06,-7.87471835e-06, 2.78903994e-05,-2.82202741e-05,
 -2.85667966e-05,-3.79960077e-06, 3.00414517e-05, 9.24596944e-06,
 -1.72042096e-04,-9.92076957e-05,-1.56060026e-04,-2.42120905e-05,
  1.61646357e-06, 7.27112167e-06,-1.21645426e+00,-1.78198319e-03,
 -3.11487375e-04, 9.49302043e-07]


--- Step 729 ---
qpos:
[ 2.89496031e-03,-5.62408300e-03,-1.01989149e-02, 2.79787080e-03,
 -4.47237242e-03,-5.15329940e-03,-1.77603195e-02, 5.17826509e-03,
 -4.74656204e-03,-3.91756356e-03,-7.77812180e-03,-1.91341406e-02,
  1.08516421e+00, 1.86352322e-02, 1.07916302e+00, 2.59342287e-02,
  9.49812723e-02,-6.99653011e-02, 1.30716731e-01, 9.98665722e-01,
 -1.16380455e-04,-1.50738571e-04,-5.16404813e-02]

qacc:
[ -0.69808646, -0.97914594,  1.8255093 ,  2.28769168, -2.25066005,
  -1.76056705,  9.60038975,-22.39921164, -9.12970726, -0.86887038,
   2.50027963, -1.13752557, -1.31524311,  1.67309121,  1.34080664,
  -8.37737015, -0.77514912,  0.14917869,  0.48134795, -1.19504328,
 -10.0453677 , -0.1208877 ]

qfrc_actuator:
[-5.09754286e-05,-4.00705876e-04,-2.21261199e-04,-6.65637397e-05,
  9.61840564e-06,-4.68155914e-04,-2.77618764e-04,-6.70638059e-05,
  3.12107294e-05,-2.93467481e-04,-2.36490521e-04,-9.10453130e-05,
  2.73281879e-02,-1.20156618e-03, 2.19453646e-02,-2.70598110e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4770565 , -0.42042073,  4.45727286, -0.42042073, 26.33744161,
        2.06192426,  4.45727286,  2.06192426,  4.67154218,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002798224512276423
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.29905804e-14,  1.57661834e-07,  1.00000000e+00, -1.46610655e-20,
        1.00000000e+00, -1.57661834e-07, -1.00000000e+00,  0.00000000e+00,
        9.29905804e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10342109, -0.07052572,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.22263920e-06,-2.31501159e-05, 1.82808387e-05, 1.30490928e-05,
 -1.32907465e-05, 2.00520390e-05, 1.33586086e-05,-3.51773916e-05,
 -5.37496540e-05, 6.43659719e-07, 2.08183881e-05, 6.38005128e-06,
 -1.74053962e-04,-2.67528245e-05,-1.79883643e-04,-9.22616370e-05,
  2.56466640e-06, 1.05895916e-05,-1.21646651e+00,-1.78002524e-03,
 -3.10569862e-04, 3.51083744e-06]


--- Step 730 ---
qpos:
[ 2.89538379e-03,-5.62440946e-03,-1.01983827e-02, 2.79804919e-03,
 -4.47233609e-03,-5.15346034e-03,-1.77598809e-02, 5.17876943e-03,
 -4.74759275e-03,-3.91682409e-03,-7.77805000e-03,-1.91337801e-02,
  1.08578455e+00, 1.86349971e-02, 1.07981481e+00, 2.59273993e-02,
  9.49622116e-02,-6.99534031e-02, 1.30716142e-01, 9.98662234e-01,
 -1.89504516e-04,-2.98694757e-04,-5.17070270e-02]

qacc:
[ 5.79450802, 0.39101755,-2.32614316, 5.50810159,-1.44747722, 2.49525338,
 -9.56518146,15.31688975,-8.57630236, 0.48387504,-1.95118403, 3.37724119,
 -1.39596577, 1.9669021 ,-2.33367813, 4.14713656, 0.37406859,-1.24144076,
  0.5699683 ,15.70333664,10.1339697 , 0.30239578]

qfrc_actuator:
[-1.67522873e-05,-4.05009499e-04,-2.25415475e-04,-5.84266800e-05,
  1.58429932e-06,-4.56127842e-04,-3.06099121e-04,-5.23638491e-05,
 -1.76547160e-05,-2.95976655e-04,-2.43970659e-04,-8.80304573e-05,
  2.72746399e-02,-1.16222005e-03, 2.18626477e-02,-2.70866132e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49692228, -2.8731811 ,  3.45935547, -2.8731811 , 18.33908569,
       11.4966625 ,  3.45935547, 11.4966625 , 14.0455199 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028635389303080126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.24337738e-07,  1.93855060e-13,  1.00000000e+00, -6.28745119e-20,
        1.00000000e+00, -1.93855060e-13, -1.00000000e+00,  0.00000000e+00,
        3.24337738e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08965991, -0.05159313,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.40932175e-05,-1.29133536e-05,-6.23667227e-06, 8.03111826e-06,
 -8.40718561e-06, 2.44933835e-05,-2.39162922e-05, 1.53356514e-05,
 -5.03987807e-05, 2.37696474e-06,-4.57106568e-06, 3.88659082e-06,
 -1.60149040e-04,-5.88367106e-06,-1.82081287e-04,-3.23243018e-05,
  2.22585928e-06, 1.18664504e-05,-1.21647217e+00,-1.77826729e-03,
 -3.08031861e-04, 4.65176804e-06]


--- Step 731 ---
qpos:
[ 2.89586920e-03,-5.62479310e-03,-1.01978998e-02, 2.79797276e-03,
 -4.47205128e-03,-5.15375263e-03,-1.77596332e-02, 5.17982379e-03,
 -4.74920144e-03,-3.91623576e-03,-7.77797787e-03,-1.91333681e-02,
  1.08640381e+00, 1.86349404e-02, 1.08046498e+00, 2.59214191e-02,
  9.49468846e-02,-6.99450491e-02, 1.30717437e-01, 9.98658734e-01,
 -2.42032064e-04,-4.14536776e-04,-5.17735759e-02]

qacc:
[ 5.41002809e-01,-4.63851166e-01, 2.61800411e+00,-6.90527283e+00,
  2.16368740e+00, 1.48775252e+00,-7.88613308e+00, 1.78160374e+01,
 -5.05751332e+00,-8.48113353e-02,-1.87205855e-01, 1.16920511e+00,
 -8.00848865e-01, 8.87270425e-01,-4.89162037e+00, 1.38173305e+01,
  9.33411043e-01,-8.86017171e-01, 4.71273152e-01, 9.45421409e+00,
  1.65680942e+01,-1.90858391e-03]

qfrc_actuator:
[-1.45379063e-05,-4.07403970e-04,-2.28083966e-04,-7.14721762e-05,
  1.46000365e-05,-4.84532877e-04,-3.23044046e-04,-2.61707579e-05,
 -4.59741759e-05,-3.15552696e-04,-2.48431835e-04,-8.64121347e-05,
  2.72255766e-02,-1.15665294e-03, 2.18216177e-02,-2.65417452e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51550391, -1.30302448, -4.32341333, -1.30302448, 12.6974537 ,
       -2.46594069, -4.32341333, -2.46594069,  5.25870861,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029228531509033207
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.49605546e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.49605546e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08334887, -0.05691334,  0.06199097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.18468153e-06,-1.05440164e-05,-5.83075125e-06,-1.36606454e-05,
  1.27836045e-05,-1.89946469e-05,-1.43054030e-05, 2.67119391e-05,
 -2.97553386e-05,-1.90738064e-05,-4.40805327e-06, 1.63692030e-06,
 -1.42808993e-04,-3.14158456e-05,-1.34243218e-04, 2.80106737e-05,
  1.75075903e-06, 9.61903926e-06,-1.21646291e+00,-1.77757719e-03,
 -3.04741541e-04, 3.48341774e-06]


--- Step 732 ---
qpos:
[ 2.89637769e-03,-5.62521168e-03,-1.01974519e-02, 2.79739145e-03,
 -4.47161298e-03,-5.15376343e-03,-1.77602807e-02, 5.18048936e-03,
 -4.75010260e-03,-3.91596595e-03,-7.77784840e-03,-1.91332672e-02,
  1.08702189e+00, 1.86352811e-02, 1.08111382e+00, 2.59173404e-02,
  9.49352790e-02,-6.99401320e-02, 1.30720016e-01, 9.98655222e-01,
 -2.73990630e-04,-4.99121121e-04,-5.18403619e-02]

qacc:
[  0.20110863, -0.98869189,  5.58860896,-14.24379022,  1.30554183,
   2.06964286, -5.20352596, -0.29501942,  6.20131713, -1.23429744,
   5.08005638,-10.29376418, -0.99379843,  1.27479225, -7.62572   ,
  24.06100789,  0.93035072, -0.85921213,  0.32078521,  9.46148561,
  16.14036547, -0.11913103]

qfrc_actuator:
[-1.34405997e-05,-4.08652885e-04,-2.29848681e-04,-9.68686403e-05,
  2.21464613e-05,-4.65874916e-04,-3.68700821e-04,-4.67119298e-05,
 -8.71769245e-06,-3.45195601e-04,-2.51137590e-04,-1.03389445e-04,
  2.71685776e-02,-1.13564432e-03, 2.17896582e-02,-2.54858938e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52467686,  2.81092216, -3.54561945,  2.81092216, 11.59670464,
        5.60661397, -3.54561945,  5.60661397,  8.96952935,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029515346123150377
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.76151111e-13,  1.88075556e-13,  1.00000000e+00, -7.07448293e-26,
        1.00000000e+00, -1.88075556e-13, -1.00000000e+00,  0.00000000e+00,
        3.76151111e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08335132, -0.05691198,  0.06199088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18618850e-06,-8.92686205e-06,-5.13518550e-06,-2.63161650e-05,
  7.90572565e-06, 6.23582184e-06,-5.04202674e-05,-2.13329381e-05,
  3.64022413e-05,-4.11877715e-05,-7.14067708e-06,-1.79162615e-05,
 -1.46085819e-04,-1.85533434e-05,-9.81421291e-05, 8.82141246e-05,
  1.61752131e-06, 7.38130690e-06,-1.21645393e+00,-1.77731708e-03,
 -3.02359371e-04, 2.76808551e-06]


--- Step 733 ---
qpos:
[ 2.89689531e-03,-5.62545126e-03,-1.01974387e-02, 2.79685584e-03,
 -4.47108747e-03,-5.15367394e-03,-1.77611858e-02, 5.18088276e-03,
 -4.75020570e-03,-3.91577124e-03,-7.77811074e-03,-1.91337157e-02,
  1.08763845e+00, 1.86370022e-02, 1.08176130e+00, 2.59152026e-02,
  9.49273827e-02,-6.99385654e-02, 1.30723373e-01, 9.98651700e-01,
 -2.85414705e-04,-5.53142238e-04,-5.19075683e-02]

qacc:
[  0.06317098,  1.54588182, -5.36171493,  6.71637234,  0.75076469,
   0.2904369 ,  0.30300157, -4.67234623,  6.97561957, -0.14925931,
   2.6803305 ,-11.47323686, -1.9914031 ,  3.26058794, -7.69669273,
  24.49982915,  0.92731773, -0.83761202,  0.19458633,  9.46112746,
  15.79337664, -0.21116079]

qfrc_actuator:
[-1.29994614e-05,-3.91461204e-04,-2.48818344e-04,-9.38184399e-05,
  2.64069104e-05,-4.54844710e-04,-3.77546166e-04,-5.90695846e-05,
  3.13247831e-05,-3.45145516e-04,-2.70599870e-04,-1.31182157e-04,
  2.71068658e-02,-1.05240331e-03, 2.17312181e-02,-2.44924243e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52564049,  2.74305802, -3.59959088,  2.74305802, 15.83064148,
        8.61494396, -3.59959088,  8.61494396, 11.09063411,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002954525370842398
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.87885174e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.87885174e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08335289, -0.05691055,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.74208318e-07, 1.00215089e-05,-2.23563443e-05, 1.97889880e-06,
  4.49217822e-06, 3.19830481e-06,-1.45008473e-05,-1.42509138e-05,
  4.10696586e-05,-2.52256818e-05,-2.94759552e-05,-3.01552889e-05,
 -1.48721273e-04, 4.55889763e-05,-1.03086946e-04, 8.95631422e-05,
  1.20568189e-06, 5.40983347e-06,-1.21644736e+00,-1.77732908e-03,
 -3.00473814e-04, 2.27074309e-06]


--- Step 734 ---
qpos:
[ 2.89775927e-03,-5.62578865e-03,-1.01973073e-02, 2.79670327e-03,
 -4.47085947e-03,-5.15398437e-03,-1.77614600e-02, 5.18147266e-03,
 -4.75051766e-03,-3.91547776e-03,-7.77906497e-03,-1.91334593e-02,
  1.08825384e+00, 1.86394516e-02, 1.08240730e+00, 2.59139437e-02,
  9.49231844e-02,-6.99402798e-02, 1.30727086e-01, 9.98648164e-01,
 -2.76340355e-04,-5.77161060e-04,-5.19753384e-02]

qacc:
[  3.03515631,  0.32297771, -2.9662174 ,  9.48906272, -2.56811181,
  -1.88110632,  5.12011363, -2.44425168, -1.85147957,  3.52019363,
 -15.32443996, 28.53500648, -1.30671604,  1.95040056, -4.69780502,
  13.61419526,  0.92449695, -0.82027191,  0.08899039,  9.4565625 ,
  15.51300964, -0.28322829]

qfrc_actuator:
[ 4.80533015e-06,-3.98910401e-04,-2.42191866e-04,-7.40488580e-05,
  1.09480080e-05,-4.83827811e-04,-3.46831489e-04,-4.87256025e-05,
  1.94074068e-05,-3.27395666e-04,-2.99689850e-04,-9.40909171e-05,
  2.70477241e-02,-1.02172807e-03, 2.16569418e-02,-2.40769628e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52003871,  2.6503495 , -3.66147476,  2.6503495 , 21.67679307,
       12.41887444, -3.66147476, 12.41887444, 13.50941042,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029370805251871523
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.89001121e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.89001121e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08335377, -0.05690906,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.78235101e-05,-6.36999532e-06, 6.01453848e-06, 1.94654583e-05,
 -1.53278323e-05,-3.07922679e-05, 2.91042897e-05, 9.70257265e-06,
 -1.07506722e-05,-3.72465986e-06,-3.89738034e-05, 3.44034081e-05,
 -1.32507575e-04, 7.95055346e-06,-1.21400794e-04, 3.11322790e-05,
  5.19131153e-07, 3.67297401e-06,-1.21644302e+00,-1.77762037e-03,
 -2.99068553e-04, 1.98152682e-06]


--- Step 735 ---
qpos:
[ 2.89848490e-03,-5.62597342e-03,-1.01974757e-02, 2.79678542e-03,
 -4.47081867e-03,-5.15437993e-03,-1.77617322e-02, 5.18218495e-03,
 -4.75096941e-03,-3.91554378e-03,-7.77962833e-03,-1.91331225e-02,
  1.08886822e+00, 1.86420706e-02, 1.08305187e+00, 2.59131520e-02,
  9.49226741e-02,-6.99452199e-02, 1.30730802e-01, 9.98644610e-01,
 -2.46801418e-04,-5.71628131e-04,-5.20437837e-02]

qacc:
[-1.22193631e+00, 1.52579764e+00,-6.13426674e+00, 1.05593267e+01,
 -1.63097179e+00, 1.36898248e-01,-1.16251033e+00, 3.33399843e+00,
 -1.20549667e+00,-1.39982879e+00, 3.96617318e+00,-2.93902857e+00,
 -7.68843285e-01, 8.63279960e-01,-3.48126974e+00, 9.24957119e+00,
  9.22010727e-01,-8.06425124e-01, 8.48928009e-04, 9.45028269e+00,
  1.52878160e+01,-3.39445376e-01]

qfrc_actuator:
[-2.81782116e-06,-3.85433648e-04,-2.56092192e-04,-6.23559064e-05,
  1.75998205e-06,-4.83100927e-04,-3.46424127e-04,-4.28730765e-05,
  1.25070719e-05,-3.52427671e-04,-2.80841737e-04,-9.01142497e-05,
  2.69901490e-02,-1.02249229e-03, 2.15945248e-02,-2.38279238e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50941117,  2.52880871, -3.73361963,  2.52880871, 29.74092562,
       17.08949489, -3.73361963, 17.08949489, 16.08425484,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029035868352243754
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.82362604e-13, -1.91181302e-13,  1.00000000e+00,  7.31005806e-26,
        1.00000000e+00,  1.91181302e-13, -1.00000000e+00,  0.00000000e+00,
        3.82362604e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08335411, -0.05690752,  0.06199103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.11604284e-06, 1.20055196e-05,-1.38005439e-05, 1.20068969e-05,
 -9.63974716e-06,-1.00569974e-05,-2.02548532e-06, 5.72990248e-06,
 -7.20849298e-06,-3.36960300e-05, 1.44762828e-05, 3.13984268e-06,
 -1.31338399e-04,-2.85221354e-05,-1.23160606e-04, 9.16028264e-06,
 -4.39079192e-07, 2.14704878e-06,-1.21644083e+00,-1.77819614e-03,
 -2.98130780e-04, 1.89265464e-06]


--- Step 736 ---
qpos:
[ 2.89876864e-03,-5.62572271e-03,-1.01985175e-02, 2.79701051e-03,
 -4.47054375e-03,-5.15465943e-03,-1.77620894e-02, 5.18294186e-03,
 -4.75115571e-03,-3.91574911e-03,-7.78003058e-03,-1.91327531e-02,
  1.08948169e+00, 1.86444757e-02, 1.08369491e+00, 2.59113264e-02,
  9.49258436e-02,-6.99533419e-02, 1.30734229e-01, 9.98641031e-01,
 -1.96826892e-04,-5.36902371e-04,-5.21129905e-02]

qacc:
[ -3.89999188,  3.31826015,-11.58648805, 15.12215626,  2.03716532,
   0.47881996, -1.68012351,  2.51085509,  2.3314653 , -0.57198611,
   1.62695754, -1.21012159, -0.52186743,  0.27623996,  0.92311638,
  -6.39454302,  0.91993523, -0.79544872, -0.07253056,  9.44407206,
  15.10849123, -0.38304329]

qfrc_actuator:
[-2.53515918e-05,-3.59612623e-04,-2.99690309e-04,-5.55138284e-05,
  1.40957953e-05,-4.64702857e-04,-3.46072063e-04,-3.97199013e-05,
  2.63840870e-05,-3.49452129e-04,-2.69542056e-04,-8.79112134e-05,
  2.69335397e-02,-1.04185283e-03, 2.15126450e-02,-2.43882423e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028576939957873637
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08335402, -0.05690596,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.27321726e-05, 3.02020767e-05,-4.23991855e-05, 7.11338228e-06,
  1.20558074e-05, 1.26140138e-05,-1.76977646e-06, 2.76401456e-06,
  1.36579712e-05,-1.27383751e-05, 6.23800156e-06, 1.32284799e-06,
 -1.38433035e-04,-5.56489570e-05,-1.45521111e-04,-7.31549891e-05,
 -1.66683361e-06, 8.14515083e-07,-1.21644068e+00,-1.77906012e-03,
 -2.97650479e-04, 1.99813390e-06]


--- Step 737 ---
qpos:
[ 2.89912525e-03,-5.62561321e-03,-1.01992975e-02, 2.79696612e-03,
 -4.47012327e-03,-5.15470633e-03,-1.77627704e-02, 5.18338665e-03,
 -4.75082984e-03,-3.91549729e-03,-7.78088529e-03,-1.91317044e-02,
  1.09009413e+00, 1.86469413e-02, 1.08433653e+00, 2.59074481e-02,
  9.49326863e-02,-6.99646111e-02, 1.30737121e-01, 9.98637418e-01,
 -1.26439213e-04,-4.73266342e-04,-5.21830243e-02]

qacc:
[  0.64785189, -1.47416302,  6.12069783,-11.09657082,  1.25528094,
   0.56656322, -0.26098065, -4.78941942,  4.46237335,  3.25993611,
 -13.62411211, 25.77343498, -0.90633775,  0.97147717,  4.18931042,
 -17.5123211 ,  0.91831308, -0.78683585, -0.13345196,  9.43918057,
  14.96745758, -0.41656006]

qfrc_actuator:
[-2.09675851e-05,-3.79986843e-04,-2.89403282e-04,-6.93370155e-05,
  2.12468464e-05,-4.53621854e-04,-3.63419533e-04,-5.59101710e-05,
  5.23781760e-05,-2.94243198e-04,-2.80450646e-04,-5.12513920e-05,
  2.68828645e-02,-1.03655016e-03, 2.14457754e-02,-2.54210328e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028024267365171773
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.98082435e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.98082435e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08335361, -0.05690437,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.74646617e-06,-1.19444861e-05, 1.15585243e-05,-1.38556846e-05,
  7.50100946e-06, 1.79044217e-05,-1.48591470e-05,-1.56580406e-05,
  2.63783695e-05, 4.94462583e-05,-1.27200197e-05, 3.63558045e-05,
 -1.43499839e-04,-3.89389403e-05,-1.49029921e-04,-1.27648931e-04,
 -3.16300560e-06,-3.37368113e-07,-1.21644252e+00,-1.78021504e-03,
 -2.97619876e-04, 2.29350188e-06]


--- Step 738 ---
qpos:
[ 2.89918660e-03,-5.62582852e-03,-1.01993065e-02, 2.79709000e-03,
 -4.46996505e-03,-5.15459627e-03,-1.77636485e-02, 5.18363509e-03,
 -4.74916003e-03,-3.91495885e-03,-7.78152240e-03,-1.91309406e-02,
  1.09070549e+00, 1.86494817e-02, 1.08497664e+00, 2.59052190e-02,
  9.49431976e-02,-6.99790011e-02, 1.30739278e-01, 9.98633757e-01,
 -3.56531845e-05,-3.80938690e-04,-5.22539348e-02]

qacc:
[ -2.55278614, -2.23292996,  6.63711381, -4.72854134, -2.29622097,
   0.3583654 , -0.1402471 , -3.06654329, 11.76766894, -0.83948766,
   4.70366476,-10.14639356, -0.66208006,  0.61733577, -7.16745637,
  21.9743806 ,  0.91716306, -0.78017363, -0.18388665,  9.43645896,
  14.85853268, -0.44198817]

qfrc_actuator:
[-3.62761774e-05,-3.92170453e-04,-2.47570750e-04,-5.96988522e-05,
  7.52930888e-06,-4.47094049e-04,-3.73361425e-04,-6.56149806e-05,
  1.20794869e-04,-2.79245486e-04,-2.68629810e-04,-6.55879305e-05,
  2.68304678e-02,-1.03439111e-03, 2.14199131e-02,-2.44151410e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027402806102889976
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03862044e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.03862044e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08335295, -0.05690278,  0.06199153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52051117e-05,-1.70637250e-05, 4.03169899e-05, 9.25803743e-06,
 -1.34950091e-05, 1.28111705e-05,-8.60886958e-06,-9.75635919e-06,
  6.91863508e-05, 4.15862866e-05, 2.17288350e-05,-1.19532560e-05,
 -1.44306188e-04,-3.91192779e-05,-1.16000738e-04, 7.26777100e-05,
 -4.92747881e-06,-1.31752377e-06,-1.21644630e+00,-1.78166287e-03,
 -2.98032996e-04, 2.77560016e-06]


--- Step 739 ---
qpos:
[ 2.89906383e-03,-5.62593959e-03,-1.01995328e-02, 2.79768684e-03,
 -4.47031722e-03,-5.15453315e-03,-1.77640104e-02, 5.18374177e-03,
 -4.74702741e-03,-3.91464308e-03,-7.78176632e-03,-1.91303007e-02,
  1.09131596e+00, 1.86512991e-02, 1.08561531e+00, 2.59038352e-02,
  9.49573749e-02,-6.99964916e-02, 1.30740533e-01, 9.98630032e-01,
  7.55246136e-05,-2.60084293e-04,-5.23257584e-02]

qacc:
[-1.61892093e+00, 1.72238486e+00,-7.93225040e+00, 1.63824787e+01,
 -4.43437557e+00,-1.78696022e+00, 6.89544059e+00,-1.01567682e+01,
  4.06793908e+00,-1.65657752e+00, 5.98705658e+00,-8.57731608e+00,
  1.45231584e-02,-8.31485721e-01,-4.72228755e+00, 1.33525750e+01,
  9.16487405e-01,-7.75125382e-01,-2.25520768e-01, 9.43646273e+00,
  1.47766644e+01,-4.60890718e-01]

qfrc_actuator:
[-4.53087248e-05,-3.81446973e-04,-2.58435554e-04,-3.63138317e-05,
 -1.83597725e-05,-4.43315567e-04,-3.43351776e-04,-7.14194244e-05,
  1.42617972e-04,-3.23892108e-04,-2.61413019e-04,-7.43243544e-05,
  2.67664269e-02,-1.08741465e-03, 2.13548040e-02,-2.39901107e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026733038500027784
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.07649988e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.07649988e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0833521 , -0.05690119,  0.06199174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.47443316e-06, 9.90799962e-06,-9.10016791e-06, 2.42300435e-05,
 -2.62707156e-05, 8.74729304e-06, 3.12666260e-05,-5.74164150e-06,
  2.38141645e-05,-1.74000721e-05, 1.80671304e-05,-6.44045445e-06,
 -1.55149735e-04,-9.51666712e-05,-1.18488762e-04, 2.98246082e-05,
 -6.96114703e-06,-2.13178627e-06,-1.21645199e+00,-1.78340506e-03,
 -2.98885321e-04, 3.44238172e-06]


--- Step 740 ---
qpos:
[ 2.89952315e-03,-5.62561798e-03,-1.02000286e-02, 2.79817506e-03,
 -4.47063239e-03,-5.15429018e-03,-1.77640908e-02, 5.18376459e-03,
 -4.74533911e-03,-3.91425327e-03,-7.78229451e-03,-1.91294156e-02,
  1.09192542e+00, 1.86525108e-02, 1.08625256e+00, 2.59019539e-02,
  9.49752173e-02,-7.00170677e-02, 1.30740748e-01, 9.98626226e-01,
  2.07096087e-04,-1.10822565e-04,-5.23985204e-02]

qacc:
[ 5.07570248, 1.09144558,-2.62058242, 0.87193788, 0.32842188,-0.72224469,
  3.27318902,-5.30622029,-3.89995526, 1.40541165,-5.88893398,10.5146844 ,
 -0.25918449,-0.39723509,-0.59501288,-0.96694739, 0.91627729,-0.7714163 ,
 -0.25979536, 9.43953185,14.71771824,-0.47449305]

qfrc_actuator:
[-1.50634032e-05,-3.39525741e-04,-2.64733548e-04,-4.05579702e-05,
 -1.56934841e-05,-4.23292930e-04,-3.25510871e-04,-7.48597090e-05,
  1.19075835e-04,-3.15167512e-04,-2.74973923e-04,-6.19952024e-05,
  2.67113996e-02,-1.11952197e-03, 2.12821725e-02,-2.42672087e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002603167293541986
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.13244655e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.13244655e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08335112, -0.05689962,  0.06199196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.99778106e-05, 4.66226887e-05,-4.53076371e-06,-3.66307180e-06,
  1.91522163e-06, 3.11186577e-05, 2.33049275e-05,-2.09370745e-06,
 -2.28677392e-05, 2.45545335e-06,-1.51534552e-05, 1.20815274e-05,
 -1.65568925e-04,-9.03802530e-05,-1.31655384e-04,-4.30446690e-05,
 -9.26590129e-06,-2.78344536e-06,-1.21645958e+00,-1.78544269e-03,
 -3.00173523e-04, 4.29274792e-06]


--- Step 741 ---
qpos:
[ 2.90068620e-03,-5.62493826e-03,-1.02003087e-02, 2.79823860e-03,
 -4.47056856e-03,-5.15375673e-03,-1.77642756e-02, 5.18375843e-03,
 -4.74463594e-03,-3.91354469e-03,-7.78281852e-03,-1.91287869e-02,
  1.09253371e+00, 1.86535819e-02, 1.08688866e+00, 2.58976817e-02,
  9.49898029e-02,-7.00303186e-02, 1.30741591e-01, 9.98622383e-01,
  2.91685878e-04, 4.07029355e-06,-5.24714390e-02]

qacc:
[  6.15605352, -1.01613966,  6.08151876,-14.01687121,  3.29705982,
   0.60938792, -1.5047654 ,  0.96879886, -8.63016276, -0.10182567,
   2.08423234, -6.79137667, -0.91164771,  0.78870055,  5.62468214,
 -21.94095094, -0.81422417,  1.83130512,  0.15686536,-22.55813625,
 -18.39173079, -0.07301541]

qfrc_actuator:
[ 2.03034427e-05,-3.14761246e-04,-2.50399699e-04,-6.09871956e-05,
  3.76278420e-06,-4.11484451e-04,-3.32695756e-04,-7.68826983e-05,
  6.90365560e-05,-2.74627851e-04,-2.64976001e-04,-7.28515861e-05,
  2.66564968e-02,-1.12115498e-03, 2.12263810e-02,-2.54881144e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43677844,  2.27297457, -3.8103267 ,  2.27297457, 21.24302825,
       10.02543388, -3.8103267 , 10.02543388, 10.41725152,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002659149962286472
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.50042835e-13, -2.08755249e-13,  1.00000000e+00, -3.13222294e-26,
        1.00000000e+00,  2.08755249e-13, -1.00000000e+00,  0.00000000e+00,
       -1.50042835e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10600234, -0.09444281,  0.06199178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.62396560e-05, 4.97452555e-05, 2.32785685e-05,-1.86617162e-05,
  1.95211766e-05, 3.39264314e-05, 2.03898199e-06, 7.55467963e-08,
 -5.06904629e-05, 3.92877467e-05, 9.05904171e-06,-1.10406724e-05,
 -1.70540790e-04,-6.09926496e-05,-1.28848052e-04,-1.43138130e-04,
 -1.18446105e-05,-3.27365301e-06,-1.21646904e+00,-1.78777658e-03,
 -3.01895249e-04, 5.32641218e-06]


--- Step 742 ---
qpos:
[ 2.90226451e-03,-5.62408696e-03,-1.02003302e-02, 2.79807775e-03,
 -4.47027184e-03,-5.15314772e-03,-1.77644287e-02, 5.18340135e-03,
 -4.74488300e-03,-3.91269252e-03,-7.78287319e-03,-1.91286490e-02,
  1.09314085e+00, 1.86545679e-02, 1.08752367e+00, 2.58915386e-02,
  9.50010976e-02,-7.00364308e-02, 1.30742416e-01, 9.98618492e-01,
  3.29730225e-04, 8.58625355e-05,-5.25451268e-02]

qacc:
[ 3.63740569e+00,-9.65383635e-01, 4.70594249e+00,-9.11582462e+00,
  2.03063991e+00,-7.15132325e-01, 4.16946151e+00,-1.03422584e+01,
 -8.30716804e+00,-2.11696979e+00, 9.91886897e+00,-1.92893971e+01,
 -8.81730710e-01, 7.99632655e-01, 4.12028516e+00,-1.65790923e+01,
 -8.22700247e-01, 1.78468732e+00,-4.68398898e-03,-2.23722341e+01,
 -1.77487739e+01,-3.80491298e-01]

qfrc_actuator:
[ 4.06360906e-05,-3.18141945e-04,-2.41816741e-04,-7.30153394e-05,
  1.51836160e-05,-4.22539661e-04,-3.36870106e-04,-9.58292691e-05,
  2.15701692e-05,-2.68531368e-04,-2.41017514e-04,-9.72156423e-05,
  2.66070466e-02,-1.12247883e-03, 2.11913715e-02,-2.63667508e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45393095, -1.90066161,  4.02802511, -1.90066161,  8.41607806,
        1.86957645,  4.02802511,  1.86957645,  5.33610821,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002719524851732269
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.74089671e-14,  2.04120772e-13,  1.00000000e+00, -1.17183627e-26,
        1.00000000e+00, -2.04120772e-13, -1.00000000e+00,  0.00000000e+00,
        5.74089671e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10599715, -0.09444281,  0.0619916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.13837497e-05, 2.84332145e-05, 2.10723304e-05,-9.45720041e-06,
  1.19921939e-05, 8.33022129e-06, 3.08199677e-06,-1.74225385e-05,
 -4.88982869e-05, 2.94278502e-05, 3.28060467e-05,-2.25826424e-05,
 -1.61161566e-04,-5.45752833e-05,-1.18900612e-04,-1.14334259e-04,
 -7.19507655e-06,-3.65383486e-06,-1.21645444e+00,-1.78845184e-03,
 -3.05174356e-04, 2.47688831e-06]


--- Step 743 ---
qpos:
[ 2.90407477e-03,-5.62337762e-03,-1.01998170e-02, 2.79814092e-03,
 -4.47018499e-03,-5.15265996e-03,-1.77648440e-02, 5.18355717e-03,
 -4.74500751e-03,-3.91185876e-03,-7.78253991e-03,-1.91287775e-02,
  1.09374705e+00, 1.86549711e-02, 1.08815649e+00, 2.58890721e-02,
  9.50090775e-02,-7.00355559e-02, 1.30742678e-01, 9.98614544e-01,
  3.21604995e-04, 1.35576405e-04,-5.26200631e-02]

qacc:
[ 2.04827740e+00,-1.22455856e+00, 3.14145688e+00,-7.46502014e-03,
 -1.83623204e+00, 1.63165608e+00,-8.20973566e+00, 1.75893896e+01,
  1.08536822e+00,-1.65980941e+00, 7.00112588e+00,-1.22091252e+01,
  1.28529594e-01,-9.17582951e-01,-1.44055646e+01, 4.56040036e+01,
 -8.28706964e-01, 1.74676152e+00,-1.40534249e-01,-2.22100527e+01,
 -1.72302246e+01,-6.21666762e-01]

qfrc_actuator:
[ 5.19551977e-05,-3.38366455e-04,-2.19060923e-04,-6.22806158e-05,
  4.02505371e-06,-4.47214353e-04,-3.57085126e-04,-7.13385544e-05,
  2.92645689e-05,-2.83053143e-04,-2.26902154e-04,-1.11594749e-04,
  2.65555804e-02,-1.15912171e-03, 2.11156105e-02,-2.43727655e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46267294, -1.83806278,  4.06656796, -1.83806278, 11.26154686,
        3.07304765,  4.06656796,  3.07304765,  5.85167088,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027496272815218104
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.09138082e-13, -2.01886094e-13,  1.00000000e+00,  6.24106799e-26,
        1.00000000e+00,  2.01886094e-13, -1.00000000e+00,  0.00000000e+00,
        3.09138082e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10599337, -0.09444352,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19371061e-05,-4.04903626e-07, 3.08854228e-05, 1.24954051e-05,
 -1.08112773e-05,-2.01417309e-05,-1.87227378e-05, 2.46144530e-05,
  6.31059562e-06, 7.69450239e-06, 2.34447117e-05,-1.24235885e-05,
 -1.56169147e-04,-8.62460779e-05,-1.52132805e-04, 1.75754179e-04,
 -3.19378661e-06,-3.20183771e-06,-1.21644529e+00,-1.78846397e-03,
 -3.07902934e-04, 5.65187975e-07]


--- Step 744 ---
qpos:
[ 2.90566200e-03,-5.62286402e-03,-1.01992086e-02, 2.79802485e-03,
 -4.47057726e-03,-5.15232439e-03,-1.77657900e-02, 5.18471915e-03,
 -4.74469414e-03,-3.91115603e-03,-7.78222468e-03,-1.91290340e-02,
  1.09435213e+00, 1.86552101e-02, 1.08878783e+00, 2.58879129e-02,
  9.50137256e-02,-7.00278170e-02, 1.30741921e-01, 9.98610520e-01,
  2.67629361e-04, 1.54033961e-04,-5.26966224e-02]

qacc:
[ -1.94472315, -0.89031107,  3.56225622, -6.67974744, -4.19183924,
   3.36099206,-16.50976868, 34.87039035,  3.83507724, -0.39382784,
   1.67930714, -3.75289978, -0.55000924,  0.27365323, -6.12609311,
  18.32329277, -0.83294162,  1.71601127, -0.25468495,-22.07096316,
 -16.81308621, -0.81043718]

qfrc_actuator:
[ 4.01307491e-05,-3.68452357e-04,-2.23686127e-04,-7.37520977e-05,
 -2.03315250e-05,-4.62141525e-04,-3.86643360e-04,-2.15089428e-05,
  5.16101044e-05,-3.09841296e-04,-2.36551660e-04,-1.20010928e-04,
  2.65029287e-02,-1.16316650e-03, 2.10528154e-02,-2.37211475e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46435238, -1.75475245,  4.1050318 , -1.75475245, 15.11835808,
        4.55420164,  4.1050318 ,  4.55420164,  6.41110868,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027553605128317893
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07028822e-13, -2.01466019e-13,  1.00000000e+00,  2.15626707e-26,
        1.00000000e+00,  2.01466019e-13, -1.00000000e+00,  0.00000000e+00,
        1.07028822e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1059907 , -0.09444483,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14879655e-05,-2.34307097e-05,-4.88928304e-07,-1.01806031e-05,
 -2.46738003e-05,-2.90198013e-05,-3.51738104e-05, 4.87977370e-05,
  2.25309570e-05,-1.82071208e-05,-5.61633127e-06,-7.51999406e-06,
 -1.61633672e-04,-6.03962214e-05,-1.18533508e-04, 5.42161549e-05,
  2.72717280e-07,-1.88508462e-06,-1.21644128e+00,-1.78780069e-03,
 -3.10134442e-04,-4.65601315e-07]


--- Step 745 ---
qpos:
[ 2.90675035e-03,-5.62248567e-03,-1.01988963e-02, 2.79710189e-03,
 -4.47091367e-03,-5.15215911e-03,-1.77670672e-02, 5.18611255e-03,
 -4.74411510e-03,-3.91079214e-03,-7.78189059e-03,-1.91297097e-02,
  1.09495602e+00, 1.86556195e-02, 1.08941850e+00, 2.58860507e-02,
  9.50150300e-02,-7.00133133e-02, 1.30739763e-01, 9.98606399e-01,
  1.68069748e-04, 1.41893885e-04,-5.27750959e-02]

qacc:
[ -4.37128111, -1.00441205,  6.74258714,-20.14983603,  0.47982921,
   1.17554077, -5.49691677, 10.15932626,  2.33212437, -1.36862513,
   5.98855208,-13.00843056, -1.05372135,  1.19999677,  1.24729706,
  -5.54256228, -0.83593214,  1.69119355, -0.35053611,-21.95396464,
 -16.47886777, -0.95771667]

qfrc_actuator:
[ 1.47823789e-05,-3.86591895e-04,-2.44514410e-04,-1.15986277e-04,
 -1.67484637e-05,-4.71140748e-04,-4.03681459e-04,-1.04322890e-05,
  6.46293597e-05,-3.43869293e-04,-2.42456618e-04,-1.42633875e-04,
  2.64549415e-02,-1.14783778e-03, 2.10404227e-02,-2.40434887e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46034571, -1.64788084,  4.14477654, -1.64788084, 20.32338756,
        6.30683043,  4.14477654,  6.30683043,  6.96781624,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002741656345691401
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.08800329e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.08800329e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10598891, -0.0944466 ,  0.06199153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.56866799e-05,-3.18137249e-05,-2.60946067e-05,-4.34552498e-05,
  2.86500636e-06,-3.04135378e-05,-2.56707675e-05, 9.56563302e-06,
  1.36593428e-05,-4.57110848e-05,-1.06293340e-05,-2.37459804e-05,
 -1.53687837e-04,-3.61077177e-05,-6.89169276e-05,-4.62482918e-05,
  3.28902984e-06, 3.15597779e-07,-1.21644218e+00,-1.78645385e-03,
 -3.11908870e-04,-6.58899477e-07]


--- Step 746 ---
qpos:
[ 2.90718142e-03,-5.62230295e-03,-1.01988324e-02, 2.79568499e-03,
 -4.47085978e-03,-5.15231726e-03,-1.77684876e-02, 5.18763476e-03,
 -4.74372913e-03,-3.91093146e-03,-7.78098763e-03,-1.91306679e-02,
  1.09555864e+00, 1.86564911e-02, 1.09004826e+00, 2.58831417e-02,
  9.50129821e-02,-6.99921244e-02, 1.30735880e-01, 9.98602155e-01,
  2.31438530e-05, 9.96811078e-05,-5.28557085e-02]

qacc:
[ -5.75402727, -0.57031208,  3.76272982,-11.790913  ,  3.40502838,
   0.23140236, -2.00059558,  4.70945497, -1.66401693, -2.83413252,
  10.33543635,-15.76407468, -1.36282899,  1.80095339,  1.96343006,
  -8.48297811, -0.83807547,  1.67128733, -0.43098388,-21.85782284,
 -16.21267226, -1.07207439]

qfrc_actuator:
[-1.83152815e-05,-3.97545808e-04,-2.56958625e-04,-1.40473468e-04,
  3.25505560e-06,-4.94256841e-04,-4.13194765e-04,-4.48250828e-06,
  5.42972591e-05,-3.64228341e-04,-2.10639284e-04,-1.55685880e-04,
  2.63938210e-02,-1.12115386e-03, 2.09943413e-02,-2.45802800e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4519446 , -1.5139401 ,  4.18662109, -1.5139401 , 27.31644241,
        8.26811869,  4.18662109,  8.26811869,  7.44181069,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027126233708235636
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.62195126e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.62195126e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10598782, -0.09444873,  0.06199162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.38414069e-05,-3.60238730e-05,-2.37395739e-05,-2.75976780e-05,
  2.00756750e-05,-4.50086811e-05,-1.86166214e-05, 3.94376898e-06,
 -9.95521139e-06,-4.91417620e-05, 2.02386971e-05,-1.58402020e-05,
 -1.56139715e-04,-1.72004792e-05,-9.41901720e-05,-6.76471320e-05,
  5.91836295e-06, 3.41012943e-06,-1.21644784e+00,-1.78441804e-03,
 -3.13256035e-04,-4.74723112e-08]


--- Step 747 ---
qpos:
[ 2.90721207e-03,-5.62217631e-03,-1.01990344e-02, 2.79431397e-03,
 -4.47091165e-03,-5.15246862e-03,-1.77701689e-02, 5.18918190e-03,
 -4.74312502e-03,-3.91145158e-03,-7.77977649e-03,-1.91310825e-02,
  1.09615992e+00, 1.86579882e-02, 1.09067673e+00, 2.58812478e-02,
  9.50075755e-02,-6.99643137e-02, 1.30730004e-01, 9.98597753e-01,
 -1.66975376e-04, 2.78106854e-05,-5.29386328e-02]

qacc:
[ -3.50989725,  0.77047424, -3.03647302,  4.2841171 , -0.9305987 ,
   0.79089097, -2.90934275,  3.75015517,  1.92632848, -0.24866888,
  -2.14166054, 11.33732366, -1.34719481,  1.86769278, -4.86252284,
  14.55003838, -0.83966775,  1.65545242, -0.49849829,-21.78117599,
 -16.00247608, -1.16023524]

qfrc_actuator:
[-3.79519414e-05,-3.86321237e-04,-2.64301659e-04,-1.36550027e-04,
 -2.75120545e-06,-4.72363926e-04,-4.18248635e-04,-1.59880909e-06,
  6.58120868e-05,-3.76086119e-04,-1.92251392e-04,-1.27458991e-04,
  2.63301979e-02,-1.08801690e-03, 2.09493960e-02,-2.39968060e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44029478, -1.34872636,  4.23050292, -1.34872636, 36.65639222,
       10.27081194,  4.23050292, 10.27081194,  7.71473168,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026716729767869984
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.49302325e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.49302325e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10598726, -0.09445116,  0.06199174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.06147315e-05,-1.50234932e-05,-1.86619304e-05, 1.02525841e-06,
 -5.44587582e-06,-6.92588179e-06,-1.64928521e-05, 3.87095192e-07,
  1.12135329e-05,-3.58414139e-05, 1.01765997e-05, 2.65151195e-05,
 -1.56014703e-04,-6.46912644e-06,-1.06027558e-04, 4.01852745e-05,
  8.20813297e-06, 7.40193898e-06,-1.21645811e+00,-1.78168964e-03,
 -3.14198051e-04, 1.34435986e-06]


--- Step 748 ---
qpos:
[ 2.90700676e-03,-5.62213344e-03,-1.01990706e-02, 2.79297352e-03,
 -4.47138000e-03,-5.15238781e-03,-1.77720470e-02, 5.19071727e-03,
 -4.74204286e-03,-3.91222898e-03,-7.77840193e-03,-1.91308165e-02,
  1.09676028e+00, 1.86590750e-02, 1.09130377e+00, 2.58810275e-02,
  9.49996259e-02,-6.99426257e-02, 1.30726682e-01, 9.98593519e-01,
 -3.12682083e-04,-5.09202265e-05,-5.30177653e-02]

qacc:
[-2.05736218,-0.50726265, 1.52592748,-1.20789847,-3.64233402, 0.83963117,
 -2.48677649, 2.41420128, 4.19511108, 0.5970244 ,-5.50466861,17.21682753,
 -0.18312553,-0.34381593,-7.18114734,22.05195576,-0.63575675,-1.53066153,
  0.63887849,22.35667681,-2.25018448, 1.89769646]

qfrc_actuator:
[-4.95059454e-05,-3.79603498e-04,-2.50714476e-04,-1.33675082e-04,
 -2.40233914e-05,-4.41419065e-04,-4.20451910e-04,-5.02409548e-07,
  9.01010814e-05,-3.82764250e-04,-1.81888023e-04,-9.29305742e-05,
  2.62757757e-02,-1.12236672e-03, 2.08945485e-02,-2.31126569e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46859299, -0.49893172,  4.44065203, -0.49893172, 26.06847325,
        2.42686556,  4.44065203,  2.42686556,  4.74126471,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002769766845440308
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.00209069e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.00209069e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10086801, -0.0467198 ,  0.06199144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.21476629e-05,-5.50072465e-06, 8.22550683e-06, 1.60950687e-06,
 -2.14300687e-05, 2.37018469e-05,-5.63385571e-06, 2.37300026e-07,
  2.45947020e-05,-2.34716062e-05, 5.12434315e-06, 3.38608778e-05,
 -1.44012124e-04,-7.13945670e-05,-1.08278511e-04, 7.49886533e-05,
  1.01941347e-05, 1.22897813e-05,-1.21647291e+00,-1.77826621e-03,
 -3.14751173e-04, 3.49900049e-06]


--- Step 749 ---
qpos:
[ 2.90666457e-03,-5.62248765e-03,-1.01985215e-02, 2.79168894e-03,
 -4.47175492e-03,-5.15203924e-03,-1.77739733e-02, 5.19189296e-03,
 -4.74102306e-03,-3.91291347e-03,-7.77731108e-03,-1.91304984e-02,
  1.09735990e+00, 1.86594427e-02, 1.09192939e+00, 2.58792307e-02,
  9.49893022e-02,-6.99269224e-02, 1.30725083e-01, 9.98589438e-01,
 -4.14836286e-04,-1.37352162e-04,-5.30937145e-02]

qacc:
[ -1.17210574, -2.0435195 ,  6.29299749, -5.97453922,  0.80851252,
  -0.2538627 ,  2.93428492, -9.27654615, -0.55634843,  1.02428072,
  -3.69113391,  4.97428229, -0.0572479 , -0.66858727,  2.6574439 ,
 -12.38524072, -0.59352689, -1.4961826 ,  0.43039423, 21.94987475,
  -2.69106134,  1.5911726 ]

qfrc_actuator:
[-5.62146450e-05,-4.11045004e-04,-2.24894566e-04,-1.31432281e-04,
 -1.85968401e-05,-4.23023781e-04,-4.20904469e-04,-1.82042846e-05,
  8.62021569e-05,-3.68553177e-04,-1.94070502e-04,-9.04809297e-05,
  2.62375365e-02,-1.16091781e-03, 2.08018628e-02,-2.40115387e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49720338,  0.08646488,  4.4963721 ,  0.08646488, 38.89274826,
       -0.66142362,  4.4963721 , -0.66142362,  4.5099225 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028644487286041964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.93793489e-13, -1.93793489e-13,  1.00000000e+00,  3.75559163e-26,
        1.00000000e+00,  1.93793489e-13, -1.00000000e+00,  0.00000000e+00,
        1.93793489e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10087261, -0.04672281,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.05805249e-06,-3.27512455e-05, 2.57561717e-05, 2.32659234e-06,
  4.82070886e-06, 3.05039008e-05, 3.77570810e-06,-1.68752394e-05,
 -3.20739869e-06, 3.61787573e-06,-1.52351717e-05, 2.27829740e-06,
 -1.36460429e-04,-8.86919909e-05,-1.42167434e-04,-1.01438376e-04,
  7.15162245e-06, 9.76346800e-06,-1.21646225e+00,-1.77611850e-03,
 -3.11500199e-04, 3.01891904e-06]


--- Step 750 ---
qpos:
[ 2.90658943e-03,-5.62318205e-03,-1.01976558e-02, 2.79079820e-03,
 -4.47137205e-03,-5.15190922e-03,-1.77751084e-02, 5.19250634e-03,
 -4.74005761e-03,-3.91363628e-03,-7.77631857e-03,-1.91304946e-02,
  1.09795876e+00, 1.86588203e-02, 1.09255332e+00, 2.58756926e-02,
  9.49783306e-02,-6.99173096e-02, 1.30724748e-01, 9.98585450e-01,
 -4.74113113e-04,-2.20134131e-04,-5.31679041e-02]

qacc:
[  2.35191714, -0.52758344, -0.44158108,  7.01037161,  6.63691424,
  -3.669526  , 15.01718935,-25.83119466, -0.47855819, -0.42229526,
   2.75865733, -8.01035706,  0.15182618, -1.14914004,  2.73668748,
 -13.29955646, -0.16196419, -1.52261944,  0.31624285, 21.31169235,
   2.9603093 ,  0.87883274]

qfrc_actuator:
[-4.22682327e-05,-4.29529974e-04,-2.09973501e-04,-1.11853651e-04,
  2.02582684e-05,-4.47791954e-04,-3.84871353e-04,-4.68325057e-05,
  8.34922908e-05,-3.77561107e-04,-2.01646112e-04,-1.06922302e-04,
  2.61877214e-02,-1.21926934e-03, 2.07184800e-02,-2.48892747e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51529701, -2.26132602, -3.9082364 , -2.26132602, 11.31890571,
       -3.93660358, -3.9082364 , -3.93660358,  6.79303643,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002922201745131857
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.08017192e-07,  2.08017761e-07,  1.00000000e+00,  4.32712705e-14,
        1.00000000e+00, -2.08017761e-07, -1.00000000e+00, -6.31088724e-30,
       -2.08017192e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09602135, -0.04642805,  0.06199097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37329301e-05,-3.13718188e-05, 1.14102713e-05, 1.91146780e-05,
  3.90044965e-05,-7.64475961e-06, 4.22304348e-05,-2.75183713e-05,
 -2.80066277e-06,-1.00205519e-05,-8.63022467e-06,-1.67704757e-05,
 -1.49145510e-04,-1.10356785e-04,-1.66874149e-04,-1.13232700e-04,
  4.58547034e-06, 8.03494690e-06,-1.21645498e+00,-1.77462301e-03,
 -3.08382315e-04, 2.51229184e-06]


--- Step 751 ---
qpos:
[ 2.90668196e-03,-5.62407981e-03,-1.01969606e-02, 2.79085608e-03,
 -4.47087106e-03,-5.15228511e-03,-1.77750752e-02, 5.19312823e-03,
 -4.73844222e-03,-3.91460251e-03,-7.77535390e-03,-1.91303206e-02,
  1.09855657e+00, 1.86575715e-02, 1.09317538e+00, 2.58720630e-02,
  9.49668418e-02,-6.99136765e-02, 1.30725068e-01, 9.98581540e-01,
 -4.91056398e-04,-2.99609467e-04,-5.32407406e-02]

qacc:
[  1.46527079,  2.1584249 ,-12.09489911, 28.9392945 ,  1.07529886,
  -3.91675192, 12.9569825 ,-14.30421795,  5.69367318,  0.09542336,
  -1.543207  ,  4.72926987, -0.2248918 , -0.47679889, -2.51211502,
   4.7366194 , -0.12930663, -1.49492672,  0.16346368, 21.04909379,
   2.77605918,  0.67378768]

qfrc_actuator:
[-3.40305627e-05,-4.40139085e-04,-2.19309642e-04,-6.44812262e-05,
  2.52108797e-05,-4.80326376e-04,-3.27766923e-04,-4.61647800e-05,
  1.17018077e-04,-4.00406391e-04,-2.06529471e-04,-9.88474219e-05,
  2.61256623e-02,-1.25343721e-03, 2.06460796e-02,-2.48587369e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52552674,  0.45453775, -4.50264231,  0.45453775, 12.91072092,
        0.84647793, -4.50264231,  0.84647793,  4.61097794,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000295417257307945
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.39538058e-14,  1.87907612e-13,  1.00000000e+00, -1.76546352e-26,
        1.00000000e+00, -1.87907612e-13, -1.00000000e+00,  0.00000000e+00,
        9.39538058e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09588327, -0.04641976,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.61946196e-06,-2.49543787e-05,-1.37498390e-05, 4.67961695e-05,
  6.06751908e-06,-2.92449267e-05, 5.97842240e-05, 1.26527801e-06,
  3.34420874e-05,-3.09327977e-05,-8.59825051e-06, 7.02032426e-06,
 -1.73973057e-04,-9.42773441e-05,-1.67295627e-04,-2.59393187e-05,
  2.61345248e-06, 6.41068022e-06,-1.21644910e+00,-1.77392523e-03,
 -3.05562989e-04, 1.75353659e-06]


--- Step 752 ---
qpos:
[ 2.90618270e-03,-5.62498071e-03,-1.01964652e-02, 2.79145739e-03,
 -4.47031466e-03,-5.15248127e-03,-1.77748788e-02, 5.19407980e-03,
 -4.73712783e-03,-3.91519309e-03,-7.77528651e-03,-1.91300706e-02,
  1.09915282e+00, 1.86572327e-02, 1.09379579e+00, 2.58690490e-02,
  9.49549015e-02,-6.99159269e-02, 1.30725524e-01, 9.98577696e-01,
 -4.66115686e-04,-3.76330506e-04,-5.33125265e-02]

qacc:
[ -5.18238942,  1.68381823, -8.28600358, 17.99362624,  0.48545617,
   0.45962281, -2.68761291,  8.00245907, -2.66989341,  3.16654066,
 -10.87953334, 13.33856785, -1.7399527 ,  2.53274041, -4.11195501,
  11.30283397, -0.11288698, -1.47085191,  0.03417539, 20.83914631,
   2.4899145 ,  0.52072505]

qfrc_actuator:
[-6.47308343e-05,-4.28270805e-04,-2.25087172e-04,-3.66500922e-05,
  2.79111745e-05,-4.46135226e-04,-3.11971196e-04,-2.82653665e-05,
  1.00592151e-04,-3.60323109e-04,-2.45333914e-04,-9.41741630e-05,
  2.60722884e-02,-1.18429947e-03, 2.05909987e-02,-2.44702940e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52725044,  0.49643368, -4.49995002,  0.49643368, 17.62363664,
        1.44479098, -4.49995002,  1.44479098,  4.68663952,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029595127826215206
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.8135282e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.8135282e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09588599, -0.04641935,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.04618952e-05,-2.89437788e-06,-1.10045765e-05, 2.71968930e-05,
  2.86156153e-06, 3.02540648e-05, 1.71661090e-05, 1.87390866e-05,
 -1.54837184e-05, 2.13506727e-05,-4.60095545e-05, 3.18628785e-06,
 -1.74862696e-04, 6.91857050e-06,-1.40521138e-04, 1.46621010e-05,
  7.64741940e-07, 5.53120939e-06,-1.21644618e+00,-1.77385291e-03,
 -3.02922954e-04, 1.12665644e-06]


--- Step 753 ---
qpos:
[ 2.90531916e-03,-5.62557955e-03,-1.01959037e-02, 2.79198374e-03,
 -4.46938541e-03,-5.15230717e-03,-1.77748415e-02, 5.19489052e-03,
 -4.73705525e-03,-3.91522674e-03,-7.77559761e-03,-1.91294815e-02,
  1.09974769e+00, 1.86576609e-02, 1.09441500e+00, 2.58654077e-02,
  9.49425608e-02,-6.99239822e-02, 1.30725683e-01, 9.98573903e-01,
 -3.99662200e-04,-4.50736728e-04,-5.33835019e-02]

qacc:
[ -3.18947331,  0.06609267,  0.67065705, -2.30733047,  3.24035845,
   0.63704211, -0.97800723, -1.4655543 ,-10.89299455,  2.51418192,
  -9.28831609, 15.30753294, -1.61380739,  2.32047963,  0.28914138,
  -3.18114978, -0.10008096, -1.45126685, -0.07415674, 20.66532483,
   2.262158  ,  0.39873211]

qfrc_actuator:
[-8.25962179e-05,-3.85282323e-04,-2.10879280e-04,-3.82706176e-05,
  4.70281774e-05,-4.25649912e-04,-3.20422777e-04,-3.58567876e-05,
  3.71335558e-05,-3.00757049e-04,-2.50352544e-04,-7.37631806e-05,
  2.60135573e-02,-1.14322731e-03, 2.05463554e-02,-2.47614454e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52214792,  0.39984248, -4.50443645,  0.39984248, 24.17477367,
        1.74449228, -4.50443645,  1.74449228,  4.67700017,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029436656840357844
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.42891571e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.42891571e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09588817, -0.04641832,  0.06199091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.87354967e-05, 4.02785909e-05, 1.32007981e-05,-1.59506152e-06,
  1.92081193e-05, 4.17553779e-05, 5.58218636e-07,-5.33864353e-06,
 -6.38933290e-05, 6.21575365e-05,-6.15767132e-06, 1.97970122e-05,
 -1.56115952e-04, 3.18175002e-06,-1.15391605e-04,-4.80606844e-05,
 -9.94922039e-07, 5.36947929e-06,-1.21644612e+00,-1.77440029e-03,
 -3.00427176e-04, 6.16738151e-07]


--- Step 754 ---
qpos:
[ 2.90459276e-03,-5.62573096e-03,-1.01955467e-02, 2.79248596e-03,
 -4.46857879e-03,-5.15219020e-03,-1.77744034e-02, 5.19492981e-03,
 -4.73739873e-03,-3.91516930e-03,-7.77580962e-03,-1.91286262e-02,
  1.10034153e+00, 1.86580619e-02, 1.09503304e+00, 2.58616927e-02,
  9.49340463e-02,-6.99354743e-02, 1.30726562e-01, 9.98570087e-01,
 -3.13101813e-04,-4.95694263e-04,-5.34550121e-02]

qacc:
[  1.1854597 ,  1.11107328, -3.00575581,  2.59045694, -1.0565449 ,
  -2.78099113, 13.06713371,-27.02258543, -3.64095286,  0.39859482,
  -2.35555439,  6.71745708, -0.71486899,  0.62737622, -1.45279782,
   2.71068466,  0.95655209, -0.85918087,  0.17991172,  9.25295161,
  15.24013573, -0.26627589]

qfrc_actuator:
[-7.49988393e-05,-3.59430931e-04,-2.20371510e-04,-3.94085058e-05,
  4.01503326e-05,-4.49155780e-04,-3.07660640e-04,-7.61566861e-05,
  1.75270744e-05,-3.18595993e-04,-2.53012180e-04,-6.19557831e-05,
  2.59569774e-02,-1.15472071e-03, 2.05079944e-02,-2.47402808e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51372004, -3.00614638, -3.36700943, -3.00614638, 14.86580206,
       -9.24258591, -3.36700943, -9.24258591, 12.76572133,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002917230278885047
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.90287176e-13,  1.90287176e-13,  1.00000000e+00, -3.62092095e-26,
        1.00000000e+00, -1.90287176e-13, -1.00000000e+00,  0.00000000e+00,
        1.90287176e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08339233, -0.05687479,  0.06199099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.07670185e-06, 5.10437916e-05, 3.99336677e-07, 1.01351738e-06,
 -6.31243850e-06,-2.71844815e-07, 2.12655479e-05,-3.85985676e-05,
 -2.14102348e-05, 1.64766815e-05, 1.01105020e-05, 1.46438485e-05,
 -1.44261859e-04,-4.59730329e-05,-1.05814894e-04,-1.73958044e-05,
 -2.68420529e-06, 5.89144924e-06,-1.21644882e+00,-1.77556612e-03,
 -2.98050503e-04, 2.06870766e-07]


--- Step 755 ---
qpos:
[ 2.90396304e-03,-5.62558410e-03,-1.01955119e-02, 2.79265292e-03,
 -4.46786051e-03,-5.15227271e-03,-1.77739907e-02, 5.19453465e-03,
 -4.73728525e-03,-3.91507796e-03,-7.77593208e-03,-1.91286635e-02,
  1.10093413e+00, 1.86587022e-02, 1.09564990e+00, 2.58596088e-02,
  9.49293205e-02,-6.99503203e-02, 1.30727747e-01, 9.98566241e-01,
 -2.06355500e-04,-5.11529908e-04,-5.35271778e-02]

qacc:
[  0.83025957,  0.60268306, -0.16464117, -5.33844234, -0.76800992,
  -1.08529799,  5.32396718,-12.65875736,  4.00238067, -2.05190156,
  11.12839132,-26.71324716, -0.94477443,  1.06057067, -6.59789432,
  20.76065213,  0.94716997, -0.83846309,  0.07644969,  9.30000804,
  15.07973879, -0.32850486]

qfrc_actuator:
[-7.02321322e-05,-3.61880622e-04,-2.43839537e-04,-5.80302766e-05,
  3.57745663e-05,-4.81024447e-04,-3.18171679e-04,-9.98894776e-05,
  4.16554861e-05,-3.29376999e-04,-2.54582612e-04,-1.08630960e-04,
  2.58910559e-02,-1.14400822e-03, 2.04787693e-02,-2.38246479e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50762098,  4.39591506, -0.99728515,  4.39591506,  5.93243503,
        6.28041194, -0.99728515,  6.28041194, 32.19093442,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028978925765545116
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.91556967e-13, -1.91556967e-13,  1.00000000e+00,  3.66940716e-26,
        1.00000000e+00,  1.91556967e-13, -1.00000000e+00,  0.00000000e+00,
        1.91556967e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08339215, -0.05687272,  0.06199105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.98674294e-06, 2.62249764e-05,-1.28433393e-05,-1.64029050e-05,
 -4.55607024e-06,-2.92937756e-05,-9.28964469e-06,-2.37608511e-05,
  2.35218770e-05, 1.13798113e-06, 3.58501696e-06,-4.53353679e-05,
 -1.58408051e-04,-3.31848869e-05,-8.85424424e-05, 7.50449681e-05,
 -4.00344912e-06, 4.95050992e-06,-1.21644813e+00,-1.77735085e-03,
 -2.96824160e-04, 7.38132311e-07]


--- Step 756 ---
qpos:
[ 2.90339564e-03,-5.62544083e-03,-1.01956103e-02, 2.79227666e-03,
 -4.46720027e-03,-5.15254604e-03,-1.77739741e-02, 5.19388359e-03,
 -4.73653879e-03,-3.91493441e-03,-7.77580002e-03,-1.91292732e-02,
  1.10152548e+00, 1.86597399e-02, 1.09626567e+00, 2.58585943e-02,
  9.49283528e-02,-6.99684547e-02, 1.30728892e-01, 9.98562354e-01,
 -7.93613956e-05,-4.98508346e-04,-5.36000929e-02]

qacc:
[ 5.40667629e-01,-7.52462038e-01, 4.96716519e+00,-1.41508639e+01,
 -5.15423326e-01, 3.28428691e-01,-4.55058298e-01,-3.20193125e+00,
  5.54850762e+00,-1.83252667e+00, 9.02718817e+00,-1.93494026e+01,
 -1.11353503e+00, 1.40487968e+00,-4.74264772e+00, 1.45157851e+01,
  9.39507494e-01,-8.22108055e-01,-9.91360331e-03, 9.33686245e+00,
  1.49498865e+01,-3.77465094e-01]

qfrc_actuator:
[-6.71782251e-05,-3.81340780e-04,-2.57740938e-04,-8.68216051e-05,
  3.29147934e-05,-4.99992947e-04,-3.42380722e-04,-1.13710427e-04,
  7.35655982e-05,-3.18149838e-04,-2.37776993e-04,-1.36085667e-04,
  2.58355625e-02,-1.12022776e-03, 2.04337651e-02,-2.32767194e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49684078,  4.35552878, -1.118457  ,  4.35552878,  7.07003501,
       10.02061007, -1.118457  , 10.02061007, 43.51940083,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028632750906808224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.69364617e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.69364617e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08339166, -0.05687074,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.20625736e-06,-8.15315909e-06,-1.06360484e-05,-2.84322209e-05,
 -2.99923919e-06,-3.82887252e-05,-3.22290538e-05,-1.58596637e-05,
  3.25841079e-05, 1.06692461e-05, 1.59132730e-05,-2.81654245e-05,
 -1.52101411e-04,-2.06516219e-05,-8.68790426e-05, 4.54684604e-05,
 -5.59140258e-06, 4.19851587e-06,-1.21644944e+00,-1.77941991e-03,
 -2.96041917e-04, 1.44810104e-06]


--- Step 757 ---
qpos:
[ 2.90321417e-03,-5.62526426e-03,-1.01959143e-02, 2.79190434e-03,
 -4.46692432e-03,-5.15306641e-03,-1.77742660e-02, 5.19341878e-03,
 -4.73541544e-03,-3.91471733e-03,-7.77550118e-03,-1.91298589e-02,
  1.10211573e+00, 1.86610301e-02, 1.09688038e+00, 2.58582058e-02,
  9.49311184e-02,-6.99898263e-02, 1.30729710e-01, 9.98558414e-01,
  6.79318753e-05,-4.56840876e-04,-5.36738302e-02]

qacc:
[ 3.36888179, 0.62026063,-2.17570305, 2.56049581,-3.35677549, 0.92522829,
 -4.54782638, 8.4343671 , 3.30358116,-0.3260478 , 1.19090515,-1.08395511,
 -0.92855525, 1.09503286,-3.37277359, 9.74263444, 0.93334531,-0.80930587,
 -0.08184024, 9.36707313,14.8464008 ,-0.4158487 ]

qfrc_actuator:
[-4.74036766e-05,-3.75319393e-04,-2.65962531e-04,-8.58673300e-05,
  1.32170229e-05,-5.11150229e-04,-3.56675173e-04,-1.03836398e-04,
  9.20332879e-05,-3.11502298e-04,-2.27899150e-04,-1.34218492e-04,
  2.57863707e-02,-1.10661306e-03, 2.03899794e-02,-2.29503208e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002816868263547101
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.95600358e-13,  1.97066906e-13,  1.00000000e+00, -5.82530480e-26,
        1.00000000e+00, -1.97066906e-13, -1.00000000e+00,  0.00000000e+00,
        2.95600358e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08339093, -0.05686882,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.98646781e-05,-1.95334110e-06,-1.21988696e-05,-3.15776823e-07,
 -1.97951496e-05,-3.98942778e-05,-2.67173688e-05, 6.81168156e-06,
  1.94029009e-05, 1.47026613e-05, 1.30645204e-05, 2.32581905e-06,
 -1.39407177e-04,-2.62091598e-05,-8.84251179e-05, 2.18236589e-05,
 -7.44872385e-06, 3.62600782e-06,-1.21645271e+00,-1.78177723e-03,
 -2.95698796e-04, 2.33706359e-06]


--- Step 758 ---
qpos:
[ 2.90292615e-03,-5.62493532e-03,-1.01964317e-02, 2.79222181e-03,
 -4.46723167e-03,-5.15372409e-03,-1.77745254e-02, 5.19303764e-03,
 -4.73407905e-03,-3.91449753e-03,-7.77532060e-03,-1.91303888e-02,
  1.10270499e+00, 1.86622323e-02, 1.09749343e+00, 2.58576364e-02,
  9.49375980e-02,-7.00143955e-02, 1.30729961e-01, 9.98554405e-01,
  2.35570127e-04,-3.86692731e-04,-5.37484453e-02]

qacc:
[ -0.94095467,  2.22047803,-10.53345655, 22.69701111, -5.08364933,
  -0.08971855, -0.27943586,  1.75830823,  1.86146371,  0.44569407,
  -1.82559392,  2.98569613, -0.59756586,  0.43901055, -1.87023378,
   3.08127817,  0.92849325, -0.79940282, -0.14160329,  9.39329454,
  14.76575996, -0.44576784]

qfrc_actuator:
[-5.34505587e-05,-3.54044543e-04,-2.70650513e-04,-4.96429372e-05,
 -1.62340775e-05,-4.99735591e-04,-3.47197406e-04,-9.78377998e-05,
  1.02438430e-04,-3.25397353e-04,-2.39944679e-04,-1.32878289e-04,
  2.57303403e-02,-1.11686443e-03, 2.02883775e-02,-2.31117358e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027615641936078184
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08339002, -0.05686696,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.47947041e-06, 1.76547341e-05,-6.60327204e-06, 3.57127530e-05,
 -3.00316905e-05,-1.61040725e-05,-1.80644570e-06, 3.50099515e-06,
  1.09646093e-05,-2.87513316e-06,-7.32362735e-06, 2.46671532e-06,
 -1.40656863e-04,-4.83851956e-05,-1.49345807e-04,-2.84289713e-05,
 -9.57656368e-06, 3.22673690e-06,-1.21645791e+00,-1.78442579e-03,
 -2.95790937e-04, 3.40542825e-06]


--- Step 759 ---
qpos:
[ 2.90256815e-03,-5.62458966e-03,-1.01969567e-02, 2.79297365e-03,
 -4.46823490e-03,-5.15434365e-03,-1.77745116e-02, 5.19303647e-03,
 -4.73262807e-03,-3.91434351e-03,-7.77524475e-03,-1.91308900e-02,
  1.10329352e+00, 1.86629761e-02, 1.09810464e+00, 2.58555509e-02,
  9.49408588e-02,-7.00316775e-02, 1.30730826e-01, 9.98550359e-01,
  3.55984734e-04,-3.51155284e-04,-5.38231362e-02]

qacc:
[ -0.61239193,  0.93886664, -5.14689839, 12.66173372, -6.06074763,
   0.08111196, -1.79957444,  7.88848343,  1.00101185,  0.26279075,
  -1.18686294,  1.90057981, -0.21674288, -0.26187708,  1.88746767,
 -10.52222987, -0.80469669,  1.82179496,  0.1532533 ,-22.64756479,
 -18.54944724, -0.02558329]

qfrc_actuator:
[-5.68995463e-05,-3.59255252e-04,-2.73128249e-04,-2.84491628e-05,
 -5.11844488e-05,-4.74788724e-04,-3.23673778e-04,-7.63837644e-05,
  1.08019130e-04,-3.33823934e-04,-2.47173278e-04,-1.31895788e-04,
  2.56968648e-02,-1.14119593e-03, 2.01894592e-02,-2.39153274e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45198427,  2.3366147 , -3.78951128,  2.3366147 , 19.62419791,
        9.35519512, -3.78951128,  9.35519512, 10.22040262,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027127614211801265
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02314842e-13, -1.02314842e-13,  1.00000000e+00,  1.04683269e-26,
        1.00000000e+00,  1.02314842e-13, -1.00000000e+00,  0.00000000e+00,
        1.02314842e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10593576, -0.0944658 ,  0.06199162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.60123237e-06, 4.82049963e-06, 1.59342960e-06, 2.24168139e-05,
 -3.58169765e-05, 1.57357789e-05, 2.01088252e-05, 2.07738401e-05,
  5.89378004e-06,-1.14421769e-05,-8.64166334e-06, 6.54104949e-07,
 -1.25265411e-04,-6.76346359e-05,-1.77088231e-04,-1.02550048e-04,
 -1.19767317e-05, 2.99711303e-06,-1.21646502e+00,-1.78736790e-03,
 -2.96315406e-04, 4.65385076e-06]


--- Step 760 ---
qpos:
[ 2.90286134e-03,-5.62423672e-03,-1.01974689e-02, 2.79362833e-03,
 -4.46999466e-03,-5.15457366e-03,-1.77746547e-02, 5.19327615e-03,
 -4.73112134e-03,-3.91428952e-03,-7.77526172e-03,-1.91310264e-02,
  1.10388111e+00, 1.86637008e-02, 1.09871465e+00, 2.58532988e-02,
  9.49408572e-02,-7.00418506e-02, 1.30731657e-01, 9.98546265e-01,
  4.29667792e-04,-3.48930337e-04,-5.38985112e-02]

qacc:
[ 5.69631625e+00,-2.37201269e-01, 1.25058733e+00,-2.93705629e+00,
 -6.60920676e+00, 1.46177454e+00,-5.45988920e+00, 9.56954816e+00,
  4.87100819e-01, 8.77715595e-01,-4.85988332e+00, 1.13900783e+01,
 -6.43817513e-01, 5.66630938e-01,-1.23178070e+00, 1.84430542e+00,
 -8.15614192e-01, 1.77724127e+00,-8.32056342e-03,-2.24355220e+01,
 -1.78898541e+01,-3.28708007e-01]

qfrc_actuator:
[-2.32784872e-05,-3.62529981e-04,-2.74400420e-04,-3.40468910e-05,
 -8.90884830e-05,-4.41843011e-04,-3.27481680e-04,-6.37388478e-05,
  1.10718408e-04,-3.38902023e-04,-2.51477942e-04,-1.13370341e-04,
  2.56556323e-02,-1.13806476e-03, 2.01774387e-02,-2.38474648e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46881714, -1.59958961,  4.17272569, -1.59958961,  8.52088485,
        1.55333609,  4.17272569,  1.55333609,  5.0642793 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002770525544484176
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.26135168e-15,  2.00363254e-13,  1.00000000e+00, -1.25454479e-27,
        1.00000000e+00, -2.00363254e-13, -1.00000000e+00,  0.00000000e+00,
        6.26135168e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10593039, -0.09446562,  0.06199144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.35181114e-05, 7.02346161e-07, 6.96440092e-07,-4.90079690e-06,
 -3.89269796e-05, 4.67984031e-05, 2.64690878e-06, 1.44221986e-05,
  2.86438362e-06,-1.32320500e-05,-7.70998776e-06, 1.77498204e-05,
 -1.29834218e-04,-4.09054422e-05,-1.09633852e-04,-2.27482964e-05,
 -7.83444083e-06, 2.13555729e-06,-1.21645198e+00,-1.78862880e-03,
 -2.98453144e-04, 2.61674708e-06]


--- Step 761 ---
qpos:
[ 2.90286527e-03,-5.62373769e-03,-1.01980535e-02, 2.79419895e-03,
 -4.47219522e-03,-5.15469981e-03,-1.77746684e-02, 5.19264653e-03,
 -4.72959380e-03,-3.91447698e-03,-7.77526417e-03,-1.91309290e-02,
  1.10446760e+00, 1.86645340e-02, 1.09932378e+00, 2.58510117e-02,
  9.49375607e-02,-7.00450601e-02, 1.30731911e-01, 9.98542108e-01,
  4.57040928e-04,-3.78975776e-04,-5.39750435e-02]

qacc:
[ -2.53506906,  0.22716494, -0.16644287, -1.28935554, -3.84250691,
  -2.00653341, 11.0367993 ,-26.38057573,  0.18687411,  0.12171524,
  -1.88327072,  6.08250814, -0.8823403 ,  0.93067858, -1.10558672,
   2.19001401, -0.82370695,  1.74088989, -0.14424027,-22.25182529,
 -17.36001442, -0.56453358]

qfrc_actuator:
[-3.91191092e-05,-3.46887732e-04,-2.74966476e-04,-3.76091007e-05,
 -1.10673078e-04,-4.57722580e-04,-3.29615017e-04,-1.09650187e-04,
  1.11701831e-04,-3.59663086e-04,-2.53998254e-04,-1.02419345e-04,
  2.55938128e-02,-1.13646443e-03, 2.01589831e-02,-2.37967393e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47699534, -1.53491014,  4.20565549, -1.53491014, 11.46032168,
        2.54865822,  4.20565549,  2.54865822,  5.40716219,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027980202297375745
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.19982464e-15,  1.98394388e-13,  1.00000000e+00, -1.23001042e-27,
        1.00000000e+00, -1.98394388e-13, -1.00000000e+00,  0.00000000e+00,
        6.19982464e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10592646, -0.09446621,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.48829249e-05, 1.59713919e-05,-5.06032092e-07,-3.60596158e-06,
 -2.26848883e-05, 1.14503455e-05, 8.36333641e-06,-4.35320311e-05,
  1.06030556e-06,-2.89883365e-05,-5.58746492e-06, 1.04635602e-05,
 -1.45122008e-04,-3.76457492e-05,-7.96392143e-05,-1.21336056e-05,
 -4.36975347e-06, 2.15443141e-06,-1.21644432e+00,-1.78921749e-03,
 -3.00019867e-04, 1.53418575e-06]


--- Step 762 ---
qpos:
[ 2.90267959e-03,-5.62309321e-03,-1.01986567e-02, 2.79471852e-03,
 -4.47429244e-03,-5.15528843e-03,-1.77744082e-02, 5.19119052e-03,
 -4.72772154e-03,-3.91473705e-03,-7.77536045e-03,-1.91307151e-02,
  1.10505325e+00, 1.86646179e-02, 1.09993167e+00, 2.58475062e-02,
  9.49309453e-02,-7.00414243e-02, 1.30731131e-01, 9.98537869e-01,
  4.38461075e-04,-4.40457738e-04,-5.40530996e-02]

qacc:
[-1.66164954e+00, 1.42542850e-01,-8.28761483e-03,-9.58223419e-01,
  9.17297347e-01,-3.07908319e+00, 1.35780440e+01,-2.79762927e+01,
  3.01631951e+00, 4.00180300e-01,-2.06654903e+00, 4.29301179e+00,
 -9.64859628e-02,-6.61647291e-01, 1.83283779e+00,-9.12142470e+00,
 -8.29746526e-01, 1.71132996e+00,-2.58485847e-01,-2.20948737e+01,
 -1.69358669e+01,-7.47129989e-01]

qfrc_actuator:
[-4.84514941e-05,-3.37789647e-04,-2.75028854e-04,-3.99242337e-05,
 -1.04726496e-04,-5.20520075e-04,-3.30967237e-04,-1.54176183e-04,
  1.29421017e-04,-3.54147235e-04,-2.55518172e-04,-9.60280594e-05,
  2.55356668e-02,-1.18916044e-03, 2.00834219e-02,-2.44670507e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47793954, -1.44982409,  4.23673845, -1.44982409, 15.41835399,
        3.7438413 ,  4.23673845,  3.7438413 ,  5.75909281,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028011713951395234
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.19285017e-15, -1.98171206e-13,  1.00000000e+00,  1.22724458e-27,
        1.00000000e+00,  1.98171206e-13, -1.00000000e+00,  0.00000000e+00,
        6.19285017e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10592369, -0.09446744,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.75311179e-06, 1.77525795e-05, 3.04985326e-06,-1.71897139e-06,
  5.30174561e-06,-5.65340030e-05, 5.40552421e-07,-4.45906074e-05,
  1.77385649e-05,-1.13884097e-05,-7.82987886e-06, 5.16071654e-06,
 -1.48502516e-04,-9.50631867e-05,-1.23578769e-04,-8.01967890e-05,
 -1.46150268e-06, 3.07461315e-06,-1.21644175e+00,-1.78912422e-03,
 -3.01071630e-04, 1.34512014e-06]


--- Step 763 ---
qpos:
[ 2.90307315e-03,-5.62238645e-03,-1.01989266e-02, 2.79484703e-03,
 -4.47595754e-03,-5.15611787e-03,-1.77742449e-02, 5.18955571e-03,
 -4.72634146e-03,-3.91493781e-03,-7.77527242e-03,-1.91304632e-02,
  1.10563784e+00, 1.86646029e-02, 1.10053842e+00, 2.58408454e-02,
  9.49209926e-02,-7.00310389e-02, 1.30728934e-01, 9.98533524e-01,
  3.74226075e-04,-5.32712198e-04,-5.41329614e-02]

qacc:
[  5.07589217, -1.66482422,  7.6888978 ,-15.01704578,  3.76942764,
  -0.42278566,  1.7878335 , -4.53671753, -4.30408126, -0.34983231,
   1.21448786, -0.90815088, -0.91246736,  0.84721667,  7.97009161,
 -30.09817003, -0.83431973,  1.68740126, -0.35444399,-21.96289693,
 -16.59807267, -0.8875513 ]

qfrc_actuator:
[-1.83576225e-05,-3.32675856e-04,-2.57061142e-04,-5.92431490e-05,
 -8.26290426e-05,-5.22180378e-04,-3.32046990e-04,-1.62060919e-04,
  1.03591532e-04,-3.32937506e-04,-2.38582687e-04,-9.23486566e-05,
  2.54903927e-02,-1.18485684e-03, 2.00215943e-02,-2.60905892e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47308796, -1.34148389,  4.26719309, -1.34148389, 20.71770781,
        5.10684551,  4.26719309,  5.10684551,  6.07853465,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000278492907819769
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.60607141e-14, -1.99326983e-13,  1.00000000e+00,  1.11744130e-26,
        1.00000000e+00,  1.99326983e-13, -1.00000000e+00,  0.00000000e+00,
        5.60607141e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10592183, -0.09446917,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.98197310e-05, 1.55771329e-05, 2.19497703e-05,-1.84870082e-05,
  2.22315473e-05,-3.50491393e-05,-1.42263448e-05,-1.11523539e-05,
 -2.53276847e-05, 1.34673795e-05, 1.38023831e-05, 3.02121100e-06,
 -1.52080676e-04,-5.25862398e-05,-1.35146561e-04,-1.84398244e-04,
  9.80462627e-07, 4.90583387e-06,-1.21644406e+00,-1.78834295e-03,
 -3.01650118e-04, 2.00330383e-06]


--- Step 764 ---
qpos:
[ 2.90313455e-03,-5.62189073e-03,-1.01982639e-02, 2.79439112e-03,
 -4.47700011e-03,-5.15695148e-03,-1.77742294e-02, 5.18781166e-03,
 -4.72562661e-03,-3.91491296e-03,-7.77478870e-03,-1.91302061e-02,
  1.10622093e+00, 1.86657154e-02, 1.10114408e+00, 2.58324988e-02,
  9.49076883e-02,-7.00139809e-02, 1.30724996e-01, 9.98529044e-01,
  2.64580021e-04,-6.55214068e-04,-5.42148433e-02]

qacc:
[ -2.87292536, -4.08357908, 16.63197767,-28.09272799,  5.42457169,
   0.17170321, -0.17745373, -1.45398523, -5.8155734 , -0.78590959,
   3.23192653, -3.96082982, -2.07103916,  3.14505237,  3.71748127,
 -14.79593101, -0.83787017,  1.66814768, -0.43500215,-21.85405159,
 -16.33105824, -0.99447911]

qfrc_actuator:
[-3.63115328e-05,-3.47680288e-04,-2.10867338e-04,-8.84039007e-05,
 -5.12111625e-05,-5.04947653e-04,-3.32701977e-04,-1.66030550e-04,
  7.00844755e-05,-3.02414314e-04,-2.10814560e-04,-9.02646891e-05,
  2.54315888e-02,-1.11119879e-03, 1.99946704e-02,-2.68416116e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46378233, -1.20642124,  4.29766221, -1.20642124, 27.77193495,
        6.54296431,  4.29766221,  6.54296431,  6.30049511,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002753416246389362
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.0080414e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.0080414e-13, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10592069, -0.09447131,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.70982866e-05,-2.56543815e-06, 5.14683201e-05,-2.80961874e-05,
  3.20439993e-05,-5.74311612e-06,-1.00221709e-05,-6.17647699e-06,
 -3.42267971e-05, 4.10354630e-05, 3.23573759e-05, 3.19809285e-06,
 -1.58060357e-04, 2.66962770e-05,-1.17501025e-04,-1.04492884e-04,
  3.02332877e-06, 7.65035287e-06,-1.21645108e+00,-1.78687006e-03,
 -3.01786149e-04, 3.47411028e-06]


--- Step 765 ---
qpos:
[ 2.90263559e-03,-5.62144874e-03,-1.01973407e-02, 2.79361584e-03,
 -4.47765775e-03,-5.15779346e-03,-1.77745107e-02, 5.18569893e-03,
 -4.72497431e-03,-3.91451476e-03,-7.77431207e-03,-1.91299175e-02,
  1.10680295e+00, 1.86671164e-02, 1.10174791e+00, 2.58253182e-02,
  9.48979063e-02,-7.00006213e-02, 1.30723517e-01, 9.98524586e-01,
  1.75607604e-04,-7.43557196e-04,-5.42961081e-02]

qacc:
[ -4.89271869, -1.447094  ,  6.42123869,-12.34315246,  3.34761733,
   0.05278184,  1.34067365, -7.22811329, -0.55410857,  0.57907044,
  -1.4791598 ,  1.75667692, -0.82632382,  0.98412602, -6.17655226,
  17.84468075,  0.88054507, -0.9246154 ,  0.61459664,  9.39585733,
  17.6147463 ,  0.29738893]

qfrc_actuator:
[-6.46617791e-05,-3.56754608e-04,-2.01728344e-04,-1.05367335e-04,
 -3.23169279e-05,-5.12024709e-04,-3.50765183e-04,-1.85401795e-04,
  6.78460842e-05,-2.84245703e-04,-2.12337219e-04,-8.91202487e-05,
  2.53807226e-02,-1.10363075e-03, 1.99194907e-02,-2.61835655e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47996219, -2.24582871,  3.87637906, -2.24582871, 20.47842491,
        9.26890956,  3.87637906,  9.26890956,  9.85002092,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002807905763106133
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.88479599e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.88479599e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08341033, -0.05685391,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.88429025e-05,-1.11240187e-06, 1.39645417e-05,-1.58400894e-05,
  1.98114958e-05,-1.25780519e-05,-2.06855733e-05,-2.00799556e-05,
 -3.20227449e-06, 4.79187681e-05, 1.10443892e-05, 4.08344495e-06,
 -1.34011205e-04,-2.14812057e-05,-1.50089122e-04, 4.28550097e-05,
  4.71732099e-06, 1.13053361e-05,-1.21646269e+00,-1.78470347e-03,
 -3.01502301e-04, 5.73207125e-06]


--- Step 766 ---
qpos:
[ 2.90214552e-03,-5.62106832e-03,-1.01968403e-02, 2.79269247e-03,
 -4.47842833e-03,-5.15877193e-03,-1.77746932e-02, 5.18335981e-03,
 -4.72469894e-03,-3.91389428e-03,-7.77405933e-03,-1.91295826e-02,
  1.10738406e+00, 1.86686046e-02, 1.10235003e+00, 2.58198982e-02,
  9.48916766e-02,-6.99908291e-02, 1.30723808e-01, 9.98520144e-01,
  1.07310727e-04,-7.99029000e-04,-5.43771286e-02]

qacc:
[ 0.06548252, 0.79507055,-2.32802905, 0.4866203 ,-0.97964691,-0.92064711,
  3.98014124,-7.96009628,-3.31080831, 1.0216972 ,-3.40052078, 4.38410574,
 -0.52671727, 0.47791974,-7.81291233,23.77312   , 0.88809097,-0.89181471,
  0.44247785, 9.43021446,16.97274058, 0.11186423]

qfrc_actuator:
[-6.33834920e-05,-3.80096396e-04,-2.32275729e-04,-1.15043661e-04,
 -3.87009172e-05,-5.15929129e-04,-3.43559817e-04,-1.95958250e-04,
  4.85270198e-05,-2.91480466e-04,-2.31189842e-04,-8.85678252e-05,
  2.53399587e-02,-1.09982344e-03, 1.98580702e-02,-2.52344326e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49788533,  2.1465435 , -3.952635  ,  2.1465435 ,  8.71332886,
        2.289266  , -3.952635  ,  2.289266  ,  5.74110892,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000286665428114688
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.68221937e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.68221937e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08341519, -0.0568526 ,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.51430701e-07,-2.17916082e-05,-2.96177655e-05,-9.54908833e-06,
 -5.81877182e-06,-1.60253181e-05, 1.38140899e-06,-1.21956267e-05,
 -1.93925941e-05, 2.19974876e-05,-7.46387053e-06, 3.06385617e-06,
 -1.22143886e-04,-3.14398203e-05,-1.31565445e-04, 7.67234885e-05,
  4.35801207e-06, 8.20372735e-06,-1.21645340e+00,-1.78401955e-03,
 -2.99356093e-04, 4.67244733e-06]


--- Step 767 ---
qpos:
[ 2.90201927e-03,-5.62086065e-03,-1.01966683e-02, 2.79166887e-03,
 -4.47961414e-03,-5.15997696e-03,-1.77741770e-02, 5.18053664e-03,
 -4.72465714e-03,-3.91318917e-03,-7.77396513e-03,-1.91292299e-02,
  1.10796400e+00, 1.86702878e-02, 1.10295076e+00, 2.58181936e-02,
  9.48890205e-02,-6.99844980e-02, 1.30725289e-01, 9.98515711e-01,
  5.96735037e-05,-8.22666073e-04,-5.44581965e-02]

qacc:
[ 3.17496859e+00, 4.76958978e-01,-1.61947338e+00, 5.48562332e-01,
 -3.59589403e+00,-3.24037790e+00, 1.31758349e+01,-2.25188323e+01,
 -2.05124918e+00, 5.95742607e-01,-2.02977814e+00, 2.52120636e+00,
 -6.81522600e-01, 6.77893811e-01,-1.32655098e+01, 4.35390951e+01,
  8.93372312e-01,-8.65304558e-01, 2.97734721e-01, 9.44898039e+00,
  1.64555174e+01,-3.34010419e-02]

qfrc_actuator:
[-4.46731947e-05,-3.94216689e-04,-2.50550666e-04,-1.20391253e-04,
 -5.99079489e-05,-5.17798493e-04,-3.03717663e-04,-2.18973271e-04,
  3.70515932e-05,-2.96202882e-04,-2.42468172e-04,-8.83981690e-05,
  2.52680008e-02,-1.09818655e-03, 1.98315882e-02,-2.32336259e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50653723,  2.10723917, -3.98351866,  2.10723917, 11.62366841,
        3.76488699, -3.98351866,  3.76488699,  6.49812256,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002894437912518144
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.58928001e-14, -1.91785600e-13,  1.00000000e+00,  1.83908582e-26,
        1.00000000e+00,  1.91785600e-13, -1.00000000e+00,  0.00000000e+00,
        9.58928001e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08341869, -0.05685123,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.87156530e-05,-3.28489891e-05,-2.67625049e-05,-7.49185109e-06,
 -2.13789784e-05,-1.10269029e-05, 3.62993852e-05,-2.38831135e-05,
 -1.20190677e-05, 6.13599730e-06,-7.55805417e-06, 9.11288312e-07,
 -1.48714712e-04,-3.34833091e-05,-8.48360394e-05, 1.86029769e-04,
  3.72673068e-06, 5.44988801e-06,-1.21644673e+00,-1.78358847e-03,
 -2.97747894e-04, 3.85745519e-06]


--- Step 768 ---
qpos:
[ 2.90211815e-03,-5.62076594e-03,-1.01964912e-02, 2.79055810e-03,
 -4.48104518e-03,-5.16107542e-03,-1.77736286e-02, 5.17815334e-03,
 -4.72475328e-03,-3.91252725e-03,-7.77365336e-03,-1.91292327e-02,
  1.10854274e+00, 1.86723005e-02, 1.10355030e+00, 2.58188737e-02,
  9.48899526e-02,-6.99815427e-02, 1.30727476e-01, 9.98511278e-01,
  3.26703365e-05,-8.15300880e-04,-5.45395396e-02]

qacc:
[  1.97128093, -0.34700707,  1.38189267, -2.80820127, -2.13913854,
   0.96038248, -5.06986046, 12.54554872, -1.20033071, -1.39539598,
   6.39457443,-12.86228739, -0.93184406,  1.10406552, -8.88235436,
  28.74911681,  0.89707328, -0.84393226,  0.17624132,  9.45743753,
  16.03996424, -0.14682331]

qfrc_actuator:
[-3.36148046e-05,-3.84915654e-04,-2.43634740e-04,-1.23130225e-04,
 -7.19087005e-05,-5.00549539e-04,-2.98190634e-04,-1.95857315e-04,
  3.02897546e-05,-2.99369144e-04,-2.31425101e-04,-1.06200805e-04,
  2.52093369e-02,-1.08024216e-03, 1.97781708e-02,-2.20486154e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50744475,  2.05117089, -4.01369608,  2.05117089, 15.527421  ,
        5.63168063, -4.01369608,  5.63168063,  7.38547516,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002897331203598891
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.91594082e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.91594082e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0834211 , -0.05684979,  0.06199105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15826051e-05,-1.49175102e-05,-3.42777369e-06,-5.21764950e-06,
 -1.26179424e-05, 1.75936562e-05, 6.90984207e-06, 2.34436034e-05,
 -7.10025211e-06,-1.28856420e-06, 1.14014773e-05,-1.77856754e-05,
 -1.49270038e-04,-2.46080376e-05,-8.04577206e-05, 1.16009363e-04,
  2.82553373e-06, 2.99116911e-06,-1.21644247e+00,-1.78342307e-03,
 -2.96651954e-04, 3.27110079e-06]


--- Step 769 ---
qpos:
[ 2.90234914e-03,-5.62101647e-03,-1.01961440e-02, 2.78944132e-03,
 -4.48226430e-03,-5.16197639e-03,-1.77733752e-02, 5.17676715e-03,
 -4.72527446e-03,-3.91213574e-03,-7.77337297e-03,-1.91294020e-02,
  1.10912053e+00, 1.86744227e-02, 1.10414875e+00, 2.58196452e-02,
  9.48944835e-02,-6.99818944e-02, 1.30729961e-01, 9.98506837e-01,
  2.62717968e-05,-7.77599255e-04,-5.46213353e-02]

qacc:
[  1.16690081, -0.94622516,  2.73324992, -2.85111426,  1.83611676,
   3.13418233,-15.01265864, 32.60461439, -3.71763002, -0.60527314,
   2.35349367, -4.99561889, -0.7298127 ,  0.769365  , -1.84473837,
   4.24412638,  0.89970895, -0.82676436,  0.07447749,  9.45952463,
  15.70750688, -0.23502622]

qfrc_actuator:
[-2.71543973e-05,-4.14810404e-04,-2.39559114e-04,-1.24277009e-04,
 -6.06369714e-05,-4.89824719e-04,-3.12865766e-04,-1.45793084e-04,
  8.60124430e-06,-3.37013031e-04,-2.42807139e-04,-1.16667905e-04,
  2.51746728e-02,-1.07047832e-03, 1.97139486e-02,-2.20647435e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50215743,  1.97625042, -4.0452263 ,  1.97625042, 20.73719738,
        7.93144859, -4.0452263 ,  7.93144859,  8.37697862,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002880418802226198
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.89078542e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.89078542e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08342266, -0.0568483 ,  0.0619911 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.78633945e-06,-3.91675390e-05, 3.90265519e-07,-2.00474465e-06,
  1.09148932e-05, 2.30291531e-05,-9.36639816e-06, 5.15205496e-05,
 -2.18890218e-05,-3.68016152e-05,-1.08704997e-05,-1.04759835e-05,
 -1.23618387e-04,-3.06502478e-05,-9.77139189e-05,-7.60161760e-06,
  1.65605591e-06, 7.88562056e-07,-1.21644045e+00,-1.78353257e-03,
 -2.96048155e-04, 2.90076462e-06]


--- Step 770 ---
qpos:
[ 2.90265590e-03,-5.62153132e-03,-1.01960594e-02, 2.78868490e-03,
 -4.48333908e-03,-5.16255914e-03,-1.77733576e-02, 5.17597200e-03,
 -4.72570660e-03,-3.91207461e-03,-7.77318198e-03,-1.91296829e-02,
  1.10969752e+00, 1.86759175e-02, 1.10474577e+00, 2.58174682e-02,
  9.49026211e-02,-6.99854983e-02, 1.30732403e-01, 9.98502377e-01,
  4.04488339e-05,-7.10090581e-04,-5.47037204e-02]

qacc:
[ 6.59188743e-01, 1.12534725e+00,-6.04256088e+00, 1.28955915e+01,
  1.24642494e+00, 2.29329057e+00,-1.00664959e+01, 2.04442807e+01,
  7.82329545e-01,-4.18255628e-01, 1.32574031e+00,-2.86756647e+00,
 -2.77682262e-01,-3.09505822e-01, 6.84086259e+00,-2.69522771e+01,
  9.01663924e-01,-8.13043725e-01,-1.05659845e-02, 9.45814771e+00,
  1.54431886e+01,-3.03221357e-01]

qfrc_actuator:
[-2.34498224e-05,-4.32439897e-04,-2.55107263e-04,-1.06762127e-04,
 -5.35134336e-05,-4.65395306e-04,-3.21595175e-04,-1.15798339e-04,
  1.38042665e-05,-3.59593717e-04,-2.49729692e-04,-1.22780614e-04,
  2.51118212e-02,-1.11879246e-03, 1.96113246e-02,-2.36757912e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49212295,  1.8797656 , -4.07990807,  1.8797656 , 27.65804933,
       10.67340508, -4.07990807, 10.67340508,  9.40975819,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002847944779137829
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.74582647e-14,  1.94916529e-13,  1.00000000e+00,  1.89962267e-26,
        1.00000000e+00, -1.94916529e-13, -1.00000000e+00,  0.00000000e+00,
       -9.74582647e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08342355, -0.05684677,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.88559313e-06,-3.95282076e-05,-2.36589593e-05, 1.58131195e-05,
  7.44270568e-06, 3.76166463e-05,-3.33340962e-06, 3.16641711e-05,
  4.56747613e-06,-4.58801843e-05,-1.62320945e-05,-8.26913716e-06,
 -1.39877702e-04,-8.37776246e-05,-1.57019269e-04,-1.76031519e-04,
  2.19322361e-07,-1.18677938e-06,-1.21644056e+00,-1.78392358e-03,
 -2.95920841e-04, 2.73665527e-06]


--- Step 771 ---
qpos:
[ 2.90231484e-03,-5.62216738e-03,-1.01962737e-02, 2.78881906e-03,
 -4.48363009e-03,-5.16311236e-03,-1.77730854e-02, 5.17623625e-03,
 -4.72538340e-03,-3.91239275e-03,-7.77277836e-03,-1.91300495e-02,
  1.11027369e+00, 1.86761657e-02, 1.10534119e+00, 2.58126597e-02,
  9.49143716e-02,-6.99923108e-02, 1.30734519e-01, 9.98497884e-01,
  7.51757176e-05,-6.13192108e-04,-5.47868000e-02]

qacc:
[ -5.6733225 ,  2.52062887,-12.95974612, 28.91881455,  6.84323976,
   1.49517529, -9.77011326, 27.7020057 ,  6.62608357, -1.28524841,
   4.1937546 , -5.71199579,  0.20408107, -1.40704892,  5.53372725,
 -22.9478832 ,  0.90322274, -0.80215536, -0.08146442,  9.45542379,
  15.23494349, -0.35550824]

qfrc_actuator:
[-5.69004996e-05,-4.24900431e-04,-2.64312479e-04,-6.06615797e-05,
 -1.33907462e-05,-4.68448122e-04,-3.08945780e-04,-6.23327910e-05,
  5.25507749e-05,-3.72968352e-04,-2.36153341e-04,-1.26268908e-04,
  2.50427302e-02,-1.20126031e-03, 1.95389856e-02,-2.49710742e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47862016,  1.75829783, -4.11903232,  1.75829783, 36.80443309,
       13.79897084, -4.11903232, 13.79897084, 10.36900864,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028034399033033397
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.97016272e-13, -1.98010848e-13,  1.00000000e+00,  5.88124438e-26,
        1.00000000e+00,  1.98010848e-13, -1.00000000e+00,  0.00000000e+00,
        2.97016272e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08342391, -0.05684522,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.33514285e-05,-1.87544716e-05,-1.97308215e-05, 4.38984201e-05,
  4.03479909e-05, 1.86756667e-05, 2.11122821e-05, 5.55809142e-05,
  3.88622584e-05,-4.27409393e-05, 1.81188138e-06,-6.17595073e-06,
 -1.69246625e-04,-1.34229435e-04,-1.70214151e-04,-1.60872726e-04,
 -1.48438234e-06,-2.95601474e-06,-1.21644271e+00,-1.78460084e-03,
 -2.96257897e-04, 2.77133678e-06]


--- Step 772 ---
qpos:
[ 2.90192054e-03,-5.62302527e-03,-1.01965889e-02, 2.78984879e-03,
 -4.48343774e-03,-5.16382175e-03,-1.77722162e-02, 5.17644870e-03,
 -4.72528807e-03,-3.91306394e-03,-7.77249714e-03,-1.91304352e-02,
  1.11084877e+00, 1.86757106e-02, 1.10593486e+00, 2.58091949e-02,
  9.49297405e-02,-7.00022977e-02, 1.30736074e-01, 9.98493343e-01,
  1.30432033e-04,-4.87228587e-04,-5.48706536e-02]

qacc:
[-4.64598981e-01, 1.83419238e+00,-1.07438378e+01, 2.65655792e+01,
  4.23675489e+00,-1.98857558e+00, 6.99592540e+00,-8.71772123e+00,
 -1.99285170e+00,-1.60004976e-01,-1.88703705e-02, 1.35597100e-01,
 -1.08597192e-01,-7.02138418e-01,-6.66245579e+00, 1.95243619e+01,
  9.04593595e-01,-7.93599033e-01,-1.40422902e-01, 9.45287116e+00,
  1.50730211e+01,-3.95110543e-01]

qfrc_actuator:
[-5.86931636e-05,-4.37802231e-04,-2.69570519e-04,-1.58366298e-05,
  1.03290167e-05,-4.87828868e-04,-2.83865203e-04,-6.65000664e-05,
  3.97109280e-05,-3.98390941e-04,-2.46049192e-04,-1.28163804e-04,
  2.49912294e-02,-1.23233974e-03, 1.95008632e-02,-2.41154836e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027498302728430624
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.01871191e-13,  2.01871191e-13,  1.00000000e+00,  4.07519778e-26,
        1.00000000e+00, -2.01871191e-13, -1.00000000e+00,  0.00000000e+00,
       -2.01871191e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08342386, -0.05684365,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75126172e-06,-2.55693181e-05,-1.00318822e-05, 4.41960980e-05,
  2.48797796e-05,-2.16497858e-06, 3.34633011e-05,-1.55632492e-06,
 -1.17454842e-05,-4.91911444e-05,-1.87156418e-05,-3.78377838e-06,
 -1.79879343e-04,-1.02307405e-04,-1.39592680e-04, 5.35547750e-05,
 -3.45559953e-06,-4.53439702e-06,-1.21644683e+00,-1.78556777e-03,
 -2.97050024e-04, 2.99932859e-06]


--- Step 773 ---
qpos:
[ 2.90150753e-03,-5.62413679e-03,-1.01966600e-02, 2.79138773e-03,
 -4.48365207e-03,-5.16446625e-03,-1.77710568e-02, 5.17591216e-03,
 -4.72569197e-03,-3.91407830e-03,-7.77235998e-03,-1.91304948e-02,
  1.11142256e+00, 1.86750951e-02, 1.10652667e+00, 2.58070980e-02,
  9.49487331e-02,-7.00154325e-02, 1.30736871e-01, 9.98488737e-01,
  2.06203972e-04,-3.32448156e-04,-5.49553402e-02]

qacc:
[ -0.15133735,  0.03150378, -2.74755776, 11.35578778, -3.53917167,
  -2.26028762, 11.35793605,-24.84673701, -4.36915157,  0.62950082,
  -4.26194374, 10.36750223, -0.64900037,  0.35251768, -6.86358547,
  20.10822471,  0.90592685, -0.78696739, -0.18932935,  9.45155715,
  14.94952973, -0.42456221]

qfrc_actuator:
[-5.95790937e-05,-4.45067057e-04,-2.54786103e-04, 1.01091078e-05,
 -1.13113548e-05,-4.81327232e-04,-2.69522622e-04,-1.04559590e-04,
  1.43529828e-05,-4.13164196e-04,-2.52025750e-04,-1.11382338e-04,
  2.49343598e-02,-1.23263068e-03, 1.94141049e-02,-2.34188056e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002689530094607262
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03198606e-13, -6.19191635e-13,  1.00000000e+00,  6.38997135e-26,
        1.00000000e+00,  6.19191635e-13, -1.00000000e+00,  0.00000000e+00,
        1.03198606e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08342349, -0.05684208,  0.06199169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.72082458e-07,-2.17090142e-05, 9.80847177e-06, 2.53637618e-05,
 -2.09291772e-05, 1.21598633e-05, 1.79604617e-05,-3.70263946e-05,
 -2.57115209e-05,-4.62902311e-05,-1.85666384e-05, 1.39558674e-05,
 -1.82193066e-04,-6.67306013e-05,-1.51267390e-04, 5.33275516e-05,
 -5.69574720e-06,-5.93256438e-06,-1.21645289e+00,-1.78682677e-03,
 -2.98290175e-04, 3.41677171e-06]


--- Step 774 ---
qpos:
[ 2.90039716e-03,-5.62531607e-03,-1.01963389e-02, 2.79319097e-03,
 -4.48412390e-03,-5.16495079e-03,-1.77700475e-02, 5.17494231e-03,
 -4.72639685e-03,-3.91552859e-03,-7.77172485e-03,-1.91300405e-02,
  1.11199540e+00, 1.86735875e-02, 1.10711700e+00, 2.58054225e-02,
  9.49646032e-02,-7.00212863e-02, 1.30737687e-01, 9.98484112e-01,
  2.35894931e-04,-2.11868667e-04,-5.50397776e-02]

qacc:
[-6.08634955e+00,-6.29432157e-01, 1.01928992e+00, 2.95527497e+00,
 -2.25337327e+00,-2.56844907e-01, 3.05935923e+00,-1.04446009e+01,
 -2.61172336e+00,-9.04527589e-01, 2.31558477e-01, 8.17063584e+00,
  6.12985338e-02,-1.01262524e+00,-3.50935113e+00, 8.99780598e+00,
 -7.80621472e-01, 1.82024774e+00, 4.40726058e-03,-2.20658648e+01,
 -1.83408034e+01, 1.35118115e-01]

qfrc_actuator:
[-9.54394889e-05,-4.31076531e-04,-2.28280878e-04, 2.47554434e-05,
 -2.39658352e-05,-4.77207379e-04,-2.79307692e-04,-1.26731300e-04,
 -4.00689166e-07,-4.21416497e-04,-2.20074852e-04,-8.37326873e-05,
  2.48849766e-02,-1.28572071e-03, 1.93568231e-02,-2.31781458e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43234495,  2.24555267, -3.82141008,  2.24555267, 17.18341123,
        7.49283389, -3.82141008,  7.49283389,  8.83531474,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002643250154368143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.10010964e-13, -1.05005482e-13,  1.00000000e+00,  2.20523024e-26,
        1.00000000e+00,  1.05005482e-13, -1.00000000e+00,  0.00000000e+00,
        2.10010964e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10588124, -0.09449971,  0.06199183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.58939110e-05, 5.00218138e-06, 2.41177407e-05, 1.45485780e-05,
 -1.32494035e-05, 1.30465780e-05,-6.34632601e-06,-2.17489223e-05,
 -1.55069694e-05,-3.73496918e-05, 2.05971232e-05, 2.52996746e-05,
 -1.67722155e-04,-1.11122378e-04,-1.26912746e-04, 6.28116599e-06,
 -8.20714626e-06,-7.15748514e-06,-1.21646085e+00,-1.78837960e-03,
 -2.99973102e-04, 4.02115338e-06]


--- Step 775 ---
qpos:
[ 2.89955524e-03,-5.62621875e-03,-1.01961410e-02, 2.79549191e-03,
 -4.48508901e-03,-5.16503842e-03,-1.77693080e-02, 5.17403732e-03,
 -4.72692877e-03,-3.91699470e-03,-7.77115298e-03,-1.91292742e-02,
  1.11256711e+00, 1.86719117e-02, 1.10770639e+00, 2.58038987e-02,
  9.49772967e-02,-7.00200355e-02, 1.30737972e-01, 9.98479448e-01,
  2.19754923e-04,-1.24225481e-04,-5.51246599e-02]

qacc:
[  2.33990017,  1.73047033, -7.74833479, 16.36367067, -4.31699642,
   1.42008669, -4.561906  ,  5.80880144,  1.51275814,  0.79570863,
  -4.18723472,  9.69994919, -0.68291327,  0.44744615, -1.78468456,
   4.37384759, -0.79414242,  1.77615825, -0.13230785,-21.97438539,
 -17.70450765, -0.21447045]

qfrc_actuator:
[-8.05878956e-05,-4.04417222e-04,-2.30494130e-04, 5.04159988e-05,
 -4.89679180e-05,-4.39132369e-04,-2.85492375e-04,-1.21633769e-04,
  8.96228350e-06,-4.07773577e-04,-2.19209783e-04,-6.76329309e-05,
  2.48454271e-02,-1.28093122e-03, 1.93385628e-02,-2.30295759e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44236405, -1.95706814,  3.98804245, -1.95706814,  9.13020907,
        2.30048508,  3.98804245,  2.30048508,  5.57129036,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026790066783172195
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.17287191e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.17287191e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10587603, -0.09450098,  0.06199172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38289183e-05, 3.50875190e-05, 2.30270481e-06, 2.69922071e-05,
 -2.53761936e-05, 4.31312367e-05,-5.02784095e-06, 5.01512133e-06,
  8.90137544e-06,-1.86873415e-06,-3.42870752e-06, 1.57067733e-05,
 -1.60191537e-04,-6.10084134e-05,-8.27784278e-05,-2.63413230e-06,
 -3.41401713e-06,-6.20906969e-06,-1.21645019e+00,-1.78810652e-03,
 -3.03520262e-04, 1.62447060e-06]


--- Step 776 ---
qpos:
[ 2.89958721e-03,-5.62658973e-03,-1.01963564e-02, 2.79772405e-03,
 -4.48600156e-03,-5.16481801e-03,-1.77683696e-02, 5.17317858e-03,
 -4.72665484e-03,-3.91823917e-03,-7.77122861e-03,-1.91286563e-02,
  1.11313753e+00, 1.86709762e-02, 1.10829536e+00, 2.58007814e-02,
  9.49867733e-02,-7.00118225e-02, 1.30737269e-01, 9.98474721e-01,
  1.58003878e-04,-6.85032288e-05,-5.52105320e-02]

qacc:
[  7.62196208,  1.70131738, -4.78197092,  3.88922302,  0.45938215,
  -0.05442589,  0.58797917, -0.33047508,  7.03084524,  1.78356445,
  -5.33151595,  3.66106539, -1.65131523,  2.35224719,  4.36542503,
 -15.76538007, -0.80423479,  1.74053771, -0.24719642,-21.89108054,
 -17.19345744, -0.48957789]

qfrc_actuator:
[-3.59959800e-05,-3.70473884e-04,-2.49579919e-04, 4.68407156e-05,
 -4.55345266e-05,-4.16490447e-04,-2.71584446e-04,-1.18252161e-04,
  5.01943170e-05,-3.98991884e-04,-2.54386789e-04,-7.62194226e-05,
  2.48065027e-02,-1.22402832e-03, 1.93277420e-02,-2.38228807e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44547026, -1.89960709,  4.01916643, -1.89960709, 11.76053659,
        3.4573716 ,  4.01916643,  3.4573716 ,  6.07955228,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026899663734315793
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.61221669e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.61221669e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10587222, -0.0945027 ,  0.06199169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.50004054e-05, 5.52292503e-05,-1.06171187e-05,-1.47083148e-06,
  2.72096811e-06, 4.59246941e-05, 2.23661660e-05, 5.15480660e-06,
  4.14811447e-05, 7.74729329e-06,-3.54339917e-05,-8.47952596e-06,
 -1.42788603e-04, 5.02998307e-06,-5.87440972e-05,-9.22586688e-05,
  7.65021682e-07,-4.50577981e-06,-1.21644479e+00,-1.78719323e-03,
 -3.06522023e-04, 1.25229047e-07]


--- Step 777 ---
qpos:
[ 2.89946391e-03,-5.62673933e-03,-1.01963947e-02, 2.79954961e-03,
 -4.48617611e-03,-5.16459750e-03,-1.77671015e-02, 5.17205228e-03,
 -4.72657865e-03,-3.91927087e-03,-7.77202476e-03,-1.91284847e-02,
  1.11370687e+00, 1.86706439e-02, 1.10888349e+00, 2.57960735e-02,
  9.49930028e-02,-6.99967620e-02, 1.30735192e-01, 9.98469903e-01,
  5.08299559e-05,-4.38886492e-05,-5.52978209e-02]

qacc:
[ -1.35658387, -1.03718493,  5.84335888,-13.33074402,  6.44622655,
  -1.4840709 ,  6.39983911,-11.53487311, -1.7576715 ,  1.37921921,
  -2.62126229, -4.1107206 , -1.35804262,  1.92180224,  3.73350524,
 -14.48976377, -0.81177423,  1.71187271, -0.3436826 ,-21.81810311,
 -16.78413785, -0.70578209]

qfrc_actuator:
[-4.52832159e-05,-3.68031145e-04,-2.42944619e-04, 2.60913280e-05,
 -7.63574532e-06,-4.38683551e-04,-2.63734422e-04,-1.33660087e-04,
  3.88351977e-05,-3.93358069e-04,-2.92826872e-04,-9.92820930e-05,
  2.47626827e-02,-1.18995665e-03, 1.92840928e-02,-2.46318851e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44295556, -1.82489206,  4.0508793 , -1.82489206, 15.29064574,
        4.88680659,  4.0508793 ,  4.88680659,  6.64442687,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002681098259433162
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09993354e-13, -2.07046314e-13,  1.00000000e+00,  2.27737186e-26,
        1.00000000e+00,  2.07046314e-13, -1.00000000e+00,  0.00000000e+00,
        1.09993354e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10586951, -0.09450476,  0.06199172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.98033245e-06, 3.10975584e-05, 1.66847093e-05,-1.87845696e-05,
  3.79916913e-05, 8.31207040e-06, 2.02574930e-05,-1.25667203e-05,
 -1.01739826e-05, 2.34418290e-06,-4.14847833e-05,-2.41220616e-05,
 -1.22365593e-04, 2.76437385e-06,-9.25312800e-05,-9.61861553e-05,
  4.43908788e-06,-1.99700858e-06,-1.21644439e+00,-1.78562210e-03,
 -3.09031689e-04,-5.23777502e-07]


--- Step 778 ---
qpos:
[ 2.89888587e-03,-5.62681188e-03,-1.01959968e-02, 2.80111294e-03,
 -4.48589491e-03,-5.16438952e-03,-1.77659943e-02, 5.17113202e-03,
 -4.72629403e-03,-3.92007388e-03,-7.77336357e-03,-1.91282599e-02,
  1.11427512e+00, 1.86710224e-02, 1.10946969e+00, 2.57915440e-02,
  9.49959625e-02,-6.99749458e-02, 1.30731415e-01, 9.98464963e-01,
 -1.01610876e-04,-4.97327974e-05,-5.53868600e-02]

qacc:
[ -3.96555057, -1.64958821,  7.14969126,-12.4566492 ,  3.96987783,
   0.84914747, -3.93512761,  7.7823325 ,  1.80395907,  1.92550886,
  -6.65654558,  8.28184483, -1.22986366,  1.81147138, -3.26620283,
   7.59835405, -0.81743257,  1.68892864, -0.42468088,-21.75670861,
 -16.45768952, -0.87533081]

qfrc_actuator:
[-6.84657134e-05,-3.66638490e-04,-2.21301757e-04, 1.31554190e-05,
  1.47305436e-05,-4.52087679e-04,-2.77482041e-04,-1.24541161e-04,
  4.98605264e-05,-3.71940129e-04,-3.15140160e-04,-9.51678711e-05,
  2.47106273e-02,-1.15198995e-03, 1.91781917e-02,-2.45563342e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43604938, -1.73063299,  4.08453713, -1.73063299, 20.01728245,
        6.60182418,  4.08453713,  6.60182418,  7.2332659 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026565438548516174
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.19970062e-13, -2.08960041e-13,  1.00000000e+00,  6.68609573e-26,
        1.00000000e+00,  2.08960041e-13, -1.00000000e+00,  0.00000000e+00,
        3.19970062e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10586768, -0.09450711,  0.06199179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.33994698e-05, 2.14233759e-05, 2.94699988e-05,-1.13950456e-05,
  2.34580144e-05,-5.11747495e-06,-9.98667875e-06, 9.92911073e-06,
  1.07342423e-05, 1.31703324e-05,-2.77515925e-05, 2.31376725e-06,
 -1.20548623e-04, 1.12420687e-05,-1.68602858e-04,-1.18035694e-05,
  7.68933570e-06, 1.34996783e-06,-1.21644882e+00,-1.78338074e-03,
 -3.11089091e-04,-3.58302245e-07]


--- Step 779 ---
qpos:
[ 2.89803450e-03,-5.62688336e-03,-1.01955538e-02, 2.80254620e-03,
 -4.48500265e-03,-5.16403944e-03,-1.77654206e-02, 5.17067990e-03,
 -4.72587974e-03,-3.92055253e-03,-7.77508066e-03,-1.91276665e-02,
  1.11484218e+00, 1.86724467e-02, 1.11005390e+00, 2.57887412e-02,
  9.49963979e-02,-6.99590904e-02, 1.30729490e-01, 9.98460209e-01,
 -2.10130686e-04,-6.24925871e-05,-5.54721765e-02]

qacc:
[ -2.389494  , -0.38798751,  1.94248941, -4.2750582 ,  5.31032004,
   2.6314334 ,-11.10492958, 19.9763601 ,  1.11785972,  2.24315842,
  -8.93211838, 15.67306473, -1.43347828,  2.28372628, -8.02390288,
  24.16713843, -0.6310827 , -1.49018893,  0.46273824, 22.11842121,
  -2.23637353,  1.86211396]

qfrc_actuator:
[-8.18711456e-05,-3.83572740e-04,-2.26489516e-04, 4.92588667e-06,
  4.55170219e-05,-4.42453195e-04,-3.03829625e-04,-1.01072690e-04,
  5.62368070e-05,-3.41152745e-04,-3.27667006e-04,-7.50686348e-05,
  2.46589958e-02,-1.09428254e-03, 1.91043036e-02,-2.36063245e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45334184, -0.51839976,  4.42306627, -0.51839976, 22.53592454,
        2.11934573,  4.42306627,  2.11934573,  4.70173702,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002717480447969878
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.04274335e-13,  2.04274335e-13,  1.00000000e+00, -4.17280041e-26,
        1.00000000e+00, -2.04274335e-13, -1.00000000e+00,  0.00000000e+00,
        2.04274335e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10098199, -0.04674932,  0.0619916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.40679448e-05, 6.32920537e-07, 2.46729511e-06,-6.51676308e-06,
  3.14571598e-05, 5.12520845e-06,-2.83055281e-05, 2.30950050e-05,
  6.68456262e-06, 3.25682242e-05,-1.31201051e-05, 1.97520254e-05,
 -1.18150843e-04, 3.40390747e-05,-1.57739417e-04, 7.15856831e-05,
  1.05762156e-05, 5.55520564e-06,-1.21645793e+00,-1.78046039e-03,
 -3.12723862e-04, 5.94980845e-07]


--- Step 780 ---
qpos:
[ 2.89668400e-03,-5.62694804e-03,-1.01954335e-02, 2.80389518e-03,
 -4.48374805e-03,-5.16367147e-03,-1.77648641e-02, 5.17049251e-03,
 -4.72608195e-03,-3.92093092e-03,-7.77655523e-03,-1.91275422e-02,
  1.11540841e+00, 1.86738430e-02, 1.11063701e+00, 2.57859159e-02,
  9.49945313e-02,-6.99490964e-02, 1.30728708e-01, 9.98455621e-01,
 -2.75508967e-04,-8.25431155e-05,-5.55543958e-02]

qacc:
[ -4.37632027,  0.74588057, -2.27585672,  1.31227752,  3.15924041,
   0.61055941, -3.2710837 ,  7.87915238, -5.39161096, -1.50130777,
   7.53988212,-16.13161109, -0.55991273,  0.4696692 , -1.50625846,
   3.03169855, -0.5755133 , -1.46537624,  0.28580584, 21.73988032,
  -2.44349929,  1.54867738]

qfrc_actuator:
[-1.07162495e-04,-3.93705339e-04,-2.47559102e-04,-5.07102508e-07,
  6.32653620e-05,-4.36897800e-04,-3.01794924e-04,-8.70916391e-05,
  2.43138080e-05,-3.40436101e-04,-3.16516676e-04,-9.89728400e-05,
  2.46023408e-02,-1.11411326e-03, 1.90763272e-02,-2.35680468e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47356964, -0.47681706, -4.4480862 , -0.47681706,  8.70162898,
       -0.45323106, -4.4480862 , -0.45323106,  4.5221542 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002786547335131892
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.41327766e-07,  7.41327725e-07,  1.00000000e+00, -5.49566826e-13,
        1.00000000e+00, -7.41327725e-07, -1.00000000e+00,  0.00000000e+00,
        7.41327766e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10080438, -0.0467398 ,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.56935439e-05,-9.55625276e-06,-2.08665486e-05,-5.45060692e-06,
  1.86520997e-05, 3.55698156e-06, 3.94548291e-07, 1.36682339e-05,
 -3.17241938e-05, 1.71043692e-05, 1.69690666e-05,-2.25754475e-05,
 -1.15952413e-04,-3.74736366e-05,-9.78471062e-05,-1.36148359e-05,
  7.04064246e-06, 3.98261386e-06,-1.21644930e+00,-1.77876459e-03,
 -3.10469523e-04, 5.95501456e-07]


--- Step 781 ---
qpos:
[ 2.89504073e-03,-5.62698923e-03,-1.01958450e-02, 2.80483607e-03,
 -4.48297994e-03,-5.16325362e-03,-1.77642859e-02, 5.17012171e-03,
 -4.72632002e-03,-3.92159202e-03,-7.77737990e-03,-1.91283746e-02,
  1.11597377e+00, 1.86750953e-02, 1.11121974e+00, 2.57813301e-02,
  9.49904913e-02,-6.99448737e-02, 1.30728467e-01, 9.98451180e-01,
 -2.98389916e-04,-1.10535339e-04,-5.56339813e-02]

qacc:
[ -2.57811738,  0.68205895, -0.65557351, -5.58330045, -4.24299101,
  -0.36403262,  2.18236764, -5.44392286, -0.28918023, -4.16049251,
  18.3232651 ,-35.69366512, -0.67586033,  0.54522604,  4.8229917 ,
 -17.55068789, -0.54333797, -1.44281042,  0.13550457, 21.43657734,
  -2.7846151 ,  1.3161541 ]

qfrc_actuator:
[-1.21497619e-04,-3.99763113e-04,-2.77807995e-04,-2.20085521e-05,
  3.76898615e-05,-4.33722481e-04,-3.00786368e-04,-9.65395290e-05,
  2.33634178e-05,-3.75420173e-04,-2.91629531e-04,-1.48588851e-04,
  2.45533348e-02,-1.12655333e-03, 1.90758888e-02,-2.44212757e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48464086, -0.42089196, -4.46484643, -0.42089196, 11.77567938,
       -0.68731132, -4.46484643, -0.68731132,  4.5494323 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002823400743868449
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.82075592e-07,  4.82075705e-07,  1.00000000e+00, -2.32396931e-13,
        1.00000000e+00, -4.82075705e-07, -1.00000000e+00,  0.00000000e+00,
        4.82075592e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10080823, -0.04674113,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.50719283e-05,-1.59521027e-05,-3.49828911e-05,-2.27408451e-05,
 -2.50401400e-05, 5.81849092e-06, 2.25367367e-06,-9.01822928e-06,
 -1.85278096e-06,-2.28624062e-05, 2.97512651e-05,-4.87308146e-05,
 -1.23279674e-04,-4.78549707e-05,-5.51353618e-05,-1.00495830e-04,
  3.97978262e-06, 3.11821756e-06,-1.21644383e+00,-1.77772936e-03,
 -3.08342423e-04, 5.40594037e-07]


--- Step 782 ---
qpos:
[ 2.89358338e-03,-5.62740564e-03,-1.01964704e-02, 2.80554180e-03,
 -4.48252404e-03,-5.16296496e-03,-1.77636371e-02, 5.17000576e-03,
 -4.72622314e-03,-3.92232116e-03,-7.77824706e-03,-1.91294286e-02,
  1.11653800e+00, 1.86770028e-02, 1.11180145e+00, 2.57764478e-02,
  9.49843802e-02,-6.99463477e-02, 1.30728264e-01, 9.98446870e-01,
 -2.79305718e-04,-1.46978051e-04,-5.57113000e-02]

qacc:
[ 1.62581716e+00,-3.85822534e-01, 1.64332484e+00,-5.08928721e+00,
 -2.71819984e+00, 1.62054633e-01,-1.89227919e+00, 6.27551787e+00,
  2.93205378e+00,-4.33497002e-01, 2.33942417e+00,-6.04350346e+00,
 -1.31557083e+00, 1.87770433e+00,-4.74717624e-01,-1.93871589e-01,
 -5.17784279e-01,-1.42416062e+00, 9.31691319e-03, 2.11852873e+01,
 -3.05168685e+00, 1.13165000e+00]

qfrc_actuator:
[-1.11513100e-04,-4.38900651e-04,-2.95473608e-04,-3.50409183e-05,
  2.23292136e-05,-4.49766999e-04,-3.00425536e-04,-8.41972562e-05,
  4.06625534e-05,-3.78223922e-04,-2.94509949e-04,-1.59698884e-04,
  2.45089508e-02,-1.08117401e-03, 1.90280395e-02,-2.45492536e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4878769 , -0.48419042, -4.46168115, -0.48419042, 15.88026929,
       -1.23632485, -4.46168115, -1.23632485,  4.62204531,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002834051369631961
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28987511e-07,  1.28987243e-07,  1.00000000e+00, -1.66377435e-14,
        1.00000000e+00, -1.28987243e-07, -1.00000000e+00,  3.15544362e-30,
        1.28987511e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10081144, -0.04674154,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.55090497e-06,-5.62541958e-05,-2.60510737e-05,-1.53691447e-05,
 -1.60761641e-05,-1.27416290e-05, 1.51831377e-06, 1.24936722e-05,
  1.72359750e-05,-1.14962459e-05,-5.60521664e-06,-1.20033663e-05,
 -1.24658502e-04, 5.38509293e-06,-9.52947946e-05,-2.79380020e-05,
  1.31799740e-06, 2.93944258e-06,-1.21644139e+00,-1.77734157e-03,
 -3.06285325e-04, 4.22679940e-07]


--- Step 783 ---
qpos:
[ 2.89225701e-03,-5.62840232e-03,-1.01966756e-02, 2.80641378e-03,
 -4.48191101e-03,-5.16304427e-03,-1.77625795e-02, 5.17004610e-03,
 -4.72557470e-03,-3.92335255e-03,-7.77878256e-03,-1.91302580e-02,
  1.11710143e+00, 1.86784419e-02, 1.11238172e+00, 2.57721218e-02,
  9.49778009e-02,-6.99536719e-02, 1.30727825e-01, 9.98442620e-01,
 -2.18755255e-04,-1.80771716e-04,-5.57875752e-02]

qacc:
[ 1.1688322 ,-1.60107981, 3.8903243 ,-1.25393202, 1.38946395,-1.30904712,
  3.29788407,-0.97182139, 4.84448823,-0.87321353, 1.57001018, 2.02609044,
 -0.14549683,-0.39251623,-3.82453694,10.26808626,-0.11703763,-1.46256505,
 -0.05901461,20.62722564, 2.47739502, 0.52002217]

qfrc_actuator:
[-1.05051000e-04,-4.61991485e-04,-2.70189294e-04,-2.52489037e-05,
  3.08704193e-05,-4.77184286e-04,-2.82758284e-04,-7.68984340e-05,
  6.85549506e-05,-3.97326326e-04,-2.78113212e-04,-1.48057665e-04,
  2.44460911e-02,-1.12611309e-03, 1.89624663e-02,-2.42496797e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48551155, -3.39573834, -2.93066118, -3.39573834, 11.059686  ,
       -7.61745384, -2.93066118, -7.61745384, 13.31180654,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000282627172084729
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.96411233e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.96411233e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09600085, -0.04642199,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.71896689e-06,-6.05591045e-05, 9.93562691e-06, 6.18175612e-06,
  8.07531976e-06,-3.37168837e-05, 1.56448077e-05, 7.04745331e-06,
  2.83779087e-05,-2.71575999e-05, 1.29370311e-05, 1.07264582e-05,
 -1.31700837e-04,-7.16977177e-05,-1.21416878e-04, 1.41709037e-05,
 -9.89178306e-07, 3.40606411e-06,-1.21644187e+00,-1.77759646e-03,
 -3.04258274e-04, 2.24490542e-07]


--- Step 784 ---
qpos:
[ 2.89101844e-03,-5.62986957e-03,-1.01963060e-02, 2.80702549e-03,
 -4.48085605e-03,-5.16294112e-03,-1.77615120e-02, 5.16978479e-03,
 -4.72459695e-03,-3.92461708e-03,-7.77911899e-03,-1.91309411e-02,
  1.11766387e+00, 1.86792374e-02, 1.11296094e+00, 2.57677463e-02,
  9.49708055e-02,-6.99667761e-02, 1.30726784e-01, 9.98438412e-01,
 -1.17013318e-04,-2.12333233e-04,-5.58630345e-02]

qacc:
[  0.79387232, -2.76598313, 10.05580445,-15.13027543,  3.85109001,
  -0.41539354,  3.09144072, -8.44837046,  2.89340462, -0.56895143,
   0.9549488 ,  1.43885853, -0.21776143, -0.46525829, -1.404145  ,
   2.65395345, -0.10403362, -1.44501066, -0.15065537, 20.50147703,
   2.26323624,  0.40493935]

qfrc_actuator:
[-1.00721776e-04,-4.75099148e-04,-2.37436082e-04,-3.75748717e-05,
  5.34082834e-05,-4.40124252e-04,-2.72826214e-04,-9.03816717e-05,
  8.47000781e-05,-4.08193863e-04,-2.68259965e-04,-1.40876003e-04,
  2.43774844e-02,-1.17112382e-03, 1.89289394e-02,-2.42334958e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47825384,  0.59419084, -4.43865911,  0.59419084, 26.78813514,
        2.98656122, -4.43865911,  2.98656122,  4.87805641,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028022192512099087
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96194204e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.96194204e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09600301, -0.04642059,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.50267436e-06,-4.46122036e-05, 2.16951739e-05,-1.44558795e-05,
  2.27566707e-05, 2.17323140e-05, 5.12717065e-06,-1.42518733e-05,
  1.69410834e-05,-2.28650885e-05, 6.22819469e-06, 6.67936338e-06,
 -1.59872953e-04,-9.26404030e-05,-9.44810180e-05,-1.46895227e-05,
 -3.16099248e-06, 3.88712111e-06,-1.21644431e+00,-1.77864386e-03,
 -3.02401011e-04, 7.71026746e-08]


--- Step 785 ---
qpos:
[ 2.88984112e-03,-5.63128295e-03,-1.01957239e-02, 2.80675109e-03,
 -4.47953939e-03,-5.16219710e-03,-1.77608753e-02, 5.16967995e-03,
 -4.72446814e-03,-3.92567278e-03,-7.77981908e-03,-1.91312053e-02,
  1.11822526e+00, 1.86797222e-02, 1.11353822e+00, 2.57655037e-02,
  9.49676138e-02,-6.99833466e-02, 1.30726168e-01, 9.98434165e-01,
  4.70332791e-06,-2.14740817e-04,-5.59390023e-02]

qacc:
[  0.54109088, -2.34897849, 12.21707975,-27.92991133,  2.25796356,
   2.36808849, -7.8834996 , 10.81869075, -7.44707986,  2.16990203,
  -9.0754463 , 16.71628746, -0.29433302, -0.163025  , -9.31371733,
  28.44683802,  0.9509219 , -0.86654911,  0.10646669,  9.15738806,
  15.11215308, -0.25536836]

qfrc_actuator:
[-9.76814886e-05,-4.46589241e-04,-2.18276843e-04,-8.05642376e-05,
  6.62438624e-05,-3.82533710e-04,-2.85052647e-04,-8.04334742e-05,
  4.05405679e-05,-3.78563418e-04,-2.80085515e-04,-1.18628909e-04,
  2.43321027e-02,-1.18030955e-03, 1.88347702e-02,-2.31408283e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47071624, -3.00943383, -3.30614757, -3.00943383, 14.10785375,
       -8.77224233, -3.30614757, -8.77224233, 12.45568434,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027769426748150416
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99900242e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.99900242e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08345264, -0.05681708,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.15729492e-06, 7.47752921e-06, 1.21288631e-05,-4.44303423e-05,
  1.34959177e-05, 7.01837425e-05,-7.61335300e-06, 1.07763748e-05,
 -4.36887190e-05, 1.84770999e-05,-1.55294439e-05, 2.16180012e-05,
 -1.56609601e-04,-6.89762080e-05,-1.47789718e-04, 9.44005945e-05,
 -5.26469175e-06, 5.03106076e-06,-1.21644943e+00,-1.78030691e-03,
 -3.00656809e-04, 2.05846842e-08]


--- Step 786 ---
qpos:
[ 2.88836441e-03,-5.63238741e-03,-1.01950809e-02, 2.80628595e-03,
 -4.47807868e-03,-5.16109303e-03,-1.77605912e-02, 5.16972549e-03,
 -4.72521463e-03,-3.92633674e-03,-7.78077899e-03,-1.91312322e-02,
  1.11878577e+00, 1.86797202e-02, 1.11411367e+00, 2.57658691e-02,
  9.49681927e-02,-7.00033007e-02, 1.30725617e-01, 9.98429865e-01,
  1.46535037e-04,-1.88246015e-04,-5.60156023e-02]

qacc:
[-2.62235501e+00,-1.49412952e-01, 1.93905740e+00,-5.57407215e+00,
  1.23932126e+00, 1.76801237e+00,-6.25302140e+00, 9.16005286e+00,
 -7.67773484e+00, 1.74799946e+00,-6.45503887e+00, 1.06569570e+01,
 -2.62622034e-03,-6.27203753e-01,-1.06575956e+01, 3.32534225e+01,
  9.42658256e-01,-8.45927626e-01, 1.63019799e-02, 9.23333068e+00,
  1.49911658e+01,-3.19256957e-01]

qfrc_actuator:
[-1.13175779e-04,-4.11197631e-04,-2.07141687e-04,-8.79637991e-05,
  7.32615326e-05,-3.84166780e-04,-3.10137286e-04,-7.45165053e-05,
 -3.24992591e-06,-3.42735540e-04,-2.86682616e-04,-1.05426247e-04,
  2.42953718e-02,-1.20358121e-03, 1.87629164e-02,-2.17789492e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46370649,  4.41326001, -0.66918737,  4.41326001,  5.12529546,
        4.36314893, -0.66918737,  4.36314893, 33.23847351,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002753157462538902
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00813615e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.00813615e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0834523 , -0.05681478,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.53961406e-05, 4.02244965e-05, 1.26476303e-05,-7.52167722e-06,
  7.42890932e-06, 3.64728517e-05,-1.11698139e-05, 8.86685121e-06,
 -4.50360343e-05, 4.39106335e-05,-3.92246161e-06, 1.38839041e-05,
 -1.41102828e-04,-7.60676263e-05,-1.34611697e-04, 1.21287151e-04,
 -7.04521868e-06, 4.31105263e-06,-1.21645177e+00,-1.78261807e-03,
 -3.00077359e-04, 8.66069304e-07]


--- Step 787 ---
qpos:
[ 2.88671365e-03,-5.63331957e-03,-1.01942861e-02, 2.80609180e-03,
 -4.47654471e-03,-5.16003441e-03,-1.77606814e-02, 5.16955097e-03,
 -4.72613562e-03,-3.92684257e-03,-7.78143889e-03,-1.91314552e-02,
  1.11934545e+00, 1.86791249e-02, 1.11468848e+00, 2.57630518e-02,
  9.49656349e-02,-7.00160811e-02, 1.30725422e-01, 9.98425534e-01,
  2.40929207e-04,-1.96173827e-04,-5.60923941e-02]

qacc:
[ -1.52044101,  0.36444932, -2.10776996,  6.42248995,  0.62779841,
   0.53099606, -1.0538401 , -2.12024086, -1.52112029, -1.03054237,
   4.80835708, -8.79848169, -0.40774246, -0.11584405,  8.7405021 ,
 -31.85527566, -0.78418247,  1.79344491,  0.08889713,-22.71744243,
 -18.5129206 , -0.08966492]

qfrc_actuator:
[-1.21702029e-04,-4.07458866e-04,-2.00754260e-04,-7.43504032e-05,
  7.68014110e-05,-4.21309536e-04,-3.42842705e-04,-8.88273906e-05,
 -1.09478165e-05,-3.38960911e-04,-2.72348389e-04,-1.15388920e-04,
  2.42532026e-02,-1.23500395e-03, 1.87258167e-02,-2.34643000e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46654424,  2.42009987, -3.75408233,  2.42009987, 17.0429358 ,
        8.10747364, -3.75408233,  8.10747364,  9.69309342,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027628192544049135
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06739878e-13, -4.01844248e-13,  1.00000000e+00,  4.28928061e-26,
        1.00000000e+00,  4.01844248e-13, -1.00000000e+00,  0.00000000e+00,
        1.06739878e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10582636, -0.09451295,  0.06199146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.94952060e-06, 2.85553948e-05, 1.60022667e-05, 1.56311292e-05,
  3.76565294e-06,-1.87155401e-05,-2.62578649e-05,-1.29656907e-05,
 -8.97215978e-06, 2.81308863e-05, 2.34210291e-05,-7.94216572e-06,
 -1.39406285e-04,-8.24736749e-05,-9.10179227e-05,-1.80311918e-04,
 -9.09769807e-06, 3.77948951e-06,-1.21645606e+00,-1.78521303e-03,
 -2.99935620e-04, 1.88706679e-06]


--- Step 788 ---
qpos:
[ 2.88497330e-03,-5.63380792e-03,-1.01940797e-02, 2.80607890e-03,
 -4.47497975e-03,-5.15952921e-03,-1.77609403e-02, 5.16960425e-03,
 -4.72679696e-03,-3.92761799e-03,-7.78144361e-03,-1.91314197e-02,
  1.11990416e+00, 1.86781574e-02, 1.11526243e+00, 2.57568688e-02,
  9.49598868e-02,-7.00218398e-02, 1.30724977e-01, 9.98421152e-01,
  2.88415407e-04,-2.37236314e-04,-5.61699610e-02]

qacc:
[ -0.80951253,  2.6057536 , -9.2022447 , 12.95057289,  0.27458268,
   0.20879602, -2.76830895,  7.38896   ,  2.29851436, -1.65986964,
   4.30318568, -0.67256754, -0.67425312,  0.35399895,  8.97261817,
 -33.10388629, -0.79756852,  1.75543517, -0.06269267,-22.48782613,
 -17.85694218, -0.37979344]

qfrc_actuator:
[-1.26053045e-04,-3.87193492e-04,-2.32836077e-04,-6.62672951e-05,
  7.82677992e-05,-4.79496635e-04,-3.62205389e-04,-7.94594511e-05,
  2.65917959e-06,-3.72093937e-04,-2.45911269e-04,-1.03407067e-04,
  2.42024718e-02,-1.25326346e-03, 1.86828973e-02,-2.51552504e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48001428, -1.09013931,  4.34535662, -1.09013931,  9.39755962,
        1.23368689,  4.34535662,  1.23368689,  4.7895149 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028080788823606206
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.32433163e-14, -1.97683732e-13,  1.00000000e+00, -8.54850014e-27,
        1.00000000e+00,  1.97683732e-13, -1.00000000e+00,  0.00000000e+00,
       -4.32433163e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10582108, -0.09451268,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.59595737e-06, 4.02357439e-05,-2.36674258e-05, 1.01660136e-05,
  1.56940639e-06,-7.46674334e-05,-2.69227998e-05, 7.40308369e-06,
  1.33576596e-05,-1.28845797e-05, 3.48707084e-05, 1.38455588e-05,
 -1.48832168e-04,-7.03944554e-05,-1.14089369e-04,-1.92917982e-04,
 -5.45149522e-06, 3.49022565e-06,-1.21644725e+00,-1.78609355e-03,
 -3.01435160e-04, 7.17962234e-07]


--- Step 789 ---
qpos:
[ 2.88353911e-03,-5.63375107e-03,-1.01946184e-02, 2.80616114e-03,
 -4.47340929e-03,-5.15968099e-03,-1.77610631e-02, 5.16941681e-03,
 -4.72694524e-03,-3.92865391e-03,-7.78107999e-03,-1.91308764e-02,
  1.12046143e+00, 1.86778450e-02, 1.11583519e+00, 2.57512700e-02,
  9.49509078e-02,-7.00207009e-02, 1.30723770e-01, 9.98416695e-01,
  2.89441297e-04,-3.10403334e-04,-5.62487552e-02]

qacc:
[  2.64536004,  2.99413606,-10.04073808, 12.4873956 ,  0.06326843,
  -1.74402397,  5.97501071, -9.87619798,  4.50791674, -0.33650167,
  -1.45594929,  9.85841503, -1.49157719,  2.00059272, -3.38680741,
   9.6514114 , -0.80773672,  1.72436522, -0.19029329,-22.29195747,
 -17.33194461, -0.6046309 ]

qfrc_actuator:
[-1.10161135e-04,-3.57352584e-04,-2.69567407e-04,-6.15210276e-05,
  7.85030511e-05,-5.14278927e-04,-3.55865506e-04,-9.17493096e-05,
  2.86847521e-05,-3.91501830e-04,-2.30440212e-04,-7.86345720e-05,
  2.41359945e-02,-1.21035092e-03, 1.86631591e-02,-2.47046839e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48519438, -1.02152604,  4.36731647, -1.02152604, 12.60461654,
        1.89915277,  4.36731647,  1.89915277,  4.92941087,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028252263527518695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.29808547e-14, -1.96483907e-13,  1.00000000e+00, -8.44504626e-27,
        1.00000000e+00,  1.96483907e-13, -1.00000000e+00,  0.00000000e+00,
       -4.29808547e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10581724, -0.09451323,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57764659e-05, 4.79069147e-05,-3.09784755e-05, 5.85031224e-06,
  2.54963908e-07,-8.17943866e-05,-1.21459217e-05,-1.62773354e-05,
  2.63980891e-05,-1.87870125e-05, 1.75914599e-05, 2.56977371e-05,
 -1.67291012e-04,-8.21248756e-06,-1.02008921e-04, 1.77949979e-05,
 -2.44810138e-06, 4.10816352e-06,-1.21644373e+00,-1.78629376e-03,
 -3.02375390e-04, 4.90648460e-07]


--- Step 790 ---
qpos:
[ 2.88265149e-03,-5.63335665e-03,-1.01952586e-02, 2.80593622e-03,
 -4.47219340e-03,-5.16011670e-03,-1.77609808e-02, 5.16868498e-03,
 -4.72712546e-03,-3.92965411e-03,-7.78089975e-03,-1.91300400e-02,
  1.12101760e+00, 1.86774743e-02, 1.11640635e+00, 2.57479094e-02,
  9.49386667e-02,-7.00127658e-02, 1.30721372e-01, 9.98412138e-01,
  2.44381141e-04,-4.14854129e-04,-5.63291253e-02]

qacc:
[  4.771766  ,  0.08784881,  1.61439408, -6.99856695, -3.08136432,
  -2.06278697,  9.11965056,-18.67310796, -0.28570969,  1.16407616,
  -5.31572636, 10.64809179, -0.52774061,  0.31456908, -9.11110414,
  28.5239951 , -0.81553121,  1.69907407, -0.29761896,-22.12693222,
 -16.91350673, -0.77780529]

qfrc_actuator:
[-8.24833758e-05,-3.39797899e-04,-2.73190961e-04,-7.65158689e-05,
  6.02600852e-05,-4.99188131e-04,-3.34341523e-04,-1.16656454e-04,
  2.62989475e-05,-3.84823273e-04,-2.39276664e-04,-6.42931493e-05,
  2.40814508e-02,-1.22037680e-03, 1.85988068e-02,-2.35278231e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4835631 , -0.93381986,  4.38523871, -0.93381986, 16.85962695,
        2.63543561,  4.38523871,  2.63543561,  5.04476906,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028198415162891677
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.53666268e-14, -3.93718235e-13,  1.00000000e+00,  2.17988506e-26,
        1.00000000e+00,  3.93718235e-13, -1.00000000e+00,  0.00000000e+00,
        5.53666268e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10581453, -0.09451445,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.81467617e-05, 3.82102592e-05, 2.66495928e-06,-1.38997728e-05,
 -1.82630327e-05,-3.38467448e-05, 2.57365944e-06,-2.91477486e-05,
 -1.64309862e-06, 9.47660637e-07,-9.65563368e-06, 1.46450002e-05,
 -1.49694338e-04,-5.03595530e-05,-1.18061046e-04, 1.03637352e-04,
  2.86485171e-08, 5.64490851e-06,-1.21644523e+00,-1.78580589e-03,
 -3.02809576e-04, 1.14582815e-06]


--- Step 791 ---
qpos:
[ 2.88141301e-03,-5.63284378e-03,-1.01958351e-02, 2.80520484e-03,
 -4.47155062e-03,-5.16075327e-03,-1.77604691e-02, 5.16832369e-03,
 -4.72767776e-03,-3.93036078e-03,-7.78121299e-03,-1.91293951e-02,
  1.12157281e+00, 1.86769513e-02, 1.11697592e+00, 2.57459727e-02,
  9.49263635e-02,-7.00029870e-02, 1.30720973e-01, 9.98407553e-01,
  1.84333949e-04,-5.19348768e-04,-5.64097081e-02]

qacc:
[-3.06938731e+00,-1.05864265e+00, 6.14988610e+00,-1.51150276e+01,
 -4.98102360e+00,-6.92276887e-01, 5.36065691e-01, 5.31958822e+00,
 -3.27817998e+00, 1.37916490e+00,-3.53509855e+00, 7.81254514e-01,
 -4.22293568e-01, 1.49825065e-01,-6.62500065e+00, 1.98460883e+01,
 -1.55098188e-02, 4.60915501e-01, 4.99501981e-01,-7.48042515e+00,
 -4.44022400e-01,-1.03927674e-01]

qfrc_actuator:
[-1.01354878e-04,-3.47378025e-04,-2.75048126e-04,-1.02991149e-04,
  3.12880646e-05,-4.89789015e-04,-3.03830495e-04,-9.54761019e-05,
  7.20607335e-06,-3.62684850e-04,-2.62293236e-04,-7.39513345e-05,
  2.40394128e-02,-1.22620909e-03, 1.85237428e-02,-2.28216928e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47556981, -2.092004  ,  3.9565445 , -2.092004  , 18.89086797,
        7.62202004,  3.9565445 ,  7.62202004,  8.50567649,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027932536893988816
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.09752773e-07,  1.24208086e-13,  1.00000000e+00, -1.00577842e-19,
        1.00000000e+00, -1.24208086e-13, -1.00000000e+00,  0.00000000e+00,
        8.09752773e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0946481 , -0.07567711,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80537610e-05, 1.37483828e-05, 5.88588691e-06,-2.50163697e-05,
 -2.95062681e-05,-1.02348816e-05, 2.28349318e-05, 1.92551202e-05,
 -1.91425067e-05, 2.13323218e-05,-2.34957492e-05,-9.66653686e-06,
 -1.37549366e-04,-5.26135111e-05,-1.24605443e-04, 5.97130707e-05,
  2.06483253e-06, 8.10313686e-06,-1.21645154e+00,-1.78462537e-03,
 -3.02777105e-04, 2.63912193e-06]


--- Step 792 ---
qpos:
[ 2.87961338e-03,-5.63224070e-03,-1.01967060e-02, 2.80453630e-03,
 -4.47091541e-03,-5.16157045e-03,-1.77595683e-02, 5.16787315e-03,
 -4.72845458e-03,-3.93088763e-03,-7.78203236e-03,-1.91295460e-02,
  1.12212692e+00, 1.86768513e-02, 1.11754478e+00, 2.57437326e-02,
  9.49175907e-02,-6.99967944e-02, 1.30722033e-01, 9.98402980e-01,
  1.44726124e-04,-5.91286485e-04,-5.64899971e-02]

qacc:
[ -4.91908077,  1.08105657, -3.93015082,  5.40400754, -0.05091055,
  -1.50942733,  5.41298393, -7.44808847, -1.98494427,  0.01722846,
   3.64417268,-16.73458785, -1.14414634,  1.48449825, -0.03040769,
  -1.15610462,  0.88261767, -0.89654353,  0.36474668,  9.28522111,
  16.82905787,  0.13872577]

qfrc_actuator:
[-1.29724496e-04,-3.52202321e-04,-2.93722695e-04,-1.00527260e-04,
  3.17442317e-05,-5.01527037e-04,-2.85986173e-04,-1.00598335e-04,
 -3.80547316e-06,-3.67047886e-04,-2.93434421e-04,-1.15394481e-04,
  2.39995803e-02,-1.19390260e-03, 1.85115427e-02,-2.29313904e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48804594, -2.15577247,  3.93639447, -2.15577247, 15.19515901,
        5.8637669 ,  3.93639447,  5.8637669 ,  7.69934688,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028346062337626654
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -3.9166746e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  3.9166746e-13, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08346811, -0.05680274,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.88809131e-05, 2.99516303e-06,-1.59710239e-05, 2.77249479e-06,
 -3.94982522e-07,-1.19121723e-05, 1.92131320e-05,-4.39341722e-06,
 -1.15518370e-05, 2.31840734e-06,-2.99526885e-05,-4.15291867e-05,
 -1.29508489e-04,-1.20273663e-05,-6.92686616e-05,-2.50842921e-05,
  2.74865216e-06, 8.41132909e-06,-1.21645275e+00,-1.78377381e-03,
 -3.01678233e-04, 3.39397778e-06]


--- Step 793 ---
qpos:
[ 2.87783237e-03,-5.63154787e-03,-1.01975294e-02, 2.80387885e-03,
 -4.47028025e-03,-5.16210793e-03,-1.77588991e-02, 5.16700330e-03,
 -4.72866752e-03,-3.93153591e-03,-7.78312030e-03,-1.91301693e-02,
  1.12268002e+00, 1.86771125e-02, 1.11811299e+00, 2.57432630e-02,
  9.49123714e-02,-6.99940813e-02, 1.30724024e-01, 9.98398411e-01,
  1.25605094e-04,-6.31646348e-04,-5.65702942e-02]

qacc:
[ 1.62802812e-01, 8.70104791e-03, 9.36901667e-02,-4.28618923e-02,
 -1.26616404e-02, 1.53438510e-01, 1.75928466e+00,-8.85161247e+00,
  4.92997221e+00,-3.92700382e-01, 3.14225738e+00,-1.07762353e+01,
 -8.79318645e-01, 1.10575002e+00,-6.23692740e+00, 2.06336263e+01,
  8.88348752e-01,-8.69868574e-01, 2.32965018e-01, 9.33511989e+00,
  1.63423620e+01,-1.22255442e-02]

qfrc_actuator:
[-1.27937101e-04,-3.37639624e-04,-2.86649819e-04,-9.88192090e-05,
  3.17683965e-05,-4.72629341e-04,-2.93626061e-04,-1.21190543e-04,
  2.55382987e-05,-3.87315492e-04,-3.11487711e-04,-1.39722618e-04,
  2.39557920e-02,-1.17473247e-03, 1.85157374e-02,-2.19212695e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49323223,  2.31449184, -3.85126777,  2.31449184, 11.99872955,
        4.51056986, -3.85126777,  4.51056986,  7.20394408,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028515593774360026
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08347132, -0.056801  ,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.62619745e-07, 1.30429085e-05, 5.82789321e-06, 1.34133560e-06,
  8.09278122e-09, 2.60366753e-05,-7.88549518e-06,-2.05223598e-05,
  2.90150934e-05,-2.69136923e-05,-2.26845915e-05,-2.60700830e-05,
 -1.18749002e-04,-1.33545775e-05,-4.04553067e-05, 8.84695120e-05,
  2.06002950e-06, 5.92927540e-06,-1.21644624e+00,-1.78378628e-03,
 -2.99861965e-04, 2.83594670e-06]


--- Step 794 ---
qpos:
[ 2.87608644e-03,-5.63097029e-03,-1.01978993e-02, 2.80324485e-03,
 -4.46999462e-03,-5.16232885e-03,-1.77586974e-02, 5.16659566e-03,
 -4.72818227e-03,-3.93248133e-03,-7.78411668e-03,-1.91303909e-02,
  1.12323204e+00, 1.86776936e-02, 1.11868071e+00, 2.57426500e-02,
  9.49107218e-02,-6.99947620e-02, 1.30726505e-01, 9.98393838e-01,
  1.26998030e-04,-6.41214243e-04,-5.66508356e-02]

qacc:
[  0.32306179, -1.37250673,  4.57263696, -4.8062394 , -3.06794995,
   2.68185018,-10.8968098 , 19.40127938,  6.12067232,  0.16700651,
  -2.87918164,  9.92094371, -1.05835343,  1.30173246, -0.19359811,
  -0.12967708,  0.89243819, -0.84846775,  0.12247263,  9.36952243,
  15.95154998, -0.13052433]

qfrc_actuator:
[-1.26163430e-04,-3.46985622e-04,-2.64352503e-04,-9.75380564e-05,
  1.37762291e-05,-4.55243551e-04,-3.16091335e-04,-9.74410777e-05,
  6.06440433e-05,-3.99143878e-04,-3.03970733e-04,-1.18281416e-04,
  2.38936847e-02,-1.16355167e-03, 1.84871821e-02,-2.20340476e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49162057,  2.25772958, -3.88295152,  2.25772958, 15.7770211 ,
        6.56185958, -3.88295152,  6.56185958,  8.30699256,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002846305721541653
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.75143865e-14, -1.95028773e-13,  1.00000000e+00,  1.90181111e-26,
        1.00000000e+00,  1.95028773e-13, -1.00000000e+00,  0.00000000e+00,
        9.75143865e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08347352, -0.05679928,  0.06199121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.80422681e-06,-7.99121809e-07, 2.57604716e-05, 2.06983478e-06,
 -1.79816776e-05, 2.94509523e-05,-1.87686659e-05, 2.41943291e-05,
  3.59236440e-05,-3.26331516e-05,-1.71743722e-06, 1.90001809e-05,
 -1.30588151e-04,-1.95687315e-05,-4.80689923e-05,-1.39759795e-05,
  1.10427519e-06, 3.73914819e-06,-1.21644212e+00,-1.78406058e-03,
 -2.98549421e-04, 2.49110310e-06]


--- Step 795 ---
qpos:
[ 2.87472036e-03,-5.63064087e-03,-1.01979196e-02, 2.80300102e-03,
 -4.46923697e-03,-5.16245723e-03,-1.77586716e-02, 5.16613906e-03,
 -4.72728003e-03,-3.93347324e-03,-7.78510675e-03,-1.91307260e-02,
  1.12378293e+00, 1.86787277e-02, 1.11924768e+00, 2.57396200e-02,
  9.49126538e-02,-6.99987683e-02, 1.30729107e-01, 9.98389250e-01,
  1.48919715e-04,-6.20618417e-04,-5.67318058e-02]

qacc:
[  3.33799122, -0.50796066, -0.32285048,  6.71079951,  4.1093735 ,
   0.50479349, -1.42982026,  0.81098482,  3.6514994 , -0.32005154,
   1.51799055, -3.44325102, -1.34900918,  1.77459829,  6.37139899,
 -23.52482253,  0.89540145, -0.83136833,  0.03003107,  9.39335242,
  15.63909003, -0.22295937]

qfrc_actuator:
[-1.06669273e-04,-3.70507735e-04,-2.51098338e-04,-7.87772033e-05,
  3.85816535e-05,-4.62666286e-04,-3.29370638e-04,-1.01058298e-04,
  8.10944689e-05,-3.87931835e-04,-2.99116935e-04,-1.23321767e-04,
  2.38366058e-02,-1.13951488e-03, 1.84283348e-02,-2.33410857e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48466022,  2.18260604, -3.91770445,  2.18260604, 20.83037689,
        9.10641942, -3.91770445,  9.10641942,  9.55796941,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002823464610769155
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08347492, -0.05679758,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.95429990e-05,-1.85682844e-05, 1.63344556e-05, 1.96595175e-05,
  2.42999701e-05, 6.20633538e-06,-8.66920383e-06,-2.53229603e-06,
  2.14601288e-05,-6.51682601e-06,-1.41825488e-06,-6.12394066e-06,
 -1.33964036e-04,-1.08769621e-05,-9.35186691e-05,-1.40140462e-04,
 -1.18228823e-07, 1.80324906e-06,-1.21644022e+00,-1.78460686e-03,
 -2.97722246e-04, 2.35080000e-06]


--- Step 796 ---
qpos:
[ 2.87394345e-03,-5.63052725e-03,-1.01977481e-02, 2.80299104e-03,
 -4.46853301e-03,-5.16239025e-03,-1.77588171e-02, 5.16493875e-03,
 -4.72613939e-03,-3.93458379e-03,-7.78599339e-03,-1.91314617e-02,
  1.12433281e+00, 1.86800536e-02, 1.11981283e+00, 2.57381067e-02,
  9.49181764e-02,-7.00060456e-02, 1.30731520e-01, 9.98384636e-01,
  1.91378369e-04,-5.70358067e-04,-5.68133480e-02]

qacc:
[  5.16338071, -0.34961976, -0.17178697,  4.08995853, -0.47734124,
  -0.7934301 ,  6.34492825,-19.08829886,  2.09214948, -1.27535361,
   6.00083781,-12.99815669, -0.76822102,  0.90207735, -7.22326474,
  21.52278845,  0.89762516, -0.81778379, -0.04712846,  9.41030789,
  15.39087018, -0.2948738 ]

qfrc_actuator:
[-7.69016231e-05,-3.84603874e-04,-2.43347461e-04,-6.76572530e-05,
  3.51260080e-05,-4.49371457e-04,-3.37242998e-04,-1.38521879e-04,
  9.27536366e-05,-3.98532577e-04,-2.95812410e-04,-1.43896472e-04,
  2.37879131e-02,-1.12577823e-03, 1.83513520e-02,-2.25009503e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4736706 ,  2.08635512, -3.9573793 ,  2.08635512, 27.57154263,
       12.17734265, -3.9573793 , 12.17734265, 10.89364183,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002786886340220146
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08347569, -0.05679589,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.03172951e-05,-2.02632080e-05, 6.60526730e-06, 1.12715405e-05,
 -2.75641626e-06, 1.48801373e-05,-7.74478374e-06,-3.75467288e-05,
  1.22658242e-05,-1.47415218e-05, 1.59594048e-06,-2.10176454e-05,
 -1.26591794e-04,-1.91884505e-05,-1.44947578e-04, 6.20979255e-05,
 -1.60738568e-06, 9.38315237e-08,-1.21644044e+00,-1.78543253e-03,
 -2.97366162e-04, 2.40831982e-06]


--- Step 797 ---
qpos:
[ 2.87318459e-03,-5.63049381e-03,-1.01977802e-02, 2.80277937e-03,
 -4.46822028e-03,-5.16257633e-03,-1.77586208e-02, 5.16366652e-03,
 -4.72486786e-03,-3.93566557e-03,-7.78691883e-03,-1.91321019e-02,
  1.12488170e+00, 1.86813514e-02, 1.12037659e+00, 2.57358697e-02,
  9.49272965e-02,-7.00165513e-02, 1.30733487e-01, 9.98379982e-01,
  2.54379882e-04,-4.90826364e-04,-5.68955727e-02]

qacc:
[ 0.15268652, 0.04722496, 0.52869615,-3.63421446,-3.39699957,-1.43059779,
  4.93109906,-6.54935273, 1.14418976, 0.34102757,-1.56705612, 3.26342585,
 -0.70485465, 0.61526465, 0.19263984,-3.51387563, 0.89939694,-0.80707732,
 -0.11137521, 9.42314449,15.19551177,-0.35047192]

qfrc_actuator:
[-7.68364045e-05,-3.92977528e-04,-2.56633214e-04,-7.88742410e-05,
  1.50506188e-05,-4.77043841e-04,-3.24052796e-04,-1.42321045e-04,
  9.91498430e-05,-3.86624986e-04,-2.93537103e-04,-1.37953997e-04,
  2.37283054e-02,-1.13599432e-03, 1.82849154e-02,-2.28875479e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45979598,  1.96542135, -4.00336097,  1.96542135, 36.53513972,
       15.74715993, -4.00336097, 15.74715993, 12.19075119,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027397689959215987
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.02612524e-13,  2.02612524e-13,  1.00000000e+00,  4.10518350e-26,
        1.00000000e+00, -2.02612524e-13, -1.00000000e+00,  0.00000000e+00,
       -2.02612524e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08347597, -0.05679421,  0.06199153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.23401658e-07,-1.78506207e-05,-1.62713826e-05,-1.16389736e-05,
 -2.01473398e-05,-2.25588646e-05, 1.40139540e-05,-4.15746622e-06,
  6.73758228e-06, 3.15386427e-06,-1.27441267e-06, 4.96296999e-06,
 -1.35646860e-04,-4.33923356e-05,-1.31563812e-04,-5.50174573e-05,
 -3.36359027e-06,-1.40932177e-06,-1.21644269e+00,-1.78654301e-03,
 -2.97470125e-04, 2.65861485e-06]


--- Step 798 ---
qpos:
[ 2.87139786e-03,-5.63040502e-03,-1.01980466e-02, 2.80241980e-03,
 -4.46780560e-03,-5.16324081e-03,-1.77578498e-02, 5.16237175e-03,
 -4.72387474e-03,-3.93636549e-03,-7.78798925e-03,-1.91327046e-02,
  1.12542941e+00, 1.86831099e-02, 1.12093906e+00, 2.57314735e-02,
  9.49400203e-02,-7.00302519e-02, 1.30734796e-01, 9.98375272e-01,
  3.37930856e-04,-3.82329036e-04,-5.69785641e-02]

qacc:
[ -8.99920972,  0.44090843, -0.8112207 , -1.44738168,  0.91518146,
  -2.28564971,  7.32504014, -8.28020753, -2.44831983,  0.99205909,
  -2.95444623,  3.54433091, -1.33852483,  1.74309233,  4.77199131,
 -19.12031828,  0.90092881, -0.79873275, -0.16473697,  9.43389678,
  15.04382555, -0.39306083]

qfrc_actuator:
[-1.29762447e-04,-3.80214354e-04,-2.64469711e-04,-8.53987530e-05,
  2.08676637e-05,-5.11173628e-04,-2.98669640e-04,-1.44048503e-04,
  8.46477948e-05,-3.43559718e-04,-2.91778458e-04,-1.34189741e-04,
  2.36728336e-02,-1.10712105e-03, 1.82195075e-02,-2.39938472e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002684758180907104
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.06764064e-13, -2.06764064e-13,  1.00000000e+00,  4.27513782e-26,
        1.00000000e+00,  2.06764064e-13, -1.00000000e+00,  0.00000000e+00,
        2.06764064e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08347588, -0.05679256,  0.0619917 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.29047674e-05,-1.07624057e-06,-1.39294549e-05,-8.07835229e-06,
  5.23121571e-06,-4.40278600e-05, 2.23096911e-05,-2.28627492e-06,
 -1.43131913e-05, 4.48360073e-05, 2.45072957e-06, 3.95772766e-06,
 -1.42339410e-04,-1.25174822e-05,-1.38622270e-04,-1.32067463e-04,
 -5.38787356e-06,-2.72064079e-06,-1.21644692e+00,-1.78794224e-03,
 -2.98025674e-04, 3.09806804e-06]


--- Step 799 ---
qpos:
[ 2.86899052e-03,-5.63011036e-03,-1.01985279e-02, 2.80230896e-03,
 -4.46732490e-03,-5.16397732e-03,-1.77569161e-02, 5.16104262e-03,
 -4.72271802e-03,-3.93704680e-03,-7.78862025e-03,-1.91332517e-02,
  1.12597619e+00, 1.86846775e-02, 1.12149976e+00, 2.57261082e-02,
  9.49496421e-02,-7.00367187e-02, 1.30735949e-01, 9.98370550e-01,
  3.75451710e-04,-3.07650932e-04,-5.70614444e-02]

qacc:
[ -5.43859718,  1.39595428, -5.61405231, 10.09113821,  0.58213041,
  -0.62172863,  2.22192102, -3.02203743,  1.44568138, -1.0920658 ,
   3.68943832, -3.43733294, -0.53319359,  0.28938778,  0.3649718 ,
  -4.96587962, -0.77550937,  1.80842979, -0.03891551,-22.01415834,
 -18.19348658,  0.0696344 ]

qfrc_actuator:
[-1.60186662e-04,-3.54872542e-04,-2.68924499e-04,-7.13282578e-05,
  2.41308506e-05,-4.95593411e-04,-2.84092953e-04,-1.44553543e-04,
  9.34689848e-05,-3.53174974e-04,-2.72455479e-04,-1.31712612e-04,
  2.36198969e-02,-1.12628214e-03, 1.81387804e-02,-2.44495610e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45272384,  2.24652685, -3.84445922,  2.24652685, 16.92530411,
        7.28840776, -3.84445922,  7.28840776,  8.71173734,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027153335678851975
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.13042388e-13, -2.04435845e-13,  1.00000000e+00,  6.39970850e-26,
        1.00000000e+00,  2.04435845e-13, -1.00000000e+00,  0.00000000e+00,
        3.13042388e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10577982, -0.09453795,  0.06199161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.19357331e-05, 2.15045052e-05,-6.66554737e-06, 1.33888914e-05,
  3.39698218e-06,-4.50999513e-06, 8.15343865e-06,-1.66140981e-06,
  8.42440477e-06, 1.61698232e-05, 2.90459527e-05, 4.56517667e-06,
 -1.36498095e-04,-5.41461482e-05,-1.66151985e-04,-7.22784406e-05,
 -7.68199906e-06,-3.85003166e-06,-1.21645309e+00,-1.78963314e-03,
 -2.99026406e-04, 3.72428122e-06]


--- Step 800 ---
qpos:
[ 2.86692674e-03,-5.62989800e-03,-1.01989344e-02, 2.80203898e-03,
 -4.46680900e-03,-5.16444097e-03,-1.77562582e-02, 5.15970334e-03,
 -4.72111991e-03,-3.93763908e-03,-7.78872850e-03,-1.91337797e-02,
  1.12652223e+00, 1.86854939e-02, 1.12205847e+00, 2.57198807e-02,
  9.49561076e-02,-7.00361184e-02, 1.30736424e-01, 9.98365794e-01,
  3.67191627e-04,-2.65594468e-04,-5.71448666e-02]

qacc:
[  3.00876578, -0.65172403,  2.82747529, -5.62971059,  0.29366276,
   1.10952099, -3.39126923,  3.45750973,  3.87908749, -1.31175821,
   4.75302303, -5.30694927,  0.04694883, -0.81725924, -0.37162583,
  -3.0577066 , -0.78908885,  1.76680806, -0.16927704,-21.92252766,
 -17.59051292, -0.25831833]

qfrc_actuator:
[-1.41600632e-04,-3.75414102e-04,-2.71275810e-04,-8.07434887e-05,
  2.58568632e-05,-4.68154816e-04,-2.93570728e-04,-1.44304300e-04,
  1.15953489e-04,-3.40930132e-04,-2.43120313e-04,-1.30040841e-04,
  2.35738265e-02,-1.17379647e-03, 1.80436252e-02,-2.48732390e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45989822, -1.9011251 ,  4.03440398, -1.9011251 ,  9.7397816 ,
        2.48803017,  4.03440398,  2.48803017,  5.6323283 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002740120132341539
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.69774701e-14, -2.02586560e-13,  1.00000000e+00,  1.15428697e-26,
        1.00000000e+00,  2.02586560e-13, -1.00000000e+00,  0.00000000e+00,
        5.69774701e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.105775  , -0.09453948,  0.06199153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.76800570e-05,-9.32766232e-06, 1.73907025e-06,-8.46142987e-06,
  1.82156049e-06, 2.65494971e-05,-9.46187173e-06, 3.08229591e-07,
  2.27264568e-05, 2.75215394e-05, 3.64276554e-05, 3.46210487e-06,
 -1.36591778e-04,-9.15302911e-05,-1.84302130e-04,-6.87693376e-05,
 -3.37530023e-06,-3.05622980e-06,-1.21644437e+00,-1.78953524e-03,
 -3.01840472e-04, 1.92138648e-06]


--- Step 801 ---
qpos:
[ 2.86579147e-03,-5.62999387e-03,-1.01992609e-02, 2.80203307e-03,
 -4.46593139e-03,-5.16481253e-03,-1.77556872e-02, 5.15873284e-03,
 -4.71995454e-03,-3.93809370e-03,-7.78849357e-03,-1.91339321e-02,
  1.12706762e+00, 1.86856323e-02, 1.12261530e+00, 2.57134281e-02,
  9.49593756e-02,-7.00285852e-02, 1.30735785e-01, 9.98360976e-01,
  3.13368374e-04,-2.55200623e-04,-5.72293415e-02]

qacc:
[ 8.12970796e+00,-1.03062034e-01,-1.36565032e+00, 6.06399943e+00,
  3.15041021e+00, 1.11762136e+00,-5.37612564e+00, 1.18422233e+01,
 -3.77977952e+00, 3.69446774e-03,-1.31971114e+00, 7.15103404e+00,
  1.06150886e-01,-8.18132751e-01,-2.14029495e+00, 3.35751562e+00,
 -7.99353737e-01, 1.73319051e+00,-2.78781703e-01,-2.18398059e+01,
 -1.71074904e+01,-5.15411791e-01]

qfrc_actuator:
[-9.43243708e-05,-4.05527244e-04,-2.72568948e-04,-6.84365266e-05,
  4.44176259e-05,-4.69422556e-04,-2.99355078e-04,-1.25860316e-04,
  9.30348512e-05,-3.33399732e-04,-2.25789571e-04,-1.11085436e-04,
  2.35531960e-02,-1.20218097e-03, 1.79718521e-02,-2.49198373e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46036782, -1.83884899,  4.0636825 , -1.83884899, 12.57777714,
        3.67319295,  4.0636825 ,  3.67319295,  6.12251714,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002741732217586973
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.32710760e-15, -2.02467443e-13,  1.00000000e+00,  1.28103330e-27,
        1.00000000e+00,  2.02467443e-13, -1.00000000e+00,  0.00000000e+00,
        6.32710760e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1057715 , -0.09454142,  0.06199153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.77784179e-05,-3.53221409e-05,-3.29415514e-06, 1.18034949e-05,
  1.86226149e-05, 1.16502121e-05,-1.45489114e-06, 1.92625429e-05,
 -2.22637261e-05, 3.06293261e-05, 2.76315136e-05, 2.14638845e-05,
 -1.20366447e-04,-8.17573814e-05,-1.67512891e-04,-3.28926542e-05,
  3.36574848e-07,-1.47080997e-06,-1.21644077e+00,-1.78878886e-03,
 -3.04114685e-04, 1.00766920e-06]


--- Step 802 ---
qpos:
[ 2.86523177e-03,-5.63032676e-03,-1.01993497e-02, 2.80250001e-03,
 -4.46518293e-03,-5.16520828e-03,-1.77548529e-02, 5.15798157e-03,
 -4.71907260e-03,-3.93855142e-03,-7.78795135e-03,-1.91338354e-02,
  1.12761216e+00, 1.86854200e-02, 1.12317086e+00, 2.57071158e-02,
  9.49594150e-02,-7.00142275e-02, 1.30733663e-01, 9.98356068e-01,
  2.14167142e-04,-2.75703904e-04,-5.73152678e-02]

qacc:
[ 5.04628798e+00,-1.33699062e-02,-2.41980411e+00, 1.04159986e+01,
 -1.11756493e+00,-3.14170396e-01, 1.52291851e-01, 3.23418400e+00,
 -2.47153414e+00,-3.44966342e-01, 1.81786034e-01, 3.62977918e+00,
 -3.10407314e-01,-9.82056678e-02,-2.27402587e+00, 5.28578285e+00,
 -8.07149196e-01, 1.70615150e+00,-3.70705471e-01,-2.17678615e+01,
 -1.67219568e+01,-7.16431428e-01]

qfrc_actuator:
[-6.60616122e-05,-4.05619206e-04,-2.55509633e-04,-4.34557903e-05,
  3.72333829e-05,-4.70089827e-04,-2.85249271e-04,-1.14627003e-04,
  7.90771581e-05,-3.46534871e-04,-2.15691000e-04,-9.98765495e-05,
  2.35105672e-02,-1.21886027e-03, 1.79461248e-02,-2.47431084e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45548223, -1.75880356,  4.09364531, -1.75880356, 16.38177137,
        5.12403938,  4.09364531,  5.12403938,  6.65698676,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002724898702082812
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08225304e-13, -2.03718220e-13,  1.00000000e+00,  2.20474663e-26,
        1.00000000e+00,  2.03718220e-13, -1.00000000e+00,  0.00000000e+00,
        1.08225304e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10576905, -0.0945437 ,  0.06199158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.96163057e-05,-1.99912983e-05, 9.77012196e-06, 2.35822383e-05,
 -6.64706418e-06, 6.38772814e-06, 1.69985949e-05, 1.20579893e-05,
 -1.45860261e-05, 1.06288902e-05, 2.05756318e-05, 1.38964992e-05,
 -1.30779833e-04,-6.39141801e-05,-1.10241459e-04,-6.52081956e-06,
  3.55806618e-06, 9.46857725e-07,-1.21644208e+00,-1.78737898e-03,
 -3.05899692e-04, 9.37959866e-07]


--- Step 803 ---
qpos:
[ 2.86363576e-03,-5.63052945e-03,-1.01996476e-02, 2.80290059e-03,
 -4.46487113e-03,-5.16552112e-03,-1.77541590e-02, 5.15738510e-03,
 -4.71836500e-03,-3.93901826e-03,-7.78722458e-03,-1.91339405e-02,
  1.12815548e+00, 1.86853692e-02, 1.12372602e+00, 2.56992127e-02,
  9.49562019e-02,-6.99931317e-02, 1.30729749e-01, 9.98351035e-01,
  6.97405173e-05,-3.26496240e-04,-5.74029548e-02]

qacc:
[ -9.07338654,  0.63747525, -1.71245466,  0.76924966, -3.8137988 ,
   0.82795226, -3.43391569,  6.26306737, -1.52048221, -0.9409395 ,
   4.19312541, -7.97761674, -1.16058963,  1.28618602,  4.32725393,
 -15.7370661 , -0.81312383,  1.68452696, -0.4478394 ,-21.70773958,
 -16.41589   , -0.87300269]

qfrc_actuator:
[-1.20235940e-04,-3.87646384e-04,-2.63133720e-04,-4.66904743e-05,
  1.49483128e-05,-4.70317373e-04,-2.95030162e-04,-1.07718040e-04,
  7.05198280e-05,-3.54231016e-04,-2.10033123e-04,-1.11092042e-04,
  2.34441295e-02,-1.21081980e-03, 1.79480365e-02,-2.55002953e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44649135, -1.65855021,  4.12559045, -1.65855021, 21.4687856 ,
        6.84322161,  4.12559045,  6.84322161,  7.19757069,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002693556331306579
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.79624458e-14, -2.06088696e-13,  1.00000000e+00,  1.19454049e-26,
        1.00000000e+00,  2.06088696e-13, -1.00000000e+00,  0.00000000e+00,
        5.79624458e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10576742, -0.09454623,  0.06199168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.33351392e-05, 9.84631968e-06,-9.73072216e-06,-3.29539592e-06,
 -2.24745810e-05, 7.37602823e-06,-5.95341612e-06, 8.00657774e-06,
 -8.97243839e-06, 3.10007345e-06, 1.08684316e-05,-9.77747660e-06,
 -1.54878770e-04,-3.76930946e-05,-5.65551879e-05,-9.18123919e-05,
  6.36680508e-06, 4.22194046e-06,-1.21644813e+00,-1.78529521e-03,
 -3.07233188e-04, 1.67824186e-06]


--- Step 804 ---
qpos:
[ 2.86140310e-03,-5.63051731e-03,-1.02003770e-02, 2.80326384e-03,
 -4.46448388e-03,-5.16603432e-03,-1.77531966e-02, 5.15722982e-03,
 -4.71811062e-03,-3.93936498e-03,-7.78649434e-03,-1.91338378e-02,
  1.12869774e+00, 1.86851476e-02, 1.12428105e+00, 2.56890110e-02,
  9.49564699e-02,-6.99757212e-02, 1.30728028e-01, 9.98346022e-01,
 -5.40533115e-05,-3.43232957e-04,-5.74899896e-02]

qacc:
[ -5.58621912,  1.42391365, -4.48866617,  4.35435278,  0.67004983,
  -0.10775919, -1.86466483,  9.22100024, -3.96952585,  0.5851727 ,
  -2.71893592,  6.20582757, -0.87225161,  0.72153048,  6.85150104,
 -24.04810385,  0.87026363, -0.92135567,  0.54799192,  9.32204584,
  17.59194983,  0.32156451]

qfrc_actuator:
[-1.51480360e-04,-3.76859734e-04,-2.85216191e-04,-4.87516902e-05,
  1.94671750e-05,-4.88131149e-04,-2.83339365e-04,-8.56743173e-05,
  4.74543678e-05,-3.40903858e-04,-2.07039836e-04,-9.99054749e-05,
  2.33900984e-02,-1.22382483e-03, 1.79558490e-02,-2.66235549e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.456469  , -2.22393939,  3.86189196, -2.22393939, 19.10403893,
        8.43506447,  3.86189196,  8.43506447,  9.31395136,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002728309730830325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05195286e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.05195286e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08349497, -0.05678231,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.27639897e-05, 1.41379495e-05,-2.13525031e-05,-2.03743615e-06,
  3.87706130e-06,-1.45790485e-05, 1.27557609e-05, 2.23109769e-05,
 -2.33213915e-05, 1.68945299e-05, 4.63216182e-06, 1.15051602e-05,
 -1.48665368e-04,-5.81528068e-05,-3.93816232e-05,-1.27145509e-04,
  8.82058174e-06, 8.36869298e-06,-1.21645880e+00,-1.78253026e-03,
 -3.08143048e-04, 3.20333461e-06]


--- Step 805 ---
qpos:
[ 2.85950266e-03,-5.63043987e-03,-1.02010529e-02, 2.80358509e-03,
 -4.46439081e-03,-5.16645934e-03,-1.77519033e-02, 5.15695276e-03,
 -4.71813479e-03,-3.93950231e-03,-7.78605458e-03,-1.91335931e-02,
  1.12923884e+00, 1.86852693e-02, 1.12483480e+00, 2.56789732e-02,
  9.49602589e-02,-6.99618701e-02, 1.30727857e-01, 9.98341018e-01,
 -1.57207504e-04,-3.27159294e-04,-5.75767390e-02]

qacc:
[ 2.90660985,-0.15530997, 0.84644035,-1.6961961 ,-2.55685179,-1.05380508,
  4.4495834 ,-7.16139577,-2.45125619, 1.38609457,-5.13020328, 7.88587047,
 -1.06191381, 1.28486731,-2.28071079, 5.49181218, 0.88024523,-0.88982468,
  0.38760687, 9.35966452,16.97133559, 0.14005651]

qfrc_actuator:
[-1.33446680e-04,-3.70521493e-04,-2.80162408e-04,-5.01113284e-05,
  4.22569065e-06,-4.62988647e-04,-2.59118287e-04,-9.04033274e-05,
  3.37852667e-05,-3.32840944e-04,-2.23290669e-04,-9.33593864e-05,
  2.33435413e-02,-1.19593140e-03, 1.78873047e-02,-2.65328083e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47184285,  2.03969052, -3.979578  ,  2.03969052,  9.42291281,
        2.53761842, -3.979578  ,  2.53761842,  5.77247228,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002780740185003988
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.99627249e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.99627249e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08349978, -0.05678097,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.71037532e-05, 9.74930370e-06, 5.28468135e-06,-1.52981166e-06,
 -1.51368707e-05, 2.05896362e-05, 2.35481881e-05,-4.47878243e-06,
 -1.43301959e-05, 1.89561524e-05,-1.17963247e-05, 7.65381217e-06,
 -1.42469995e-04,-2.10749779e-05,-1.12556213e-04,-5.68647533e-06,
  8.16099046e-06, 4.91537993e-06,-1.21645219e+00,-1.78129211e-03,
 -3.06993735e-04, 1.88266037e-06]


--- Step 806 ---
qpos:
[ 2.85852253e-03,-5.63019825e-03,-1.02014172e-02, 2.80351108e-03,
 -4.46413635e-03,-5.16656133e-03,-1.77510089e-02, 5.15698665e-03,
 -4.71797764e-03,-3.93979533e-03,-7.78563685e-03,-1.91335883e-02,
  1.12977858e+00, 1.86865001e-02, 1.12538683e+00, 2.56704710e-02,
  9.49675985e-02,-6.99514763e-02, 1.30728696e-01, 9.98336009e-01,
 -2.39734297e-04,-2.79273079e-04,-5.76634888e-02]

qacc:
[ 8.05669778e+00,-1.48369800e+00, 7.24615210e+00,-1.46763029e+01,
  1.38982596e+00, 2.17870719e+00,-8.46684841e+00, 1.42550852e+01,
  1.58925782e+00,-6.41647838e-01, 2.99511657e+00,-6.98864005e+00,
 -1.64679194e+00, 2.52211126e+00,-7.01873509e+00, 2.12916406e+01,
  8.87650769e-01,-8.64311783e-01, 2.52709376e-01, 9.38075743e+00,
  1.64737165e+01,-1.20308422e-03]

qfrc_actuator:
[-8.65603742e-05,-3.49036080e-04,-2.59139227e-04,-6.87830458e-05,
  1.29727186e-05,-4.47786052e-04,-2.80806833e-04,-7.53042058e-05,
  4.35132400e-05,-3.63579164e-04,-2.33042781e-04,-1.07367471e-04,
  2.32908645e-02,-1.12619215e-03, 1.78103346e-02,-2.57290865e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47891198,  1.99897424, -4.00808614,  1.99897424, 12.44184519,
        3.97139626, -4.00808614,  3.97139626,  6.45958768,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028044118137843244
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08350326, -0.05677958,  0.06199133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.73788034e-05, 2.79796620e-05, 2.36425130e-05,-1.81006227e-05,
  8.31951806e-06, 3.13837216e-05,-1.46989165e-05, 1.67083381e-05,
  9.32557739e-06,-2.22525057e-05,-7.02842935e-06,-1.34560248e-05,
 -1.37282799e-04, 3.21029155e-05,-1.36840118e-04, 6.39588804e-05,
  7.23944788e-06, 1.79343497e-06,-1.21644804e+00,-1.78030787e-03,
 -3.06388488e-04, 8.15510204e-07]


--- Step 807 ---
qpos:
[ 2.85811226e-03,-5.62999299e-03,-1.02011749e-02, 2.80356421e-03,
 -4.46343411e-03,-5.16658268e-03,-1.77502864e-02, 5.15721697e-03,
 -4.71770503e-03,-3.94050592e-03,-7.78523784e-03,-1.91330264e-02,
  1.13031729e+00, 1.86880439e-02, 1.12593734e+00, 2.56626064e-02,
  9.49744247e-02,-6.99467883e-02, 1.30729996e-01, 9.98331087e-01,
 -2.79828023e-04,-2.26846055e-04,-5.77486885e-02]

qacc:
[ 5.00439082,-1.49145989, 4.69453462,-3.41922498, 3.89840966, 0.98353708,
 -4.19487629, 7.8248006 , 1.01766583, 0.64607779,-5.4553854 ,15.42872698,
 -0.87570787, 1.05622124,-4.09534507,11.27001321,-0.12832366,-1.42647437,
  0.11501768,21.05053715, 3.48987191, 0.77088906]

qfrc_actuator:
[-5.85887177e-05,-3.54092618e-04,-2.28813907e-04,-6.19666801e-05,
  3.57749381e-05,-4.56570148e-04,-2.93938334e-04,-6.64448592e-05,
  4.91783697e-05,-3.99564109e-04,-2.39047935e-04,-8.01250072e-05,
  2.32345761e-02,-1.12101157e-03, 1.77443723e-02,-2.53995840e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47872294,  4.11321944,  1.77211315,  4.11321944,  6.2627918 ,
       -4.14096963,  1.77211315, -4.14096963, 14.09025185,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028037822606269744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.50318780e-07, -1.50318607e-07,  1.00000000e+00, -2.25957097e-14,
        1.00000000e+00,  1.50318607e-07, -1.00000000e+00,  0.00000000e+00,
       -1.50318780e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09571568, -0.04673771,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.93350134e-05, 1.47130609e-05, 3.83912407e-05, 8.47966892e-06,
  2.30515651e-05, 6.44136215e-06,-7.89148947e-06, 1.00183143e-05,
  5.92402041e-06,-5.04468918e-05,-1.19341386e-05, 2.57836814e-05,
 -1.25623561e-04,-1.76039528e-05,-1.27991595e-04, 1.75901138e-05,
  6.05528468e-06,-1.04543698e-06,-1.21644618e+00,-1.77958946e-03,
 -3.06301217e-04,-1.61260601e-08]


--- Step 808 ---
qpos:
[ 2.85735119e-03,-5.62987938e-03,-1.02007903e-02, 2.80408351e-03,
 -4.46280874e-03,-5.16660374e-03,-1.77496848e-02, 5.15755883e-03,
 -4.71771175e-03,-3.94124222e-03,-7.78536817e-03,-1.91318120e-02,
  1.13085532e+00, 1.86891193e-02, 1.12648629e+00, 2.56561444e-02,
  9.49806980e-02,-6.99478208e-02, 1.30731249e-01, 9.98326243e-01,
 -2.77443854e-04,-1.71348117e-04,-5.78325684e-02]

qacc:
[-3.06224132e+00, 4.47312771e-01,-3.72801111e+00, 1.16244129e+01,
 -6.74100170e-01, 5.68990798e-01,-2.49695731e+00, 4.61826247e+00,
 -2.46126738e+00, 2.79464371e+00,-1.27539366e+01, 2.48898930e+01,
  3.35892581e-02,-5.86036220e-01,-6.58745744e+00, 1.96244747e+01,
 -1.38261707e-01,-1.43012787e+00,-1.15931685e-02, 2.11149916e+01,
  2.75924042e+00, 6.56657291e-01]

qfrc_actuator:
[-7.74888005e-05,-3.74939459e-04,-2.28832240e-04,-4.02217636e-05,
  3.11540791e-05,-4.61880452e-04,-3.02003078e-04,-6.13392354e-05,
  3.46464946e-05,-3.85115033e-04,-2.60552021e-04,-4.65859211e-05,
  2.31974420e-02,-1.15421386e-03, 1.76850584e-02,-2.46416718e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48042746, -0.86609259, -4.39592014, -0.86609259, 16.45344954,
       -2.35894769, -4.39592014, -2.35894769,  4.94519184,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028094517891553983
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.97587129e-13,  1.97587129e-13,  1.00000000e+00, -3.90406734e-26,
        1.00000000e+00, -1.97587129e-13, -1.00000000e+00,  0.00000000e+00,
        1.97587129e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09609797, -0.04642687,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80593116e-05,-4.32477672e-06, 8.03689877e-06, 2.38665762e-05,
 -3.95788746e-06,-2.90924286e-06,-7.36940445e-06, 5.30045568e-06,
 -1.43826309e-05,-1.50985307e-05,-3.24988716e-05, 3.14670338e-05,
 -1.11927602e-04,-6.58822247e-05,-1.22452346e-04, 5.89598092e-05,
  2.72785747e-06,-2.06189344e-06,-1.21644250e+00,-1.77904605e-03,
 -3.05385281e-04, 1.76057738e-07]


--- Step 809 ---
qpos:
[ 2.85636975e-03,-5.62978391e-03,-1.02006393e-02, 2.80418604e-03,
 -4.46224334e-03,-5.16668509e-03,-1.77491955e-02, 5.15865721e-03,
 -4.71823785e-03,-3.94161613e-03,-7.78593872e-03,-1.91309526e-02,
  1.13139248e+00, 1.86901018e-02, 1.12703414e+00, 2.56524889e-02,
  9.49864864e-02,-6.99545311e-02, 1.30732063e-01, 9.98321461e-01,
 -2.33071972e-04,-1.13283948e-04,-5.79154029e-02]

qacc:
[ -1.93477785, -0.22581413,  2.53611759, -9.36914293, -0.52510433,
   1.79249938, -9.6991239 , 23.01527105, -4.56713374,  0.98705439,
  -1.3119666 , -4.40827278, -0.32846507,  0.08759173,-10.11264818,
  33.05298394, -0.12119888, -1.41943304, -0.11003269, 20.8846098 ,
   2.49495657,  0.52037436]

qfrc_actuator:
[-8.83139368e-05,-3.87438013e-04,-2.46835064e-04,-6.31674984e-05,
  2.81775378e-05,-4.65058375e-04,-3.07010027e-04,-2.29742607e-05,
  8.34502601e-06,-3.40630375e-04,-2.73084734e-04,-6.28449900e-05,
  2.31558287e-02,-1.15653167e-03, 1.76723986e-02,-2.31043336e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47624626, -1.25032692, -4.29807668, -1.25032692, 19.89623161,
       -4.48573264, -4.29807668, -4.48573264,  5.78116302,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000279551689280344
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.92860236e-14,  1.98572047e-13,  1.00000000e+00, -1.97154290e-26,
        1.00000000e+00, -1.98572047e-13, -1.00000000e+00,  0.00000000e+00,
        9.92860236e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09610062, -0.04642684,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13449818e-05,-1.22479520e-05,-1.70858099e-05,-2.23897758e-05,
 -3.09094110e-06,-6.10822757e-06,-6.33965356e-06, 3.80865647e-05,
 -2.67196942e-05, 3.06972457e-05,-1.85571353e-05,-1.74175977e-05,
 -1.20173390e-04,-4.41627486e-05,-6.80247798e-05, 1.40036802e-04,
 -5.23702195e-07,-2.30909265e-06,-1.21644155e+00,-1.77911970e-03,
 -3.04615002e-04, 5.11088104e-07]


--- Step 810 ---
qpos:
[ 2.85595589e-03,-5.62984874e-03,-1.02003714e-02, 2.80400731e-03,
 -4.46171834e-03,-5.16654306e-03,-1.77485799e-02, 5.15946243e-03,
 -4.71907533e-03,-3.94160607e-03,-7.78671491e-03,-1.91306598e-02,
  1.13192853e+00, 1.86916012e-02, 1.12758080e+00, 2.56520329e-02,
  9.49903395e-02,-6.99666829e-02, 1.30732134e-01, 9.98316781e-01,
 -1.46839715e-04,-6.44577986e-05,-5.79963653e-02]

qacc:
[  4.97088528, -1.12740987,  4.88278602, -9.80099212, -0.35227596,
  -0.66066407,  4.022851  , -9.46444198, -2.73932751, -0.07944675,
   3.41684747,-13.17797745, -0.9279994 ,  1.22743509,-11.36835517,
  37.42241287, -0.48383672, -1.36038477, -0.18535812, 21.16268562,
  -3.39928844,  0.93402386]

qfrc_actuator:
[-5.87789640e-05,-3.94964459e-04,-2.39804414e-04,-7.67258892e-05,
  2.62014426e-05,-4.31391162e-04,-2.92389896e-04,-3.63538060e-05,
 -6.91378981e-06,-3.14007452e-04,-2.80112021e-04,-9.04837796e-05,
  2.31062445e-02,-1.12275437e-03, 1.76238362e-02,-2.14740425e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46773455,  3.1237485 , -3.19418962,  3.1237485 , 14.5988689 ,
        9.90771353, -3.19418962,  9.90771353, 14.15695434,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027668585637162496
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.65343244e-08,  9.65337507e-08,  1.00000000e+00, -9.31882040e-15,
        1.00000000e+00, -9.65337507e-08, -1.00000000e+00, -1.57772181e-30,
        9.65343244e-08])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10091457, -0.04676678,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.92075877e-05,-1.88703626e-05, 1.61979007e-06,-1.51102992e-05,
 -2.06816452e-06, 3.05675887e-05, 1.38884468e-05,-1.31225840e-05,
 -1.60112737e-05, 3.92171959e-05,-3.56548289e-06,-2.73041438e-05,
 -1.26181711e-04,-5.11152640e-06,-7.26847324e-05, 1.60200082e-04,
 -3.66408239e-06,-1.86920572e-06,-1.21644335e+00,-1.77982158e-03,
 -3.03990516e-04, 9.46309027e-07]


--- Step 811 ---
qpos:
[ 2.85624407e-03,-5.63014359e-03,-1.01997508e-02, 2.80435044e-03,
 -4.46122124e-03,-5.16595227e-03,-1.77484520e-02, 5.15976899e-03,
 -4.71974452e-03,-3.94120646e-03,-7.78788794e-03,-1.91306882e-02,
  1.13246377e+00, 1.86931569e-02, 1.12812597e+00, 2.56555674e-02,
  9.49929814e-02,-6.99843586e-02, 1.30731191e-01, 9.98312157e-01,
 -1.92586160e-05,-1.99877595e-05,-5.80761231e-02]

qacc:
[  6.15609413, -0.22716217, -1.85465366, 10.51352664, -0.26646776,
   0.92931665, -0.34737629, -7.83374569,  1.45405119,  0.95993321,
  -1.32669465, -3.87363527, -0.255793  ,  0.11369209,-14.28384346,
  46.789645  , -0.30278673, -1.38098254, -0.25374961, 20.76598344,
  -0.97543454,  0.60122621]

qfrc_actuator:
[-2.34803505e-05,-3.99358211e-04,-2.18010647e-04,-4.91154214e-05,
  2.48300191e-05,-4.11381671e-04,-3.19445153e-04,-6.22803655e-05,
  2.20537185e-06,-2.98268103e-04,-3.01647161e-04,-1.06844209e-04,
  2.30732342e-02,-1.12115060e-03, 1.75591060e-02,-1.94480829e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45621048, -3.83179956, -2.27488987, -3.83179956,  9.39452924,
       -8.31805   , -2.27488987, -8.31805   , 18.46704273,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002727416632887781
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.19430941e-13, -7.24169631e-07,  1.00000000e+00, -1.58905224e-19,
        1.00000000e+00,  7.24169631e-07, -1.00000000e+00,  0.00000000e+00,
       -2.19430941e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09874853, -0.04661254,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.61273630e-05,-1.52478242e-05, 1.75698636e-05, 2.65626993e-05,
 -1.42005937e-06, 3.93941658e-05,-1.94954509e-05,-2.43950872e-05,
  8.67618126e-06, 3.57634743e-05,-1.48108241e-05,-1.53343556e-05,
 -1.03591010e-04,-2.87559615e-05,-8.88637803e-05, 2.00268415e-04,
 -6.41480422e-06,-5.93846813e-08,-1.21644707e+00,-1.78096682e-03,
 -3.03323466e-04, 1.28313395e-06]


--- Step 812 ---
qpos:
[ 2.85591858e-03,-5.63055826e-03,-1.01988964e-02, 2.80501535e-03,
 -4.46039922e-03,-5.16539577e-03,-1.77485040e-02, 5.16049451e-03,
 -4.71995426e-03,-3.94061440e-03,-7.78951097e-03,-1.91312282e-02,
  1.13299807e+00, 1.86950435e-02, 1.12867041e+00, 2.56574729e-02,
  9.49937263e-02,-7.00074415e-02, 1.30728973e-01, 9.98307595e-01,
  1.49460159e-04, 1.44271139e-05,-5.81543026e-02]

qacc:
[ -5.35824312, -0.13855344, -1.07583503,  6.33932325,  2.82885971,
   1.31421007, -6.53014147, 14.10502365,  4.00453924,  0.45028855,
   0.90728897, -9.16460117, -1.05693235,  1.33969478,  3.9637853 ,
 -15.16589839, -0.47427147, -1.35176823, -0.31882841, 20.82612027,
  -3.82455325,  0.78911048]

qfrc_actuator:
[-5.60955726e-05,-4.01738506e-04,-2.05394288e-04,-3.29995029e-05,
  4.15776943e-05,-4.35386804e-04,-3.35436835e-04,-4.21544586e-05,
  2.55961981e-05,-3.06970699e-04,-3.31613552e-04,-1.34209114e-04,
  2.30235506e-02,-1.10309165e-03, 1.75007222e-02,-2.04009045e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44366083,  1.92057478, -4.00718281,  1.92057478, 38.29161552,
       16.2227508 , -4.00718281, 16.2227508 , 12.21895024,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002683589273427822
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55140594e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.55140594e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10110098, -0.04677863,  0.06199171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.15895446e-05,-6.12524829e-06, 1.25437955e-05, 1.65845284e-05,
  1.67225146e-05,-7.07226930e-06,-1.11098045e-05, 2.06620261e-05,
  2.36523691e-05, 7.58058961e-06,-2.49263036e-05,-2.66430213e-05,
 -1.13763631e-04,-1.28887709e-05,-8.38207866e-05,-9.71040697e-05,
 -9.04498248e-06, 2.03077850e-06,-1.21645377e+00,-1.78283451e-03,
 -3.02694627e-04, 1.64273033e-06]


--- Step 813 ---
qpos:
[ 2.85520496e-03,-5.63092176e-03,-1.01981909e-02, 2.80518218e-03,
 -4.45972751e-03,-5.16524992e-03,-1.77479639e-02, 5.16076005e-03,
 -4.71988201e-03,-3.93978536e-03,-7.79129222e-03,-1.91314270e-02,
  1.13353124e+00, 1.86977239e-02, 1.12921431e+00, 2.56545241e-02,
  9.49913897e-02,-7.00233066e-02, 1.30727703e-01, 9.98303009e-01,
  2.69577515e-04, 1.35491042e-05,-5.82325458e-02]

qacc:
[-3.40087625e+00,-5.35558619e-01, 4.12152605e+00,-1.25534163e+01,
 -1.28572654e+00,-3.14094240e+00, 1.23587694e+01,-2.09707619e+01,
  2.45982849e+00, 1.45359125e+00,-6.17422407e+00, 1.21607610e+01,
 -1.80336620e+00, 2.59952124e+00, 1.41123206e+01,-5.00242063e+01,
 -7.70368336e-01, 1.80441902e+00, 2.37181651e-01,-2.32333641e+01,
 -1.90297721e+01,-3.02359691e-02]

qfrc_actuator:
[-7.51663109e-05,-4.02928931e-04,-2.16059130e-04,-5.92942433e-05,
  3.33499059e-05,-4.67744552e-04,-3.09397850e-04,-6.61257622e-05,
  3.94389243e-05,-2.77039290e-04,-3.30921553e-04,-1.14599755e-04,
  2.29692310e-02,-1.05770426e-03, 1.74567832e-02,-2.29232338e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47174195,  0.26781219, -4.46371512,  0.26781219, 29.01426988,
        1.47249275, -4.46371512,  1.47249275,  4.56008798,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002780400345744616
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.36737981e-14, -5.98954945e-13,  1.00000000e+00, -2.61586373e-26,
        1.00000000e+00,  5.98954945e-13, -1.00000000e+00,  0.00000000e+00,
       -4.36737981e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10571867, -0.0945606 ,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.99766447e-05,-1.32051767e-06,-9.81611935e-06,-2.58014213e-05,
 -7.75128238e-06,-3.77373588e-05, 2.39164564e-05,-2.42600773e-05,
  1.45230431e-05, 2.78874117e-05,-1.72198945e-06, 1.85553200e-05,
 -1.21099716e-04, 1.65181239e-05,-1.02236540e-04,-2.70434739e-04,
 -1.12292331e-05, 5.02952598e-06,-1.21646286e+00,-1.78524826e-03,
 -3.02027651e-04, 1.76753770e-06]


--- Step 814 ---
qpos:
[ 2.85495770e-03,-5.63102865e-03,-1.01979851e-02, 2.80468553e-03,
 -4.45984939e-03,-5.16522061e-03,-1.77474831e-02, 5.16074388e-03,
 -4.72033403e-03,-3.93871778e-03,-7.79310313e-03,-1.91310539e-02,
  1.13406368e+00, 1.87001561e-02, 1.12975694e+00, 2.56492229e-02,
  9.49859117e-02,-7.00321085e-02, 1.30726679e-01, 9.98298380e-01,
  3.41829133e-04,-2.11369681e-05,-5.83114708e-02]

qacc:
[  4.05889042,  0.36164649,  1.98942182,-12.84644158, -6.92090805,
  -0.55457393,  2.96658257, -7.68696479, -4.59437716,  1.58534406,
  -7.58973198, 17.33385271, -0.47396983,  0.23730402,  5.28399992,
 -21.11714032, -0.78533061,  1.76580445,  0.06155179,-22.90788056,
 -18.26910883, -0.3372935 ]

qfrc_actuator:
[-5.05851616e-05,-3.85775848e-04,-2.40403582e-04,-9.25916052e-05,
 -7.27052126e-06,-4.69218518e-04,-3.12098378e-04,-8.03387715e-05,
  1.20412074e-05,-2.59554247e-04,-3.29698919e-04,-8.52066925e-05,
  2.29228324e-02,-1.08527820e-03, 1.74055426e-02,-2.40406588e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49291269, -0.57931921,  4.45540725, -0.57931921,  7.66739317,
        0.4127653 ,  4.45540725,  0.4127653 ,  4.54658295,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028505187894305173
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.12846189e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.12846189e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10571239, -0.09455885,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.40115917e-05, 1.32813771e-05,-2.67219650e-05,-3.41959623e-05,
 -4.08557572e-05,-1.86909322e-05,-8.39676313e-06,-1.54762010e-05,
 -2.69731822e-05, 3.35150549e-05, 7.42355646e-06, 3.08910222e-05,
 -1.11103300e-04,-5.02336252e-05,-1.37574783e-04,-1.42002107e-04,
 -7.20168981e-06, 4.25394332e-06,-1.21645144e+00,-1.78648976e-03,
 -3.03728150e-04, 2.03597640e-07]


--- Step 815 ---
qpos:
[ 2.85466179e-03,-5.63071263e-03,-1.01984642e-02, 2.80343974e-03,
 -4.46011230e-03,-5.16538746e-03,-1.77473281e-02, 5.16127713e-03,
 -4.72111047e-03,-3.93781839e-03,-7.79441739e-03,-1.91303157e-02,
  1.13459544e+00, 1.87020422e-02, 1.13029798e+00, 2.56438884e-02,
  9.49772473e-02,-7.00339745e-02, 1.30725310e-01, 9.98293686e-01,
  3.66833238e-04,-8.84410856e-05,-5.83915564e-02]

qacc:
[-4.54740279e-01, 9.31169899e-01, 6.54496146e-01,-1.28368794e+01,
 -1.23653137e+00, 1.78414219e+00,-9.05320933e+00, 1.92234627e+01,
 -2.82159146e+00,-8.52858283e-01, 1.18808912e+00, 4.44735171e+00,
 -2.22693451e-02,-5.60571509e-01,-2.27597523e+00, 4.49407585e+00,
 -7.96618151e-01, 1.73397475e+00,-8.64678944e-02,-2.26325555e+01,
 -1.76590059e+01,-5.75173991e-01]

qfrc_actuator:
[-5.37700187e-05,-3.57842581e-04,-2.72545315e-04,-1.29725910e-04,
 -1.33652475e-05,-4.87797322e-04,-3.31628008e-04,-5.31858232e-05,
 -3.90206031e-06,-2.85138637e-04,-3.10470548e-04,-6.80632478e-05,
  2.28811902e-02,-1.12039905e-03, 1.73500064e-02,-2.39656892e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50419544, -0.51718302,  4.4744048 , -0.51718302, 10.54401662,
        0.6981248 ,  4.4744048 ,  0.6981248 ,  4.58488959,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002886953728939434
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.40795342e-14,  1.92282788e-13,  1.00000000e+00, -1.03985636e-26,
        1.00000000e+00, -1.92282788e-13, -1.00000000e+00,  0.00000000e+00,
        5.40795342e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10570776, -0.09455824,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.49120219e-06, 2.83871645e-05,-3.38738876e-05,-3.81555509e-05,
 -7.27147845e-06,-3.14489883e-05,-2.49644504e-05, 2.57609228e-05,
 -1.67018372e-05,-4.01590804e-06, 2.81422498e-05, 1.94388953e-05,
 -1.16939709e-04,-7.23898985e-05,-1.40476480e-04,-1.93964872e-05,
 -3.88974432e-06, 4.42374301e-06,-1.21644562e+00,-1.78704389e-03,
 -3.04837904e-04,-3.62315919e-07]


--- Step 816 ---
qpos:
[ 2.85433051e-03,-5.63039166e-03,-1.01991878e-02, 2.80143668e-03,
 -4.46010161e-03,-5.16592665e-03,-1.77473301e-02, 5.16214285e-03,
 -4.72172734e-03,-3.93696370e-03,-7.79552630e-03,-1.91286824e-02,
  1.13512635e+00, 1.87037723e-02, 1.13083750e+00, 2.56399211e-02,
  9.49653621e-02,-7.00290092e-02, 1.30723096e-01, 9.98288903e-01,
  3.45105537e-04,-1.87412463e-04,-5.84731720e-02]

qacc:
[ -0.31750771, -0.86943316,  6.30699968,-19.02659679,  2.38774982,
   0.62661679, -4.36000203, 10.64836575,  1.40474356,  1.20796926,
  -8.16966168, 23.35613809, -0.34415258,  0.07511839, -6.36194487,
  19.05192431, -0.80519065,  1.70784646, -0.21111287,-22.40153479,
 -17.17126865, -0.75837595]

qfrc_actuator:
[-5.55333726e-05,-3.76968041e-04,-2.91227763e-04,-1.68811323e-04,
  9.20338501e-07,-5.16512803e-04,-3.43212378e-04,-3.74369989e-05,
  4.78984792e-06,-2.82995480e-04,-2.98705811e-04,-2.27863145e-05,
  2.28424239e-02,-1.12414577e-03, 1.73026193e-02,-2.31890634e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50710006, -0.43765634,  4.4858007 , -0.43765634, 14.35242936,
        0.96055778,  4.4858007 ,  0.96055778,  4.60081671,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002896232756319783
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.4557302e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.4557302e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10570444, -0.09455856,  0.06199105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.82196233e-06,-1.18860445e-05,-1.83064803e-05,-3.97806073e-05,
  1.40660958e-05,-5.03536574e-05,-2.02646568e-05, 1.40379973e-05,
  8.21324954e-06, 6.51541395e-06, 1.50769898e-05, 4.64569342e-05,
 -1.22083221e-04,-4.82638493e-05,-1.19106874e-04, 5.74322523e-05,
 -1.15664415e-06, 5.54297277e-06,-1.21644504e+00,-1.78690363e-03,
 -3.05418028e-04,-4.88329080e-09]


--- Step 817 ---
qpos:
[ 2.85432582e-03,-5.63050821e-03,-1.01994083e-02, 2.79933166e-03,
 -4.45991997e-03,-5.16673623e-03,-1.77472359e-02, 5.16315986e-03,
 -4.72258048e-03,-3.93583722e-03,-7.79684079e-03,-1.91272223e-02,
  1.13565627e+00, 1.87052613e-02, 1.13137573e+00, 2.56352145e-02,
  9.49502298e-02,-7.00172977e-02, 1.30719618e-01, 9.98284001e-01,
  2.77072130e-04,-3.17294975e-04,-5.85565996e-02]

qacc:
[  2.87991166, -2.19959813,  7.42444323, -9.6609783 ,  1.49861625,
  -0.31748416, -0.03006998,  2.69869195, -2.0796342 ,  0.58120154,
  -0.81391925, -2.0601147 , -0.55861461,  0.26810601,  0.36164314,
  -3.94711324, -0.81178252,  1.68651402, -0.31599181,-22.20964963,
 -16.78326628, -0.89828509]

qfrc_actuator:
[-3.86850244e-05,-4.06327301e-04,-2.66495915e-04,-1.73254350e-04,
  9.32325216e-06,-5.15550380e-04,-3.32315320e-04,-2.85334830e-05,
 -7.59663972e-06,-2.64272021e-04,-3.09079243e-04,-3.23157609e-05,
  2.27787943e-02,-1.14474490e-03, 1.72335427e-02,-2.36030540e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50321545, -0.33831756,  4.49048891, -0.33831756, 19.337216  ,
        1.11760723,  4.49048891,  1.11760723,  4.58741701,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028838138913180045
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.98507521e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.98507521e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10570215, -0.09455962,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67946358e-05,-4.14900524e-05, 1.86548418e-05,-6.35453170e-06,
  8.78880945e-06,-3.07565842e-05,-1.51006747e-06, 6.31674262e-06,
 -1.21503167e-05, 2.74497159e-05,-5.56508381e-06,-7.82779305e-06,
 -1.43328470e-04,-6.04854827e-05,-1.23454722e-04,-5.48360230e-05,
  1.09868776e-06, 7.60810299e-06,-1.21644944e+00,-1.78606527e-03,
 -3.05513799e-04, 1.21993728e-06]


--- Step 818 ---
qpos:
[ 2.85417820e-03,-5.63099635e-03,-1.01993439e-02, 2.79754166e-03,
 -4.45963911e-03,-5.16753531e-03,-1.77471486e-02, 5.16424594e-03,
 -4.72357516e-03,-3.93477495e-03,-7.79755944e-03,-1.91262453e-02,
  1.13618527e+00, 1.87062592e-02, 1.13191263e+00, 2.56303195e-02,
  9.49318297e-02,-6.99989094e-02, 1.30714523e-01, 9.98278947e-01,
  1.63080715e-04,-4.77491348e-04,-5.86420524e-02]

qacc:
[ -1.2348659 , -0.63657616,  0.23162637,  5.03331933,  0.86490049,
   0.17354268, -0.89316844,  2.09503095, -1.21960872, -2.74335455,
  11.69734372,-20.95865216, -0.29101178, -0.24290251, -1.3778044 ,
   2.00110472, -0.81695291,  1.6692188 , -0.40418634,-22.05233428,
 -16.47679905, -1.00383938]

qfrc_actuator:
[-4.65227278e-05,-4.23633731e-04,-2.51870347e-04,-1.57264350e-04,
  1.41897689e-05,-4.96734228e-04,-3.25872482e-04,-2.36889474e-05,
 -1.45455161e-05,-2.71404234e-04,-2.79148896e-04,-5.62662004e-05,
  2.27269181e-02,-1.17530787e-03, 1.71834422e-02,-2.36506604e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4940587 , -0.21645007,  4.48884317, -0.21645007, 25.78811175,
        1.02678999,  4.48884317,  1.02678999,  4.54357007,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028542483819718467
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00563746e-13, -3.88972113e-13,  1.00000000e+00,  7.80137040e-26,
        1.00000000e+00,  3.88972113e-13, -1.00000000e+00,  0.00000000e+00,
        2.00563746e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10570068, -0.09456126,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.37164492e-06,-3.69093506e-05, 8.14134980e-06, 1.47388832e-05,
  5.10753134e-06, 1.60511687e-06, 1.28483889e-07, 3.59641702e-06,
 -7.28322118e-06, 6.69724431e-06, 3.46422175e-05,-2.31223444e-05,
 -1.46434339e-04,-7.84248091e-05,-1.19540895e-04,-2.51297441e-05,
  2.95110876e-06, 1.06109711e-05,-1.21645861e+00,-1.78452717e-03,
 -3.05158584e-04, 3.27065809e-06]


--- Step 819 ---
qpos:
[ 2.85359301e-03,-5.63176686e-03,-1.01991378e-02, 2.79630103e-03,
 -4.45930207e-03,-5.16827281e-03,-1.77470645e-02, 5.16606488e-03,
 -4.72361058e-03,-3.93390602e-03,-7.79781829e-03,-1.91255368e-02,
  1.13671352e+00, 1.87065331e-02, 1.13244873e+00, 2.56265521e-02,
  9.49169723e-02,-6.99843459e-02, 1.30712417e-01, 9.98273910e-01,
  6.98885148e-05,-6.03173263e-04,-5.87267492e-02]

qacc:
[ -3.81779534,  0.36989218, -4.16620789, 13.64080239,  0.48926421,
   1.59810627, -8.67584961, 21.32214494,  8.4155373 , -2.11035524,
   8.25582542,-13.45831703,  0.08769115, -0.84864938, -4.64709463,
  14.43367689,  0.88568543, -0.95619396,  0.74697936,  9.36988932,
  17.83744944,  0.37013444]

qfrc_actuator:
[-6.88331647e-05,-4.33599367e-04,-2.43291817e-04,-1.29390737e-04,
  1.69378069e-05,-4.85131208e-04,-3.22037589e-04, 1.42471658e-05,
  3.50258508e-05,-2.93822581e-04,-2.61260732e-04,-7.07373538e-05,
  2.26981018e-02,-1.21150285e-03, 1.71873827e-02,-2.29484085e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50635099, -2.18195884,  3.94287394, -2.18195884, 21.18965286,
        9.2324225 ,  3.94287394,  9.2324225 ,  9.615509  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028938436802833367
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.91824982e-13,  3.83649964e-13,  1.00000000e+00, -7.35936476e-26,
        1.00000000e+00, -3.83649964e-13, -1.00000000e+00,  0.00000000e+00,
        1.91824982e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0835278 , -0.05675105,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.25331230e-05,-2.82734423e-05, 2.47683268e-06, 2.68660348e-05,
  2.89486094e-06, 1.27085869e-05, 4.31242721e-06, 3.80782797e-05,
  4.93680976e-05,-1.25463274e-05, 2.27311318e-05,-1.34387968e-05,
 -1.29117693e-04,-8.94869756e-05,-6.03140160e-05, 5.20299568e-05,
  4.45622959e-06, 1.45405540e-05,-1.21647241e+00,-1.78228892e-03,
 -3.04376749e-04, 6.11702655e-06]


--- Step 820 ---
qpos:
[ 2.85239985e-03,-5.63258444e-03,-1.01989408e-02, 2.79572937e-03,
 -4.45893446e-03,-5.16920699e-03,-1.77467888e-02, 5.16799856e-03,
 -4.72236177e-03,-3.93313025e-03,-7.79812098e-03,-1.91253301e-02,
  1.13724115e+00, 1.87059946e-02, 1.13298422e+00, 2.56229247e-02,
  9.49056794e-02,-6.99734567e-02, 1.30712518e-01, 9.98268887e-01,
 -2.49791019e-06,-6.95710204e-04,-5.88110911e-02]

qacc:
[ -5.31703475,  1.35137736, -7.71441657, 19.32164422,  0.27592786,
  -0.55955773,  1.13294564,  0.69151457, 11.24284757, -1.05612589,
   5.66341473,-14.15920909,  0.15279336, -0.95536443, -1.36117843,
   3.36116887,  0.89110897, -0.91858708,  0.55195148,  9.41178959,
  17.15482554,  0.17009039]

qfrc_actuator:
[-9.94754472e-05,-4.21348503e-04,-2.38312111e-04,-9.47472987e-05,
  1.84181022e-05,-5.13416605e-04,-3.19768354e-04, 1.80889007e-05,
  9.97125460e-05,-3.07505155e-04,-2.68452802e-04,-9.72949765e-05,
  2.26724866e-02,-1.25064760e-03, 1.71651654e-02,-2.28738057e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53034369,  2.37914368, -3.85534555,  2.37914368,  7.2251498 ,
        1.6629718 , -3.85534555,  1.6629718 ,  5.55656788,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000296906272088282
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.73930472e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.73930472e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.083533  , -0.05674971,  0.06199083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.12949286e-05,-1.87472888e-06, 3.85220588e-07, 3.40457098e-05,
  1.56595807e-06,-1.86338952e-05, 6.74663473e-06, 5.27388678e-06,
  6.60944028e-05,-1.65918736e-05,-7.45950925e-06,-2.65751125e-05,
 -1.17818227e-04,-9.17973254e-05,-5.29845893e-05, 6.23301776e-07,
  4.22499194e-06, 1.12216060e-05,-1.21646085e+00,-1.78162226e-03,
 -3.01616786e-04, 4.98343573e-06]


--- Step 821 ---
qpos:
[ 2.85084841e-03,-5.63314316e-03,-1.01996604e-02, 2.79560091e-03,
 -4.45786217e-03,-5.17040082e-03,-1.77461032e-02, 5.16926606e-03,
 -4.72069159e-03,-3.93265263e-03,-7.79843190e-03,-1.91250734e-02,
  1.13776787e+00, 1.87052359e-02, 1.13351858e+00, 2.56184959e-02,
  9.48979645e-02,-6.99661202e-02, 1.30714171e-01, 9.98263872e-01,
 -5.40936500e-05,-7.56208848e-04,-5.88953927e-02]

qacc:
[-3.16686672e+00, 3.82297606e+00,-1.49946061e+01, 2.39285589e+01,
  6.16243511e+00,-2.87126418e+00, 1.25318854e+01,-2.45045916e+01,
  3.69381795e+00,-2.75370891e-01, 1.87148742e-01, 9.22490985e-01,
 -5.31096149e-01, 2.69901782e-01, 8.07525577e-01,-5.13407343e+00,
  8.94529664e-01,-8.88168037e-01, 3.87871137e-01, 9.43525748e+00,
  1.66027821e+01, 1.31054380e-02]

qfrc_actuator:
[-1.17018774e-04,-4.13642707e-04,-2.88655531e-04,-7.41339563e-05,
  5.46461646e-05,-5.29896163e-04,-3.00879454e-04,-1.59536251e-05,
  1.19501873e-04,-3.33721742e-04,-2.72620668e-04,-9.52585820e-05,
  2.26275054e-02,-1.25567899e-03, 1.70899837e-02,-2.33479530e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54337156,  2.34594786, -3.89085515,  2.34594786,  9.74028457,
        3.13342093, -3.89085515,  3.13342093,  6.43263287,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003008823833261648
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.76741782e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.76741782e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08353675, -0.05674829,  0.0619907 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.84373733e-05, 8.21719056e-06,-4.94940977e-05, 2.12131891e-05,
  3.62659600e-05,-2.52531183e-05, 1.60570613e-05,-3.45076890e-05,
  2.16746080e-05,-3.81714631e-05,-9.44037804e-06, 5.46309918e-07,
 -1.31659434e-04,-5.55604981e-05,-1.08725319e-04,-5.62781519e-05,
  3.72150651e-06, 8.28481664e-06,-1.21645205e+00,-1.78120022e-03,
 -2.99403333e-04, 4.09773800e-06]


--- Step 822 ---
qpos:
[ 2.84944335e-03,-5.63341864e-03,-1.02010400e-02, 2.79569993e-03,
 -4.45636397e-03,-5.17179203e-03,-1.77452019e-02, 5.17012137e-03,
 -4.71948621e-03,-3.93278934e-03,-7.79809732e-03,-1.91244535e-02,
  1.13829315e+00, 1.87053073e-02, 1.13405131e+00, 2.56139133e-02,
  9.48938361e-02,-6.99622382e-02, 1.30716823e-01, 9.98258858e-01,
 -8.49260997e-05,-7.85561777e-04,-5.89799005e-02]

qacc:
[  1.25501804,  2.68527572, -9.99574129, 14.78433039,  3.72419676,
  -1.71937243,  7.47999241,-14.80114951, -4.03818728, -1.86046883,
   3.93756936,  1.74919818, -1.63282517,  2.27306579, -1.7999136 ,
   3.17844412,  0.89659715, -0.86361639,  0.25008489,  9.44637381,
  16.15725805, -0.10984608]

qfrc_actuator:
[-1.08956588e-04,-3.91198426e-04,-3.18023788e-04,-6.19804891e-05,
  7.55312736e-05,-5.39150578e-04,-2.90066219e-04,-3.64864443e-05,
  9.49493097e-05,-3.67216488e-04,-2.39486816e-04,-7.64167711e-05,
  2.25549746e-02,-1.20500432e-03, 1.70043950e-02,-2.34323919e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54707777,  2.29506099, -3.92538041,  2.29506099, 13.15592093,
        5.03335168, -3.92538041,  5.03335168,  7.48993882,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003020002109972997
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.75717446e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.75717446e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08353935, -0.0567468 ,  0.06199067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.54173110e-06, 1.77522809e-05,-3.30157300e-05, 1.12099696e-05,
  2.19167252e-05,-2.14925710e-05, 6.38276946e-06,-2.17339679e-05,
 -2.39453103e-05,-5.67678485e-05, 2.41043132e-05, 1.68895961e-05,
 -1.59277249e-04, 6.73312213e-06,-1.48990637e-04,-2.71375680e-05,
  2.94826290e-06, 5.67006538e-06,-1.21644577e+00,-1.78103759e-03,
 -2.97708950e-04, 3.44352272e-06]


--- Step 823 ---
qpos:
[ 2.84849065e-03,-5.63362796e-03,-1.02021644e-02, 2.79590775e-03,
 -4.45531669e-03,-5.17300481e-03,-1.77448789e-02, 5.17038536e-03,
 -4.71927434e-03,-3.93313814e-03,-7.79775674e-03,-1.91239657e-02,
  1.13881704e+00, 1.87062612e-02, 1.13458201e+00, 2.56102671e-02,
  9.48932989e-02,-6.99617316e-02, 1.30720015e-01, 9.98253838e-01,
 -9.50281322e-05,-7.84486635e-04,-5.90648066e-02]

qacc:
[  3.96384062, -0.40966622,  1.11489671,  0.32562102, -3.95382963,
   0.64174876,  0.56317568,-10.01748698, -8.69408028, -0.55201639,
   2.14718738, -4.31491221, -1.51525908,  2.16604606, -5.66386072,
  15.8669034 ,  0.89779643, -0.84386322,  0.13462674,  9.44968227,
  15.79889883, -0.20586596]

qfrc_actuator:
[-8.58924489e-05,-3.77791608e-04,-2.99191571e-04,-5.48645043e-05,
  5.17022532e-05,-5.26275685e-04,-3.19573533e-04,-6.66535690e-05,
  4.45092368e-05,-3.69137410e-04,-2.37880273e-04,-8.33301367e-05,
  2.24926241e-02,-1.15737351e-03, 1.69126495e-02,-2.29312231e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54321778,  2.22455912, -3.96133368,  2.22455912, 17.77034957,
        7.42793693, -3.96133368,  7.42793693,  8.71451114,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003008358758903873
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08354104, -0.05674524,  0.06199071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.32890248e-05, 1.70275511e-05, 1.88405617e-05, 6.95576792e-06,
 -2.32075838e-05, 1.28925602e-06,-3.39094611e-05,-3.12918432e-05,
 -5.11453364e-05,-2.79681947e-05,-6.56685950e-06,-8.18224224e-06,
 -1.49830706e-04, 1.34038003e-05,-1.69169007e-04, 2.81908633e-05,
  1.90748554e-06, 3.33253824e-06,-1.21644181e+00,-1.78114506e-03,
 -2.96512096e-04, 3.00765173e-06]


--- Step 824 ---
qpos:
[ 2.84816689e-03,-5.63386425e-03,-1.02029871e-02, 2.79586231e-03,
 -4.45490792e-03,-5.17396197e-03,-1.77450242e-02, 5.17061348e-03,
 -4.71932412e-03,-3.93345582e-03,-7.79805312e-03,-1.91238963e-02,
  1.13934009e+00, 1.87071790e-02, 1.13511162e+00, 2.56053965e-02,
  9.48963556e-02,-6.99645372e-02, 1.30723359e-01, 9.98248803e-01,
 -8.44331977e-05,-7.53557667e-04,-5.91502605e-02]

qacc:
[  5.51107243, -1.41145048,  6.03119672,-10.85664637, -5.58752468,
   1.58281267, -4.98356188,  4.90371994, -2.3113183 ,  0.96413133,
  -1.60551842, -4.64543648, -0.65006133,  0.57322428,  2.15047091,
  -9.72483859,  0.89848571, -0.82804178,  0.03810812,  9.44854256,
  15.51210023, -0.28054104]

qfrc_actuator:
[-5.41916790e-05,-3.87456114e-04,-2.87595635e-04,-6.84959501e-05,
  1.95038387e-05,-5.00420056e-04,-3.37060117e-04,-6.67520241e-05,
  3.25091854e-05,-3.70023197e-04,-2.72561437e-04,-1.05346723e-04,
  2.24577318e-02,-1.16521133e-03, 1.68812122e-02,-2.35091870e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53348204,  2.13185922, -4.00095434,  2.13185922, 23.97858066,
       10.36108117, -4.00095434, 10.36108117, 10.05425645,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029787085484565823
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.86359794e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.86359794e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.083542  , -0.05674363,  0.0619908 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.23730811e-05, 4.07844185e-06, 1.76896472e-05,-1.21128133e-05,
 -3.28605897e-05, 1.82635585e-05,-2.24696298e-05,-1.82339271e-06,
 -1.34704340e-05,-1.82418149e-05,-4.15483989e-05,-2.35997484e-05,
 -1.15828386e-04,-3.80318530e-05,-1.10499005e-04,-7.88997964e-05,
  6.00890327e-07, 1.23881802e-06,-1.21644005e+00,-1.78153035e-03,
 -2.95795914e-04, 2.77977926e-06]


--- Step 825 ---
qpos:
[ 2.84857067e-03,-5.63398020e-03,-1.02037064e-02, 2.79564895e-03,
 -4.45523350e-03,-5.17453679e-03,-1.77454918e-02, 5.17081143e-03,
 -4.71917301e-03,-3.93373119e-03,-7.79854332e-03,-1.91241235e-02,
  1.13986218e+00, 1.87083066e-02, 1.13564051e+00, 2.55993962e-02,
  9.49030080e-02,-6.99706046e-02, 1.30726533e-01, 9.98243742e-01,
 -5.31718827e-05,-6.93231164e-04,-5.92363775e-02]

qacc:
[ 6.36488005,-0.48792607, 2.6577912 ,-5.79442965,-6.42085977, 1.35618263,
 -3.95379023, 3.64344059, 1.7517026 ,-0.01662141, 1.38467283,-6.22838475,
 -0.93859815, 1.08659283, 2.44747568,-9.88289438, 0.89892632,-0.8154481 ,
 -0.0423707 , 9.44540803,15.28425568,-0.33826509]

qfrc_actuator:
[-1.76664402e-05,-3.75391488e-04,-2.80490086e-04,-7.65046929e-05,
 -1.73482388e-05,-4.66924559e-04,-3.47213018e-04,-6.68808117e-05,
  4.32386806e-05,-3.52693635e-04,-2.75116784e-04,-1.18333371e-04,
  2.24126862e-02,-1.15250690e-03, 1.68699718e-02,-2.40066630e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51939365,  2.01357294, -4.04604041,  2.01357294, 32.29661896,
       13.82375448, -4.04604041, 13.82375448, 11.39899324,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029350625142800235
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.78262139e-13, -1.89131069e-13,  1.00000000e+00,  7.15411229e-26,
        1.00000000e+00,  1.89131069e-13, -1.00000000e+00,  0.00000000e+00,
        3.78262139e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0835424 , -0.05674199,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.74533355e-05, 1.75108418e-05, 9.71925934e-06,-7.45645062e-06,
 -3.77867430e-05, 3.90137087e-05,-9.19793675e-06,-1.56044806e-07,
  1.03398125e-05,-2.45341188e-06,-1.22492726e-05,-1.56631028e-05,
 -1.19137618e-04,-2.29597783e-05,-7.78008061e-05,-6.98914691e-05,
 -9.70486406e-07,-6.35901423e-07,-1.21644037e+00,-1.78219903e-03,
 -2.95547270e-04, 2.75191937e-06]


--- Step 826 ---
qpos:
[ 2.84940954e-03,-5.63412203e-03,-1.02042684e-02, 2.79535641e-03,
 -4.45565360e-03,-5.17490613e-03,-1.77460186e-02, 5.17066515e-03,
 -4.71992929e-03,-3.93414587e-03,-7.79872143e-03,-1.91248622e-02,
  1.14038286e+00, 1.87107234e-02, 1.13616827e+00, 2.55941611e-02,
  9.49132576e-02,-6.99798940e-02, 1.30729270e-01, 9.98238643e-01,
 -1.26956620e-06,-6.03866053e-04,-5.93232458e-02]

qacc:
[  3.81109046, -0.64451761,  2.56973646, -4.1587332 , -0.82988851,
  -0.27041864,  2.81422669, -8.83177205, -7.93196129, -2.094901  ,
   9.38428677,-18.65391604, -1.90909011,  2.95406278, -3.77690527,
  11.3027521 ,  0.89930601, -0.80550966, -0.10929306,  9.44204287,
  15.10516084, -0.38249251]

qfrc_actuator:
[ 3.65067070e-06,-3.85931177e-04,-2.76000997e-04,-8.11238376e-05,
 -2.11360117e-05,-4.64579373e-04,-3.52924272e-04,-8.47718045e-05,
 -3.76249314e-06,-3.59963770e-04,-2.58584980e-04,-1.43609174e-04,
  2.23509378e-02,-1.07445063e-03, 1.68282493e-02,-2.35642632e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028807497940809557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.63484426e-14, -1.92696885e-13,  1.00000000e+00,  1.85660448e-26,
        1.00000000e+00,  1.92696885e-13, -1.00000000e+00,  0.00000000e+00,
        9.63484426e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08354236, -0.05674032,  0.0619911 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.23947701e-05, 9.65391126e-07, 9.05355439e-06,-3.67697179e-06,
 -4.85702348e-06, 2.22676567e-05, 1.22177376e-06,-1.65373312e-05,
 -4.67070260e-05,-1.18225561e-05, 1.39836911e-05,-2.61078300e-05,
 -1.33410669e-04, 4.51735179e-05,-9.41123184e-05, 2.83815050e-05,
 -2.80640021e-06,-2.30982132e-06,-1.21644270e+00,-1.78315513e-03,
 -2.95755995e-04, 2.91806876e-06]


--- Step 827 ---
qpos:
[ 2.84946333e-03,-5.63462631e-03,-1.02045952e-02, 2.79504933e-03,
 -4.45542613e-03,-5.17546596e-03,-1.77464298e-02, 5.17034506e-03,
 -4.72089796e-03,-3.93474348e-03,-7.79894649e-03,-1.91258674e-02,
  1.14090231e+00, 1.87143184e-02, 1.13669505e+00, 2.55891021e-02,
  9.49271062e-02,-6.99923745e-02, 1.30731348e-01, 9.98233490e-01,
  7.12551093e-05,-4.85740555e-04,-5.94109317e-02]

qacc:
[-6.85352435,-1.15284938, 3.50002675,-3.88598198, 5.65419342,-0.94345732,
  3.71353898,-6.74621117,-1.85787363,-0.65578038, 3.11650462,-7.52056008,
 -1.73572167, 2.70870898,-1.79221623, 4.63301547, 0.89975716,-0.79776021,
 -0.16478602, 9.43969126,14.96654146,-0.415938  ]

qfrc_actuator:
[-3.74135599e-05,-4.27687982e-04,-2.73177151e-04,-8.37307974e-05,
  1.23213440e-05,-4.98653070e-04,-3.56104849e-04,-9.52413424e-05,
 -1.33636179e-05,-3.81829030e-04,-2.66534541e-04,-1.58172206e-04,
  2.23005464e-02,-1.01160449e-03, 1.67896031e-02,-2.34600011e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028185217416096253
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.84756484e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.84756484e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08354199, -0.05673864,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.04229425e-05,-3.94869026e-05, 4.01830633e-06,-2.32275168e-06,
  3.33265271e-05,-2.20597168e-05, 1.00800007e-06,-9.79253975e-06,
 -1.09401922e-05,-2.67061644e-05,-9.56277282e-06,-1.50890786e-05,
 -1.13504108e-04, 4.40711349e-05,-8.71035866e-05,-1.91700086e-06,
 -4.90746640e-06,-3.79599648e-06,-1.21644698e+00,-1.78440158e-03,
 -2.96414288e-04, 3.27388463e-06]


--- Step 828 ---
qpos:
[ 2.84902468e-03,-5.63529355e-03,-1.02052330e-02, 2.79507169e-03,
 -4.45479937e-03,-5.17628020e-03,-1.77468165e-02, 5.16991729e-03,
 -4.72128505e-03,-3.93517985e-03,-7.79971765e-03,-1.91267033e-02,
  1.14142108e+00, 1.87178741e-02, 1.13722087e+00, 2.55825162e-02,
  9.49445564e-02,-7.00080222e-02, 1.30732584e-01, 9.98228265e-01,
  1.64391170e-04,-3.39065714e-04,-5.94994843e-02]

qacc:
[ -4.31416092,  1.34064549, -6.46848564, 12.77095314,  3.48728743,
  -0.63280885,  2.21141136, -3.91450164,  5.07166617,  2.07845404,
  -7.83092993, 11.52835347, -0.56321586,  0.50283784,  3.26056768,
 -13.3335782 ,  0.9003708 , -0.79181969, -0.21067085,  9.43920831,
  14.86167768, -0.44073395]

qfrc_actuator:
[-6.16025707e-05,-4.34570255e-04,-2.89245846e-04,-6.74107960e-05,
  3.19162294e-05,-5.18759065e-04,-3.57918099e-04,-1.01290746e-04,
  1.68958725e-05,-3.59094111e-04,-2.88938718e-04,-1.48595468e-04,
  2.22570031e-02,-1.02929959e-03, 1.67368527e-02,-2.42658958e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002750640924107095
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.01811697e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.01811697e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08354135, -0.05673696,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.53562292e-05,-2.82244520e-05,-2.37984672e-05, 1.47261722e-05,
  2.05429365e-05,-3.26154904e-05,-6.57357625e-06,-7.14876460e-06,
  2.99364401e-05, 5.19927915e-06,-2.96086779e-05, 7.81273319e-06,
 -9.61399170e-05,-3.20368101e-05,-1.01510613e-04,-9.37666743e-05,
 -7.27519606e-06,-5.10340494e-06,-1.21645319e+00,-1.78594049e-03,
 -2.97516244e-04, 3.81641382e-06]


--- Step 829 ---
qpos:
[ 2.84864383e-03,-5.63586572e-03,-1.02059190e-02, 2.79523761e-03,
 -4.45428702e-03,-5.17757620e-03,-1.77468504e-02, 5.16977247e-03,
 -4.72096170e-03,-3.93555130e-03,-7.80050309e-03,-1.91270976e-02,
  1.14193942e+00, 1.87200327e-02, 1.13774535e+00, 2.55756633e-02,
  9.49656113e-02,-7.00268194e-02, 1.30732825e-01, 9.98222948e-01,
  2.78135814e-04,-1.63996379e-04,-5.95889385e-02]

qacc:
[ 0.50249278, 0.5549858 ,-2.40424652, 4.89786563,-0.97837219,-1.03760129,
  1.58499379, 3.09818402, 6.21836348, 1.02324378,-5.40575106,13.03873218,
  0.76244212,-2.08840178,-1.28961525, 1.35257829, 0.90120745,-0.78737792,
 -0.24850588, 9.44116105,14.78510423,-0.45855438]

qfrc_actuator:
[-5.78924225e-05,-4.02829691e-04,-2.80692746e-04,-5.78253929e-05,
  2.54302456e-05,-5.48096956e-04,-3.41113379e-04,-8.69320423e-05,
  5.26100896e-05,-3.45375359e-04,-2.83992469e-04,-1.24863994e-04,
  2.22015875e-02,-1.13007851e-03, 1.66809988e-02,-2.43588752e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002678957181649483
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.07211790e-13, -2.07211790e-13,  1.00000000e+00,  4.29367258e-26,
        1.00000000e+00,  2.07211790e-13, -1.00000000e+00,  0.00000000e+00,
        2.07211790e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08354053, -0.0567353 ,  0.06199172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.97867952e-06, 1.16967062e-05, 3.18010678e-07, 7.84319717e-06,
 -5.90789106e-06,-4.91980519e-05, 9.02511743e-06, 1.25974534e-05,
  3.65694667e-05, 1.08811762e-05, 2.65813637e-06, 2.30850639e-05,
 -1.17292431e-04,-1.30336218e-04,-1.20131136e-04,-2.91626776e-05,
 -9.91201061e-06,-6.23773800e-06,-1.21646129e+00,-1.78777341e-03,
 -2.99057495e-04, 4.54386764e-06]


--- Step 830 ---
qpos:
[ 2.84831003e-03,-5.63617822e-03,-1.02063484e-02, 2.79581896e-03,
 -4.45385636e-03,-5.17911118e-03,-1.77467794e-02, 5.17013198e-03,
 -4.71986768e-03,-3.93582251e-03,-7.80124797e-03,-1.91272133e-02,
  1.14245701e+00, 1.87213104e-02, 1.13826826e+00, 2.55713585e-02,
  9.49836110e-02,-7.00381602e-02, 1.30733744e-01, 9.98217627e-01,
  3.45042325e-04,-2.37388951e-05,-5.96778745e-02]

qacc:
[  0.41534728,  0.48093814, -2.97180136,  9.56157473, -0.70485108,
   0.43044795, -4.1196767 , 12.8535247 ,  6.74651342,  0.57992958,
  -3.07260777,  7.77661841,  0.35415848, -1.31148814,-10.10808959,
  31.82163144, -0.76383112,  1.86411957,  0.16935817,-22.34020647,
 -18.77044051,  0.26725125]

qfrc_actuator:
[-5.55486707e-05,-3.65860889e-04,-2.57504973e-04,-3.44740310e-05,
  2.14023597e-05,-5.47139593e-04,-3.31228632e-04,-6.06760330e-05,
  9.12356408e-05,-3.37034482e-04,-2.80701978e-04,-1.10732330e-04,
  2.21603518e-02,-1.17281837e-03, 1.66340033e-02,-2.29654390e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46579839,  2.23131295, -3.86841024,  2.23131295, 18.62552612,
        8.16738191, -3.86841024,  8.16738191,  9.17677368,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002760284186398565
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.07391235e-13, -2.01106652e-13,  1.00000000e+00,  4.17077571e-26,
        1.00000000e+00,  2.01106652e-13, -1.00000000e+00,  0.00000000e+00,
        2.07391235e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10564578, -0.09459532,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.43511375e-06, 4.39419804e-05, 2.59290020e-05, 2.40185727e-05,
 -4.21530557e-06,-2.41042522e-05, 1.28691782e-06, 2.47091862e-05,
  3.96705484e-05, 1.60005171e-05, 6.67727890e-06, 1.51410905e-05,
 -1.37955898e-04,-1.02650218e-04,-1.10756730e-04, 1.21104284e-04,
 -1.28212430e-05,-7.20198705e-06,-1.21647127e+00,-1.78990146e-03,
 -3.01034917e-04, 5.45543623e-06]


--- Step 831 ---
qpos:
[ 2.84835176e-03,-5.63606003e-03,-1.02068337e-02, 2.79632924e-03,
 -4.45313288e-03,-5.18037535e-03,-1.77470988e-02, 5.17077158e-03,
 -4.71866396e-03,-3.93581718e-03,-7.80200568e-03,-1.91275232e-02,
  1.14297367e+00, 1.87222547e-02, 1.13878964e+00, 2.55694058e-02,
  9.49984998e-02,-7.00422490e-02, 1.30734681e-01, 9.98212282e-01,
  3.65476003e-04, 8.31430331e-05,-5.97670496e-02]

qacc:
[ 3.27573014e+00, 5.72719144e-01,-9.27309372e-01,-5.18022545e-01,
  2.53706714e+00, 2.02047141e+00,-7.87633078e+00, 1.31594629e+01,
  9.55169948e-01,-5.04305969e-04, 1.34727886e+00,-4.88459077e+00,
 -2.01727104e-01,-2.61849019e-01,-9.40875409e+00, 2.95962759e+01,
 -7.77703189e-01, 1.81300284e+00, 4.44211320e-03,-2.21991081e+01,
 -1.80447756e+01,-1.13818477e-01]

qfrc_actuator:
[-3.62844919e-05,-3.43710414e-04,-2.61327112e-04,-3.86976394e-05,
  3.66150181e-05,-5.10302543e-04,-3.43141870e-04,-4.53688268e-05,
  9.57583380e-05,-3.14228979e-04,-2.78454065e-04,-1.20126868e-04,
  2.21223435e-02,-1.18069221e-03, 1.65657624e-02,-2.17723937e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48280766, -1.94985429,  4.03653722, -1.94985429,  7.51298675,
        1.46373175,  4.03653722,  1.46373175,  5.18986509,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028173431277170313
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.54157253e-14, -1.97033690e-13,  1.00000000e+00,  1.09187648e-26,
        1.00000000e+00,  1.97033690e-13, -1.00000000e+00,  0.00000000e+00,
        5.54157253e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10563976, -0.09459594,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.93483841e-05, 5.31248216e-05, 9.28695856e-06,-9.75804818e-07,
  1.50823251e-05, 2.47352629e-05,-1.58617367e-05, 1.48025750e-05,
  5.65862500e-06, 3.38165716e-05, 6.91061726e-06,-8.18240055e-06,
 -1.38571234e-04,-6.58978486e-05,-1.11302712e-04, 1.10574075e-04,
 -7.34649395e-06,-6.82635080e-06,-1.21645663e+00,-1.79011334e-03,
 -3.05040712e-04, 2.39579721e-06]


--- Step 832 ---
qpos:
[ 2.84758944e-03,-5.63564800e-03,-1.02070038e-02, 2.79643160e-03,
 -4.45188805e-03,-5.18116636e-03,-1.77476795e-02, 5.17120861e-03,
 -4.71810487e-03,-3.93547757e-03,-7.80304879e-03,-1.91279318e-02,
  1.14348945e+00, 1.87225518e-02, 1.13931011e+00, 2.55677963e-02,
  9.50102369e-02,-7.00392516e-02, 1.30735080e-01, 9.98206888e-01,
  3.39756757e-04, 1.57805489e-04,-5.98570585e-02]

qacc:
[ -7.02848016, -1.31908603,  7.01221652,-14.81748354,  4.53037386,
   0.92898664, -1.56557247, -1.85340234, -5.65816644,  1.0474488 ,
  -2.65833396,  1.14127153, -0.13175779, -0.54336336, -2.39495631,
   6.4004455 , -0.78791966,  1.77152455, -0.13421022,-22.07233281,
 -17.46029891, -0.41361156]

qfrc_actuator:
[-7.82259008e-05,-3.30725812e-04,-2.45640090e-04,-5.91459039e-05,
  6.30301574e-05,-4.70104495e-04,-3.49927677e-04,-5.43610233e-05,
  6.24193835e-05,-3.00713744e-04,-2.94547162e-04,-1.25523111e-04,
  2.20703378e-02,-1.22109951e-03, 1.65327605e-02,-2.15954470e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4908395 , -1.89905717,  4.06954804, -1.89905717,  9.80312856,
        2.47898306,  4.06954804,  2.47898306,  5.64765852,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000284375488713573
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03701972e-13,  1.95203713e-13,  1.00000000e+00, -2.02430100e-26,
        1.00000000e+00, -1.95203713e-13, -1.00000000e+00,  0.00000000e+00,
        1.03701972e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10563532, -0.09459719,  0.06199122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.13701662e-05, 4.45754747e-05, 2.77728511e-05,-1.78708116e-05,
  2.68561664e-05, 5.14413888e-05,-3.10196079e-06,-8.19173393e-06,
 -3.31663101e-05, 3.35173498e-05,-8.52999838e-06,-3.86588323e-06,
 -1.44202094e-04,-8.90643493e-05,-7.78496447e-05, 8.22653234e-06,
 -2.56545327e-06,-5.70123588e-06,-1.21644751e+00,-1.78969058e-03,
 -3.08464436e-04, 2.80518995e-07]


--- Step 833 ---
qpos:
[ 2.84564076e-03,-5.63505967e-03,-1.02066366e-02, 2.79628780e-03,
 -4.45068097e-03,-5.18153738e-03,-1.77483745e-02, 5.17187606e-03,
 -4.71829463e-03,-3.93474911e-03,-7.80432364e-03,-1.91284125e-02,
  1.14400387e+00, 1.87236552e-02, 1.13983010e+00, 2.55653144e-02,
  9.50187924e-02,-7.00293024e-02, 1.30734477e-01, 9.98201423e-01,
  2.68159405e-04, 2.01177349e-04,-5.99483672e-02]

qacc:
[-10.36342957, -1.75527551,  7.67060064,-12.95733648, -0.33989367,
   1.34894859, -4.97627699,  8.83720284, -6.56984311,  1.02592496,
  -2.58559113,  1.39748492, -1.68419034,  2.34367818,  2.12296712,
  -8.00161695, -0.79542605,  1.73797784, -0.25067815,-21.96132461,
 -16.99052369, -0.6492031 ]

qfrc_actuator:
[-1.38108646e-04,-3.23276169e-04,-2.18596345e-04,-7.12110603e-05,
  6.03158604e-05,-4.45953158e-04,-3.53610160e-04,-4.20569905e-05,
  2.48265192e-05,-2.75188378e-04,-3.03614538e-04,-1.28538255e-04,
  2.20259396e-02,-1.15631121e-03, 1.65209005e-02,-2.20174793e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49138542, -1.830588  ,  4.10140105, -1.830588  , 12.9007318 ,
        3.75336338,  4.10140105,  3.75336338,  6.16663295,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002845538105279988
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.48666393e-14, -1.95081384e-13,  1.00000000e+00,  1.07034599e-26,
        1.00000000e+00,  1.95081384e-13, -1.00000000e+00,  0.00000000e+00,
        5.48666393e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10563214, -0.09459895,  0.06199121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.10511587e-05, 3.73221572e-05, 3.90530656e-05,-9.54093732e-06,
 -1.92598076e-06, 5.19693093e-05, 6.29103188e-06, 1.42422260e-05,
 -3.85278719e-05, 4.23317237e-05,-3.31788294e-06,-1.94617838e-06,
 -1.44874783e-04, 8.67804311e-06,-5.48757651e-05,-5.35730713e-05,
  1.65293736e-06,-3.77154652e-06,-1.21644357e+00,-1.78861359e-03,
 -3.11368508e-04,-9.49531799e-07]


--- Step 834 ---
qpos:
[ 2.84402380e-03,-5.63436902e-03,-1.02056000e-02, 2.79600074e-03,
 -4.44986023e-03,-5.18174538e-03,-1.77490368e-02, 5.17339930e-03,
 -4.71858859e-03,-3.93401602e-03,-7.80554638e-03,-1.91288956e-02,
  1.14451707e+00, 1.87256894e-02, 1.14034888e+00, 2.55637303e-02,
  9.50241440e-02,-7.00125093e-02, 1.30732481e-01, 9.98195857e-01,
  1.50914975e-04, 2.14002768e-04,-6.00413400e-02]

qacc:
[  2.92075269, -2.03677774,  8.05318478,-11.66758777, -3.37044369,
   1.89268473,-10.03758713, 24.66543523, -0.91062055, -0.14287407,
   0.5318012 , -0.66472791, -1.4748112 ,  2.18823125, -4.35820705,
  13.02423987, -0.80094642,  1.71096787, -0.34843148,-21.8667032 ,
 -16.61419751, -0.83401268]

qfrc_actuator:
[-1.19289109e-04,-3.19147494e-04,-1.85086655e-04,-7.82449340e-05,
  4.04744767e-05,-4.49318573e-04,-3.55473153e-04, 4.25465799e-07,
  2.05486484e-05,-2.95903108e-04,-3.08405984e-04,-1.30111767e-04,
  2.19808548e-02,-1.10061080e-03, 1.64631356e-02,-2.15454317e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48595113, -1.74232861,  4.13376929, -1.74232861, 17.07435806,
        5.30584558,  4.13376929,  5.30584558,  6.72229426,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002827719692034547
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02445366e-13,  1.96310658e-13,  1.00000000e+00, -3.97421829e-26,
        1.00000000e+00, -1.96310658e-13, -1.00000000e+00,  0.00000000e+00,
        2.02445366e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10562995, -0.09460113,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.70842122e-05, 3.26168148e-05, 4.56926711e-05,-4.26796396e-06,
 -1.98793084e-05, 2.76245681e-05, 1.01500825e-05, 4.52049724e-05,
 -5.36222656e-06, 2.16386286e-06, 3.48472602e-06, 9.05290954e-08,
 -1.22498352e-04, 2.46001776e-05,-9.95395871e-05, 3.48134533e-05,
  5.40618453e-06,-1.00175559e-06,-1.21644459e+00,-1.78686879e-03,
 -3.13799692e-04,-1.33948657e-06]


--- Step 835 ---
qpos:
[ 2.84333430e-03,-5.63371851e-03,-1.02040716e-02, 2.79600780e-03,
 -4.44928366e-03,-5.18185402e-03,-1.77496555e-02, 5.17542747e-03,
 -4.71927659e-03,-3.93351257e-03,-7.80666537e-03,-1.91297119e-02,
  1.14502981e+00, 1.87270000e-02, 1.14086590e+00, 2.55624659e-02,
  9.50262756e-02,-6.99889587e-02, 1.30728762e-01, 9.98190158e-01,
 -1.17873141e-05, 1.96875290e-04,-6.01362602e-02]

qacc:
[  8.12877785, -0.83759751,  1.64055751,  2.7223774 , -2.12938748,
   1.05305221, -5.68871996, 14.2774302 , -3.4426856 , -1.27296691,
   5.51344765,-11.28157156,  0.30585621, -1.04437084, -3.63228667,
   8.78575324, -0.80503266,  1.68935247, -0.4304273 ,-21.78849978,
 -16.31423694, -0.97858376]

qfrc_actuator:
[-7.20443738e-05,-3.34760574e-04,-1.65797208e-04,-6.45118492e-05,
  2.84731515e-05,-4.51352429e-04,-3.56345557e-04, 2.47921706e-05,
  4.09392813e-07,-3.26380601e-04,-3.10823018e-04,-1.48613733e-04,
  2.19460458e-02,-1.15732581e-03, 1.63619340e-02,-2.14387798e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47593804, -1.63157949,  4.1679695 , -1.63157949, 22.67935207,
        7.12584795,  4.1679695 ,  7.12584795,  7.2653988 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027944860066841937
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55191641e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.55191641e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10562854, -0.09460363,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.77395650e-05, 1.18562184e-05, 3.14886012e-05, 1.66250508e-05,
 -1.25638687e-05, 1.74518944e-05, 7.65573701e-06, 2.67807610e-05,
 -2.02907991e-05,-2.85578236e-05,-1.53106604e-06,-1.82846337e-05,
 -9.68612519e-05,-7.81345857e-05,-1.50605519e-04,-1.84893657e-06,
  8.76692392e-06, 2.63001420e-06,-1.21645039e+00,-1.78444674e-03,
 -3.15792926e-04,-9.23412958e-07]


--- Step 836 ---
qpos:
[ 2.84287150e-03,-5.63280872e-03,-1.02029558e-02, 2.79620409e-03,
 -4.44885559e-03,-5.18188244e-03,-1.77502281e-02, 5.17738915e-03,
 -4.72020073e-03,-3.93319565e-03,-7.80752792e-03,-1.91307592e-02,
  1.14554196e+00, 1.87276784e-02, 1.14138169e+00, 2.55595688e-02,
  9.50251747e-02,-6.99587194e-02, 1.30723047e-01, 9.98184288e-01,
 -2.19797676e-04, 1.50265279e-04,-6.02333471e-02]

qacc:
[  1.96567612,  1.88193266, -7.018287  , 10.76949833, -1.2950541 ,
  -0.15733829,  0.99986812, -2.28810998, -2.05617496, -1.43537528,
   5.74038155,-10.01505699, -0.03883763, -0.55780578,  3.11447459,
 -13.56476926, -0.80810331,  1.67219465, -0.49918897,-21.72633965,
 -16.07688655, -1.09119695]

qfrc_actuator:
[-6.17308393e-05,-3.26611911e-04,-1.90635216e-04,-5.64512918e-05,
  2.11882273e-05,-4.52588913e-04,-3.56647679e-04, 2.05453398e-05,
 -1.11625341e-05,-3.26978062e-04,-2.94135265e-04,-1.59188566e-04,
  2.19120531e-02,-1.19144492e-03, 1.63093246e-02,-2.22592800e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46258055, -1.49497397,  4.20472091, -1.49497397, 30.17994965,
        9.14372158,  4.20472091,  9.14372158,  7.71359911,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027493114191783075
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.57741632e-13, -6.05727865e-13,  1.00000000e+00,  9.55485018e-26,
        1.00000000e+00,  6.05727865e-13, -1.00000000e+00,  0.00000000e+00,
        1.57741632e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10562774, -0.09460638,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16765777e-05, 2.19726337e-05,-1.79618481e-05, 9.97502203e-06,
 -7.64043413e-06, 1.12534844e-05, 5.17690587e-06,-2.71530234e-06,
 -1.21602327e-05,-1.76787064e-05, 9.97726851e-06,-1.22029066e-05,
 -1.07679956e-04,-7.55198319e-05,-1.25622643e-04,-1.02305053e-04,
  1.17894136e-05, 7.13599300e-06,-1.21646082e+00,-1.78134079e-03,
 -3.17374201e-04, 2.73389334e-07]


--- Step 837 ---
qpos:
[ 2.84219140e-03,-5.63164571e-03,-1.02024162e-02, 2.79616276e-03,
 -4.44817340e-03,-5.18184837e-03,-1.77507625e-02, 5.17894246e-03,
 -4.72091183e-03,-3.93283937e-03,-7.80830639e-03,-1.91315974e-02,
  1.14605320e+00, 1.87280367e-02, 1.14189652e+00, 2.55575431e-02,
  9.50213280e-02,-6.99346094e-02, 1.30720179e-01, 9.98178639e-01,
 -3.83197974e-04, 9.72438822e-05,-6.03261837e-02]

qacc:
[ -1.92320075,  1.45917948, -3.70772623,  0.32341255,  2.21608434,
  -0.86896825,  4.93483885,-12.1018705 ,  1.8671224 ,  0.2442064 ,
  -1.68316529,  5.14360198, -0.34633346, -0.04862518, -4.04452891,
  12.1259318 , -0.68644243, -1.53232875,  0.71171895, 22.45732775,
  -1.85684932,  2.13063962]

qfrc_actuator:
[-7.32462476e-05,-3.22242201e-04,-2.23489358e-04,-6.95596416e-05,
  3.44877801e-05,-4.53367556e-04,-3.56627631e-04,-5.00174987e-07,
  1.58279517e-07,-3.09598752e-04,-2.83931449e-04,-1.47223250e-04,
  2.18572743e-02,-1.21180843e-03, 1.63071889e-02,-2.16650389e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50078077, -0.44695898,  4.4785327 , -0.44695898, 24.12788725,
        1.95879142,  4.4785327 ,  1.95879142,  4.69626877,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028759930268618117
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.79046792e-13,  9.65077987e-14,  1.00000000e+00, -5.58825313e-26,
        1.00000000e+00, -9.65077987e-14, -1.00000000e+00,  0.00000000e+00,
        5.79046792e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10120653, -0.04681216,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11777520e-05, 1.33332036e-05,-3.02069137e-05,-1.25996432e-05,
  1.30843505e-05, 6.46786691e-06, 2.89115911e-06,-2.04397826e-05,
  1.09674003e-05, 9.02538759e-06, 7.36727990e-06, 1.13197034e-05,
 -1.33564232e-04,-6.37149306e-05,-7.68599856e-05, 3.63330048e-05,
  1.45143872e-05, 1.25214581e-05,-1.21647580e+00,-1.77754617e-03,
 -3.18562723e-04, 2.23259396e-06]


--- Step 838 ---
qpos:
[ 2.84241353e-03,-5.63053756e-03,-1.02021888e-02, 2.79633182e-03,
 -4.44699236e-03,-5.18164201e-03,-1.77513643e-02, 5.18057001e-03,
 -4.72148189e-03,-3.93243515e-03,-7.80867096e-03,-1.91326556e-02,
  1.14656354e+00, 1.87279096e-02, 1.14241051e+00, 2.55565051e-02,
  9.50149321e-02,-6.99164841e-02, 1.30719271e-01, 9.98173190e-01,
 -5.02906387e-04, 3.68249892e-05,-6.04154703e-02]

qacc:
[  7.88312577,  1.21824755, -5.36356761,  9.57313044,  4.345301  ,
   0.56023236, -1.99539058,  3.2773646 ,  1.24680788, -1.54925101,
   6.53790599,-11.03263779, -0.22657132, -0.31756268, -4.22160993,
  12.98461538, -0.63731605, -1.49616577,  0.49006346, 22.02915014,
  -2.37481888,  1.77850978]

qfrc_actuator:
[-2.64951825e-05,-3.37990133e-04,-2.43072048e-04,-5.95129168e-05,
  5.97947908e-05,-4.36133241e-04,-3.56424720e-04, 4.24884603e-06,
  7.10738650e-06,-2.99337296e-04,-2.59795597e-04,-1.57586924e-04,
  2.18060512e-02,-1.24173041e-03, 1.62820998e-02,-2.11280926e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53279204,  0.12776557,  4.53099102,  0.12776557, 37.5596751 ,
       -0.93129702,  4.53099102, -0.93129702,  4.55905289,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002976591538249723
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.32461685e-14,  1.86492337e-13,  1.00000000e+00, -1.73896959e-26,
        1.00000000e+00, -1.86492337e-13, -1.00000000e+00,  0.00000000e+00,
        9.32461685e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10121194, -0.04681544,  0.0619908 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.64337538e-05,-1.51213783e-05,-2.10039945e-05, 9.32440293e-06,
  2.56850994e-05, 2.05786435e-05, 1.18950445e-06, 4.72545385e-06,
  7.26485474e-06, 1.73144795e-05, 2.73046372e-05,-9.49964982e-06,
 -1.39738451e-04,-7.70517907e-05,-6.43883120e-05, 4.40511156e-05,
  1.06254891e-05, 9.85128958e-06,-1.21646357e+00,-1.77510519e-03,
 -3.15309112e-04, 1.90125787e-06]


--- Step 839 ---
qpos:
[ 2.84353897e-03,-5.62949172e-03,-1.02019460e-02, 2.79694337e-03,
 -4.44586192e-03,-5.18127910e-03,-1.77519849e-02, 5.18258537e-03,
 -4.72161898e-03,-3.93224322e-03,-7.80860409e-03,-1.91337973e-02,
  1.14707296e+00, 1.87273942e-02, 1.14292340e+00, 2.55564725e-02,
  9.50061433e-02,-6.99042230e-02, 1.30719577e-01, 9.98167922e-01,
 -5.79691618e-04,-3.17610883e-05,-6.05017624e-02]

qacc:
[ 7.90311258, 0.77048998,-4.76112516,12.46900818,-0.44413985, 1.05858648,
 -5.11014504,11.73597026, 3.8076048 ,-1.66617026, 5.87204147,-7.83456367,
 -0.28715245,-0.1774515 ,-4.67509327,13.99757733,-0.59822965,-1.4660736 ,
  0.30359526,21.66908753,-2.78027644, 1.49869475]

qfrc_actuator:
[ 1.86778987e-05,-3.30096610e-04,-2.36972608e-04,-3.59261091e-05,
  5.64546513e-05,-4.25978564e-04,-3.56021806e-04, 2.41553318e-05,
  2.91728821e-05,-3.28876139e-04,-2.45416591e-04,-1.63249848e-04,
  2.17623199e-02,-1.25934151e-03, 1.62272841e-02,-2.06301734e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55249006, -0.18974342, -4.54853418, -0.18974342,  8.35014604,
       -0.15842032, -4.54853418, -0.15842032,  4.55909861,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003036222621289886
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.14148239e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.14148239e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1012164 , -0.04681734,  0.06199062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.64916499e-05,-4.52906361e-06, 6.93408236e-07, 2.23882495e-05,
 -2.59687172e-06, 2.21151537e-05, 4.96340448e-06, 2.09174901e-05,
  2.22789964e-05,-1.46312062e-05, 2.09904428e-05,-4.15982279e-06,
 -1.38465137e-04,-6.97981014e-05,-8.81164742e-05, 4.20411794e-05,
  7.27472726e-06, 8.00635556e-06,-1.21645478e+00,-1.77331455e-03,
 -3.12233996e-04, 1.56215455e-06]


--- Step 840 ---
qpos:
[ 2.84416268e-03,-5.62848927e-03,-1.02013283e-02, 2.79711407e-03,
 -4.44512479e-03,-5.18093217e-03,-1.77525117e-02, 5.18483797e-03,
 -4.72183543e-03,-3.93207269e-03,-7.80871877e-03,-1.91342888e-02,
  1.14758131e+00, 1.87266882e-02, 1.14343539e+00, 2.55582848e-02,
  9.49950857e-02,-6.98977265e-02, 1.30720471e-01, 9.98162816e-01,
 -6.14194324e-04,-1.09116150e-04,-6.05855015e-02]

qacc:
[ -4.37645758, -2.00472935,  8.94030962,-17.15343343, -3.42675398,
   0.21176052, -1.77560909,  5.73063635, -0.69980181,  1.82010115,
  -9.26815061, 20.81422206, -0.49603877,  0.18290593, -6.90355771,
  22.27331158, -0.56719574, -1.44112997,  0.14693656, 21.36788732,
  -3.09811309,  1.27587411]

qfrc_actuator:
[-8.46830834e-06,-3.25741453e-04,-2.15666673e-04,-5.77894024e-05,
  3.62761050e-05,-4.37877492e-04,-3.55520535e-04, 3.50603858e-05,
  2.44546008e-05,-3.28796210e-04,-2.54827430e-04,-1.30635513e-04,
  2.17071403e-02,-1.26946902e-03, 1.62079451e-02,-1.96272176e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56140322, -0.24147831, -4.55500686, -0.24147831, 11.62928393,
       -0.37469535, -4.55500686, -0.37469535,  4.58126725,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030626725142113287
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.0625346e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        9.0625346e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10122012, -0.04681814,  0.06199054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.58236164e-05, 2.89556885e-06, 2.12110836e-05,-2.16039955e-05,
 -2.02463462e-05, 2.37778688e-06, 6.40302891e-06, 1.24276490e-05,
 -4.08737883e-06,-3.94232218e-06,-9.99302240e-06, 3.26340118e-05,
 -1.47925230e-04,-5.99209915e-05,-6.25600782e-05, 8.96599096e-05,
  4.38575300e-06, 6.90958223e-06,-1.21644921e+00,-1.77217029e-03,
 -3.09268939e-04, 1.18109028e-06]


--- Step 841 ---
qpos:
[ 2.84411158e-03,-5.62739952e-03,-1.02007845e-02, 2.79703571e-03,
 -4.44463527e-03,-5.18054691e-03,-1.77532868e-02, 5.18687558e-03,
 -4.72245147e-03,-3.93185954e-03,-7.80927101e-03,-1.91340306e-02,
  1.14808832e+00, 1.87264221e-02, 1.14394692e+00, 2.55592258e-02,
  9.49819155e-02,-6.98969220e-02, 1.30721440e-01, 9.98157853e-01,
 -6.06938159e-04,-1.95272320e-04,-6.06670765e-02]

qacc:
[-5.90654071e+00,-1.79410447e-01, 1.87834685e+00,-6.15618594e+00,
 -2.16793838e+00, 3.06104885e-01,-1.03190037e-01,-3.25631227e+00,
 -3.51224401e+00, 2.83061705e+00,-1.31572669e+01, 2.67728308e+01,
 -1.40344575e+00, 1.72465417e+00, 2.12750495e+00,-8.04292764e+00,
 -5.28133465e-01,-1.42300882e+00, 1.86767223e-02, 2.11078480e+01,
 -3.12813555e+00, 1.07939082e+00]

qfrc_actuator:
[-4.24571084e-05,-3.23503293e-04,-2.21107794e-04,-7.07111461e-05,
  2.41101173e-05,-4.45146020e-04,-3.72818004e-04, 2.28074112e-05,
  4.00520250e-06,-3.28803626e-04,-2.78071766e-04,-9.35078464e-05,
  2.16451380e-02,-1.23964355e-03, 1.61832853e-02,-2.01089216e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56132904, -0.45655003, -4.53842315, -0.45655003, 16.17899528,
       -1.16869795, -4.53842315, -1.16869795,  4.6788961 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003062453714111237
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.75852349e-08,  6.75852363e-08,  1.00000000e+00, -4.56776407e-15,
        1.00000000e+00, -6.75852363e-08, -1.00000000e+00, -7.88860905e-31,
        6.75852349e-08])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10104003, -0.0468041 ,  0.06199054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.47296738e-05, 7.25813836e-06,-2.99684652e-06,-1.24872318e-05,
 -1.27463487e-05,-4.10242736e-06,-1.55896073e-05,-1.16914219e-05,
 -2.05681273e-05,-2.88421822e-06,-2.41598817e-05, 3.72495766e-05,
 -1.56836224e-04,-1.99701648e-05,-5.21916424e-05,-5.31797219e-05,
  1.90138034e-06, 6.50364974e-06,-1.21644672e+00,-1.77166812e-03,
 -3.06362575e-04, 7.33817476e-07]


--- Step 842 ---
qpos:
[ 2.84399810e-03,-5.62618586e-03,-1.02006104e-02, 2.79681913e-03,
 -4.44464066e-03,-5.17992275e-03,-1.77540524e-02, 5.18801611e-03,
 -4.72330787e-03,-3.93162975e-03,-7.81008071e-03,-1.91336839e-02,
  1.14859411e+00, 1.87264955e-02, 1.14445708e+00, 2.55584004e-02,
  9.49682289e-02,-6.99019915e-02, 1.30722294e-01, 9.98152959e-01,
 -5.58281585e-04,-2.79109553e-04,-6.07476752e-02]

qacc:
[ -0.55952033,  0.91348299, -2.43413788,  0.54008464, -4.32035917,
  -1.54919352,  9.78376408,-25.51706969, -2.112505  ,  0.92827464,
  -3.64346372,  5.56554625, -1.24806268,  1.48534274,  3.42790991,
 -14.65562157, -0.12911907, -1.46850069, -0.0286318 , 20.59184624,
   2.4128643 ,  0.48605944]

qfrc_actuator:
[-4.46724354e-05,-3.22648685e-04,-2.42298261e-04,-7.82834133e-05,
 -9.89346360e-07,-4.14178982e-04,-3.64984791e-04,-2.07356925e-05,
 -7.77827060e-06,-3.28918901e-04,-2.91534933e-04,-8.95369460e-05,
  2.15844305e-02,-1.22190570e-03, 1.60808627e-02,-2.11065851e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55682268, -3.57639914, -2.82382757, -3.57639914, 11.39069522,
       -8.65515167, -2.82382757, -8.65515167, 15.51863825,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030491201191033823
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.10281476e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.10281476e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09623553, -0.04643667,  0.06199058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.20878095e-06, 3.70171730e-06,-2.05099501e-05,-7.61004010e-06,
 -2.54651873e-05, 2.49381573e-05, 4.66134791e-06,-4.44890912e-05,
 -1.23722672e-05,-5.13391095e-06,-1.57420983e-05, 3.73765261e-06,
 -1.51149553e-04,-2.36635924e-05,-1.42877509e-04,-1.11792919e-04,
 -2.22310013e-07, 6.72199665e-06,-1.21644712e+00,-1.77181007e-03,
 -3.03483322e-04, 2.03154838e-07]


--- Step 843 ---
qpos:
[ 2.84420348e-03,-5.62491522e-03,-1.02006659e-02, 2.79616721e-03,
 -4.44494713e-03,-5.17895650e-03,-1.77545300e-02, 5.18859244e-03,
 -4.72464381e-03,-3.93162661e-03,-7.81065266e-03,-1.91336404e-02,
  1.14909902e+00, 1.87262132e-02, 1.14496617e+00, 2.55546111e-02,
  9.49540740e-02,-6.99128554e-02, 1.30722636e-01, 9.98148117e-01,
 -4.68511090e-04,-3.61033992e-04,-6.08275209e-02]

qacc:
[  2.78073327, -0.18506936,  2.5973028 , -9.79607103, -2.62275759,
  -1.5091866 ,  8.42806742,-18.91542302, -4.18709362, -1.58084479,
   6.49382381,-11.96621407, -0.58252161,  0.25678138,  7.4562766 ,
 -28.24211562, -0.11705909, -1.4485782 , -0.1280632 , 20.46101127,
   2.20321516,  0.37208906]

qfrc_actuator:
[-2.81661710e-05,-3.22695729e-04,-2.54860359e-04,-1.00409842e-04,
 -1.57499208e-05,-3.78239134e-04,-3.42231679e-04,-4.67795189e-05,
 -3.21142178e-05,-3.46842607e-04,-2.81381850e-04,-1.05098888e-04,
  2.15405157e-02,-1.24700136e-03, 1.60383990e-02,-2.25789145e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54637242,  0.93850137, -4.44845111,  0.93850137, 25.78846147,
        4.48149911, -4.44845111,  4.48149911,  5.49184601,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030178791518715997
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.75911402e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.75911402e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09623761, -0.0464349 ,  0.06199068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.64130079e-05,-2.58584918e-06,-1.46026124e-05,-2.28281129e-05,
 -1.54802352e-05, 4.89166183e-05, 2.69387693e-05,-2.56811364e-05,
 -2.46906137e-05,-2.38925751e-05, 7.28882143e-06,-1.62528192e-05,
 -1.34012875e-04,-6.52179297e-05,-1.26472060e-04,-1.73106030e-04,
 -2.16402552e-06, 6.95365188e-06,-1.21644864e+00,-1.77274159e-03,
 -3.00772527e-04,-2.93974197e-07]


--- Step 844 ---
qpos:
[ 2.84426015e-03,-5.62373114e-03,-1.02005722e-02, 2.79559265e-03,
 -4.44542827e-03,-5.17777870e-03,-1.77546837e-02, 5.18886586e-03,
 -4.72626093e-03,-3.93213847e-03,-7.81094733e-03,-1.91337490e-02,
  1.14960315e+00, 1.87255674e-02, 1.14547444e+00, 2.55492538e-02,
  9.49394882e-02,-6.99294497e-02, 1.30722134e-01, 9.98143303e-01,
 -3.37858592e-04,-4.41369876e-04,-6.09067918e-02]

qacc:
[ -1.29450615, -0.36957292,  0.82956757,  0.32963742, -1.5170532 ,
  -1.24564201,  6.1312707 ,-12.05336284, -2.44419837, -1.76420762,
   5.95106973, -8.65179448, -0.40729935,  0.05025251,  3.56720986,
 -14.16590176, -0.10772459, -1.4326198 , -0.21105399, 20.3549445 ,
   2.03605195,  0.28079408]

qfrc_actuator:
[-3.62885147e-05,-3.23266396e-04,-2.44485038e-04,-9.54110960e-05,
 -2.43030378e-05,-3.75019609e-04,-3.28561656e-04,-6.22978269e-05,
 -4.58936780e-05,-3.92967357e-04,-2.75203867e-04,-1.14271430e-04,
  2.15120146e-02,-1.26173244e-03, 1.60319314e-02,-2.32518459e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53139732,  0.81389752, -4.45770485,  0.81389752, 35.05132322,
        5.57239491, -4.45770485,  5.57239491,  5.54881739,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029723059516081896
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0962393 , -0.04643279,  0.06199082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.65643759e-06,-6.04989916e-06, 7.23896627e-06, 3.93635692e-06,
 -8.97984781e-06, 3.50010031e-05, 2.61970165e-05,-1.29918068e-05,
 -1.44930844e-05,-5.86822992e-05, 1.58470157e-06,-1.02580724e-05,
 -1.19164474e-04,-6.16201820e-05,-9.02179190e-05,-9.45897724e-05,
 -4.03300028e-06, 7.85378894e-06,-1.21645285e+00,-1.77428539e-03,
 -2.98172272e-04,-6.98052669e-07]


--- Step 845 ---
qpos:
[ 2.84421911e-03,-5.62261154e-03,-1.02003797e-02, 2.79542806e-03,
 -4.44635317e-03,-5.17636924e-03,-1.77549333e-02, 5.18897802e-03,
 -4.72803117e-03,-3.93280924e-03,-7.81127371e-03,-1.91343361e-02,
  1.15010610e+00, 1.87257759e-02, 1.14598123e+00, 2.55461182e-02,
  9.49287255e-02,-6.99495661e-02, 1.30722219e-01, 9.98138441e-01,
 -1.87112728e-04,-4.92997048e-04,-6.09866684e-02]

qacc:
[ -0.85036839,  0.48487857, -3.58008602, 10.5615664 , -3.87697077,
   0.24949983,  0.24840103, -3.07054933, -1.33897486, -1.10448115,
   5.65439958,-13.76558377, -1.2741361 ,  1.86655532, -8.78939397,
  27.88940714,  0.95576635, -0.88051919,  0.14687756,  9.1536094 ,
  14.93970802, -0.30336846]

qfrc_actuator:
[-4.10953716e-05,-3.24030491e-04,-2.38386858e-04,-7.44758115e-05,
 -4.68902721e-05,-3.73685945e-04,-3.38245056e-04,-7.15364337e-05,
 -5.33457951e-05,-3.84623191e-04,-2.71545582e-04,-1.37392946e-04,
  2.14714808e-02,-1.19908408e-03, 1.59831684e-02,-2.20270299e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.51930933,  -3.18978102,  -3.20147682,  -3.18978102,
        14.84719627, -10.29015657,  -3.20147682, -10.29015657,
        14.77187337,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00029347985972039137
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.89148077e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.89148077e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08358722, -0.05669899,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.03199233e-06,-2.52882659e-06, 5.86298572e-06, 2.10019141e-05,
 -2.28329683e-05, 2.57155454e-05, 3.11249873e-07,-7.08779990e-06,
 -7.88806560e-06,-2.45706153e-05,-8.61327763e-06,-2.57771755e-05,
 -1.21408635e-04, 1.97804034e-05,-1.08379741e-04, 1.03923560e-04,
 -5.84125116e-06, 9.40322440e-06,-1.21645970e+00,-1.77644111e-03,
 -2.95665611e-04,-1.01958415e-06]


--- Step 846 ---
qpos:
[ 2.84446549e-03,-5.62150809e-03,-1.02001053e-02, 2.79516509e-03,
 -4.44719662e-03,-5.17500032e-03,-1.77551872e-02, 5.18935315e-03,
 -4.72953233e-03,-3.93354681e-03,-7.81162510e-03,-1.91352084e-02,
  1.15060792e+00, 1.87269658e-02, 1.14648634e+00, 2.55448321e-02,
  9.49217380e-02,-6.99731170e-02, 1.30722497e-01, 9.98133520e-01,
 -1.61333192e-05,-5.16124245e-04,-6.10672606e-02]

qacc:
[ 2.51694714,-0.45818281, 2.00950382,-3.82238442, 0.71108736, 0.49828496,
 -2.96707027, 7.5579627 , 2.35588336,-0.61054688, 3.2428118 ,-8.076705  ,
 -1.33660132, 2.05036274,-7.94611712,24.53734964, 0.94378804,-0.85863799,
  0.04796441, 9.22869868,14.84050024,-0.3612755 ]

qfrc_actuator:
[-2.61518015e-05,-3.24898102e-04,-2.34864162e-04,-7.98474181e-05,
 -4.20537691e-05,-3.91341157e-04,-3.43897717e-04,-5.92750672e-05,
 -3.92644705e-05,-3.79253041e-04,-2.69201025e-04,-1.50743916e-04,
  2.14237928e-02,-1.14433850e-03, 1.58984655e-02,-2.11154020e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51099463,  4.50087635,  0.30196806,  4.50087635,  4.63064009,
       -1.7833324 ,  0.30196806, -1.7833324 , 31.0918144 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002908610863006089
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08358646, -0.05669656,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47940432e-05,-2.14878598e-07, 4.43452780e-06,-4.87065118e-06,
  4.19119255e-06,-3.57115052e-06,-5.61061260e-07, 1.32340691e-05,
  1.38463291e-05,-1.12314834e-05,-4.67154773e-06,-1.51995925e-05,
 -1.10032612e-04, 3.23444714e-05,-1.29391310e-04, 8.16167162e-05,
 -7.60982673e-06, 8.87270453e-06,-1.21646077e+00,-1.77925208e-03,
 -2.94328728e-04, 1.59680057e-08]


--- Step 847 ---
qpos:
[ 2.84488905e-03,-5.62055635e-03,-1.01997016e-02, 2.79450888e-03,
 -4.44728604e-03,-5.17372489e-03,-1.77549082e-02, 5.18984179e-03,
 -4.73050803e-03,-3.93470925e-03,-7.81153951e-03,-1.91358747e-02,
  1.15110922e+00, 1.87277369e-02, 1.14698998e+00, 2.55429616e-02,
  9.49184867e-02,-7.00000339e-02, 1.30722636e-01, 9.98128524e-01,
  1.75193377e-04,-5.10922347e-04,-6.11486543e-02]

qacc:
[  1.55628497, -1.37459514,  6.26478887,-13.15942706,  6.59410686,
  -1.39134834,  4.28068591, -3.07639479,  4.62124296, -1.36767687,
   3.17708962,  0.01778718, -0.04366294, -0.38743837, -0.41845931,
  -1.72244521,  0.93407496, -0.84148605, -0.03452329,  9.28945729,
  14.75937412, -0.40728589]

qfrc_actuator:
[-1.74566662e-05,-3.43602997e-04,-2.32909558e-04,-1.00658789e-04,
 -3.35810036e-06,-3.84704900e-04,-3.11679958e-04,-5.22260903e-05,
 -1.26240290e-05,-4.11201107e-04,-2.49886106e-04,-1.40481821e-04,
  2.13878275e-02,-1.18356635e-03, 1.58188990e-02,-2.14620098e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49842021,  4.49316144,  0.21745044,  4.49316144,  4.58730182,
       -1.83655372,  0.21745044, -1.83655372, 42.44698522,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002868382561161398
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.90291567e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.90291567e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08358552, -0.05669428,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.11419472e-06,-1.81559555e-05, 2.27152527e-06,-2.07650787e-05,
  3.88140456e-05, 5.04426789e-06, 3.18549211e-05, 7.13062733e-06,
  2.70298864e-05,-3.98116183e-05, 1.59064720e-05, 9.32703879e-06,
 -8.96642804e-05,-5.54372620e-05,-1.35296447e-04,-4.79058815e-05,
 -9.64781899e-06, 8.53176381e-06,-1.21646380e+00,-1.78234731e-03,
 -2.93422381e-04, 1.22293128e-06]


--- Step 848 ---
qpos:
[ 2.84506874e-03,-5.61971669e-03,-1.01995784e-02, 2.79397754e-03,
 -4.44656599e-03,-5.17256367e-03,-1.77541670e-02, 5.18972763e-03,
 -4.73115705e-03,-3.93598484e-03,-7.81104613e-03,-1.91364512e-02,
  1.15160991e+00, 1.87281078e-02, 1.14749221e+00, 2.55422603e-02,
  9.49189406e-02,-7.00302635e-02, 1.30722362e-01, 9.98123438e-01,
  3.86963244e-04,-4.77528166e-04,-6.12309164e-02]

qacc:
[-2.14000473e+00, 8.97234627e-01,-3.93380488e+00, 6.61778220e+00,
  7.07532359e+00,-2.69661384e+00, 1.19174220e+01,-2.29805552e+01,
  2.87472871e+00,-1.11009551e+00, 3.35213971e+00,-2.35592519e+00,
  4.38523418e-03,-4.68991935e-01,-5.64265358e+00, 1.66707502e+01,
  9.26286114e-01,-8.28173363e-01,-1.03161188e-01, 9.34028212e+00,
  1.46946977e+01,-4.43806597e-01]

qfrc_actuator:
[-3.02679539e-05,-3.55115601e-04,-2.49728437e-04,-9.48945640e-05,
  3.71952865e-05,-3.98929846e-04,-2.92780632e-04,-8.37655208e-05,
  3.43524087e-06,-3.94144787e-04,-2.20840940e-04,-1.34181669e-04,
  2.13535552e-02,-1.20716031e-03, 1.57797365e-02,-2.07713542e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028174033090920536
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.85147406e-14, -1.97029481e-13,  1.00000000e+00,  1.94103082e-26,
        1.00000000e+00,  1.97029481e-13, -1.00000000e+00,  0.00000000e+00,
        9.85147406e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08358444, -0.05669212,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.25596547e-05,-2.21218435e-05,-2.10230684e-05, 4.65872444e-06,
  4.16662654e-05,-4.55633722e-06, 2.40912040e-05,-3.00883226e-05,
  1.68125214e-05,-1.47239709e-06, 2.31161218e-05, 5.32971844e-06,
 -9.84495126e-05,-5.75581039e-05,-1.11163034e-04, 4.80108897e-05,
 -1.19566629e-05, 8.37404848e-06,-1.21646876e+00,-1.78573097e-03,
 -2.92944174e-04, 2.60403219e-06]


--- Step 849 ---
qpos:
[ 2.84474841e-03,-5.61879312e-03,-1.01995040e-02, 2.79382312e-03,
 -4.44536484e-03,-5.17167060e-03,-1.77536510e-02, 5.18930489e-03,
 -4.73057388e-03,-3.93698405e-03,-7.81065695e-03,-1.91369629e-02,
  1.15210992e+00, 1.87284236e-02, 1.14799236e+00, 2.55444576e-02,
  9.49163141e-02,-7.00530824e-02, 1.30723153e-01, 9.98118327e-01,
  5.50767095e-04,-4.79307387e-04,-6.13129026e-02]

qacc:
[ -4.37659524,  1.03218069, -5.0956168 , 11.61924134,  4.19307518,
  -0.36872175,  2.08903604, -6.85726899, 10.7792389 ,  0.76885894,
  -2.52037188,  3.64174391, -0.13276245, -0.09083771,-11.86211328,
  37.0202816 , -0.77011398,  1.85267043,  0.2661362 ,-22.86108247,
 -19.02215265,  0.15514105]

qfrc_actuator:
[-5.56329118e-05,-3.26786515e-04,-2.41948094e-04,-7.35457732e-05,
  6.07536243e-05,-4.43366050e-04,-3.17520053e-04,-1.02281844e-04,
  6.63922968e-05,-3.65580235e-04,-2.21608497e-04,-1.30224866e-04,
  2.13256509e-02,-1.20347231e-03, 1.56796508e-02,-1.92960127e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49004741,  2.34326547, -3.83009564,  2.34326547, 19.2243736 ,
        9.01451059, -3.83009564,  9.01451059, 10.00515547,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002841164901551535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.52641921e-13, -1.95381659e-13,  1.00000000e+00,  2.98234318e-26,
        1.00000000e+00,  1.95381659e-13, -1.00000000e+00,  0.00000000e+00,
        1.52641921e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10556075, -0.09461816,  0.06199122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.57336797e-05, 1.17800244e-05, 7.72854735e-07, 1.97636745e-05,
  2.47514925e-05,-4.33333441e-05,-2.37777863e-05,-1.84691951e-05,
  6.34318594e-05, 3.27894343e-05, 1.96885768e-06, 4.79950684e-06,
 -9.65028760e-05,-3.33007576e-05,-1.51219643e-04, 1.34716826e-04,
 -1.45381916e-05, 8.39590036e-06,-1.21647562e+00,-1.78940633e-03,
 -2.92892242e-04, 4.16161207e-06]


--- Step 850 ---
qpos:
[ 2.84481607e-03,-5.61768589e-03,-1.01993884e-02, 2.79356038e-03,
 -4.44458004e-03,-5.17092326e-03,-1.77537568e-02, 5.18867632e-03,
 -4.72924048e-03,-3.93777691e-03,-7.81054250e-03,-1.91374024e-02,
  1.15260907e+00, 1.87290519e-02, 1.14849094e+00, 2.55470204e-02,
  9.49105511e-02,-7.00686841e-02, 1.30724283e-01, 9.98113174e-01,
  6.67209598e-04,-5.14795637e-04,-6.13952857e-02]

qacc:
[  3.39199468, -0.10226931,  1.16258054, -3.22588262, -3.64800976,
   1.12776012, -3.41969294,  0.94604176,  6.5558274 ,  1.17682982,
  -4.12657064,  5.68670755, -0.75444325,  0.926898  , -3.36831483,
   8.57493556, -0.78410318,  1.80429555,  0.08466622,-22.6027994 ,
 -18.27484984, -0.17871466]

qfrc_actuator:
[-3.49184712e-05,-3.10208831e-04,-2.37280350e-04,-7.86535214e-05,
  3.86142396e-05,-4.52471476e-04,-3.50187640e-04,-1.13037391e-04,
  1.03193953e-04,-3.65960288e-04,-2.39914822e-04,-1.27684921e-04,
  2.12856199e-02,-1.18360009e-03, 1.56017062e-02,-1.91470942e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51189019, -1.40706416,  4.28687806, -1.40706416,  7.10362254,
        0.85067353,  4.28687806,  0.85067353,  4.79110322,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029114470226647426
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.36245762e-14, -3.81330320e-13,  1.00000000e+00,  2.04486768e-26,
        1.00000000e+00,  3.81330320e-13, -1.00000000e+00,  0.00000000e+00,
        5.36245762e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10555455, -0.09461743,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.99792216e-05, 2.41296117e-05, 7.87012979e-06,-4.19234934e-06,
 -2.14432181e-05,-3.90686421e-05,-4.52028524e-05,-1.37977505e-05,
  3.86214065e-05, 1.86245709e-05,-1.11190367e-05, 4.10570556e-06,
 -1.02226516e-04,-1.01234367e-05,-1.35455020e-04, 2.30125071e-06,
 -1.01389760e-05, 6.92250742e-06,-1.21646118e+00,-1.79128559e-03,
 -2.94704946e-04, 2.20033512e-06]


--- Step 851 ---
qpos:
[ 2.84513130e-03,-5.61655482e-03,-1.01991492e-02, 2.79325334e-03,
 -4.44441133e-03,-5.17049179e-03,-1.77536503e-02, 5.18754221e-03,
 -4.72920031e-03,-3.93839057e-03,-7.81091967e-03,-1.91377888e-02,
  1.15310703e+00, 1.87305545e-02, 1.14898900e+00, 2.55498337e-02,
  9.49016097e-02,-7.00772271e-02, 1.30725140e-01, 9.98107960e-01,
  7.36808369e-04,-5.82818423e-04,-6.14785877e-02]

qacc:
[  2.16895133, -0.40942721,  1.68522174, -2.65923935, -5.36126487,
  -2.04060478,  8.82288324,-17.69984749,-11.34007741,  1.74239269,
  -6.05288415,  7.57969238, -1.50316239,  2.18267816, -1.36376286,
   4.05377408, -0.79462259,  1.76467752, -0.06806764,-22.37915536,
 -17.67488948, -0.43754045]

qfrc_actuator:
[-2.27496704e-05,-3.18567944e-04,-2.34550701e-04,-8.15480812e-05,
  7.51386266e-06,-4.58146230e-04,-3.33867562e-04,-1.36868419e-04,
  3.55282868e-05,-3.65994980e-04,-2.68532186e-04,-1.26028544e-04,
  2.12277006e-02,-1.13661037e-03, 1.56222885e-02,-1.88926608e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52333596, -1.3489229 ,  4.31751956, -1.3489229 ,  9.69521357,
        1.61585004,  4.31751956,  1.61585004,  5.02817608,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002947365944004632
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.29710649e-14, -5.65024693e-13,  1.00000000e+00,  2.99299597e-26,
        1.00000000e+00,  5.65024693e-13, -1.00000000e+00,  0.00000000e+00,
        5.29710649e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10554999, -0.09461767,  0.0619909 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.27445375e-05, 6.54612615e-06, 8.52355244e-06,-1.67293887e-06,
 -3.17263313e-05,-3.74813853e-05, 2.19936771e-06,-2.73369297e-05,
 -6.65584349e-05, 8.30538656e-06,-2.59892658e-05, 2.15036044e-06,
 -1.17856865e-04, 2.17585258e-05,-4.62144191e-05, 7.09819696e-06,
 -6.49711930e-06, 6.36186350e-06,-1.21645226e+00,-1.79249306e-03,
 -2.95900172e-04, 1.24076564e-06]


--- Step 852 ---
qpos:
[ 2.84524520e-03,-5.61551332e-03,-1.01985307e-02, 2.79291098e-03,
 -4.44461709e-03,-5.17014691e-03,-1.77535061e-02, 5.18680388e-03,
 -4.72962632e-03,-3.93870439e-03,-7.81199761e-03,-1.91381531e-02,
  1.15360420e+00, 1.87318797e-02, 1.14948650e+00, 2.55535359e-02,
  9.48894578e-02,-7.00788408e-02, 1.30725211e-01, 9.98102664e-01,
  7.60002338e-04,-6.82436717e-04,-6.15632115e-02]

qacc:
[ -1.74766202, -1.24787157,  4.43253603, -5.59076111, -3.26286981,
   0.60167819, -3.97118315, 10.81288041, -4.10822481,  2.40898279,
  -8.09262676,  9.35844685, -0.39369008,  0.14313359, -3.49034051,
  11.07854745, -0.80259197,  1.73232908, -0.19648977,-22.18763241,
 -17.19482543, -0.63705213]

qfrc_actuator:
[-3.34756520e-05,-3.24050147e-04,-2.15330125e-04,-8.31354161e-05,
 -1.08441892e-05,-4.43781507e-04,-3.24245506e-04,-1.14904813e-04,
  1.34413897e-05,-3.48125221e-04,-3.03009398e-04,-1.24911919e-04,
  2.11750860e-02,-1.16279999e-03, 1.56114100e-02,-1.83977046e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5259879 , -1.27122177,  4.34379577, -1.27122177, 13.19505006,
        2.53702088,  4.34379577,  2.53702088,  5.26845287,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002955602608906288
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46731793e-13, -1.87816695e-13,  1.00000000e+00,  2.75586803e-26,
        1.00000000e+00,  1.87816695e-13, -1.00000000e+00,  0.00000000e+00,
        1.46731793e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10554673, -0.09461867,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.03634840e-05,-1.72286770e-07, 2.15485508e-05,-1.04743657e-06,
 -1.92795887e-05,-7.33706800e-06, 1.20277435e-06, 1.99044042e-05,
 -2.39861873e-05, 1.72426641e-05,-3.58731224e-05, 6.20828099e-07,
 -1.11704485e-04,-4.76265109e-05,-4.13718917e-05, 4.16950955e-05,
 -3.46730109e-06, 6.72973435e-06,-1.21644853e+00,-1.79301866e-03,
 -2.96544070e-04, 1.20959358e-06]


--- Step 853 ---
qpos:
[ 2.84557468e-03,-5.61453255e-03,-1.01982250e-02, 2.79259692e-03,
 -4.44504157e-03,-5.16988388e-03,-1.77535564e-02, 5.18669484e-03,
 -4.72996929e-03,-3.93906415e-03,-7.81311904e-03,-1.91381569e-02,
  1.15410045e+00, 1.87332238e-02, 1.14998326e+00, 2.55555258e-02,
  9.48740711e-02,-7.00736304e-02, 1.30724065e-01, 9.98097259e-01,
  7.37159505e-04,-8.12903271e-04,-6.16494659e-02]

qacc:
[  1.87705028,  0.8488337 , -3.2687793 ,  4.31032934, -1.91177381,
   1.7341138 , -8.99051481, 20.24659359,  0.72645396,  0.80198728,
  -4.4690371 , 10.80769408, -0.81447065,  0.79351702,  4.17115421,
 -15.98719964, -0.80871374,  1.70602391, -0.30436537,-22.02568381,
 -16.8126091 , -0.78959767]

qfrc_actuator:
[-2.20833721e-05,-3.45454960e-04,-2.39778045e-04,-8.39296843e-05,
 -2.15520343e-05,-4.53001315e-04,-3.36305125e-04,-8.39161541e-05,
  1.83919883e-05,-3.55210369e-04,-3.05091452e-04,-1.06356932e-04,
  2.11256623e-02,-1.16118480e-03, 1.55497225e-02,-1.93635575e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52153156, -1.17134605,  4.36717255, -1.17134605, 17.8855138 ,
        3.58443539,  4.36717255,  3.58443539,  5.48293489,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002941743449700329
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47423076e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.47423076e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10554449, -0.09462031,  0.06199091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10913262e-05,-1.71431711e-05,-2.18838639e-05,-7.89128260e-08,
 -1.12639749e-05,-1.22407151e-05,-1.27413914e-05, 3.11046995e-05,
  4.27088152e-06,-4.81084552e-06,-2.89982673e-06, 1.80691656e-05,
 -1.21469663e-04,-3.65953752e-05,-8.54230212e-05,-1.01705057e-04,
 -9.41605493e-07, 8.03098744e-06,-1.21644973e+00,-1.79285649e-03,
 -2.96685813e-04, 2.05128793e-06]


--- Step 854 ---
qpos:
[ 2.84569317e-03,-5.61372023e-03,-1.01981832e-02, 2.79263230e-03,
 -4.44524644e-03,-5.16968520e-03,-1.77537152e-02, 5.18625933e-03,
 -4.73025038e-03,-3.93973016e-03,-7.81387455e-03,-1.91375879e-02,
  1.15459558e+00, 1.87351306e-02, 1.15047895e+00, 2.55534003e-02,
  9.48635157e-02,-7.00649668e-02, 1.30723897e-01, 9.98092075e-01,
  6.82167648e-04,-9.09427150e-04,-6.17326293e-02]

qacc:
[ -1.85083037,  1.23805616, -6.20605729, 12.7926566 ,  1.91276805,
  -0.45763321,  2.88010274, -8.30266341,  0.55889274, -0.24877175,
  -2.1165905 , 11.66419499, -1.53023016,  2.03269893, 11.05617495,
 -40.55545452,  1.20781061,  0.8632824 ,  0.24453355,-17.08902552,
  15.9492898 ,  1.54987307]

qfrc_actuator:
[-3.32617840e-05,-3.58653711e-04,-2.54381327e-04,-6.65449670e-05,
 -9.92308474e-06,-4.58589298e-04,-3.43404144e-04,-1.01162176e-04,
  2.14497241e-05,-3.77042621e-04,-2.88113395e-04,-7.76860796e-05,
  2.10728668e-02,-1.12525942e-03, 1.54682376e-02,-2.15384913e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52267353, -3.98254165,  2.14334734, -3.98254165,  8.46948634,
        7.3335507 ,  2.14334734,  7.3335507 , 18.14910286,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029453035410334505
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88473448e-13,  1.88473448e-13,  1.00000000e+00, -3.55222404e-26,
        1.00000000e+00, -1.88473448e-13, -1.00000000e+00,  0.00000000e+00,
        1.88473448e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07978134, -0.08328902,  0.0619909 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08698633e-05,-2.73444725e-05,-2.08577286e-05, 1.58887024e-05,
  1.13009909e-05,-1.37445892e-05,-1.01222632e-05,-1.76057621e-05,
  3.17509934e-06,-2.43210207e-05, 1.62692325e-05, 2.87193707e-05,
 -1.28759710e-04,-1.10404017e-06,-1.40086816e-04,-2.35938882e-04,
  1.16019647e-06, 1.02635054e-05,-1.21645568e+00,-1.79200330e-03,
 -2.96361744e-04, 3.72420658e-06]


--- Step 855 ---
qpos:
[ 2.84498692e-03,-5.61309193e-03,-1.01977842e-02, 2.79317958e-03,
 -4.44531055e-03,-5.16946484e-03,-1.77537132e-02, 5.18524543e-03,
 -4.72980272e-03,-3.94079204e-03,-7.81433411e-03,-1.91366631e-02,
  1.15509006e+00, 1.87363886e-02, 1.15097271e+00, 2.55503602e-02,
  9.48577294e-02,-7.00528103e-02, 1.30724173e-01, 9.98087100e-01,
  5.95881948e-04,-9.72485894e-04,-6.18129473e-02]

qacc:
[ -7.19961723, -0.17307795, -1.87211596, 10.26901401,  1.23186919,
  -1.61368538,  8.23314561,-18.51284551,  6.3959641 , -0.63009852,
  -0.03406115,  6.02875241,  0.03009552, -0.67608211, -0.12184124,
  -3.79425046,  1.19229411,  0.87323531,  0.11083466,-16.64879106,
  15.73578282,  1.42925384]

qfrc_actuator:
[-7.53948934e-05,-3.49044196e-04,-2.27496481e-04,-3.85853273e-05,
 -2.99553596e-06,-4.44230316e-04,-3.29782283e-04,-1.28892336e-04,
  5.88649255e-05,-4.07444454e-04,-2.77843896e-04,-6.10548332e-05,
  2.10287515e-02,-1.17581505e-03, 1.53855820e-02,-2.19226259e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52708293,  4.50799976, -0.41523244,  4.50799976,  4.62055137,
        1.01474667, -0.41523244,  1.01474667, 15.54375058,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029589943928715057
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.87601407e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.87601407e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07978166, -0.08328588,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.24557695e-05,-9.34327179e-06, 1.92075464e-05, 2.63739667e-05,
  7.24786192e-06, 3.82760927e-06, 8.92679061e-06,-2.90116012e-05,
  3.74927632e-05,-3.93799048e-05, 8.25850541e-06, 1.67134670e-05,
 -1.17018431e-04,-7.93407651e-05,-1.79543574e-04,-7.09236160e-05,
  2.78855000e-06, 8.04618864e-06,-1.21645099e+00,-1.79184828e-03,
 -2.96086465e-04, 4.75489805e-06]


--- Step 856 ---
qpos:
[ 2.84412589e-03,-5.61256863e-03,-1.01973454e-02, 2.79372359e-03,
 -4.44529090e-03,-5.16948704e-03,-1.77529058e-02, 5.18424117e-03,
 -4.72856540e-03,-3.94201541e-03,-7.81471332e-03,-1.91359064e-02,
  1.15558392e+00, 1.87365830e-02, 1.15146506e+00, 2.55473602e-02,
  9.48566610e-02,-7.00371308e-02, 1.30724442e-01, 9.98082320e-01,
  4.78986657e-04,-1.00247416e-03,-6.18906143e-02]

qacc:
[-1.35084839e+00,-2.54002269e-01, 7.22664477e-01,-7.70514988e-01,
  7.59823357e-01,-2.55200219e+00, 8.59173323e+00,-9.53297904e+00,
  6.91834852e+00,-7.97854945e-01, 3.21998837e+00,-6.11085118e+00,
  3.74497173e-01,-1.39927459e+00,-2.26317046e+00, 4.73924234e+00,
  1.17946873e+00, 8.80756779e-01,-1.46513636e-03,-1.62963796e+01,
  1.55584581e+01, 1.33403655e+00]

qfrc_actuator:
[-8.21447797e-05,-3.61172024e-04,-2.29492085e-04,-4.00882204e-05,
  1.10218244e-06,-4.53468707e-04,-2.86201198e-04,-1.27025205e-04,
  9.84503748e-05,-4.07270651e-04,-2.71675956e-04,-6.94121211e-05,
  2.09845155e-02,-1.24176758e-03, 1.53555986e-02,-2.17804065e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52410809,  4.49732333, -0.49156571,  4.49732333,  4.72074286,
        1.79900694, -0.49156571,  1.79900694, 20.98318106,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029497673866030194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.40941165e-14, -1.88188233e-13,  1.00000000e+00,  1.77074055e-26,
        1.00000000e+00,  1.88188233e-13, -1.00000000e+00,  0.00000000e+00,
        9.40941165e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07978144, -0.08328387,  0.06199089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.97096002e-06,-1.22963175e-05,-6.57816618e-07,-7.26851898e-07,
  4.30767726e-06,-6.50044742e-06, 4.44667162e-05, 1.77684778e-06,
  4.06377286e-05,-1.93694661e-05,-3.55632687e-07,-9.43274195e-06,
 -1.29540197e-04,-1.12353234e-04,-1.22745373e-04,-1.32955671e-05,
  4.61430852e-06, 6.34560603e-06,-1.21644968e+00,-1.79114231e-03,
 -2.96180851e-04, 5.10494628e-06]


--- Step 857 ---
qpos:
[ 2.84388000e-03,-5.61212470e-03,-1.01968922e-02, 2.79355354e-03,
 -4.44556701e-03,-5.16978800e-03,-1.77515100e-02, 5.18328661e-03,
 -4.72720797e-03,-3.94329384e-03,-7.81502970e-03,-1.91359590e-02,
  1.15607686e+00, 1.87362637e-02, 1.15195664e+00, 2.55437282e-02,
  9.48602686e-02,-7.00179053e-02, 1.30724329e-01, 9.98077718e-01,
  3.32026016e-04,-9.99715241e-04,-6.19657844e-02]

qacc:
[  5.38217417, -1.62669266,  8.64370168,-20.94665139, -2.5562951 ,
  -1.90441814,  6.0552253 , -5.94121627,  1.05395742, -1.9175508 ,
  10.13804348,-24.18637335, -0.34807653, -0.17633283,  0.7789546 ,
  -4.35567796,  1.16897933,  0.88651288, -0.09562417,-16.01601083,
  15.41250127,  1.25877111]

qfrc_actuator:
[-5.02521685e-05,-3.68595034e-04,-2.30888799e-04,-7.67108621e-05,
 -1.42499409e-05,-4.76609965e-04,-2.60858758e-04,-1.25509008e-04,
  1.03480280e-04,-4.06580120e-04,-2.67871706e-04,-1.10133566e-04,
  2.09402288e-02,-1.26302605e-03, 1.53412625e-02,-2.20383671e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51536526,  4.47740866, -0.58423893,  4.47740866,  4.91214084,
        3.04075324, -0.58423893,  3.04075324, 27.81866495,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029224166236234417
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.49747390e-14,  1.89949478e-13,  1.00000000e+00,  1.80404021e-26,
        1.00000000e+00, -1.89949478e-13, -1.00000000e+00,  0.00000000e+00,
       -9.49747390e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07978079, -0.08328274,  0.06199097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.16583479e-05,-1.44915026e-05,-4.05405231e-06,-3.71892667e-05,
 -1.52327707e-05,-1.75205643e-05, 2.95318870e-05, 2.81141798e-06,
  6.17995720e-06,-1.05530393e-05,-5.49864082e-07,-4.17464732e-05,
 -1.42878484e-04,-7.98847526e-05,-7.71693756e-05,-4.34027297e-05,
  6.64392106e-06, 5.10957825e-06,-1.21645158e+00,-1.78990235e-03,
 -2.96656634e-04, 4.80705279e-06]


--- Step 858 ---
qpos:
[ 2.84367313e-03,-5.61154058e-03,-1.01968472e-02, 2.79294719e-03,
 -4.44602535e-03,-5.16971545e-03,-1.77506591e-02, 5.18304316e-03,
 -4.72649020e-03,-3.94477663e-03,-7.81526238e-03,-1.91361358e-02,
  1.15656874e+00, 1.87363340e-02, 1.15244721e+00, 2.55391468e-02,
  9.48679585e-02,-6.99990274e-02, 1.30725332e-01, 9.98073153e-01,
  1.84015604e-04,-9.63730398e-04,-6.20404648e-02]

qacc:
[  0.32596435,  0.427262  ,  0.58590433, -7.58557697, -1.61207482,
   3.48243128,-14.69802374, 27.59772698, -5.5939045 , -0.7491741 ,
   2.82178896, -4.97427076, -1.1207705 ,  1.38974494,  1.49587627,
  -7.12129302,  1.02060753, -0.08693113,  0.27896716, -1.55307277,
  16.54860015,  0.24053969]

qfrc_actuator:
[-4.91399585e-05,-3.55426165e-04,-2.49669491e-04,-9.81879919e-05,
 -2.31733042e-05,-4.36949186e-04,-2.82069823e-04,-8.87420172e-05,
  7.03779218e-05,-4.23374031e-04,-2.65500312e-04,-1.16307227e-04,
  2.09119378e-02,-1.22208730e-03, 1.52883771e-02,-2.25298769e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50659014,  1.52334284,  4.24131835,  1.52334284, 29.12534903,
       -8.84225305,  4.24131835, -8.84225305,  7.68243826,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002894606720556525
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.91774416e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.91774416e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08186358, -0.06805652,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.01186126e-06, 2.62519334e-06,-2.35713954e-05,-2.29650493e-05,
 -9.36746626e-06, 3.60749676e-05,-2.11047334e-05, 3.70933577e-05,
 -3.29321763e-05,-2.45399287e-05,-1.30045647e-06,-7.45375144e-06,
 -1.25571504e-04,-1.27108928e-05,-1.01201879e-04,-6.32678447e-05,
  8.88128265e-06, 4.29858941e-06,-1.21645656e+00,-1.78814163e-03,
 -2.97522054e-04, 3.88562511e-06]


--- Step 859 ---
qpos:
[ 2.84313670e-03,-5.61095642e-03,-1.01973054e-02, 2.79245820e-03,
 -4.44624250e-03,-5.16907532e-03,-1.77505186e-02, 5.18391886e-03,
 -4.72651972e-03,-3.94640387e-03,-7.81580019e-03,-1.91356751e-02,
  1.15705962e+00, 1.87370411e-02, 1.15293680e+00, 2.55319803e-02,
  9.48790956e-02,-6.99835013e-02, 1.30727322e-01, 9.98068569e-01,
  5.75846975e-05,-8.95826212e-04,-6.21154202e-02]

qacc:
[ -2.89855217,  1.65363141, -6.38153384,  9.20641822,  2.07216779,
   5.03425086,-21.59436485, 41.69240058, -6.54872352,  1.98810582,
 -10.02940815, 21.62129647, -1.36936477,  1.90469364,  6.53899456,
 -24.59916334,  0.86177766, -0.83791903,  0.24673273,  9.7786867 ,
  16.59828758, -0.15112295]

qfrc_actuator:
[-6.61659375e-05,-3.65595234e-04,-2.78463540e-04,-9.28173215e-05,
 -1.04820271e-05,-3.95653208e-04,-3.12562578e-04,-3.15058477e-05,
  3.28605722e-05,-4.32734646e-04,-2.81787254e-04,-8.43608538e-05,
  2.08773134e-02,-1.18003334e-03, 1.52337143e-02,-2.38659183e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50764183,  1.73803502,  4.15909474,  1.73803502, 25.80596248,
       -8.90030872,  4.15909474, -8.90030872,  8.2269724 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028979589735829425
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.5776289e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        9.5776289e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08362129, -0.05667493,  0.06199105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.69674319e-05,-1.45728521e-05,-3.19557311e-05, 4.22042606e-06,
  1.24346336e-05, 5.86836585e-05,-2.43676433e-05, 5.87722830e-05,
 -3.84709858e-05,-2.36234342e-05,-2.17510392e-05, 3.07110517e-05,
 -1.07178429e-04, 1.03766764e-05,-1.15372610e-04,-1.51705232e-04,
  9.64081704e-06, 2.25564989e-06,-1.21645735e+00,-1.78635674e-03,
 -2.97999986e-04, 2.47530864e-06]


--- Step 860 ---
qpos:
[ 2.84240055e-03,-5.61069049e-03,-1.01977073e-02, 2.79203974e-03,
 -4.44596079e-03,-5.16825600e-03,-1.77505881e-02, 5.18514345e-03,
 -4.72630930e-03,-3.94815251e-03,-7.81652799e-03,-1.91351915e-02,
  1.15754966e+00, 1.87379978e-02, 1.15342528e+00, 2.55231957e-02,
  9.48937130e-02,-6.99712735e-02, 1.30729846e-01, 9.98063958e-01,
 -4.74620906e-05,-7.96878041e-04,-6.21908254e-02]

qacc:
[ -1.73976108, -0.42903019,  0.6276719 ,  0.73082177,  4.34110233,
   1.53302552, -6.61033568, 12.86904383,  2.09655568,  0.41390878,
  -1.81229726,  2.61009155, -0.87666847,  1.05227538,  3.34552351,
 -13.87085349,  0.87007605, -0.82459786,  0.1335946 ,  9.70705229,
  16.15612892, -0.23584423]

qfrc_actuator:
[-7.59692095e-05,-3.89682997e-04,-2.77502200e-04,-8.94697355e-05,
  1.48275211e-05,-4.06977479e-04,-3.30488192e-04,-1.59385549e-05,
  4.63155950e-05,-4.37613448e-04,-2.91161209e-04,-8.35124397e-05,
  2.08335952e-02,-1.17321847e-03, 1.51939955e-02,-2.46233663e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50626298,  0.41161539, -4.48742452,  0.41161539, 18.59472692,
        1.29228437, -4.48742452,  1.29228437,  4.6247996 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002893562807991523
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.59218011e-14,  1.91843602e-13,  1.00000000e+00, -1.84019839e-26,
        1.00000000e+00, -1.91843602e-13, -1.00000000e+00,  0.00000000e+00,
        9.59218011e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08362396, -0.05667439,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02934764e-05,-3.86757346e-05,-5.83803600e-06, 1.70117513e-06,
  2.56850279e-05, 1.89537422e-05,-6.78416085e-06, 1.83780175e-05,
  1.23421182e-05,-2.12155522e-05,-1.58437545e-05,-3.12481981e-07,
 -1.01509348e-04,-1.41583666e-05,-1.16350510e-04,-1.00488562e-04,
  8.75359654e-06,-7.15846237e-07,-1.21645491e+00,-1.78487824e-03,
 -2.98261310e-04, 1.26819618e-06]


--- Step 861 ---
qpos:
[ 2.84155230e-03,-5.61054763e-03,-1.01981564e-02, 2.79130131e-03,
 -4.44503256e-03,-5.16770555e-03,-1.77506497e-02, 5.18658862e-03,
 -4.72593988e-03,-3.94984796e-03,-7.81745945e-03,-1.91347229e-02,
  1.15803875e+00, 1.87393851e-02, 1.15391255e+00, 2.55144866e-02,
  9.49118366e-02,-6.99623005e-02, 1.30732526e-01, 9.98059307e-01,
 -1.31290889e-04,-6.67579407e-04,-6.22668140e-02]

qacc:
[-0.98009142,-0.68802849, 3.57113476,-8.94643118, 5.64339767, 0.06604819,
 -1.70127331, 5.72470059, 1.38463652, 0.60569808,-1.99802442, 2.02668021,
 -0.9707313 , 1.25080947,-1.91375315, 4.34742513, 0.8765797 ,-0.81370031,
  0.0388067 , 9.64446179,15.80563234,-0.30003717]

qfrc_actuator:
[-8.14368805e-05,-3.86298456e-04,-2.76798344e-04,-1.05088755e-04,
  4.73538902e-05,-4.49712551e-04,-3.41089800e-04,-7.29734372e-06,
  5.41604852e-05,-4.22015793e-04,-2.96380472e-04,-8.32106772e-05,
  2.07844415e-02,-1.15190945e-03, 1.51579649e-02,-2.45004098e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49918416,  0.3445774 , -4.48596974,  0.3445774 , 24.57291189,
        1.54190804, -4.48596974,  1.54190804,  4.61762158,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028708485520081983
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.90042213e-13,  1.93361476e-13,  1.00000000e+00, -5.60829904e-26,
        1.00000000e+00, -1.93361476e-13, -1.00000000e+00,  0.00000000e+00,
        2.90042213e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08362572, -0.0566736 ,  0.06199113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.77554831e-06,-1.93812700e-05,-7.94145889e-06,-1.74432389e-05,
  3.32688084e-05,-3.27728487e-05,-6.89906229e-06, 9.57072323e-06,
  8.18441279e-06, 5.23953463e-07,-1.15357626e-05,-1.15708733e-06,
 -1.09558890e-04,-4.83909124e-06,-1.06744136e-04,-9.57171446e-06,
  7.59601222e-06,-3.43306468e-06,-1.21645468e+00,-1.78368775e-03,
 -2.99025101e-04, 3.04989752e-07]


--- Step 862 ---
qpos:
[ 2.84098976e-03,-5.61039094e-03,-1.01984009e-02, 2.79034589e-03,
 -4.44406595e-03,-5.16782676e-03,-1.77506321e-02, 5.18851946e-03,
 -4.72582428e-03,-3.95145661e-03,-7.81849289e-03,-1.91342661e-02,
  1.15852701e+00, 1.87408092e-02, 1.15439861e+00, 2.55069204e-02,
  9.49334876e-02,-6.99565469e-02, 1.30735044e-01, 9.98054604e-01,
 -1.94041470e-04,-5.08475498e-04,-6.23434863e-02]

qacc:
[ 2.50521706,-1.00516218, 4.51787911,-8.60117905, 0.34886997,-0.10957822,
 -2.9486298 ,11.72291464,-2.2266632 , 0.37991742,-1.13089805, 1.0182381 ,
 -0.50832448, 0.42162643,-5.21585153,15.74165668, 0.88181687,-0.80484089,
 -0.04042068, 9.59048408,15.52997999,-0.34790423]

qfrc_actuator:
[-6.65582952e-05,-3.66498402e-04,-2.58415489e-04,-1.13972809e-04,
  4.83578662e-05,-5.10917722e-04,-3.47430784e-04, 1.49296047e-05,
  4.08716212e-05,-4.12010946e-04,-2.99017252e-04,-8.32079448e-05,
  2.07373937e-02,-1.15768983e-03, 1.51188698e-02,-2.38596732e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48780395,  0.26093768, -4.48021158,  0.26093768, 32.16435269,
        1.61194492, -4.48021158,  1.61194492,  4.58168727,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002833811853522189
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.95888627e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.95888627e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08362677, -0.05667262,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47079512e-05, 6.57664964e-06, 1.28040483e-05,-1.03260465e-05,
  1.94614108e-06,-8.05573753e-05,-1.36391195e-05, 2.07646085e-05,
 -1.30606697e-05, 7.94091520e-06,-3.95965242e-06,-3.91936404e-07,
 -1.09025805e-04,-3.16502524e-05,-9.55276203e-05, 4.84538708e-05,
  6.17053732e-06,-5.92378103e-06,-1.21645656e+00,-1.78278821e-03,
 -3.00273992e-04,-4.32017224e-07]


--- Step 863 ---
qpos:
[ 2.84026501e-03,-5.61028715e-03,-1.01984040e-02, 2.78929694e-03,
 -4.44309463e-03,-5.16837087e-03,-1.77510378e-02, 5.19070514e-03,
 -4.72552386e-03,-3.95326308e-03,-7.81885939e-03,-1.91341752e-02,
  1.15901444e+00, 1.87419811e-02, 1.15488383e+00, 2.55004078e-02,
  9.49586833e-02,-6.99539841e-02, 1.30737136e-01, 9.98049834e-01,
 -2.35829904e-04,-3.19990107e-04,-6.24209164e-02]

qacc:
[-1.41045347e+00,-9.34663147e-01, 3.63072254e+00,-5.60185200e+00,
  3.51897001e-02, 1.14803134e+00,-5.98054684e+00, 1.13795887e+01,
  1.64210037e+00,-2.88253424e+00, 1.14330384e+01,-1.86698961e+01,
 -3.28539844e-01,-2.16605107e-03,-4.42218659e+00, 1.37013832e+01,
  8.86187133e-01,-7.97698501e-01,-1.06479903e-01, 9.54461281e+00,
  1.53156451e+01,-3.82750033e-01]

qfrc_actuator:
[-7.53301844e-05,-3.72441975e-04,-2.47410673e-04,-1.18790882e-04,
  4.85505826e-05,-5.29436707e-04,-3.69042575e-04, 2.72020280e-05,
  5.07569807e-05,-4.23169285e-04,-2.64619492e-04,-1.01134594e-04,
  2.06863072e-02,-1.17950252e-03, 1.50992833e-02,-2.32742970e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47333898,  0.15827818, -4.47053796,  0.15827818, 41.68187824,
        1.31735817, -4.47053796,  1.31735817,  4.51997968,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027857725534455313
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.98533263e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.98533263e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08362726, -0.0566715 ,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.34936945e-06,-5.73243950e-08, 1.35862309e-05,-4.29237809e-06,
  2.20081685e-07,-6.54930633e-05,-3.92154825e-05, 8.74892067e-06,
  9.50925798e-06,-7.48732609e-06, 3.55671764e-05,-1.77257690e-05,
 -1.18719670e-04,-5.48034281e-05,-6.44262907e-05, 4.75751661e-05,
  4.47813413e-06,-8.20837181e-06,-1.21646044e+00,-1.78218144e-03,
 -3.01994668e-04,-9.56158067e-07]


--- Step 864 ---
qpos:
[ 2.83944093e-03,-5.61031178e-03,-1.01979628e-02, 2.78853938e-03,
 -4.44178375e-03,-5.16926010e-03,-1.77517423e-02, 5.19265688e-03,
 -4.72545258e-03,-3.95504287e-03,-7.81889377e-03,-1.91339602e-02,
  1.15950102e+00, 1.87429104e-02, 1.15536834e+00, 2.54955726e-02,
  9.49874390e-02,-6.99545893e-02, 1.30738582e-01, 9.98044978e-01,
 -2.56750963e-04,-1.02447311e-04,-6.24991572e-02]

qacc:
[-8.52631569e-01,-8.09875102e-01, 1.41424301e+00, 3.00960607e+00,
  2.95777889e+00,-1.08466705e-01, 7.02510708e-01,-4.00885273e+00,
 -1.99599939e+00,-6.33860917e-01, 1.79480190e+00,-2.07533349e-01,
 -3.18076851e-01,-1.83377760e-02,-6.10080254e+00, 1.98760310e+01,
  8.89990895e-01,-7.92005354e-01,-1.61422862e-01, 9.50630511e+00,
  1.51517319e+01,-4.07172412e-01]

qfrc_actuator:
[-8.02060950e-05,-3.76017899e-04,-2.23198788e-04,-1.03453391e-04,
  6.60274920e-05,-5.40076717e-04,-3.81593480e-04, 1.57856764e-05,
  3.87045031e-05,-4.11270379e-04,-2.44234396e-04,-9.39548604e-05,
  2.06434782e-02,-1.19290751e-03, 1.50860864e-02,-2.23707649e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027294779210458586
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.08441109e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.08441109e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08362732, -0.05667026,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.11505252e-06,-9.87551718e-07, 2.57272317e-05, 1.57242259e-05,
  1.74615824e-05,-5.49686045e-05,-3.06001848e-05,-1.54120057e-05,
 -1.17903008e-05, 1.43728380e-05, 2.26310197e-05, 7.74884486e-06,
 -1.20564732e-04,-5.50685203e-05,-4.54293117e-05, 8.29684079e-05,
  2.51839688e-06,-1.03015168e-05,-1.21646628e+00,-1.78186847e-03,
 -3.04177016e-04,-1.27732745e-06]


--- Step 865 ---
qpos:
[ 2.83925442e-03,-5.61033580e-03,-1.01970208e-02, 2.78864121e-03,
 -4.44096338e-03,-5.17042920e-03,-1.77526576e-02, 5.19444183e-03,
 -4.72587132e-03,-3.95670230e-03,-7.81868906e-03,-1.91340121e-02,
  1.15998685e+00, 1.87433774e-02, 1.15585242e+00, 2.54908128e-02,
  9.50141531e-02,-6.99605466e-02, 1.30739967e-01, 9.98040218e-01,
 -2.34252956e-04, 1.05772994e-04,-6.25752054e-02]

qacc:
[ 5.59318717e+00, 3.60369013e-01,-4.93009417e+00, 1.90220895e+01,
 -4.27974899e+00,-1.15689655e-01, 5.94313824e-01,-2.95337883e+00,
 -4.28444356e+00,-1.05046729e+00, 5.11463812e+00,-1.02133474e+01,
 -2.17328962e-01,-2.58233510e-01,-8.86133708e-01, 2.15026504e+00,
 -5.10398399e-01,-1.33801304e+00,-1.53571964e-02, 2.19585391e+01,
 -3.29558180e+00, 1.09379059e+00]

qfrc_actuator:
[-4.72371426e-05,-3.60323912e-04,-1.91362146e-04,-5.86174508e-05,
  4.02802805e-05,-5.45897962e-04,-3.88662916e-04, 8.29553769e-06,
  1.38293626e-05,-4.03435121e-04,-2.32188868e-04,-1.07560022e-04,
  2.06056358e-02,-1.21892933e-03, 1.50660892e-02,-2.23519472e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45219654,  4.02506871,  1.90285992,  4.02506871,  8.09182055,
       -7.69879934,  1.90285992, -7.69879934, 20.73726091,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002713499993909102
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.13570194e-07,  2.13569719e-07,  1.00000000e+00, -4.56121262e-14,
        1.00000000e+00, -2.13569719e-07, -1.00000000e+00,  6.31088724e-30,
        2.13570194e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10112625, -0.04682348,  0.06199162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.28204988e-05, 2.11278854e-05, 3.53435744e-05, 4.59910598e-05,
 -2.52639451e-05,-4.34977475e-05,-2.27123563e-05,-1.12057397e-05,
 -2.52136981e-05, 2.09390768e-05, 1.80908096e-05,-1.20516963e-05,
 -1.16137458e-04,-6.84262579e-05,-4.04078747e-05,-1.29024107e-06,
  2.89666535e-07,-1.22134352e-05,-1.21647403e+00,-1.78184979e-03,
 -3.06813481e-04,-1.40270600e-06]


--- Step 866 ---
qpos:
[ 2.83911944e-03,-5.61016132e-03,-1.01960328e-02, 2.78928517e-03,
 -4.44045804e-03,-5.17165404e-03,-1.77537861e-02, 5.19609388e-03,
 -4.72624013e-03,-3.95843109e-03,-7.81792353e-03,-1.91349149e-02,
  1.16047187e+00, 1.87433030e-02, 1.15633579e+00, 2.54861233e-02,
  9.50388369e-02,-6.99718582e-02, 1.30740900e-01, 9.98035546e-01,
 -1.69076695e-04, 3.04022142e-04,-6.26492510e-02]

qacc:
[  0.44918628,  1.24952623, -6.3644589 , 15.52890434, -2.75310316,
   0.25351978, -0.44054705, -1.48783126,  0.45538181, -3.41337878,
  15.62102398,-31.17713427, -0.20348495, -0.35325352, -1.25051194,
   2.86908274, -0.5075484 , -1.33859124, -0.11273079, 21.60918548,
  -3.64074704,  1.00310953]

qfrc_actuator:
[-4.55163381e-05,-3.50898278e-04,-1.90690017e-04,-3.22722456e-05,
  2.47981179e-05,-5.31002506e-04,-3.92411918e-04, 3.18754067e-06,
  1.71184142e-05,-4.15895049e-04,-2.07434246e-04,-1.51047550e-04,
  2.05548287e-02,-1.25220446e-03, 1.50313626e-02,-2.23220702e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45102082, -3.50305794, -2.74593726, -3.50305794, 10.55295302,
       -7.78438108, -2.74593726, -7.78438108, 14.38174226,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002709405836842649
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.04883117e-13,  4.09766233e-13,  1.00000000e+00, -8.39541830e-26,
        1.00000000e+00, -4.09766233e-13, -1.00000000e+00,  0.00000000e+00,
        2.04883117e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10131175, -0.04684008,  0.06199163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.66197564e-06, 3.05131173e-05, 1.09690425e-05, 2.93650129e-05,
 -1.62202022e-05,-1.45590755e-05,-1.58975414e-05,-7.97403818e-06,
  2.57101718e-06, 2.51718590e-06, 3.09082902e-05,-4.21952090e-05,
 -1.30109304e-04,-7.80405697e-05,-6.26907271e-05,-4.35018699e-06,
 -3.86776506e-06,-1.08899369e-05,-1.21647128e+00,-1.78178797e-03,
 -3.08476087e-04, 1.88643109e-07]


--- Step 867 ---
qpos:
[ 2.83900652e-03,-5.60993405e-03,-1.01949151e-02, 2.78956254e-03,
 -4.43945278e-03,-5.17285105e-03,-1.77550103e-02, 5.19730698e-03,
 -4.72622230e-03,-3.95984437e-03,-7.81730845e-03,-1.91359865e-02,
  1.16095602e+00, 1.87428110e-02, 1.15681824e+00, 2.54815065e-02,
  9.50615479e-02,-6.99885305e-02, 1.30741047e-01, 9.98030947e-01,
 -6.18320963e-05, 4.92156172e-04,-6.27214768e-02]

qacc:
[  0.19593072, -1.04813062,  5.38505927,-11.97483998,  4.3560148 ,
  -0.60799007,  4.05955913,-11.50815477,  3.37462479,  0.48342038,
  -0.41868442, -2.47867513, -0.31564349, -0.14080562, -1.55628437,
   3.51940677, -0.49321792, -1.34015029, -0.19683369, 21.30942981,
  -3.73001383,  0.91598331]

qfrc_actuator:
[-4.44607876e-05,-3.63184426e-04,-1.90709517e-04,-5.25532492e-05,
  5.10009596e-05,-5.21541854e-04,-3.94082045e-04,-1.82109601e-05,
  3.69620480e-05,-3.87132608e-04,-2.10976820e-04,-1.58515676e-04,
  2.05122540e-02,-1.27181495e-03, 1.49878375e-02,-2.22858073e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44507402, -3.62676707, -2.57006686, -3.62676707, 11.50340151,
       -9.96040611, -2.57006686, -9.96040611, 18.50076782,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002688571573033899
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.06470796e-13, -1.03235398e-13,  1.00000000e+00,  2.13150948e-26,
        1.00000000e+00,  1.03235398e-13, -1.00000000e+00,  0.00000000e+00,
        2.06470796e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10131343, -0.04684098,  0.06199169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13892697e-06, 8.28283411e-06, 8.63546308e-06,-1.80266235e-05,
  2.57337481e-05,-2.25753373e-06,-6.88702979e-06,-2.27254024e-05,
  1.99135745e-05, 3.48022955e-05,-6.63029632e-07,-7.10850576e-06,
 -1.32027340e-04,-7.00371684e-05,-8.10572798e-05,-6.50695444e-06,
 -7.61886179e-06,-8.95078927e-06,-1.21647131e+00,-1.78238936e-03,
 -3.10141111e-04, 1.63233605e-06]


--- Step 868 ---
qpos:
[ 2.83959710e-03,-5.60978802e-03,-1.01939792e-02, 2.78928917e-03,
 -4.43883129e-03,-5.17391999e-03,-1.77560418e-02, 5.19822079e-03,
 -4.72596657e-03,-3.96127906e-03,-7.81662829e-03,-1.91367656e-02,
  1.16143918e+00, 1.87423040e-02, 1.15729979e+00, 2.54752956e-02,
  9.50812289e-02,-6.99979461e-02, 1.30741757e-01, 9.98026300e-01,
 -2.56987970e-06, 6.46216122e-04,-6.27939982e-02]

qacc:
[  6.14904438, -0.74564486,  4.80676845,-13.96527696, -3.34317371,
  -0.97855283,  5.00964717,-10.60448038,  2.08519131,  0.38846612,
  -2.66633401,  7.64507025, -0.82499211,  0.75576521,  3.55503237,
 -14.20693627, -0.75752159,  1.8141475 ,  0.14082554,-22.87529166,
 -18.50823568, -0.16188965]

qfrc_actuator:
[-8.29026475e-06,-3.88431326e-04,-2.08998730e-04,-8.23654784e-05,
  3.05153514e-05,-4.97650735e-04,-3.76784399e-04,-3.12719392e-05,
  4.86291058e-05,-4.05004401e-04,-2.13258123e-04,-1.44714036e-04,
  2.04693268e-02,-1.26538120e-03, 1.49337516e-02,-2.31336504e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44071665,  0.08842848, -4.43983612,  0.08842848, 28.35853828,
        0.47637265, -4.43983612,  0.47637265,  4.4502046 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026731702709668903
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10549564, -0.09466803,  0.06199174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.62044502e-05,-1.96249399e-05,-1.61547181e-05,-2.95130260e-05,
 -1.97474583e-05, 2.02966845e-05, 1.52211720e-05,-1.38367259e-05,
  1.22441647e-05, 1.20147105e-06, 4.59020165e-06, 1.51340605e-05,
 -1.31830613e-04,-4.21791275e-05,-9.94358843e-05,-9.71959861e-05,
 -1.10062544e-05,-6.44857179e-06,-1.21647417e+00,-1.78365219e-03,
 -3.11790137e-04, 2.92837173e-06]


--- Step 869 ---
qpos:
[ 2.84027181e-03,-5.60983589e-03,-1.01932364e-02, 2.78902201e-03,
 -4.43880498e-03,-5.17471454e-03,-1.77566633e-02, 5.19893612e-03,
 -4.72522767e-03,-3.96308694e-03,-7.81576888e-03,-1.91376803e-02,
  1.16192138e+00, 1.87416153e-02, 1.15777976e+00, 2.54684982e-02,
  9.50978334e-02,-7.00002608e-02, 1.30742395e-01, 9.98021592e-01,
  9.28012184e-06, 7.67550289e-04,-6.28674251e-02]

qacc:
[ 7.33128598e-01, 2.94751837e-01,-1.45148872e+00, 2.01315228e+00,
 -5.18246582e+00,-1.18153186e+00, 5.59477704e+00,-9.90717842e+00,
  4.24166408e+00,-1.28229582e+00, 4.41388284e+00,-6.75718401e+00,
 -5.58893488e-01, 3.04112254e-01,-5.02968945e-01,-1.50427274e+00,
 -7.69097728e-01, 1.77523731e+00,-1.79222018e-02,-2.26315351e+01,
 -1.78191766e+01,-4.69102674e-01]

qfrc_actuator:
[-4.99891001e-06,-4.03589138e-04,-2.20237554e-04,-8.20603878e-05,
  4.53020074e-07,-4.65212686e-04,-3.48356146e-04,-3.92944766e-05,
  7.31369409e-05,-4.50646010e-04,-2.14938008e-04,-1.54049633e-04,
  2.04155785e-02,-1.27906180e-03, 1.48520591e-02,-2.34304213e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45741249, -1.02102458,  4.33889789, -1.02102458,  9.02393115,
        1.07458805,  4.33889789,  1.07458805,  4.71028334,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027315658909610185
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.06441971e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.06441971e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10549016, -0.09466715,  0.06199156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.31977915e-06,-3.07383926e-05,-1.83177154e-05,-1.67263202e-06,
 -3.06213921e-05, 4.63809058e-05, 3.40401019e-05,-6.89200825e-06,
  2.48531111e-05,-4.33227416e-05,-3.32445002e-07,-8.82770746e-06,
 -1.36577907e-04,-5.45953863e-05,-1.45308951e-04,-4.94259961e-05,
 -6.05314921e-06,-6.55123239e-06,-1.21645924e+00,-1.78389191e-03,
 -3.15666108e-04,-2.93159850e-07]


--- Step 870 ---
qpos:
[ 2.84029112e-03,-5.60994093e-03,-1.01927276e-02, 2.78909096e-03,
 -4.43879444e-03,-5.17527106e-03,-1.77572129e-02, 5.19992290e-03,
 -4.72420075e-03,-3.96513251e-03,-7.81549236e-03,-1.91390085e-02,
  1.16240263e+00, 1.87405432e-02, 1.15825793e+00, 2.54617134e-02,
  9.51113279e-02,-6.99956018e-02, 1.30742427e-01, 9.98016803e-01,
 -2.58017659e-05, 8.57245356e-04,-6.29422359e-02]

qacc:
[ -5.7390254 ,  1.28193502, -6.07965608, 12.2916113 , -0.13924086,
   0.67304612, -3.08896463,  7.49698752,  2.5069872 ,  0.45867331,
  -0.35640025, -5.67828793, -0.34360951, -0.10821325, -2.68782004,
   5.5731652 , -0.77750551,  1.74343441, -0.15150041,-22.42445362,
 -17.26347152, -0.71102166]

qfrc_actuator:
[-3.88497168e-05,-3.94795694e-04,-2.27162122e-04,-6.40215719e-05,
  5.14830941e-07,-4.63349311e-04,-3.49049294e-04,-2.65224056e-05,
  8.72561875e-05,-4.77083920e-04,-2.51902523e-04,-1.76956256e-04,
  2.03606963e-02,-1.30463836e-03, 1.47698719e-02,-2.34002497e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46569603, -0.95316114,  4.36278865, -0.95316114, 12.20236498,
        1.69027033,  4.36278865,  1.69027033,  4.83497818,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002759936010226921
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.01132023e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.01132023e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10548613, -0.09466718,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.37378198e-05,-1.22578501e-05,-1.55963722e-05, 1.60541032e-05,
 -8.00924322e-07, 3.45587751e-05, 1.28577748e-05, 1.58059717e-05,
  1.48092457e-05,-5.10420000e-05,-4.62460171e-05,-2.49420495e-05,
 -1.43843803e-04,-7.05792491e-05,-1.58845749e-04,-1.93373075e-05,
 -1.73026979e-06,-5.80537201e-06,-1.21644995e+00,-1.78346365e-03,
 -3.19001189e-04,-2.56191182e-06]


--- Step 871 ---
qpos:
[ 2.84024918e-03,-5.60972831e-03,-1.01924857e-02, 2.78898344e-03,
 -4.43878359e-03,-5.17550590e-03,-1.77577825e-02, 5.20105089e-03,
 -4.72370237e-03,-3.96735177e-03,-7.81576307e-03,-1.91399203e-02,
  1.16288268e+00, 1.87397101e-02, 1.15873440e+00, 2.54575712e-02,
  9.51207382e-02,-6.99856220e-02, 1.30742374e-01, 9.98011918e-01,
 -9.51882660e-05, 9.11753165e-04,-6.30188183e-02]

qacc:
[-5.49752861e-01, 8.03275684e-01,-1.50826777e+00,-1.35471345e+00,
 -3.29161685e-03, 7.71334328e-01,-2.72970290e+00, 4.96933934e+00,
 -4.64088967e+00, 2.16696203e+00,-9.79735751e+00, 1.79804610e+01,
 -7.84124557e-01, 7.95939671e-01,-1.04692259e+01, 3.31128528e+01,
 -1.02105705e+00, 1.33018693e+00,-2.11659484e-02,-1.60101494e+01,
 -1.86382773e+01,-9.02223088e-01]

qfrc_actuator:
[-4.10220653e-05,-3.53938057e-04,-2.31379982e-04,-7.11801550e-05,
  5.57168343e-07,-4.44398858e-04,-3.49288375e-04,-1.94167467e-05,
  5.96388897e-05,-4.74233188e-04,-2.73842110e-04,-1.54415659e-04,
  2.03104932e-02,-1.28382006e-03, 1.47247458e-02,-2.19348726e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4660264 ,  0.56663694,  4.42993391,  0.56663694, 17.25676223,
       -1.63607485,  4.42993391, -1.63607485,  4.67529825,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002761059496266912
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.94299004e-07, -1.41363409e-13,  1.00000000e+00, -1.12284815e-19,
        1.00000000e+00,  1.41363409e-13, -1.00000000e+00,  0.00000000e+00,
       -7.94299004e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1079418 , -0.08780354,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.14112765e-06, 3.14551981e-05,-8.11889655e-06,-7.91066404e-06,
  3.02592543e-08, 4.16326369e-05, 9.04066004e-06, 9.33923742e-06,
 -2.72157350e-05,-3.62294098e-05,-3.90165965e-05, 1.82755205e-05,
 -1.46958849e-04,-3.00682722e-05,-1.23737266e-04, 1.24331300e-04,
  2.07955611e-06,-4.18313398e-06,-1.21644594e+00,-1.78235543e-03,
 -3.21849222e-04,-3.94076426e-06]


--- Step 872 ---
qpos:
[ 2.84087098e-03,-5.60926220e-03,-1.01920586e-02, 2.78911236e-03,
 -4.43877255e-03,-5.17519294e-03,-1.77581414e-02, 5.20151908e-03,
 -4.72388421e-03,-3.96931697e-03,-7.81628721e-03,-1.91402861e-02,
  1.16336155e+00, 1.87393452e-02, 1.15920972e+00, 2.54554331e-02,
  9.51250560e-02,-6.99721727e-02, 1.30742563e-01, 9.98006970e-01,
 -1.84936919e-04, 9.27156874e-04,-6.30966963e-02]

qacc:
[ 5.80757605e+00, 2.93293390e-01,-1.57735601e+00, 5.20821576e+00,
 -1.53435774e-03,-1.22318692e+00, 8.19743269e+00,-2.03573610e+01,
 -5.96683499e+00, 2.18065791e+00,-9.56815899e+00, 1.92041460e+01,
 -1.03131912e+00, 1.27336005e+00,-7.66312358e+00, 2.45949940e+01,
 -1.27310874e+00, 8.67358382e-01, 6.04465608e-02,-8.92810074e+00,
 -2.01546888e+01,-6.59602609e-01]

qfrc_actuator:
[-6.76667828e-06,-3.29699110e-04,-2.16094737e-04,-5.75737799e-05,
  5.78043151e-07,-3.97622402e-04,-3.31439412e-04,-5.11945436e-05,
  2.54336453e-05,-4.18272932e-04,-2.68816607e-04,-1.23023800e-04,
  2.02631539e-02,-1.25338668e-03, 1.46912613e-02,-2.08774062e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46648954,  0.63800535,  4.4206875 ,  0.63800535, 19.0298732 ,
       -2.10182618,  4.4206875 , -2.10182618,  4.76983067,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027626334181733714
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.00935639e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.00935639e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11056513, -0.08047934,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.41763442e-05, 3.98015427e-05, 2.05038797e-05, 1.45185774e-05,
  3.55160406e-08, 7.23373298e-05, 2.78918893e-05,-2.95001285e-05,
 -3.50017955e-05, 2.85026488e-05,-6.59774970e-06, 2.88550403e-05,
 -1.34950604e-04,-1.10686908e-05,-8.15069773e-05, 9.57048846e-05,
  4.55580576e-06,-1.66403901e-06,-1.21644519e+00,-1.78069491e-03,
 -3.23762119e-04,-4.22006287e-06]


--- Step 873 ---
qpos:
[ 2.84189859e-03,-5.60869606e-03,-1.01913956e-02, 2.78976447e-03,
 -4.43876099e-03,-5.17479751e-03,-1.77580646e-02, 5.20130177e-03,
 -4.72447516e-03,-3.97088173e-03,-7.81685372e-03,-1.91406530e-02,
  1.16383962e+00, 1.87387574e-02, 1.15968400e+00, 2.54522604e-02,
  9.51254934e-02,-6.99598476e-02, 1.30744123e-01, 9.98002095e-01,
 -2.64424568e-04, 9.18417387e-04,-6.31736119e-02]

qacc:
[ 3.55569490e+00, 5.43214682e-01,-3.96542152e+00, 1.25817467e+01,
  1.64079576e-02,-2.51932472e+00, 1.20353733e+01,-2.46580288e+01,
 -3.58966325e+00, 6.52293429e-01,-1.54075067e+00, 1.28044922e+00,
 -4.77889827e-01, 2.22352398e-01, 1.64149367e+00,-7.86987286e+00,
 -9.70124957e-01,-2.81021372e-01, 3.42610028e-01, 5.88151477e+00,
 -1.17239435e+01, 4.85016251e-01]

qfrc_actuator:
[ 1.31395887e-05,-3.33246923e-04,-2.07205492e-04,-3.18507643e-05,
  5.86044738e-07,-4.23268283e-04,-3.20712914e-04,-8.78052424e-05,
  5.39136890e-06,-3.84063138e-04,-2.65439582e-04,-1.22122596e-04,
  2.02229007e-02,-1.27076684e-03, 1.46221662e-02,-2.14890827e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46102936, -1.47843117,  4.20892198, -1.47843117, 18.27496732,
        4.85230104,  4.20892198,  4.85230104,  6.16545466,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002744001084222343
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01150017e-13, -1.10784354e-06,  1.00000000e+00,  1.12058393e-19,
        1.00000000e+00,  1.10784354e-06, -1.00000000e+00,  0.00000000e+00,
        1.01150017e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10602025, -0.06391992,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.08935786e-05, 2.35543993e-05, 2.01257678e-05, 2.84166385e-05,
  3.43635972e-08, 1.92935560e-05, 2.80821219e-05,-3.31212898e-05,
 -2.10396932e-05, 5.00866369e-05, 9.48094487e-06, 2.46316322e-06,
 -1.16259698e-04,-5.13380594e-05,-1.03221060e-04,-6.79209648e-05,
  5.66166653e-06, 1.27046974e-06,-1.21644610e+00,-1.77868451e-03,
 -3.24591504e-04,-3.65100538e-06]


--- Step 874 ---
qpos:
[ 2.84212236e-03,-5.60802658e-03,-1.01905542e-02, 2.79003288e-03,
 -4.43874903e-03,-5.17469482e-03,-1.77579308e-02, 5.20106868e-03,
 -4.72495731e-03,-3.97202634e-03,-7.81736491e-03,-1.91417065e-02,
  1.16431696e+00, 1.87379312e-02, 1.16015725e+00, 2.54489756e-02,
  9.51236395e-02,-6.99532738e-02, 1.30745867e-01, 9.97997406e-01,
 -3.02221430e-04, 9.01555683e-04,-6.32477078e-02]

qacc:
[-7.02775623e+00,-1.13822692e+00, 5.89986158e+00,-1.29268850e+01,
  1.02134488e-02,-5.78597372e-01, 1.56836306e+00,-1.71741665e+00,
  9.46734463e-01,-1.01542957e+00, 7.31603983e+00,-1.95806544e+01,
 -3.41053659e-01, 5.42414450e-02,-1.16872247e+00, 1.92157660e+00,
 -5.72813035e-01,-1.43783495e+00, 4.61472343e-02, 2.10590319e+01,
 -2.73657493e+00, 1.43101136e+00]

qfrc_actuator:
[-2.88290705e-05,-3.35662074e-04,-2.02278754e-04,-5.24969648e-05,
  5.85904227e-07,-4.74368729e-04,-3.32321777e-04,-9.15208028e-05,
  1.16004871e-05,-3.63151625e-04,-2.63161351e-04,-1.56939650e-04,
  2.01922331e-02,-1.28082608e-03, 1.45903196e-02,-2.14821380e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46582375, -1.61184008,  4.16479931, -1.61184008, 14.11262953,
        3.73345919,  4.16479931,  3.73345919,  5.91072871,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002760370421421854
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -2.0110037e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  2.0110037e-13, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10133856, -0.04684574,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.13678774e-05, 1.61055391e-05, 1.32366580e-05,-1.83927350e-05,
  7.82240936e-09,-3.59451790e-05,-5.31572521e-06,-2.56233774e-06,
  5.61964114e-06, 5.10382826e-05, 1.39021768e-05,-3.22897615e-05,
 -1.07250684e-04,-4.97331522e-05,-9.31189843e-05,-1.77415493e-05,
  4.68110010e-06, 2.49092947e-06,-1.21644498e+00,-1.77711656e-03,
 -3.23936544e-04,-3.16123599e-06]


--- Step 875 ---
qpos:
[ 2.84149667e-03,-5.60730989e-03,-1.01896354e-02, 2.79041178e-03,
 -4.43873705e-03,-5.17505626e-03,-1.77575357e-02, 5.20080178e-03,
 -4.72467182e-03,-3.97265891e-03,-7.81787894e-03,-1.91435221e-02,
  1.16479323e+00, 1.87377763e-02, 1.16062967e+00, 2.54456402e-02,
  9.51196019e-02,-6.99523731e-02, 1.30747353e-01, 9.97992887e-01,
 -2.98727835e-04, 8.76012946e-04,-6.33193595e-02]

qacc:
[-7.42894842e+00, 8.79538416e-02,-6.64399803e-01, 2.39098879e+00,
  1.62877716e-02,-1.41250708e+00, 4.28953277e+00,-4.95187862e+00,
  6.71077612e+00,-8.98162803e-01, 7.37283285e+00,-2.08963695e+01,
 -1.26338033e+00, 1.74854595e+00,-9.50805559e-01, 1.85709819e+00,
 -5.45929786e-01,-1.41826676e+00,-6.46683790e-02, 2.08773356e+01,
 -3.02650574e+00, 1.24230425e+00]

qfrc_actuator:
[-7.13701116e-05,-3.37440971e-04,-1.99766218e-04,-4.70092028e-05,
  5.80798871e-07,-5.04894426e-04,-3.21622227e-04,-9.36474444e-05,
  5.09587929e-05,-3.32646332e-04,-2.61623126e-04,-1.94749179e-04,
  2.01513620e-02,-1.23313020e-03, 1.45648820e-02,-2.14641593e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46546647,  0.01918945, -4.46542523,  0.01918945, 16.76229061,
        0.05284363, -4.46542523,  0.05284363,  4.46569355,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027591550015904076
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.01188955e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.01188955e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10134214, -0.04684539,  0.06199148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.37205579e-05, 9.12360251e-06, 6.81640436e-06, 6.27558677e-06,
 -1.71026815e-08,-5.18385214e-05, 2.52940227e-06,-3.90055394e-06,
  3.95330333e-05, 6.05844069e-05, 1.26958601e-05,-3.57657748e-05,
 -1.11889261e-04, 1.04157718e-05,-7.65978962e-05,-1.25757761e-05,
  2.08693258e-06, 2.13015597e-06,-1.21644151e+00,-1.77649396e-03,
 -3.22133344e-04,-3.19276030e-06]


--- Step 876 ---
qpos:
[ 2.84105546e-03,-5.60667960e-03,-1.01889334e-02, 2.79158206e-03,
 -4.43907002e-03,-5.17594780e-03,-1.77569382e-02, 5.20017900e-03,
 -4.72426137e-03,-3.97328006e-03,-7.81792105e-03,-1.91450542e-02,
  1.16526867e+00, 1.87381145e-02, 1.16110129e+00, 2.54413120e-02,
  9.51134657e-02,-6.99570817e-02, 1.30748209e-01, 9.97988517e-01,
 -2.54272830e-04, 8.41350724e-04,-6.33888645e-02]

qacc:
[  1.60895079,  2.1185667 ,-11.06527017, 25.17700904, -2.99323498,
  -1.9927534 ,  7.60170925,-13.7066179 ,  1.10865094, -0.72247494,
   1.39904396,  2.74395269, -1.02756478,  1.39902127,  1.94494965,
  -8.23542092, -0.5246451 , -1.40235279, -0.15736414, 20.7273998 ,
  -3.25415187,  1.09251365]

qfrc_actuator:
[-6.06295104e-05,-3.56575936e-04,-2.16425330e-04,-8.42914307e-06,
 -1.71797077e-05,-5.40539428e-04,-3.15517236e-04,-1.12549005e-04,
  5.62463643e-05,-3.49902607e-04,-2.42740242e-04,-1.80746198e-04,
  2.01204029e-02,-1.20485349e-03, 1.45273320e-02,-2.19723055e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45993486, -0.05481744, -4.45959797, -0.05481744, 22.09390927,
       -0.21675707, -4.45959797, -0.21675707,  4.46259925,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027402459813420654
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10134514, -0.0468445 ,  0.06199153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.49039177e-06,-1.24069727e-05,-1.37353609e-05, 3.93264392e-05,
 -1.77790251e-05,-6.42683564e-05,-4.42531581e-06,-2.11104468e-05,
  6.43581709e-06, 1.77604197e-05, 3.17385295e-05, 1.63454387e-05,
 -8.98263146e-05, 5.62952268e-06,-8.20179084e-05,-6.30974720e-05,
 -1.47732052e-07, 2.38565413e-06,-1.21644086e+00,-1.77650571e-03,
 -3.20364435e-04,-3.30075941e-06]


--- Step 877 ---
qpos:
[ 2.84074598e-03,-5.60617358e-03,-1.01883815e-02, 2.79286081e-03,
 -4.43961358e-03,-5.17692481e-03,-1.77567568e-02, 5.19966574e-03,
 -4.72448015e-03,-3.97394239e-03,-7.81767544e-03,-1.91460414e-02,
  1.16574348e+00, 1.87385281e-02, 1.16157227e+00, 2.54372925e-02,
  9.51052981e-02,-6.99673485e-02, 1.30748126e-01, 9.97984275e-01,
 -1.69123115e-04, 7.97223841e-04,-6.34564588e-02]

qacc:
[ 1.14968719, 0.47645649,-2.39884825, 4.61175572,-1.84797853, 1.27868255,
 -5.1796116 , 7.79744577,-5.49838736, 0.27465976,-3.33676506,12.31101376,
 -0.47648245, 0.47055608,-1.84006682, 5.16635115,-0.50785071,-1.38951793,
 -0.23478543,20.60561649,-3.43331293, 0.97338209]

qfrc_actuator:
[-5.41193623e-05,-3.68257188e-04,-2.26571496e-04,-3.97666794e-06,
 -2.74958466e-05,-5.25746489e-04,-3.29967374e-04,-1.05674675e-04,
  2.36744905e-05,-3.60014768e-04,-2.31676819e-04,-1.54148936e-04,
  2.00900824e-02,-1.20607123e-03, 1.45251469e-02,-2.17213454e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45046328, -0.14864552, -4.44798021, -0.14864552, 29.07370613,
       -0.82287566, -4.44798021, -0.82287566,  4.47796268,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002707461465946137
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.05030254e-13, -2.05030254e-13,  1.00000000e+00,  4.20374051e-26,
        1.00000000e+00,  2.05030254e-13, -1.00000000e+00,  0.00000000e+00,
        2.05030254e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10134769, -0.04684319,  0.06199164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.77303796e-06,-1.98003306e-05,-1.30580583e-05, 4.20512428e-06,
 -1.08471858e-05,-2.29434466e-05,-2.89947486e-05, 3.55950942e-06,
 -3.23861452e-05, 7.10468830e-06, 1.92175707e-05, 2.87789223e-05,
 -7.88402793e-05,-1.97483486e-05,-5.42841826e-05, 9.40296870e-06,
 -2.05346696e-06, 3.23378609e-06,-1.21644298e+00,-1.77714928e-03,
 -3.18600073e-04,-3.49892191e-06]


--- Step 878 ---
qpos:
[ 2.84051686e-03,-5.60577754e-03,-1.01873896e-02, 2.79379465e-03,
 -4.43958719e-03,-5.17777602e-03,-1.77569165e-02, 5.19955106e-03,
 -4.72508785e-03,-3.97426470e-03,-7.81772984e-03,-1.91463650e-02,
  1.16621744e+00, 1.87390825e-02, 1.16204253e+00, 2.54352133e-02,
  9.50951518e-02,-6.99831324e-02, 1.30746846e-01, 9.97980140e-01,
 -4.34907681e-05, 7.43359197e-04,-6.35223303e-02]

qacc:
[  0.71850978, -2.08694262,  8.68356995,-15.27266149,  4.95793216,
   1.92976142, -8.33928241, 15.70932065, -3.41946005,  2.66194066,
 -11.62390349, 23.31538211, -0.57181612,  0.56212121, -6.90140682,
  22.70510649, -0.49466232, -1.37928097, -0.29935586, 20.50879936,
  -3.57481194,  0.87838734]

qfrc_actuator:
[-5.01685116e-05,-3.57641156e-04,-1.97284625e-04,-1.96343999e-05,
  2.16350777e-06,-4.98676006e-04,-3.38460315e-04,-8.36578580e-05,
  4.59642160e-06,-3.30287168e-04,-2.43062277e-04,-1.20370042e-04,
  2.00335274e-02,-1.20701262e-03, 1.45122410e-02,-2.06689111e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43813026, -0.26687294, -4.43009921, -0.26687294, 38.15524848,
       -2.03114784, -4.43009921, -2.03114784,  4.56048833,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026639733793831777
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04188637e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.04188637e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10134988, -0.04684155,  0.06199177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.13545615e-06,-2.99770829e-06, 2.37188708e-05,-1.68815507e-05,
  2.93414097e-05, 8.43511343e-06,-1.66695414e-05, 2.01030602e-05,
 -2.00045079e-05, 3.89135426e-05,-6.54728406e-06, 3.53128200e-05,
 -1.04468646e-04,-2.39444272e-05,-4.48428022e-05, 9.69880231e-05,
 -3.65274328e-06, 4.65835820e-06,-1.21644782e+00,-1.77842234e-03,
 -3.16817895e-04,-3.79690485e-06]


--- Step 879 ---
qpos:
[ 2.84068160e-03,-5.60521698e-03,-1.01861745e-02, 2.79451245e-03,
 -4.43920566e-03,-5.17851375e-03,-1.77569166e-02, 5.19932176e-03,
 -4.72523000e-03,-3.97426382e-03,-7.81793141e-03,-1.91462898e-02,
  1.16669046e+00, 1.87397287e-02, 1.16251189e+00, 2.54341106e-02,
  9.50819860e-02,-6.99919471e-02, 1.30745451e-01, 9.97975942e-01,
  3.40864913e-05, 6.56487665e-04,-6.35892032e-02]

qacc:
[  3.44921867, -0.85831452,  4.27607135, -8.48048835,  3.10006274,
  -0.53784356,  2.60885734, -4.92015565,  4.0655128 ,  1.65198075,
  -6.96406347, 13.86987257, -0.66459033,  0.62537924, -4.21388598,
  12.9764225 , -0.75487808,  1.74227981, -0.02853738,-22.93030359,
 -17.99635001, -0.52024138]

qfrc_actuator:
[-3.00019467e-05,-3.33611337e-04,-1.80373272e-04,-2.91956364e-05,
  1.96065939e-05,-4.82168708e-04,-3.25534942e-04,-8.83936674e-05,
  2.91312699e-05,-3.12525684e-04,-2.49691781e-04,-1.00371514e-04,
  1.99772523e-02,-1.20788365e-03, 1.44609784e-02,-2.02183022e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44377187,  0.33392364, -4.4312079 ,  0.33392364, 28.85756745,
        1.83975651, -4.4312079 ,  1.83975651,  4.58241086,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002683981193828816
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.0682392e-13, -2.0682392e-13,  1.0000000e+00,  4.2776134e-26,
        1.0000000e+00,  2.0682392e-13, -1.0000000e+00,  0.0000000e+00,
        2.0682392e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10545514, -0.09467426,  0.06199171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.02810088e-05, 2.65036437e-05, 1.86113087e-05,-9.20280370e-06,
  1.82870086e-05, 1.86857309e-05, 1.33207763e-05,-4.55870240e-06,
  2.39747783e-05, 3.96858340e-05, 1.82852575e-06, 2.21283054e-05,
 -1.18330697e-04,-3.13334647e-05,-6.95764912e-05, 4.27976858e-05,
 -4.96179135e-06, 6.64920547e-06,-1.21645536e+00,-1.78032288e-03,
 -3.15001045e-04,-4.20155249e-06]


--- Step 880 ---
qpos:
[ 2.84074188e-03,-5.60443227e-03,-1.01853297e-02, 2.79479812e-03,
 -4.43861776e-03,-5.17917307e-03,-1.77564719e-02, 5.19902177e-03,
 -4.72507703e-03,-3.97413883e-03,-7.81810304e-03,-1.91463073e-02,
  1.16716243e+00, 1.87409039e-02, 1.16298038e+00, 2.54322325e-02,
  9.50657489e-02,-6.99938922e-02, 1.30743418e-01, 9.97971657e-01,
  6.42326211e-05, 5.37711485e-04,-6.36575026e-02]

qacc:
[ -0.92941239,  0.44316392,  0.67687378, -7.73152888,  1.81232618,
  -1.28804685,  5.0356316 , -7.02206272,  2.58232708, -0.11569673,
   1.03244826, -2.76527457, -1.20827676,  1.58304618,  1.17822471,
  -5.69386225, -0.76784474,  1.71742121, -0.15964922,-22.65269786,
 -17.42808496, -0.72962156]

qfrc_actuator:
[-3.59568437e-05,-3.37269008e-04,-2.06351756e-04,-5.28425000e-05,
  2.97067570e-05,-4.72037330e-04,-3.00122791e-04,-9.10746634e-05,
  4.36297131e-05,-3.19815700e-04,-2.53500560e-04,-1.06394336e-04,
  1.99318348e-02,-1.17321450e-03, 1.44080459e-02,-2.06594902e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45248044,  0.06294682,  4.45203547,  0.06294682, 12.23243625,
       -0.1099999 ,  4.45203547, -0.1099999 ,  4.45403572,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002714487409755939
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10545077, -0.09467335,  0.06199161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.36952745e-06, 1.45836743e-05,-1.85533086e-05,-2.20528145e-05,
  1.06305782e-05, 2.31700829e-05, 3.07632702e-05,-1.50674432e-06,
  1.51957989e-05, 1.62374829e-05, 5.37993777e-06,-3.82990357e-06,
 -1.17246230e-04,-7.51138731e-07,-8.77814313e-05,-5.23773964e-05,
 -2.65431398e-06, 6.50395442e-06,-1.21645173e+00,-1.78109500e-03,
 -3.15051489e-04,-4.04241391e-06]


--- Step 881 ---
qpos:
[ 2.84038575e-03,-5.60370507e-03,-1.01846684e-02, 2.79447692e-03,
 -4.43791323e-03,-5.17963059e-03,-1.77560354e-02, 5.19870745e-03,
 -4.72544098e-03,-3.97404269e-03,-7.81795539e-03,-1.91463968e-02,
  1.16763357e+00, 1.87421958e-02, 1.16344794e+00, 2.54301212e-02,
  9.50464000e-02,-6.99890496e-02, 1.30740304e-01, 9.97967257e-01,
  4.74641886e-05, 3.87906962e-04,-6.37275535e-02]

qacc:
[ -3.64762816, -0.80568353,  5.33633451,-15.51640496,  1.01345785,
   0.25810616, -0.47628785,  0.09669471, -4.51473654, -1.07011589,
   4.07827072, -5.82762919, -0.68065391,  0.70036019, -0.6130648 ,
   0.29411318, -0.77793335,  1.69691652, -0.2701352 ,-22.42163378,
 -16.9759609 , -0.889311  ]

qfrc_actuator:
[-5.72438517e-05,-3.57664617e-04,-2.22054564e-04,-8.46382358e-05,
  3.54078671e-05,-4.65741818e-04,-3.03072900e-04,-9.25208547e-05,
  1.65852523e-05,-3.24314164e-04,-2.37982503e-04,-1.09945384e-04,
  1.98929766e-02,-1.17095322e-03, 1.43754454e-02,-2.07345121e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45431865,  0.14346495,  4.45200769,  0.14346495, 16.28040694,
       -0.38109305,  4.45200769, -0.38109305,  4.46659929,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002720869239615231
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.59390559e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.59390559e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10544762, -0.09467337,  0.06199159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.14371235e-05,-1.70585993e-05,-1.57583690e-05,-3.22461681e-05,
  6.01276908e-06, 2.55647202e-05, 5.57588592e-06, 5.82524385e-07,
 -2.66046613e-05, 5.53192778e-06, 1.94020213e-05,-2.74456208e-06,
 -1.03511581e-04,-2.44818466e-05,-8.61804425e-05,-2.33384978e-05,
 -8.68703560e-07, 7.35228127e-06,-1.21645322e+00,-1.78115955e-03,
 -3.14596531e-04,-2.97917175e-06]


--- Step 882 ---
qpos:
[ 2.84012214e-03,-5.60314422e-03,-1.01841785e-02, 2.79413612e-03,
 -4.43749068e-03,-5.17977832e-03,-1.77556815e-02, 5.19836965e-03,
 -4.72578139e-03,-3.97375043e-03,-7.81746525e-03,-1.91458685e-02,
  1.16810391e+00, 1.87435381e-02, 1.16391474e+00, 2.54278493e-02,
  9.50239076e-02,-6.99774865e-02, 1.30735738e-01, 9.97962708e-01,
 -1.57949713e-05, 2.07766725e-04,-6.37996018e-02]

qacc:
[  0.80674421,  0.21708608, -1.01298676,  1.07303688, -2.46711174,
   0.59645925, -1.42543499,  0.91468748,  0.21387672,  0.57417468,
  -4.27621612, 14.2696597 , -0.62634894,  0.59229146, -0.5672559 ,
   0.51228759, -0.78589314,  1.68011555, -0.36319423,-22.23111065,
 -16.61841412, -1.00961261]

qfrc_actuator:
[-5.18711273e-05,-3.70158359e-04,-2.31630602e-04,-8.54704465e-05,
  2.07241060e-05,-4.44149957e-04,-3.05012623e-04,-9.32542378e-05,
  1.85669415e-05,-2.91529133e-04,-2.11169659e-04,-7.64917305e-05,
  1.98527450e-02,-1.17018313e-03, 1.43550811e-02,-2.07696812e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45061384,  0.24214442,  4.44402179,  0.24214442, 21.47205347,
       -0.92745868,  4.44402179, -0.92745868,  4.50114891,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027079867204911345
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.60148817e-13, -6.14971456e-13,  1.00000000e+00,  9.84869510e-26,
        1.00000000e+00,  6.14971456e-13, -1.00000000e+00,  0.00000000e+00,
        1.60148817e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10544542, -0.09467411,  0.06199163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.75314455e-06,-2.67093002e-05,-1.61707714e-05,-2.73744838e-06,
 -1.45027181e-05, 3.70784402e-05, 4.04835386e-06, 5.66739176e-07,
  1.22359277e-06, 3.97528261e-05, 3.02481172e-05, 3.43090994e-05,
 -1.03064589e-04,-2.90635578e-05,-6.94305899e-05,-1.74179589e-05,
  4.86664041e-07, 9.17948053e-06,-1.21645959e+00,-1.78051578e-03,
 -3.13676766e-04,-1.06377852e-06]


--- Step 883 ---
qpos:
[ 2.83957966e-03,-5.60245224e-03,-1.01845115e-02, 2.79379490e-03,
 -4.43759198e-03,-5.17990714e-03,-1.77555264e-02, 5.19841684e-03,
 -4.72575067e-03,-3.97330297e-03,-7.81660421e-03,-1.91452862e-02,
  1.16857351e+00, 1.87448715e-02, 1.16438045e+00, 2.54245898e-02,
  9.49982459e-02,-6.99592576e-02, 1.30729405e-01, 9.97957974e-01,
 -1.25201281e-04,-2.16635284e-06,-6.38738298e-02]

qacc:
[ -2.46732854,  2.4772512 , -8.57116333,  9.77442522, -4.57465203,
   1.38177338, -6.50060373, 13.45148035,  3.25784266, -0.72670861,
   2.64920056, -2.40845243, -0.5720488 ,  0.5037666 ,  1.42412045,
  -7.20355777, -0.79229788,  1.66646572, -0.44155945,-22.07595703,
 -16.33812038, -1.09861438]

qfrc_actuator:
[-6.63501896e-05,-3.60026503e-04,-2.72974646e-04,-8.58216928e-05,
 -5.83860284e-06,-4.66826879e-04,-3.24021100e-04,-7.57924340e-05,
  3.76306189e-05,-2.89845324e-04,-1.95483510e-04,-7.47541998e-05,
  1.98170427e-02,-1.17028828e-03, 1.42888176e-02,-2.13133098e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44261352,  0.3615334 ,  4.42787856,  0.3615334 , 28.0449869 ,
       -1.92711842,  4.42787856, -1.92711842,  4.59996149,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026798890761867145
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.47311671e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.47311671e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10544397, -0.09467544,  0.06199172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43539786e-05,-8.28431307e-06,-4.89590590e-05,-2.11022395e-06,
 -2.69657151e-05,-1.08552379e-06,-1.08327755e-05, 1.92024601e-05,
  1.91113767e-05, 3.16120690e-05, 2.87985777e-05, 5.15146545e-06,
 -9.90437536e-05,-3.12116415e-05,-1.07761631e-04,-6.59642160e-05,
  1.47933452e-06, 1.19690536e-05,-1.21647067e+00,-1.77916428e-03,
 -3.12321826e-04, 1.66564411e-06]


--- Step 884 ---
qpos:
[ 2.83817808e-03,-5.60170645e-03,-1.01853664e-02, 2.79344120e-03,
 -4.43801067e-03,-5.18044451e-03,-1.77553819e-02, 5.19871591e-03,
 -4.72549166e-03,-3.97254356e-03,-7.81611030e-03,-1.91453466e-02,
  1.16904259e+00, 1.87456579e-02, 1.16484448e+00, 2.54214096e-02,
  9.49700734e-02,-6.99469976e-02, 1.30724683e-01, 9.97953391e-01,
 -1.91440722e-04,-2.20143479e-04,-6.39448499e-02]

qacc:
[-7.53230791e+00, 1.51879116e+00,-5.23392566e+00, 5.78520730e+00,
 -2.76123002e+00, 1.38960854e-02,-1.88696413e+00, 6.55396743e+00,
  1.98130861e+00, 1.10677599e-01, 2.90619986e+00,-1.36565427e+01,
  1.00216011e-01,-6.57817167e-01,-2.74770891e+00, 5.94368875e+00,
 -6.27717311e-01,-1.49222604e+00, 4.02833485e-01, 2.17962759e+01,
 -2.63539503e+00, 1.60492213e+00]

qfrc_actuator:
[-1.10158587e-04,-3.54302862e-04,-2.97154136e-04,-8.58957076e-05,
 -2.14214064e-05,-5.15898115e-04,-3.35368953e-04,-6.55652129e-05,
  4.88338679e-05,-2.89107131e-04,-2.22144041e-04,-1.09482304e-04,
  1.97840812e-02,-1.20638469e-03, 1.42057242e-02,-2.12654711e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46368783, -0.33445443,  4.45114022, -0.33445443, 25.14204256,
        1.55375186,  4.45114022,  1.55375186,  4.58043526,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027530937662678667
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.00815947e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.00815947e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10137136, -0.04684274,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.42212551e-05,-9.13594993e-06,-3.19965102e-05,-2.16353022e-06,
 -1.63565864e-05,-5.10996593e-05,-1.22413242e-05, 1.01805360e-05,
  1.17611145e-05, 2.45634504e-05,-1.64234756e-05,-3.22826198e-05,
 -9.55437098e-05,-6.63985582e-05,-1.45721643e-04,-1.40118832e-05,
  2.15924297e-06, 1.57036463e-05,-1.21648633e+00,-1.77710631e-03,
 -3.10553056e-04, 5.18166857e-06]


--- Step 885 ---
qpos:
[ 2.83660746e-03,-5.60157098e-03,-1.01856879e-02, 2.79310160e-03,
 -4.43861344e-03,-5.18105286e-03,-1.77552400e-02, 5.19943684e-03,
 -4.72510017e-03,-3.97134221e-03,-7.81659359e-03,-1.91454508e-02,
  1.16951090e+00, 1.87460994e-02, 1.16530741e+00, 2.54184893e-02,
  9.49412811e-02,-6.99408181e-02, 1.30721481e-01, 9.97948870e-01,
 -2.15272557e-04,-4.33665914e-04,-6.40142079e-02]

qacc:
[ -1.45148903, -2.26548408,  6.85272399, -7.017901  , -1.60390274,
   0.7849864 , -4.71063118, 12.06256454,  1.12154183,  3.22316823,
 -10.461817  , 10.94047991, -0.2672698 , -0.12653811, -2.41277191,
   6.0923513 , -0.15493566, -1.52013384,  0.37971756, 21.01816863,
   3.57850865,  0.82710953]

qfrc_actuator:
[-1.17614895e-04,-4.04457169e-04,-2.75501466e-04,-8.57911387e-05,
 -3.04131715e-05,-4.91622890e-04,-3.24476438e-04,-4.19470159e-05,
  5.53152379e-05,-2.71402529e-04,-2.73622906e-04,-1.12156727e-04,
  1.97367943e-02,-1.22802887e-03, 1.41818596e-02,-2.10469963e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48362595, -2.04084003, -3.99222665, -2.04084003, 16.4937589 ,
       -6.13962137, -3.99222665, -6.13962137,  7.62222157,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028200492605466284
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.01008854e-07,  2.01009060e-07,  1.00000000e+00, -4.04046008e-14,
        1.00000000e+00, -2.01009060e-07, -1.00000000e+00,  6.31088724e-30,
        2.01008854e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0959983 , -0.04674125,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.72340067e-06,-6.19921926e-05, 1.57548310e-05,-1.43302795e-06,
 -9.47842913e-06,-6.38014783e-06,-8.13059575e-07, 2.12042418e-05,
  6.83073024e-06, 2.66374693e-05,-4.95598724e-05,-2.82235969e-06,
 -1.16862209e-04,-6.02107345e-05,-9.54703944e-05, 1.67390009e-06,
  9.10918167e-07, 1.40530370e-05,-1.21648316e+00,-1.77640542e-03,
 -3.05628945e-04, 3.69532815e-06]


--- Step 886 ---
qpos:
[ 2.83564905e-03,-5.60196666e-03,-1.01857096e-02, 2.79242689e-03,
 -4.43966462e-03,-5.18134560e-03,-1.77554281e-02, 5.20006182e-03,
 -4.72532358e-03,-3.96994282e-03,-7.81735161e-03,-1.91459490e-02,
  1.16997825e+00, 1.87465592e-02, 1.16576959e+00, 2.54144361e-02,
  9.49162217e-02,-6.99383570e-02, 1.30720746e-01, 9.97944319e-01,
 -2.17983828e-04,-6.15264929e-04,-6.40836144e-02]

qacc:
[  5.37350025, -2.2408068 ,  8.36756361,-14.23647137, -3.92628657,
   1.14872763, -3.07264533,  1.69359427, -5.3952408 ,  0.22872516,
   1.24309177, -7.7819144 , -0.79343065,  0.74192821,  2.38915717,
  -9.7955662 ,  0.93321455, -0.92958622,  0.61703316,  9.51683152,
  16.60497735, -0.02625617]

qfrc_actuator:
[-8.58537449e-05,-4.34237750e-04,-2.62701274e-04,-1.03353657e-04,
 -5.32093119e-05,-4.59019184e-04,-3.35748764e-04,-4.60702131e-05,
  2.34627078e-05,-2.61525468e-04,-2.85977960e-04,-1.31445988e-04,
  1.96916051e-02,-1.22323245e-03, 1.41509351e-02,-2.16158949e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51094356, -2.41116299, -3.81246703, -2.41116299, 17.3172577 ,
       -8.09924661, -3.81246703, -8.09924661,  9.63324455,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002908449002036184
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.54308485e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.54308485e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08367134, -0.05662238,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.14895928e-05,-6.12523212e-05, 1.89111509e-06,-1.96995505e-05,
 -2.30709401e-05, 2.97920537e-05,-1.19522412e-05,-4.01215443e-06,
 -3.16427491e-05, 1.43814803e-05,-1.30628711e-05,-1.99197360e-05,
 -1.23633057e-04,-3.76789676e-05,-8.06779964e-05,-7.04068263e-05,
  2.10731078e-07, 1.26461002e-05,-1.21647863e+00,-1.77645207e-03,
 -3.01000223e-04, 2.12427042e-06]


--- Step 887 ---
qpos:
[ 2.83542343e-03,-5.60257277e-03,-1.01860020e-02, 2.79189082e-03,
 -4.44029112e-03,-5.18154803e-03,-1.77553903e-02, 5.20027733e-03,
 -4.72592673e-03,-3.96857876e-03,-7.81817855e-03,-1.91466588e-02,
  1.17044467e+00, 1.87474963e-02, 1.16623062e+00, 2.54097425e-02,
  9.48948654e-02,-6.99394926e-02, 1.30721783e-01, 9.97939741e-01,
 -1.99613878e-04,-7.65819115e-04,-6.41533055e-02]

qacc:
[  6.40525294,  0.75171433, -3.69058628,  6.7010397 ,  3.70889688,
  -1.36148305,  6.74393806,-14.24505516, -3.32592104, -0.28331317,
   1.84533073, -5.3795503 , -1.0460437 ,  1.37120571,  0.35915348,
  -3.44157209,  0.92577183, -0.89918554,  0.44265411,  9.52411994,
  16.16600933, -0.14602341]

qfrc_actuator:
[-4.90283799e-05,-4.33876506e-04,-2.72945045e-04,-9.56675811e-05,
 -3.06922136e-05,-4.57281873e-04,-3.24486373e-04,-6.64891785e-05,
  4.80950122e-06,-2.74030436e-04,-2.92922947e-04,-1.42583896e-04,
  1.96636952e-02,-1.18504421e-03, 1.40944798e-02,-2.19342244e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52759071, -3.21086356,  3.1920891 , -3.21086356, 24.13000694,
       19.71770898,  3.1920891 , 19.71770898, 24.36127054,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029605654025001427
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.87501858e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.87501858e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08367392, -0.05662128,  0.06199085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.77061375e-05,-3.43145061e-05,-2.33385582e-05, 4.74495206e-06,
  2.18667543e-05, 1.57596247e-05, 1.58098245e-05,-1.96336028e-05,
 -1.95469472e-05,-8.06648330e-06,-6.27798355e-06,-1.13608597e-05,
 -1.04576374e-04, 7.59445453e-08,-1.08892104e-04,-4.77858596e-05,
  3.80994934e-08, 1.07448758e-05,-1.21646799e+00,-1.77705314e-03,
 -2.97631224e-04, 1.80136576e-06]


--- Step 888 ---
qpos:
[ 2.83564135e-03,-5.60349264e-03,-1.01864139e-02, 2.79179900e-03,
 -4.44098802e-03,-5.18153686e-03,-1.77552862e-02, 5.20058684e-03,
 -4.72571406e-03,-3.96747993e-03,-7.81899648e-03,-1.91471266e-02,
  1.17091022e+00, 1.87488585e-02, 1.16669031e+00, 2.54056641e-02,
  9.48771852e-02,-6.99441270e-02, 1.30724004e-01, 9.97935136e-01,
 -1.60207416e-04,-8.86047264e-04,-6.42234675e-02]

qacc:
[ 3.88170459, 0.82664288,-5.43735467,13.56173826,-0.61549182, 0.29124094,
 -1.02360234, 2.3848143 , 7.14672865, 0.10861411,-1.93953989, 6.32937323,
 -0.83895535, 1.08991924,-3.75185835,10.46879853, 0.91901937,-0.87469684,
  0.2962205 , 9.52364434,15.80659568,-0.24086993]

qfrc_actuator:
[-2.72825890e-05,-4.51043690e-04,-2.78811870e-04,-7.31720595e-05,
 -3.49387989e-05,-4.38460062e-04,-3.17879478e-04,-6.08284574e-05,
  4.73445713e-05,-2.99810486e-04,-2.96717804e-04,-1.31103170e-04,
  1.96248832e-02,-1.16279242e-03, 1.40440712e-02,-2.15700257e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53456968,  3.15201414, -3.25992777,  3.15201414, 12.58219528,
        7.78122447, -3.25992777,  7.78122447, 12.05821172,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029820413670564316
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.7922727e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.7922727e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08367561, -0.05662004,  0.06199079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.28145503e-05,-4.09329506e-05,-1.56548677e-05, 2.03116950e-05,
 -3.61403913e-06, 3.00728326e-05, 1.11306988e-05, 6.49989950e-06,
  4.19780815e-05,-3.21208640e-05,-6.63174177e-06, 1.06979502e-05,
 -9.68080469e-05,-1.07693994e-06,-1.11684054e-04, 1.84738341e-05,
 -4.16293938e-07, 9.13093493e-06,-1.21645986e+00,-1.77792522e-03,
 -2.94753076e-04, 1.68722973e-06]


--- Step 889 ---
qpos:
[ 2.83611860e-03,-5.60475031e-03,-1.01866051e-02, 2.79195679e-03,
 -4.44207507e-03,-5.18130879e-03,-1.77551067e-02, 5.20096042e-03,
 -4.72464856e-03,-3.96651286e-03,-7.81991927e-03,-1.91471171e-02,
  1.17137523e+00, 1.87497320e-02, 1.16714892e+00, 2.54016416e-02,
  9.48631570e-02,-6.99521815e-02, 1.30726919e-01, 9.97930502e-01,
 -9.98089154e-05,-9.76536021e-04,-6.42942472e-02]

qacc:
[ 2.28136127e+00,-5.53876797e-01, 2.65841943e-01, 3.95757233e+00,
 -3.40383350e+00, 2.14825027e-01,-6.09076494e-01, 1.42576669e+00,
  7.46518488e+00, 1.08782422e+00,-6.16803326e+00, 1.47136367e+01,
 -3.81001467e-03,-4.90159009e-01,-1.80634080e+00, 3.92650970e+00,
  9.13021227e-01,-8.55049408e-01, 1.73501096e-01, 9.51908756e+00,
  1.55131200e+01,-3.16008863e-01]

qfrc_actuator:
[-1.45884059e-05,-4.60787801e-04,-2.64342890e-04,-5.99045752e-05,
 -5.49183796e-05,-4.27299603e-04,-3.13996890e-04,-5.76122224e-05,
  9.00436916e-05,-2.97806270e-04,-2.98672958e-04,-1.06420125e-04,
  1.95848828e-02,-1.20349925e-03, 1.40026748e-02,-2.15164107e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53356251,  3.06897129, -3.33685544,  3.06897129, 17.50745616,
       11.93234405, -3.33685544, 11.93234405, 15.507973  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002978955307824521
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.86344357e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.86344357e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08367659, -0.05661868,  0.0619908 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33350918e-05,-3.49516533e-05, 4.80316540e-06, 1.13694535e-05,
 -2.00734131e-05, 3.05509178e-05, 1.16882586e-05, 5.01561298e-06,
  4.38891220e-05,-1.68830512e-05,-9.03985940e-06, 2.32850106e-05,
 -9.39408215e-05,-6.25893585e-05,-9.59267349e-05,-9.10885471e-06,
 -1.14729080e-06, 7.76982373e-06,-1.21645407e+00,-1.77907625e-03,
 -2.92350174e-04, 1.77407475e-06]


--- Step 890 ---
qpos:
[ 2.83674438e-03,-5.60601318e-03,-1.01870599e-02, 2.79260819e-03,
 -4.44270341e-03,-5.18091029e-03,-1.77548724e-02, 5.20172238e-03,
 -4.72342396e-03,-3.96572047e-03,-7.82114262e-03,-1.91464474e-02,
  1.17183973e+00, 1.87498810e-02, 1.16760651e+00, 2.53983070e-02,
  9.48527601e-02,-6.99635936e-02, 1.30730117e-01, 9.97925835e-01,
 -1.84586900e-05,-1.03776234e-03,-6.43657597e-02]

qacc:
[  1.29132136,  1.74420084, -8.31684169, 17.28956453,  3.99947934,
   0.86371673, -4.40603951, 10.92976833,  1.38658408,  1.96640502,
 -10.13212737, 22.15886092,  0.24219007, -0.94878683, -3.62102431,
  10.38818295,  0.90780162, -0.83937434,  0.07088842,  9.51311959,
  15.27449995, -0.37553407]

qfrc_actuator:
[-7.31840021e-06,-4.48175879e-04,-2.73470136e-04,-3.44043285e-05,
 -3.07319460e-05,-4.20824695e-04,-3.11784288e-04,-3.81177265e-05,
  9.69726218e-05,-3.14664152e-04,-3.17166646e-04,-7.41479176e-05,
  1.95548236e-02,-1.24573215e-03, 1.39720379e-02,-2.11134343e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52624282,  2.95529183, -3.428283  ,  2.95529183, 24.54305222,
       17.25514299, -3.428283  , 17.25514299, 19.40073924,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002956392691127324
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.87766501e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.87766501e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08367701, -0.05661724,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.64241451e-06,-5.40327922e-06,-1.53461725e-05, 2.43924140e-05,
  2.36209557e-05, 2.61696239e-05, 1.01314311e-05, 2.13046503e-05,
  8.17796956e-06,-2.71742824e-05,-2.22897255e-05, 3.16880416e-05,
 -9.68858853e-05,-7.99000935e-05,-8.13198760e-05, 2.62220357e-05,
 -2.15063276e-06, 6.63564830e-06,-1.21645048e+00,-1.78051201e-03,
 -2.90410109e-04, 2.05567959e-06]


--- Step 891 ---
qpos:
[ 2.83710754e-03,-5.60700215e-03,-1.01880493e-02, 2.79354266e-03,
 -4.44269214e-03,-5.18045445e-03,-1.77548224e-02, 5.20274347e-03,
 -4.72247030e-03,-3.96518168e-03,-7.82224564e-03,-1.91457604e-02,
  1.17230330e+00, 1.87501004e-02, 1.16806291e+00, 2.53974547e-02,
  9.48459766e-02,-6.99783136e-02, 1.30733257e-01, 9.97921129e-01,
  8.38097398e-05,-1.07011177e-03,-6.44380957e-02]

qacc:
[-2.31853225e+00, 2.44389955e+00,-9.37560461e+00, 1.49195910e+01,
  5.57141739e+00, 1.11310108e+00,-4.97190719e+00, 9.73005447e+00,
 -2.36373245e+00,-6.31310858e-01, 1.69955070e+00,-1.41448313e+00,
 -5.02410461e-01, 3.98480268e-01,-9.26196022e+00, 2.99085453e+01,
  9.03356754e-01,-8.26965262e-01,-1.46990630e-02, 9.50763943e+00,
  1.50816910e+01,-4.22658782e-01]

qfrc_actuator:
[-2.10484562e-05,-4.22347831e-04,-2.96358988e-04,-1.96609055e-05,
  1.50864999e-06,-4.34954050e-04,-3.28335978e-04,-2.69588436e-05,
  8.27920580e-05,-3.24991017e-04,-3.09840553e-04,-7.32011720e-05,
  1.95094415e-02,-1.23519155e-03, 1.39319107e-02,-1.97972796e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002918595516651079
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.50990826e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.50990826e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08367699, -0.05661573,  0.06199098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.35095759e-05, 2.07320596e-05,-2.50334547e-05, 1.44575794e-05,
  3.29255888e-05, 3.49925478e-06,-9.17115755e-06, 1.30412964e-05,
 -1.39555232e-05,-2.87784628e-05, 6.90084789e-08,-3.71860273e-07,
 -1.17474708e-04,-3.26255397e-05,-8.06319263e-05, 1.21271983e-04,
 -3.42306805e-06, 5.70913709e-06,-1.21644899e+00,-1.78223680e-03,
 -2.88923034e-04, 2.52723413e-06]


--- Step 892 ---
qpos:
[ 2.83730331e-03,-5.60757897e-03,-1.01893982e-02, 2.79427086e-03,
 -4.44263921e-03,-5.17986296e-03,-1.77549763e-02, 5.20353676e-03,
 -4.72203889e-03,-3.96489230e-03,-7.82295266e-03,-1.91454326e-02,
  1.17276583e+00, 1.87507082e-02, 1.16851809e+00, 2.53981972e-02,
  9.48427917e-02,-6.99963025e-02, 1.30736054e-01, 9.97916376e-01,
  2.06971339e-04,-1.07389341e-03,-6.45113254e-02]

qacc:
[ -1.48263538,  1.12715789, -2.35294376, -0.95068173,  0.35442248,
   0.27922374,  0.22484302, -3.93961625, -4.55532615, -2.16761767,
   8.7786203 ,-15.45369312, -0.89132245,  1.07197981, -6.54468125,
  20.49211142,  0.89966393, -0.81724707, -0.08589647,  9.50396439,
  14.92729349, -0.45990341]

qfrc_actuator:
[-2.92741800e-05,-3.88867117e-04,-3.09375711e-04,-2.91111139e-05,
  2.71209841e-06,-4.25895766e-04,-3.38176428e-04,-3.85800569e-05,
  5.63121885e-05,-3.31250506e-04,-2.87323262e-04,-9.06709245e-05,
  1.94602480e-02,-1.21124455e-03, 1.38701660e-02,-1.90190719e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028690898838359957
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.86960001e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.86960001e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08367663, -0.05661417,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.60023325e-06, 4.05621566e-05,-1.12963328e-05,-9.14393903e-06,
  2.14839518e-06, 9.67156894e-06,-9.80569751e-06,-1.15396267e-05,
 -2.68877342e-05,-2.23639144e-05, 1.65755361e-05,-1.87065589e-05,
 -1.20614866e-04,-1.17026440e-05,-9.17075748e-05, 7.27956997e-05,
 -4.96240379e-06, 4.97621486e-06,-1.21644953e+00,-1.78425380e-03,
 -2.87881158e-04, 3.18518161e-06]


--- Step 893 ---
qpos:
[ 2.83739879e-03,-5.60764057e-03,-1.01909890e-02, 2.79485827e-03,
 -4.44326166e-03,-5.17926108e-03,-1.77549527e-02, 5.20451946e-03,
 -4.72192838e-03,-3.96477121e-03,-7.82342676e-03,-1.91449708e-02,
  1.17322755e+00, 1.87510827e-02, 1.16897240e+00, 2.53994647e-02,
  9.48431936e-02,-7.00175305e-02, 1.30738270e-01, 9.97911563e-01,
  3.51010548e-04,-1.04935214e-03,-6.45855036e-02]

qacc:
[-0.89374279, 1.06904086,-2.22649451,-0.2052616 ,-5.88441247,-0.08065795,
 -0.4720909 , 3.43715839,-2.79899092,-0.59185846, 1.23153712, 0.82905332,
 -0.36612754, 0.06530837,-2.85562997, 8.17601678, 0.89668835,-0.80975089,
 -0.14495821, 9.50297734,14.80524092,-0.48924348]

qfrc_actuator:
[-3.41874894e-05,-3.51042625e-04,-3.16430609e-04,-3.49487588e-05,
 -3.21172569e-05,-4.20778777e-04,-3.26144152e-04,-2.79807893e-05,
  4.05650474e-05,-3.34972294e-04,-2.73767668e-04,-8.33157497e-05,
  1.94141376e-02,-1.23285770e-03, 1.38381015e-02,-1.87422121e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002810794982869569
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.87463539e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.87463539e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08367601, -0.05661257,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.14105527e-06, 5.78132147e-05,-3.63261155e-07,-4.66556800e-06,
 -3.47635152e-05, 7.98479141e-06, 1.24156300e-05, 1.04468564e-05,
 -1.65224512e-05,-1.36160791e-05, 1.03364223e-05, 6.60810881e-06,
 -1.14595738e-04,-5.22620668e-05,-7.24118362e-05, 1.85629647e-05,
 -6.76752075e-06, 4.42694460e-06,-1.21645205e+00,-1.78656546e-03,
 -2.87278356e-04, 4.02706846e-06]


--- Step 894 ---
qpos:
[ 2.83743478e-03,-5.60755823e-03,-1.01919624e-02, 2.79535885e-03,
 -4.44395165e-03,-5.17891627e-03,-1.77546308e-02, 5.20530214e-03,
 -4.72131805e-03,-3.96466408e-03,-7.82351457e-03,-1.91444554e-02,
  1.17368870e+00, 1.87504438e-02, 1.16942573e+00, 2.53994082e-02,
  9.48479664e-02,-7.00390735e-02, 1.30740820e-01, 9.97906776e-01,
  4.94432858e-04,-9.95060114e-04,-6.46593508e-02]

qacc:
[ -0.50358024, -1.71316124,  6.75253831, -9.35020827, -0.57539888,
  -1.58369512,  6.00054997, -9.75318382,  4.38788447, -0.9965214 ,
   3.28507991, -2.94878138,  0.23283293, -1.14341277,  2.51638117,
 -11.02018296,  1.09272608, -0.07877807,  0.08334188, -1.26837003,
  14.82446134,  0.16101915]

qfrc_actuator:
[-3.71134931e-05,-3.46385048e-04,-2.84376775e-04,-3.86018360e-05,
 -3.46080327e-05,-4.53460839e-04,-3.19040705e-04,-3.98805826e-05,
  6.67703641e-05,-3.19400201e-04,-2.47831795e-04,-7.91678457e-05,
  1.93698928e-02,-1.29909340e-03, 1.37759257e-02,-1.94719474e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46792664, -0.5126337 , -4.43842034, -0.5126337 , 25.13908937,
       -2.38750137, -4.43842034, -2.38750137,  4.74368098,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002767509688807318
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.00581597e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.00581597e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08186132, -0.06798531,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.05084803e-06, 3.67293352e-05, 4.38075375e-05,-1.27678458e-06,
 -3.48551150e-06,-2.52414877e-05, 1.06355299e-05,-1.09268421e-05,
  2.57280053e-05, 1.03706788e-05, 2.46291329e-05, 4.05154436e-06,
 -1.18998077e-04,-1.06349290e-04,-1.00483545e-04,-8.28368800e-05,
 -8.83836342e-06, 4.05473701e-06,-1.21645649e+00,-1.78917362e-03,
 -2.87109852e-04, 5.05140677e-06]


--- Step 895 ---
qpos:
[ 2.83778056e-03,-5.60763866e-03,-1.01923581e-02, 2.79585421e-03,
 -4.44397671e-03,-5.17879970e-03,-1.77541400e-02, 5.20490604e-03,
 -4.72074329e-03,-3.96476364e-03,-7.82316747e-03,-1.91442184e-02,
  1.17414898e+00, 1.87495278e-02, 1.16987777e+00, 2.53968481e-02,
  9.48578281e-02,-7.00569268e-02, 1.30743434e-01, 9.97902209e-01,
  6.08273685e-04,-9.10051142e-04,-6.47300767e-02]

qacc:
[ 2.73076626e+00,-1.84603141e+00, 6.28276339e+00,-7.16727191e+00,
  5.80722954e+00,-3.21128547e+00, 1.59696506e+01,-3.64533664e+01,
 -2.94254547e-01,-2.06191920e+00, 8.12892596e+00,-1.34857066e+01,
 -5.91876727e-01, 3.10705054e-01, 5.72622652e+00,-2.26756059e+01,
  1.27222647e+00, 9.22428659e-01, 1.61494821e-02,-1.57513516e+01,
  1.43708459e+01, 1.57164465e+00]

qfrc_actuator:
[-2.10951604e-05,-3.79215068e-04,-2.65125531e-04,-4.09418132e-05,
 -2.80718248e-07,-4.73053750e-04,-3.15086405e-04,-1.00471414e-04,
  6.41969022e-05,-3.45596685e-04,-2.32466924e-04,-9.46700346e-05,
  1.93321012e-02,-1.30246587e-03, 1.36957240e-02,-2.07892501e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46609975, -0.39765185, -4.4483615 , -0.39765185, 21.22187504,
       -1.49784703, -4.4483615 , -1.49784703,  4.59999662,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027613088494760074
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.01032026e-13,  2.01032026e-13,  1.00000000e+00, -4.04138755e-26,
        1.00000000e+00, -2.01032026e-13, -1.00000000e+00,  0.00000000e+00,
        2.01032026e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07969402, -0.08320192,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.59428769e-05,-3.29070824e-06, 3.21991541e-05, 7.25782355e-07,
  3.42186115e-05,-3.19984861e-05,-3.36676985e-07,-6.15200232e-05,
 -1.83589818e-06,-1.51298609e-05, 2.06786369e-05,-1.41291857e-05,
 -1.28600338e-04,-5.85414328e-05,-1.41280141e-04,-1.50531106e-04,
 -9.69535491e-06, 2.44414709e-06,-1.21645778e+00,-1.79173464e-03,
 -2.88174119e-04, 5.93251484e-06]


--- Step 896 ---
qpos:
[ 2.83831546e-03,-5.60761119e-03,-1.01925941e-02, 2.79665773e-03,
 -4.44359013e-03,-5.17890735e-03,-1.77536073e-02, 5.20379566e-03,
 -4.72089349e-03,-3.96498309e-03,-7.82235592e-03,-1.91441819e-02,
  1.17460805e+00, 1.87493188e-02, 1.17032839e+00, 2.53946329e-02,
  9.48726686e-02,-7.00711143e-02, 1.30745732e-01, 9.97897848e-01,
  6.92920608e-04,-7.94092756e-04,-6.47979557e-02]

qacc:
[  1.65767768,  0.3278451 , -2.26844075,  7.27309082,  3.59460151,
  -1.89080239,  9.31544237,-21.56760943, -6.33002928, -1.85746936,
   7.2584495 ,-11.40115553, -1.32782277,  1.79113333, -3.01653559,
   7.82875612,  1.24469035,  0.91647046, -0.07912433,-15.56677712,
  14.49834231,  1.43098745]

qfrc_actuator:
[-1.18083488e-05,-3.63277988e-04,-2.53763181e-04,-2.47881809e-05,
  1.99267403e-05,-4.84719183e-04,-3.13011477e-04,-1.35960213e-04,
  2.69389898e-05,-3.43398103e-04,-2.05895158e-04,-1.03899084e-04,
  1.92875771e-02,-1.25069888e-03, 1.36580281e-02,-2.04892123e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46075672,  1.50211986,  4.20023647,  1.50211986, 21.00228063,
       -5.91570301,  4.20023647, -5.91570301,  6.57637449,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027430663097671726
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.0355346e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        3.0355346e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07969094, -0.08320165,  0.06199153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.74055732e-06, 2.07898945e-05, 1.46773220e-05, 1.71401905e-05,
  2.11798304e-05,-3.22613191e-05,-6.71236969e-06,-3.80707315e-05,
 -3.73157814e-05,-2.59581339e-06, 2.55020189e-05,-9.43752597e-06,
 -1.30055024e-04, 7.54709153e-06,-1.23835969e-04, 2.49863136e-06,
 -8.33628519e-06,-6.55542599e-07,-1.21645477e+00,-1.79374549e-03,
 -2.90757640e-04, 5.98582292e-06]


--- Step 897 ---
qpos:
[ 2.83861261e-03,-5.60728817e-03,-1.01927891e-02, 2.79797758e-03,
 -4.44365380e-03,-5.17907735e-03,-1.77537154e-02, 5.20264062e-03,
 -4.72079957e-03,-3.96498857e-03,-7.82108763e-03,-1.91442995e-02,
  1.17506615e+00, 1.87494219e-02, 1.17077810e+00, 2.53926436e-02,
  9.48924010e-02,-7.00816563e-02, 1.30747396e-01, 9.97893674e-01,
  7.48689726e-04,-6.47001810e-04,-6.48632098e-02]

qacc:
[ -2.08313267,  1.34361067, -6.39634828, 15.04157538, -3.94553388,
   1.62374532, -5.70778006,  5.992055  ,  2.14774349, -1.31544341,
   5.74150641, -9.28273019, -0.89934638,  1.05885268, -1.93658202,
   5.04528921,  1.22297779,  0.91135518, -0.15860854,-15.41623547,
  14.59893003,  1.31648655]

qfrc_actuator:
[-2.43163295e-05,-3.36038832e-04,-2.46947156e-04, 2.15031996e-06,
 -3.85566471e-06,-4.91540855e-04,-3.47510032e-04,-1.38628137e-04,
  4.05845701e-05,-3.06413979e-04,-1.72802753e-04,-1.09330780e-04,
  1.92444019e-02,-1.23773186e-03, 1.36405685e-02,-2.03023984e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45141359,  1.58650652,  4.15909606,  1.58650652, 27.36733764,
       -8.7413857 ,  4.15909606, -8.7413857 ,  7.78585578,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027107744696019953
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.04779674e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.04779674e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07968808, -0.08320186,  0.06199163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.22236417e-05, 4.26327008e-05, 1.35110276e-05, 2.86689332e-05,
 -2.31846340e-05,-2.78720228e-05,-4.33097831e-05,-5.02279780e-06,
  1.25784968e-05, 4.03805376e-05, 3.53649700e-05,-4.84415437e-06,
 -1.12883906e-04,-1.43770622e-05,-7.93144347e-05, 1.78444050e-06,
 -6.84703896e-06,-3.33939598e-06,-1.21645471e+00,-1.79526036e-03,
 -2.93680437e-04, 5.48187920e-06]


--- Step 898 ---
qpos:
[ 2.83841289e-03,-5.60680928e-03,-1.01933681e-02, 2.79931229e-03,
 -4.44400167e-03,-5.17961201e-03,-1.77538828e-02, 5.20180663e-03,
 -4.72019822e-03,-3.96467825e-03,-7.82002820e-03,-1.91444486e-02,
  1.17552348e+00, 1.87492120e-02, 1.17122718e+00, 2.53914471e-02,
  9.49089172e-02,-7.00849568e-02, 1.30748803e-01, 9.97889429e-01,
  7.58292100e-04,-5.31637100e-04,-6.49294281e-02]

qacc:
[ -4.36104259,  1.31825165, -4.44936063,  5.18989308, -2.47396215,
   0.34927928, -3.29164903,  9.20206361,  4.43009871,  0.92761292,
  -2.5834744 ,  2.15491947, -0.2818952 , -0.08596072, -3.32137517,
  10.29691639, -0.80403371,  1.81038307, -0.06390488,-22.00610352,
 -17.3273515 , -0.45664309]

qfrc_actuator:
[-4.95499627e-05,-3.55507140e-04,-2.78309364e-04,-2.76946515e-07,
 -1.78294951e-05,-5.13281084e-04,-3.50028729e-04,-1.21987447e-04,
  6.63405035e-05,-3.02102329e-04,-1.89233936e-04,-1.12450338e-04,
  1.91967315e-02,-1.26568547e-03, 1.36352553e-02,-1.98286547e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45544082,  4.27764478, -1.24607706,  4.27764478,  6.51100094,
        7.05651061, -1.24607706,  7.05651061, 28.67966154,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002724755453165084
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.59163226e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.59163226e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10538317, -0.09470274,  0.06199158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.55709394e-05, 8.37359699e-06,-1.99040827e-05, 4.22145475e-07,
 -1.46462448e-05,-4.64848722e-05,-1.37778581e-05, 1.38541230e-05,
  2.61292820e-05, 3.39794834e-05,-3.91774081e-06,-2.64041913e-07,
 -1.12650370e-04,-5.74660957e-05,-4.86099899e-05, 3.57221032e-05,
 -5.20424593e-06,-5.63374135e-06,-1.21645757e+00,-1.79628588e-03,
 -2.96961579e-04, 4.41939610e-06]


--- Step 899 ---
qpos:
[ 2.83825706e-03,-5.60625178e-03,-1.01939825e-02, 2.80024877e-03,
 -4.44416954e-03,-5.18072338e-03,-1.77537411e-02, 5.20187083e-03,
 -4.71894769e-03,-3.96409914e-03,-7.81942813e-03,-1.91446099e-02,
  1.17597995e+00, 1.87485102e-02, 1.17167549e+00, 2.53924598e-02,
  9.49222082e-02,-7.00811758e-02, 1.30749449e-01, 9.97885096e-01,
  7.21980343e-04,-4.47164901e-04,-6.49970323e-02]

qacc:
[  0.38121931, -0.61824389,  4.03473668,-10.92645654,  1.58966389,
   0.2206353 , -5.68954823, 21.17053443,  5.6640448 ,  1.60328135,
  -5.16819144,  5.51378941, -0.10260788, -0.4623462 , -7.84374965,
  25.75309456, -0.80630248,  1.7703947 , -0.19049887,-21.90603149,
 -16.90479283, -0.67038575]

qfrc_actuator:
[-4.65594967e-05,-3.49720565e-04,-2.78912085e-04,-2.00287353e-05,
 -8.15149282e-06,-5.43645185e-04,-3.33684862e-04,-7.63567998e-05,
  9.90017048e-05,-2.99828943e-04,-2.17143729e-04,-1.14243490e-04,
  1.91410554e-02,-1.29993842e-03, 1.36159345e-02,-1.86567487e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4608115 , -2.64994666,  3.58840102, -2.64994666, 11.16094754,
        4.94788711,  3.58840102,  4.94788711,  8.11470549,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002743254162846376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.42651815e-14, -6.07065346e-13,  1.00000000e+00, -2.68718577e-26,
        1.00000000e+00,  6.07065346e-13, -1.00000000e+00,  0.00000000e+00,
       -4.42651815e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10538037, -0.09470433,  0.06199153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.26214839e-06, 6.35401281e-06,-1.31072717e-06,-2.00751928e-05,
  9.24189017e-06,-5.85921924e-05, 5.53540930e-06, 4.34358983e-05,
  3.34214820e-05, 2.04417725e-05,-2.13993405e-05,-4.82350659e-07,
 -1.30061560e-04,-7.55609325e-05,-4.57608660e-05, 1.11122029e-04,
 -1.36182473e-06,-5.02613463e-06,-1.21644904e+00,-1.79588955e-03,
 -3.00024662e-04, 2.31983624e-06]


--- Step 900 ---
qpos:
[ 2.83848295e-03,-5.60570937e-03,-1.01942939e-02, 2.80092961e-03,
 -4.44387548e-03,-5.18227087e-03,-1.77534281e-02, 5.20247266e-03,
 -4.71765996e-03,-3.96337140e-03,-7.81911376e-03,-1.91451329e-02,
  1.17643518e+00, 1.87482294e-02, 1.17212336e+00, 2.53938340e-02,
  9.49322689e-02,-7.00704421e-02, 1.30748908e-01, 9.97880657e-01,
  6.39972222e-04,-3.92912150e-04,-6.50663528e-02]

qacc:
[  3.34865166, -1.39957246,  6.02904461,-10.91437379,  4.04168983,
   0.0443304 , -3.27752425, 12.64407737,  0.31400677,  0.24922953,
   0.92034467, -6.8279873 , -1.22325384,  1.45680981, -1.63223628,
   5.05202976, -0.80758581,  1.73814862, -0.29670594,-21.81811896,
 -16.56347528, -0.83865921]

qfrc_actuator:
[-2.69765845e-05,-3.46518793e-04,-2.61254146e-04,-3.20154664e-05,
  1.53670989e-05,-5.61073073e-04,-3.24120657e-04,-4.95430074e-05,
  9.99560756e-05,-2.98857834e-04,-2.33854019e-04,-1.33000229e-04,
  1.90859371e-02,-1.26665650e-03, 1.35935701e-02,-1.85034896e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45981255, -2.56724139,  3.64680677, -2.56724139, 14.84699623,
        7.31226235,  3.64680677,  7.31226235,  9.60742351,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027398258981162216
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.08939826e-13, -4.05216633e-13,  1.00000000e+00,  8.46658928e-26,
        1.00000000e+00,  4.05216633e-13, -1.00000000e+00,  0.00000000e+00,
        2.08939826e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10537846, -0.09470633,  0.06199154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.96493525e-05, 5.61024544e-06, 1.81129350e-05,-1.21525976e-05,
  2.37610574e-05,-4.71461148e-05,-3.41945620e-07, 2.53420339e-05,
  1.91927623e-06, 7.94949526e-06,-1.51539629e-05,-1.86345088e-05,
 -1.42683657e-04,-1.71690293e-05,-3.90089535e-05, 1.38427378e-05,
  2.02989795e-06,-3.56216132e-06,-1.21644548e+00,-1.79482357e-03,
 -3.02616367e-04, 1.06220447e-06]


--- Step 901 ---
qpos:
[ 2.83928678e-03,-5.60522933e-03,-1.01946352e-02, 2.80149065e-03,
 -4.44364694e-03,-5.18379550e-03,-1.77531745e-02, 5.20300243e-03,
 -4.71740511e-03,-3.96258255e-03,-7.81898486e-03,-1.91458721e-02,
  1.17688948e+00, 1.87479790e-02, 1.17257057e+00, 2.53940809e-02,
  9.49390967e-02,-7.00528593e-02, 1.30746824e-01, 9.97876089e-01,
  5.12450397e-04,-3.68337567e-04,-6.51376477e-02]

qacc:
[  5.05561642, -0.25558774,  1.28026359, -3.24134138, -0.57375126,
   0.0486755 ,  0.17639046, -1.34759071, -9.0490847 ,  0.17154972,
   0.44755779, -3.96809853, -0.79194765,  0.74961063,  2.52792522,
 -10.05453788, -0.80823202,  1.71226679, -0.38575265,-21.74344341,
 -16.28899798, -0.97089037]

qfrc_actuator:
[ 2.20640755e-06,-3.62558271e-04,-2.68469165e-04,-3.93264500e-05,
  1.13308263e-05,-5.35143878e-04,-3.18610055e-04,-5.17706753e-05,
  4.67333865e-05,-2.98655442e-04,-2.43834528e-04,-1.43828011e-04,
  1.90471971e-02,-1.26458025e-03, 1.35480751e-02,-1.91293049e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45377809, -2.45937959,  3.7131646 , -2.45937959, 19.98699076,
       10.28827705,  3.7131646 , 10.28827705, 11.26812146,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027189945914871116
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08460308e-13, -2.04160580e-13,  1.00000000e+00,  2.21433194e-26,
        1.00000000e+00,  2.04160580e-13, -1.00000000e+00,  0.00000000e+00,
        1.08460308e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10537726, -0.09470865,  0.0619916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.97447875e-05,-9.69292251e-06,-4.25089236e-06,-6.68326135e-06,
 -3.37259408e-06, 6.40058708e-07,-3.38025485e-06,-3.76580193e-06,
 -5.31611878e-05, 6.95620103e-07,-1.08595016e-05,-1.13754514e-05,
 -1.19339518e-04,-3.56605968e-05,-7.14798610e-05,-6.89652682e-05,
  5.03727980e-06,-1.22144381e-06,-1.21644672e+00,-1.79307966e-03,
 -3.04769235e-04, 6.14163419e-07]


--- Step 902 ---
qpos:
[ 2.84043424e-03,-5.60470408e-03,-1.01951002e-02, 2.80195267e-03,
 -4.44415818e-03,-5.18513361e-03,-1.77532584e-02, 5.20384450e-03,
 -4.71779017e-03,-3.96169662e-03,-7.81873452e-03,-1.91467616e-02,
  1.17734320e+00, 1.87471554e-02, 1.17301663e+00, 2.53932849e-02,
  9.49426905e-02,-7.00285101e-02, 1.30742899e-01, 9.97871362e-01,
  3.39563088e-04,-3.73008348e-04,-6.52111176e-02]

qacc:
[  3.0010463 ,  0.19572796, -0.20334689, -1.33484643, -6.46509315,
   1.84487619, -7.51737649, 13.30230148, -5.59978555, -0.50968226,
   2.65515515, -5.53801239, -0.05368169, -0.48806748,  1.44035185,
  -7.54392217, -0.80849801,  1.69162377, -0.46038466,-21.6824396 ,
 -16.06971119, -1.07447956]

qfrc_actuator:
[ 1.90478962e-05,-3.54583920e-04,-2.72643742e-04,-4.38655832e-05,
 -2.66482998e-05,-5.18990223e-04,-3.33122186e-04,-3.55233150e-05,
  1.53175633e-05,-2.81133579e-04,-2.32010466e-04,-1.49899268e-04,
  1.90182997e-02,-1.29875778e-03, 1.34834103e-02,-1.96765445e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44392562, -2.32192086,  3.78908411, -2.32192086, 27.1668417 ,
       13.92442376,  3.78908411, 13.92442376, 12.97670267,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026845237192055227
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09853003e-13,  2.06782122e-13,  1.00000000e+00, -2.27156370e-26,
        1.00000000e+00, -2.06782122e-13, -1.00000000e+00,  0.00000000e+00,
        1.09853003e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1053766 , -0.09471123,  0.06199171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.76874038e-05, 1.38282880e-06,-6.93648768e-06,-5.23457321e-06,
 -3.80752937e-05, 1.57021166e-05,-1.49127901e-05, 1.60863085e-05,
 -3.29303832e-05, 1.51345724e-05, 1.02300017e-05,-6.63680833e-06,
 -1.02414103e-04,-7.08798892e-05,-1.12890716e-04,-6.94708647e-05,
  7.71014845e-06, 2.00740162e-06,-1.21645263e+00,-1.79065204e-03,
 -3.06507643e-04, 9.51107224e-07]


--- Step 903 ---
qpos:
[ 2.84177502e-03,-5.60430336e-03,-1.01955697e-02, 2.80271555e-03,
 -4.44546547e-03,-5.18640550e-03,-1.77537815e-02, 5.20524266e-03,
 -4.71820447e-03,-3.96050331e-03,-7.81843359e-03,-1.91480850e-02,
  1.17779617e+00, 1.87463893e-02, 1.17346151e+00, 2.53921140e-02,
  9.49430500e-02,-6.99974597e-02, 1.30736881e-01, 9.97866443e-01,
  1.21425339e-04,-4.06581300e-04,-6.52869170e-02]

qacc:
[  1.69322915,  0.46413304, -3.16928759,  8.48082515, -6.95676236,
   2.4726993 ,-11.0142425 , 21.26803605, -0.25994648, -0.62865878,
   4.66053711,-12.47216623, -0.57269766,  0.53918518, -0.55771537,
  -0.45398765, -0.80857106,  1.67529892, -0.52294084,-21.63508962,
 -15.89617234, -1.15523318]

qfrc_actuator:
[ 2.84876358e-05,-3.67789165e-04,-2.74888248e-04,-2.89618251e-05,
 -6.65400397e-05,-5.26627327e-04,-3.59346004e-04,-8.54647370e-06,
  1.47586636e-05,-2.53280451e-04,-2.25089034e-04,-1.70848743e-04,
  1.89953103e-02,-1.28308572e-03, 1.34392671e-02,-1.98179207e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43131341, -2.14910699,  3.87529066, -2.14910699, 37.19664787,
       18.17056199,  3.87529066, 18.17056199, 14.50810122,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026395328583621314
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.57208517e-15, -2.10306726e-13,  1.00000000e+00,  1.38215371e-27,
        1.00000000e+00,  2.10306726e-13, -1.00000000e+00,  0.00000000e+00,
        6.57208517e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10537637, -0.09471399,  0.06199184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.94495859e-06,-1.41011102e-05,-2.99802702e-06, 1.46189728e-05,
 -4.09778572e-05,-1.21311502e-06,-2.42446257e-05, 2.74495021e-05,
 -1.49130652e-06, 3.80992760e-05, 1.10673328e-05,-2.00758625e-05,
 -9.66630557e-05,-2.60623762e-05,-1.08619025e-04,-3.35969433e-05,
  1.00860983e-05, 6.12928706e-06,-1.21646310e+00,-1.78753661e-03,
 -3.07849768e-04, 2.05469626e-06]


--- Step 904 ---
qpos:
[ 2.84321880e-03,-5.60418996e-03,-1.01959747e-02, 2.80366748e-03,
 -4.44724108e-03,-5.18769333e-03,-1.77545869e-02, 5.20695325e-03,
 -4.71862236e-03,-3.95910992e-03,-7.81831627e-03,-1.91492738e-02,
  1.17824855e+00, 1.87452613e-02, 1.17390496e+00, 2.53917582e-02,
  9.49468824e-02,-6.99701706e-02, 1.30733694e-01, 9.97861523e-01,
 -7.52772009e-05,-4.05755226e-04,-6.53621423e-02]

qacc:
[ 0.90804793,-0.17229994,-0.73768474, 4.12111585,-4.09246086, 1.41866893,
 -6.39440725,12.25071325,-0.04050525, 1.05508401,-3.94500104, 6.41790955,
 -0.05030811,-0.36199244,-4.60279574,12.99346615, 0.86824116,-0.94034327,
  0.70750559, 9.57195198,17.86257112, 0.27999289]

qfrc_actuator:
[ 3.34991741e-05,-3.93550518e-04,-2.76044511e-04,-2.05052339e-05,
 -8.94745357e-05,-5.30740567e-04,-3.74607547e-04, 6.74671317e-06,
  1.46065932e-05,-2.54982955e-04,-2.38839535e-04,-1.64876027e-04,
  1.89599240e-02,-1.30891582e-03, 1.33808518e-02,-1.93632340e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43773156, -2.18532439,  3.86235921, -2.18532439, 23.02506003,
       10.51671789,  3.86235921, 10.51671789, 10.38809475,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026625519590438296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04244259e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.04244259e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0837022 , -0.05659929,  0.06199177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.28942212e-06,-3.36511161e-05,-3.93504323e-06, 8.03097589e-06,
 -2.41098237e-05,-8.58826343e-06,-1.75292286e-05, 1.49390519e-05,
 -1.77146121e-07, 2.09829220e-05,-5.22776083e-06, 7.59596614e-06,
 -9.51502274e-05,-5.42895298e-05,-1.17273028e-04, 2.84893297e-05,
  1.21937180e-05, 1.11443467e-05,-1.21647807e+00,-1.78373038e-03,
 -3.08809045e-04, 3.91168883e-06]


--- Step 905 ---
qpos:
[ 2.84471128e-03,-5.60409769e-03,-1.01961974e-02, 2.80432547e-03,
 -4.44893342e-03,-5.18899820e-03,-1.77550075e-02, 5.20844205e-03,
 -4.71869337e-03,-3.95810662e-03,-7.81810722e-03,-1.91499789e-02,
  1.17869999e+00, 1.87442062e-02, 1.17434698e+00, 2.53938893e-02,
  9.49542223e-02,-6.99465134e-02, 1.30732594e-01, 9.97856593e-01,
 -2.50659732e-04,-3.71860440e-04,-6.54371424e-02]

qacc:
[  0.43182515, -1.14350109,  5.27595662,-10.63731217,  0.7384213 ,
  -1.55557255,  6.44807625,-10.8878027 ,  3.04647411,  0.21863773,
  -3.57672199, 12.09337378, -0.49532222,  0.38477969, -9.61584131,
  30.65145493,  0.87686973, -0.9079689 ,  0.5217292 ,  9.55653262,
  17.19574811,  0.10891337]

qfrc_actuator:
[ 3.58667821e-05,-3.73375026e-04,-2.58862313e-04,-3.36781190e-05,
 -8.44913691e-05,-5.14931187e-04,-3.47767692e-04,-2.70170751e-06,
  3.24372894e-05,-3.09939754e-04,-2.47026597e-04,-1.43144997e-04,
  1.89064617e-02,-1.30599288e-03, 1.33352417e-02,-1.80287320e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4610451 ,  1.77083475, -4.09451678,  1.77083475,  8.43205177,
        1.71741795, -4.09451678,  1.71741795,  5.20381001,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002744055054081235
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08370758, -0.05659878,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.50672886e-06, 8.84780606e-07, 1.00240942e-05,-1.45965518e-05,
  4.28908169e-06, 8.07033659e-06, 2.34452813e-05,-1.01303814e-05,
  1.78371554e-05,-4.40282798e-05,-4.24967046e-06, 2.25958590e-05,
 -1.19050051e-04,-3.27736903e-05,-1.00449995e-04, 1.19055382e-04,
  1.19818927e-05, 7.31170630e-06,-1.21646983e+00,-1.78129495e-03,
 -3.07904009e-04, 1.89029215e-06]


--- Step 906 ---
qpos:
[ 2.84622039e-03,-5.60385342e-03,-1.01960505e-02, 2.80512959e-03,
 -4.45055356e-03,-5.18973022e-03,-1.77553553e-02, 5.20940536e-03,
 -4.71854982e-03,-3.95779433e-03,-7.81752681e-03,-1.91503977e-02,
  1.17915035e+00, 1.87437130e-02, 1.17478841e+00, 2.53954853e-02,
  9.49650948e-02,-6.99263824e-02, 1.30732955e-01, 9.97851640e-01,
 -4.04837091e-04,-3.05965166e-04,-6.55121884e-02]

qacc:
[  0.15464248, -0.53165517,  1.56974831,  0.2568301 ,  0.62176496,
  -0.52934349,  5.20220338,-14.83249493,  1.90187613, -1.36551052,
   2.33033071,  2.54184804, -1.24195976,  1.62516442,  0.88730747,
  -4.03801687,  0.88312887, -0.88153517,  0.36527743,  9.53283903,
  16.65975372, -0.02351634]

qfrc_actuator:
[ 3.66611423e-05,-3.43541335e-04,-2.30820600e-04,-2.39160491e-05,
 -8.08745021e-05,-4.51655482e-04,-3.31726447e-04,-2.65858271e-05,
  4.29559843e-05,-3.60833737e-04,-2.34324859e-04,-1.30114632e-04,
  1.88635089e-02,-1.26835561e-03, 1.33133435e-02,-1.83166339e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47494873,  1.73324373, -4.12565538,  1.73324373, 11.5252773 ,
        2.96193857, -4.12565538,  2.96193857,  5.71929926,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002791173599086816
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.94405207e-14,  1.98881041e-13,  1.00000000e+00, -1.97768343e-26,
        1.00000000e+00, -1.98881041e-13, -1.00000000e+00,  0.00000000e+00,
        9.94405207e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08371152, -0.05659805,  0.06199138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.66318501e-07, 3.17675461e-05, 2.89525232e-05, 9.86117629e-06,
  3.74211670e-06, 7.22476392e-05, 2.02624850e-05,-2.29238096e-05,
  1.10152146e-05,-7.54556247e-05, 3.85299463e-06, 1.14358641e-05,
 -1.15419639e-04, 1.70731487e-06,-5.99682603e-05,-3.62066088e-05,
  1.15059617e-05, 3.82018819e-06,-1.21646412e+00,-1.77912222e-03,
 -3.07562850e-04, 1.61178240e-07]


--- Step 907 ---
qpos:
[ 2.84738246e-03,-5.60353011e-03,-1.01955475e-02, 2.80639936e-03,
 -4.45177279e-03,-5.18992603e-03,-1.77558081e-02, 5.21009137e-03,
 -4.71931614e-03,-3.95778433e-03,-7.81694737e-03,-1.91503358e-02,
  1.17959995e+00, 1.87431298e-02, 1.17522935e+00, 2.53953456e-02,
  9.49752491e-02,-6.99121460e-02, 1.30734539e-01, 9.97846781e-01,
 -5.15196297e-04,-2.36870199e-04,-6.55856666e-02]

qacc:
[ -3.02566938,  0.07400697, -2.06766359,  9.48785555,  3.48367682,
   0.42409687,  0.67476179, -5.68759943, -7.95975568,  0.60892238,
  -4.7495673 , 13.25590664, -0.64248912,  0.52732404,  4.59324304,
 -16.97170387, -0.17952841, -1.47366407,  0.3060329 , 21.75745736,
   3.03141796,  0.77915585]

qfrc_actuator:
[ 1.87714958e-05,-3.43582660e-04,-2.14276134e-04,-7.15497493e-07,
 -6.03470071e-05,-4.31493599e-04,-3.39758855e-04,-4.09863332e-05,
 -4.17684245e-06,-3.55575173e-04,-2.27158796e-04,-1.04547998e-04,
  1.88215821e-02,-1.28141834e-03, 1.32896704e-02,-1.92026540e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4891426 ,  4.20156481,  1.58090304,  4.20156481,  6.55346293,
       -5.48634257,  1.58090304, -5.48634257, 19.07019112,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002838202460989647
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77927967e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.77927967e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09646435, -0.0464454 ,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.78564647e-05, 2.41092082e-05, 2.70057993e-05, 2.57524758e-05,
  2.06601183e-05, 6.37951307e-05, 8.60330078e-06,-1.10499150e-05,
 -4.68437138e-05,-3.56631185e-05,-7.55836503e-06, 2.26897018e-05,
 -1.04091503e-04,-3.89791265e-05,-6.35863221e-05,-1.00184573e-04,
  1.07667689e-05, 6.20346684e-07,-1.21646076e+00,-1.77722198e-03,
 -3.07755473e-04,-1.30277561e-06]


--- Step 908 ---
qpos:
[ 2.84832106e-03,-5.60312161e-03,-1.01948097e-02, 2.80794499e-03,
 -4.45239123e-03,-5.19003768e-03,-1.77561491e-02, 5.21064319e-03,
 -4.72098638e-03,-3.95783480e-03,-7.81666581e-03,-1.91503244e-02,
  1.18004879e+00, 1.87422061e-02, 1.17566949e+00, 2.53960912e-02,
  9.49847700e-02,-6.99037277e-02, 1.30736747e-01, 9.97842008e-01,
 -5.82482802e-04,-1.65175811e-04,-6.56579075e-02]

qacc:
[-1.94867282, 0.02850142,-1.09605849, 5.42493226, 5.24137728,-0.48764993,
  2.4490269 ,-4.99331965,-7.92157779, 0.66422268,-2.24416295, 1.86184901,
 -0.23627915,-0.159797  ,-3.8589535 ,11.79817228,-0.15834872,-1.4545243 ,
  0.15564414,21.40490423, 2.7090789 , 0.6157533 ]

qfrc_actuator:
[ 7.78110913e-06,-3.43784200e-04,-2.04764367e-04, 1.24175266e-05,
 -3.00307305e-05,-4.55145136e-04,-3.44334176e-04,-4.97346607e-05,
 -4.93567302e-05,-3.52242656e-04,-2.40842986e-04,-1.07273821e-04,
  1.87749560e-02,-1.30672137e-03, 1.32755966e-02,-1.86581351e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50028933, -1.13631207, -4.35446885, -1.13631207, 13.06868746,
       -2.23594991, -4.35446885, -2.23594991,  5.08376735,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002874410885938261
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.65609188e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.65609188e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09646741, -0.04644713,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14962776e-05, 1.99317125e-05, 1.86962999e-05, 1.55975883e-05,
  3.09309311e-05, 1.33439523e-05, 9.28406973e-06,-5.93330689e-06,
 -4.65301144e-05,-1.72255904e-05,-2.12019581e-05,-4.07249795e-06,
 -1.12750537e-04,-5.93049392e-05,-6.23044098e-05, 3.89358891e-05,
  7.45522997e-06,-1.38603052e-06,-1.21645211e+00,-1.77554950e-03,
 -3.07126596e-04,-1.12322989e-06]


--- Step 909 ---
qpos:
[ 2.84877552e-03,-5.60248939e-03,-1.01945498e-02, 2.80966804e-03,
 -4.45229625e-03,-5.19028296e-03,-1.77561490e-02, 5.21144405e-03,
 -4.72284071e-03,-3.95792992e-03,-7.81658539e-03,-1.91503545e-02,
  1.18049656e+00, 1.87415638e-02, 1.17610881e+00, 2.53990968e-02,
  9.49937252e-02,-6.99010636e-02, 1.30739072e-01, 9.97837311e-01,
 -6.07311112e-04,-9.13514903e-05,-6.57291683e-02]

qacc:
[-4.25374462, 2.00501325,-7.45445387,11.10897674, 6.23464581,-0.6287388 ,
  0.91342477, 2.97208203,-1.61711773, 0.42082027,-1.40509748, 1.03430569,
 -0.80380659, 0.87710527,-7.98587706,26.35365502,-0.14144053,-1.43854048,
  0.02937482,21.11346504, 2.45624723, 0.48858485]

qfrc_actuator:
[-1.68071168e-05,-3.44119641e-04,-2.34998517e-04, 1.95135791e-05,
  5.79856710e-06,-4.69341893e-04,-3.29257427e-04,-3.73712384e-05,
 -5.75015790e-05,-3.50186677e-04,-2.48987401e-04,-1.08883591e-04,
  1.87255375e-02,-1.28582403e-03, 1.32566762e-02,-1.74520872e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50327966, -1.21971022, -4.33495498, -1.21971022, 17.86254283,
       -3.75884636, -4.33495498, -3.75884636,  5.56089233,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028840197596799455
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.84956802e-13, -1.92478401e-13,  1.00000000e+00,  7.40958698e-26,
        1.00000000e+00,  1.92478401e-13, -1.00000000e+00,  0.00000000e+00,
        3.84956802e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09646987, -0.04644783,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.49136004e-05, 1.53067348e-05,-2.32918070e-05, 8.89488832e-06,
  3.67205518e-05,-5.05389761e-06, 1.87740885e-05, 1.31394405e-05,
 -9.47852946e-06,-1.21530225e-05,-1.44569886e-05,-3.15924327e-06,
 -1.24401227e-04,-2.08771532e-05,-5.03945650e-05, 1.13156599e-04,
  4.31291756e-06,-2.64030522e-06,-1.21644648e+00,-1.77452035e-03,
 -3.06682787e-04,-8.18229168e-07]


--- Step 910 ---
qpos:
[ 2.84893173e-03,-5.60181016e-03,-1.01948248e-02, 2.81079955e-03,
 -4.45211698e-03,-5.19086741e-03,-1.77555567e-02, 5.21239598e-03,
 -4.72443389e-03,-3.95793536e-03,-7.81672717e-03,-1.91497293e-02,
  1.18094324e+00, 1.87418575e-02, 1.17654754e+00, 2.54034844e-02,
  9.50006464e-02,-6.99038919e-02, 1.30741150e-01, 9.97832747e-01,
 -5.90046297e-04,-2.73081838e-05,-6.57986265e-02]

qacc:
[ -2.62673432,  0.34403245,  1.36923009,-10.79523553,  0.75943062,
  -1.7932657 ,  5.10384784, -3.18502779,  2.27800705,  2.08534636,
 -10.03252602, 21.6615064 , -1.37213097,  2.02342035, -4.9166016 ,
  16.28634564, -0.50848434, -1.37309247, -0.06181875, 21.32261742,
  -3.49709866,  0.898883  ]

qfrc_actuator:
[-3.14513442e-05,-3.62460655e-04,-2.70708882e-04,-1.25297216e-05,
  9.07747135e-06,-4.95434293e-04,-3.02663389e-04,-3.04229537e-05,
 -4.37836739e-05,-3.31135619e-04,-2.53785528e-04,-7.43072030e-05,
  1.86958015e-02,-1.21993976e-03, 1.32348784e-02,-1.67540399e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50026894,  2.92986021, -3.41589515,  2.92986021, 16.25865633,
       10.08533043, -3.41589515, 10.08533043, 13.15059542,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002874345205914992
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.51930169e-07,  2.51930297e-07,  1.00000000e+00, -6.34688422e-14,
        1.00000000e+00, -2.51930297e-07, -1.00000000e+00,  0.00000000e+00,
        2.51930169e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10127526, -0.04686344,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.53529734e-05,-1.42513533e-05,-3.51235369e-05,-3.20251963e-05,
  4.32853910e-06,-2.44578709e-05, 2.83172172e-05, 7.63442535e-06,
  1.34434574e-05, 9.12725581e-06,-9.19938869e-06, 3.34943605e-05,
 -1.01246008e-04, 3.14182183e-05,-4.03534620e-05, 6.78434356e-05,
  1.30610154e-06,-3.19009621e-06,-1.21644372e+00,-1.77412852e-03,
 -3.06391219e-04,-4.07956816e-07]


--- Step 911 ---
qpos:
[ 2.84925583e-03,-5.60113881e-03,-1.01952343e-02, 2.81117266e-03,
 -4.45258939e-03,-5.19146806e-03,-1.77549989e-02, 5.21308060e-03,
 -4.72481582e-03,-3.95756959e-03,-7.81733552e-03,-1.91490598e-02,
  1.18138933e+00, 1.87423035e-02, 1.17698602e+00, 2.54059758e-02,
  9.50055316e-02,-6.99121754e-02, 1.30742602e-01, 9.97828308e-01,
 -5.31205952e-04, 2.63458266e-05,-6.58664213e-02]

qacc:
[  1.46398431, -1.19936486,  7.45754643,-20.35654172, -5.68402023,
  -0.46396049,  2.77099812, -7.35131926, 10.58259906,  1.86527238,
  -6.15996982,  7.43386106, -0.69821419,  0.81335803,  5.45805428,
 -19.43377315, -0.50902069, -1.36381809, -0.15621985, 21.08457247,
  -3.81607264,  0.83031234]

qfrc_actuator:
[-2.23687913e-05,-3.56012532e-04,-2.73951516e-04,-4.96060220e-05,
 -2.45827301e-05,-4.92899818e-04,-3.05051946e-04,-4.44780378e-05,
  1.81855480e-05,-3.02003990e-04,-2.74227006e-04,-7.19573489e-05,
  1.86725903e-02,-1.21659349e-03, 1.32113635e-02,-1.77812645e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.49332893,  -2.54503841,  -3.70307769,  -2.54503841,
        23.10792391, -12.79337437,  -3.70307769, -12.79337437,
        13.28591495,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002851874154911893
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.73239845e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.73239845e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10146118, -0.04687941,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.63943845e-06,-1.01782315e-05,-1.16276601e-05,-3.95284564e-05,
 -3.35461058e-05,-4.95259123e-06,-3.69013860e-06,-1.39767583e-05,
  6.23552604e-05, 3.37699833e-05,-1.85323097e-05, 3.07264861e-06,
 -7.00352028e-05,-1.15731436e-05,-4.33291592e-05,-1.06112115e-04,
 -1.47292566e-06,-2.41902535e-06,-1.21644263e+00,-1.77420700e-03,
 -3.06032371e-04, 1.07863869e-07]


--- Step 912 ---
qpos:
[ 2.84934104e-03,-5.60025993e-03,-1.01961147e-02, 2.81143904e-03,
 -4.45380656e-03,-5.19185190e-03,-1.77548851e-02, 5.21393530e-03,
 -4.72410698e-03,-3.95689236e-03,-7.81820045e-03,-1.91483744e-02,
  1.18183451e+00, 1.87434364e-02, 1.17742378e+00, 2.54056124e-02,
  9.50084256e-02,-6.99258911e-02, 1.30743116e-01, 9.97823977e-01,
 -4.31208591e-04, 6.94858152e-05,-6.59326945e-02]

qacc:
[ -2.10791304,  1.3747945 , -4.04626771,  2.79181244, -6.51243146,
   1.88951411, -7.0179851 , 10.48942966,  9.53561968,  1.14310992,
  -3.57744337,  4.06795462, -1.37457982,  1.9242606 ,  7.72292016,
 -28.20518193, -0.49780013, -1.3580397 , -0.23483753, 20.88008721,
  -3.89056711,  0.76047095]

qfrc_actuator:
[-3.49022563e-05,-3.34654836e-04,-2.93405229e-04,-5.37933711e-05,
 -6.19515216e-05,-4.73376513e-04,-3.24440058e-04,-3.52719077e-05,
  7.25457428e-05,-2.84894046e-04,-2.85968609e-04,-7.08417492e-05,
  1.86213324e-02,-1.17935025e-03, 1.31548533e-02,-1.92838201e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.48209985,  -2.8629895 ,  -3.44855189,  -2.8629895 ,
        26.16222719, -17.99885254,  -3.44855189, -17.99885254,
        19.4247562 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002814999552105124
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.97197727e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.97197727e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10146274, -0.04687878,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.22897625e-05, 1.15521975e-05,-2.43607322e-05,-5.79700861e-06,
 -3.83314874e-05, 1.53948703e-05,-2.13489990e-05, 8.59415330e-06,
  5.61540221e-05, 3.23107319e-05,-6.94438254e-06, 1.97682140e-06,
 -9.24844880e-05, 1.85164719e-05,-9.68042101e-05,-1.63684009e-04,
 -3.91260320e-06,-1.04641226e-06,-1.21644435e+00,-1.77492853e-03,
 -3.05645109e-04, 5.02082304e-07]


--- Step 913 ---
qpos:
[ 2.84927553e-03,-5.59935179e-03,-1.01971710e-02, 2.81130998e-03,
 -4.45511726e-03,-5.19252231e-03,-1.77548074e-02, 5.21493033e-03,
 -4.72344114e-03,-3.95620966e-03,-7.81880296e-03,-1.91476777e-02,
  1.18227877e+00, 1.87455401e-02, 1.17786033e+00, 2.54021434e-02,
  9.50093642e-02,-6.99450204e-02, 1.30742428e-01, 9.97819737e-01,
 -2.90385713e-04, 1.02017513e-04,-6.59975566e-02]

qacc:
[-1.32480867e+00,-2.81598189e-01, 2.73375915e+00,-9.32241569e+00,
 -8.11880130e-01, 1.27897719e-02,-1.18474324e+00, 3.87896261e+00,
 -3.68250020e-01,-7.02240293e-01, 2.46732152e+00,-2.69521492e+00,
 -1.56230545e+00, 2.34688972e+00, 7.80894277e+00,-2.94576728e+01,
 -4.88837457e-01,-1.35340915e+00,-3.00431014e-01, 2.07180274e+01,
 -3.94704286e+00, 7.06180461e-01]

qfrc_actuator:
[-4.23130974e-05,-3.40068925e-04,-3.04442731e-04,-7.41009224e-05,
 -6.56864349e-05,-5.14896982e-04,-3.35852077e-04,-3.01921656e-05,
  6.87185934e-05,-2.92838477e-04,-2.74761023e-04,-7.04561216e-05,
  1.85852523e-02,-1.12236435e-03, 1.30839244e-02,-2.08768755e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027671095001788326
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.01221211e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.01221211e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10146417, -0.04687765,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.75877163e-06,-4.26104020e-06,-1.18526898e-05,-2.07684698e-05,
 -4.82792378e-06,-3.69557966e-05,-1.05619638e-05, 5.16808219e-06,
 -2.21061833e-06, 8.77980466e-06, 1.70933794e-05, 1.56425987e-06,
 -8.32123900e-05, 4.15670689e-05,-1.40337947e-04,-1.82350916e-04,
 -6.03719261e-06, 8.86118016e-07,-1.21644884e+00,-1.77629349e-03,
 -3.05215970e-04, 7.70872379e-07]


--- Step 914 ---
qpos:
[ 2.84946650e-03,-5.59855087e-03,-1.01980289e-02, 2.81093019e-03,
 -4.45577336e-03,-5.19327404e-03,-1.77546202e-02, 5.21525159e-03,
 -4.72351534e-03,-3.95583946e-03,-7.81907242e-03,-1.91472906e-02,
  1.18272268e+00, 1.87472701e-02, 1.17829545e+00, 2.53980313e-02,
  9.50083759e-02,-6.99695490e-02, 1.30740319e-01, 9.97815567e-01,
 -1.08995159e-04, 1.23869243e-04,-6.60610931e-02]

qacc:
[  2.25161535, -1.21728195,  5.18537455, -9.75483853,  5.71309373,
  -1.81160641,  9.12888198,-20.88529972, -6.46293949, -1.96942821,
   7.74903986,-13.42864907,  0.04283651, -0.40692004, -0.18137756,
  -2.47176638, -0.48171338, -1.34983214, -0.35506874, 20.59198288,
  -3.98985336,  0.66410854]

qfrc_actuator:
[-2.88903200e-05,-3.43698183e-04,-2.92784544e-04,-8.59965665e-05,
 -3.18417144e-05,-5.03863892e-04,-3.24956046e-04,-6.31317895e-05,
  3.06764999e-05,-3.33386759e-04,-2.67952910e-04,-8.82628686e-05,
  1.85583121e-02,-1.16060734e-03, 1.30416936e-02,-2.10900945e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027109438350193804
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02383440e-13,  4.09533761e-13,  1.00000000e+00, -4.19294754e-26,
        1.00000000e+00, -4.09533761e-13, -1.00000000e+00,  0.00000000e+00,
        1.02383440e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10146549, -0.04687613,  0.06199162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31991112e-05,-9.37290983e-06, 8.60182606e-06,-1.28916311e-05,
  3.36936301e-05,-1.15729339e-05, 2.14557042e-06,-3.47886198e-05,
 -3.81012305e-05,-3.20590449e-05, 1.07791833e-05,-1.68103949e-05,
 -6.45672622e-05,-4.48467667e-05,-1.31537502e-04,-5.04860372e-05,
 -7.86450525e-06, 3.36933791e-06,-1.21645605e+00,-1.77829663e-03,
 -3.04733919e-04, 9.14553735e-07]


--- Step 915 ---
qpos:
[ 2.85016167e-03,-5.59776719e-03,-1.01990752e-02, 2.81077132e-03,
 -4.45567417e-03,-5.19377071e-03,-1.77541858e-02, 5.21477660e-03,
 -4.72438982e-03,-3.95570632e-03,-7.81948512e-03,-1.91477863e-02,
  1.18316583e+00, 1.87490033e-02, 1.17872885e+00, 2.53963098e-02,
  9.50054833e-02,-6.99994665e-02, 1.30736608e-01, 9.97811440e-01,
  1.12767820e-04, 1.34985855e-04,-6.61233704e-02]

qacc:
[  4.40482414,  0.95041437, -4.36917299,  8.52258935,  6.5896107 ,
  -2.00559457, 10.97968546,-25.32025184, -7.00683729, -1.71770984,
   9.41398271,-24.30049348, -0.2973756 ,  0.13757164, -9.77672639,
  30.53757012, -0.47608975, -1.3472139 , -0.40052   , 20.49662828,
  -4.02238205,  0.63161858]

qfrc_actuator:
[-3.31431314e-06,-3.46131781e-04,-3.03318238e-04,-7.50789723e-05,
  6.08742485e-06,-4.61389295e-04,-3.00806406e-04,-1.00372437e-04,
 -9.42768157e-06,-3.57676308e-04,-2.81712733e-04,-1.34421183e-04,
  1.85048826e-02,-1.16626823e-03, 1.29847904e-02,-1.97775079e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026487574335035124
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.19148621e-13,  1.04787155e-13,  1.00000000e+00, -4.39213915e-26,
        1.00000000e+00, -1.04787155e-13, -1.00000000e+00,  0.00000000e+00,
        4.19148621e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10146672, -0.04687433,  0.06199182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.59485789e-05,-6.46465951e-06,-1.18555270e-05, 1.05631214e-05,
  3.88923914e-05, 3.49918928e-05, 2.08242208e-05,-3.83402124e-05,
 -4.12022363e-05,-4.07349867e-05,-1.96360030e-05,-4.74851247e-05,
 -1.01074054e-04,-3.13966905e-05,-1.26111065e-04, 1.10854777e-04,
 -9.40732343e-06, 6.39911851e-06,-1.21646596e+00,-1.78093383e-03,
 -3.04190846e-04, 9.33697575e-07]


--- Step 916 ---
qpos:
[ 2.85115808e-03,-5.59707804e-03,-1.01999156e-02, 2.81038171e-03,
 -4.45546563e-03,-5.19407886e-03,-1.77534645e-02, 5.21386402e-03,
 -4.72539372e-03,-3.95568842e-03,-7.82013010e-03,-1.91488404e-02,
  1.18360840e+00, 1.87501612e-02, 1.17916109e+00, 2.53944293e-02,
  9.49994857e-02,-7.00220708e-02, 1.30734451e-01, 9.97807232e-01,
  2.84552186e-04, 1.11426569e-04,-6.61863539e-02]

qacc:
[ 2.64308873e+00,-1.18072410e+00, 4.99369602e+00,-9.23705875e+00,
  9.59168550e-01,-1.45493396e+00, 7.39362512e+00,-1.55618181e+01,
 -1.13857570e+00,-6.51016902e-01, 4.45740796e+00,-1.36605247e+01,
  2.16568202e-02,-5.82155404e-01,-1.25612856e+00, 1.85108078e+00,
 -7.76247719e-01, 1.82829016e+00, 3.88301676e-01,-2.37881207e+01,
 -1.89524152e+01,-3.56405974e-01]

qfrc_actuator:
[ 1.14507157e-05,-3.47895061e-04,-2.91354210e-04,-8.63500502e-05,
  1.05994272e-05,-4.53611529e-04,-2.86638705e-04,-1.22049084e-04,
 -1.49075962e-05,-3.54408434e-04,-2.89717590e-04,-1.61388221e-04,
  1.84675647e-02,-1.20586523e-03, 1.29298133e-02,-1.98850455e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45277041,  0.25234049, -4.44561454,  0.25234049, 39.22971884,
        1.97399751, -4.44561454,  1.97399751,  4.5648178 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002715495431356296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.74941541e-14, -4.08847318e-13,  1.00000000e+00,  2.35063307e-26,
        1.00000000e+00,  4.08847318e-13, -1.00000000e+00,  0.00000000e+00,
        5.74941541e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10532099, -0.09472734,  0.06199161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55030551e-05,-7.38352501e-06, 9.53559076e-06,-1.17529896e-05,
  5.63993571e-06, 3.00310994e-05, 2.26338799e-05,-2.02034216e-05,
 -6.66812482e-06,-2.56161960e-05,-2.04745857e-05,-3.03121756e-05,
 -1.00334958e-04,-7.07339758e-05,-1.03961961e-04,-2.15085453e-05,
 -1.06744795e-05, 9.97563697e-06,-1.21647852e+00,-1.78420189e-03,
 -3.03580800e-04, 8.28921008e-07]


--- Step 917 ---
qpos:
[ 2.85197916e-03,-5.59674853e-03,-1.01999227e-02, 2.80985046e-03,
 -4.45554922e-03,-5.19399241e-03,-1.77529386e-02, 5.21270568e-03,
 -4.72576619e-03,-3.95570510e-03,-7.82070817e-03,-1.91495506e-02,
  1.18405059e+00, 1.87500632e-02, 1.17959212e+00, 2.53917474e-02,
  9.49903472e-02,-7.00375215e-02, 1.30733049e-01, 9.97802936e-01,
  4.07311429e-04, 5.46011112e-05,-6.62505272e-02]

qacc:
[ -1.50148423, -3.09305927, 10.94167928,-14.46627512, -2.56068668,
   0.56615962, -0.21611797, -4.02410358,  5.53056634,  0.46487442,
  -3.19182058,  9.07680885,  0.60098316, -1.70493975,  0.54985679,
  -4.73963464, -0.78522018,  1.78840954,  0.18873782,-23.35784885,
 -18.2191754 , -0.59457493]

qfrc_actuator:
[ 1.97778702e-06,-3.66924608e-04,-2.48457879e-04,-9.28184055e-05,
 -4.59503605e-06,-4.31182100e-04,-2.96351326e-04,-1.34427479e-04,
  1.77889285e-05,-3.34633088e-04,-2.76370518e-04,-1.41306555e-04,
  1.84345981e-02,-1.28299927e-03, 1.28706775e-02,-2.02961438e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48185286,  0.19633873, -4.47755024,  0.19633873, 31.75016993,
        1.19570443, -4.47755024,  1.19570443,  4.534284  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028141811381465764
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.54779899e-14, -1.97255075e-13,  1.00000000e+00,  1.09433151e-26,
        1.00000000e+00,  1.97255075e-13, -1.00000000e+00,  0.00000000e+00,
        5.54779899e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10531508, -0.0947239 ,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.03356432e-06,-2.17043600e-05, 4.21400467e-05,-6.68313695e-06,
 -1.50223705e-05, 4.30387299e-05,-1.42376017e-06,-1.07007810e-05,
  3.24984306e-05,-7.23694792e-08, 4.49468650e-06, 1.76898994e-05,
 -1.04996790e-04,-1.18663928e-04,-1.14109167e-04,-5.67328164e-05,
 -7.29316854e-06, 7.73473999e-06,-1.21646388e+00,-1.78637939e-03,
 -3.04636449e-04,-9.03554727e-07]


--- Step 918 ---
qpos:
[ 2.85268028e-03,-5.59644069e-03,-1.01998115e-02, 2.80959709e-03,
 -4.45581406e-03,-5.19370332e-03,-1.77527800e-02, 5.21213565e-03,
 -4.72643389e-03,-3.95570975e-03,-7.82086330e-03,-1.91503917e-02,
  1.18449191e+00, 1.87493897e-02, 1.18002175e+00, 2.53905448e-02,
  9.49780418e-02,-7.00459512e-02, 1.30731728e-01, 9.97798537e-01,
  4.81844462e-04,-3.43568422e-05,-6.63162621e-02]

qacc:
[-1.04520861e+00, 2.14672518e-01,-1.97635534e+00, 6.60805797e+00,
 -1.59507745e+00, 2.50786544e+00,-1.10321642e+01, 2.16477991e+01,
 -2.57142250e+00,-1.43107320e+00, 5.68520744e+00,-8.64175519e+00,
 -7.10306531e-02,-5.59623814e-01,-6.57482791e+00, 1.99429161e+01,
 -7.91739131e-01, 1.75525582e+00, 2.04600709e-02,-2.29956667e+01,
 -1.76287702e+01,-7.77201947e-01]

qfrc_actuator:
[-3.92920731e-06,-3.60505724e-04,-2.40969811e-04,-7.86493084e-05,
 -1.35029881e-05,-4.35748407e-04,-3.20024670e-04,-1.05738461e-04,
  1.67171385e-06,-3.22740456e-04,-2.50418558e-04,-1.46932451e-04,
  1.83829426e-02,-1.31073435e-03, 1.28250697e-02,-1.94621097e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50006242, -0.0894696 ,  4.49917292, -0.0894696 ,  9.9895545 ,
        0.10916288,  4.49917292,  0.10916288,  4.50223321,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002873679969984666
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02622071e-13, -3.86341916e-13,  1.00000000e+00,  3.96472076e-26,
        1.00000000e+00,  3.86341916e-13, -1.00000000e+00,  0.00000000e+00,
        1.02622071e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10531072, -0.09472194,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.17511113e-06, 2.68335117e-06, 7.96112273e-06, 1.45679350e-05,
 -9.32309346e-06, 1.87361627e-05,-1.53334923e-05, 3.02773144e-05,
 -1.51908442e-05, 1.35571935e-05, 2.71094818e-05,-5.12757696e-06,
 -1.37830564e-04,-8.31387474e-05,-1.08418732e-04, 6.46782673e-05,
 -4.58319868e-06, 6.56258067e-06,-1.21645507e+00,-1.78783945e-03,
 -3.05123517e-04,-1.61062747e-06]


--- Step 919 ---
qpos:
[ 2.85330485e-03,-5.59587121e-03,-1.02000097e-02, 2.80950858e-03,
 -4.45652826e-03,-5.19373597e-03,-1.77524046e-02, 5.21228671e-03,
 -4.72797928e-03,-3.95539401e-03,-7.82111072e-03,-1.91512979e-02,
  1.18493208e+00, 1.87488717e-02, 1.18045073e+00, 2.53885590e-02,
  9.49625503e-02,-7.00474697e-02, 1.30729922e-01, 9.97794018e-01,
  5.08817412e-04,-1.54538546e-04,-6.63838416e-02]

qacc:
[ -0.68356027,  1.55170506, -5.72451357,  8.87763975, -3.9061652 ,
   0.46144029, -5.29317253, 17.64926905, -7.69207163,  0.562359  ,
  -1.09015633, -0.15224873, -1.02864989,  1.05714042,  1.50736982,
  -6.42846563, -0.79652021,  1.72780203, -0.12132472,-22.69237166,
 -17.15495626, -0.91592989]

qfrc_actuator:
[-7.68186503e-06,-3.39011894e-04,-2.54345176e-04,-7.02132253e-05,
 -3.63857177e-05,-4.74230677e-04,-3.16319148e-04,-7.08973924e-05,
 -4.30596717e-05,-2.97857605e-04,-2.52791730e-04,-1.49892983e-04,
  1.83361091e-02,-1.29125547e-03, 1.28036170e-02,-1.98533858e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50872769e+00,  2.98437182e-03,  4.50872670e+00,  2.98437182e-03,
        1.43386826e+01, -6.50654662e-03,  4.50872670e+00, -6.50654662e-03,
        4.50873199e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00])
  dim: 3
  dist: -0.0002901414613611236
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49472215e-13, -1.91324435e-13,  1.00000000e+00,  2.85976871e-26,
        1.00000000e+00,  1.91324435e-13, -1.00000000e+00,  0.00000000e+00,
        1.49472215e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1053076 , -0.0947212 ,  0.06199104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.93017951e-06, 2.52467269e-05,-1.13411931e-05, 9.10983071e-06,
 -2.31441084e-05,-2.98893352e-05, 6.73072421e-06, 3.57031528e-05,
 -4.51616972e-05, 3.78400858e-05, 3.59210750e-06,-1.53908977e-06,
 -1.41326540e-04,-3.44192797e-05,-6.87240208e-05,-5.04697373e-05,
 -2.41782689e-06, 6.43324119e-06,-1.21645165e+00,-1.78858241e-03,
 -3.05096225e-04,-1.37345955e-06]


--- Step 920 ---
qpos:
[ 2.85456956e-03,-5.59531428e-03,-1.02005421e-02, 2.80955919e-03,
 -4.45785627e-03,-5.19391315e-03,-1.77519783e-02, 5.21215256e-03,
 -4.72935935e-03,-3.95434171e-03,-7.82216876e-03,-1.91518911e-02,
  1.18537114e+00, 1.87487631e-02, 1.18087876e+00, 2.53848164e-02,
  9.49438583e-02,-7.00421674e-02, 1.30727153e-01, 9.97789358e-01,
  4.88782062e-04,-3.05219091e-04,-6.64534788e-02]

qacc:
[  5.58929203,  1.19314451, -4.88440046,  7.85619673, -5.34906231,
  -0.90970495,  4.18880087, -9.120083  ,  1.40937604,  3.88166079,
 -13.75009905, 19.9188436 , -1.2326017 ,  1.49353109,  4.0369077 ,
 -15.85811896, -0.80010388,  1.70518187, -0.24069016,-22.44010873,
 -16.77661095, -1.01988881]

qfrc_actuator:
[ 2.53678941e-05,-3.62005642e-04,-2.79858048e-04,-6.52150878e-05,
 -6.73126859e-05,-4.79361299e-04,-3.14376064e-04,-8.59911011e-05,
 -3.32484612e-05,-2.47741168e-04,-2.89566557e-04,-1.33515110e-04,
  1.82922246e-02,-1.26170162e-03, 1.27433827e-02,-2.07856149e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50941606,  0.11818894,  4.50786696,  0.11818894, 19.99715264,
       -0.40606327,  4.50786696, -0.40606327,  4.52006238,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002903602379542569
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.97438371e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.97438371e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10530545, -0.09472142,  0.06199103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.29447347e-05,-1.08494673e-05,-2.13843003e-05, 5.86414929e-06,
 -3.16026517e-05,-1.89362609e-05,-2.16920857e-06,-1.54466194e-05,
  8.53516215e-06, 7.19252430e-05,-2.85685958e-05, 1.80961477e-05,
 -1.28324208e-04,-1.21904401e-05,-1.05260135e-04,-1.06592026e-04,
 -7.03319161e-07, 7.32090344e-06,-1.21645334e+00,-1.78861020e-03,
 -3.04594720e-04,-2.53131249e-07]


--- Step 921 ---
qpos:
[ 2.85622059e-03,-5.59489199e-03,-1.02013188e-02, 2.80967950e-03,
 -4.45954520e-03,-5.19385166e-03,-1.77516725e-02, 5.21111037e-03,
 -4.72992145e-03,-3.95288254e-03,-7.82361326e-03,-1.91515798e-02,
  1.18580919e+00, 1.87489834e-02, 1.18130547e+00, 2.53790021e-02,
  9.49219548e-02,-7.00301185e-02, 1.30723020e-01, 9.97784529e-01,
  4.22191496e-04,-4.85824283e-04,-6.65253310e-02]

qacc:
[  3.37412756,  0.6416097 , -2.8514037 ,  4.55938535, -3.15578112,
  -1.2111887 ,  8.62038495,-24.3309323 ,  7.1422163 ,  3.4672611 ,
 -15.41716442, 31.39870257, -1.09643131,  1.2977409 ,  4.44750584,
 -18.09740439, -0.8028949 ,  1.68666263, -0.34110872,-22.23214768,
 -16.47669236, -1.09623436]

qfrc_actuator:
[ 4.43077924e-05,-3.76017123e-04,-2.94752269e-04,-6.23199252e-05,
 -8.49693707e-05,-4.46776819e-04,-3.13411230e-04,-1.30327799e-04,
  8.59636765e-06,-2.36286790e-04,-3.10721857e-04,-8.81336801e-05,
  1.82448220e-02,-1.24417150e-03, 1.26705817e-02,-2.18520200e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50372232,  0.25910165,  4.49626301,  0.25910165, 27.23159006,
       -1.30971608,  4.49626301, -1.30971608,  4.57919602,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028854384507866204
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.20839486e-14, -3.84767530e-13,  1.00000000e+00, -1.61925369e-26,
        1.00000000e+00,  3.84767530e-13, -1.00000000e+00,  0.00000000e+00,
       -4.20839486e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10530408, -0.09472241,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.98770769e-05,-2.42509265e-05,-1.95693669e-05, 1.80267966e-06,
 -1.85685477e-05, 2.08762970e-05,-3.74952482e-06,-4.55226822e-05,
  4.21162082e-05, 4.65231086e-05,-9.19248165e-06, 4.78262609e-05,
 -1.20579268e-04,-1.47065373e-05,-1.39171733e-04,-1.27436439e-04,
  6.29811052e-07, 9.20078169e-06,-1.21645989e+00,-1.78792558e-03,
 -3.03648556e-04, 1.70478834e-06]


--- Step 922 ---
qpos:
[ 2.85739619e-03,-5.59447702e-03,-1.02023389e-02, 2.80981716e-03,
 -4.46074311e-03,-5.19368667e-03,-1.77513434e-02, 5.20955204e-03,
 -4.73032193e-03,-3.95164213e-03,-7.82503394e-03,-1.91503292e-02,
  1.18624601e+00, 1.87504360e-02, 1.18173092e+00, 2.53725188e-02,
  9.48968305e-02,-7.00113831e-02, 1.30717185e-01, 9.97779497e-01,
  3.09413438e-04,-6.95903893e-04,-6.65995109e-02]

qacc:
[ -4.16639604,  0.71480389, -2.62183188,  3.30164587,  4.28073356,
  -0.99930592,  5.92615348,-14.95727685,  1.41984031,  1.57657607,
 -10.00409724, 26.37406548, -1.79198368,  2.702251  ,  0.36809316,
  -3.49478099, -0.80519345,  1.67162342, -0.42554645,-22.06270747,
 -16.24141981, -1.15057113]

qfrc_actuator:
[ 1.92742518e-05,-3.66759515e-04,-3.03231604e-04,-6.06727661e-05,
 -5.91660003e-05,-4.45146566e-04,-3.12882336e-04,-1.55968115e-04,
  1.56846864e-05,-2.83499848e-04,-3.22605372e-04,-4.38193696e-05,
  1.82059911e-02,-1.16292835e-03, 1.26329136e-02,-2.21011227e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49313764,  0.428635  ,  4.47264551,  0.428635  , 36.30031817,
       -3.04823416,  4.47264551, -3.04823416,  4.78526449,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028512513872303025
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03429320e-13, -3.89380968e-13,  1.00000000e+00,  4.02734086e-26,
        1.00000000e+00,  3.89380968e-13, -1.00000000e+00,  0.00000000e+00,
        1.03429320e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10530332, -0.09472402,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.44737636e-05,-8.27330193e-06,-1.58352387e-05,-3.46197951e-08,
  2.52803769e-05, 1.05692973e-05, 2.80233822e-06,-2.57593837e-05,
  8.30890324e-06,-2.10717776e-05,-1.75507116e-06, 4.69172241e-05,
 -1.09214150e-04, 5.04983094e-05,-1.20064927e-04,-5.07905887e-05,
  1.63324284e-06, 1.20494461e-05,-1.21647114e+00,-1.78653156e-03,
 -3.02279269e-04, 4.46677426e-06]


--- Step 923 ---
qpos:
[ 2.85791786e-03,-5.59412358e-03,-1.02031810e-02, 2.80995075e-03,
 -4.46162229e-03,-5.19373202e-03,-1.77511877e-02, 5.20844371e-03,
 -4.73063368e-03,-3.95092625e-03,-7.82606950e-03,-1.91492325e-02,
  1.18668191e+00, 1.87528007e-02, 1.18215501e+00, 2.53686828e-02,
  9.48759660e-02,-6.99933158e-02, 1.30714709e-01, 9.97774515e-01,
  1.94325307e-04,-8.70496755e-04,-6.66725017e-02]

qacc:
[-5.71358569,-0.5763542 , 1.97348916,-2.30425228, 2.7779777 , 1.12728539,
 -6.33204816,14.562767  , 0.7977977 ,-2.08857177, 7.08635713,-9.97377441,
 -1.06194881, 1.65288023,-9.93178278,32.07929574, 1.06493533,-0.1670324 ,
  0.83983316,-2.33376608,17.62725174, 0.59016535]

qfrc_actuator:
[-1.36834786e-05,-3.61366547e-04,-2.90012399e-04,-5.97499427e-05,
 -4.34994269e-05,-4.79801776e-04,-3.30463268e-04,-1.34914029e-04,
  2.00008998e-05,-3.29945218e-04,-3.11428859e-04,-5.37999003e-05,
  1.81723590e-02,-1.11550285e-03, 1.26057158e-02,-2.06229007e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50392177, -2.83814706,  3.49717495, -2.83814706, 20.72807702,
       13.1667815 ,  3.49717495, 13.1667815 , 15.18947874,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002886077379139068
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92341174e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.92341174e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187671, -0.06792906,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.36597538e-05,-2.52152444e-06, 9.56514822e-06, 2.15453051e-08,
  1.63959592e-05,-2.92673199e-05,-1.59474271e-05, 2.11038658e-05,
  4.54698451e-06,-5.66113073e-05, 8.22997230e-06,-1.00329854e-05,
 -8.18951225e-05, 3.66865650e-05,-9.32812555e-05, 1.28450758e-04,
  2.34559677e-06, 1.58447861e-05,-1.21648696e+00,-1.78443114e-03,
 -3.00502289e-04, 8.00870273e-06]


--- Step 924 ---
qpos:
[ 2.85769526e-03,-5.59383263e-03,-1.02035604e-02, 2.80972890e-03,
 -4.46230653e-03,-5.19407628e-03,-1.77512013e-02, 5.20795339e-03,
 -4.73054649e-03,-3.95044457e-03,-7.82675405e-03,-1.91486440e-02,
  1.18711761e+00, 1.87541885e-02, 1.18257824e+00, 2.53662127e-02,
  9.48586275e-02,-6.99789800e-02, 1.30714862e-01, 9.97769533e-01,
  1.00763118e-04,-1.01181197e-03,-6.67452276e-02]

qacc:
[ -6.49505693, -2.09502096,  8.87229998,-15.74123909,  1.70018241,
   1.34703651, -7.99115091, 19.18485664,  3.50713381, -2.3443282 ,
  10.03838257,-19.19884186,  0.69748845, -1.58576527, -5.50159532,
  17.16768976,  0.88151637, -0.93287314,  0.65713981,  9.62978158,
  17.31941447,  0.11957697]

qfrc_actuator:
[-5.10270581e-05,-3.58235226e-04,-2.64098291e-04,-7.69998783e-05,
 -3.39390471e-05,-5.00450555e-04,-3.40970116e-04,-1.04355607e-04,
  4.04147161e-05,-3.22278812e-04,-2.86787172e-04,-7.78871413e-05,
  1.81418632e-02,-1.19505651e-03, 1.25795299e-02,-1.99140332e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5331717 ,  3.34080539,  3.06409286,  3.34080539, 11.22957388,
       -7.30114181,  3.06409286, -7.30114181, 12.49366607,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029777566600339145
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.72838734e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.72838734e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08374208, -0.05656398,  0.0619908 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.83071474e-05, 3.68131027e-06, 2.65784347e-05,-1.70244763e-05,
  1.00199727e-05,-3.93965580e-05,-1.77856101e-05, 2.91648887e-05,
  2.05254203e-05,-2.27358107e-05, 1.36163001e-05,-2.64242175e-05,
 -6.64760205e-05,-8.80806704e-05,-5.98787449e-05, 6.49426941e-05,
  3.14760718e-06, 1.35559606e-05,-1.21647623e+00,-1.78341776e-03,
 -2.97819846e-04, 7.90173312e-06]


--- Step 925 ---
qpos:
[ 2.85702632e-03,-5.59337917e-03,-1.02037113e-02, 2.80928901e-03,
 -4.46252610e-03,-5.19437956e-03,-1.77514941e-02, 5.20779682e-03,
 -4.73021523e-03,-3.95020860e-03,-7.82713638e-03,-1.91483443e-02,
  1.18755306e+00, 1.87544311e-02, 1.18300114e+00, 2.53631921e-02,
  9.48448238e-02,-6.99682554e-02, 1.30716918e-01, 9.97764551e-01,
  2.86176451e-05,-1.12103727e-03,-6.68179922e-02]

qacc:
[ -3.90015505, -0.86526196,  4.33019617, -8.60262836,  4.04302091,
   1.51327118, -6.74002833, 12.94803688,  2.1502045 , -1.76874011,
   7.04455099,-12.33169197,  0.58120012, -1.56134069,  1.08610242,
  -4.72898197,  0.8836908 , -0.90278749,  0.47592745,  9.61352996,
  16.72389967, -0.03174377]

qfrc_actuator:
[-7.28976083e-05,-3.38682690e-04,-2.48675642e-04,-8.70478332e-05,
 -1.02934545e-05,-4.77017503e-04,-3.47167198e-04,-8.61952409e-05,
  5.23887711e-05,-3.35483752e-04,-2.71938942e-04,-9.22700239e-05,
  1.81185425e-02,-1.26051028e-03, 1.25699312e-02,-2.01971334e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55175774,  2.02821392, -4.07490452,  2.02821392,  9.19192936,
        2.30956594, -4.07490452,  2.30956594,  5.70130462,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030340349945413847
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82961473e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.82961473e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08374619, -0.05656318,  0.06199063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.29649587e-05, 2.63534094e-05, 1.88710359e-05,-9.29954213e-06,
  2.39186026e-05,-1.00398760e-06,-1.55111224e-05, 1.64260585e-05,
  1.25537799e-05,-2.42412652e-05, 1.09154017e-05,-1.54016244e-05,
 -8.04028929e-05,-1.04230856e-04,-3.56364816e-05,-3.36928128e-05,
  3.16311134e-06, 1.06584537e-05,-1.21646412e+00,-1.78266064e-03,
 -2.94919524e-04, 6.76582760e-06]


--- Step 926 ---
qpos:
[ 2.85644510e-03,-5.59298960e-03,-1.02033304e-02, 2.80943063e-03,
 -4.46246051e-03,-5.19472004e-03,-1.77513047e-02, 5.20781550e-03,
 -4.72939795e-03,-3.95015880e-03,-7.82734800e-03,-1.91482178e-02,
  1.18798777e+00, 1.87548717e-02, 1.18342393e+00, 2.53581333e-02,
  9.48345585e-02,-6.99610443e-02, 1.30720269e-01, 9.97759566e-01,
 -2.22159354e-05,-1.19913438e-03,-6.68910335e-02]

qacc:
[  0.78550101, -0.37484475, -1.24314861, 10.50615191,  2.50270819,
  -1.04019145,  2.88963647, -0.59166042,  4.26327802, -1.08856337,
   4.2397135 , -7.35543779, -0.87551661,  1.01493612,  6.12355806,
 -21.40215262,  0.88460585, -0.87836816,  0.32365856,  9.59200884,
  16.24130394, -0.15053366]

qfrc_actuator:
[-6.77319192e-05,-3.44982682e-04,-2.21746133e-04,-5.72645687e-05,
  3.70293132e-06,-4.62860949e-04,-3.15095542e-04,-7.54366389e-05,
  7.70468903e-05,-3.43353688e-04,-2.63058409e-04,-1.00846352e-04,
  1.80995390e-02,-1.22818201e-03, 1.25649431e-02,-2.12392392e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55983637,  1.97774956, -4.10860249,  1.97774956, 12.84750019,
        3.98941573, -4.10860249,  3.98941573,  6.48021324,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003058046258539726
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81524891e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.81524891e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08374907, -0.05656216,  0.06199055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.51696563e-06, 1.19168286e-05, 3.43747015e-05, 3.13858135e-05,
  1.46816768e-05, 1.11182788e-05, 3.05283355e-05, 1.04992018e-05,
  2.50087886e-05,-1.98299112e-05, 4.68603594e-06,-9.53748093e-06,
 -8.71581952e-05,-1.41698532e-05,-3.27339734e-05,-1.12397579e-04,
  2.90081714e-06, 8.10088214e-06,-1.21645470e+00,-1.78216808e-03,
 -2.92545275e-04, 5.87937183e-06]


--- Step 927 ---
qpos:
[ 2.85524048e-03,-5.59291275e-03,-1.02024391e-02, 2.80961644e-03,
 -4.46222754e-03,-5.19489267e-03,-1.77510657e-02, 5.20762073e-03,
 -4.72829139e-03,-3.95024359e-03,-7.82746723e-03,-1.91481964e-02,
  1.18842150e+00, 1.87559674e-02, 1.18384635e+00, 2.53528232e-02,
  9.48278321e-02,-6.99572675e-02, 1.30724404e-01, 9.97754576e-01,
 -5.18343696e-05,-1.24688038e-03,-6.69645379e-02]

qacc:
[-5.43184013,-1.73820599, 5.42977301,-5.27090395, 1.45820042,-0.35923564,
  2.49897545,-6.39104284, 2.53756861,-0.65741895, 2.51978559,-4.37476506,
 -1.22858533, 1.6814963 , 0.33264937,-1.65455052, 0.88474022,-0.85860714,
  0.19598127, 9.56842102,15.85111212,-0.24360007]

qfrc_actuator:
[-9.99579192e-05,-3.84385446e-04,-2.06059917e-04,-5.75527888e-05,
  1.19034213e-05,-4.54208512e-04,-3.13970234e-04,-8.68467335e-05,
  9.12232325e-05,-3.47983856e-04,-2.57747870e-04,-1.05938764e-04,
  1.80512239e-02,-1.19132735e-03, 1.25627121e-02,-2.12994596e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55920566,  1.90682835, -4.14129954,  1.90682835, 17.77428446,
        6.08477767, -4.14129954,  6.08477767,  7.36089302,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003056181214866477
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.08178333e-14,  1.81635667e-13,  1.00000000e+00, -1.64957577e-26,
        1.00000000e+00, -1.81635667e-13, -1.00000000e+00,  0.00000000e+00,
        9.08178333e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08375098, -0.05656096,  0.06199056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.20970870e-05,-2.43091679e-05, 2.34589625e-05, 2.02062585e-06,
  8.62359576e-06, 2.16403317e-05, 7.54695343e-06,-9.67321369e-06,
  1.48838027e-05,-1.51478183e-05, 1.46340530e-06,-5.96600158e-06,
 -9.88740143e-05, 1.32290743e-05,-3.89113222e-05,-1.85309246e-05,
  2.36607740e-06, 5.83485708e-06,-1.21644774e+00,-1.78194992e-03,
 -2.90673517e-04, 5.22485202e-06]


--- Step 928 ---
qpos:
[ 2.85365899e-03,-5.59305798e-03,-1.02015965e-02, 2.80948020e-03,
 -4.46189806e-03,-5.19463341e-03,-1.77515086e-02, 5.20765319e-03,
 -4.72702331e-03,-3.95036487e-03,-7.82786129e-03,-1.91478779e-02,
  1.18885428e+00, 1.87573484e-02, 1.18426808e+00, 2.53471647e-02,
  9.48246436e-02,-6.99568615e-02, 1.30728895e-01, 9.97749576e-01,
 -6.03239543e-05,-1.26490097e-03,-6.70386508e-02]

qacc:
[ -3.29450272, -0.81418641,  3.84768328, -9.192013  ,  0.8131044 ,
   2.94188932,-10.62417481, 15.33438848,  1.40609129,  1.32913304,
  -6.06495395, 11.67107452, -0.92614642,  1.06755069,  0.12919086,
  -1.70299559,  0.88444533, -0.84268326,  0.08918047,  9.54504955,
  15.53678187, -0.31629482]

qfrc_actuator:
[-1.18437628e-04,-4.07870207e-04,-2.15063578e-04,-7.55791945e-05,
  1.66301023e-05,-4.31296066e-04,-3.48925717e-04,-7.57341724e-05,
  9.91128473e-05,-3.50647290e-04,-2.72321910e-04,-9.11871350e-05,
  1.79906965e-02,-1.18779865e-03, 1.25248838e-02,-2.14903692e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.551675  ,  1.81281525, -4.17509834,  1.81281525, 24.36425455,
        8.60256298, -4.17509834,  8.60256298,  8.2868822 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030337876781669215
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.74464582e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.74464582e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08375212, -0.05655963,  0.06199063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.94077618e-05,-3.21672940e-05,-1.10746518e-05,-1.82178845e-05,
  4.98155204e-06, 3.61648511e-05,-2.98914816e-05, 1.21125681e-05,
  8.30918826e-06,-1.10741361e-05,-1.77260264e-05, 1.40373957e-05,
 -1.10508649e-04,-1.55854352e-05,-6.65589171e-05,-2.70708311e-05,
  1.56327791e-06, 3.82400410e-06,-1.21644306e+00,-1.78201321e-03,
 -2.89285728e-04, 4.78849192e-06]


--- Step 929 ---
qpos:
[ 2.85255773e-03,-5.59331537e-03,-1.02009503e-02, 2.80981619e-03,
 -4.46151418e-03,-5.19431221e-03,-1.77519833e-02, 5.20816652e-03,
 -4.72567064e-03,-3.95029680e-03,-7.82826903e-03,-1.91474327e-02,
  1.18928633e+00, 1.87585398e-02, 1.18468839e+00, 2.53423972e-02,
  9.48249909e-02,-6.99597752e-02, 1.30733387e-01, 9.97744560e-01,
 -4.77591340e-05,-1.25369739e-03,-6.71134850e-02]

qacc:
[ 4.19677857e+00, 1.36515001e+00,-7.09000318e+00, 1.56745366e+01,
  4.72581327e-01, 1.15976115e+00,-6.04826029e+00, 1.43783690e+01,
  7.36980269e-01, 5.48155069e-01,-2.12787896e+00, 4.20437559e+00,
 -2.76102054e-01,-3.16944012e-03,-4.79101624e+00, 1.37377398e+01,
  8.83975346e-01,-8.29926266e-01, 7.82508501e-05, 9.52348051e+00,
  1.52849441e+01,-3.72824073e-01]

qfrc_actuator:
[-9.31614794e-05,-4.04017084e-04,-2.20773572e-04,-5.06420463e-05,
  1.92764140e-05,-4.35664075e-04,-3.51560028e-04,-5.14633326e-05,
  1.03242479e-04,-3.16669683e-04,-2.62991189e-04,-8.26417666e-05,
  1.79495027e-02,-1.20415759e-03, 1.24497612e-02,-2.10476122e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53892235,  1.69242355, -4.21159336,  1.69242355, 33.11229813,
       11.48217546, -4.21159336, 11.48217546,  9.15302026,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002995327450480145
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.26629094e-14,  1.85325819e-13,  1.00000000e+00, -1.71728296e-26,
        1.00000000e+00, -1.85325819e-13, -1.00000000e+00,  0.00000000e+00,
        9.26629094e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08375266, -0.05655818,  0.06199075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47110752e-05,-1.72090786e-05,-1.43543656e-05, 2.28209496e-05,
  2.80244467e-06, 1.01975355e-05, 1.57424487e-06, 2.50217718e-05,
  4.36247142e-06, 2.47401836e-05, 5.35220642e-06, 7.73146838e-06,
 -1.04672436e-04,-4.57974764e-05,-1.16020982e-04, 3.26100945e-05,
  4.95770626e-07, 2.04103231e-06,-1.21644054e+00,-1.78236299e-03,
 -2.88367390e-04, 4.55959146e-06]


--- Step 930 ---
qpos:
[ 2.85142284e-03,-5.59363140e-03,-1.02004181e-02, 2.81043530e-03,
 -4.46110149e-03,-5.19397335e-03,-1.77524548e-02, 5.20896999e-03,
 -4.72462389e-03,-3.95010105e-03,-7.82798582e-03,-1.91472759e-02,
  1.18971750e+00, 1.87596066e-02, 1.18510706e+00, 2.53395296e-02,
  9.48288723e-02,-6.99659681e-02, 1.30737583e-01, 9.97739519e-01,
 -1.42018060e-05,-1.21366814e-03,-6.71891275e-02]

qacc:
[ -0.29660169,  0.82476013, -4.24716923,  9.37108938,  0.25131073,
   0.61095217, -3.37031038,  8.37468527, -2.65872681, -2.35159182,
   9.85237528,-16.04415168, -0.33509812,  0.07004007, -8.16427113,
  25.08115235,  0.88351082, -0.81978823, -0.07404689,  9.50477745,
  15.08477188, -0.41649227]

qfrc_actuator:
[-9.55960529e-05,-4.01534971e-04,-2.24340196e-04,-3.60974982e-05,
  2.06780163e-05,-4.38450525e-04,-3.52931609e-04,-3.73946832e-05,
  8.73758011e-05,-2.96423958e-04,-2.21716186e-04,-9.55212914e-05,
  1.78986209e-02,-1.21433569e-03, 1.23789818e-02,-2.00581290e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029445102226055564
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.82786340e-13, -1.88524227e-13,  1.00000000e+00,  5.33120760e-26,
        1.00000000e+00,  1.88524227e-13, -1.00000000e+00,  0.00000000e+00,
        2.82786340e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08375273, -0.05655666,  0.0619909 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.73460143e-06,-9.11531964e-06,-8.10486817e-06, 1.37522307e-05,
  1.48439637e-06, 4.30688772e-06, 1.79507807e-06, 1.50461364e-05,
 -1.57341071e-05, 3.55239821e-05, 4.73157919e-05,-1.14844598e-05,
 -1.19150052e-04,-4.60814713e-05,-1.24445770e-04, 8.50006367e-05,
 -8.34155548e-07, 4.65617356e-07,-1.21644008e+00,-1.78300286e-03,
 -2.87907168e-04, 4.52997971e-06]


--- Step 931 ---
qpos:
[ 2.85095770e-03,-5.59404290e-03,-1.02001807e-02, 2.81089593e-03,
 -4.46102013e-03,-5.19356371e-03,-1.77526957e-02, 5.21025839e-03,
 -4.72343042e-03,-3.94975959e-03,-7.82744608e-03,-1.91475925e-02,
  1.19014776e+00, 1.87610058e-02, 1.18552460e+00, 2.53364641e-02,
  9.48362864e-02,-6.99754082e-02, 1.30741237e-01, 9.97734444e-01,
  4.02988747e-05,-1.14512661e-03,-6.72656444e-02]

qacc:
[  5.85089953,  0.3597575 , -0.81660315, -1.36325846, -2.88321326,
   0.4531254 , -3.5173631 , 11.47905656,  1.28971027, -1.50201123,
   7.62453846,-16.31982068, -0.88957849,  1.05947843, -0.9887146 ,
   1.24269728,  0.88317703, -0.81182058, -0.13552657,  9.48961695,
  14.92748059, -0.44989424]

qfrc_actuator:
[-6.10773977e-05,-4.17636733e-04,-2.44377281e-04,-4.55409098e-05,
  3.58397615e-06,-4.22515896e-04,-3.35815295e-04,-1.16963285e-05,
  9.53732730e-05,-3.02184058e-04,-2.15231674e-04,-1.20891317e-04,
  1.78685940e-02,-1.18528930e-03, 1.23268563e-02,-2.01744735e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002884407973574865
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.62262477e-14, -1.92452495e-13,  1.00000000e+00,  1.85189815e-26,
        1.00000000e+00,  1.92452495e-13, -1.00000000e+00,  0.00000000e+00,
        9.62262477e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08375243, -0.05655508,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.44659930e-05,-2.22771258e-05,-2.24450420e-05,-9.84833233e-06,
 -1.70506812e-05, 1.93503712e-05, 1.87474137e-05, 2.62362946e-05,
  7.56004693e-06, 2.33727172e-05, 1.92476813e-05,-2.24357987e-05,
 -1.05929051e-04,-1.03996643e-05,-1.03359295e-04,-2.36354571e-05,
 -2.42527657e-06,-9.17142400e-07,-1.21644162e+00,-1.78393540e-03,
 -2.87896260e-04, 4.69356548e-06]


--- Step 932 ---
qpos:
[ 2.85125488e-03,-5.59469290e-03,-1.01998722e-02, 2.81157850e-03,
 -4.46148909e-03,-5.19323303e-03,-1.77523492e-02, 5.21149345e-03,
 -4.72146058e-03,-3.94933856e-03,-7.82677389e-03,-1.91481928e-02,
  1.19057733e+00, 1.87628423e-02, 1.18594077e+00, 2.53336094e-02,
  9.48472328e-02,-6.99880710e-02, 1.30744145e-01, 9.97729320e-01,
  1.15706342e-04,-1.04831539e-03,-6.73430851e-02]

qacc:
[ 6.67483685,-0.06980235,-1.16783721, 5.09508009,-4.779525  ,-1.84551437,
  6.67081246,-8.49369682, 6.79921298,-0.86300541, 4.402449  ,-9.55477398,
 -0.72901895, 0.99488736,-2.57296176, 6.26959315, 0.88305819,-0.80565564,
 -0.18635811, 9.47839322,14.80593053,-0.47506648]

qfrc_actuator:
[-2.28293642e-05,-4.27075906e-04,-2.38565041e-04,-3.35434867e-05,
 -2.42588215e-05,-4.30914079e-04,-3.07834932e-04,-1.48362754e-05,
  1.35111601e-04,-3.05864127e-04,-2.11710777e-04,-1.35702739e-04,
  1.78564413e-02,-1.15086799e-03, 1.22646337e-02,-2.00533035e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028175527668439226
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08375186, -0.05655346,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.92276035e-05,-2.69301574e-05,-1.89462517e-06, 1.00725820e-05,
 -2.83267041e-05, 7.39785106e-06, 3.51903530e-05,-1.15399437e-06,
  3.99641198e-05, 1.23929323e-05, 9.93403203e-06,-1.35827021e-05,
 -7.26270032e-05, 7.79273881e-06,-1.17593372e-04,-3.62245045e-06,
 -4.27741668e-06,-2.11786148e-06,-1.21644509e+00,-1.78516247e-03,
 -2.88327897e-04, 5.04597034e-06]


--- Step 933 ---
qpos:
[ 2.85166370e-03,-5.59560077e-03,-1.01997592e-02, 2.81242049e-03,
 -4.46228832e-03,-5.19292296e-03,-1.77516277e-02, 5.21234332e-03,
 -4.71971966e-03,-3.94858115e-03,-7.82619105e-03,-1.91486384e-02,
  1.19100661e+00, 1.87638189e-02, 1.18635594e+00, 2.53291793e-02,
  9.48617119e-02,-7.00039377e-02, 1.30746140e-01, 9.97724133e-01,
  2.11996239e-04,-9.23417879e-04,-6.74214859e-02]

qacc:
[  0.97489553,  0.53226287, -3.06842488,  6.3331782 , -2.86837053,
  -1.86203594,  8.23594473,-15.49828351, -2.01253257,  1.01716037,
  -3.62698479,  6.19107341,  0.31328162, -1.0460445 ,  3.22373793,
 -13.57465131,  0.88320837, -0.80099176, -0.2282515 ,  9.47129817,
  14.71431012, -0.49360621]

qfrc_actuator:
[-1.82094426e-05,-4.50088947e-04,-2.52996399e-04,-2.67512350e-05,
 -4.04467264e-05,-4.36037883e-04,-2.91537701e-04,-3.49348886e-05,
  1.22195579e-04,-2.72783065e-04,-2.09946582e-04,-1.26426533e-04,
  1.78177446e-02,-1.21997524e-03, 1.22177170e-02,-2.08580796e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027460203537289785
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08375108, -0.05655183,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.73293526e-06,-3.80010622e-05,-1.98782326e-05, 5.76642046e-06,
 -1.69987670e-05, 6.20332982e-06, 2.21107487e-05,-1.85894001e-05,
 -1.17683202e-05, 4.14796649e-05, 5.06638532e-06, 9.88380690e-06,
 -7.75239804e-05,-8.27877907e-05,-1.05294715e-04,-9.66457857e-05,
 -6.39142101e-06,-3.14370868e-06,-1.21645046e+00,-1.78668541e-03,
 -2.89196948e-04, 5.58423014e-06]


--- Step 934 ---
qpos:
[ 2.85212498e-03,-5.59652593e-03,-1.02001887e-02, 2.81298543e-03,
 -4.46327563e-03,-5.19261957e-03,-1.77506938e-02, 5.21295544e-03,
 -4.71849160e-03,-3.94741215e-03,-7.82592424e-03,-1.91489637e-02,
  1.19143545e+00, 1.87635956e-02, 1.18677028e+00, 2.53240393e-02,
  9.48797257e-02,-7.00229948e-02, 1.30747084e-01, 9.97718863e-01,
  3.29155895e-04,-7.70567777e-04,-6.75008716e-02]

qacc:
[ 0.44205744, 0.92169668,-2.15154354,-1.76146687,-1.63359673,-1.08874931,
  4.87867693,-9.3350123 ,-4.50655873, 1.68391523,-5.7056596 , 7.96953066,
  0.49684753,-1.54123465, 0.85839482,-4.95832842, 0.88365981,-0.79758121,
 -0.26266933, 9.4683821 ,14.64788248,-0.50676516]

qfrc_actuator:
[-1.56679976e-05,-4.45626264e-04,-2.79335669e-04,-4.08609567e-05,
 -4.96416157e-05,-4.39223836e-04,-2.82272924e-04,-4.71028946e-05,
  9.61343213e-05,-2.53439217e-04,-2.26820223e-04,-1.20775459e-04,
  1.77737629e-02,-1.29681966e-03, 1.22013045e-02,-2.11362468e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002671501611238303
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03895036e-13,  2.07790072e-13,  1.00000000e+00, -2.15883570e-26,
        1.00000000e+00, -2.07790072e-13, -1.00000000e+00,  0.00000000e+00,
        1.03895036e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08375015, -0.0565502 ,  0.06199175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.69519056e-06,-2.06161447e-05,-3.64308740e-05,-1.63139828e-05,
 -9.68016469e-06, 4.02579505e-06, 1.26131935e-05,-1.15023716e-05,
 -2.63805637e-05, 4.39769170e-05,-7.35277041e-06, 7.79401777e-06,
 -1.06987533e-04,-1.16223084e-04,-7.98262363e-05,-4.76804113e-05,
 -8.76912320e-06,-3.99903404e-06,-1.21645771e+00,-1.78850519e-03,
 -2.90499608e-04, 6.30655326e-06]


--- Step 935 ---
qpos:
[ 2.85261300e-03,-5.59724723e-03,-1.02008085e-02, 2.81332353e-03,
 -4.46402077e-03,-5.19224560e-03,-1.77499525e-02, 5.21343531e-03,
 -4.71793017e-03,-3.94611053e-03,-7.82576969e-03,-1.91488513e-02,
  1.19186334e+00, 1.87634844e-02, 1.18718374e+00, 2.53211815e-02,
  9.49020746e-02,-7.00423660e-02, 1.30747782e-01, 9.97713588e-01,
  4.45903142e-04,-5.88442753e-04,-6.75799653e-02]

qacc:
[ 0.22436728, 0.3339051 , 0.15709781,-3.92757912, 2.10459572, 0.35522329,
 -0.58022174,-1.44441775,-5.84158935, 1.40204509,-6.56890844,14.19585492,
 -0.59039104, 0.52105633,-8.1904247 ,26.84649426, 1.0837619 ,-0.07853403,
 -0.06177683,-1.19366161,14.59019793, 0.14085652]

qfrc_actuator:
[-1.43591213e-05,-4.07062952e-04,-2.76889369e-04,-4.93865371e-05,
 -3.68981453e-05,-4.41252750e-04,-2.94967781e-04,-5.45058897e-05,
  6.25614183e-05,-2.60300092e-04,-2.36861523e-04,-9.95742057e-05,
  1.77426103e-02,-1.27110653e-03, 1.21925621e-02,-1.98581159e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42214659, -0.67107336, -4.37093136, -0.67107336, 22.26638159,
       -2.73964284, -4.37093136, -2.73964284,  4.84276663,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026061960485090907
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06498418e-13,  2.12996836e-13,  1.00000000e+00, -2.26838261e-26,
        1.00000000e+00, -2.12996836e-13, -1.00000000e+00,  0.00000000e+00,
        1.06498418e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08186815, -0.06791477,  0.06199195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38411891e-06, 1.88473774e-05,-6.85000399e-06,-1.09855133e-05,
  1.24673337e-05, 2.30795328e-06,-1.07231077e-05,-7.02162785e-06,
 -3.43070451e-05, 1.64958588e-05,-1.60783635e-06, 2.29807942e-05,
 -1.16912924e-04,-3.00599239e-05,-5.62981940e-05, 1.13661752e-04,
 -1.14133122e-05,-4.68583799e-06,-1.21646682e+00,-1.79062253e-03,
 -2.92233161e-04, 7.21212551e-06]


--- Step 936 ---
qpos:
[ 2.85311306e-03,-5.59793094e-03,-1.02010934e-02, 2.81354075e-03,
 -4.46426253e-03,-5.19188462e-03,-1.77493775e-02, 5.21452251e-03,
 -4.71777563e-03,-3.94467843e-03,-7.82598021e-03,-1.91488129e-02,
  1.19229022e+00, 1.87638525e-02, 1.18759668e+00, 2.53184945e-02,
  9.49213919e-02,-7.00542990e-02, 1.30748962e-01, 9.97708275e-01,
  5.15638416e-04,-4.40029599e-04,-6.76589811e-02]

qacc:
[  0.11505317, -1.13564234,  4.63106203, -7.28573487,  4.38533901,
   1.68887893, -8.62571681, 19.42897831, -3.57565147,  1.04769795,
  -3.16115072,  2.35634431, -1.08115568,  1.36691669, -1.15668942,
   3.22918177, -0.75789235,  1.85954266,  0.12063653,-22.31308781,
 -18.40592257,  0.05891182]

qfrc_actuator:
[-1.37850527e-05,-4.01511393e-04,-2.57306790e-04,-5.45010182e-05,
 -1.13466752e-05,-4.42662027e-04,-3.02765574e-04,-2.35550244e-05,
  4.25930935e-05,-2.65016844e-04,-2.60633394e-04,-1.04913585e-04,
  1.77032404e-02,-1.23794875e-03, 1.21671550e-02,-1.98036058e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41793786,  3.05218486, -3.1941106 ,  3.05218486, 15.56346345,
       10.65029011, -3.1941106 , 10.65029011, 14.59499757,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025907040240424895
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.20966479e-13, -2.14270525e-13,  1.00000000e+00,  4.73466036e-26,
        1.00000000e+00,  2.14270525e-13, -1.00000000e+00,  0.00000000e+00,
        2.20966479e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10524965, -0.09476638,  0.061992  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.23789722e-07, 1.42369865e-05, 2.22661414e-05,-4.75570000e-06,
  2.59104138e-05,-2.65337264e-06,-8.89970291e-06, 3.05379033e-05,
 -2.09388973e-05, 5.10033463e-06,-1.97830031e-05,-4.24308856e-06,
 -1.08848917e-04,-2.05983562e-06,-4.55966415e-05, 3.00959514e-06,
 -1.22797107e-05,-6.35539621e-06,-1.21647396e+00,-1.79266584e-03,
 -2.95218838e-04, 7.29738844e-06]


--- Step 937 ---
qpos:
[ 2.85396121e-03,-5.59871522e-03,-1.02010805e-02, 2.81406060e-03,
 -4.46488551e-03,-5.19185606e-03,-1.77487507e-02, 5.21599822e-03,
 -4.71751675e-03,-3.94336412e-03,-7.82635396e-03,-1.91491655e-02,
  1.19271614e+00, 1.87646271e-02, 1.18800850e+00, 2.53156547e-02,
  9.49376356e-02,-7.00589843e-02, 1.30750004e-01, 9.97702907e-01,
  5.38725625e-04,-3.24067434e-04,-6.77385718e-02]

qacc:
[  3.05609155, -0.34807832, -0.23946783,  5.08553574, -3.31717735,
   0.22242848, -3.05944332,  9.93323932,  0.90998925, -0.5067098 ,
   3.22585596, -9.63660381, -0.97476496,  1.1985065 , -1.0900133 ,
   1.65928982, -0.76838451,  1.81193008, -0.03434119,-22.17289189,
 -17.76655168, -0.26999025]

qfrc_actuator:
[ 4.10477616e-06,-4.15682167e-04,-2.45644252e-04,-3.98314417e-05,
 -3.17263892e-05,-4.79149466e-04,-3.07574531e-04,-5.78377886e-06,
  4.85470351e-05,-2.86250643e-04,-2.74593257e-04,-1.25840863e-04,
  1.76536537e-02,-1.21848890e-03, 1.20944659e-02,-1.99387018e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43372531, -1.98152364,  3.96629351, -1.98152364,  8.52607898,
        2.04450212,  3.96629351,  2.04450212,  5.45513971,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002648213872467331
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11359205e-13, -4.19234653e-13,  1.00000000e+00,  4.66856376e-26,
        1.00000000e+00,  4.19234653e-13, -1.00000000e+00,  0.00000000e+00,
        1.11359205e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10524442, -0.09476666,  0.06199182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79143384e-05,-1.78770428e-06, 1.71916602e-05, 1.59590588e-05,
 -1.96387530e-05,-3.85142615e-05,-5.41099077e-06, 1.79383459e-05,
  5.36305104e-06,-2.27057687e-05,-1.55031177e-05,-2.14778417e-05,
 -1.08381063e-04,-6.14233086e-06,-1.01509498e-04,-2.10208464e-05,
 -7.17174118e-06,-6.42999154e-06,-1.21645888e+00,-1.79299770e-03,
 -2.99139552e-04, 4.12146008e-06]


--- Step 938 ---
qpos:
[ 2.85501725e-03,-5.59952992e-03,-1.02012175e-02, 2.81511995e-03,
 -4.46609259e-03,-5.19206897e-03,-1.77484323e-02, 5.21699871e-03,
 -4.71787827e-03,-3.94241022e-03,-7.82680425e-03,-1.91493951e-02,
  1.19314124e+00, 1.87654142e-02, 1.18841948e+00, 2.53129122e-02,
  9.49507755e-02,-7.00565764e-02, 1.30750388e-01, 9.97697462e-01,
  5.15481373e-04,-2.39539659e-04,-6.78192497e-02]

qacc:
[ 1.81470135e+00, 1.48656937e+00,-7.64212896e+00, 1.72478580e+01,
 -5.09949777e+00,-4.25789472e-01, 3.07853525e+00,-1.06512356e+01,
 -5.42739570e+00, 1.74165265e-03,-1.19750364e+00, 3.69296365e+00,
 -5.89453020e-01, 4.98882567e-01,-1.50148466e+00, 3.55267464e+00,
 -7.75972569e-01, 1.77328864e+00,-1.64610117e-01,-2.20480121e+01,
 -1.72506097e+01,-5.29006512e-01]

qfrc_actuator:
[ 1.42905634e-05,-4.23810568e-04,-2.56583239e-04,-1.36665717e-05,
 -6.12289126e-05,-5.00853895e-04,-3.28494331e-04,-3.14496892e-05,
  1.64479908e-05,-3.17198614e-04,-2.82721750e-04,-1.20268949e-04,
  1.76086204e-02,-1.22511938e-03, 1.20733675e-02,-1.98299584e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44173558, -1.92246121,  4.00414258, -1.92246121, 11.22908401,
        3.25872864,  4.00414258,  3.25872864,  6.00631009,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002676782092029123
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.83256714e-14, -4.14760330e-13,  1.00000000e+00,  2.41911748e-26,
        1.00000000e+00,  4.14760330e-13, -1.00000000e+00,  0.00000000e+00,
        5.83256714e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10524057, -0.09476759,  0.06199173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06981754e-05,-4.86257330e-06,-8.63216995e-06, 2.69934318e-05,
 -3.00794930e-05,-4.36089653e-05,-2.89308125e-05,-2.71581196e-05,
 -3.19485784e-05,-4.78065121e-05,-1.54808802e-05, 3.64348647e-06,
 -1.05670829e-04,-3.27034405e-05,-7.53948830e-05,-4.49490654e-06,
 -2.68637443e-06,-5.70945161e-06,-1.21644922e+00,-1.79268294e-03,
 -3.02505202e-04, 1.87064821e-06]


--- Step 939 ---
qpos:
[ 2.85584262e-03,-5.60055190e-03,-1.02013914e-02, 2.81650000e-03,
 -4.46729946e-03,-5.19223601e-03,-1.77485204e-02, 5.21765384e-03,
 -4.71931145e-03,-3.94174398e-03,-7.82765197e-03,-1.91495428e-02,
  1.19356546e+00, 1.87661881e-02, 1.18883006e+00, 2.53101913e-02,
  9.49607896e-02,-7.00472005e-02, 1.30749676e-01, 9.97691918e-01,
  4.46176115e-04,-1.85628154e-04,-6.79014167e-02]

qacc:
[-2.01522203e+00, 4.93671148e-01,-3.50452706e+00, 9.25880572e+00,
 -1.19135811e-02, 4.85364251e-01,-1.84889350e-01,-5.17565239e+00,
 -9.38919344e+00, 9.17523592e-01,-4.13509502e+00, 6.35989122e+00,
 -6.57547405e-01, 5.50539597e-01,-5.89700852e-01, 1.36106990e+00,
 -7.81430928e-01, 1.74203513e+00,-2.74032056e-01,-2.19394409e+01,
 -1.68351949e+01,-7.32777479e-01]

qfrc_actuator:
[ 2.10224788e-06,-4.46096113e-04,-2.63001845e-04, 1.28490243e-06,
 -6.03445143e-05,-4.78141242e-04,-3.40988518e-04,-4.69642970e-05,
 -3.77998498e-05,-3.35932707e-04,-3.05125431e-04,-1.16907841e-04,
  1.75610155e-02,-1.22942002e-03, 1.20779141e-02,-1.97543250e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44322684, -1.84383221,  4.04259169, -1.84383221, 14.88933834,
        4.76448732,  4.04259169,  4.76448732,  6.61631675,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002682056774543917
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.52751949e-14, -2.06972320e-13,  1.00000000e+00, -9.37071212e-27,
        1.00000000e+00,  2.06972320e-13, -1.00000000e+00,  0.00000000e+00,
       -4.52751949e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10523781, -0.09476903,  0.06199171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18825166e-05,-2.56020451e-05,-7.54495295e-06, 1.49689202e-05,
  9.16411329e-09,-8.82111643e-06,-2.60075415e-05,-1.89140528e-05,
 -5.51739226e-05,-4.85497278e-05,-3.40628457e-05, 8.49748075e-07,
 -1.12562473e-04,-3.72184189e-05,-3.68889419e-05,-3.76456782e-06,
  1.29006796e-06,-4.15120093e-06,-1.21644469e+00,-1.79170576e-03,
 -3.05369995e-04, 4.91950796e-07]


--- Step 940 ---
qpos:
[ 2.85651565e-03,-5.60171482e-03,-1.02019315e-02, 2.81806332e-03,
 -4.46814183e-03,-5.19231792e-03,-1.77488376e-02, 5.21809979e-03,
 -4.72069427e-03,-3.94128308e-03,-7.82854729e-03,-1.91496841e-02,
  1.19398874e+00, 1.87673871e-02, 1.18923986e+00, 2.53085969e-02,
  9.49676623e-02,-7.00309570e-02, 1.30747501e-01, 9.97686249e-01,
  3.31036072e-04,-1.61676536e-04,-6.79853868e-02]

qacc:
[ -1.34155966,  1.21709563, -5.37879902,  9.23447082,  3.1700241 ,
   0.31560471, -0.08989393, -3.21487277,  0.44294202, -0.12596253,
   0.02673184,  0.3134499 , -0.8907631 ,  1.10982197, -4.48561309,
  14.22290746, -0.78535039,  1.71687511, -0.36588832,-21.84747742,
 -16.50190582, -0.89280733]

qfrc_actuator:
[-5.40248575e-06,-4.58934278e-04,-2.84513916e-04, 9.51134318e-06,
 -4.15786169e-05,-4.64474362e-04,-3.48205845e-04,-5.63278982e-05,
 -3.36270273e-05,-3.29514437e-04,-3.00237459e-04,-1.14881139e-04,
  1.75278798e-02,-1.19679673e-03, 1.20445793e-02,-1.91656121e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43947353, -1.74289452,  4.08304346, -1.74289452, 19.83095477,
        6.57003253,  4.08304346,  6.57003253,  7.24396822,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002668755044568649
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.14504043e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.14504043e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10523592, -0.09477088,  0.06199176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.85045421e-06,-2.80427857e-05,-2.72012038e-05, 7.15966822e-06,
  1.87649191e-05, 2.55764299e-06,-1.28961351e-05,-1.10106058e-05,
  2.58277559e-06,-2.77672076e-05,-9.30229154e-06,-1.21168976e-06,
 -1.02049412e-04,-3.51061241e-06,-5.90950753e-05, 5.20509900e-05,
  4.84231357e-06,-1.72830092e-06,-1.21644508e+00,-1.79005523e-03,
 -3.07774619e-04,-5.52150820e-08]


--- Step 941 ---
qpos:
[ 2.85709322e-03,-5.60272615e-03,-1.02028781e-02, 2.81967816e-03,
 -4.46909761e-03,-5.19237263e-03,-1.77489503e-02, 5.21806152e-03,
 -4.72098195e-03,-3.94122626e-03,-7.82928987e-03,-1.91501340e-02,
  1.19441132e+00, 1.87688736e-02, 1.18964899e+00, 2.53066981e-02,
  9.49713824e-02,-7.00079265e-02, 1.30743553e-01, 9.97680423e-01,
  1.70245624e-04,-1.67160621e-04,-6.80714044e-02]

qacc:
[-8.50345438e-01, 1.44429867e+00,-5.07365944e+00, 6.50089223e+00,
 -9.83386306e-01,-1.53043731e+00, 7.55684744e+00,-1.62888158e+01,
  9.59875684e+00,-1.61557499e+00, 6.25343364e+00,-1.15013636e+01,
 -7.37339646e-01, 8.98130062e-01, 1.60063330e-02,-1.29614585e+00,
 -7.88179359e-01, 1.69674818e+00,-4.42972206e-01,-2.17719318e+01,
 -1.62359296e+01,-1.01813272e+00]

qfrc_actuator:
[-1.00831322e-05,-4.30582189e-04,-2.96985457e-04, 1.37119296e-05,
 -4.79534640e-05,-4.56292545e-04,-3.34519271e-04,-7.97515664e-05,
  2.26574673e-05,-3.61229884e-04,-2.96917997e-04,-1.31365109e-04,
  1.75034623e-02,-1.17795741e-03, 1.20098682e-02,-1.93453458e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43166632, -1.61623205,  4.12643433, -1.61623205, 26.48197853,
        8.63661421,  4.12643433,  8.63661421,  7.81443497,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002640805373143318
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.59824281e-14, -4.20410772e-13,  1.00000000e+00, -1.93315081e-26,
        1.00000000e+00,  4.20410772e-13, -1.00000000e+00,  0.00000000e+00,
       -4.59824281e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1052347 , -0.09477307,  0.06199184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.91007601e-06, 7.39871293e-06,-2.13506913e-05, 2.19765151e-06,
 -5.83502527e-06, 6.48886928e-06, 1.22480952e-05,-2.39755688e-05,
  5.63495009e-05,-4.92253186e-05,-3.59940260e-06,-1.80176421e-05,
 -8.00111087e-05,-5.52363407e-06,-6.31270151e-05,-2.42307622e-05,
  8.03362515e-06, 1.57522201e-06,-1.21645021e+00,-1.78772374e-03,
 -3.09749530e-04, 1.98424493e-07]


--- Step 942 ---
qpos:
[ 2.85726524e-03,-5.60368604e-03,-1.02033997e-02, 2.82093972e-03,
 -4.47046711e-03,-5.19233857e-03,-1.77488924e-02, 5.21704633e-03,
 -4.72128270e-03,-3.94153354e-03,-7.82943556e-03,-1.91508140e-02,
  1.19483341e+00, 1.87698433e-02, 1.19005726e+00, 2.53039378e-02,
  9.49719413e-02,-6.99781728e-02, 1.30737575e-01, 9.97674405e-01,
 -3.60500299e-05,-2.01664645e-04,-6.81596584e-02]

qacc:
[-3.53518113e+00,-1.84038203e+00, 8.16370030e+00,-1.50078708e+01,
 -3.60480689e+00,-2.36308286e+00, 1.27327526e+01,-2.99928640e+01,
 -8.96182134e-02,-2.62342591e+00, 9.62410052e+00,-1.42855064e+01,
 -2.80860134e-02,-4.47488557e-01, 1.33429289e+00,-6.52957198e+00,
 -7.90256196e-01, 1.68078409e+00,-5.07664411e-01,-2.17122835e+01,
 -1.60253212e+01,-1.11584902e+00]

qfrc_actuator:
[-3.08179014e-05,-4.13257352e-04,-2.68340585e-04,-2.19720431e-06,
 -6.90806462e-05,-4.51377886e-04,-3.26385006e-04,-1.29005192e-04,
  2.03808941e-05,-3.62286809e-04,-2.59215665e-04,-1.40890338e-04,
  1.74629859e-02,-1.22067887e-03, 1.19636971e-02,-1.97988159e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42085882, -1.45969121,  4.17292395, -1.45969121, 35.39561291,
       10.83498685,  4.17292395, 10.83498685,  8.21094347,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026014685103144253
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.66706177e-13, -4.26767812e-13,  1.00000000e+00,  7.11448303e-26,
        1.00000000e+00,  4.26767812e-13, -1.00000000e+00,  0.00000000e+00,
        1.66706177e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10523402, -0.0947755 ,  0.06199196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.08678962e-05, 1.71867642e-05, 2.76382161e-05,-1.62873010e-05,
 -2.12916923e-05, 1.00471319e-05, 1.01559133e-05,-4.90176952e-05,
 -6.84302727e-07,-3.00721163e-05, 2.64749410e-05,-1.21085271e-05,
 -8.53304477e-05,-6.22273003e-05,-8.46729563e-05,-5.63250226e-05,
  1.09114009e-05, 5.76753306e-06,-1.21645997e+00,-1.78470593e-03,
 -3.11317431e-04, 1.22999374e-06]


--- Step 943 ---
qpos:
[ 2.85753228e-03,-5.60457018e-03,-1.02032839e-02, 2.82163687e-03,
 -4.47138963e-03,-5.19213320e-03,-1.77484875e-02, 5.21508041e-03,
 -4.72195299e-03,-3.94211493e-03,-7.82835846e-03,-1.91509683e-02,
  1.19525490e+00, 1.87701458e-02, 1.19046452e+00, 2.53009637e-02,
  9.49758869e-02,-6.99522611e-02, 1.30734345e-01, 9.97668410e-01,
 -2.21284624e-04,-2.01356734e-04,-6.82470064e-02]

qacc:
[  0.84944026, -2.8456819 , 12.67109614,-23.5109325 ,  3.90551497,
  -2.70807156, 13.98519302,-31.10755765, -3.19172344, -2.69145018,
   6.86427063,  0.46385302,  0.04545257, -0.67490119, -0.89404936,
   0.8654949 ,  0.84664246, -0.96045681,  0.68695276,  9.31974727,
  18.08323228,  0.45121739]

qfrc_actuator:
[-2.53316170e-05,-4.02509359e-04,-2.33447334e-04,-2.97879742e-05,
 -4.54556515e-05,-4.30743348e-04,-3.03877254e-04,-1.75317763e-04,
  1.39046482e-06,-3.44826955e-04,-1.83636226e-04,-1.10690221e-04,
  1.74182050e-02,-1.26414212e-03, 1.19213426e-02,-1.98771617e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43299344, -2.13899801,  3.88279776, -2.13899801, 20.70386383,
        8.96347466,  3.88279776,  8.96347466,  9.3708902 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026455836119879117
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04912865e-13, -2.09825730e-13,  1.00000000e+00,  2.20134185e-26,
        1.00000000e+00,  2.09825730e-13, -1.00000000e+00,  0.00000000e+00,
        1.04912865e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08377851, -0.0565347 ,  0.06199182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.89875189e-06, 2.54001171e-05, 4.12992133e-05,-2.62136787e-05,
  2.30197427e-05, 2.62432676e-05, 2.41397672e-05,-4.64817523e-05,
 -1.90222860e-05, 5.60650788e-06, 7.22165644e-05, 2.95950076e-05,
 -1.06393635e-04,-7.94359182e-05,-9.29029471e-05,-2.30503189e-05,
  1.35113614e-05, 1.08511067e-05,-1.21647428e+00,-1.78099795e-03,
 -3.12495132e-04, 3.02289461e-06]


--- Step 944 ---
qpos:
[ 2.85855250e-03,-5.60508567e-03,-1.02031349e-02, 2.82200195e-03,
 -4.47167721e-03,-5.19167254e-03,-1.77476257e-02, 5.21324634e-03,
 -4.72284606e-03,-3.94243141e-03,-7.82682414e-03,-1.91511225e-02,
  1.19567555e+00, 1.87702178e-02, 1.19087096e+00, 2.52978353e-02,
  9.49788623e-02,-6.99324990e-02, 1.30733252e-01, 9.97662561e-01,
 -3.62310109e-04,-1.96326640e-04,-6.83318667e-02]

qacc:
[ 6.5829471 ,-0.30214126, 3.16357043,-9.21041106, 5.54708938,-0.67843635,
  2.33349382,-0.95024743,-1.94042684,-0.92369875, 3.80616239,-4.73328926,
 -0.46495782, 0.17563814,-0.69050064, 0.76935979,-0.24254988,-1.53743525,
  0.5343257 ,21.89214544, 3.86389514, 1.24199399]

qfrc_actuator:
[ 1.33015978e-05,-3.77999718e-04,-2.30692817e-04,-4.62826475e-05,
 -1.34272136e-05,-4.00794932e-04,-2.72990210e-04,-1.66243246e-04,
 -9.51395340e-06,-3.16201393e-04,-1.57205707e-04,-1.10576391e-04,
  1.73761951e-02,-1.27218814e-03, 1.18973014e-02,-1.99109906e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45903609,  4.4048386 ,  0.69310879,  4.4048386 ,  4.74196798,
       -1.79808615,  0.69310879, -1.79808615, 15.8862166 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027371572747129924
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02805852e-13,  2.02805852e-13,  1.00000000e+00, -4.11302135e-26,
        1.00000000e+00, -2.02805852e-13, -1.00000000e+00,  0.00000000e+00,
        2.02805852e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09659164, -0.04645015,  0.06199154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.87840596e-05, 4.61509179e-05, 1.21879943e-05,-1.44875749e-05,
  3.26984833e-05, 4.76181985e-05, 3.76689865e-05, 1.01316752e-05,
 -1.14506139e-05, 4.79439762e-05, 3.75014513e-05, 3.42864621e-06,
 -1.18774335e-04,-5.37025314e-05,-7.42669264e-05,-1.77018212e-05,
  1.29931518e-05, 6.79239821e-06,-1.21646641e+00,-1.77883596e-03,
 -3.11472223e-04, 1.09328183e-06]


--- Step 945 ---
qpos:
[ 2.85968312e-03,-5.60526522e-03,-1.02034806e-02, 2.82186240e-03,
 -4.47192352e-03,-5.19051631e-03,-1.77474206e-02, 5.21155536e-03,
 -4.72351834e-03,-3.94209791e-03,-7.82567106e-03,-1.91516108e-02,
  1.19609523e+00, 1.87704188e-02, 1.19127653e+00, 2.52959697e-02,
  9.49809963e-02,-6.99187626e-02, 1.30733549e-01, 9.97656841e-01,
 -4.59904006e-04,-1.87531528e-04,-6.84147703e-02]

qacc:
[  0.94418156,  0.78518704, -0.02854571, -8.1576247 ,  0.32772235,
   3.04756295,-10.13853675, 13.15644011,  1.90955352,  1.23279185,
  -1.74690006, -3.8933555 , -0.68501156,  0.64941004, -5.07131536,
  15.99248847, -0.21032459, -1.50641264,  0.34743275, 21.53661481,
   3.36164811,  0.97690127]

qfrc_actuator:
[ 1.78688937e-05,-3.81061564e-04,-2.64624834e-04,-7.38788801e-05,
 -1.22287054e-05,-3.65410689e-04,-3.08334736e-04,-1.60144011e-04,
  2.18691818e-06,-2.81305779e-04,-1.77740720e-04,-1.28199193e-04,
  1.73358917e-02,-1.25915370e-03, 1.18736139e-02,-1.92077426e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48202801, -0.11485572, -4.48055614, -0.11485572,  8.40326435,
       -0.10051797, -4.48055614, -0.10051797,  4.48460472,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002814761564261248
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0965964, -0.0464526,  0.0619913])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.69340044e-06, 2.46690378e-05,-2.33983904e-05,-2.54808641e-05,
  2.15057928e-06, 7.02152241e-05,-2.05308620e-05, 9.64001613e-06,
  1.13894764e-05, 6.95851613e-05,-5.90946731e-06,-1.42074001e-05,
 -1.17073527e-04,-2.87275931e-05,-6.61594233e-05, 5.83901519e-05,
  9.63066638e-06, 3.96599786e-06,-1.21645520e+00,-1.77683527e-03,
 -3.09497502e-04, 6.65612598e-07]


--- Step 946 ---
qpos:
[ 2.86017055e-03,-5.60545804e-03,-1.02040919e-02, 2.82142330e-03,
 -4.47180840e-03,-5.18860914e-03,-1.77479859e-02, 5.20995175e-03,
 -4.72335505e-03,-3.94152394e-03,-7.82492907e-03,-1.91515603e-02,
  1.19651394e+00, 1.87709936e-02, 1.19168133e+00, 2.52955761e-02,
  9.49823912e-02,-6.99109489e-02, 1.30734606e-01, 9.97651234e-01,
 -5.14716006e-04,-1.75725532e-04,-6.84961346e-02]

qacc:
[ -5.63459277,  0.11910436,  0.83333821, -5.60341072,  3.11517137,
   3.3180214 ,-10.77098691, 12.97589229,  7.29830373,  2.56251862,
 -10.96967929, 20.78996894, -0.86127481,  1.0239496 , -5.51005129,
  17.83302253, -0.18478811, -1.48068016,  0.19025589, 21.23800195,
   2.96502722,  0.76834119]

qfrc_actuator:
[-1.54144826e-05,-4.00781048e-04,-2.84549027e-04,-9.00780140e-05,
  6.31678570e-06,-3.27307339e-04,-3.46982052e-04,-1.55893932e-04,
  4.48491492e-05,-2.96397053e-04,-2.08046848e-04,-1.02871836e-04,
  1.72966526e-02,-1.23373809e-03, 1.18501746e-02,-1.84308556e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49518329, -0.16856212, -4.49202178, -0.16856212, 11.67848387,
       -0.26955177, -4.49202178, -0.26955177,  4.50529816,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000285790188342086
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94237428e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.94237428e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09660021, -0.0464539 ,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.31090946e-05,-1.18401360e-05,-1.85873558e-05,-1.64467346e-05,
  1.86320715e-05, 7.34997881e-05,-2.63523495e-05, 6.73623184e-06,
  4.30147426e-05, 2.19687514e-05,-1.71706165e-05, 2.78234539e-05,
 -1.08745465e-04,-9.33755596e-06,-5.39507527e-05, 7.09822197e-05,
  6.49329414e-06, 1.97936095e-06,-1.21644719e+00,-1.77546583e-03,
 -3.07780805e-04, 4.20080450e-07]


--- Step 947 ---
qpos:
[ 2.85991045e-03,-5.60579430e-03,-1.02043718e-02, 2.82145955e-03,
 -4.47147137e-03,-5.18661106e-03,-1.77487419e-02, 5.20811150e-03,
 -4.72268150e-03,-3.94074142e-03,-7.82453398e-03,-1.91512065e-02,
  1.19693173e+00, 1.87718714e-02, 1.19208577e+00, 2.52953721e-02,
  9.49831279e-02,-6.99089730e-02, 1.30735897e-01, 9.97645723e-01,
 -5.27285927e-04,-1.61502454e-04,-6.85762878e-02]

qacc:
[-6.5257018 ,-0.12419262,-1.81666729, 9.59502526, 1.92751627, 0.16171096,
  0.59013207,-4.44067447, 4.45262633, 1.8614599 ,-7.52959939,13.18967127,
 -0.89886748, 1.04454815,-1.001354  , 2.97290994,-0.16455632,-1.45944123,
  0.05825906,20.98878237, 2.65210941, 0.60439534]

qfrc_actuator:
[-5.29461873e-05,-3.94775016e-04,-2.60594333e-04,-6.39368589e-05,
  1.71811726e-05,-3.58916657e-04,-3.69482075e-04,-1.70507500e-04,
  6.98798188e-05,-2.88073060e-04,-2.26280672e-04,-8.80188510e-05,
  1.72527626e-02,-1.21894294e-03, 1.18428829e-02,-1.83270337e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49991568, -0.23795624, -4.49361969, -0.23795624, 16.02284685,
       -0.61018812, -4.49361969, -0.61018812,  4.53222773,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000287320714366171
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.86405494e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.86405494e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09660326, -0.04645427,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.84793695e-05,-5.15703622e-06, 1.86616379e-05, 2.46746052e-05,
  1.14249589e-05, 4.28430430e-06,-1.03448939e-05,-1.22455044e-05,
  2.62688697e-05, 1.82398349e-05,-1.48655172e-05, 1.57366447e-05,
 -1.04143371e-04,-1.28233454e-05,-3.13938543e-05, 5.80266339e-06,
  3.53326380e-06, 7.63864734e-07,-1.21644219e+00,-1.77472576e-03,
 -3.06270241e-04, 3.21258274e-07]


--- Step 948 ---
qpos:
[ 2.85954692e-03,-5.60593069e-03,-1.02047845e-02, 2.82179604e-03,
 -4.47169601e-03,-5.18494040e-03,-1.77492559e-02, 5.20579009e-03,
 -4.72205771e-03,-3.93966666e-03,-7.82441726e-03,-1.91506931e-02,
  1.19734865e+00, 1.87727330e-02, 1.19248966e+00, 2.52966085e-02,
  9.49832705e-02,-6.99127652e-02, 1.30736978e-01, 9.97640293e-01,
 -4.98058906e-04,-1.45329451e-04,-6.86554872e-02]

qacc:
[ -0.91214725,  1.25557008, -5.35773696, 10.61574665, -4.88533392,
  -2.08954414,  8.87079772,-17.36335801, -0.44926448,  1.49413561,
  -5.43759678,  8.4250168 , -0.52350583,  0.37896337, -5.14967153,
  16.91468705, -0.14853198, -1.44202331, -0.05241325, 20.78250889,
   2.40556191,  0.47567034]

qfrc_actuator:
[-5.71600266e-05,-3.73198203e-04,-2.64061073e-04,-4.85518833e-05,
 -1.20734088e-05,-3.96488665e-04,-3.64812701e-04,-1.96150185e-04,
  6.65700218e-05,-2.65764170e-04,-2.37170858e-04,-7.94305397e-05,
  1.72007862e-02,-1.22835149e-03, 1.18292924e-02,-1.75549569e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49775452, -0.32634875, -4.48589927, -0.32634875, 21.72129976,
       -1.25301128, -4.48589927, -1.25301128,  4.58891097,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028662314007116274
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.68364788e-14,  1.93672958e-13,  1.00000000e+00, -1.87546072e-26,
        1.00000000e+00, -1.93672958e-13, -1.00000000e+00,  0.00000000e+00,
        9.68364788e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09660572, -0.04645391,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.31584893e-06, 2.36076817e-05,-1.37055919e-06, 1.62929705e-05,
 -2.89246305e-05,-3.78932680e-05, 3.84523270e-06,-2.60546035e-05,
 -2.55034931e-06, 3.00896229e-05,-8.42420761e-06, 9.15712960e-06,
 -1.10453117e-04,-3.69793550e-05,-3.59787480e-05, 7.15698532e-05,
  7.14783575e-07, 2.68582433e-07,-1.21644005e+00,-1.77461259e-03,
 -3.04926927e-04, 3.43567105e-07]


--- Step 949 ---
qpos:
[ 2.85913543e-03,-5.60592431e-03,-1.02054791e-02, 2.82198678e-03,
 -4.47192459e-03,-5.18364725e-03,-1.77491445e-02, 5.20385016e-03,
 -4.72147810e-03,-3.93835961e-03,-7.82444994e-03,-1.91497370e-02,
  1.19776482e+00, 1.87734646e-02, 1.19289257e+00, 2.52988314e-02,
  9.49828696e-02,-6.99222688e-02, 1.30737479e-01, 9.97634927e-01,
 -4.27398306e-04,-1.27573639e-04,-6.87339345e-02]

qacc:
[-4.30860824e-01, 6.77222505e-01,-1.52423261e+00,-6.53919821e-01,
 -8.21286672e-03,-1.46045462e+00, 2.87354432e+00, 3.00570224e+00,
 -3.95108579e-01, 1.63746993e+00,-7.25713811e+00, 1.49784197e+01,
 -3.61293189e-01, 1.35731506e-01,-4.40832103e+00, 1.33842716e+01,
 -1.35845252e-01,-1.42785733e+00,-1.45046262e-01, 2.06136404e+01,
  2.21167541e+00, 3.74761611e-01]

qfrc_actuator:
[-5.94808599e-05,-3.78070106e-04,-2.83648956e-04,-5.73882627e-05,
 -1.14466729e-05,-4.01751045e-04,-3.26445408e-04,-1.74813268e-04,
  6.43644847e-05,-2.52984092e-04,-2.43584636e-04,-5.68260581e-05,
  1.71652898e-02,-1.23433141e-03, 1.17693479e-02,-1.71052988e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4901853 , -0.43768332, -4.46880267, -0.43768332, 29.11118875,
       -2.41142946, -4.46880267, -2.41142946,  4.72636544,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028416160141306324
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.76753209e-14,  1.95350642e-13,  1.00000000e+00, -1.90809366e-26,
        1.00000000e+00, -1.95350642e-13, -1.00000000e+00,  0.00000000e+00,
        9.76753209e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09660771, -0.04645296,  0.06199122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.46436011e-06, 8.75287087e-06,-1.43103005e-05,-7.55441229e-06,
 -2.14761807e-07,-2.68337251e-05, 3.01053487e-05, 1.93431408e-05,
 -2.26428359e-06, 2.82178888e-05,-9.34031114e-07, 2.37763302e-05,
 -1.02842019e-04,-4.17262130e-05,-7.64294593e-05, 4.25531867e-05,
 -1.98898807e-06, 4.56137778e-07,-1.21644068e+00,-1.77512368e-03,
 -3.03721722e-04, 4.68650178e-07]


--- Step 950 ---
qpos:
[ 2.85835446e-03,-5.60593584e-03,-1.02060424e-02, 2.82171726e-03,
 -4.47214428e-03,-5.18255522e-03,-1.77486195e-02, 5.20217230e-03,
 -4.72058431e-03,-3.93701017e-03,-7.82445574e-03,-1.91488506e-02,
  1.19818036e+00, 1.87742534e-02, 1.19329431e+00, 2.53006220e-02,
  9.49819231e-02,-6.99374316e-02, 1.30737092e-01, 9.97629606e-01,
 -3.15591687e-04,-1.08845282e-04,-6.88117611e-02]

qacc:
[ -3.227864  , -1.33216579,  6.66918131,-14.84299522,  0.09407094,
  -0.88174034,  1.65193898,  2.37006918,  2.75048202, -0.16806727,
   0.9649497 , -2.23426631, -0.48217373,  0.45110131, -0.37520359,
  -1.08761798, -0.13643657, -1.4148106 , -0.22210994, 20.49097857,
   1.89905657,  0.30868976]

qfrc_actuator:
[-7.84326224e-05,-3.81081465e-04,-2.77202081e-04,-8.04315700e-05,
 -1.09768316e-05,-4.05199228e-04,-3.03844837e-04,-1.61464041e-04,
  8.05884500e-05,-2.63730865e-04,-2.47330193e-04,-6.16641025e-05,
  1.71503540e-02,-1.22038145e-03, 1.16976259e-02,-1.73828935e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4785452 , -0.34521628, -4.46522036, -0.34521628, 39.05161085,
       -2.67292185, -4.46522036, -2.67292185,  4.68519483,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000280319018756673
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.70342719e-07,  1.70343115e-07,  1.00000000e+00,  2.90167092e-14,
        1.00000000e+00, -1.70343115e-07, -1.00000000e+00, -6.31088724e-30,
       -1.70342719e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09674572, -0.04646418,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.90175954e-05,-1.38841236e-06, 6.23891759e-06,-2.33092045e-05,
  4.52301354e-07,-1.14505271e-05, 2.14240044e-05, 1.36190714e-05,
  1.61724940e-05, 5.80979811e-06, 2.77389745e-06,-3.20375793e-06,
 -8.02739194e-05,-2.08755214e-05,-1.07844726e-04,-3.64933942e-05,
 -4.59817868e-06, 1.29973824e-06,-1.21644398e+00,-1.77625650e-03,
 -3.02632797e-04, 6.83447691e-07]


--- Step 951 ---
qpos:
[ 2.85804209e-03,-5.60581458e-03,-1.02065953e-02, 2.82116256e-03,
 -4.47270154e-03,-5.18159207e-03,-1.77478670e-02, 5.20136168e-03,
 -4.71984769e-03,-3.93576755e-03,-7.82469845e-03,-1.91479908e-02,
  1.19859539e+00, 1.87748941e-02, 1.19369527e+00, 2.53016231e-02,
  9.49790226e-02,-6.99579850e-02, 1.30735510e-01, 9.97624372e-01,
 -1.62828876e-04,-1.00312066e-04,-6.88881335e-02]

qacc:
[ 4.09694525,-0.44907371, 3.04570657,-8.08061077,-2.93413239, 0.98520678,
 -7.41119884,22.14134728,-1.38151447, 0.46878846,-1.75875892, 1.74879752,
 -0.30630351, 0.13298787, 1.25567579,-6.01637193,-0.48847951,-1.34764186,
 -0.29857191,20.78042098,-3.67657829, 0.7246341 ]

qfrc_actuator:
[-5.37643357e-05,-3.65120294e-04,-2.73187375e-04,-9.38735958e-05,
 -2.83650208e-05,-4.07584275e-04,-2.90742634e-04,-1.17435336e-04,
  7.20241789e-05,-2.88496772e-04,-2.67343963e-04,-6.48796747e-05,
  1.71264668e-02,-1.23011396e-03, 1.16774736e-02,-1.77315453e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46424817,  3.8664403 , -2.23162522,  3.8664403 ,  9.86271944,
        9.35321339, -2.23162522,  9.35321339, 20.66931741,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002755005213084424
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.61188294e-08,  9.61191395e-08,  1.00000000e+00, -9.23885918e-15,
        1.00000000e+00, -9.61191395e-08, -1.00000000e+00,  0.00000000e+00,
        9.61188294e-08])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10141168, -0.04689517,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.41256482e-05, 1.54781872e-05, 3.69870353e-06,-1.37364762e-05,
 -1.73806497e-05,-3.82145960e-06, 1.38323673e-05, 4.45447119e-05,
 -8.09592664e-06,-2.11236671e-05,-1.86004256e-05,-2.93864027e-06,
 -7.33296546e-05,-3.30778019e-05,-7.80168832e-05,-5.17013331e-05,
 -7.11775491e-06, 2.79911477e-06,-1.21644990e+00,-1.77800413e-03,
 -3.01639355e-04, 9.71209847e-07]


--- Step 952 ---
qpos:
[ 2.85837268e-03,-5.60572188e-03,-1.02070560e-02, 2.82081139e-03,
 -4.47311796e-03,-5.18076895e-03,-1.77472019e-02, 5.20110838e-03,
 -4.71990884e-03,-3.93481746e-03,-7.82538533e-03,-1.91467918e-02,
  1.19900979e+00, 1.87752521e-02, 1.19409546e+00, 2.53021401e-02,
  9.49749138e-02,-6.99840383e-02, 1.30732570e-01, 9.97619168e-01,
  3.06333052e-05,-9.66461868e-05,-6.89636493e-02]

qacc:
[ 5.62763136e+00, 1.12515442e-01,-1.33403668e+00, 4.75031985e+00,
  1.22827498e+00, 1.20425564e+00,-6.91951890e+00, 1.68131933e+01,
 -6.99285626e+00, 1.56745379e+00,-7.55484729e+00, 1.43185257e+01,
 -2.84764117e-01,-1.80611665e-02, 3.47707122e-01,-2.82157060e+00,
 -3.02084739e-01,-1.37497146e+00,-3.39484704e-01, 2.04690386e+01,
 -1.02610323e+00, 4.25780186e-01]

qfrc_actuator:
[-2.13669484e-05,-3.73424391e-04,-2.70563661e-04,-8.37931877e-05,
 -2.06198547e-05,-4.27075865e-04,-3.01071450e-04,-9.12142083e-05,
  3.11800019e-05,-3.21541905e-04,-2.96865631e-04,-4.93842858e-05,
  1.70812435e-02,-1.25387354e-03, 1.16509901e-02,-1.79400034e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44798858, -4.22133444, -1.40176246, -4.22133444,  7.30864919,
       -8.61473003, -1.40176246, -8.61473003, 30.39079824,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000269880896777331
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.47584507e-07,  2.05687590e-13,  1.00000000e+00, -5.09250605e-20,
        1.00000000e+00, -2.05687590e-13, -1.00000000e+00,  0.00000000e+00,
        2.47584507e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09907932, -0.04667695,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.30930360e-05, 5.39493535e-07, 5.80674295e-06, 1.06054817e-05,
  7.24315862e-06,-1.69110508e-05,-7.89023316e-06, 2.74017884e-05,
 -4.10780202e-05,-4.88695744e-05,-3.62896887e-05, 1.38863303e-05,
 -9.34134952e-05,-4.90293319e-05,-7.37244315e-05,-3.50213860e-05,
 -9.09509754e-06, 5.50354079e-06,-1.21645833e+00,-1.78021298e-03,
 -3.00604630e-04, 9.57590877e-07]


--- Step 953 ---
qpos:
[ 2.85943402e-03,-5.60544389e-03,-1.02078423e-02, 2.82058533e-03,
 -4.47343862e-03,-5.17977702e-03,-1.77473027e-02, 5.20048860e-03,
 -4.72011387e-03,-3.93460804e-03,-7.82594191e-03,-1.91453980e-02,
  1.19942350e+00, 1.87751502e-02, 1.19449484e+00, 2.53020374e-02,
  9.49712612e-02,-7.00081542e-02, 1.30732156e-01, 9.97613951e-01,
  2.09260485e-04,-9.62225584e-05,-6.90387677e-02]

qacc:
[ 6.37889749, 1.4005239 ,-5.18797065, 7.76109416, 0.80802088, 1.60618839,
 -3.85945322,-1.37913094,-1.24274304,-0.93951477, 1.11268172, 2.58780319,
 -0.22555486,-0.228209  , 0.68150564,-4.11188018, 0.11407436, 0.48435695,
  0.63130536,-7.28802304,-2.12879818, 0.19859103]

qfrc_actuator:
[ 1.53061087e-05,-3.60674167e-04,-2.86613193e-04,-7.77265904e-05,
 -1.58906957e-05,-4.21263419e-04,-3.42987537e-04,-1.11219874e-04,
  2.49292533e-05,-3.77078759e-04,-2.96284745e-04,-4.07702089e-05,
  1.70338992e-02,-1.28585539e-03, 1.16154087e-02,-1.82417689e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43618326, -0.76334417, -4.3700146 , -0.76334417, 30.40810177,
       -4.53671539, -4.3700146 , -4.53671539,  5.22864633,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026570226407439797
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.36667708e-07,  3.29909668e-13,  1.00000000e+00, -3.09015732e-19,
        1.00000000e+00, -3.29909668e-13, -1.00000000e+00,  0.00000000e+00,
        9.36667708e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09449892, -0.07567343,  0.06199179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.76186453e-05, 1.47190611e-05,-1.48524547e-05, 6.49722740e-06,
  4.93007976e-06,-4.13440845e-06,-4.54499105e-05,-2.04730007e-05,
 -7.43747141e-06,-8.98087236e-05,-1.35060202e-05, 5.53445316e-06,
 -1.09681462e-04,-6.64606242e-05,-7.93344140e-05,-4.29407978e-05,
 -1.10756479e-05, 8.49858507e-06,-1.21646937e+00,-1.78313152e-03,
 -2.99567776e-04, 1.06831215e-06]


--- Step 954 ---
qpos:
[ 2.86127179e-03,-5.60486775e-03,-1.02088925e-02, 2.82041481e-03,
 -4.47369999e-03,-5.17872674e-03,-1.77479122e-02, 5.19963072e-03,
 -4.72039290e-03,-3.93474586e-03,-7.82662133e-03,-1.91442902e-02,
  1.19983650e+00, 1.87746423e-02, 1.19489351e+00, 2.53001978e-02,
  9.49646484e-02,-7.00250663e-02, 1.30732268e-01, 9.97608685e-01,
  3.39410733e-04,-1.29745757e-04,-6.91142543e-02]

qacc:
[  6.77822506,  1.23279251, -4.08123705,  5.27005293,  0.5001133 ,
   1.00730744, -2.47664087, -0.87110145, -0.64588863, -0.70347116,
   3.04999485, -7.54607355, -0.35597901, -0.02739989,  4.22906895,
 -16.26725999, -0.74007995,  1.8009467 ,  0.13163457,-23.00882094,
 -18.60634899, -0.17947909]

qfrc_actuator:
[ 5.41995801e-05,-3.35493771e-04,-2.95732935e-04,-7.40712752e-05,
 -1.29823841e-05,-4.18274010e-04,-3.67637435e-04,-1.22755470e-04,
  2.13471456e-05,-3.74534980e-04,-2.95791761e-04,-5.40287940e-05,
  1.70012885e-02,-1.30472784e-03, 1.15797262e-02,-1.91288040e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46317155,  2.87070105, -3.41745164,  2.87070105, 10.73498741,
        5.2684018 , -3.41745164,  5.2684018 ,  8.88869329,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002751331071785962
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07185571e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.07185571e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10517409, -0.09478344,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.99740780e-05, 3.06312166e-05,-7.68017833e-06, 3.89835430e-06,
  3.05088824e-06,-9.61902120e-06,-3.18204831e-05,-1.36848905e-05,
 -3.82516703e-06,-5.02367600e-05,-1.95272935e-05,-1.74662699e-05,
 -1.07720943e-04,-6.19269011e-05,-8.27545572e-05,-1.02590447e-04,
 -1.00881987e-05, 7.59464383e-06,-1.21646508e+00,-1.78578644e-03,
 -3.00277400e-04, 8.97605293e-07]


--- Step 955 ---
qpos:
[ 2.86252734e-03,-5.60454659e-03,-1.02089668e-02, 2.81992891e-03,
 -4.47392411e-03,-5.17808478e-03,-1.77483856e-02, 5.19900193e-03,
 -4.72105784e-03,-3.93507992e-03,-7.82737559e-03,-1.91437185e-02,
  1.20024870e+00, 1.87741203e-02, 1.19529092e+00, 2.52966902e-02,
  9.49550190e-02,-7.00349147e-02, 1.30732274e-01, 9.97603347e-01,
  4.21756738e-04,-1.95910696e-04,-6.91906527e-02]

qacc:
[ -5.05797111, -3.70434951, 14.06739421,-20.91718441,  0.33611152,
  -0.44868119, -0.15125204,  4.1998424 , -3.37771223, -1.14809932,
   5.98830913,-15.00783396, -0.67215188,  0.58696586,  3.27268421,
 -13.96738367, -0.75413012,  1.76592779, -0.0264999 ,-22.71700665,
 -17.93397869, -0.44867517]

qfrc_actuator:
[ 2.30768138e-05,-3.56300145e-04,-2.47368457e-04,-8.95958429e-05,
 -1.11684296e-05,-4.52440752e-04,-3.64125647e-04,-1.11438182e-04,
  1.60126047e-06,-3.72745240e-04,-2.95150498e-04,-8.00081124e-05,
  1.69668914e-02,-1.29785193e-03, 1.15067229e-02,-1.99982975e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47908173, -0.50793215,  4.45018854, -0.50793215,  9.2691611 ,
        0.54672634,  4.45018854,  0.54672634,  4.54148355,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002804976946499116
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05135620e-13, -1.97902344e-13,  1.00000000e+00,  2.08065857e-26,
        1.00000000e+00,  1.97902344e-13, -1.00000000e+00,  0.00000000e+00,
        1.05135620e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10516871, -0.09478219,  0.06199133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.99701549e-05,-5.09677860e-06, 5.38829205e-05,-1.44025942e-05,
  1.89991299e-06,-4.67324440e-05,-2.87184590e-06, 9.53841314e-06,
 -1.98720571e-05,-3.10753640e-05,-1.27371761e-05,-2.91469553e-05,
 -1.07679166e-04,-3.43368718e-05,-1.28394651e-04,-1.04617244e-04,
 -6.55533954e-06, 6.53024797e-06,-1.21645471e+00,-1.78724697e-03,
 -3.01412284e-04,-2.62732456e-07]


--- Step 956 ---
qpos:
[ 2.86271064e-03,-5.60438443e-03,-1.02084155e-02, 2.81892740e-03,
 -4.47446959e-03,-5.17790248e-03,-1.77484886e-02, 5.19850399e-03,
 -4.72126456e-03,-3.93568708e-03,-7.82755729e-03,-1.91434984e-02,
  1.20066000e+00, 1.87736966e-02, 1.19568693e+00, 2.52934377e-02,
  9.49423301e-02,-7.00378147e-02, 1.30731641e-01, 9.97597913e-01,
  4.56862829e-04,-2.93673975e-04,-6.92683827e-02]

qacc:
[ -9.35741676, -3.00257729, 12.60886439,-22.44981273, -2.78298723,
  -1.36749764,  3.45192557, -1.45253703,  4.03391217, -2.69337995,
  10.54596111,-17.3203985 , -0.66043214,  0.61351837, -2.79100096,
   6.89399579, -0.76487045,  1.73709364, -0.15966935,-22.47030334,
 -17.39587512, -0.656202  ]

qfrc_actuator:
[-3.12550098e-05,-3.68759446e-04,-2.18905594e-04,-1.16279617e-04,
 -2.77653827e-05,-4.72952587e-04,-3.44158216e-04,-1.04533747e-04,
  2.57565141e-05,-3.71420024e-04,-2.58913860e-04,-9.55026554e-05,
  1.69208062e-02,-1.29350918e-03, 1.14593328e-02,-1.97858502e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48628179, -0.43582173,  4.46506257, -0.43582173, 12.62133672,
        0.79403898,  4.46506257,  0.79403898,  4.56378562,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002828808224086682
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.1323474e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        6.1323474e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10516477, -0.09478196,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.51926034e-05,-4.82070416e-06, 3.35468302e-05,-2.53164069e-05,
 -1.65590752e-05,-4.68445235e-05, 1.02906291e-05, 4.98940130e-06,
  2.35769158e-05,-1.99203631e-05, 2.72526200e-05,-1.78316901e-05,
 -1.13651396e-04,-2.88988731e-05,-1.21812958e-04,-1.88796237e-06,
 -3.65947058e-06, 6.43994647e-06,-1.21644973e+00,-1.78801555e-03,
 -3.01981498e-04,-4.58357215e-07]


--- Step 957 ---
qpos:
[ 2.86258575e-03,-5.60403703e-03,-1.02082156e-02, 2.81798318e-03,
 -4.47486497e-03,-5.17803919e-03,-1.77483700e-02, 5.19773944e-03,
 -4.72083570e-03,-3.93625736e-03,-7.82743240e-03,-1.91434879e-02,
  1.20107055e+00, 1.87730548e-02, 1.19608187e+00, 2.52900324e-02,
  9.49265486e-02,-7.00338608e-02, 1.30729922e-01, 9.97592357e-01,
  4.45198694e-04,-4.22204749e-04,-6.93477659e-02]

qacc:
[ -2.70986877,  1.35064387, -4.69319059,  6.1005958 ,  1.32116168,
  -1.59172513,  6.18512958,-10.91500657,  5.57306256, -1.25121879,
   5.39626691, -9.51806982, -0.37315679,  0.09810459, -1.10311744,
   1.61256366, -0.77316212,  1.7134598 , -0.27172305,-22.26354779,
 -16.96703888, -0.81492611]

qfrc_actuator:
[-4.55314317e-05,-3.58451853e-04,-2.37929099e-04,-1.13827283e-04,
 -1.95599242e-05,-4.85056815e-04,-3.32358882e-04,-1.18023051e-04,
  5.78100554e-05,-3.52465548e-04,-2.37442739e-04,-1.04676572e-04,
  1.68837229e-02,-1.30854562e-03, 1.14220439e-02,-1.98244288e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48624562, -0.34471893,  4.47298207, -0.34471893, 17.02601155,
        0.96640108,  4.47298207,  0.96640108,  4.56072317,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000282868915850526
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04254294e-13, -3.92486754e-13,  1.00000000e+00,  4.09184294e-26,
        1.00000000e+00,  3.92486754e-13, -1.00000000e+00,  0.00000000e+00,
        1.04254294e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10516196, -0.09478257,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.58567445e-05, 1.34265595e-05,-1.67672482e-05, 2.91677935e-06,
  7.71378409e-06,-3.59701914e-05, 3.56490746e-06,-1.50414991e-05,
  3.27174668e-05, 1.27115000e-05, 2.01038255e-05,-9.43104661e-06,
 -1.05966091e-04,-4.84498842e-05,-9.72138479e-05,-2.04090953e-05,
 -1.28030707e-06, 7.31971766e-06,-1.21644985e+00,-1.78808738e-03,
 -3.02038943e-04, 2.45082264e-07]


--- Step 958 ---
qpos:
[ 2.86263527e-03,-5.60368789e-03,-1.02085173e-02, 2.81814613e-03,
 -4.47481402e-03,-5.17877498e-03,-1.77476737e-02, 5.19648538e-03,
 -4.72037080e-03,-3.93662454e-03,-7.82740300e-03,-1.91435813e-02,
  1.20148052e+00, 1.87719288e-02, 1.19647578e+00, 2.52868791e-02,
  9.49076485e-02,-7.00231302e-02, 1.30726739e-01, 9.97586648e-01,
  3.87151250e-04,-5.80845303e-04,-6.94290458e-02]

qacc:
[ 1.51041902e+00, 3.68143407e+00,-1.78014202e+01, 3.77687707e+01,
  3.92037509e+00,-3.42071597e+00, 1.31020919e+01,-2.20446124e+01,
  3.08989663e-01, 3.20851834e-01,-3.17693750e-01,-1.47418410e+00,
 -2.89544732e-02,-4.54515056e-01,-2.30076395e+00, 5.80265414e+00,
 -7.79664585e-01, 1.69420250e+00,-3.65943089e-01,-2.20921606e+01,
 -1.66273878e+01,-9.34952386e-01]

qfrc_actuator:
[-3.61097949e-05,-3.70270039e-04,-2.66964844e-04,-5.87546691e-05,
  3.18407796e-06,-5.27578527e-04,-3.07706996e-04,-1.43403476e-04,
  5.87366546e-05,-3.40886871e-04,-2.42546617e-04,-1.10059272e-04,
  1.68573849e-02,-1.33493253e-03, 1.13855109e-02,-1.96555119e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48044699, -0.23186673,  4.47444332, -0.23186673, 22.74984421,
        0.94672458,  4.47444332,  0.94672458,  4.52950648,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002809516659091349
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04965738e-13, -1.97582567e-13,  1.00000000e+00,  2.07394000e-26,
        1.00000000e+00,  1.97582567e-13, -1.00000000e+00,  0.00000000e+00,
        1.04965738e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10516005, -0.09478384,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.97255609e-06,-7.66640441e-06,-2.82302754e-05, 5.51260328e-05,
  2.29530673e-05,-6.25361630e-05, 1.71425636e-05,-2.70895327e-05,
  1.86327640e-06, 2.24672393e-05,-3.24367533e-07,-4.32669259e-06,
 -9.54344817e-05,-6.35189710e-05,-8.82613964e-05, 2.21917433e-06,
  6.71104162e-07, 9.16051889e-06,-1.21645482e+00,-1.78746027e-03,
 -3.01624455e-04, 1.79848321e-06]


--- Step 959 ---
qpos:
[ 2.86314233e-03,-5.60363980e-03,-1.02092851e-02, 2.81865960e-03,
 -4.47483581e-03,-5.17985588e-03,-1.77467592e-02, 5.19492938e-03,
 -4.72024302e-03,-3.93681025e-03,-7.82741426e-03,-1.91440848e-02,
  1.20188976e+00, 1.87707312e-02, 1.19686889e+00, 2.52848559e-02,
  9.48856088e-02,-7.00056850e-02, 1.30721775e-01, 9.97580751e-01,
  2.83034944e-04,-7.69079365e-04,-6.95124044e-02]

qacc:
[  3.99300578,  1.61878144, -7.84205955, 14.88934703, -0.62181887,
  -1.68584441,  6.62642493,-11.95041254, -2.95596579, -0.48541853,
   3.81674371,-10.98606133, -0.39040402,  0.21410339, -4.58271265,
  14.37733861, -0.78488046,  1.6786311 , -0.44513297,-21.95208347,
 -16.36075976, -1.02421386]

qfrc_actuator:
[-1.28286271e-05,-4.13006910e-04,-3.01717322e-04,-4.41932187e-05,
 -1.21032960e-06,-5.34685151e-04,-2.93541015e-04,-1.57836405e-04,
  4.13323971e-05,-3.33914657e-04,-2.45563401e-04,-1.30941841e-04,
  1.68268543e-02,-1.33227108e-03, 1.13707691e-02,-1.90104809e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47024965, -0.09419968,  4.46925702, -0.09419968, 30.10036319,
        0.54021249,  4.46925702,  0.54021249,  4.48163585,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002775367865570644
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00013670e-13, -3.00020505e-13,  1.00000000e+00,  6.00082023e-26,
        1.00000000e+00,  3.00020505e-13, -1.00000000e+00,  0.00000000e+00,
        2.00013670e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10515885, -0.09478563,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.35329512e-05,-5.04996652e-05,-3.79070642e-05, 1.43281961e-05,
 -3.75778849e-06,-3.96669543e-05, 2.42591375e-06,-1.70443720e-05,
 -1.73441623e-05, 1.92987661e-05, 1.43857813e-06,-2.00148912e-05,
 -9.74322706e-05,-3.62135649e-05,-5.98441598e-05, 5.22284772e-05,
  2.26066402e-06, 1.19503680e-05,-1.21646450e+00,-1.78613359e-03,
 -3.00767253e-04, 4.16557696e-06]


--- Step 960 ---
qpos:
[ 2.86357963e-03,-5.60389077e-03,-1.02101658e-02, 2.81897424e-03,
 -4.47559993e-03,-5.18088802e-03,-1.77459224e-02, 5.19421778e-03,
 -4.72032467e-03,-3.93702267e-03,-7.82737388e-03,-1.91448139e-02,
  1.20229799e+00, 1.87700969e-02, 1.19726106e+00, 2.52839595e-02,
  9.48677617e-02,-6.99890059e-02, 1.30719854e-01, 9.97574921e-01,
  1.76848690e-04,-9.22003716e-04,-6.95945102e-02]

qacc:
[ -0.60875735, -0.48778304,  2.00706886, -5.04961467, -6.4766023 ,
   2.03240293,-10.6963795 , 25.37637274, -1.83145005, -0.64089083,
   3.19087848, -7.16181768, -1.02415804,  1.33764595, -4.69111332,
  14.65973448,  1.04814332, -0.19151828,  0.76068029, -2.25922949,
  17.54040383,  0.62304232]

qfrc_actuator:
[-1.70899060e-05,-4.20735010e-04,-3.04229463e-04,-5.36246762e-05,
 -3.92998808e-05,-5.02804445e-04,-2.85538142e-04,-1.12434700e-04,
  3.10410092e-05,-3.47518552e-04,-2.47344574e-04,-1.43023974e-04,
  1.67831919e-02,-1.29464703e-03, 1.13265124e-02,-1.84446248e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49577755, -2.79828718,  3.51875043, -2.79828718, 18.90158801,
       11.45622445,  3.51875043, 11.45622445, 13.60634297,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028598299002885696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.43460673e-08, -6.43464798e-08,  1.00000000e+00, -4.14044292e-15,
        1.00000000e+00,  6.43464798e-08, -1.00000000e+00,  0.00000000e+00,
       -6.43460673e-08])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0819131 , -0.06769763,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.60484444e-06,-4.31710110e-05,-1.71108219e-05,-1.26286549e-05,
 -3.82105071e-05, 9.50072624e-06,-4.75654686e-07, 4.34583911e-05,
 -1.07798851e-05,-3.36981462e-06, 1.69379925e-06,-1.15932692e-05,
 -1.04402521e-04, 5.42246466e-06,-7.22611342e-05, 5.04017305e-05,
  3.53733885e-06, 1.56755379e-05,-1.21647875e+00,-1.78410762e-03,
 -2.99488499e-04, 7.32009460e-06]


--- Step 961 ---
qpos:
[ 2.86361752e-03,-5.60420333e-03,-1.02106501e-02, 2.81910667e-03,
 -4.47612498e-03,-5.18188396e-03,-1.77449904e-02, 5.19369916e-03,
 -4.71983933e-03,-3.93732505e-03,-7.82733424e-03,-1.91453246e-02,
  1.20270515e+00, 1.87704260e-02, 1.19765239e+00, 2.52846984e-02,
  9.48533571e-02,-6.99760756e-02, 1.30720262e-01, 9.97569110e-01,
  9.19943857e-05,-1.04171264e-03,-6.96762300e-02]

qacc:
[-3.48041943,-1.55774047, 6.21691609,-9.97154027, 2.08738651, 0.17514489,
 -1.37678094, 4.54553484, 4.96539771, 0.32321979,-2.26184115, 6.12253025,
 -1.3197022 , 1.94440872,-6.04648941,19.70758366, 0.86062672,-0.93721009,
  0.58244636, 9.4844796 ,17.30977234, 0.18037489]

qfrc_actuator:
[-3.75323691e-05,-3.89586785e-04,-2.69811410e-04,-5.92901138e-05,
 -2.58973002e-05,-5.01045046e-04,-2.81024519e-04,-1.03168315e-04,
  6.05297557e-05,-3.55579902e-04,-2.48460411e-04,-1.32093596e-04,
  1.67423521e-02,-1.23665156e-03, 1.13018681e-02,-1.75757065e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52172881,  3.25141504,  3.14234493,  3.25141504, 10.84171933,
       -6.53935602,  3.14234493, -6.53935602, 11.28806446,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029423588192982464
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.88662072e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.88662072e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08381897, -0.05649656,  0.06199091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.05577094e-05, 2.94747542e-06, 2.29683585e-05,-8.35117238e-06,
  1.23087092e-05, 8.85182898e-06, 7.92675015e-06, 1.05064655e-05,
  2.91793616e-05,-1.00875511e-05,-2.00036025e-06, 1.06213876e-05,
 -9.55764791e-05, 3.56639004e-05,-5.84176595e-05, 7.90552137e-05,
  4.23592235e-06, 1.31460456e-05,-1.21646913e+00,-1.78327433e-03,
 -2.97155055e-04, 7.18608151e-06]


--- Step 962 ---
qpos:
[ 2.86409971e-03,-5.60436213e-03,-1.02107942e-02, 2.81845442e-03,
 -4.47579596e-03,-5.18267147e-03,-1.77446129e-02, 5.19297363e-03,
 -4.71865963e-03,-3.93762928e-03,-7.82706504e-03,-1.91457279e-02,
  1.20311160e+00, 1.87711647e-02, 1.19804328e+00, 2.52837737e-02,
  9.48424168e-02,-6.99667740e-02, 1.30722327e-01, 9.97563311e-01,
  2.84162394e-05,-1.12939829e-03,-6.97578923e-02]

qacc:
[ 3.89409770e+00,-2.37160453e+00, 1.20498542e+01,-2.62728179e+01,
  7.42728720e+00, 1.38361576e+00,-3.68577690e+00, 8.65798318e-01,
  6.08595289e+00,-4.34715197e-01, 1.07274000e+00, 4.42259716e-01,
 -9.52226897e-01, 1.23676199e+00, 4.48031176e+00,-1.63806564e+01,
  8.66076363e-01,-9.07167959e-01, 4.13987113e-01, 9.49661802e+00,
  1.67139480e+01, 1.65813391e-02]

qfrc_actuator:
[-1.40680908e-05,-3.70735861e-04,-2.49204664e-04,-9.81382862e-05,
  1.77160895e-05,-4.99612755e-04,-3.14251505e-04,-1.15269456e-04,
  9.54412968e-05,-3.42489143e-04,-2.31392696e-04,-1.25462070e-04,
  1.67085737e-02,-1.22031660e-03, 1.12677127e-02,-1.84873340e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53671792,  2.01689966, -4.06373292,  2.01689966,  9.63474052,
        2.53023519, -4.06373292,  2.53023519,  5.79251661,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002988608927904368
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.28712196e-14,  1.85742439e-13,  1.00000000e+00, -1.72501269e-26,
        1.00000000e+00, -1.85742439e-13, -1.00000000e+00,  0.00000000e+00,
        9.28712196e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08382317, -0.05649545,  0.06199077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.28786290e-05, 2.48950245e-05, 2.37655209e-05,-3.80873102e-05,
  4.39685806e-05, 8.50029586e-06,-3.00571779e-05,-1.12422799e-05,
  3.57399401e-05, 7.51490381e-06, 1.51088475e-05, 6.33771858e-06,
 -7.63542524e-05, 4.21625910e-06,-5.90759357e-05,-9.57874540e-05,
  3.90789549e-06, 1.01229280e-05,-1.21645843e+00,-1.78269822e-03,
 -2.94517428e-04, 6.16327895e-06]


--- Step 963 ---
qpos:
[ 2.86520398e-03,-5.60417344e-03,-1.02107817e-02, 2.81732921e-03,
 -4.47494653e-03,-5.18336875e-03,-1.77446137e-02, 5.19211234e-03,
 -4.71845011e-03,-3.93785627e-03,-7.82662479e-03,-1.91460552e-02,
  1.20351734e+00, 1.87719582e-02, 1.19843313e+00, 2.52805074e-02,
  9.48349552e-02,-6.99610039e-02, 1.30725482e-01, 9.97557518e-01,
 -1.39465943e-05,-1.18602272e-03,-6.98397544e-02]

qacc:
[  5.44020625, -0.96292173,  6.07759056,-14.74875243,  4.52496421,
   0.88803955, -2.43583589,  0.64199934, -8.48934064, -0.20274032,
   0.57871791,  0.3762219 , -0.70625752,  0.70472234,  5.63890574,
 -21.76472123,  0.86968495, -0.88285631,  0.27248878,  9.49831301,
  16.23273757, -0.11192577]

qfrc_actuator:
[ 1.73036449e-05,-3.41701421e-04,-2.36987175e-04,-1.20715481e-04,
  4.32400740e-05,-4.98563436e-04,-3.34006099e-04,-1.22115781e-04,
  4.44892042e-05,-3.34511895e-04,-2.21397485e-04,-1.21386275e-04,
  1.66577363e-02,-1.22880950e-03, 1.11958913e-02,-1.97307355e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54215798,  1.96820212, -4.09357784,  1.96820212, 13.0991437 ,
        4.11421942, -4.09357784,  4.11421942,  6.52028462,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030051509082122674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.69440024e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.69440024e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08382613, -0.05649419,  0.06199072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.20357193e-05, 4.62481780e-05, 1.89726848e-05,-2.14283845e-05,
  2.67890999e-05,-8.46124186e-07,-2.20859448e-05,-7.74040701e-06,
 -4.99304543e-05, 1.55965604e-05, 1.36285558e-05, 5.04348490e-06,
 -9.14828415e-05,-2.43769046e-05,-1.16694950e-04,-1.38847223e-04,
  3.31395259e-06, 7.44598570e-06,-1.21645035e+00,-1.78238023e-03,
 -2.92405253e-04, 5.38093844e-06]


--- Step 964 ---
qpos:
[ 2.86633111e-03,-5.60372922e-03,-1.02108677e-02, 2.81597166e-03,
 -4.47414221e-03,-5.18402524e-03,-1.77448397e-02, 5.19082616e-03,
 -4.71919738e-03,-3.93821449e-03,-7.82568171e-03,-1.91463273e-02,
  1.20392205e+00, 1.87735158e-02, 1.19882135e+00, 2.52781070e-02,
  9.48309818e-02,-6.99586867e-02, 1.30729252e-01, 9.97551723e-01,
 -3.51545691e-05,-1.21236039e-03,-6.99220178e-02]

qacc:
[ 0.19233283, 0.13390424, 0.99258538,-5.04330608,-0.40125235,-0.19089846,
  2.55387138,-9.578897  ,-8.35802527,-1.44908207, 4.70984274,-4.49166425,
 -1.14932263, 1.61411264,-4.92088099,14.00030782, 0.87204018,-0.86324374,
  0.15389075, 9.49374666,15.84511591,-0.21252309]

qfrc_actuator:
[ 1.75590996e-05,-3.42317353e-04,-2.47508206e-04,-1.33527936e-04,
  4.01498210e-05,-4.97709064e-04,-3.45631459e-04,-1.43550234e-04,
 -3.33637795e-06,-3.47433720e-04,-1.97926450e-04,-1.18855540e-04,
  1.66126654e-02,-1.18099759e-03, 1.11334936e-02,-1.92069769e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53977672,  1.90080849, -4.12268114,  1.90080849, 17.74392664,
        6.08792178, -4.12268114,  6.08792178,  7.3466815 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029979257057914654
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.851652e-13,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
        1.851652e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08382811, -0.05649281,  0.06199074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18693831e-06, 2.82501826e-05, 6.25082742e-07,-1.05909155e-05,
 -2.32135825e-06,-4.47558263e-06,-1.47796683e-05,-2.23833033e-05,
 -4.92471313e-05,-1.18239949e-06, 2.85458845e-05, 3.77076259e-06,
 -1.01631774e-04, 2.10567413e-05,-1.35701854e-04, 2.87293812e-05,
  2.45658558e-06, 5.06549238e-06,-1.21644468e+00,-1.78233170e-03,
 -2.90794994e-04, 4.82365820e-06]


--- Step 965 ---
qpos:
[ 2.86710811e-03,-5.60315668e-03,-1.02115716e-02, 2.81452449e-03,
 -4.47372563e-03,-5.18485018e-03,-1.77451518e-02, 5.18965597e-03,
 -4.71982283e-03,-3.93844873e-03,-7.82483385e-03,-1.91462128e-02,
  1.20432588e+00, 1.87758593e-02, 1.19920833e+00, 2.52769009e-02,
  9.48305028e-02,-6.99597595e-02, 1.30733241e-01, 9.97545918e-01,
 -3.52639501e-05,-1.20903238e-03,-7.00048394e-02]

qacc:
[-3.08430291, 1.71827488,-5.49178318, 4.82328504,-3.38130108, 0.26301846,
 -1.73912168, 3.99583996, 1.06151931, 1.22426941,-5.75971414,12.50781577,
 -1.0569998 , 1.55458575,-5.338082  ,16.29034874, 0.87358142,-0.84749202,
  0.05472448, 9.48598871,15.5341569 ,-0.29101318]

qfrc_actuator:
[-5.04823004e-07,-3.60770556e-04,-2.89232661e-04,-1.40532989e-04,
  2.02483635e-05,-5.14710953e-04,-3.52381137e-04,-1.37888867e-04,
  4.34651123e-06,-3.37212156e-04,-2.02275397e-04,-9.95087290e-05,
  1.65817600e-02,-1.13563939e-03, 1.10981448e-02,-1.85332626e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53126557,  1.81225509, -4.15308309,  1.81225509, 23.93272718,
        8.46609537, -4.15308309,  8.46609537,  8.22556306,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002971900662340765
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.80180047e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.80180047e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08382933, -0.05649134,  0.06199082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80207826e-05,-2.99551845e-06,-3.61810080e-05,-5.97717451e-06,
 -1.99680390e-05,-2.34877404e-05,-1.02560478e-05, 4.52742800e-06,
  6.27455579e-06, 1.56008072e-05,-9.51928608e-07, 2.03584470e-05,
 -8.17142328e-05, 2.85424210e-05,-9.74685285e-05, 5.09250786e-05,
  1.33786488e-06, 2.94425249e-06,-1.21644126e+00,-1.78256078e-03,
 -2.89668209e-04, 4.47932500e-06]


--- Step 966 ---
qpos:
[ 2.86731766e-03,-5.60254208e-03,-1.02124560e-02, 2.81264072e-03,
 -4.47320621e-03,-5.18555760e-03,-1.77456942e-02, 5.18888113e-03,
 -4.72035169e-03,-3.93858529e-03,-7.82460441e-03,-1.91454820e-02,
  1.20472919e+00, 1.87780023e-02, 1.19959448e+00, 2.52757569e-02,
  9.48335222e-02,-6.99641719e-02, 1.30737118e-01, 9.97540094e-01,
 -1.43242603e-05,-1.17653391e-03,-7.00883407e-02]

qacc:
[ -4.97030819, -0.32955014,  3.11539799,-10.4319021 ,  0.88792977,
   1.61092755, -7.19087257, 14.31915943,  0.82483679,  3.12588173,
 -13.55701482, 25.13138033, -0.20977145, -0.02736095, -1.41356636,
   3.17748961,  0.87463403, -0.83491874, -0.02797791,  9.47725924,
  15.28620657, -0.35195912]

qfrc_actuator:
[-2.91965312e-05,-3.54395845e-04,-2.95862331e-04,-1.61856009e-04,
  2.61261422e-05,-4.88975781e-04,-3.56254550e-04,-1.16340938e-04,
  9.13333664e-06,-3.48812551e-04,-2.40672041e-04,-7.04257165e-05,
  1.65434009e-02,-1.16309126e-03, 1.10683970e-02,-1.84864289e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5181659 ,  1.69940916, -4.18638647,  1.69940916, 32.12826644,
       11.20796136, -4.18638647, 11.20796136,  9.0678921 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029312163363014176
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.89379237e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.89379237e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08382994, -0.0564898 ,  0.06199095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.92069107e-05,-3.04798236e-06,-1.19071299e-05,-2.28155719e-05,
  5.29737306e-06, 1.07058909e-05,-9.81471914e-06, 2.02807878e-05,
  4.97079382e-06,-2.20274370e-06,-3.45955942e-05, 3.01125617e-05,
 -7.61833724e-05,-3.78642728e-05,-7.34179200e-05,-5.99387532e-06,
 -4.07483939e-08, 1.05450915e-06,-1.21643996e+00,-1.78307338e-03,
 -2.89010494e-04, 4.33856205e-06]


--- Step 967 ---
qpos:
[ 2.86683677e-03,-5.60216431e-03,-1.02130770e-02, 2.81121171e-03,
 -4.47262091e-03,-5.18575127e-03,-1.77464571e-02, 5.18762730e-03,
 -4.72116399e-03,-3.93857849e-03,-7.82485273e-03,-1.91447689e-02,
  1.20513225e+00, 1.87788628e-02, 1.19997996e+00, 2.52713364e-02,
  9.48400434e-02,-6.99718842e-02, 1.30740608e-01, 9.97534240e-01,
  2.76233487e-05,-1.11525657e-03,-7.01726155e-02]

qacc:
[ -6.02693857, -0.10083489, -1.99381751,  9.59513712,  0.5586219 ,
   0.3077774 ,  1.90771752,-10.2205401 , -2.49874171,  1.49342495,
  -4.96600405,  5.30744949,  0.47688589, -1.49323811,  8.87811763,
 -32.64744058,  0.87543629, -0.82496753, -0.09675816,  9.46913423,
  15.0902299 , -0.39894811]

qfrc_actuator:
[-6.39075372e-05,-3.68594738e-04,-2.81625474e-04,-1.38129087e-04,
  2.93833349e-05,-4.37816954e-04,-3.58223418e-04,-1.38844713e-04,
 -5.59360857e-06,-3.38024127e-04,-2.63430744e-04,-7.13906762e-05,
  1.65058946e-02,-1.25130978e-03, 1.10153890e-02,-2.02293876e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50181282,  1.55844362, -4.223455  ,  1.55844362, 42.90051152,
       14.16901726, -4.223455  , 14.16901726,  9.73014235,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028793117851359795
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.89189685e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.89189685e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08383007, -0.05648821,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.55460766e-05,-1.93589789e-05, 1.13594409e-05, 2.27462083e-05,
  3.41234329e-06, 5.60228783e-05,-2.48609563e-07,-2.19856825e-05,
 -1.45856743e-05, 3.70145466e-06,-2.64361444e-05,-1.67210537e-06,
 -8.79430184e-05,-1.15696045e-04,-9.27783355e-05,-1.85263906e-04,
 -1.67852612e-06,-6.24280150e-07,-1.21644070e+00,-1.78387379e-03,
 -2.88810653e-04, 4.39426131e-06]


--- Step 968 ---
qpos:
[ 2.86663310e-03,-5.60199921e-03,-1.02135466e-02, 2.81077330e-03,
 -4.47165584e-03,-5.18591074e-03,-1.77470676e-02, 5.18614934e-03,
 -4.72283634e-03,-3.93846909e-03,-7.82484006e-03,-1.91441194e-02,
  1.20553464e+00, 1.87792279e-02, 1.20036440e+00, 2.52664813e-02,
  9.48500693e-02,-6.99828653e-02, 1.30743483e-01, 9.97528341e-01,
  9.05470505e-05,-1.02550631e-03,-7.02577346e-02]

qacc:
[ 2.43393933, 1.33121072,-9.34376683,26.41040051, 3.31595718,-0.84856482,
  4.02639347,-8.16275309,-7.52297412,-0.710193  , 3.02177458,-4.64011048,
 -0.1476976 ,-0.3394425 ,-0.23743299,-1.42623261, 0.87616041,-0.81718416,
 -0.15379362, 9.46270554,14.93729319,-0.43479906]

qfrc_actuator:
[-4.86222571e-05,-3.77123077e-04,-2.72993012e-04,-8.80889281e-05,
  4.88166335e-05,-4.60610331e-04,-3.58967215e-04,-1.51558055e-04,
 -4.94400630e-05,-3.13887184e-04,-2.41194726e-04,-7.22442937e-05,
  1.64742195e-02,-1.26831039e-03, 1.09857197e-02,-2.03501910e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028190315866148674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.95373515e-13, -1.96915677e-13,  1.00000000e+00,  5.81636756e-26,
        1.00000000e+00,  1.96915677e-13, -1.00000000e+00,  0.00000000e+00,
        2.95373515e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08382985, -0.05648659,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.42608974e-05,-1.60470532e-05, 6.82796214e-06, 5.00517920e-05,
  1.95515967e-05, 7.56092009e-06, 1.00500133e-05,-1.07447583e-05,
 -4.42606571e-05, 2.06683694e-05, 1.96877253e-05,-1.64291591e-06,
 -1.07726849e-04,-6.81949390e-05,-9.76371140e-05,-3.53755352e-05,
 -3.57554873e-06,-2.10705950e-06,-1.21644341e+00,-1.78496510e-03,
 -2.89060045e-04, 4.64119293e-06]


--- Step 969 ---
qpos:
[ 2.86730349e-03,-5.60172622e-03,-1.02142865e-02, 2.81058053e-03,
 -4.47081004e-03,-5.18617240e-03,-1.77476285e-02, 5.18524663e-03,
 -4.72467639e-03,-3.93833503e-03,-7.82453068e-03,-1.91434783e-02,
  1.20593609e+00, 1.87798489e-02, 1.20074780e+00, 2.52653876e-02,
  9.48636029e-02,-6.99970912e-02, 1.30745554e-01, 9.97522382e-01,
  1.74424810e-04,-9.07517991e-04,-7.03437511e-02]

qacc:
[  7.63548418,  1.38922289, -5.80913315, 10.44127828, -1.03646519,
   0.91267439, -5.87521066, 15.82354215, -1.45911266, -0.81134849,
   2.98001776, -3.62232673, -0.55351681,  0.56149048,-12.88838926,
  42.96051809,  0.87692883, -0.81119737, -0.20094894,  9.45870479,
  14.82015259, -0.46172606]

qfrc_actuator:
[-4.03069429e-06,-3.64425888e-04,-2.85469178e-04,-7.62364524e-05,
  4.21100922e-05,-4.74243101e-04,-3.59260767e-04,-1.22955134e-04,
 -5.68103232e-05,-3.17262974e-04,-2.28014772e-04,-7.29781329e-05,
  1.64407644e-02,-1.24285421e-03, 1.09860898e-02,-1.82703288e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000275271730024243
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00829735e-13,  2.01659470e-13,  1.00000000e+00, -2.03332710e-26,
        1.00000000e+00, -2.01659470e-13, -1.00000000e+00,  0.00000000e+00,
        1.00829735e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08382934, -0.05648495,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.49912374e-05, 7.28467363e-06,-1.32136424e-05, 1.23764692e-05,
 -6.14336217e-06,-7.76621460e-06, 2.14589095e-06, 2.90697513e-05,
 -8.62727687e-06, 1.21515511e-05, 1.98140071e-05, 8.00266726e-07,
 -1.08088085e-04,-1.75809770e-05,-5.29179023e-05, 1.92495890e-04,
 -5.73274628e-06,-3.40435879e-06,-1.21644805e+00,-1.78634956e-03,
 -2.89752073e-04, 5.07568244e-06]


--- Step 970 ---
qpos:
[ 2.86815847e-03,-5.60150589e-03,-1.02151144e-02, 2.81053959e-03,
 -4.47039615e-03,-5.18619810e-03,-1.77482850e-02, 5.18396950e-03,
 -4.72590120e-03,-3.93778421e-03,-7.82503250e-03,-1.91431695e-02,
  1.20633672e+00, 1.87806947e-02, 1.20113047e+00, 2.52647984e-02,
  9.48806477e-02,-7.00145438e-02, 1.30746666e-01, 9.97516345e-01,
  2.79244508e-04,-7.61467195e-04,-7.04307035e-02]

qacc:
[ 1.61291801, 0.48580415,-2.47943174, 5.29223678,-3.77389337,-0.18478099,
  2.70463899,-9.21931419, 5.35320854, 2.12330728,-5.38736872, 0.64687181,
 -0.71478689, 0.78404558,-2.52697569, 7.45925325, 0.87782677,-0.80670345,
 -0.23981998, 9.45759852,14.73292612,-0.48146715]

qfrc_actuator:
[ 4.17902209e-06,-3.74734136e-04,-2.92496701e-04,-6.91952520e-05,
  2.00667727e-05,-4.46751514e-04,-3.59242286e-04,-1.41282705e-04,
 -2.48905866e-05,-3.01604233e-04,-2.73666477e-04,-9.14224535e-05,
  1.64062903e-02,-1.22798245e-03, 1.09352850e-02,-1.81057628e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026822856227376457
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.06954661e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.06954661e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08382863, -0.05648331,  0.06199171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.49809627e-06,-8.42096144e-06,-6.71874409e-06, 7.13644282e-06,
 -2.22234421e-05, 2.48534628e-05,-3.03339241e-07,-1.80161291e-05,
  3.16776293e-05, 2.65617985e-05,-4.06820051e-05,-1.72252248e-05,
 -9.55939653e-05,-1.51126168e-05,-5.98605519e-05, 1.90204624e-05,
 -8.15191630e-06,-4.52316822e-06,-1.21645458e+00,-1.78802882e-03,
 -2.90881785e-04, 5.69534604e-06]


--- Step 971 ---
qpos:
[ 2.86945059e-03,-5.60151623e-03,-1.02153803e-02, 2.81056115e-03,
 -4.46956016e-03,-5.18581969e-03,-1.77490453e-02, 5.18246130e-03,
 -4.72638919e-03,-3.93675944e-03,-7.82590481e-03,-1.91427767e-02,
  1.20673665e+00, 1.87816693e-02, 1.20151246e+00, 2.52624277e-02,
  9.49016402e-02,-7.00337727e-02, 1.30747242e-01, 9.97510249e-01,
  3.94259201e-04,-5.86765200e-04,-7.05181039e-02]

qacc:
[  3.84540392, -1.75442921,  5.53634951, -5.1697068 ,  3.67083717,
   0.34114421,  0.52146209, -4.63820796,  6.43088413,  1.82266307,
  -5.96512892,  7.68415325, -0.72459226,  0.77783705,  4.44521042,
 -16.85567596,  0.98688911, -0.44405114, -0.13407741,  4.07571318,
  14.64895563, -0.23340624]

qfrc_actuator:
[ 2.64047358e-05,-3.80975616e-04,-2.60824016e-04,-6.50452507e-05,
  4.24396386e-05,-4.12635224e-04,-3.58911295e-04,-1.51543746e-04,
  1.21346772e-05,-2.57174106e-04,-2.82617413e-04,-8.46604886e-05,
  1.63765536e-02,-1.21953262e-03, 1.08857391e-02,-1.90728514e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42294133, -0.58723794, -4.38378393, -0.58723794, 26.17399139,
       -2.91370243, -4.38378393, -2.91370243,  4.81325176,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002609108105020353
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06379554e-13,  4.52247142e-08,  1.00000000e+00, -4.81098492e-21,
        1.00000000e+00, -4.52247142e-08, -1.00000000e+00,  7.52316385e-37,
        1.06379554e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08283493, -0.06226919,  0.06199194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.24943675e-05,-1.20301370e-05, 2.93585744e-05, 3.69648415e-06,
  2.17452049e-05, 4.71833750e-05, 4.81533049e-06,-9.55203939e-06,
  3.79428199e-05, 5.01354911e-05,-9.07503645e-06, 6.15420805e-06,
 -8.45210690e-05,-1.75292716e-05,-8.13968617e-05,-1.04777030e-04,
 -1.08357268e-05,-5.46758783e-06,-1.21646299e+00,-1.79000409e-03,
 -2.92445560e-04, 6.49887500e-06]


--- Step 972 ---
qpos:
[ 2.87099895e-03,-5.60140310e-03,-1.02156523e-02, 2.81028044e-03,
 -4.46880769e-03,-5.18485258e-03,-1.77502090e-02, 5.18118381e-03,
 -4.72608451e-03,-3.93511048e-03,-7.82696472e-03,-1.91430297e-02,
  1.20713596e+00, 1.87825105e-02, 1.20189424e+00, 2.52561375e-02,
  9.49197138e-02,-7.00455219e-02, 1.30748249e-01, 9.97504143e-01,
  4.62386542e-04,-4.46066313e-04,-7.06050477e-02]

qacc:
[ 2.23886414e+00,-4.46386402e-01, 3.09668391e+00,-8.40056446e+00,
 -7.50892463e-01, 2.38113123e+00,-8.33329897e+00, 1.25369120e+01,
  6.92241960e+00, 5.61990891e-03, 3.87525628e+00,-1.51760022e+01,
 -7.03803734e-01, 6.03630287e-01, 1.16591181e+01,-4.10233641e+01,
 -7.29702402e-01, 1.86990304e+00, 1.07946431e-01,-2.21862545e+01,
 -1.86123421e+01, 2.47840881e-01]

qfrc_actuator:
[ 3.89610313e-05,-3.66825336e-04,-2.59803886e-04,-8.03540062e-05,
  3.75230678e-05,-3.74806652e-04,-3.76098912e-04,-1.39205818e-04,
  5.18555606e-05,-2.13457675e-04,-2.87416767e-04,-1.16316127e-04,
  1.63390252e-02,-1.23268253e-03, 1.08795781e-02,-2.10531442e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41310228,  2.54277786, -3.60690345,  2.54277786, 16.78878448,
        8.72455033, -3.60690345,  8.72455033, 10.56369481,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025727560363648927
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07882657e-13,  1.61823985e-13,  1.00000000e+00,  1.74580014e-26,
        1.00000000e+00, -1.61823985e-13, -1.00000000e+00,  0.00000000e+00,
       -1.07882657e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10510279, -0.09482585,  0.06199205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31939656e-05, 1.36528183e-05, 2.28030273e-06,-1.47369720e-05,
 -4.27651665e-06, 6.48046822e-05,-7.17240062e-06, 1.43435526e-05,
  4.08244797e-05, 7.01250094e-05, 4.64632105e-06,-2.97056206e-05,
 -8.79684566e-05,-3.67619589e-05,-6.09338373e-05,-2.15588342e-04,
 -1.27181050e-05,-6.82051397e-06,-1.21647144e+00,-1.79209344e-03,
 -2.94885598e-04, 6.99726047e-06]


--- Step 973 ---
qpos:
[ 2.87165137e-03,-5.60125474e-03,-1.02161762e-02, 2.81019249e-03,
 -4.46846438e-03,-5.18364289e-03,-1.77517218e-02, 5.18010517e-03,
 -4.72530540e-03,-3.93315596e-03,-7.82822582e-03,-1.91439633e-02,
  1.20753448e+00, 1.87832817e-02, 1.20227484e+00, 2.52505414e-02,
  9.49348109e-02,-7.00499866e-02, 1.30749077e-01, 9.97497997e-01,
  4.83945339e-04,-3.38021326e-04,-7.06922667e-02]

qacc:
[ -7.84535682,  1.16240665, -4.86415879,  8.54801465, -3.58312926,
   1.71213975, -6.46732262, 10.27633869,  4.14143114, -0.44387464,
   5.02309954,-16.68010143, -0.43347607,  0.2537344 , -3.82662194,
  10.91742838, -0.7441149 ,  1.82115964, -0.04475447,-22.07344523,
 -17.93025935, -0.12074016]

qfrc_actuator:
[-7.53616727e-06,-3.76207141e-04,-2.76831883e-04,-7.14929825e-05,
  1.65696213e-05,-3.88354831e-04,-4.03456585e-04,-1.31430498e-04,
  7.50906217e-05,-2.23767182e-04,-3.07512483e-04,-1.52573473e-04,
  1.62915156e-02,-1.24082884e-03, 1.08408446e-02,-2.05949040e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42846192, -1.91951693,  3.99083071, -1.91951693,  8.24477544,
        1.83557734,  3.99083071,  1.83557734,  5.3113412 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002629221554871358
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.59785963e-15, -4.22263016e-13,  1.00000000e+00,  2.78603211e-27,
        1.00000000e+00,  4.22263016e-13, -1.00000000e+00,  0.00000000e+00,
        6.59785963e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10509702, -0.09482637,  0.06199188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.61148470e-05,-1.90812637e-06,-1.44366069e-05, 9.23820387e-06,
 -2.10537387e-05, 2.18031662e-05,-1.43542563e-05, 1.05863246e-05,
  2.44305281e-05, 2.85599925e-05,-6.07506102e-06,-3.36742235e-05,
 -1.04324814e-04,-3.78718779e-05,-9.79382349e-05, 2.43862638e-05,
 -7.35741668e-06,-6.61281105e-06,-1.21645688e+00,-1.79232142e-03,
 -2.98857400e-04, 3.94659147e-06]


--- Step 974 ---
qpos:
[ 2.87105170e-03,-5.60107646e-03,-1.02166441e-02, 2.81053613e-03,
 -4.46802962e-03,-5.18285348e-03,-1.77527043e-02, 5.17949871e-03,
 -4.72459784e-03,-3.93151614e-03,-7.82919505e-03,-1.91445868e-02,
  1.20793246e+00, 1.87836312e-02, 1.20265404e+00, 2.52481589e-02,
  9.49468888e-02,-7.00473246e-02, 1.30749213e-01, 9.97491787e-01,
  4.59216064e-04,-2.61544798e-04,-7.07803360e-02]

qacc:
[-10.95108377,  0.79383306, -4.55782774, 11.87589527,  0.82149827,
  -1.06647971,  1.000986  ,  6.63455134, -0.61160102, -0.59188644,
   0.20179076,  4.92330087,  0.21611566, -0.71051193,-11.85752747,
  38.35353647, -0.75482692,  1.78164368, -0.17312352,-21.97043412,
 -17.38105848, -0.4108859 ]

qfrc_actuator:
[-7.06631640e-05,-3.64164071e-04,-2.68935498e-04,-4.85042087e-05,
  2.18583568e-05,-4.32618437e-04,-3.83551312e-04,-1.08700521e-04,
  7.06827301e-05,-2.66423290e-04,-3.01192124e-04,-1.38040812e-04,
  1.62700087e-02,-1.26373578e-03, 1.07986412e-02,-1.88815300e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43622262, -1.86650169,  4.02445556, -1.86650169, 10.69286481,
        2.90176722,  4.02445556,  2.90176722,  5.78203284,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026571634138927713
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.15439797e-13, -2.08911319e-13,  1.00000000e+00,  4.50078121e-26,
        1.00000000e+00,  2.08911319e-13, -1.00000000e+00,  0.00000000e+00,
        2.15439797e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10509273, -0.09482746,  0.06199179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.44453911e-05, 8.37266446e-06, 6.04947754e-06, 2.25900943e-05,
  4.69291841e-06,-3.46138243e-05, 2.30135747e-05, 2.33774032e-05,
 -3.69387642e-06,-2.94253372e-05, 1.02997109e-05, 1.48895930e-05,
 -8.69035460e-05,-5.69148624e-05,-8.88073352e-05, 1.59186058e-04,
 -2.64934127e-06,-5.64410096e-06,-1.21644775e+00,-1.79191560e-03,
 -3.02254913e-04, 1.82508718e-06]


--- Step 975 ---
qpos:
[ 2.87004447e-03,-5.60087865e-03,-1.02167134e-02, 2.81078421e-03,
 -4.46753512e-03,-5.18245562e-03,-1.77528311e-02, 5.17914319e-03,
 -4.72394834e-03,-3.93014974e-03,-7.82977273e-03,-1.91450434e-02,
  1.20833007e+00, 1.87831367e-02, 1.20303268e+00, 2.52457435e-02,
  9.49559155e-02,-7.00376638e-02, 1.30748225e-01, 9.97485482e-01,
  3.88440202e-04,-2.15765084e-04,-7.08697061e-02]

qacc:
[ -3.55283446, -1.27843846,  5.01111987, -7.32980014,  0.55458235,
  -2.39192424,  6.71729925, -3.45368671, -0.49126576, -1.11096024,
   2.73395611, -0.27139416,  0.32559177, -1.06004501, -0.77835652,
   1.3934908 , -0.76277626,  1.74971497, -0.28096548,-21.87932987,
 -16.93981778, -0.63903464]

qfrc_actuator:
[-8.97955964e-05,-3.57027487e-04,-2.46291326e-04,-5.28599881e-05,
  2.48028273e-05,-4.41487555e-04,-3.36028134e-04,-9.51032611e-05,
  6.77978953e-05,-2.74731439e-04,-2.79434705e-04,-1.29257842e-04,
  1.62481324e-02,-1.31287194e-03, 1.07757211e-02,-1.89284154e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43761865, -1.79592898,  4.05796727, -1.79592898, 13.99145548,
        4.2282284 ,  4.05796727,  4.2282284 ,  6.30889987,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026621492483651366
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10776280e-13, -2.08520057e-13,  1.00000000e+00,  2.30990762e-26,
        1.00000000e+00,  2.08520057e-13, -1.00000000e+00,  0.00000000e+00,
        1.10776280e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10508962, -0.09482903,  0.06199178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.09727577e-05, 1.40137323e-05, 2.59062826e-05,-3.34534545e-06,
  3.06502602e-06,-2.24841110e-05, 4.40212095e-05, 1.33672538e-05,
 -2.99754353e-06,-2.20433543e-05, 1.74579398e-05, 8.16926536e-06,
 -8.20259227e-05,-8.45671826e-05,-4.96139800e-05,-8.02127737e-06,
  1.53036540e-06,-3.86174612e-06,-1.21644375e+00,-1.79085672e-03,
 -3.05137461e-04, 5.78599608e-07]


--- Step 976 ---
qpos:
[ 2.86916014e-03,-5.60076441e-03,-1.02164404e-02, 2.81099537e-03,
 -4.46666450e-03,-5.18202872e-03,-1.77528014e-02, 5.17894741e-03,
 -4.72333850e-03,-3.92901248e-03,-7.82978190e-03,-1.91457547e-02,
  1.20872694e+00, 1.87823698e-02, 1.20341078e+00, 2.52416284e-02,
  9.49618676e-02,-7.00211068e-02, 1.30745751e-01, 9.97479053e-01,
  2.71820721e-04,-1.99984302e-04,-7.09607292e-02]

qacc:
[  1.08713166, -1.14525119,  4.07534656, -5.19619675,  3.28453593,
  -0.07647234, -0.35696426,  2.86167288, -0.32551961, -2.4162355 ,
   9.24936212,-14.39376433, -0.50038507,  0.22163644,  4.38556576,
 -16.4067732 , -0.76868345,  1.72403454, -0.37151344,-21.80131838,
 -16.58654595, -0.81810917]

qfrc_actuator:
[-8.28750063e-05,-3.70589012e-04,-2.32916337e-04,-5.55153520e-05,
  4.40884923e-05,-4.28980608e-04,-3.25729476e-04,-8.69532642e-05,
  6.58420336e-05,-2.80098830e-04,-2.48631487e-04,-1.41658281e-04,
  1.62047349e-02,-1.32389690e-03, 1.07377163e-02,-1.98343195e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43389647, -1.70542953,  4.09279221, -1.70542953, 18.42363977,
        5.82939962,  4.09279221,  5.82939962,  6.86295462,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026488285030878966
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.54902148e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.54902148e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10508744, -0.09483099,  0.06199182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.32455189e-06,-5.28242801e-07, 1.93446884e-05,-1.22335850e-06,
  1.93633541e-05, 9.58806211e-06, 1.15375734e-05, 8.97032261e-06,
 -2.04655061e-06,-1.37789398e-05, 2.86757065e-05,-1.25818634e-05,
 -1.07437475e-04,-5.29794710e-05,-6.78528472e-05,-9.87997474e-05,
  5.27414557e-06,-1.23168858e-06,-1.21644466e+00,-1.78913135e-03,
 -3.07549522e-04, 1.65752416e-07]


--- Step 977 ---
qpos:
[ 2.86802040e-03,-5.60049996e-03,-1.02163586e-02, 2.81118028e-03,
 -4.46556949e-03,-5.18152644e-03,-1.77526804e-02, 5.17919461e-03,
 -4.72275673e-03,-3.92815379e-03,-7.82936625e-03,-1.91465927e-02,
  1.20912287e+00, 1.87819488e-02, 1.20378830e+00, 2.52360764e-02,
  9.49647272e-02,-6.99977359e-02, 1.30741487e-01, 9.97472464e-01,
  1.09523325e-04,-2.13646208e-04,-7.10536796e-02]

qacc:
[ -2.24273375,  0.6830988 , -2.02921176,  1.76197256,  1.95876481,
   0.75236767, -4.41489924, 11.88768323, -0.22777199, -1.81635933,
   6.47606354, -9.14062794, -1.04912461,  1.24439214,  3.6010648 ,
 -13.5780366 , -0.7730999 ,  1.70350724, -0.44751979,-21.73691567,
 -16.30517918, -0.95826568]

qfrc_actuator:
[-9.61952883e-05,-3.60968850e-04,-2.42958536e-04,-5.71708814e-05,
  5.50859753e-05,-4.21664629e-04,-3.19656065e-04,-6.43281566e-05,
  6.44483706e-05,-3.01389314e-04,-2.30486988e-04,-1.48661151e-04,
  1.61697753e-02,-1.29453628e-03, 1.07173087e-02,-2.05287291e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42621871, -1.59203126,  4.12999377, -1.59203126, 24.36383142,
        7.68555702,  4.12999377,  7.68555702,  7.38884957,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002621072878775943
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.61837177e-15,  2.11787897e-13,  1.00000000e+00, -1.40169104e-27,
        1.00000000e+00, -2.11787897e-13, -1.00000000e+00,  0.00000000e+00,
        6.61837177e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10508599, -0.09483324,  0.0619919 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31411133e-05, 1.32653564e-05,-7.81522012e-06,-1.03400613e-06,
  1.15550931e-05, 1.54362826e-05, 9.77981799e-06, 2.36083893e-05,
 -1.45409253e-06,-2.36499146e-05, 1.83841123e-05,-6.84651169e-06,
 -1.05419400e-04,-9.59585820e-06,-6.89836089e-05,-8.50761387e-05,
  8.65085312e-06, 2.26708156e-06,-1.21645032e+00,-1.78673003e-03,
 -3.09524331e-04, 5.55295386e-07]


--- Step 978 ---
qpos:
[ 2.86672992e-03,-5.60011760e-03,-1.02163967e-02, 2.81134321e-03,
 -4.46504037e-03,-5.18140295e-03,-1.77522614e-02, 5.17975548e-03,
 -4.72254106e-03,-3.92753804e-03,-7.82873292e-03,-1.91471528e-02,
  1.20951818e+00, 1.87812987e-02, 1.20416513e+00, 2.52313137e-02,
  9.49674605e-02,-6.99725347e-02, 1.30739099e-01, 9.97465812e-01,
 -6.78790201e-05,-2.26136222e-04,-7.11470226e-02]

qacc:
[-1.32437987, 0.44850418,-1.27579247, 0.99568236,-4.91913935,-0.67735879,
  0.38154506, 4.83101297,-3.19385819,-0.35071737,-0.37633956, 5.00244969,
 -0.22783135,-0.05576589,-3.3831944 ,10.40505689,-0.03157035, 0.45753721,
  0.46911954,-7.57505779, 0.0478053 ,-0.19655115]

qfrc_actuator:
[-1.03578315e-04,-3.55392659e-04,-2.48901904e-04,-5.82224155e-05,
  2.56065579e-05,-4.70779077e-04,-3.16115291e-04,-5.11177681e-05,
  4.56436802e-05,-3.14339939e-04,-2.20021448e-04,-1.34698986e-04,
  1.61399222e-02,-1.31246436e-03, 1.07128083e-02,-2.00269142e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41427661, -2.07721792,  3.89499727, -2.07721792, 18.8824132 ,
        7.71591624,  3.89499727,  7.71591624,  8.52920621,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002577129529210828
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.21088041e-06,  4.64664770e-13,  1.00000000e+00, -5.62653465e-19,
        1.00000000e+00, -4.64664770e-13, -1.00000000e+00, -9.62964972e-35,
        1.21088041e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0944821 , -0.07567707,  0.06199204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.75457848e-06, 1.13236867e-05,-4.20448694e-06,-7.74133148e-07,
 -2.91441500e-05,-3.74672765e-05, 8.74252117e-06, 1.46672784e-05,
 -1.88519421e-05,-2.27043697e-05, 7.59578952e-06, 1.34513145e-05,
 -8.89360786e-05,-4.44458923e-05,-5.22918140e-05, 3.51302991e-05,
  1.17119046e-05, 6.64627968e-06,-1.21646061e+00,-1.78364604e-03,
 -3.11086609e-04, 1.72403024e-06]


--- Step 979 ---
qpos:
[ 2.86536086e-03,-5.59972597e-03,-1.02161882e-02, 2.81148067e-03,
 -4.46486857e-03,-5.18159992e-03,-1.77520252e-02, 5.18015187e-03,
 -4.72324214e-03,-3.92733207e-03,-7.82759876e-03,-1.91475394e-02,
  1.20991266e+00, 1.87807530e-02, 1.20454110e+00, 2.52278548e-02,
  9.49735172e-02,-6.99510850e-02, 1.30738499e-01, 9.97459184e-01,
 -2.24490950e-04,-2.04959891e-04,-7.12396201e-02]

qacc:
[-0.67975041,-0.72841384, 2.72476021,-3.56944196,-3.11653476,-0.24519318,
  0.9646516 ,-3.29469504,-8.00292624,-1.56857584, 4.10186029,-1.62812978,
 -0.56222703, 0.51182559,-5.18436645,16.39239577, 0.83082554,-0.93785175,
  0.44680152, 9.17131941,17.53008027, 0.37153411]

qfrc_actuator:
[-1.07401493e-04,-3.52270641e-04,-2.34628048e-04,-5.89053190e-05,
  8.04679410e-06,-5.00069861e-04,-3.32089800e-04,-6.13567147e-05,
 -1.01100909e-06,-3.39963490e-04,-1.96373426e-04,-1.26264434e-04,
  1.60971614e-02,-1.30507109e-03, 1.06752753e-02,-1.93564571e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43262   , -2.14316907,  3.88007041, -2.14316907, 16.0277877 ,
        6.40462728,  3.88007041,  6.40462728,  7.97023598,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002644240172614415
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08385779, -0.05646676,  0.06199183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.04185715e-06, 8.54022798e-06, 1.60654229e-05,-3.58835919e-07,
 -1.84092966e-05,-4.78289085e-05,-2.21351737e-05,-1.12574630e-05,
 -4.71993537e-05,-3.62091443e-05, 2.03471321e-05, 7.98622423e-06,
 -1.00750380e-04,-2.51902364e-05,-6.39080301e-05, 6.08970255e-05,
  1.29233650e-05, 7.42570353e-06,-1.21646453e+00,-1.78095138e-03,
 -3.11377271e-04, 1.77921267e-06]


--- Step 980 ---
qpos:
[ 2.86430129e-03,-5.59920011e-03,-1.02155586e-02, 2.81123487e-03,
 -4.46456449e-03,-5.18142935e-03,-1.77525801e-02, 5.18037625e-03,
 -4.72449716e-03,-3.92736527e-03,-7.82649814e-03,-1.91478065e-02,
  1.21030622e+00, 1.87803520e-02, 1.20491651e+00, 2.52241786e-02,
  9.49786040e-02,-6.99356155e-02, 1.30739207e-01, 9.97452709e-01,
 -3.37548171e-04,-1.79392198e-04,-7.13298456e-02]

qacc:
[  2.71784203, -1.79394949,  8.26226935,-15.65687418,  1.12256657,
   2.3392514 , -6.91435296,  4.93730764, -4.84641112,  0.03307568,
  -1.06330792,  3.33963505, -0.80209156,  0.81102204, -0.09119769,
  -0.69160259, -0.24243647, -1.49506423,  0.32725029, 21.56586321,
   3.74126163,  1.18440204]

qfrc_actuator:
[-9.13480006e-05,-3.32807002e-04,-2.08542543e-04,-7.71073880e-05,
  1.54092433e-05,-4.46362748e-04,-3.59411919e-04,-6.75599533e-05,
 -2.81733380e-05,-3.55174138e-04,-2.00691408e-04,-1.21153179e-04,
  1.60466969e-02,-1.30047952e-03, 1.06499190e-02,-1.94807495e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44742857,  4.33751228,  0.98265363,  4.33751228,  5.02462021,
       -2.54777037,  0.98265363, -2.54777037, 15.69349228,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026968459006121437
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.05837312e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.05837312e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09673092, -0.04645811,  0.06199167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.59388428e-05, 2.75284169e-05, 2.98102294e-05,-1.72884242e-05,
  6.81936973e-06, 2.19042802e-05,-4.03180270e-05,-9.23781200e-06,
 -2.85222783e-05,-3.09525828e-05,-9.02803444e-06, 4.41976391e-06,
 -1.10153321e-04,-2.54245060e-05,-5.38453940e-05,-1.85450996e-05,
  1.20560375e-05, 3.63005409e-06,-1.21645882e+00,-1.77921323e-03,
 -3.10688413e-04, 1.85354833e-07]


--- Step 981 ---
qpos:
[ 2.86309719e-03,-5.59817854e-03,-1.02153329e-02, 2.81078330e-03,
 -4.46417476e-03,-5.18088969e-03,-1.77535794e-02, 5.18084456e-03,
 -4.72572356e-03,-3.92745695e-03,-7.82608761e-03,-1.91479876e-02,
  1.21069903e+00, 1.87797526e-02, 1.20529129e+00, 2.52210091e-02,
  9.49828441e-02,-6.99260335e-02, 1.30740615e-01, 9.97446365e-01,
 -4.07720345e-04,-1.50340267e-04,-7.14182027e-02]

qacc:
[-1.28544709, 1.36264191,-3.03507531,-0.24969643, 0.72690192, 2.22964842,
 -8.27503123,12.93974565, 0.23003778, 2.02862799,-7.70742654,10.340121  ,
 -0.37737514, 0.11061981,-2.44459907, 7.25751972,-0.21171507,-1.47185616,
  0.17489331,21.26382791, 3.26686999, 0.93326398]

qfrc_actuator:
[-9.92303981e-05,-3.03667079e-04,-2.28900947e-04,-8.77003645e-05,
  1.96257094e-05,-4.14427224e-04,-3.75108548e-04,-5.35158028e-05,
 -2.58837283e-05,-3.64143741e-04,-2.39207581e-04,-1.18051208e-04,
  1.60076251e-02,-1.31540365e-03, 1.06318723e-02,-1.91842632e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46081132, -0.39396272, -4.44338059, -0.39396272, 10.72400974,
       -0.55531293, -4.44338059, -0.55531293,  4.51004694,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000274325356640695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02355159e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.02355159e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09673551, -0.04645979,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.41998558e-06, 4.99337228e-05,-1.16110930e-05,-8.72091877e-06,
  4.42161610e-06, 3.54630639e-05,-1.64549899e-05, 1.34076465e-05,
  1.46542856e-06,-2.79785196e-05,-4.58802300e-05, 1.54927093e-06,
 -1.03805808e-04,-4.71978299e-05,-5.18450849e-05, 2.01557585e-05,
  8.45375129e-06, 1.38441687e-06,-1.21644985e+00,-1.77760743e-03,
 -3.09014815e-04,-1.29866277e-08]


--- Step 982 ---
qpos:
[ 2.86146320e-03,-5.59669588e-03,-1.02156497e-02, 2.81022255e-03,
 -4.46442692e-03,-5.18049018e-03,-1.77540158e-02, 5.18147260e-03,
 -4.72725802e-03,-3.92781537e-03,-7.82606588e-03,-1.91484691e-02,
  1.21109106e+00, 1.87789850e-02, 1.20566512e+00, 2.52208683e-02,
  9.49863347e-02,-6.99222619e-02, 1.30742211e-01, 9.97440133e-01,
 -4.35562911e-04,-1.18517613e-04,-7.15050865e-02]

qacc:
[ -3.78537528,  1.90833686, -5.44653096,  4.07193287, -5.5777885 ,
  -1.41795416,  4.13208053, -2.18586253, -2.70484126,  0.1207365 ,
   0.33378265, -4.72146213, -0.19075221, -0.11061098,-10.58026996,
  34.97211261, -0.18734686, -1.45262164,  0.04692891, 21.01195051,
   2.8930838 ,  0.73610172]

qfrc_actuator:
[-1.21144116e-04,-2.86889177e-04,-2.58716580e-04,-9.37520493e-05,
 -1.35569549e-05,-4.31208501e-04,-3.48354954e-04,-4.54229999e-05,
 -4.17892158e-05,-3.87206379e-04,-2.62067447e-04,-1.33921887e-04,
  1.59700816e-02,-1.32399921e-03, 1.06075863e-02,-1.75765234e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46641346, -0.4520776 , -4.44347556, -0.4520776 , 14.2960257 ,
       -1.00006121, -4.44347556, -1.00006121,  4.56815933,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002762374963719699
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00477220e-13,  2.00954439e-13,  1.00000000e+00, -2.01913434e-26,
        1.00000000e+00, -2.00954439e-13, -1.00000000e+00,  0.00000000e+00,
        1.00477220e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09673919, -0.0464605 ,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.21109063e-05, 4.18915238e-05,-2.12454420e-05,-4.48494890e-06,
 -3.30434264e-05, 2.17760686e-07, 3.25195089e-05, 9.30352829e-06,
 -1.58715265e-05,-4.81224196e-05,-3.42403910e-05,-1.86267058e-05,
 -1.03942850e-04,-4.54677415e-05,-5.24372189e-05, 1.53778905e-04,
  5.06427417e-06,-6.53927913e-08,-1.21644391e+00,-1.77662739e-03,
 -3.07580617e-04,-4.68550948e-08]


--- Step 983 ---
qpos:
[ 2.86026916e-03,-5.59520478e-03,-1.02155751e-02, 2.80924189e-03,
 -4.46507484e-03,-5.18017463e-03,-1.77540642e-02, 5.18150704e-03,
 -4.72931636e-03,-3.92815871e-03,-7.82647854e-03,-1.91491701e-02,
  1.21148228e+00, 1.87781189e-02, 1.20603804e+00, 2.52220173e-02,
  9.49891104e-02,-6.99242306e-02, 1.30743567e-01, 9.97433995e-01,
 -4.21527548e-04,-8.48103618e-05,-7.15907809e-02]

qacc:
[  3.8602539 , -1.95534361,  8.74746167,-16.63280598, -3.43815466,
  -2.40993089, 10.94984582,-21.795628  , -4.60025241,  0.79072046,
  -1.84848275, -1.28430249, -0.41151419,  0.19754045, -5.22103831,
  16.38621106, -0.1787446 , -1.43505704, -0.05983452, 20.81807542,
   2.43687537,  0.59452379]

qfrc_actuator:
[-9.78755516e-05,-2.95444777e-04,-2.40648433e-04,-1.14845895e-04,
 -3.29805547e-05,-4.41352975e-04,-3.32465995e-04,-7.64196336e-05,
 -6.82865102e-05,-3.65235283e-04,-2.75558777e-04,-1.43071485e-04,
  1.59281583e-02,-1.32874868e-03, 1.05529793e-02,-1.69845409e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46559669, -0.4005218 , -4.44759892, -0.4005218 , 19.11971684,
       -1.31965465, -4.44759892, -1.31965465,  4.5844362 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002759598099043674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.46997236e-08,  7.47003271e-08,  1.00000000e+00,  5.58009378e-15,
        1.00000000e+00, -7.47003271e-08, -1.00000000e+00,  7.88860905e-31,
       -7.46997236e-08])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09687757, -0.04647375,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.26480191e-05, 1.02383814e-05, 2.39392600e-05,-2.01215050e-05,
 -2.03725010e-05,-2.92960629e-06, 2.02622598e-05,-2.96807843e-05,
 -2.69663941e-05,-1.28051120e-05,-2.82881914e-05,-1.27556063e-05,
 -1.07486719e-04,-4.14022308e-05,-6.74645381e-05, 5.97200750e-05,
  1.84351445e-06,-7.77226467e-07,-1.21644084e+00,-1.77627191e-03,
 -3.06338641e-04, 5.28467869e-08]


--- Step 984 ---
qpos:
[ 2.86005298e-03,-5.59396046e-03,-1.02148630e-02, 2.80803197e-03,
 -4.46526125e-03,-5.17974197e-03,-1.77539499e-02, 5.18046913e-03,
 -4.73064190e-03,-3.92837178e-03,-7.82690929e-03,-1.91496748e-02,
  1.21187261e+00, 1.87774408e-02, 1.20641024e+00, 2.52221986e-02,
  9.49897722e-02,-6.99316428e-02, 1.30744307e-01, 9.97428003e-01,
 -3.65916456e-04,-6.07666811e-05,-7.16745569e-02]

qacc:
[  8.57787865, -2.5969365 ,  9.7249582 ,-14.49917336,  4.0272456 ,
  -2.51522079, 13.70663602,-32.59898387,  6.41260691,  0.61487971,
  -2.79189472,  6.1445058 , -0.85819544,  0.91569434,  1.94484385,
  -8.14973729, -0.52846314, -1.36089044, -0.15418974, 21.08054559,
  -3.33156546,  0.95809446]

qfrc_actuator:
[-4.81954995e-05,-3.18932278e-04,-2.12319636e-04,-1.26857985e-04,
 -8.63282924e-06,-4.29762877e-04,-3.23146026e-04,-1.30180501e-04,
 -2.97893350e-05,-3.34171701e-04,-2.65475252e-04,-1.30396406e-04,
  1.58889645e-02,-1.31344016e-03, 1.05068389e-02,-1.75293184e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46049827,  3.11023603, -3.1972608 ,  3.11023603, 12.52878945,
        7.84868407, -3.1972608 ,  7.84868407, 12.09555261,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002742179805514145
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.50602303e-07,  3.50602203e-07,  1.00000000e+00, -1.22921940e-13,
        1.00000000e+00, -3.50602203e-07, -1.00000000e+00, -2.52435490e-29,
        3.50602303e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10154249, -0.04693192,  0.06199153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.03261921e-05,-1.37204629e-05, 3.26802378e-05,-1.11386781e-05,
  2.37630892e-05, 1.28472393e-05, 1.01813869e-05,-5.37627052e-05,
  3.77226342e-05, 1.75169268e-05, 3.52273015e-06, 1.09035773e-05,
 -1.06260967e-04,-2.07674895e-05,-7.61488177e-05,-6.10758867e-05,
 -1.23884357e-06,-7.71936601e-07,-1.21644053e+00,-1.77653390e-03,
 -3.05247779e-04, 2.64350336e-07]


--- Step 985 ---
qpos:
[ 2.86043408e-03,-5.59292162e-03,-1.02137808e-02, 2.80670101e-03,
 -4.46549954e-03,-5.17909431e-03,-1.77534888e-02, 5.17842403e-03,
 -4.73080624e-03,-3.92844872e-03,-7.82697016e-03,-1.91500524e-02,
  1.21226210e+00, 1.87769304e-02, 1.20678188e+00, 2.52222954e-02,
  9.49883779e-02,-6.99444764e-02, 1.30744120e-01, 9.97422134e-01,
 -2.69142673e-04,-4.66366499e-05,-7.17566227e-02]

qacc:
[  5.23961941, -1.56540502,  5.68068061, -8.19697695, -0.44595867,
  -2.75720538, 14.49722354,-32.64440139, 10.17507285, -0.61212812,
   1.87308256, -0.3290387 , -0.74848907,  0.78023509, -0.48749396,
   0.69940885, -0.51402604, -1.3553328 , -0.2316036 , 20.88376386,
  -3.46922606,  0.85434064]

qfrc_actuator:
[-1.88877203e-05,-3.33374446e-04,-1.95989733e-04,-1.33443719e-04,
 -1.19791694e-05,-4.05299515e-04,-2.99944749e-04,-1.79131070e-04,
  2.89047710e-05,-3.15526490e-04,-2.41489348e-04,-1.22707346e-04,
  1.58514443e-02,-1.30409665e-03, 1.05030753e-02,-1.74960503e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.45147886,  -2.18324596,  -3.8793171 ,  -2.18324596,
        25.10934645, -11.62606838,  -3.8793171 , -11.62606838,
        10.99452913,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002711001815696015
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.69046179e-07,  6.69046320e-07,  1.00000000e+00, -4.47622884e-13,
        1.00000000e+00, -6.69046320e-07, -1.00000000e+00,  0.00000000e+00,
        6.69046179e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10154458, -0.04693153,  0.06199162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.07360666e-05,-1.58740121e-05, 1.71137850e-05,-6.26327509e-06,
 -2.65879858e-06, 3.14404802e-05, 2.52434696e-05,-4.90940973e-05,
  5.97756669e-05, 2.96579693e-05, 2.84207979e-05, 8.77413675e-06,
 -9.96626176e-05,-2.04486074e-05,-5.15145278e-05,-1.11780631e-05,
 -3.98777972e-06, 5.97049830e-07,-1.21644257e+00,-1.77723873e-03,
 -3.04108589e-04, 4.62101843e-07]


--- Step 986 ---
qpos:
[ 2.86081912e-03,-5.59222737e-03,-1.02124514e-02, 2.80601891e-03,
 -4.46577564e-03,-5.17845900e-03,-1.77529549e-02, 5.17620177e-03,
 -4.73164505e-03,-3.92847278e-03,-7.82666774e-03,-1.91506693e-02,
  1.21265073e+00, 1.87767874e-02, 1.20715276e+00, 2.52234110e-02,
  9.49849164e-02,-6.99627033e-02, 1.30742743e-01, 9.97416368e-01,
 -1.31537556e-04,-4.30484209e-05,-7.18371014e-02]

qacc:
[  0.048495  ,  0.19006388, -4.07741672, 15.16514084, -0.32723945,
  -0.58383942,  2.80716685, -5.98215273, -5.89428957, -1.42714727,
   6.2175681 ,-10.99509486, -0.80206206,  0.9653554 , -4.13489262,
  13.0216534 , -0.51679931, -1.34833314, -0.29771746, 20.74131111,
  -3.79256526,  0.79278272]

qfrc_actuator:
[-1.95664866e-05,-3.60084619e-04,-1.86846703e-04,-1.01284885e-04,
 -1.38605190e-05,-4.26514817e-04,-3.04169105e-04,-1.89326427e-04,
 -7.52027292e-06,-3.22142901e-04,-2.27295377e-04,-1.35771724e-04,
  1.58149560e-02,-1.28063435e-03, 1.04768162e-02,-1.69433915e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.43954588,  -2.05121839,  -3.93726692,  -2.05121839,
        34.30014029, -15.55662891,  -3.93726692, -15.55662891,
        12.54416362,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002669012284573641
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03991937e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.03991937e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10173167, -0.04694892,  0.06199175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.89585330e-07,-3.23581089e-05, 7.73191935e-06, 3.19458607e-05,
 -1.94557553e-06,-5.48748960e-07, 3.67198011e-06,-8.92804590e-06,
 -3.47095436e-05, 1.62387191e-05, 2.41234422e-05,-1.06414822e-05,
 -9.44627479e-05,-4.98445404e-06,-5.80526040e-05, 4.64912843e-05,
 -6.41037404e-06, 2.54090449e-06,-1.21644738e+00,-1.77858383e-03,
 -3.02949541e-04, 5.51635290e-07]


--- Step 987 ---
qpos:
[ 2.86119323e-03,-5.59176729e-03,-1.02113267e-02, 2.80609022e-03,
 -4.46572693e-03,-5.17826537e-03,-1.77522905e-02, 5.17461745e-03,
 -4.73325822e-03,-3.92853841e-03,-7.82584159e-03,-1.91514367e-02,
  1.21303861e+00, 1.87771138e-02, 1.20752249e+00, 2.52242592e-02,
  9.49794240e-02,-6.99863104e-02, 1.30739959e-01, 9.97410681e-01,
  4.66400519e-05,-5.01516193e-05,-7.19161227e-02]

qacc:
[ -0.09757512,  1.81429776,-10.09776336, 23.63559933,  2.84460377,
   0.35953031, -4.83155774, 15.99922373, -6.76202278, -1.81552923,
   7.04919367,-10.47882119, -0.8424025 ,  1.12048867, -0.80014587,
   0.55114389, -0.50772945, -1.34504433, -0.35168672, 20.61789035,
  -3.87469153,  0.72809509]

qfrc_actuator:
[-2.01301274e-05,-3.76181671e-04,-1.99793555e-04,-6.43534286e-05,
  2.89641919e-06,-4.74995981e-04,-3.06960981e-04,-1.58943179e-04,
 -4.63877246e-05,-3.26134843e-04,-2.01365314e-04,-1.43219991e-04,
  1.57897709e-02,-1.24896756e-03, 1.03998180e-02,-1.71549504e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002618420320881637
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10173332, -0.04694764,  0.06199191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.74583649e-07,-3.12662284e-05,-1.75954009e-05, 3.64312741e-05,
  1.67011952e-05,-4.84371637e-05,-2.77051152e-06, 3.03154774e-05,
 -3.98534216e-05, 9.59940706e-06, 3.18856409e-05,-6.12335517e-06,
 -7.66901199e-05, 8.69066361e-06,-1.04780198e-04,-2.74229657e-05,
 -8.51022915e-06, 5.07167074e-06,-1.21645490e+00,-1.78055827e-03,
 -3.01749565e-04, 5.16427765e-07]


--- Step 988 ---
qpos:
[ 2.86190236e-03,-5.59127405e-03,-1.02107389e-02, 2.80624704e-03,
 -4.46547797e-03,-5.17827185e-03,-1.77514311e-02, 5.17302892e-03,
 -4.73394547e-03,-3.92846370e-03,-7.82477636e-03,-1.91519457e-02,
  1.21342575e+00, 1.87782880e-02, 1.20789113e+00, 2.52225189e-02,
  9.49710798e-02,-7.00026815e-02, 1.30737950e-01, 9.97404960e-01,
  1.75720193e-04,-9.19309992e-05,-7.19951846e-02]

qacc:
[ 2.91315752e+00, 1.71497449e+00,-6.42198324e+00, 8.74663905e+00,
  1.75583196e+00,-8.21158023e-01, 2.55626685e+00,-2.78783930e+00,
  8.11114287e+00, 3.33609069e-02,-9.66078806e-01, 4.97687848e+00,
 -1.29332819e+00, 1.92180076e+00, 6.36591986e+00,-2.42602736e+01,
 -7.12937128e-01, 1.80897819e+00, 1.93935644e-01,-2.32382812e+01,
 -1.90586484e+01,-1.94856594e-02]

qfrc_actuator:
[-2.85876703e-06,-3.68130803e-04,-2.25641433e-04,-6.04277594e-05,
  1.27362110e-05,-4.68391862e-04,-2.91227574e-04,-1.58214903e-04,
  2.41220913e-06,-3.10726186e-04,-1.86451968e-04,-1.29539146e-04,
  1.57660616e-02,-1.19487441e-03, 1.03297193e-02,-1.85263577e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42207129,  0.20100232, -4.41750072,  0.20100232, 28.17477689,
        1.08078054, -4.41750072,  1.08078054,  4.47124828,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026059199377703735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.66421409e-13, -6.39058212e-13,  1.00000000e+00,  1.06352968e-25,
        1.00000000e+00,  6.39058212e-13, -1.00000000e+00,  0.00000000e+00,
        1.66421409e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10503342, -0.09484777,  0.06199195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72405973e-05,-1.15381391e-05,-3.32318673e-05, 2.68249058e-06,
  1.03005231e-05,-1.97604661e-05, 6.42945569e-06,-8.51912178e-07,
  4.76646215e-05, 2.70755242e-05, 2.06040660e-05, 1.50772791e-05,
 -6.38858761e-05, 3.96647579e-05,-1.25270983e-04,-1.53003494e-04,
 -1.03114122e-05, 8.15634820e-06,-1.21646512e+00,-1.78316590e-03,
 -3.00496656e-04, 3.60297038e-07]


--- Step 989 ---
qpos:
[ 2.86315783e-03,-5.59084067e-03,-1.02101872e-02, 2.80642673e-03,
 -4.46545795e-03,-5.17812217e-03,-1.77508340e-02, 5.17144695e-03,
 -4.73404274e-03,-3.92836773e-03,-7.82346709e-03,-1.91522720e-02,
  1.21381207e+00, 1.87804339e-02, 1.20825861e+00, 2.52213645e-02,
  9.49598114e-02,-7.00119551e-02, 1.30736051e-01, 9.97399175e-01,
  2.56457743e-04,-1.66915429e-04,-7.20749036e-02]

qacc:
[  4.7791178 ,  0.05981486, -0.44074405,  0.95598679, -2.00746744,
   0.95666743, -3.13278731,  3.54410792,  5.17249446, -0.28755885,
   0.27775139,  2.49721856, -1.18302641,  1.83744688, -3.34455752,
   9.55324007, -0.73107793,  1.77440515,  0.02739299,-22.9132927 ,
 -18.29971846, -0.32479011]

qfrc_actuator:
[ 2.47720238e-05,-3.63517463e-04,-2.23310479e-04,-5.81863889e-05,
  6.67721806e-07,-4.46554099e-04,-3.00000913e-04,-1.57139997e-04,
  3.14115263e-05,-3.19347713e-04,-1.78073508e-04,-1.21281974e-04,
  1.57272875e-02,-1.14564425e-03, 1.03117292e-02,-1.80840264e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44221798, -0.23027304,  4.43624559, -0.23027304,  8.19954192,
        0.19503212,  4.43624559,  0.19503212,  4.45234155,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002678489881213636
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10100469e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.10100469e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10502701, -0.09484549,  0.06199172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.81185436e-05,-8.60948986e-06,-4.06724601e-06, 6.45655827e-07,
 -1.17803176e-05, 1.20766261e-05,-1.20991348e-05, 4.35406094e-07,
  3.03697140e-05, 1.14207089e-05, 1.70152061e-05, 1.04195960e-05,
 -6.58045390e-05, 4.68173074e-05,-9.61341582e-05, 1.88494034e-05,
 -6.61900902e-06, 7.19120902e-06,-1.21645512e+00,-1.78457758e-03,
 -3.01626472e-04,-7.16822847e-07]


--- Step 990 ---
qpos:
[ 2.86473495e-03,-5.59058670e-03,-1.02095691e-02, 2.80663985e-03,
 -4.46558268e-03,-5.17780402e-03,-1.77503850e-02, 5.16988035e-03,
 -4.73448086e-03,-3.92836809e-03,-7.82227303e-03,-1.91521107e-02,
  1.21419781e+00, 1.87829734e-02, 1.20862515e+00, 2.52229569e-02,
  9.49455628e-02,-7.00142454e-02, 1.30733700e-01, 9.97393297e-01,
  2.89484790e-04,-2.73929305e-04,-7.21557558e-02]

qacc:
[  2.81862635, -0.35960446,  0.78759045, -0.17333469, -1.26982853,
   0.67016383, -2.12725629,  2.50180076, -2.98574633,  1.20477653,
  -6.52443866, 15.1973504 , -0.44177022,  0.61955311, -9.67849612,
  31.92750046, -0.74502029,  1.74580317, -0.11306669,-22.63903071,
 -17.69258947, -0.56044636]

qfrc_actuator:
[ 4.05204934e-05,-3.78639534e-04,-2.22110845e-04,-5.69271716e-05,
 -6.44401028e-06,-4.33605009e-04,-3.05346310e-04,-1.55866197e-04,
  1.29907640e-05,-3.42324409e-04,-1.91469186e-04,-9.85542175e-05,
  1.56954857e-02,-1.13530016e-03, 1.03037453e-02,-1.65748403e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45369009, -0.16915511,  4.4504766 , -0.16915511, 11.07578632,
        0.2516947 ,  4.4504766 ,  0.2516947 ,  4.46325658,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002718689239285671
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.10564245e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.10564245e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10502222, -0.0948444 ,  0.0619916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.65472707e-05,-2.07656825e-05,-1.07169966e-06, 7.58141792e-07,
 -7.44476082e-06, 1.72088561e-05,-4.33114089e-06, 1.38335048e-06,
 -1.75490347e-05,-1.26374662e-05,-8.59769721e-06, 2.40047383e-05,
 -5.69348172e-05, 8.88766405e-06,-5.43582696e-05, 1.38680771e-04,
 -3.61653386e-06, 7.20936093e-06,-1.21645067e+00,-1.78529758e-03,
 -3.02160512e-04,-7.96457184e-07]


--- Step 991 ---
qpos:
[ 2.86579909e-03,-5.59058317e-03,-1.02091723e-02, 2.80689589e-03,
 -4.46544677e-03,-5.17764607e-03,-1.77493129e-02, 5.16832976e-03,
 -4.73513615e-03,-3.92821969e-03,-7.82189294e-03,-1.91516608e-02,
  1.21458285e+00, 1.87862225e-02, 1.20899096e+00, 2.52240302e-02,
  9.49282910e-02,-7.00096467e-02, 1.30730423e-01, 9.97387292e-01,
  2.75327038e-04,-4.12036473e-04,-7.22381068e-02]

qacc:
[ -4.48976973,  0.38456422, -2.01739725,  3.28181459,  2.29530351,
  -1.92377908,  6.47738283, -7.07137763, -1.92915878,  3.07052898,
 -11.87136952, 18.04513889, -1.02965953,  1.51589061,  0.62561582,
  -3.44781049, -0.75581603,  1.72224798, -0.23145497,-22.40930908,
 -17.20868239, -0.74102003]

qfrc_actuator:
[ 1.36404885e-05,-4.05459355e-04,-2.39430825e-04,-5.62769377e-05,
  7.17832549e-06,-4.43816532e-04,-2.73139098e-04,-1.54484500e-04,
  2.31806876e-06,-3.38299849e-04,-2.35420365e-04,-8.52745659e-05,
  1.56625493e-02,-1.09484043e-03, 1.02485301e-02,-1.69348638e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45775138, -0.09209452,  4.45679996, -0.09209452, 14.84642925,
        0.2146698 ,  4.45679996,  0.2146698 ,  4.46218727,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002732734213242993
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.44355850e-14, -2.03134103e-13,  1.00000000e+00, -9.02638268e-27,
        1.00000000e+00,  2.03134103e-13, -1.00000000e+00,  0.00000000e+00,
       -4.44355850e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10501872, -0.09484428,  0.06199156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.64157936e-05,-3.86370392e-05,-2.17280193e-05,-2.65251044e-07,
  1.34150348e-05,-1.43968091e-06, 3.52707942e-05, 1.99814981e-06,
 -1.11776633e-05,-3.81184622e-06,-4.68037979e-05, 1.29059786e-05,
 -6.12074579e-05, 3.00009734e-05,-7.01251799e-05,-3.64694361e-05,
 -1.16614869e-06, 8.20647152e-06,-1.21645140e+00,-1.78531987e-03,
 -3.02160413e-04, 4.70162597e-08]


--- Step 992 ---
qpos:
[ 2.86653296e-03,-5.59086141e-03,-1.02089700e-02, 2.80716037e-03,
 -4.46514844e-03,-5.17786515e-03,-1.77480492e-02, 5.16790200e-03,
 -4.73556971e-03,-3.92776821e-03,-7.82186670e-03,-1.91514524e-02,
  1.21496715e+00, 1.87902604e-02, 1.20935555e+00, 2.52230978e-02,
  9.49079621e-02,-6.99982362e-02, 1.30725821e-01, 9.97381126e-01,
  2.14417821e-04,-5.80495311e-04,-7.23222343e-02]

qacc:
[ -2.89038028,  0.19447705, -1.25956356,  1.9135055 ,  1.42946724,
   1.27537999,-10.01538002, 29.4248523 ,  1.92475386,  0.88824219,
  -1.57348556, -2.25588474, -1.19081465,  1.7559351 ,  4.38499716,
 -17.65707049, -0.76427516,  1.70296192, -0.33118863,-22.21872848,
 -16.82508185, -0.87795341]

qfrc_actuator:
[-2.60539433e-06,-4.21402388e-04,-2.49848798e-04,-5.60149657e-05,
  1.51409713e-05,-4.85415770e-04,-2.72370110e-04,-9.97869643e-05,
  1.40595013e-05,-3.00528463e-04,-2.43702087e-04,-9.54126419e-05,
  1.56236382e-02,-1.05453735e-03, 1.01596641e-02,-1.80396879e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45574950e+00,  3.33396241e-03,  4.45574825e+00,  3.33396241e-03,
        1.97340604e+01, -1.14318205e-02,  4.45574825e+00, -1.14318205e-02,
        4.45575805e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00])
  dim: 3
  dist: -0.000272582315763395
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.72763176e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.72763176e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10501625, -0.09484493,  0.06199158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.70139279e-05,-4.20663314e-05,-2.10895470e-05,-2.15109337e-06,
  8.34521303e-06,-3.50437628e-05, 4.87419411e-06, 5.58955023e-05,
  1.14231917e-05, 2.65087280e-05,-1.43943748e-05,-1.16712315e-05,
 -6.53445493e-05, 3.51204783e-05,-1.30832390e-04,-1.22794239e-04,
  8.33689115e-07, 1.01725301e-05,-1.21645708e+00,-1.78464153e-03,
 -3.01671702e-04, 1.75811445e-06]


--- Step 993 ---
qpos:
[ 2.86706612e-03,-5.59137807e-03,-1.02089080e-02, 2.80707122e-03,
 -4.46475684e-03,-5.17839358e-03,-1.77470480e-02, 5.16850194e-03,
 -4.73585937e-03,-3.92699950e-03,-7.82145209e-03,-1.91514217e-02,
  1.21535094e+00, 1.87943377e-02, 1.20971902e+00, 2.52214068e-02,
  9.48910823e-02,-6.99907097e-02, 1.30723777e-01, 9.97374987e-01,
  1.74583110e-04,-7.15502806e-04,-7.24057567e-02]

qacc:
[ -1.75619165, -0.64793318,  3.35168217, -9.07843787,  0.81107326,
   2.43880169,-13.63061635, 32.06884695,  1.26636118, -1.03473065,
   5.04116997, -8.96048675, -0.40896405,  0.37659957,  0.69341231,
  -4.7151269 ,  0.86228511, -0.97100013,  0.63961331,  9.30019209,
  17.44401987,  0.29298896]

qfrc_actuator:
[-1.24483040e-05,-4.30687850e-04,-2.56063740e-04,-7.37212739e-05,
  1.97017781e-05,-5.10061454e-04,-2.90281760e-04,-4.97183915e-05,
  2.11447439e-05,-2.60475441e-04,-2.12964043e-04,-1.01433866e-04,
  1.55864966e-02,-1.06794924e-03, 1.01305667e-02,-1.83317660e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4747004 , -2.02498256,  3.99028687, -2.02498256, 20.46835716,
        8.11642798,  3.99028687,  8.11642798,  8.59360855,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027903413086842466
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.94701814e-14,  1.98940363e-13,  1.00000000e+00, -1.97886340e-26,
        1.00000000e+00, -1.98940363e-13, -1.00000000e+00,  0.00000000e+00,
        9.94701814e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08388405, -0.05643383,  0.06199138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.03422965e-05,-3.72585623e-05,-1.75759675e-05,-2.02802018e-05,
  4.78529185e-06,-4.08433305e-05,-2.26267016e-05, 4.98220055e-05,
  7.42327296e-06, 5.13891717e-05, 3.40296295e-05,-5.61333535e-06,
 -6.59733924e-05,-1.74790716e-05,-1.05897769e-04,-5.35028687e-05,
  2.45789906e-06, 1.30942910e-05,-1.21646750e+00,-1.78326159e-03,
 -3.00727779e-04, 4.29591589e-06]


--- Step 994 ---
qpos:
[ 2.86678706e-03,-5.59199542e-03,-1.02087101e-02, 2.80638800e-03,
 -4.46465871e-03,-5.17892611e-03,-1.77460597e-02, 5.16860460e-03,
 -4.73675158e-03,-3.92590291e-03,-7.82038514e-03,-1.91518295e-02,
  1.21573428e+00, 1.87978583e-02, 1.21008168e+00, 2.52186071e-02,
  9.48776722e-02,-6.99869262e-02, 1.30723587e-01, 9.97368860e-01,
  1.55860828e-04,-8.18282640e-04,-7.24890496e-02]

qacc:
[-7.09923221e+00,-1.72262471e+00, 8.48057782e+00,-1.89310898e+01,
 -2.55996982e+00,-9.88357477e-01, 5.62423545e+00,-1.42168773e+01,
 -5.26037089e+00,-2.28324775e+00, 1.06341739e+01,-1.95172653e+01,
 -7.44138071e-03,-4.83363528e-01, 2.14951605e+00,-9.28721696e+00,
  8.67403165e-01,-9.35749077e-01, 4.63374100e-01, 9.36185153e+00,
  1.68358867e+01, 1.04573891e-01]

qfrc_actuator:
[-5.39521554e-05,-4.18156788e-04,-2.41980706e-04,-1.01849857e-04,
  4.47302806e-06,-4.88946629e-04,-2.83519049e-04,-7.37917447e-05,
 -1.00798411e-05,-2.36941456e-04,-1.77167457e-04,-1.22704943e-04,
  1.55450969e-02,-1.11315615e-03, 1.01054091e-02,-1.88507504e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49379373,  2.4393851 , -3.7740671 ,  2.4393851 ,  8.3563981 ,
        2.49661156, -3.7740671 ,  2.49661156,  6.10748975,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028533866499491634
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.72723960e-14, -3.89089584e-13,  1.00000000e+00,  3.78476761e-26,
        1.00000000e+00,  3.89089584e-13, -1.00000000e+00,  0.00000000e+00,
        9.72723960e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08388863, -0.05643243,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.18092999e-05,-1.27905124e-05, 3.52569679e-06,-3.07263580e-05,
 -1.51069806e-05,-4.25558332e-06,-2.74362481e-06,-2.56391981e-05,
 -3.09929357e-05, 5.90276446e-05, 5.03931221e-05,-1.80053034e-05,
 -8.22832328e-05,-6.43771860e-05,-8.32449187e-05,-6.92471198e-05,
  1.93492404e-06, 1.03660170e-05,-1.21645744e+00,-1.78341564e-03,
 -2.97907440e-04, 3.69051675e-06]


--- Step 995 ---
qpos:
[ 2.86635737e-03,-5.59247658e-03,-1.02084982e-02, 2.80569551e-03,
 -4.46474394e-03,-5.17935904e-03,-1.77450579e-02, 5.16805702e-03,
 -4.73835535e-03,-3.92508930e-03,-7.81857706e-03,-1.91524162e-02,
  1.21611723e+00, 1.88001506e-02, 1.21044334e+00, 2.52142039e-02,
  9.48677447e-02,-6.99867720e-02, 1.30724658e-01, 9.97362737e-01,
  1.58264875e-04,-8.89823827e-04,-7.25724082e-02]

qacc:
[ -1.31955125,  0.12415661, -0.13798738, -0.14973904, -1.60068126,
  -1.24156085,  7.36855069,-18.72384625, -6.20136062, -2.80215208,
  10.22187575,-14.31129928,  0.46732605, -1.4832479 ,  3.29604972,
 -13.87100568,  0.87066207, -0.90733914,  0.31518357,  9.40311402,
  16.34393694, -0.04369951]

qfrc_actuator:
[-6.05028786e-05,-3.92578155e-04,-2.33691581e-04,-1.00344636e-04,
 -4.52739015e-06,-4.76062256e-04,-2.79849081e-04,-1.05731094e-04,
 -4.58488133e-05,-2.94466944e-04,-1.56507683e-04,-1.35041332e-04,
  1.55011553e-02,-1.19461241e-03, 1.00506733e-02,-1.96768690e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50349708,  2.40079586, -3.81020539,  2.40079586, 11.1341962 ,
        4.17797818, -3.81020539,  4.17797818,  7.13602516,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028847166697558435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.88647851e-13, -3.84863802e-13,  1.00000000e+00,  1.11090109e-25,
        1.00000000e+00,  3.84863802e-13, -1.00000000e+00,  0.00000000e+00,
        2.88647851e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08389192, -0.05643098,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.74709463e-06, 1.78457508e-05, 5.02658300e-06, 4.85405794e-07,
 -9.43380446e-06, 8.84173258e-06, 1.56075536e-06,-3.27162825e-05,
 -3.66302507e-05,-1.49451967e-05, 3.84110570e-05,-8.41834114e-06,
 -1.04024375e-04,-1.17700844e-04,-1.05280301e-04,-9.81830083e-05,
  1.14913775e-06, 8.00067601e-06,-1.21645004e+00,-1.78381815e-03,
 -2.95609840e-04, 3.30474474e-06]


--- Step 996 ---
qpos:
[ 2.86688692e-03,-5.59292073e-03,-1.02081623e-02, 2.80503109e-03,
 -4.46459168e-03,-5.17955232e-03,-1.77446794e-02, 5.16750242e-03,
 -4.74003042e-03,-3.92466012e-03,-7.81695921e-03,-1.91527215e-02,
  1.21649958e+00, 1.88016793e-02, 1.21080373e+00, 2.52101414e-02,
  9.48613078e-02,-6.99901559e-02, 1.30726492e-01, 9.97356605e-01,
  1.81794730e-04,-9.30924063e-04,-7.26560637e-02]

qacc:
[ 8.39416217,-0.25585742, 0.83642363,-0.54548399, 2.04755126, 2.03965004,
 -6.79088895, 7.49861417,-0.62345101, 0.60459209,-4.07634244, 9.52623102,
  0.16967025,-0.8793125 ,-2.9601722 , 7.51639755, 0.87265846,-0.88451102,
  0.19080466, 9.43032899,15.94688319,-0.16024196]

qfrc_actuator:
[-1.09131600e-05,-3.94872864e-04,-2.28811346e-04,-9.91589553e-05,
  7.96909433e-06,-4.68218223e-04,-3.13561183e-04,-1.06532885e-04,
 -4.84891250e-05,-3.46890538e-04,-1.80784998e-04,-1.24348509e-04,
  1.54770032e-02,-1.22591353e-03, 1.00048661e-02,-1.94352003e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50531149,  2.34442623, -3.84727141,  2.34442623, 14.89742775,
        6.33268292, -3.84727141,  6.33268292,  8.36428228,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002890523852007998
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08389419, -0.05642947,  0.06199107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.93757508e-05, 8.75889675e-06, 9.20780285e-06, 2.13624735e-06,
  1.22304250e-05, 1.17108266e-05,-3.28308639e-05,-1.00538937e-06,
 -3.68848243e-06,-5.32750045e-05,-2.29541131e-05, 1.12145301e-05,
 -1.08665789e-04,-8.72712248e-05,-1.08558809e-04, 4.41830284e-06,
  1.00990421e-07, 5.94515577e-06,-1.21644509e+00,-1.78448316e-03,
 -2.93812261e-04, 3.12868948e-06]


--- Step 997 ---
qpos:
[ 2.86800671e-03,-5.59341334e-03,-1.02074393e-02, 2.80437879e-03,
 -4.46429073e-03,-5.17975813e-03,-1.77446128e-02, 5.16660832e-03,
 -4.74137989e-03,-3.92414069e-03,-7.81555623e-03,-1.91529552e-02,
  1.21688116e+00, 1.88029841e-02, 1.21116309e+00, 2.52069755e-02,
  9.48583663e-02,-6.99970048e-02, 1.30728673e-01, 9.97350452e-01,
  2.26442522e-04,-9.42224588e-04,-7.27401973e-02]

qacc:
[ 5.17609226e+00,-1.13146778e+00, 3.87264485e+00,-4.22733925e+00,
  1.28694854e+00, 1.52942029e-01, 8.59355827e-01,-6.22245876e+00,
  2.84222684e+00, 8.61773830e-01,-3.21031603e+00, 4.73407509e+00,
 -3.14176950e-01, 9.28715220e-03,-4.22454658e+00, 1.26059957e+01,
  8.73838425e-01,-8.66246086e-01, 8.66258734e-02, 9.44827164e+00,
  1.56275898e+01,-2.51670888e-01]

qfrc_actuator:
[ 1.80533085e-05,-3.96094230e-04,-2.08339212e-04,-9.81986093e-05,
  1.52635885e-05,-4.81330906e-04,-3.33565773e-04,-1.24540539e-04,
 -3.16078732e-05,-3.07275177e-04,-1.78131756e-04,-1.17979563e-04,
  1.54487793e-02,-1.22709480e-03, 9.97512831e-03,-1.89209416e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50078084,  2.2680503 , -3.88754113,  2.2680503 , 19.97908872,
        9.03027895, -3.88754113,  9.03027895,  9.76918218,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002875993263682236
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.93015582e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.93015582e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08389565, -0.05642791,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.03814437e-05, 5.69929233e-06, 2.34896559e-05, 1.69540044e-06,
  7.65056280e-06,-1.33801797e-05,-2.16663204e-05,-1.86613155e-05,
  1.67607356e-05, 5.52315280e-06,-1.08142353e-05, 3.50753697e-06,
 -1.07603249e-04,-4.99351476e-05,-8.22325296e-05, 3.70608597e-05,
 -1.20892703e-06, 4.16001305e-06,-1.21644241e+00,-1.78542092e-03,
 -2.92496855e-04, 3.15439884e-06]


--- Step 998 ---
qpos:
[ 2.86877551e-03,-5.59374940e-03,-1.02065438e-02, 2.80373138e-03,
 -4.46390465e-03,-5.17994707e-03,-1.77445047e-02, 5.16478652e-03,
 -4.74182680e-03,-3.92354490e-03,-7.81360334e-03,-1.91535088e-02,
  1.21726198e+00, 1.88037517e-02, 1.21152204e+00, 2.52043057e-02,
  9.48589229e-02,-7.00072605e-02, 1.30730852e-01, 9.97344267e-01,
  2.92198153e-04,-9.24238265e-04,-7.28249501e-02]

qacc:
[-3.06748790e+00,-2.58984642e-01, 1.21335463e+00,-1.53088697e+00,
  7.42915009e-01,-2.00454614e+00, 1.10938570e+01,-2.72265198e+01,
  7.91731702e+00,-2.11068834e+00, 8.99233712e+00,-1.54275570e+01,
 -1.63705888e-01,-3.69815264e-01,-2.09562315e+00, 6.46750872e+00,
  8.74532186e-01,-8.51719001e-01,-4.37464399e-04, 9.46050292e+00,
  1.53722337e+01,-3.23191458e-01]

qfrc_actuator:
[-8.74135993e-07,-3.78848298e-04,-1.96577494e-04,-9.73687636e-05,
  1.94306957e-05,-4.71356048e-04,-3.27655515e-04,-1.70289060e-04,
  1.43705707e-05,-2.83767876e-04,-1.41466813e-04,-1.31860267e-04,
  1.54021724e-02,-1.26369646e-03, 9.98168498e-03,-1.86051020e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4913598 ,  2.16869966, -3.93307191,  2.16869966, 26.8228089 ,
       12.31358268, -3.93307191, 12.31358268, 11.28108123,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002845454452848756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95087119e-13, -1.95087119e-13,  1.00000000e+00,  3.80589841e-26,
        1.00000000e+00,  1.95087119e-13, -1.00000000e+00,  0.00000000e+00,
        1.95087119e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08389647, -0.05642632,  0.06199121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80572097e-05, 2.53754949e-05, 1.58873343e-05, 1.91932029e-06,
  4.38341164e-06,-2.77055310e-06,-1.64883261e-07,-4.74328140e-05,
  4.64623330e-05, 2.44793101e-05, 3.65711504e-05,-1.39547637e-05,
 -1.15958109e-04,-7.50105886e-05,-3.17440364e-05, 2.20731859e-05,
 -2.78022417e-06, 2.61604942e-06,-1.21644189e+00,-1.78663896e-03,
 -2.91649649e-04, 3.37567717e-06]


--- Step 999 ---
qpos:
[ 2.86896694e-03,-5.59396623e-03,-1.02057481e-02, 2.80277741e-03,
 -4.46416144e-03,-5.17988143e-03,-1.77447630e-02, 5.16277340e-03,
 -4.74102892e-03,-3.92301946e-03,-7.81144057e-03,-1.91538371e-02,
  1.21764178e+00, 1.88046128e-02, 1.21188056e+00, 2.52013650e-02,
  9.48638089e-02,-7.00179563e-02, 1.30733474e-01, 9.97338131e-01,
  3.57282931e-04,-8.76009180e-04,-7.29092370e-02]

qacc:
[-5.05591109,-0.1848974 , 2.19893356,-7.45082924,-5.62231083, 0.97682439,
 -2.16840443,-0.76433484,10.90559333,-0.23670147,-0.27797782, 3.93179941,
 -0.87243542, 0.82447387, 0.25538401,-1.6306952 , 1.08236635,-0.11001339,
  0.11090274,-1.43554211,15.0568863 , 0.22996257]

qfrc_actuator:
[-3.00801655e-05,-3.86212883e-04,-2.07734753e-04,-1.14367454e-04,
 -1.37798167e-05,-4.47553048e-04,-3.41930048e-04,-1.78700202e-04,
  7.71001314e-05,-3.05452898e-04,-1.38331582e-04,-1.22022670e-04,
  1.53552132e-02,-1.25013693e-03, 9.95674066e-03,-1.87629478e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48039901, -0.35705875, -4.46614872, -0.35705875, 17.35071785,
       -1.02895365, -4.46614872, -1.02895365,  4.56266159,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028093572954983326
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.87968873e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.87968873e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08189517, -0.06776653,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.97137087e-05, 1.01837405e-05,-3.89757680e-06,-1.53235256e-05,
 -3.30838367e-05, 2.01986146e-05,-1.65037285e-05,-9.45469263e-06,
  6.40678214e-05,-1.06879542e-06, 1.21817455e-05, 1.18730755e-05,
 -1.25672974e-04,-3.42304155e-05,-4.43628850e-05,-2.02567790e-05,
 -4.61295164e-06, 1.29185929e-06,-1.21644344e+00,-1.78814278e-03,
 -2.91259757e-04, 3.78787240e-06]


--- Step 1000 ---
qpos:
[ 2.86846172e-03,-5.59395252e-03,-1.02054572e-02, 2.80233216e-03,
 -4.46481413e-03,-5.17976717e-03,-1.77451592e-02, 5.16103093e-03,
 -4.74017491e-03,-3.92216062e-03,-7.80997472e-03,-1.91536881e-02,
  1.21802042e+00, 1.88061005e-02, 1.21223814e+00, 2.51979947e-02,
  9.48729774e-02,-7.00290650e-02, 1.30736244e-01, 9.97332036e-01,
  4.21855806e-04,-7.97598981e-04,-7.29931270e-02]

qacc:
[ -6.11338228,  2.77492662,-11.57864535, 20.99783205, -3.45759363,
   1.01348769, -4.65155179,  9.50847235,  0.46412658,  3.37090585,
 -13.39075348, 22.50926107, -1.3111833 ,  1.66744636,  0.05050024,
  -1.85414969,  1.0705909 , -0.10320777,  0.0368493 , -1.35534389,
  15.03181521,  0.19426963]

qfrc_actuator:
[-6.50865608e-05,-3.72863800e-04,-2.32440098e-04,-8.84958809e-05,
 -3.32176860e-05,-4.51202888e-04,-3.50171657e-04,-1.65074209e-04,
  7.81665775e-05,-2.83126606e-04,-1.72946741e-04,-9.83714069e-05,
  1.53080949e-02,-1.20689651e-03, 9.89693634e-03,-1.90217937e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002768751954887183
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00245801e-13, -4.00983202e-13,  1.00000000e+00,  4.01968821e-26,
        1.00000000e+00,  4.00983202e-13, -1.00000000e+00,  0.00000000e+00,
        1.00245801e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08189366, -0.06776557,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.58512238e-05, 1.75719177e-05,-2.36157788e-05, 2.58768301e-05,
 -2.03781931e-05, 3.82481351e-06,-6.42178015e-06, 1.37425585e-05,
  2.89850166e-06, 2.47344579e-05,-3.29572504e-05, 2.42503622e-05,
 -1.21594721e-04, 4.67342189e-06,-8.98341276e-05,-3.43408193e-05,
 -5.08038622e-06,-6.57535166e-07,-1.21644446e+00,-1.78958343e-03,
 -2.92180080e-04, 4.09308172e-06]


--- Step 1001 ---
qpos:
[ 2.86857531e-03,-5.59379140e-03,-1.02054752e-02, 2.80254275e-03,
 -4.46500526e-03,-5.17978238e-03,-1.77449971e-02, 5.15909444e-03,
 -4.74000401e-03,-3.92086400e-03,-7.80898824e-03,-1.91539763e-02,
  1.21839853e+00, 1.88071891e-02, 1.21259508e+00, 2.51942346e-02,
  9.48871981e-02,-7.00366565e-02, 1.30738411e-01, 9.97326183e-01,
  4.57438100e-04,-6.88574016e-04,-7.30739393e-02]

qacc:
[  5.40123637,  2.39874536,-11.05669089, 22.8122915 ,  4.04477467,
  -2.13800626,  8.18089643,-12.3226377 , -6.0032808 ,  1.0298878 ,
  -0.96935036, -6.16826868, -0.13455702, -0.25005267,  0.22545143,
  -2.1743181 ,  1.2630752 ,  0.87928173, -0.15061911,-15.57277516,
  14.20923336,  1.54870422]

qfrc_actuator:
[-3.22124224e-05,-3.64998166e-04,-2.47076897e-04,-5.53474365e-05,
 -8.87652753e-06,-4.53467664e-04,-3.19370106e-04,-1.74116648e-04,
  4.29258941e-05,-2.52521784e-04,-1.93884028e-04,-1.20031801e-04,
  1.52875586e-02,-1.23518117e-03, 9.88551216e-03,-1.91610426e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45715838, -0.39901241, -4.43926231, -0.39901241, 13.48274608,
       -0.81124324, -4.43926231, -0.81124324,  4.53007502,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002730689413596027
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.06572428e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.06572428e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07947224, -0.08294437,  0.06199156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.18552434e-05, 1.39087820e-05,-1.30212231e-05, 3.35897109e-05,
  2.37579879e-05,-8.66280034e-07, 3.12840871e-05,-8.82793792e-06,
 -3.51447064e-05, 3.86227832e-05,-1.90753752e-05,-2.12747204e-05,
 -8.45846662e-05,-5.46346585e-05,-6.18609476e-05,-2.85248628e-05,
 -5.58593989e-06,-2.57557478e-06,-1.21644692e+00,-1.79097869e-03,
 -2.93550907e-04, 4.25446501e-06]


--- Step 1002 ---
qpos:
[ 2.87011654e-03,-5.59366610e-03,-1.02055754e-02, 2.80281152e-03,
 -4.46490336e-03,-5.17986017e-03,-1.77444865e-02, 5.15741582e-03,
 -4.74025654e-03,-3.91937917e-03,-7.80819845e-03,-1.91545094e-02,
  1.21877622e+00, 1.88076465e-02, 1.21295150e+00, 2.51909146e-02,
  9.49063804e-02,-7.00407346e-02, 1.30739705e-01, 9.97320549e-01,
  4.64347424e-04,-5.48638659e-04,-7.31519422e-02]

qacc:
[ 12.48620383,  0.27786166, -1.34721129,  2.5575592 ,  2.56761311,
  -0.53050778,  0.67454622,  3.28601539, -3.71638111,  0.30134579,
   0.33144576, -4.40436304,  0.16789923, -0.73792411, -2.12472262,
   6.24829026,  1.24040575,  0.87833733, -0.21844878,-15.4266068 ,
  14.36696562,  1.41170214]

qfrc_actuator:
[ 4.03532289e-05,-3.78184308e-04,-2.55666344e-04,-5.36887394e-05,
  5.52768163e-06,-4.54742761e-04,-3.01289002e-04,-1.60898478e-04,
  2.21230024e-05,-2.52692830e-04,-2.06553368e-04,-1.32650492e-04,
  1.52669794e-02,-1.27010054e-03, 9.88182030e-03,-1.88721598e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44475507,  1.91488096,  4.01111936,  1.91488096, 22.97485817,
       -8.84614455,  4.01111936, -8.84614455,  8.66784401,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026874481292984975
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.06557108e-13, -4.13114215e-13,  1.00000000e+00,  8.53316774e-26,
        1.00000000e+00,  4.13114215e-13, -1.00000000e+00,  0.00000000e+00,
        2.06557108e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07946875, -0.08294444,  0.0619917 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.34795409e-05,-6.65408891e-06,-6.16158558e-06, 2.45569634e-06,
  1.50840948e-05, 4.33517853e-06, 2.14521366e-05, 1.40948811e-05,
 -2.17863296e-05, 1.65060604e-05,-7.80197572e-06,-1.20418136e-05,
 -7.89315886e-05,-6.92544482e-05,-4.08197172e-05, 1.81240713e-05,
 -3.65677448e-06,-5.11183511e-06,-1.21644867e+00,-1.79180694e-03,
 -2.96453103e-04, 3.45615087e-06]


--- Step 1003 ---
qpos:
[ 2.87113626e-03,-5.59356638e-03,-1.02060715e-02, 2.80346441e-03,
 -4.46462937e-03,-5.17996157e-03,-1.77437692e-02, 5.15625882e-03,
 -4.74075644e-03,-3.91798117e-03,-7.80747006e-03,-1.91548180e-02,
  1.21915325e+00, 1.88079407e-02, 1.21330747e+00, 2.51879291e-02,
  9.49225657e-02,-7.00375440e-02, 1.30740289e-01, 9.97314850e-01,
  4.25572338e-04,-4.40064525e-04,-7.32305573e-02]

qacc:
[ -4.57356235,  1.87251397, -8.33144454, 15.61417687,  1.50783011,
   0.4624517 , -3.9013317 , 12.62184615, -2.16603429,  0.52359301,
  -2.97203413,  7.00781642, -0.3535994 ,  0.13141587, -1.65836982,
   4.89065573, -0.74926965,  1.81720274, -0.17733077,-21.63408687,
 -17.30970703, -0.28783343]

qfrc_actuator:
[ 1.14090223e-05,-3.86124617e-04,-2.78483223e-04,-3.50833096e-05,
  1.39536262e-05,-4.55439154e-04,-2.90853717e-04,-1.34698211e-04,
  9.99632609e-06,-2.71254948e-04,-2.14352873e-04,-1.22108899e-04,
  1.52357319e-02,-1.27310381e-03, 9.86680147e-03,-1.86881913e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44605895,  4.24711798, -1.31507758,  4.24711798,  6.16167411,
        5.5406769 , -1.31507758,  5.5406769 , 22.33999072,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026920368610784673
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.61097671e-13, -4.12410038e-13,  1.00000000e+00,  6.64382967e-26,
        1.00000000e+00,  4.12410038e-13, -1.00000000e+00,  0.00000000e+00,
        1.61097671e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10496995, -0.09487126,  0.06199168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.68466444e-05,-1.28120014e-05,-2.48707421e-05, 1.81508933e-05,
  8.85842893e-06, 6.76845004e-06, 1.44591879e-05, 2.74048914e-05,
 -1.27368477e-05,-1.15293694e-05,-5.79261845e-06, 1.07410523e-05,
 -8.95520140e-05,-4.03311820e-05,-3.79100550e-05, 1.27818901e-05,
 -1.57771447e-06,-7.26704067e-06,-1.21645328e+00,-1.79214647e-03,
 -2.99703485e-04, 2.10605719e-06]


--- Step 1004 ---
qpos:
[ 2.87042225e-03,-5.59361580e-03,-1.02065170e-02, 2.80432019e-03,
 -4.46460125e-03,-5.18014050e-03,-1.77426212e-02, 5.15576147e-03,
 -4.74105282e-03,-3.91693770e-03,-7.80640542e-03,-1.91553360e-02,
  1.21952975e+00, 1.88080884e-02, 1.21366335e+00, 2.51831252e-02,
  9.49357242e-02,-7.00272392e-02, 1.30739731e-01, 9.97309057e-01,
  3.41214198e-04,-3.62000842e-04,-7.33102861e-02]

qacc:
[-15.16150666,  0.10910916, -1.48014777,  4.9648857 , -2.12889352,
   0.05656001, -3.12768615, 13.90469677,  1.79827607, -1.84358613,
   6.76953854,-10.66044825, -0.45942855,  0.31437969,  5.4271677 ,
 -19.05925413, -0.75669646,  1.77853321, -0.2854482 ,-21.61340401,
 -16.88355787, -0.54229728]

qfrc_actuator:
[-7.70630168e-05,-3.90913348e-04,-2.73984819e-04,-2.44116821e-05,
  1.04372273e-06,-4.55802268e-04,-2.67250807e-04,-1.01075599e-04,
  2.08213396e-05,-3.00651956e-04,-2.01534460e-04,-1.33547852e-04,
  1.52194233e-02,-1.27492547e-03, 9.86097710e-03,-1.96330329e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44642754, -2.57351159,  3.62598345, -2.57351159, 11.32581813,
        4.88259025,  3.62598345,  4.88259025,  7.91180535,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002693332148382688
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.50856547e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.50856547e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10496691, -0.09487382,  0.06199168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.92434956e-05,-1.63246372e-05,-5.80155261e-07, 9.61568867e-06,
 -1.26553164e-05, 7.58338199e-06, 2.77255025e-05, 3.49472319e-05,
  1.04621617e-05,-3.66450815e-05, 1.00711242e-05,-1.19276092e-05,
 -7.32217939e-05,-3.36281616e-05,-2.86138458e-05,-1.00156675e-04,
  2.44313143e-06,-5.50782769e-06,-1.21644872e+00,-1.79090339e-03,
 -3.02856961e-04, 5.58207709e-07]


--- Step 1005 ---
qpos:
[ 2.86934267e-03,-5.59358959e-03,-1.02064345e-02, 2.80488904e-03,
 -4.46472807e-03,-5.18023060e-03,-1.77414903e-02, 5.15533522e-03,
 -4.74156224e-03,-3.91604136e-03,-7.80523902e-03,-1.91563428e-02,
  1.21990562e+00, 1.88082171e-02, 1.21401815e+00, 2.51793152e-02,
  9.49458341e-02,-7.00099441e-02, 1.30737669e-01, 9.97303134e-01,
  2.11364334e-04,-3.13764770e-04,-7.33915222e-02]

qacc:
[ -3.18266315, -1.96061816,  8.3575132 ,-14.23479356, -1.3533192 ,
   0.31376593, -1.24406084,  2.43160318, -1.8596459 , -1.48197381,
   7.06724657,-15.57755526, -0.32505458,  0.19728589, -4.59494136,
  13.79856847, -0.76214626,  1.74755765, -0.37609875,-21.59156988,
 -16.54145908, -0.74299149]

qfrc_actuator:
[-9.33151303e-05,-3.58172075e-04,-2.35632633e-04,-3.62253820e-05,
 -6.56595983e-06,-4.55902043e-04,-2.71559278e-04,-9.88515082e-05,
  9.56015479e-06,-3.00742203e-04,-1.94471020e-04,-1.57830944e-04,
  1.51854611e-02,-1.27598974e-03, 9.80739470e-03,-1.91046535e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44172327, -2.50149554,  3.67034408, -2.50149554, 14.60137547,
        6.92423491,  3.67034408,  6.92423491,  9.16088374,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002676738506197235
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.83266212e-14, -6.22150626e-13,  1.00000000e+00,  3.62879439e-26,
        1.00000000e+00,  6.22150626e-13, -1.00000000e+00,  0.00000000e+00,
        5.83266212e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1049648 , -0.09487657,  0.06199173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.88083723e-05, 2.38808742e-05, 3.52496889e-05,-1.23430262e-05,
 -7.97240658e-06, 1.13544821e-05, 1.87294912e-06, 4.18815712e-06,
 -1.09708230e-05,-1.90590236e-05, 2.98139725e-07,-2.57402529e-05,
 -8.10676917e-05,-2.70124007e-05,-8.54844186e-05, 4.18797940e-05,
  6.04330068e-06,-2.94025778e-06,-1.21644902e+00,-1.78900678e-03,
 -3.05542525e-04,-1.74201159e-07]


--- Step 1006 ---
qpos:
[ 2.86876553e-03,-5.59326609e-03,-1.02062711e-02, 2.80531356e-03,
 -4.46460048e-03,-5.17997312e-03,-1.77411027e-02, 5.15530192e-03,
 -4.74254732e-03,-3.91540543e-03,-7.80397054e-03,-1.91572728e-02,
  1.22028065e+00, 1.88086601e-02, 1.21437180e+00, 2.51778037e-02,
  9.49528794e-02,-6.99857576e-02, 1.30733799e-01, 9.97297046e-01,
  3.60993333e-05,-2.94810442e-04,-7.34745736e-02]

qacc:
[  4.3923909 , -0.13888362,  1.6596379 , -4.48941466,  2.18982889,
   3.34072839,-12.91224229, 20.65603121, -4.15655369, -0.46348623,
   0.84392065,  0.49548776, -0.62259744,  0.70661237, -8.61570467,
  27.79678931, -0.76615516,  1.72287568, -0.45208052,-21.57208079,
 -16.26814845, -0.90106284]

qfrc_actuator:
[-6.69099651e-05,-3.38583164e-04,-2.30723778e-04,-4.33689833e-05,
  6.76456227e-06,-4.38226536e-04,-3.10091840e-04,-7.96365813e-05,
 -1.46175971e-05,-3.18819239e-04,-1.90760574e-04,-1.53952273e-04,
  1.51409345e-02,-1.25891571e-03, 9.76785697e-03,-1.78907175e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43313062, -2.40980623,  3.72095163, -2.40980623, 19.0873215 ,
        9.49051857,  3.72095163,  9.49051857, 10.57949131,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002646076865621544
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.90024859e-14, -4.19573233e-13,  1.00000000e+00,  2.47558637e-26,
        1.00000000e+00,  4.19573233e-13, -1.00000000e+00,  0.00000000e+00,
        5.90024859e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10496341, -0.09487947,  0.06199182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.58747609e-05, 3.96890615e-05, 1.37557114e-05,-5.14138185e-06,
  1.31056849e-05, 2.45793306e-05,-3.58225983e-05, 1.98466990e-05,
 -2.44928027e-05,-2.98247843e-05,-1.10187246e-06, 2.56961472e-06,
 -9.46675566e-05,-8.63326597e-06,-7.82390626e-05, 1.11854725e-04,
  9.28951405e-06, 4.68061665e-07,-1.21645403e+00,-1.78644407e-03,
 -3.07793750e-04,-1.17161675e-07]


--- Step 1007 ---
qpos:
[ 2.86850929e-03,-5.59275607e-03,-1.02062740e-02, 2.80568081e-03,
 -4.46465885e-03,-5.17959617e-03,-1.77414347e-02, 5.15621789e-03,
 -4.74312489e-03,-3.91470897e-03,-7.80337661e-03,-1.91577912e-02,
  1.22065494e+00, 1.88095077e-02, 1.21472453e+00, 2.51773941e-02,
  9.49632741e-02,-6.99652825e-02, 1.30731892e-01, 9.97290969e-01,
 -1.17785291e-04,-2.42317129e-04,-7.35571271e-02]

qacc:
[  2.79866071,  0.58785487, -1.50612042,  0.65410215, -1.6457309 ,
   4.12522443,-18.4824923 , 35.97050844,  3.54557727,  2.80674611,
 -11.63684856, 19.79881289, -0.70330696,  0.90026347, -4.61806325,
  14.36720852,  0.83735924, -0.92785531,  0.49074153,  9.42923527,
  17.50963332,  0.24489601]

qfrc_actuator:
[-5.11374698e-05,-3.44890227e-04,-2.45644949e-04,-4.77383487e-05,
 -3.19344293e-06,-4.45685401e-04,-3.50672946e-04,-3.28248116e-05,
  7.06044091e-06,-3.12010948e-04,-2.24608212e-04,-1.33546426e-04,
  1.51167410e-02,-1.23128440e-03, 9.72613972e-03,-1.73476281e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44467405, -2.14340249,  3.89370687, -2.14340249, 19.62231397,
        8.35496669,  3.89370687,  8.35496669,  9.04390481,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026871626749706834
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03289525e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.03289525e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08391759, -0.05641545,  0.0619917 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.65242479e-05, 1.85044910e-05,-5.21373406e-06,-2.29589555e-06,
 -9.57310150e-06,-2.72255975e-07,-3.92384044e-05, 4.70095518e-05,
  2.09712564e-05,-1.00345582e-05,-4.00747570e-05, 1.91391530e-05,
 -7.66154652e-05, 3.62940160e-06,-6.97395325e-05, 4.95034791e-05,
  1.22315774e-05, 4.73730245e-06,-1.21646364e+00,-1.78320610e-03,
 -3.09635665e-04, 7.09846631e-07]


--- Step 1008 ---
qpos:
[ 2.86809949e-03,-5.59217573e-03,-1.02063973e-02, 2.80600518e-03,
 -4.46518070e-03,-5.17942619e-03,-1.77418051e-02, 5.15699210e-03,
 -4.74309343e-03,-3.91392133e-03,-7.80352768e-03,-1.91580600e-02,
  1.22102880e+00, 1.88099188e-02, 1.21507627e+00, 2.51776412e-02,
  9.49770670e-02,-6.99484103e-02, 1.30731345e-01, 9.97284882e-01,
 -2.50359526e-04,-1.57476536e-04,-7.36395110e-02]

qacc:
[ -1.34827278,  0.34369464, -0.90503077,  0.29859615, -4.03972128,
  -0.45024577,  1.82069608, -4.07561806,  5.30712301,  2.7068366 ,
 -10.54468084, 16.00045528,  0.08074116, -0.50864586, -3.47673519,
   9.97933359,  0.84954152, -0.90071351,  0.34005897,  9.43666274,
  16.91357931,  0.08349105]

qfrc_actuator:
[-5.95166518e-05,-3.48990390e-04,-2.54496723e-04,-5.04725144e-05,
 -2.67859512e-05,-4.68135819e-04,-3.56704476e-04,-4.11789679e-05,
  3.78064249e-05,-3.08240881e-04,-2.62502263e-04,-1.21342572e-04,
  1.50834643e-02,-1.26854536e-03, 9.67780882e-03,-1.70267472e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45778349,  1.56532764, -4.17391699,  1.56532764, 10.81671365,
        2.38476452, -4.17391699,  2.38476452,  5.35213233,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027328449069601024
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04688812e-13, -2.03125875e-13,  1.00000000e+00,  6.18901815e-26,
        1.00000000e+00,  2.03125875e-13, -1.00000000e+00,  0.00000000e+00,
        3.04688812e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08392226, -0.05641456,  0.06199156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.90182909e-06, 5.05960384e-06,-5.75832557e-06,-2.16899899e-06,
 -2.38674138e-05,-2.87083280e-05,-9.29680327e-06,-8.81049827e-06,
  3.13448855e-05,-9.32424342e-06,-4.42555019e-05, 1.07575244e-05,
 -7.35128926e-05,-5.35307615e-05,-7.99196177e-05, 2.47677471e-05,
  1.13554655e-05, 1.23939704e-06,-1.21645956e+00,-1.78139797e-03,
 -3.09505328e-04,-8.40913131e-07]


--- Step 1009 ---
qpos:
[ 2.86690282e-03,-5.59159909e-03,-1.02066132e-02, 2.80664738e-03,
 -4.46563675e-03,-5.17920038e-03,-1.77420277e-02, 5.15657739e-03,
 -4.74303808e-03,-3.91358330e-03,-7.80337644e-03,-1.91581834e-02,
  1.22140218e+00, 1.88094915e-02, 1.21542730e+00, 2.51778746e-02,
  9.49899856e-02,-6.99374131e-02, 1.30731945e-01, 9.97278917e-01,
 -3.39133579e-04,-6.92202662e-05,-7.37200205e-02]

qacc:
[ -6.8858168 ,  0.92206784, -4.61305647, 10.23934561,  0.57675867,
  -2.78761255, 15.06410038,-35.91738133,  0.22647353, -1.14037056,
   2.5900226 , -0.22748588,  0.23384098, -0.9695981 , -1.06433063,
   2.07153594, -0.218583  , -1.46877636,  0.28683091, 21.71502818,
   3.31568807,  0.93623113]

qfrc_actuator:
[-9.97933678e-05,-3.51724806e-04,-2.59686236e-04,-3.44643913e-05,
 -2.27019977e-05,-4.46044613e-04,-3.42399608e-04,-9.96739814e-05,
  3.81233798e-05,-3.41853866e-04,-2.49226002e-04,-1.14062506e-04,
  1.50394108e-02,-1.32630974e-03, 9.65217829e-03,-1.70166733e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47177531,  4.26328122,  1.34952128,  4.26328122,  5.89668999,
       -4.50145695,  1.34952128, -4.50145695, 18.69235644,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002780512718879996
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.98217898e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.98217898e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09684057, -0.04647002,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.05022409e-05,-1.20919082e-06,-4.93407544e-06, 1.59821015e-05,
  3.39045903e-06, 3.72808183e-06, 6.92666328e-06,-6.02185287e-05,
  1.21243605e-06,-4.75221399e-05, 6.26391015e-06, 5.55690392e-06,
 -9.64989466e-05,-8.91172427e-05,-6.36309120e-05,-8.78476246e-06,
  1.02268075e-05,-1.94681050e-06,-1.21645781e+00,-1.77985378e-03,
 -3.09920162e-04,-2.12694665e-06]


--- Step 1010 ---
qpos:
[ 2.86557750e-03,-5.59098430e-03,-1.02072047e-02, 2.80783607e-03,
 -4.46569561e-03,-5.17899561e-03,-1.77420560e-02, 5.15512593e-03,
 -4.74401378e-03,-3.91371329e-03,-7.80274935e-03,-1.91582284e-02,
  1.22177475e+00, 1.88089101e-02, 1.21577771e+00, 2.51783962e-02,
  9.50005775e-02,-6.99319805e-02, 1.30733198e-01, 9.97273137e-01,
 -3.84728037e-04, 9.93686890e-06,-7.37979794e-02]

qacc:
[ -1.13741734,  2.22767353,-10.17260507, 20.19866545,  3.46976125,
  -2.71139475, 13.99284491,-32.21990485, -9.00368722, -1.76962941,
   5.1111004 , -4.20221524, -0.46439933,  0.23016206, -1.74417152,
   4.87366527, -0.58166052, -1.39112211,  0.16326159, 21.86656431,
  -2.94601322,  1.27555638]

qfrc_actuator:
[-1.05255970e-04,-3.53593899e-04,-2.80410633e-04,-7.55446853e-06,
 -2.35604880e-06,-4.50666343e-04,-3.33816298e-04,-1.51644390e-04,
 -1.49808237e-05,-3.61887110e-04,-2.23749496e-04,-1.09732298e-04,
  1.50048892e-02,-1.32478914e-03, 9.63485315e-03,-1.68339536e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48393407,  1.78179191, -4.11471534,  1.78179191, 14.04467161,
        4.14007857, -4.11471534,  4.14007857,  6.276709  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000282106730906716
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.63651425e-07,  5.63650835e-07,  1.00000000e+00, -3.17702596e-13,
        1.00000000e+00, -5.63650835e-07, -1.00000000e+00,  0.00000000e+00,
        5.63651425e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10163906, -0.04696441,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.62279500e-06,-2.90980038e-06,-2.10316729e-05, 2.69981262e-05,
  2.04466727e-05,-3.68987356e-06, 8.12341586e-06,-5.27422664e-05,
 -5.30854472e-05,-4.50887577e-05, 1.66194387e-05, 2.61911751e-06,
 -1.07098249e-04,-4.53054993e-05,-5.26815853e-05, 8.45291147e-06,
  6.51813412e-06,-3.54262981e-06,-1.21645077e+00,-1.77848709e-03,
 -3.09455686e-04,-1.78817595e-06]


--- Step 1011 ---
qpos:
[ 2.86523130e-03,-5.59034836e-03,-1.02080057e-02, 2.80863813e-03,
 -4.46551005e-03,-5.17878418e-03,-1.77423156e-02, 5.15377975e-03,
 -4.74561847e-03,-3.91416970e-03,-7.80185253e-03,-1.91582253e-02,
  1.22214664e+00, 1.88082304e-02, 1.21612796e+00, 2.51770537e-02,
  9.50088814e-02,-6.99320586e-02, 1.30734583e-01, 9.97267528e-01,
 -3.87864573e-04, 7.91552713e-05,-7.38736807e-02]

qacc:
[  8.55764862, -0.1991074 ,  2.35357525, -8.69392876,  2.12419867,
   0.86724209, -3.53134652,  5.72658009, -5.49249042, -1.07554835,
   3.02415946, -2.40193061, -0.61506886,  0.4880698 ,  5.46443254,
 -19.32091381, -0.57200041, -1.37770149,  0.03296712, 21.53782291,
  -3.38959631,  1.13029265]

qfrc_actuator:
[-5.46683217e-05,-3.54984155e-04,-2.92383410e-04,-2.77171550e-05,
  9.63674355e-06,-4.53508670e-04,-3.46524124e-04,-1.46118731e-04,
 -4.58344285e-05,-3.73574237e-04,-2.08999939e-04,-1.07163237e-04,
  1.49814582e-02,-1.32355169e-03, 9.62785362e-03,-1.77932961e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48915983, -1.86168233, -4.08493512, -1.86168233, 14.27406034,
       -4.45940409, -4.08493512, -4.45940409,  6.52150393,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028382589183464924
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10182729, -0.04698512,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.03955047e-05,-6.22101245e-06,-1.42314597e-05,-2.04918229e-05,
  1.25795270e-05,-5.48427752e-06,-1.42941265e-05, 4.62413324e-06,
 -3.23858502e-05,-3.33798643e-05, 7.56972437e-06, 1.26513620e-06,
 -9.08347008e-05,-3.59949033e-05,-3.64918736e-05,-1.03618099e-04,
  2.95675470e-06,-3.61216006e-06,-1.21644530e+00,-1.77757245e-03,
 -3.08958958e-04,-1.11238477e-06]


--- Step 1012 ---
qpos:
[ 2.86549417e-03,-5.58993130e-03,-1.02085375e-02, 2.80849955e-03,
 -4.46483726e-03,-5.17841404e-03,-1.77427720e-02, 5.15179747e-03,
 -4.74620178e-03,-3.91437607e-03,-7.80103586e-03,-1.91582418e-02,
  1.22251787e+00, 1.88073033e-02, 1.21647783e+00, 2.51735633e-02,
  9.50149764e-02,-6.99376109e-02, 1.30735663e-01, 9.97262073e-01,
 -3.49133863e-04, 1.38142962e-04,-7.39473893e-02]

qacc:
[  5.3394486 , -2.98968632, 14.19250348,-30.72165476,  4.23997818,
  -0.55826599,  4.96591427,-15.76187412,  8.93504109,  0.49649261,
  -1.23773343,  0.8733033 , -0.50217899,  0.26113262,  5.99430003,
 -21.66659647, -0.55223154, -1.36852428, -0.076363  , 21.25426395,
  -3.55532687,  0.99904084]

qfrc_actuator:
[-2.47647231e-05,-3.73838012e-04,-2.81368232e-04,-7.54088717e-05,
  3.43641844e-05,-4.37549992e-04,-3.53906267e-04,-1.77833299e-04,
  7.68319757e-06,-3.26950212e-04,-2.00670776e-04,-1.05651936e-04,
  1.49433971e-02,-1.34023107e-03, 9.60572798e-03,-1.88849253e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48755261, -2.09611074, -3.96792744, -2.09611074, 17.95457776,
       -7.11413614, -3.96792744, -7.11413614,  8.24569017,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002832986469560872
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95945698e-13,  1.95945698e-13,  1.00000000e+00, -3.83947167e-26,
        1.00000000e+00, -1.95945698e-13, -1.00000000e+00,  0.00000000e+00,
        1.95945698e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10182962, -0.04698578,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.13418353e-05,-2.61470500e-05, 7.26660126e-06,-4.88530165e-05,
  2.50865348e-05, 1.01403754e-05,-1.01126697e-05,-3.23516112e-05,
  5.25802515e-05, 2.95654867e-05, 2.40536857e-06, 3.68377798e-07,
 -9.49503034e-05,-4.74012710e-05,-5.78481170e-05,-1.21285292e-04,
 -1.88513842e-07,-3.03294184e-06,-1.21644277e+00,-1.77731265e-03,
 -3.08490645e-04,-5.35528647e-07]


--- Step 1013 ---
qpos:
[ 2.86576913e-03,-5.58996982e-03,-1.02085584e-02, 2.80814977e-03,
 -4.46421789e-03,-5.17815334e-03,-1.77429680e-02, 5.14979865e-03,
 -4.74613954e-03,-3.91421894e-03,-7.80019913e-03,-1.91586081e-02,
  1.22288833e+00, 1.88062206e-02, 1.21682688e+00, 2.51707650e-02,
  9.50189258e-02,-6.99486067e-02, 1.30736071e-01, 9.97256754e-01,
 -2.69013479e-04, 1.86676739e-04,-7.40193124e-02]

qacc:
[  0.12950749, -2.4652172 ,  8.80726963,-12.94376324, -0.45598299,
  -0.90510995,  3.08895053, -3.71305089,  5.64590498, -0.30694773,
   3.24577071, -9.57011574, -0.39088746,  0.14741855, -3.29573418,
   9.81591877, -0.53639108, -1.36088762, -0.1679178 , 21.02459659,
  -3.68263829,  0.89637475]

qfrc_actuator:
[-2.50457843e-05,-4.02938450e-04,-2.56955352e-04,-8.56514535e-05,
  3.08865544e-05,-4.45970706e-04,-3.40282274e-04,-1.77934830e-04,
  3.94142763e-05,-2.99043268e-04,-1.95951847e-04,-1.22479322e-04,
  1.49019061e-02,-1.34971936e-03, 9.58520334e-03,-1.84478963e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.48060642,  -2.19413213,  -3.9066121 ,  -2.19413213,
        23.20309   , -10.51540355,  -3.9066121 , -10.51540355,
        10.38653826,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002810046148164491
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.87726683e-14, -1.97545337e-13,  1.00000000e+00,  1.95120800e-26,
        1.00000000e+00,  1.97545337e-13, -1.00000000e+00,  0.00000000e+00,
        9.87726683e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10183166, -0.04698567,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.06569866e-07,-4.43126054e-05, 1.82166960e-05,-1.20630840e-05,
 -2.75316926e-06,-6.22003996e-06, 1.33575688e-05,-6.43124856e-07,
  3.32429819e-05, 4.49668569e-05, 1.11246579e-05,-1.54744650e-05,
 -1.03672449e-04,-4.41541062e-05,-6.69441462e-05, 2.81083859e-05,
 -2.95422314e-06,-1.86553343e-06,-1.21644313e+00,-1.77770730e-03,
 -3.08023993e-04,-7.48987231e-08]


--- Step 1014 ---
qpos:
[ 2.86569384e-03,-5.59017270e-03,-1.02087004e-02, 2.80837689e-03,
 -4.46398950e-03,-5.17812369e-03,-1.77432797e-02, 5.14923741e-03,
 -4.74535192e-03,-3.91379423e-03,-7.79954046e-03,-1.91594923e-02,
  1.22325819e+00, 1.88047171e-02, 1.21717482e+00, 2.51691908e-02,
  9.50207803e-02,-6.99650211e-02, 1.30735501e-01, 9.97251552e-01,
 -1.47885571e-04, 2.24585886e-04,-7.40896119e-02]

qacc:
[-3.06456272e+00, 1.31531822e+00,-7.42967631e+00, 1.77169180e+01,
 -3.40844188e+00, 2.98394609e+00,-1.71402820e+01, 4.23644909e+01,
  6.34006281e+00,-2.28080372e-01, 3.48826737e+00,-1.23350856e+01,
 -8.05673073e-03,-4.39102813e-01,-5.35970282e+00, 1.63349096e+01,
 -5.23727694e-01,-1.35465975e+00,-2.44458957e-01, 2.08405928e+01,
 -3.78029622e+00, 8.16228789e-01]

qfrc_actuator:
[-4.30842986e-05,-4.02357323e-04,-2.60358413e-04,-5.60251069e-05,
  1.08316580e-05,-4.68814378e-04,-3.49938332e-04,-1.06175777e-04,
  7.57933250e-05,-3.00332686e-04,-2.11219860e-04,-1.49972105e-04,
  1.48743682e-02,-1.37263856e-03, 9.53373879e-03,-1.78235852e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.46963544,  -2.31271524,  -3.82478616,  -2.31271524,
        29.50149917, -15.1358979 ,  -3.82478616, -15.1358979 ,
        13.62178678,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00027732930282284296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00163310e-13,  2.00163310e-13,  1.00000000e+00, -4.00653507e-26,
        1.00000000e+00, -2.00163310e-13, -1.00000000e+00,  0.00000000e+00,
        2.00163310e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10183348, -0.04698495,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80366640e-05,-2.09508758e-05,-1.07285989e-05, 2.81241074e-05,
 -2.01365055e-05,-2.35941206e-05,-9.31373364e-06, 7.19467418e-05,
  3.73455312e-05, 2.54879709e-05,-5.15775566e-06,-2.54862240e-05,
 -9.30634919e-05,-5.89257389e-05,-8.43795009e-05, 5.42366926e-05,
 -5.37277524e-06,-1.29829775e-07,-1.21644629e+00,-1.77874934e-03,
 -3.07536922e-04, 2.66007962e-07]


--- Step 1015 ---
qpos:
[ 2.86609254e-03,-5.59018234e-03,-1.02096272e-02, 2.80930243e-03,
 -4.46365861e-03,-5.17798503e-03,-1.77443464e-02, 5.14885072e-03,
 -4.74413393e-03,-3.91317843e-03,-7.79933798e-03,-1.91603240e-02,
  1.22362746e+00, 1.88031150e-02, 1.21752166e+00, 2.51667363e-02,
  9.50205803e-02,-6.99868344e-02, 1.30733698e-01, 9.97246442e-01,
  1.39484876e-05, 2.51739512e-04,-7.41584142e-02]

qacc:
[  4.11881521,  3.87936787,-16.42342669, 29.63851093,  0.8685274 ,
   2.6107346 , -9.84029785, 13.99304038,  3.75018647,  1.62875047,
  -5.67422008,  7.18374913, -0.40105802,  0.24761946,  1.07387594,
  -6.03327263, -0.51363805, -1.34970972, -0.30834664, 20.69541136,
  -3.8551502 ,  0.75380896]

qfrc_actuator:
[-1.81618678e-05,-3.84076250e-04,-2.97776081e-04,-2.09336525e-05,
  1.66945745e-05,-4.64641184e-04,-3.91043150e-04,-9.92636573e-05,
  9.68704793e-05,-3.01436767e-04,-2.38289923e-04,-1.48050619e-04,
  1.48552138e-02,-1.36778361e-03, 9.46376484e-03,-1.83376784e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027259274691160407
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.03641336e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.03641336e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10183511, -0.04698377,  0.06199158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.43996286e-05, 5.55668905e-06,-4.20892034e-05, 3.43709544e-05,
  5.27480180e-06,-7.86484465e-06,-4.46302564e-05, 6.98198951e-06,
  2.21556342e-05, 1.09863198e-05,-2.33341244e-05, 2.33650059e-06,
 -8.29157994e-05,-3.26522794e-05,-1.06591729e-04,-6.00810434e-05,
 -7.46810003e-06, 2.16134080e-06,-1.21645220e+00,-1.78043301e-03,
 -3.07013137e-04, 4.85338643e-07]


--- Step 1016 ---
qpos:
[ 2.86678658e-03,-5.58995001e-03,-1.02107740e-02, 2.81025010e-03,
 -4.46326032e-03,-5.17776270e-03,-1.77453210e-02, 5.14745854e-03,
 -4.74336199e-03,-3.91273659e-03,-7.79905633e-03,-1.91607707e-02,
  1.22399618e+00, 1.88014933e-02, 1.21786725e+00, 2.51639968e-02,
  9.50174884e-02,-7.00014166e-02, 1.30732621e-01, 9.97241277e-01,
  1.26608415e-04, 2.45135120e-04,-7.42277559e-02]

qacc:
[  2.5723681 ,  0.97533524, -3.11571373,  3.68197238,  0.58864996,
  -2.2177082 , 12.31099357,-29.92100463, -3.89936413,  0.34940893,
  -3.18866224,  9.83249861, -0.34961191,  0.25160372, -0.96283427,
   0.74748656, -0.72296815,  1.80776329,  0.18143559,-23.2675752 ,
 -18.65586596, -0.27698174]

qfrc_actuator:
[-3.65229230e-06,-3.55467064e-04,-3.01632438e-04,-1.84206854e-05,
  2.00184698e-05,-4.44505504e-04,-3.79321114e-04,-1.48324341e-04,
  7.32660948e-05,-3.20212822e-04,-2.36586608e-04,-1.28843967e-04,
  1.48357861e-02,-1.36417056e-03, 9.40935357e-03,-1.84535084e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45521017,  0.16893641, -4.45200608,  0.16893641, 31.40651717,
        1.02269787, -4.45200608,  1.02269787,  4.4940176 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027239572621104435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.55259192e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.55259192e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491912, -0.09488982,  0.06199158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.52099320e-05, 2.45116947e-05,-6.69605075e-06, 1.96252860e-06,
  3.47387629e-06, 6.82876734e-06, 4.85284310e-06,-5.08035306e-05,
 -2.29650145e-05,-1.73632254e-05, 1.17205530e-06, 1.89146533e-05,
 -7.25652911e-05,-2.37399081e-05,-1.13401644e-04,-2.93437382e-05,
 -9.25759364e-06, 5.00089808e-06,-1.21646082e+00,-1.78275372e-03,
 -3.06440638e-04, 5.82250475e-07]


--- Step 1017 ---
qpos:
[ 2.86695940e-03,-5.58937283e-03,-1.02117478e-02, 2.81083384e-03,
 -4.46282522e-03,-5.17758045e-03,-1.77455918e-02, 5.14580735e-03,
 -4.74322349e-03,-3.91270242e-03,-7.79834893e-03,-1.91609777e-02,
  1.22436419e+00, 1.87999834e-02, 1.21821163e+00, 2.51620713e-02,
  9.50114514e-02,-7.00089033e-02, 1.30731606e-01, 9.97236032e-01,
  1.90857358e-04, 2.06104015e-04,-7.42981610e-02]

qacc:
[-4.55996820e+00,-7.68677895e-01, 4.95357435e+00,-1.17990626e+01,
  3.43485316e-01,-2.55284067e+00, 1.01184328e+01,-1.56971036e+01,
 -5.52511889e+00,-1.22419958e+00, 2.59051664e+00, 1.15641609e+00,
 -4.86829976e-01, 4.52677478e-01,-4.20288930e+00, 1.22245321e+01,
 -7.36274913e-01, 1.77389679e+00, 1.56120366e-02,-2.29350997e+01,
 -1.79654057e+01,-5.37074997e-01]

qfrc_actuator:
[-3.09066225e-05,-3.20787033e-04,-2.85602867e-04,-3.50578831e-05,
  2.18130505e-05,-4.32563227e-04,-3.36448016e-04,-1.58847943e-04,
  4.13096844e-05,-3.49303449e-04,-2.17972152e-04,-1.17372270e-04,
  1.47949076e-02,-1.36134229e-03, 9.36965922e-03,-1.79777587e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47391299, -0.18925256,  4.46990838, -0.18925256,  8.85508745,
        0.18549563,  4.46990838,  0.18549563,  4.48176674,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000278770009293855
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55569414e-13, -3.98257699e-13,  1.00000000e+00,  6.19567167e-26,
        1.00000000e+00,  3.98257699e-13, -1.00000000e+00,  0.00000000e+00,
        1.55569414e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491364, -0.0948878 ,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.68106303e-05, 4.70939788e-05, 2.03430348e-05,-1.57813065e-05,
  1.89846964e-06, 1.45942307e-05, 4.31350454e-05,-1.10472522e-05,
 -3.26175068e-05,-3.77718062e-05, 1.58212302e-05, 1.11374220e-05,
 -8.65621865e-05,-1.95684216e-05,-9.77450057e-05, 3.07978113e-05,
 -5.77088505e-06, 4.00288241e-06,-1.21645014e+00,-1.78396796e-03,
 -3.07857143e-04,-8.24196930e-07]


--- Step 1018 ---
qpos:
[ 2.86749424e-03,-5.58851901e-03,-1.02127829e-02, 2.81123842e-03,
 -4.46306151e-03,-5.17759372e-03,-1.77455624e-02, 5.14478128e-03,
 -4.74415915e-03,-3.91292615e-03,-7.79772360e-03,-1.91610292e-02,
  1.22473164e+00, 1.87980445e-02, 1.21855501e+00, 2.51603417e-02,
  9.50024290e-02,-7.00094063e-02, 1.30730094e-01, 9.97230684e-01,
  2.07332654e-04, 1.35712783e-04,-7.43700345e-02]

qacc:
[  3.15999288,  0.16221657,  0.69757326, -3.89164202, -5.84204825,
   0.20109303, -3.7110898 , 14.17254066, -9.4021812 ,  0.22694123,
  -1.92653375,  4.89924899, -0.06180175, -0.36557929, -2.08555314,
   5.12083801, -0.74634951,  1.74589929, -0.12413057,-22.65563994,
 -17.41160043, -0.73799168]

qfrc_actuator:
[-1.15103582e-05,-3.18169428e-04,-2.93452118e-04,-4.50553303e-05,
 -1.28115861e-05,-4.60951983e-04,-3.28790728e-04,-1.28840963e-04,
 -1.30447657e-05,-3.66526894e-04,-2.25094520e-04,-1.10550354e-04,
  1.47571706e-02,-1.39461380e-03, 9.32818393e-03,-1.78670179e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48353269, -0.11795553,  4.4819808 , -0.11795553, 12.2108892 ,
        0.20336642,  4.4819808 ,  0.20336642,  4.48888484,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028197410258436195
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.15206666e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.15206666e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490961, -0.09488697,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.86453261e-05, 3.24577757e-05, 3.84227494e-06,-7.58218471e-06,
 -3.45664001e-05,-1.17907260e-05, 1.56077455e-05, 3.19138197e-05,
 -5.52993900e-05,-3.46204962e-05,-1.25967048e-05, 5.96875896e-06,
 -8.91341035e-05,-5.80699391e-05,-8.64366262e-05,-5.18231061e-07,
 -2.89907249e-06, 4.00122035e-06,-1.21644499e+00,-1.78448236e-03,
 -3.08719762e-04,-1.25705629e-06]


--- Step 1019 ---
qpos:
[ 2.86825746e-03,-5.58775374e-03,-1.02140265e-02, 2.81192343e-03,
 -4.46371097e-03,-5.17772179e-03,-1.77456791e-02, 5.14379881e-03,
 -4.74573961e-03,-3.91299212e-03,-7.79765389e-03,-1.91610192e-02,
  1.22509843e+00, 1.87957629e-02, 1.21889737e+00, 2.51600425e-02,
  9.49903904e-02,-7.00030179e-02, 1.30727615e-01, 9.97225203e-01,
  1.76562840e-04, 3.48129576e-05,-7.44436873e-02]

qacc:
[  1.99287995,  1.03895469, -5.06463631, 10.32338884, -3.60579751,
   0.35346386, -1.65236747,  2.71203054, -5.66514213,  1.89967119,
  -6.71011571,  8.52444387, -0.10370655, -0.29185392, -5.85643695,
  18.26902408, -0.75403922,  1.7228679 , -0.24180332,-22.42253952,
 -16.96903867, -0.89210763]

qfrc_actuator:
[-3.03747445e-07,-3.52611642e-04,-3.15463359e-04,-3.33555097e-05,
 -3.30890186e-05,-4.77862610e-04,-3.42140945e-04,-1.28554056e-04,
 -4.46386693e-05,-3.41111458e-04,-2.47321465e-04,-1.06529807e-04,
  1.47213300e-02,-1.41354371e-03, 9.29631685e-03,-1.70847249e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48550362, -0.02860981,  4.48541238, -0.02860981, 16.59890939,
        0.0772643 ,  4.48541238,  0.0772643 ,  4.48599644,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000282624558935865
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04344432e-13, -3.92826097e-13,  1.00000000e+00,  4.09892160e-26,
        1.00000000e+00,  3.92826097e-13, -1.00000000e+00,  0.00000000e+00,
        1.04344432e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490671, -0.0948871 ,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17492649e-05,-1.58378783e-05,-1.50960142e-05, 1.30745279e-05,
 -2.12744375e-05,-1.89224634e-05,-1.27549540e-05, 9.46724257e-07,
 -3.31849753e-05, 3.68833508e-06,-3.07258069e-05, 2.21963472e-06,
 -9.75747335e-05,-5.51655943e-05,-7.55408856e-05, 6.62379824e-05,
 -5.23843777e-07, 4.98652589e-06,-1.21644502e+00,-1.78429322e-03,
 -3.09080887e-04,-7.84926461e-07]


--- Step 1020 ---
qpos:
[ 2.86880458e-03,-5.58745213e-03,-1.02150706e-02, 2.81310958e-03,
 -4.46390938e-03,-5.17751422e-03,-1.77461407e-02, 5.14243812e-03,
 -4.74734225e-03,-3.91272488e-03,-7.79797181e-03,-1.91613412e-02,
  1.22546412e+00, 1.87943036e-02, 1.21923891e+00, 2.51612960e-02,
  9.49753119e-02,-6.99898133e-02, 1.30723773e-01, 9.97219558e-01,
  9.89821697e-05,-9.59191296e-05,-7.45193554e-02]

qacc:
[-1.87586817e+00,-1.34364907e-01,-2.51891450e+00, 1.12069075e+01,
  3.91690076e+00, 6.20697511e-01, 1.36043357e-02,-6.24008710e+00,
 -2.12240123e-01, 8.40292037e-01,-9.56282513e-01,-4.41323934e+00,
 -1.25417203e+00, 1.72427559e+00,-5.77590673e+00, 1.87801726e+01,
 -7.59992258e-01, 1.70404149e+00,-3.40824649e-01,-2.22300219e+01,
 -1.66173033e+01,-1.00913675e+00]

qfrc_actuator:
[-1.17747279e-05,-3.91282581e-04,-3.10295056e-04,-9.02524873e-06,
 -9.24252937e-06,-4.34630986e-04,-3.50016681e-04,-1.45767708e-04,
 -4.48233188e-05,-3.08177841e-04,-2.60352136e-04,-1.21911092e-04,
  1.46813308e-02,-1.35277280e-03, 9.27025278e-03,-1.62676824e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48130554,  0.08134956,  4.48056711,  0.08134956, 22.26082719,
       -0.3228065 ,  4.48056711, -0.3228065 ,  4.48716645,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002812366466115601
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.03550552e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.03550552e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490473, -0.09488798,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11419313e-05,-5.00985318e-05, 4.92653261e-07, 2.33826635e-05,
  2.32304768e-05, 3.00571631e-05,-1.33166818e-05,-1.84437299e-05,
 -1.13000899e-06, 2.87299289e-05,-1.59766839e-05,-1.62421438e-05,
 -1.04938568e-04, 2.31350841e-05,-5.77076866e-05, 7.47389112e-05,
  1.44210820e-06, 6.94592301e-06,-1.21644999e+00,-1.78339913e-03,
 -3.08979277e-04, 5.40889190e-07]


--- Step 1021 ---
qpos:
[ 2.86920992e-03,-5.58740454e-03,-1.02160843e-02, 2.81421761e-03,
 -4.46416553e-03,-5.17695398e-03,-1.77467639e-02, 5.14086616e-03,
 -4.74824489e-03,-3.91246902e-03,-7.79833840e-03,-1.91618244e-02,
  1.22582911e+00, 1.87929841e-02, 1.21958006e+00, 2.51621233e-02,
  9.49571745e-02,-6.99698536e-02, 1.30718235e-01, 9.97213713e-01,
 -2.50569655e-05,-2.55950306e-04,-7.45972154e-02]

qacc:
[ -1.23499776, -0.5792586 ,  1.91216184, -3.13034873, -0.51479463,
   0.48326588, -0.15338154, -3.50590767,  6.12699173, -0.22301734,
   1.43202521, -4.11087923, -0.65084981,  0.67733782,  0.76510563,
  -3.37551862, -0.76470212,  1.68877713, -0.42411388,-22.0730657 ,
 -16.33995814, -1.09670019]

qfrc_actuator:
[-1.87465038e-05,-3.96574961e-04,-3.06896077e-04,-1.29548609e-05,
 -1.28785381e-05,-4.08976424e-04,-3.54350529e-04,-1.55324695e-04,
 -8.77447932e-06,-3.24229753e-04,-2.67810800e-04,-1.30811811e-04,
  1.46495523e-02,-1.35172529e-03, 9.25301436e-03,-1.65018922e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4723353 ,  0.21464936,  4.46718129,  0.21464936, 29.46416904,
       -1.20086488,  4.46718129, -1.20086488,  4.53003721,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002782397927957869
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55865868e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.55865868e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490345, -0.09488947,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.30881518e-06,-3.22109353e-05,-6.07353586e-06,-5.60464174e-06,
 -2.95825558e-06, 3.89306107e-05,-3.99248611e-07,-9.08636638e-06,
  3.60283696e-05,-3.99245204e-06,-4.05466192e-06,-8.53879365e-06,
 -8.16054138e-05,-1.65794130e-05,-4.14981214e-05,-2.80041410e-05,
  3.06334781e-06, 9.86471882e-06,-1.21645971e+00,-1.78180009e-03,
 -3.08443424e-04, 2.68246215e-06]


--- Step 1022 ---
qpos:
[ 2.86987339e-03,-5.58767197e-03,-1.02170066e-02, 2.81492828e-03,
 -4.46480766e-03,-5.17634838e-03,-1.77476161e-02, 5.13958162e-03,
 -4.74836319e-03,-3.91262848e-03,-7.79861620e-03,-1.91620221e-02,
  1.22619343e+00, 1.87919420e-02, 1.21992096e+00, 2.51612868e-02,
  9.49425130e-02,-6.99538061e-02, 1.30715774e-01, 9.97207885e-01,
 -1.27597642e-04,-3.81947086e-04,-7.46744347e-02]

qacc:
[  2.2661022 , -1.49453194,  6.39439852,-13.17750152, -3.37378224,
   1.29813091, -5.74392655, 11.03986313,  6.87663298, -0.22238054,
  -1.23013743,  6.35612333, -0.83876365,  1.00194695,  4.77802687,
 -17.00445044,  0.86894854, -0.97807113,  0.76952477,  9.44992578,
  17.77164049,  0.31781157]

qfrc_actuator:
[-5.25400200e-06,-4.17369639e-04,-3.04469477e-04,-3.34616065e-05,
 -3.26756643e-05,-4.29524653e-04,-3.74357285e-04,-1.42550704e-04,
  3.05485047e-05,-3.69461672e-04,-2.72110156e-04,-1.18109607e-04,
  1.46227088e-02,-1.33290013e-03, 9.24106328e-03,-1.73532750e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49244169, -2.04126447,  4.00190851, -2.04126447, 23.48497209,
        9.68757216,  4.00190851,  9.68757216,  9.43380824,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028489840301160196
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.74227139e-14,  1.94845428e-13,  1.00000000e+00,  1.89823704e-26,
        1.00000000e+00, -1.94845428e-13, -1.00000000e+00,  0.00000000e+00,
       -9.74227139e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08394927, -0.05638571,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.32735183e-05,-4.02979543e-05,-5.16016132e-06,-2.22062172e-05,
 -1.98679535e-05, 7.39187500e-07,-1.23249878e-05, 1.42550861e-05,
  4.03512983e-05,-4.86618014e-05,-5.91878543e-06, 1.22243387e-05,
 -7.40921712e-05,-4.37025419e-06,-4.07579320e-05,-9.35149965e-05,
  4.38777656e-06, 1.37273005e-05,-1.21647404e+00,-1.77949680e-03,
 -3.07494056e-04, 5.61225722e-06]


--- Step 1023 ---
qpos:
[ 2.87103842e-03,-5.58844765e-03,-1.02175217e-02, 2.81539083e-03,
 -4.46533713e-03,-5.17589635e-03,-1.77483214e-02, 5.13846028e-03,
 -4.74800879e-03,-3.91337849e-03,-7.79882421e-03,-1.91620413e-02,
  1.22655670e+00, 1.87924039e-02, 1.22026154e+00, 2.51587407e-02,
  9.49313443e-02,-6.99415255e-02, 1.30715599e-01, 9.97202066e-01,
 -2.08694049e-04,-4.75231682e-04,-7.47513842e-02]

qacc:
[ 4.40858955e+00,-2.32932280e+00, 8.36308823e+00,-1.29182198e+01,
  9.89761792e-01,-2.79409114e-01, 9.63992195e-03, 2.69607640e+00,
  4.15088433e+00,-6.16224090e-01, 2.98715768e-01, 3.12446767e+00,
 -1.95488476e+00, 3.03777281e+00, 4.92516394e+00,-1.73698646e+01,
  8.73214092e-01,-9.41701993e-01, 5.71323429e-01, 9.47086767e+00,
  1.71110774e+01, 1.32782171e-01]

qfrc_actuator:
[ 2.01738547e-05,-4.47303101e-04,-2.84946778e-04,-4.58115017e-05,
 -2.63128755e-05,-4.42123042e-04,-3.68130373e-04,-1.34544957e-04,
  5.37190234e-05,-4.14040487e-04,-2.74631926e-04,-1.10580532e-04,
  1.45935237e-02,-1.23259154e-03, 9.22695876e-03,-1.82058287e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51780767, -2.25799569,  3.91306039, -2.25799569, 37.94553448,
       19.28916388,  3.91306039, 19.28916388, 15.64844318,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002930092774849763
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.78903711e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.78903711e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08395431, -0.05638482,  0.06199095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.57959397e-05,-5.44640834e-05, 9.80594016e-06,-1.46869081e-05,
  5.79338562e-06,-1.41360433e-05, 5.36119460e-06, 7.89260516e-06,
  2.43047368e-05,-7.24660335e-05,-1.28747490e-05, 5.47805867e-06,
 -6.98899918e-05, 8.24204071e-05,-5.01964623e-05,-9.72582244e-05,
  4.24112909e-06, 1.05595476e-05,-1.21646220e+00,-1.77866266e-03,
 -3.04757028e-04, 4.40505185e-06]


--- Step 1024 ---
qpos:
[ 2.87146458e-03,-5.58962820e-03,-1.02178187e-02, 2.81570157e-03,
 -4.46544164e-03,-5.17549795e-03,-1.77486996e-02, 5.13741810e-03,
 -4.74737914e-03,-3.91459078e-03,-7.79937175e-03,-1.91619577e-02,
  1.22691941e+00, 1.87933029e-02, 1.22060178e+00, 2.51547908e-02,
  9.49236785e-02,-6.99328937e-02, 1.30717042e-01, 9.97196248e-01,
 -2.68410301e-04,-5.36873870e-04,-7.48283550e-02]

qacc:
[-6.44957506e+00,-1.44498572e+00, 5.03842526e+00,-7.74045637e+00,
  3.71717311e+00,-8.28842146e-01, 2.50598415e+00,-1.60634954e+00,
  2.40699732e+00, 5.45336844e-01,-3.27189946e+00, 5.94102082e+00,
 -8.30198996e-01, 1.12531554e+00, 3.85266632e+00,-1.39648433e+01,
  8.75721069e-01,-9.12201711e-01, 4.04542426e-01, 9.47750532e+00,
  1.65760387e+01,-1.23512022e-02]

qfrc_actuator:
[-1.85942673e-05,-4.64647950e-04,-2.73271379e-04,-5.32575921e-05,
 -4.59837589e-06,-4.32018107e-04,-3.46447655e-04,-1.29390883e-04,
  6.71959444e-05,-4.40133447e-04,-2.93856294e-04,-1.06162438e-04,
  1.45576652e-02,-1.22675146e-03, 9.22223034e-03,-1.88744453e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53225745,  2.2137633 , -3.95482106,  2.2137633 , 10.21899489,
        3.18322637, -3.95482106,  3.18322637,  6.31411044,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002974949895791501
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.86595248e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.86595248e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08395795, -0.05638375,  0.06199081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.80467622e-05,-4.63666807e-05, 1.13686929e-06,-9.72568330e-06,
  2.18751042e-05, 3.64202972e-06, 1.97017711e-05, 4.89040336e-06,
  1.41433931e-05,-6.90009283e-05,-3.55772518e-05, 9.77158500e-07,
 -5.40391416e-05, 1.33636332e-05,-4.58154537e-05,-8.03128922e-05,
  3.82927682e-06, 7.76615578e-06,-1.21645311e+00,-1.77807941e-03,
 -3.02565474e-04, 3.45020510e-06]


--- Step 1025 ---
qpos:
[ 2.87073319e-03,-5.59110659e-03,-1.02180118e-02, 2.81591474e-03,
 -4.46528512e-03,-5.17495904e-03,-1.77491321e-02, 5.13575636e-03,
 -4.74624798e-03,-3.91605810e-03,-7.80026133e-03,-1.91618482e-02,
  1.22728168e+00, 1.87941433e-02, 1.22094155e+00, 2.51490512e-02,
  9.49195209e-02,-6.99278152e-02, 1.30719543e-01, 9.97190422e-01,
 -3.06813430e-04,-5.67737522e-04,-7.49055747e-02]

qacc:
[-10.11727229, -0.86513256,  2.95958575, -4.63213834,  2.27204331,
  -0.9425736 ,  6.23819725,-16.96971604,  4.38425314,  0.66365783,
  -2.97832369,  4.17396851, -0.42425617,  0.3481139 ,  4.75535981,
 -17.55926157,  0.87706471, -0.88832623,  0.26445268,  9.47506176,
  16.14356446, -0.12594399]

qfrc_actuator:
[-7.70875442e-05,-4.74339723e-04,-2.66278257e-04,-5.77584548e-05,
  8.21715715e-06,-4.26082334e-04,-3.51235627e-04,-1.61434330e-04,
  9.26177229e-05,-4.37274299e-04,-3.04968172e-04,-1.03606772e-04,
  1.45231229e-02,-1.24162184e-03, 9.19651099e-03,-1.97839717e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53735087,  2.15886634, -3.99084565,  2.15886634, 14.02071038,
        5.13006702, -3.99084565,  5.13006702,  7.31248425,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002990540134937131
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.85622492e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.85622492e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08396048, -0.05638253,  0.06199076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.95925135e-05,-3.57711015e-05,-2.76310536e-06,-6.63336931e-06,
  1.34429102e-05, 1.22511785e-05,-1.43825329e-06,-3.11090315e-05,
  2.57985974e-05,-4.29751454e-05,-2.96910514e-05,-1.60794807e-06,
 -6.07343123e-05,-2.30408413e-05,-6.20988078e-05,-1.02735650e-04,
  3.15421951e-06, 5.29110725e-06,-1.21644653e+00,-1.77776010e-03,
 -3.00892630e-04, 2.73019897e-06]


--- Step 1026 ---
qpos:
[ 2.86965098e-03,-5.59286700e-03,-1.02178490e-02, 2.81605253e-03,
 -4.46497596e-03,-5.17432402e-03,-1.77496112e-02, 5.13372911e-03,
 -4.74516616e-03,-3.91736307e-03,-7.80149723e-03,-1.91621085e-02,
  1.22764344e+00, 1.87950927e-02, 1.22128024e+00, 2.51423132e-02,
  9.49188741e-02,-6.99262130e-02, 1.30722632e-01, 9.97184581e-01,
 -3.23968413e-04,-5.68518046e-04,-7.49832207e-02]

qacc:
[-3.0528295 ,-1.51684469, 5.19611478,-6.87371217, 1.32784634,-0.49764882,
  3.49725612,-9.81454955,-0.4458669 , 0.42185271, 0.36762928,-6.3300347 ,
 -0.4717813 , 0.4957708 , 1.48815138,-7.38763734, 0.87768752,-0.8690659 ,
  0.14702656, 9.46740346,15.79516651,-0.21456957]

qfrc_actuator:
[-9.34437965e-05,-4.79384726e-04,-2.44314822e-04,-6.04856995e-05,
  1.56872448e-05,-4.22820744e-04,-3.53902845e-04,-1.79623964e-04,
  8.93647864e-05,-3.99313602e-04,-3.11074254e-04,-1.19885300e-04,
  1.45000318e-02,-1.23309244e-03, 9.13691900e-03,-2.02959910e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53479097,  2.08305434, -4.02805334,  2.08305434, 19.15364338,
        7.55994555, -4.02805334,  7.55994555,  8.4443165 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002982718808072077
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.30546170e-14, -1.86109234e-13,  1.00000000e+00, -1.73183235e-26,
        1.00000000e+00,  1.86109234e-13, -1.00000000e+00,  0.00000000e+00,
       -9.30546170e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08396212, -0.05638118,  0.06199079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80666925e-05,-2.58664024e-05, 1.40269732e-05,-4.47875912e-06,
  7.86109034e-06, 8.47633580e-06,-1.38858817e-06,-1.83170799e-05,
 -2.53548122e-06, 7.80375744e-06,-1.86673267e-05,-1.91733720e-05,
 -6.17422032e-05,-1.12654492e-05,-1.04971673e-04,-6.61012059e-05,
  2.21787569e-06, 3.09253277e-06,-1.21644228e+00,-1.77771406e-03,
 -2.99717480e-04, 2.23105202e-06]


--- Step 1027 ---
qpos:
[ 2.86872551e-03,-5.59478538e-03,-1.02174669e-02, 2.81614973e-03,
 -4.46457934e-03,-5.17381892e-03,-1.77500643e-02, 5.13221456e-03,
 -4.74551162e-03,-3.91805247e-03,-7.80335407e-03,-1.91626022e-02,
  1.22800476e+00, 1.87959026e-02, 1.22161773e+00, 2.51359655e-02,
  9.49217390e-02,-6.99280251e-02, 1.30725916e-01, 9.97178714e-01,
 -3.19934747e-04,-5.39772560e-04,-7.50614307e-02]

qacc:
[  1.38054515, -0.90804487,  3.10136474, -4.03313391,  0.76596464,
   0.80927026, -5.3016965 , 14.23189757,-12.52549087,  2.0931479 ,
  -5.25592552,  1.71304989, -0.13780453, -0.05435951, -2.95550622,
   7.77059061,  0.87791461, -0.85359976,  0.04882478,  9.457355  ,
  15.51592161, -0.28339813]

qfrc_actuator:
[-8.48615423e-05,-4.81538352e-04,-2.31415441e-04,-6.21319263e-05,
  1.99540491e-05,-4.38928093e-04,-3.55283501e-04,-1.54002278e-04,
  1.59993797e-05,-3.40607343e-04,-3.31788371e-04,-1.29326438e-04,
  1.44731807e-02,-1.24617258e-03, 9.09435444e-03,-2.00376814e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52623925,  1.98341987, -4.06852397,  1.98341987, 26.04834438,
       10.49210261, -4.06852397, 10.49210261,  9.6411765 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002956381607129993
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.87767205e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.87767205e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08396307, -0.05637973,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.06187890e-06,-1.38540360e-05, 9.14946766e-06,-2.35208454e-06,
  4.49593832e-06,-1.24492166e-05,-4.32444103e-07, 2.55841454e-05,
 -7.34389832e-05, 5.84581877e-05,-2.20332949e-05,-1.01195501e-05,
 -6.39076279e-05,-2.94923142e-05,-1.01227097e-04, 8.00992596e-06,
  1.02178296e-06, 1.13914747e-06,-1.21644022e+00,-1.77794799e-03,
 -2.99023569e-04, 1.94176336e-06]


--- Step 1028 ---
qpos:
[ 2.86790973e-03,-5.59641060e-03,-1.02174288e-02, 2.81655251e-03,
 -4.46413450e-03,-5.17350893e-03,-1.77507185e-02, 5.13035278e-03,
 -4.74673380e-03,-3.91833667e-03,-7.80489742e-03,-1.91628985e-02,
  1.22836546e+00, 1.87966508e-02, 1.22195414e+00, 2.51305806e-02,
  9.49281158e-02,-6.99332023e-02, 1.30729068e-01, 9.97172811e-01,
 -2.94764185e-04,-4.81944269e-04,-7.51403107e-02]

qacc:
[ 0.94394312, 1.97660055,-7.77853402,13.40502072, 0.4174666 ,-0.41126075,
  2.55668279,-8.09953929,-7.67246334, 0.08064543,-0.31658708, 2.90177939,
 -0.29519729, 0.13320165,-4.50762008,13.47904088, 0.87798143,-0.84125916,
 -0.03309446, 9.44694649,15.29375776,-0.33649501]

qfrc_actuator:
[-7.94360384e-05,-4.46463126e-04,-2.41712884e-04,-4.53815643e-05,
  2.23030179e-05,-4.66469220e-04,-3.73699000e-04,-1.73836325e-04,
 -2.70253199e-05,-3.05477169e-04,-3.07596282e-04,-1.16901036e-04,
  1.44334349e-02,-1.25426100e-03, 9.05673082e-03,-1.95045943e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51320663,  1.85626414, -4.113796  ,  1.85626414, 35.25860919,
       13.87321787, -4.113796  , 13.87321787, 10.77320514,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000291560925524903
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.90392972e-13, -1.90392972e-13,  1.00000000e+00,  3.62494839e-26,
        1.00000000e+00,  1.90392972e-13, -1.00000000e+00,  0.00000000e+00,
        1.90392972e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08396348, -0.05637821,  0.06199099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.65648247e-06, 2.91876599e-05,-1.20951438e-05, 1.64306426e-05,
  2.47246458e-06,-3.35038986e-05,-2.01521490e-05,-1.98813494e-05,
 -4.51043519e-05, 6.28565262e-05, 3.32359036e-05, 1.39793059e-05,
 -8.18760761e-05,-3.02958069e-05,-8.59872177e-05, 4.01676588e-05,
 -4.33107713e-07,-5.92296286e-07,-1.21644025e+00,-1.77846669e-03,
 -2.98798062e-04, 1.85382869e-06]


--- Step 1029 ---
qpos:
[ 2.86716543e-03,-5.59764992e-03,-1.02178739e-02, 2.81715021e-03,
 -4.46366498e-03,-5.17324218e-03,-1.77519579e-02, 5.12862108e-03,
 -4.74846279e-03,-3.91841916e-03,-7.80574405e-03,-1.91633901e-02,
  1.22872581e+00, 1.87967549e-02, 1.22228965e+00, 2.51251639e-02,
  9.49380048e-02,-6.99417055e-02, 1.30731815e-01, 9.97166858e-01,
 -2.48499329e-04,-3.95382192e-04,-7.52199416e-02]

qacc:
[  0.60364798,  2.26056576, -8.14494728, 12.00920156,  0.19769901,
   1.84475977, -7.21089608, 10.43148527, -4.41859969, -2.07441188,
   8.61919135,-13.26936994,  0.2203341 , -0.78354366, -1.26526782,
   2.40998899,  0.87805564, -0.83149867, -0.10124968,  9.43760708,
  15.11888972, -0.37705569]

qfrc_actuator:
[-7.59202425e-05,-4.24943801e-04,-2.65452779e-04,-3.56758089e-05,
  2.35055221e-05,-4.65248196e-04,-4.02118494e-04,-1.67031071e-04,
 -5.18252307e-05,-3.02281136e-04,-2.74899150e-04,-1.27198246e-04,
  1.44126130e-02,-1.29488149e-03, 9.01677908e-03,-1.95240315e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002863790966188412
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08396345, -0.05637663,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.69248516e-06, 3.61088388e-05,-1.86139476e-05, 1.08601765e-05,
  1.26333303e-06,-2.25268908e-05,-3.85020506e-05, 4.29025479e-06,
 -2.60704766e-05, 4.58177593e-05, 5.02793869e-05,-6.17689013e-06,
 -7.19897225e-05,-6.75090848e-05,-7.86828030e-05,-1.15464288e-05,
 -2.14656592e-06,-2.11884868e-06,-1.21644229e+00,-1.77927360e-03,
 -2.99031013e-04, 1.96082748e-06]


--- Step 1030 ---
qpos:
[ 2.86715904e-03,-5.59858116e-03,-1.02185793e-02, 2.81750887e-03,
 -4.46318465e-03,-5.17314996e-03,-1.77532769e-02, 5.12765670e-03,
 -4.74978593e-03,-3.91847952e-03,-7.80660661e-03,-1.91639277e-02,
  1.22908576e+00, 1.87961294e-02, 1.22262433e+00, 2.51213556e-02,
  9.49514068e-02,-6.99535042e-02, 1.30733931e-01, 9.97160840e-01,
 -1.81172853e-04,-2.80357162e-04,-7.53003838e-02]

qacc:
[ 6.44114152, 0.63011303,-0.66869721,-3.25493402, 0.09530123, 1.57133333,
 -9.17721078,22.71404552, 3.55212066,-0.02809942, 0.32489522,-1.09978379,
  0.361552  ,-1.02744179,-6.16236005,19.6235942 , 0.87825391,-0.82387277,
 -0.15779755, 9.43031548,14.98337136,-0.4075908 ]

qfrc_actuator:
[-3.80506709e-05,-4.11768017e-04,-2.79228837e-04,-4.79610194e-05,
  2.40244150e-05,-4.64596342e-04,-4.00570765e-04,-1.26828031e-04,
 -3.02042366e-05,-3.35956808e-04,-2.90865518e-04,-1.33062839e-04,
  1.43871660e-02,-1.33666166e-03, 9.00208093e-03,-1.86262046e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028037299235783575
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08396311, -0.05637501,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.79922723e-05, 3.00407787e-05,-8.21548709e-06,-1.11683843e-05,
  5.48623695e-07,-1.97045589e-05,-7.68440877e-06, 3.79949609e-05,
  2.08894916e-05, 2.06510714e-06,-5.12967574e-07,-2.27918482e-06,
 -8.03713450e-05,-7.67518422e-05,-5.59266961e-05, 7.81986275e-05,
 -4.11916338e-06,-3.45270388e-06,-1.21644630e+00,-1.78037115e-03,
 -2.99714780e-04, 2.25807579e-06]


--- Step 1031 ---
qpos:
[ 2.86760677e-03,-5.59936710e-03,-1.02191156e-02, 2.81770870e-03,
 -4.46304676e-03,-5.17316151e-03,-1.77546071e-02, 5.12716723e-03,
 -4.75084001e-03,-3.91837200e-03,-7.80770306e-03,-1.91641886e-02,
  1.22944498e+00, 1.87953043e-02, 1.22295832e+00, 2.51199327e-02,
  9.49683234e-02,-6.99685750e-02, 1.30735228e-01, 9.97154740e-01,
 -9.28071691e-05,-1.37074819e-04,-7.53816815e-02]

qacc:
[ 3.97514367,-0.61561758, 3.13056839,-6.2420778 ,-2.98475243, 0.87782984,
 -5.32383072,13.62694421, 2.34555354, 1.44113157,-5.9899428 ,11.03228441,
 -0.21354216,-0.09086457,-8.24940229,27.37741305, 0.8786551 ,-0.81801716,
 -0.20458441, 9.42571631,14.88073934,-0.43007189]

qfrc_actuator:
[-1.57691116e-05,-4.03674902e-04,-2.69303412e-04,-5.53321809e-05,
  6.38449175e-06,-4.64137396e-04,-3.99066736e-04,-1.02780842e-04,
 -1.69458878e-05,-3.20646083e-04,-3.00090755e-04,-1.18586251e-04,
  1.43483096e-02,-1.34328918e-03, 8.98658404e-03,-1.73718201e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002737733433408607
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02763171e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.02763171e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08396251, -0.05637338,  0.06199154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.33822905e-05, 2.27709277e-05, 1.47489898e-05,-6.58440507e-06,
 -1.76323429e-05,-1.05045405e-05,-2.18111512e-06, 2.36814232e-05,
  1.38545421e-05, 1.62785337e-05,-8.93094493e-06, 1.45050315e-05,
 -9.95098595e-05,-4.65362982e-05,-3.70857103e-05, 1.21588833e-04,
 -6.35231882e-06,-4.60218655e-06,-1.21645222e+00,-1.78176111e-03,
 -3.00843575e-04, 2.74233746e-06]


--- Step 1032 ---
qpos:
[ 2.86762885e-03,-5.60019131e-03,-1.02194570e-02, 2.81818586e-03,
 -4.46277657e-03,-5.17313983e-03,-1.77562286e-02, 5.12662629e-03,
 -4.75241671e-03,-3.91811932e-03,-7.80837714e-03,-1.91639719e-02,
  1.22980346e+00, 1.87943558e-02, 1.22329203e+00, 2.51206109e-02,
  9.49887573e-02,-6.99869003e-02, 1.30735553e-01, 9.97148536e-01,
  1.65855919e-05, 3.43138253e-05,-7.54638659e-02]

qacc:
[-3.71641600e+00,-1.70306356e-02,-1.17070651e+00, 5.67305672e+00,
  1.14401725e+00, 7.49294210e-01,-2.39480849e+00, 1.95001635e+00,
 -4.56443785e+00, 4.12579655e-03,-1.73471920e+00, 9.19711868e+00,
 -3.08745726e-01, 7.79134940e-02,-6.76010991e+00, 2.30913596e+01,
  8.79310226e-01,-8.13633646e-01,-2.43189949e-01, 9.42420947e+00,
  1.48057286e+01,-4.46046219e-01]

qfrc_actuator:
[-3.83570092e-05,-4.16344466e-04,-2.63235128e-04,-4.19868826e-05,
  1.37034810e-05,-4.63795148e-04,-4.15378091e-04,-1.06194313e-04,
 -4.42359537e-05,-2.93850757e-04,-2.69541719e-04,-9.22093117e-05,
  1.43174299e-02,-1.34681589e-03, 8.99192874e-03,-1.62727582e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026676899660753317
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.08086966e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.08086966e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08396173, -0.05637175,  0.06199176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.19089885e-05, 2.86941059e-06, 1.23742665e-05, 1.47046091e-05,
  6.80895096e-06,-4.95672214e-06,-1.79126426e-05,-3.47325700e-06,
 -2.68898203e-05, 3.46857552e-05, 3.33236587e-05, 2.70494931e-05,
 -9.37173967e-05,-3.97200933e-05,-4.16610325e-06, 1.10582236e-04,
 -8.84831847e-06,-5.57248226e-06,-1.21646005e+00,-1.78344473e-03,
 -3.02413111e-04, 3.41158577e-06]


--- Step 1033 ---
qpos:
[ 2.86738034e-03,-5.60108539e-03,-1.02196960e-02, 2.81917536e-03,
 -4.46207607e-03,-5.17314952e-03,-1.77576891e-02, 5.12498979e-03,
 -4.75361787e-03,-3.91825314e-03,-7.80841385e-03,-1.91633875e-02,
  1.23016116e+00, 1.87935844e-02, 1.22362558e+00, 2.51222628e-02,
  9.50063534e-02,-6.99977339e-02, 1.30736357e-01, 9.97142311e-01,
  7.85933146e-05, 1.72169307e-04,-7.55458570e-02]

qacc:
[ -2.36220331,  0.68141326, -4.71820125, 13.46409687,  3.75770654,
  -2.75383516, 14.37159029,-33.55451294,  3.31461891, -1.54147667,
   3.19289561,  2.44556127, -0.65461891,  0.67464619, -3.1239223 ,
  10.73614055, -0.70944494,  1.87290555,  0.1199409 ,-22.35969314,
 -18.50669935,  0.09496271]

qfrc_actuator:
[-5.16631869e-05,-4.23593557e-04,-2.59574591e-04,-1.65843311e-05,
  3.56600579e-05,-4.63618404e-04,-4.06588934e-04,-1.61253040e-04,
 -2.41604684e-05,-3.48972257e-04,-2.51196086e-04,-7.67564392e-05,
  1.42860359e-02,-1.33072582e-03, 8.98313707e-03,-1.58061666e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43573768,  2.09124252, -3.91183761,  2.09124252, 19.72482255,
        8.17344368, -3.91183761,  8.17344368,  8.80520663,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026554286237381874
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.63318594e-13, -4.18095600e-13,  1.00000000e+00,  6.82827856e-26,
        1.00000000e+00,  4.18095600e-13, -1.00000000e+00,  0.00000000e+00,
        1.63318594e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485294, -0.09492045,  0.06199179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.39295992e-05,-2.43341062e-06, 6.29968566e-06, 2.62423344e-05,
  2.21509102e-05,-6.42181970e-06, 5.45825629e-06,-5.59540839e-05,
  1.93173768e-05,-2.77003709e-05, 3.05537489e-05, 1.86191786e-05,
 -8.90397232e-05,-1.70873503e-05,-6.15124841e-06, 5.05399988e-05,
 -1.16103212e-05,-6.36618122e-06,-1.21646975e+00,-1.78542289e-03,
 -3.04420320e-04, 4.26480806e-06]


--- Step 1034 ---
qpos:
[ 2.86697400e-03,-5.60187523e-03,-1.02199470e-02, 2.82044710e-03,
 -4.46180757e-03,-5.17314799e-03,-1.77588504e-02, 5.12372698e-03,
 -4.75456928e-03,-3.91878100e-03,-7.80811098e-03,-1.91629449e-02,
  1.23051808e+00, 1.87932171e-02, 1.22395880e+00, 2.51221996e-02,
  9.50210562e-02,-7.00012650e-02, 1.30737019e-01, 9.97136032e-01,
  9.35948200e-05, 2.77822486e-04,-7.56283516e-02]

qacc:
[ -1.38262782,  0.75529485, -3.67976682,  8.50162834, -3.75810026,
  -0.04451504, -1.3844284 ,  7.35120035,  2.20384703, -1.7666641 ,
   6.13322104, -8.82995368, -1.00362492,  1.24839857,  4.82345849,
 -17.30374101, -0.72332552,  1.82563587, -0.03573221,-22.21952343,
 -17.8307178 , -0.25582421]

qfrc_actuator:
[-5.93851393e-05,-4.09790826e-04,-2.57344086e-04,-2.04600853e-06,
  1.27903465e-05,-4.45737026e-04,-3.83075201e-04,-1.39718448e-04,
 -1.18600427e-05,-3.81759725e-04,-2.40556444e-04,-8.56917710e-05,
  1.42543647e-02,-1.30311681e-03, 8.93923400e-03,-1.67813449e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45114263, -1.77942882,  4.07998821, -1.77942882,  8.37051224,
        1.7093773 ,  4.07998821,  1.7093773 ,  5.19666322,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027098303815538405
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.76143488e-14, -6.14553054e-13,  1.00000000e+00,  3.54070740e-26,
        1.00000000e+00,  6.14553054e-13, -1.00000000e+00,  0.00000000e+00,
        5.76143488e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484735, -0.09492076,  0.06199163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.11938453e-06, 1.48964939e-05, 3.42375900e-06, 1.51637653e-05,
 -2.22348313e-05, 1.30492587e-05, 2.09433586e-05, 2.03652994e-05,
  1.28400464e-05,-4.11624189e-05, 9.32427769e-06,-8.70393343e-06,
 -8.18086472e-05, 2.02677209e-06,-4.91833827e-05,-9.73113065e-05,
 -6.48752414e-06,-6.25323428e-06,-1.21645580e+00,-1.78560074e-03,
 -3.08244018e-04, 1.30386777e-06]


--- Step 1035 ---
qpos:
[ 2.86647803e-03,-5.60243620e-03,-1.02199333e-02, 2.82150215e-03,
 -4.46181511e-03,-5.17314234e-03,-1.77594736e-02, 5.12340611e-03,
 -4.75571076e-03,-3.91948303e-03,-7.80772423e-03,-1.91629682e-02,
  1.23087426e+00, 1.87931980e-02, 1.22429090e+00, 2.51236831e-02,
  9.50328245e-02,-6.99976471e-02, 1.30737014e-01, 9.97129671e-01,
  6.19184832e-05, 3.52344383e-04,-7.57118967e-02]

qacc:
[ -0.77976749, -0.88200013,  4.50087796, -8.84519804, -2.38999687,
   0.44611439, -5.55098832, 20.98120403, -1.65875812, -1.42123722,
   6.70243036,-14.77054345, -0.62227642,  0.75325051, -6.29546984,
  19.74484869, -0.73362522,  1.78725776, -0.16661372,-22.09472573,
 -17.28618264, -0.53185903]

qfrc_actuator:
[-6.37610729e-05,-3.83503168e-04,-2.38145554e-04,-1.17536790e-05,
 -7.79676243e-07,-4.35015554e-04,-3.50929377e-04,-9.10115148e-05,
 -2.20017110e-05,-3.83232001e-04,-2.34497561e-04,-1.08897511e-04,
  1.42172290e-02,-1.28664697e-03, 8.89558792e-03,-1.59356990e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45848912, -1.72257049,  4.11228357, -1.72257049, 10.98896779,
        2.73551414,  4.11228357,  2.73551414,  5.60435269,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002735275290206146
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.09287434e-13, -2.02945391e-13,  1.00000000e+00,  4.24739201e-26,
        1.00000000e+00,  2.02945391e-13, -1.00000000e+00,  0.00000000e+00,
        2.09287434e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484321, -0.09492173,  0.06199155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.60105239e-06, 3.60018790e-05, 2.32320331e-05,-8.65589094e-06,
 -1.42045806e-05, 2.32255242e-05, 3.81431839e-05, 5.03935397e-05,
 -9.79065324e-06,-2.29209077e-05,-1.59552048e-06,-2.48165974e-05,
 -8.03960876e-05,-1.38519759e-06,-8.36679306e-05, 7.13558316e-05,
 -1.98829932e-06,-5.34313607e-06,-1.21644728e+00,-1.78513306e-03,
 -3.11509641e-04,-7.28543037e-07]


--- Step 1036 ---
qpos:
[ 2.86593338e-03,-5.60272551e-03,-1.02197094e-02, 2.82243051e-03,
 -4.46164057e-03,-5.17314128e-03,-1.77595963e-02, 5.12263894e-03,
 -4.75696482e-03,-3.92028648e-03,-7.80784466e-03,-1.91635829e-02,
  1.23122973e+00, 1.87934172e-02, 1.22462188e+00, 2.51281220e-02,
  9.50416278e-02,-6.99870044e-02, 1.30735903e-01, 9.97123197e-01,
 -1.61560814e-05, 3.96595306e-04,-7.57969206e-02]

qacc:
[ -0.42386643, -0.48861602,  2.79925442, -5.52927976,  1.60334548,
  -2.32612877, 10.16442975,-18.6809761 , -1.00002718,  0.06744899,
   2.06131192,-11.40620549, -0.40370004,  0.42833547,-10.5685872 ,
  34.65743879, -0.7412554 ,  1.75620975, -0.27656932,-21.98632441,
 -16.8485184 , -0.74882593]

qfrc_actuator:
[-6.61344655e-05,-3.67643505e-04,-2.26790705e-04,-1.78702933e-05,
  8.99957943e-06,-4.46340025e-04,-3.31715435e-04,-1.15482065e-04,
 -2.75160675e-05,-4.01482693e-04,-2.66572513e-04,-1.40284680e-04,
  1.41821657e-02,-1.27696636e-03, 8.86283160e-03,-1.43783669e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45911936, -1.64742035,  4.14363991, -1.64742035, 14.51383313,
        3.99753367,  4.14363991,  3.99753367,  6.04845108,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002737443633163278
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.09121656e-13, -4.05569273e-13,  1.00000000e+00,  8.48133182e-26,
        1.00000000e+00,  4.05569273e-13, -1.00000000e+00,  0.00000000e+00,
        2.09121656e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484023, -0.09492324,  0.06199154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.49135002e-06, 4.04376364e-05, 2.13581280e-05,-3.93946520e-06,
  9.37651215e-06, 1.17034513e-05, 3.04623663e-05,-2.11719128e-05,
 -5.80268646e-06,-3.24463451e-05,-3.78612702e-05,-3.29062097e-05,
 -7.84183567e-05,-8.79185722e-06,-6.71071379e-05, 1.48113366e-04,
  2.00855095e-06,-3.59216580e-06,-1.21644391e+00,-1.78400281e-03,
 -3.14274354e-04,-1.88748992e-06]


--- Step 1037 ---
qpos:
[ 2.86501960e-03,-5.60269178e-03,-1.02196399e-02, 2.82329711e-03,
 -4.46203990e-03,-5.17323579e-03,-1.77596761e-02, 5.12162906e-03,
 -4.75793039e-03,-3.92129139e-03,-7.80835619e-03,-1.91642182e-02,
  1.23158462e+00, 1.87935239e-02, 1.22495242e+00, 2.51316739e-02,
  9.50474434e-02,-6.99694368e-02, 1.30733316e-01, 9.97116576e-01,
 -1.40395668e-04, 4.11264208e-04,-7.58837580e-02]

qacc:
[ -3.23937621,  0.73771061, -1.7392453 ,  0.66790889, -5.0018233 ,
  -0.73592355,  3.48236821, -7.6998212 ,  2.51677025,  0.77958851,
  -3.08672962,  3.5109765 , -0.41879809,  0.26737602,  2.06391552,
  -8.08677532, -0.7469158 ,  1.73121375, -0.36888611,-21.89463591,
 -16.49799951, -0.91904999]

qfrc_actuator:
[-8.50640726e-05,-3.58174975e-04,-2.37946115e-04,-2.18355913e-05,
 -2.08171948e-05,-4.70885016e-04,-3.38190933e-04,-1.29589746e-04,
 -1.25028841e-05,-4.12050873e-04,-2.85465015e-04,-1.40763682e-04,
  1.41483689e-02,-1.28914124e-03, 8.83132257e-03,-1.48996666e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45437899, -1.5515382 ,  4.17543068, -1.5515382 , 19.23983395,
        5.4940915 ,  4.17543068,  5.4940915 ,  6.49591518,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027210783816353223
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.04004235e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.04004235e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483815, -0.09492518,  0.06199159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89868908e-05, 3.63308798e-05,-3.08889993e-07,-1.57200812e-06,
 -2.95442360e-05,-1.26092911e-05,-1.03551262e-06,-1.29625340e-05,
  1.48362570e-05,-3.79153297e-05,-3.13845424e-05,-3.81573647e-06,
 -7.72732622e-05,-3.25508902e-05,-5.00761406e-05,-5.34449937e-05,
  5.59305298e-06,-9.72874097e-07,-1.21644546e+00,-1.78219818e-03,
 -3.16580972e-04,-2.21495624e-06]


--- Step 1038 ---
qpos:
[ 2.86423110e-03,-5.60259068e-03,-1.02195886e-02, 2.82413337e-03,
 -4.46279335e-03,-5.17350673e-03,-1.77597931e-02, 5.12082004e-03,
 -4.75870877e-03,-3.92235525e-03,-7.80921072e-03,-1.91645310e-02,
  1.23193918e+00, 1.87927432e-02, 1.22528274e+00, 2.51299088e-02,
  9.50505547e-02,-6.99576599e-02, 1.30732171e-01, 9.97110226e-01,
 -2.21292849e-04, 4.18221476e-04,-7.59669251e-02]

qacc:
[ 1.09420573e+00, 7.49863654e-02,-1.38347399e-02,-5.27829097e-01,
 -3.08629068e+00, 2.90328178e-01,-2.21106242e+00, 5.86554930e+00,
  1.62917256e+00, 1.54209683e+00,-6.97538292e+00, 1.31482087e+01,
 -7.76812655e-02,-5.63847648e-01, 1.57927777e+01,-5.57013305e+01,
 -6.76087023e-01,-1.44767566e+00, 3.60574748e-01, 2.19005739e+01,
 -2.20051955e+00, 1.84846516e+00]

qfrc_actuator:
[-7.80822079e-05,-3.70453810e-04,-2.44574485e-04,-2.45243511e-05,
 -3.82032066e-05,-4.85516862e-04,-3.42070033e-04,-1.19752145e-04,
 -3.28183877e-06,-4.00116312e-04,-2.96361239e-04,-1.23031955e-04,
  1.41153455e-02,-1.34967926e-03, 8.78989042e-03,-1.77067004e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46678347, -0.33820753,  4.45396118, -0.33820753, 21.67115077,
        1.30639812,  4.45396118,  1.30639812,  4.56598363,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027636316986305587
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00431529e-13, -4.01726115e-13,  1.00000000e+00,  4.03459678e-26,
        1.00000000e+00,  4.01726115e-13, -1.00000000e+00,  0.00000000e+00,
        1.00431529e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10191854, -0.04701119,  0.06199146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.45161192e-06, 7.89861178e-06, 7.82173549e-07,-1.17458500e-06,
 -1.82367936e-05,-2.24558191e-05,-7.05416906e-06, 9.01310226e-06,
  9.62908340e-06,-1.58672542e-05,-2.27072279e-05, 1.49518279e-05,
 -8.19579974e-05,-8.71403122e-05,-7.62688140e-05,-2.91444540e-04,
  8.83216872e-06, 2.53083875e-06,-1.21645176e+00,-1.77971096e-03,
 -3.18461465e-04,-1.74258196e-06]


--- Step 1039 ---
qpos:
[ 2.86422213e-03,-5.60257808e-03,-1.02192531e-02, 2.82493030e-03,
 -4.46340449e-03,-5.17439138e-03,-1.77591709e-02, 5.11979249e-03,
 -4.75902580e-03,-3.92334285e-03,-7.81001417e-03,-1.91646744e-02,
  1.23229283e+00, 1.87923267e-02, 1.22561225e+00, 2.51247892e-02,
  9.50511211e-02,-6.99515840e-02, 1.30731819e-01, 9.97104114e-01,
 -2.59570796e-04, 4.16674139e-04,-7.60469848e-02]

qacc:
[  6.82912471, -1.00545094,  3.55816238, -4.60302433,  1.27447504,
  -3.32799622, 11.60851467,-16.11831128,  4.03939342,  0.29901089,
  -1.6473246 ,  4.45290001, -1.18211929,  1.39751475,  9.08646343,
 -33.21778842, -0.63620857, -1.42526077,  0.19810367, 21.5704483 ,
  -2.62158201,  1.56628005]

qfrc_actuator:
[-3.81476008e-05,-3.77901969e-04,-2.30808564e-04,-2.64539071e-05,
 -3.03683294e-05,-5.29587000e-04,-3.08823112e-04,-1.31399127e-04,
  2.02024611e-05,-3.74742021e-04,-2.84598725e-04,-1.12461321e-04,
  1.40774595e-02,-1.31414686e-03, 8.75315093e-03,-1.93519585e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48174698, -0.60940961, -4.44012116, -0.60940961,  9.68565125,
       -0.71423935, -4.44012116, -0.71423935,  4.57977681,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002813830225326247
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86398375e-14,  3.94559350e-13,  1.00000000e+00,  3.89192702e-26,
        1.00000000e+00, -3.94559350e-13, -1.00000000e+00,  0.00000000e+00,
       -9.86398375e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10192315, -0.04701325,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.01212412e-05,-2.92137839e-06, 1.54500389e-05,-1.58924314e-06,
  7.30414552e-06,-5.76914739e-05, 2.80587538e-05,-1.26743543e-05,
  2.37497263e-05, 1.25018089e-05, 6.22782054e-06, 9.40100957e-06,
 -1.03534007e-04,-6.91047019e-06,-1.09475883e-04,-1.91739998e-04,
  5.36786574e-06, 1.60963861e-06,-1.21644491e+00,-1.77840474e-03,
 -3.16613348e-04,-1.62130172e-06]


--- Step 1040 ---
qpos:
[ 2.86469180e-03,-5.60247197e-03,-1.02188169e-02, 2.82568704e-03,
 -4.46426182e-03,-5.17607414e-03,-1.77579848e-02, 5.11832457e-03,
 -4.75871417e-03,-3.92406981e-03,-7.81047908e-03,-1.91650800e-02,
  1.23264513e+00, 1.87933764e-02, 1.22594015e+00, 2.51213873e-02,
  9.50492698e-02,-6.99511347e-02, 1.30731713e-01, 9.97098214e-01,
 -2.55827379e-04, 4.06004150e-04,-7.61243818e-02]

qacc:
[  4.18837224, -0.24883921,  1.22208197, -2.13231798, -2.11607274,
  -3.53250369, 12.93207549,-20.87810204,  5.50967627, -1.15267144,
   5.69514985,-10.93959071, -1.7947926 ,  2.70998736, -7.38752948,
  22.87000448, -0.60443706, -1.40662623,  0.06163016, 21.29618492,
  -2.95070767,  1.34303481]

qfrc_actuator:
[-1.46509609e-05,-3.64570171e-04,-2.22853697e-04,-2.79068221e-05,
 -4.32609648e-05,-5.90812256e-04,-2.89567302e-04,-1.55597810e-04,
  5.18956702e-05,-3.41415541e-04,-2.59497858e-04,-1.23915823e-04,
  1.40260688e-02,-1.22186882e-03, 8.70331156e-03,-1.83457182e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4882243 , -0.66105191, -4.43927559, -0.66105191, 12.92746622,
       -1.25668634, -4.43927559, -1.25668634,  4.67535729,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028351915547505935
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.95793301e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.95793301e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10192698, -0.04701425,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.46412309e-05, 1.48292622e-05, 9.19203390e-06,-1.07861649e-06,
 -1.27039778e-05,-8.82038213e-05, 1.03627451e-05,-2.59435625e-05,
  3.23711731e-05, 4.20590956e-05, 2.87953032e-05,-1.05173323e-05,
 -1.09413812e-04, 6.74543140e-05,-1.25604316e-04, 7.50060773e-05,
  2.37820479e-06, 1.37116865e-06,-1.21644111e+00,-1.77774974e-03,
 -3.14871887e-04,-1.55400258e-06]


--- Step 1041 ---
qpos:
[ 2.86509511e-03,-5.60248215e-03,-1.02184673e-02, 2.82646066e-03,
 -4.46492249e-03,-5.17786591e-03,-1.77574316e-02, 5.11726370e-03,
 -4.75802500e-03,-3.92439774e-03,-7.81098355e-03,-1.91656117e-02,
  1.23299678e+00, 1.87944722e-02, 1.22626697e+00, 2.51190933e-02,
  9.50451018e-02,-6.99562503e-02, 1.30731396e-01, 9.97092497e-01,
 -2.10553587e-04, 3.85729172e-04,-7.61994680e-02]

qacc:
[ -0.58119423,  0.12452516, -0.73628032,  1.2505227 ,  1.69739134,
   2.45905221,-10.70171289, 18.84658797,  3.29712409,  0.3718478 ,
  -0.04039248, -2.35805521, -0.38197255,  0.29720532, -4.91098196,
  14.95369767, -0.57917083, -1.39124325, -0.05284809, 21.07007288,
  -3.20815416,  1.16625846]

qfrc_actuator:
[-1.87806620e-05,-3.92174908e-04,-2.36068311e-04,-2.90571447e-05,
 -3.27532650e-05,-5.73137548e-04,-3.14331970e-04,-1.33760363e-04,
  7.04097507e-05,-3.21285245e-04,-2.62207129e-04,-1.30468983e-04,
  1.39879496e-02,-1.23881205e-03, 8.67234222e-03,-1.77386723e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48768023, -0.72605251, -4.42855751, -0.72605251, 17.18326387,
       -2.08141373, -4.42855751, -2.08141373,  4.82892355,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002833405619863394
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.79583559e-14, -1.95916712e-13,  1.00000000e+00,  1.91916790e-26,
        1.00000000e+00,  1.95916712e-13, -1.00000000e+00,  0.00000000e+00,
        9.79583559e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10193022, -0.04701441,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.42151223e-06,-1.74632307e-05,-9.06611732e-06,-2.21871912e-07,
  1.01133915e-05,-3.05733572e-05,-4.25945718e-05, 1.79169437e-05,
  1.94496062e-05, 4.91915223e-05, 9.17420902e-06,-3.95818646e-06,
 -8.08701016e-05,-2.25306028e-05,-8.30361020e-05, 4.82190371e-05,
 -1.93637675e-07, 1.77114707e-06,-1.21644026e+00,-1.77774105e-03,
 -3.13187723e-04,-1.56259223e-06]


--- Step 1042 ---
qpos:
[ 2.86579111e-03,-5.60284259e-03,-1.02181504e-02, 2.82724169e-03,
 -4.46545261e-03,-5.17920682e-03,-1.77580359e-02, 5.11609111e-03,
 -4.75746372e-03,-3.92457307e-03,-7.81142518e-03,-1.91658475e-02,
  1.23334783e+00, 1.87956557e-02, 1.22659328e+00, 2.51164439e-02,
  9.50386973e-02,-6.99668805e-02, 1.30730485e-01, 9.97086937e-01,
 -1.24148972e-04, 3.55471889e-04,-7.62725219e-02]

qacc:
[  2.56523895, -0.36155241,  0.57756868, -0.13026242,  1.09466019,
   3.59677174,-11.49320216, 11.08487785, -1.12018868,  0.63774548,
  -3.22450901,  8.1241136 , -0.53512189,  0.52357161,  0.36108364,
  -2.24989641, -0.55913077, -1.37865707, -0.14873533, 20.88556512,
  -3.40981211,  1.02610622]

qfrc_actuator:
[-3.62735871e-06,-4.26416539e-04,-2.44084868e-04,-3.00669177e-05,
 -2.63023750e-05,-5.26245349e-04,-3.64537460e-04,-1.38230409e-04,
  6.32633713e-05,-3.27067949e-04,-2.63607165e-04,-1.16359923e-04,
  1.39631054e-02,-1.23169137e-03, 8.65803008e-03,-1.79044957e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48156613, -0.80757855, -4.40820279, -0.80757855, 22.71590201,
       -3.34051296, -4.40820279, -3.34051296,  5.09354492,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028132306705129506
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.86608596e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.86608596e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10193297, -0.04701391,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.50493161e-05,-4.58972053e-05,-1.27540840e-05,-2.07846980e-06,
  6.73112261e-06, 2.18301604e-05,-6.11309173e-05,-6.90055324e-06,
 -6.57564774e-06, 2.34782149e-05, 9.76393895e-06, 1.64584169e-05,
 -7.34725302e-05,-1.74213023e-05,-5.07885919e-05,-2.53655457e-05,
 -2.38987320e-06, 2.77787451e-06,-1.21644226e+00,-1.77837407e-03,
 -3.11524031e-04,-1.66223121e-06]


--- Step 1043 ---
qpos:
[ 2.86666322e-03,-5.60347894e-03,-1.02176739e-02, 2.82798180e-03,
 -4.46590098e-03,-5.18039072e-03,-1.77594733e-02, 5.11454403e-03,
 -4.75699225e-03,-3.92465719e-03,-7.81180860e-03,-1.91662491e-02,
  1.23369800e+00, 1.87976896e-02, 1.22691812e+00, 2.51150738e-02,
  9.50301196e-02,-6.99829847e-02, 1.30728657e-01, 9.97081506e-01,
  3.06535185e-06, 3.14935996e-04,-7.63437639e-02]

qacc:
[ 1.550144  ,-0.89813978, 2.84078842,-3.59572857, 0.68388018, 1.76259918,
 -4.4055947 ,-0.85550676,-0.78596099,-0.3821198 , 2.23852512,-5.26785358,
 -1.05042932, 1.55424138,-5.92912197,17.8737635 ,-0.54329464,-1.36847639,
 -0.22893234,20.73708762,-3.56813908, 0.91480378]

qfrc_actuator:
[ 5.01060726e-06,-4.28854552e-04,-2.31249372e-04,-3.09896396e-05,
 -2.22981288e-05,-5.33349440e-04,-4.11477233e-04,-1.58129006e-04,
  5.88277740e-05,-3.30559003e-04,-2.64308247e-04,-1.25730335e-04,
  1.39302685e-02,-1.17468711e-03, 8.57381429e-03,-1.72811541e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47121777, -0.90939737, -4.37776025, -0.90939737, 29.83398479,
       -5.26863791, -4.37776025, -5.26863791,  5.56567822,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027786340435030643
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.99778562e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.99778562e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10193536, -0.04701288,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.05333731e-06,-3.08166879e-05, 1.70961616e-06,-3.37345878e-06,
  4.20758360e-06,-7.75809628e-06,-5.01750045e-05,-2.12064217e-05,
 -4.61731519e-06, 1.23708686e-05, 5.92874829e-06,-7.70440007e-06,
 -7.61059549e-05, 3.54940356e-05,-1.16034201e-04, 5.31402000e-05,
 -4.24163218e-06, 4.36930595e-06,-1.21644704e+00,-1.77964474e-03,
 -3.09853301e-04,-1.86337524e-06]


--- Step 1044 ---
qpos:
[ 2.86763202e-03,-5.60416375e-03,-1.02168387e-02, 2.82797056e-03,
 -4.46595283e-03,-5.18166080e-03,-1.77611336e-02, 5.11275987e-03,
 -4.75623259e-03,-3.92485479e-03,-7.81209119e-03,-1.91667358e-02,
  1.23404754e+00, 1.88001337e-02, 1.22724131e+00, 2.51158004e-02,
  9.50186900e-02,-6.99919677e-02, 1.30727001e-01, 9.97076007e-01,
  8.15957319e-05, 2.41478301e-04,-7.64157736e-02]

qacc:
[ 8.57456359e-01,-2.61556477e+00, 1.24014783e+01,-2.59391446e+01,
  3.45247660e+00, 1.37910263e-02, 7.74644186e-01,-4.44544122e+00,
  2.52796722e+00,-6.12330259e-01, 2.31594612e+00,-3.85712783e+00,
 -4.90989592e-01, 6.63683554e-01,-8.74796598e+00, 2.71699489e+01,
 -7.12977458e-01, 1.78027858e+00, 4.29396225e-02,-2.30141219e+01,
 -1.82712083e+01,-3.92969444e-01]

qfrc_actuator:
[ 9.73888078e-06,-4.12144638e-04,-2.06081837e-04,-6.73200247e-05,
 -2.01263877e-06,-5.37232546e-04,-4.20813603e-04,-1.69224635e-04,
  7.37843352e-05,-3.50427339e-04,-2.64610442e-04,-1.31092476e-04,
  1.38980071e-02,-1.15956095e-03, 8.50101804e-03,-1.61992395e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47270303,  0.18679289, -4.46880082,  0.18679289, 27.32493068,
        0.95520786, -4.46880082,  0.95520786,  4.51263008,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027836349508189584
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.60867770e-14, -1.99419652e-13,  1.00000000e+00,  1.11848055e-26,
        1.00000000e+00,  1.99419652e-13, -1.00000000e+00,  0.00000000e+00,
        5.60867770e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480972, -0.09492757,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.97772495e-06,-2.98034405e-07, 1.88949149e-05,-3.76591179e-05,
  2.04063125e-05,-1.94286642e-05,-1.78195497e-05,-1.35680048e-05,
  1.48283670e-05,-1.20477088e-05, 2.72358859e-06,-4.77501204e-06,
 -6.53135691e-05, 8.36024835e-06,-1.22543624e-04, 9.57626159e-05,
 -5.77158607e-06, 6.53100536e-06,-1.21645457e+00,-1.78154959e-03,
 -3.08154941e-04,-2.17323477e-06]


--- Step 1045 ---
qpos:
[ 2.86864998e-03,-5.60471104e-03,-1.02160795e-02, 2.82752983e-03,
 -4.46576107e-03,-5.18309889e-03,-1.77626085e-02, 5.11083859e-03,
 -4.75495454e-03,-3.92542923e-03,-7.81195456e-03,-1.91672708e-02,
  1.23439664e+00, 1.88023135e-02, 1.22756340e+00, 2.51190272e-02,
  9.50043532e-02,-6.99939429e-02, 1.30724940e-01, 9.97070408e-01,
  1.12116017e-04, 1.36280149e-04,-7.64890163e-02]

qacc:
[  0.42502063, -0.49134568,  3.82703742,-11.23811027,  2.13296757,
  -1.02607636,  3.90830854, -6.44697322,  4.55788583, -1.77804209,
   5.80379452, -7.01130117,  0.1117994 , -0.43629536, -9.2367676 ,
  29.87006862, -0.72678439,  1.75196686, -0.10129232,-22.72196811,
 -17.65822694, -0.62301572]

qfrc_actuator:
[ 1.21303069e-05,-4.01815700e-04,-2.09283213e-04,-8.86629586e-05,
  9.94147082e-06,-5.39002661e-04,-4.07865001e-04,-1.75026101e-04,
  1.00034133e-04,-3.79953845e-04,-2.46986603e-04,-1.34063934e-04,
  1.38661011e-02,-1.18721428e-03, 8.47774926e-03,-1.48554718e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48392498, -0.02223438,  4.48386985, -0.02223438, 10.78015714,
        0.03122143,  4.48386985,  0.03122143,  4.4840798 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028210372721015897
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53730996e-13, -3.93551349e-13,  1.00000000e+00,  6.05010408e-26,
        1.00000000e+00,  3.93551349e-13, -1.00000000e+00,  0.00000000e+00,
        1.53730996e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480501, -0.09492645,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.53570985e-06, 1.24653276e-05,-2.24162548e-06,-2.14355573e-05,
  1.25336195e-05,-1.68196427e-05, 6.30853049e-06,-7.50493676e-06,
  2.66681310e-05,-3.58863474e-05, 1.53125813e-05,-3.48445545e-06,
 -6.57821071e-05,-3.95461274e-05,-7.02266254e-05, 1.23702577e-04,
 -3.06687060e-06, 6.37256251e-06,-1.21645007e+00,-1.78229622e-03,
 -3.08555237e-04,-2.25864464e-06]


--- Step 1046 ---
qpos:
[ 2.86968891e-03,-5.60525359e-03,-1.02156345e-02, 2.82756125e-03,
 -4.46577232e-03,-5.18452222e-03,-1.77640619e-02, 5.10988622e-03,
 -4.75337184e-03,-3.92616636e-03,-7.81166668e-03,-1.91678460e-02,
  1.23474514e+00, 1.88044792e-02, 1.22788471e+00, 2.51237948e-02,
  9.49870666e-02,-6.99890036e-02, 1.30721988e-01, 9.97064676e-01,
  9.51856473e-05, 2.82711198e-07,-7.65638489e-02]

qacc:
[  0.17377211,  1.85671625, -8.60459123, 17.27537898, -1.76946108,
   1.95725064,-11.03503692, 27.75312811,  2.67462157, -0.72607062,
   2.43727226, -3.24562206, -0.29104819,  0.16208763, -5.79748302,
  18.65999694, -0.73747313,  1.72861146, -0.22283155,-22.47780286,
 -17.16933491, -0.79918469]

qfrc_actuator:
[ 1.31284836e-05,-4.13234553e-04,-2.29214776e-04,-6.55294666e-05,
 -8.61560391e-07,-5.21636062e-04,-3.99617054e-04,-1.24398301e-04,
  1.14961757e-04,-3.79461242e-04,-2.36718475e-04,-1.35603929e-04,
  1.38344133e-02,-1.18676707e-03, 8.44692663e-03,-1.40771200e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48718191,  0.05476744,  4.48684767,  0.05476744, 14.53834786,
       -0.12268672,  4.48684767, -0.12268672,  4.48867945,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002831768542883861
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.12593667e-15, -1.96029973e-13,  1.00000000e+00,  1.20086720e-27,
        1.00000000e+00,  1.96029973e-13, -1.00000000e+00,  0.00000000e+00,
        6.12593667e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480159, -0.09492635,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.07702236e-06,-5.82009884e-06,-1.83772460e-05, 2.31730173e-05,
 -1.04495294e-05, 9.02087648e-06, 5.32928623e-06, 4.99897074e-05,
  1.56744152e-05,-1.65276139e-05, 4.62797262e-06,-2.61357912e-06,
 -7.60225539e-05,-2.56010332e-05,-5.27962487e-05, 7.49186486e-05,
 -8.95629588e-07, 7.21263869e-06,-1.21645080e+00,-1.78233929e-03,
 -3.08429650e-04,-1.42032051e-06]


--- Step 1047 ---
qpos:
[ 2.87038692e-03,-5.60585874e-03,-1.02154025e-02, 2.82787152e-03,
 -4.46591308e-03,-5.18568623e-03,-1.77655185e-02, 5.10951751e-03,
 -4.75265723e-03,-3.92689910e-03,-7.81105516e-03,-1.91684691e-02,
  1.23509308e+00, 1.88068298e-02, 1.22820600e+00, 2.51286610e-02,
  9.49667965e-02,-6.99772265e-02, 1.30717734e-01, 9.97058774e-01,
  3.12651284e-05,-1.65768010e-04,-7.66405421e-02]

qacc:
[ -2.98758709,  1.09264408, -5.18278725, 10.38424893, -1.1334518 ,
   1.55547117, -7.50926968, 17.42184726, -7.58970426, -0.98268829,
   3.73899146, -5.11381368, -0.56397385,  0.63317039, -0.27650686,
   1.05623303, -0.74584796,  1.70946304, -0.32518048,-22.2756031 ,
 -16.78149618, -0.93268162]

qfrc_actuator:
[-4.45339618e-06,-4.19871691e-04,-2.41163136e-04,-5.19452264e-05,
 -7.21706660e-06,-4.92902988e-04,-3.94099895e-04,-9.42220168e-05,
  6.98445642e-05,-3.61020577e-04,-2.13010870e-04,-1.36273662e-04,
  1.38188647e-02,-1.16960384e-03, 8.46483990e-03,-1.39934764e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48396458,  0.14978228,  4.48146222,  0.14978228, 19.40061289,
       -0.4985537 ,  4.48146222, -0.4985537 ,  4.50062755,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028211680733841726
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53723868e-13, -5.90299654e-13,  1.00000000e+00,  9.07431462e-26,
        1.00000000e+00,  5.90299654e-13, -1.00000000e+00,  0.00000000e+00,
        1.53723868e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10479918, -0.09492706,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.75520981e-05,-1.26833704e-05,-1.46123241e-05, 1.31498793e-05,
 -6.65422163e-06, 3.70873231e-05, 9.80318241e-06, 3.17292057e-05,
 -4.46775688e-05, 1.00775520e-05, 2.07810279e-05,-1.26635710e-06,
 -6.16942954e-05,-7.44522037e-06,-2.95942837e-06, 4.63458521e-06,
  8.42397597e-07, 9.03667773e-06,-1.21645647e+00,-1.78167693e-03,
 -3.07822929e-04, 2.85140794e-07]


--- Step 1048 ---
qpos:
[ 2.87017899e-03,-5.60652530e-03,-1.02153031e-02, 2.82799121e-03,
 -4.46612919e-03,-5.18644363e-03,-1.77666555e-02, 5.10878079e-03,
 -4.75317870e-03,-3.92760953e-03,-7.80991059e-03,-1.91687676e-02,
  1.23544061e+00, 1.88088616e-02, 1.22852792e+00, 2.51321221e-02,
  9.49500128e-02,-6.99693243e-02, 1.30716004e-01, 9.97052880e-01,
 -1.13247235e-05,-2.98765947e-04,-7.67167817e-02]

qacc:
[-7.92773218e+00,-8.78023721e-02, 1.02652608e+00,-4.09652865e+00,
 -6.54402439e-01,-1.11198866e+00, 6.30060753e+00,-1.34829349e+01,
 -1.08048466e+01,-7.70734831e-01, 1.45831712e+00, 3.24880769e+00,
 -2.65408613e-01, 2.17091976e-03, 5.21669263e+00,-1.68336478e+01,
  8.71564561e-01,-9.68730717e-01, 6.30697159e-01, 9.36741028e+00,
  1.72951897e+01, 2.24220743e-01]

qfrc_actuator:
[-5.05824387e-05,-4.23574356e-04,-2.48297166e-04,-6.18387269e-05,
 -1.08963739e-05,-4.57600504e-04,-3.72452366e-04,-1.11824223e-04,
  7.50399303e-06,-3.49665722e-04,-1.81472471e-04,-1.18644894e-04,
  1.37917145e-02,-1.19586238e-03, 8.51195492e-03,-1.46734521e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48293299, -1.97812893,  4.02289623, -1.97812893, 21.87116735,
        8.55010108,  4.02289623,  8.55010108,  8.68716828,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002817757818369959
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.85023462e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.85023462e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08400238, -0.05633876,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.66334671e-05,-1.32399233e-05,-1.10950494e-05,-1.06859001e-05,
 -3.85884639e-06, 5.94836384e-05, 3.16453363e-05,-1.50494081e-05,
 -6.36155225e-05, 2.12355563e-05, 3.61408145e-05, 1.87583391e-05,
 -6.09455801e-05,-4.26675207e-05, 3.84357729e-05,-6.99068113e-05,
  2.22100410e-06, 1.18280441e-05,-1.21646691e+00,-1.78030898e-03,
 -3.06767872e-04, 2.81601661e-06]


--- Step 1049 ---
qpos:
[ 2.86941941e-03,-5.60700115e-03,-1.02151246e-02, 2.82759860e-03,
 -4.46673251e-03,-5.18704216e-03,-1.77671699e-02, 5.10854027e-03,
 -4.75375360e-03,-3.92861670e-03,-7.80850655e-03,-1.91684470e-02,
  1.23578766e+00, 1.88104004e-02, 1.22884980e+00, 2.51341622e-02,
  9.49367254e-02,-6.99651630e-02, 1.30716095e-01, 9.97046984e-01,
 -3.25857140e-05,-3.99847158e-04,-7.67929028e-02]

qacc:
[-4.82658464e+00,-1.01439629e+00, 6.16124155e+00,-1.53113744e+01,
 -3.35958679e+00,-5.01083182e-01, 8.22812150e-03, 7.45459475e+00,
 -4.54269162e-01, 1.58729986e-01,-3.74294561e+00, 1.42507590e+01,
 -1.66613174e-01,-2.53754791e-01, 4.24310068e+00,-1.49261686e+01,
  8.74107097e-01,-9.35216475e-01, 4.55364500e-01, 9.40874480e+00,
  1.67294716e+01, 5.59634268e-02]

qfrc_actuator:
[-7.76331297e-05,-3.89987228e-04,-2.34785232e-04,-8.54609916e-05,
 -3.07249234e-05,-4.54112656e-04,-3.41448201e-04,-8.63647910e-05,
  6.55514922e-06,-3.95839910e-04,-1.81079712e-04,-9.03903684e-05,
  1.37522832e-02,-1.22999160e-03, 8.49132003e-03,-1.54419041e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50138446,  2.47616322, -3.75913258,  2.47616322,  8.83120829,
        2.85208098, -3.75913258,  2.85208098,  6.38006734,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002877934953893352
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08400647, -0.05633754,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.83852649e-05, 2.34408026e-05, 9.04918482e-06,-2.47784820e-05,
 -1.99190702e-05, 4.26833609e-05, 4.66919004e-05, 2.88162756e-05,
 -2.76149605e-06,-2.60422596e-05, 9.87664028e-06, 3.07818382e-05,
 -8.06557574e-05,-6.05552838e-05,-2.08109011e-05,-7.81049744e-05,
  1.81842369e-06, 9.30835508e-06,-1.21645699e+00,-1.78036768e-03,
 -3.04031552e-04, 2.18972421e-06]


--- Step 1050 ---
qpos:
[ 2.86868591e-03,-5.60720378e-03,-1.02148364e-02, 2.82656712e-03,
 -4.46722385e-03,-5.18748119e-03,-1.77678033e-02, 5.10865853e-03,
 -4.75399120e-03,-3.92978917e-03,-7.80707942e-03,-1.91681352e-02,
  1.23613410e+00, 1.88115582e-02, 1.22917142e+00, 2.51342729e-02,
  9.49269395e-02,-6.99646343e-02, 1.30717418e-01, 9.97041077e-01,
 -3.25352794e-05,-4.69931289e-04,-7.68691687e-02]

qacc:
[  0.22663363, -1.2618263 ,  7.71890832,-19.15104795,  0.97023731,
   1.27950904, -5.77448856, 12.06089689,  2.95653912, -0.30700861,
   0.80485932, -0.86203592, -0.36899389,  0.02484299,  5.50902114,
 -19.72918369,  0.87534498, -0.90817361,  0.30797296,  9.4340391 ,
  16.27105536, -0.07641508]

qfrc_actuator:
[-7.54760843e-05,-3.69759030e-04,-2.26796840e-04,-1.16922561e-04,
 -2.43957778e-05,-4.69628487e-04,-3.58518689e-04,-7.12906442e-05,
  2.40004992e-05,-4.05210881e-04,-1.81561361e-04,-9.16900030e-05,
  1.37161568e-02,-1.25078881e-03, 8.47267986e-03,-1.64351885e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51039979,  2.43201216, -3.7985554 ,  2.43201216, 11.93593135,
        4.75417129, -3.7985554 ,  4.75417129,  7.55424177,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029067249495438874
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.90974902e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.90974902e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08400938, -0.05633623,  0.06199102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35601489e-06, 3.41523695e-05, 1.30937566e-05,-3.06234827e-05,
  5.76991031e-06, 1.92525338e-05,-1.49085055e-06, 1.90834899e-05,
  1.73540281e-05,-2.05589148e-05,-3.58488722e-06,-1.47545433e-06,
 -9.28650663e-05,-5.64044227e-05,-4.40670551e-05,-1.07981055e-04,
  1.15160114e-06, 7.12998893e-06,-1.21644970e+00,-1.78068206e-03,
 -3.01814332e-04, 1.78471572e-06]


--- Step 1051 ---
qpos:
[ 2.86832903e-03,-5.60758228e-03,-1.02145727e-02, 2.82592486e-03,
 -4.46694599e-03,-5.18758504e-03,-1.77692436e-02, 5.10898290e-03,
 -4.75436300e-03,-3.93085962e-03,-7.80606255e-03,-1.91678456e-02,
  1.23648003e+00, 1.88121482e-02, 1.22949270e+00, 2.51341228e-02,
  9.49206565e-02,-6.99676514e-02, 1.30719479e-01, 9.97035148e-01,
 -1.11986470e-05,-5.09761097e-04,-7.69457858e-02]

qacc:
[  3.29679208,  0.63101381, -4.24119614, 11.15766542,  6.67713703,
   3.10835971,-11.33384237, 15.97074667, -1.18954983,  1.23840157,
  -4.12178041,  4.31375819, -0.01672736, -0.48955206,  0.2583832 ,
  -1.68997512,  0.87575719, -0.88642133,  0.18430012,  9.44871158,
  15.90052846, -0.18042005]

qfrc_actuator:
[-5.61514829e-05,-4.10962892e-04,-2.39937542e-04,-9.94983201e-05,
  1.50363285e-05,-4.61105441e-04,-4.03941581e-04,-6.25087290e-05,
  1.66077312e-05,-3.92512665e-04,-2.00187692e-04,-9.25892000e-05,
  1.36926938e-02,-1.28125429e-03, 8.47655941e-03,-1.64874468e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51152138,  2.36834893, -3.83988913,  2.36834893, 16.15819957,
        7.18338393, -3.83988913,  7.18338393,  8.94205546,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002910279498422458
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.53708248e-14,  1.90741650e-13,  1.00000000e+00, -1.81911884e-26,
        1.00000000e+00, -1.90741650e-13, -1.00000000e+00,  0.00000000e+00,
        9.53708248e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08401135, -0.05633483,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.93765732e-05,-2.07042145e-05,-5.53112699e-06, 1.87468016e-05,
  3.96035036e-05, 1.98237766e-05,-4.09574844e-05, 9.92852810e-06,
 -6.90634716e-06, 4.28539550e-07,-2.33698198e-05,-1.93442945e-06,
 -8.60417100e-05,-6.75294306e-05,-3.47386803e-05,-1.83264137e-05,
  2.21718006e-07, 5.24598802e-06,-1.21644481e+00,-1.78126400e-03,
 -3.00094945e-04, 1.59064433e-06]


--- Step 1052 ---
qpos:
[ 2.86786179e-03,-5.60825416e-03,-1.02143932e-02, 2.82586190e-03,
 -4.46585260e-03,-5.18765831e-03,-1.77705674e-02, 5.10938540e-03,
 -4.75413048e-03,-3.93192414e-03,-7.80554532e-03,-1.91675503e-02,
  1.23682540e+00, 1.88125399e-02, 1.22981336e+00, 2.51365365e-02,
  9.49178764e-02,-6.99741444e-02, 1.30721862e-01, 9.97029187e-01,
  3.13968363e-05,-5.19934280e-04,-7.70229154e-02]

qacc:
[-0.96262911, 1.04263964,-6.72206962,17.09452824, 7.11519267,-0.13815941,
  0.19739033, 0.97209814, 5.2747857 , 1.40581882,-5.0416964 , 5.95074796,
 -0.0660307 ,-0.21622805,-8.69219077,29.05401561, 0.87569686,-0.86900285,
  0.08074647, 9.45680383,15.60223335,-0.26195523]

qfrc_actuator:
[-6.23925674e-05,-4.35428282e-04,-2.47912810e-04,-7.12677754e-05,
  5.58755619e-05,-4.56151179e-04,-3.94629743e-04,-5.74929841e-05,
  4.79065787e-05,-4.02279399e-04,-2.29276709e-04,-9.32312960e-05,
  1.36768411e-02,-1.28167629e-03, 8.47266577e-03,-1.50964252e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50632117,  2.28258646, -3.885451  ,  2.28258646, 21.8819627 ,
       10.20767065, -3.885451  , 10.20767065, 10.50302292,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028937484960134263
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.59156459e-14, -1.91831292e-13,  1.00000000e+00,  1.83996223e-26,
        1.00000000e+00,  1.91831292e-13, -1.00000000e+00,  0.00000000e+00,
        9.59156459e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08401256, -0.05633335,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.69400720e-06,-3.63625435e-05,-1.22821178e-05, 2.75178724e-05,
  4.19827573e-05, 8.03908239e-06, 8.72032129e-06, 4.64202675e-06,
  3.11004976e-05,-1.44141774e-05,-3.19458382e-05,-1.47028285e-06,
 -7.70320605e-05,-3.92497735e-05,-2.80455595e-05, 1.32234031e-04,
 -9.70080233e-07, 3.62141652e-06,-1.21644218e+00,-1.78212218e-03,
 -2.98856681e-04, 1.59925586e-06]


--- Step 1053 ---
qpos:
[ 2.86697843e-03,-5.60894735e-03,-1.02141246e-02, 2.82574524e-03,
 -4.46427793e-03,-5.18766289e-03,-1.77712142e-02, 5.10945504e-03,
 -4.75352495e-03,-3.93275073e-03,-7.80551655e-03,-1.91672956e-02,
  1.23717003e+00, 1.88129384e-02, 1.23013381e+00, 2.51372717e-02,
  9.49185979e-02,-6.99840580e-02, 1.30724222e-01, 9.97023182e-01,
  9.52257254e-05,-5.00929170e-04,-7.71006829e-02]

qacc:
[-3.63677892e+00,-3.80480594e-01, 1.55468447e+00,-2.62396842e+00,
  4.21683551e+00,-2.49366999e+00, 1.04147022e+01,-1.72945044e+01,
  3.24611492e+00, 1.58984978e+00,-5.05115640e+00, 4.96425713e+00,
 -7.11964551e-01, 6.47592206e-01, 4.83718821e+00,-1.72093926e+01,
  8.75420909e-01,-8.55141579e-01,-5.76275260e-03, 9.46129892e+00,
  1.53635125e+01,-3.25663265e-01]

qfrc_actuator:
[-8.36367383e-05,-4.14157478e-04,-2.34966625e-04,-7.24044783e-05,
  7.94524212e-05,-4.35415029e-04,-3.53077784e-04,-7.24440577e-05,
  6.62302877e-05,-3.72211926e-04,-2.46637226e-04,-9.37380578e-05,
  1.36336235e-02,-1.28196719e-03, 8.43751606e-03,-1.60621134e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49627146,  2.17131578, -3.93723823,  2.17131578, 29.61841219,
       13.85440691, -3.93723823, 13.85440691, 12.13672667,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028614310327726433
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.69989327e-14, -3.87995731e-13,  1.00000000e+00,  3.76351718e-26,
        1.00000000e+00,  3.87995731e-13, -1.00000000e+00,  0.00000000e+00,
        9.69989327e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08401319, -0.05633181,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.14182924e-05,-3.99264581e-07, 4.88119087e-06,-2.58255864e-06,
  2.47826971e-05, 2.72635455e-05, 4.44610901e-05,-1.42140290e-05,
  1.92053899e-05, 1.53894167e-05,-2.43183367e-05,-2.25864949e-06,
 -9.23811442e-05,-2.92997957e-05,-3.91552015e-05,-9.41244581e-05,
 -2.42298780e-06, 2.23041127e-06,-1.21644169e+00,-1.78326291e-03,
 -2.98086448e-04, 1.80413888e-06]


--- Step 1054 ---
qpos:
[ 2.86653702e-03,-5.60962568e-03,-1.02134601e-02, 2.82558918e-03,
 -4.46243255e-03,-5.18748888e-03,-1.77713855e-02, 5.10934425e-03,
 -4.75304922e-03,-3.93334359e-03,-7.80575296e-03,-1.91670646e-02,
  1.23751396e+00, 1.88133253e-02, 1.23045256e+00, 2.51370796e-02,
  9.49228199e-02,-6.99973485e-02, 1.30726271e-01, 9.97017119e-01,
  1.80267252e-04,-4.53125518e-04,-7.71791851e-02]

qacc:
[  3.87795944, -1.17574723,  4.37388576, -5.68575132,  2.37238383,
  -1.46879364,  6.33363801,-10.34052997, -1.14859442,  1.00378733,
  -3.02691763,  2.86536141, -0.50678809,  0.39406883,  0.35623645,
  -4.75978889,  0.87511318, -0.84420626, -0.07785719,  9.46437102,
  15.1741121 , -0.37519381]

qfrc_actuator:
[-6.02749626e-05,-4.01104923e-04,-2.09607116e-04,-7.30076176e-05,
  9.26799008e-05,-4.23012729e-04,-3.28294010e-04,-8.12428422e-05,
  5.90058643e-05,-3.53983564e-04,-2.56771969e-04,-9.41196014e-05,
  1.35953260e-02,-1.28230520e-03, 8.31436348e-03,-1.66343961e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48267501,  2.0301894 , -3.99658682,  2.0301894 , 40.03243296,
       18.05859472, -3.99658682, 18.05859472, 13.65609452,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002816904118949082
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85321986e-14,  1.97064397e-13,  1.00000000e+00,  1.94171883e-26,
        1.00000000e+00, -1.97064397e-13, -1.00000000e+00,  0.00000000e+00,
       -9.85321986e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08401336, -0.05633023,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.27513354e-05, 1.37444238e-05, 2.57959035e-05,-4.99334218e-07,
  1.39462721e-05, 3.62384707e-05, 3.54066367e-05,-6.36842185e-06,
 -6.67206060e-06, 2.17521743e-05,-1.00208118e-05,-6.07315048e-07,
 -9.40497078e-05,-2.96776177e-05,-1.58385767e-04,-6.90157947e-05,
 -4.13674682e-06, 1.05405973e-06,-1.21644327e+00,-1.78469080e-03,
 -2.97774044e-04, 2.20048211e-06]


--- Step 1055 ---
qpos:
[ 2.86672382e-03,-5.61027264e-03,-1.02127461e-02, 2.82510353e-03,
 -4.46113249e-03,-5.18704301e-03,-1.77715483e-02, 5.10914941e-03,
 -4.75266373e-03,-3.93365658e-03,-7.80588406e-03,-1.91668721e-02,
  1.23785704e+00, 1.88141926e-02, 1.23076979e+00, 2.51354812e-02,
  9.49305415e-02,-7.00139816e-02, 1.30727768e-01, 9.97010983e-01,
  2.86507173e-04,-3.76821328e-04,-7.72584962e-02]

qacc:
[ 5.49597743e+00,-7.86434884e-01, 4.23686082e+00,-1.00231273e+01,
 -4.75986700e+00, 1.71970109e-01, 2.78978676e-01,-1.96428079e+00,
 -7.91571089e-01,-2.28873733e-03, 7.09758157e-01,-1.75296370e+00,
 -9.82455737e-01, 1.24554360e+00, 2.10442001e+00,-1.03843737e+01,
  8.74902567e-01,-8.35683039e-01,-1.37787062e-01, 9.46758018e+00,
  1.50257100e+01,-4.13414665e-01]

qfrc_actuator:
[-2.85938676e-05,-4.10763615e-04,-2.12647419e-04,-9.10360664e-05,
  6.42105565e-05,-4.15748100e-04,-3.31393249e-04,-8.63695339e-05,
  5.45587901e-05,-3.25197011e-04,-2.44846517e-04,-9.44267807e-05,
  1.35653306e-02,-1.24715050e-03, 8.24506527e-03,-1.73264862e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027631325738164403
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00449670e-13, -4.01798681e-13,  1.00000000e+00,  4.03605451e-26,
        1.00000000e+00,  4.01798681e-13, -1.00000000e+00,  0.00000000e+00,
        1.00449670e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08401318, -0.05632862,  0.06199146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.23366313e-05, 3.36064841e-06, 2.95887879e-06,-1.65571201e-05,
 -2.80580438e-05, 3.45700417e-05, 8.52664786e-06,-2.47304672e-06,
 -4.63166320e-06, 3.88774078e-05, 1.51729484e-05, 2.67537227e-07,
 -8.88722695e-05, 6.33131674e-06,-1.50105689e-04,-9.34359231e-05,
 -6.11178384e-06, 7.88579591e-08,-1.21644683e+00,-1.78640925e-03,
 -2.97911575e-04, 2.78485182e-06]


--- Step 1056 ---
qpos:
[ 2.86659922e-03,-5.61069163e-03,-1.02124107e-02, 2.82406520e-03,
 -4.46087318e-03,-5.18664659e-03,-1.77713306e-02, 5.10925593e-03,
 -4.75198985e-03,-3.93345577e-03,-7.80628833e-03,-1.91663438e-02,
  1.23819929e+00, 1.88155061e-02, 1.23108646e+00, 2.51321605e-02,
  9.49354407e-02,-7.00232637e-02, 1.30729175e-01, 9.97004832e-01,
  3.45867680e-04,-3.33355903e-04,-7.73377957e-02]

qacc:
[-2.73995639e+00, 2.26723351e-01, 1.97080711e+00,-1.11075600e+01,
 -9.06307550e+00,-4.90250526e-01, 4.11874566e-01, 4.19822671e+00,
  2.50751847e+00, 2.12942929e+00,-8.03006452e+00, 1.39020693e+01,
 -1.06673713e+00, 1.32294528e+00, 4.51000945e+00,-1.66876706e+01,
 -7.05597820e-01, 1.83779301e+00,-2.26444907e-02,-2.21011043e+01,
 -1.81812223e+01, 1.87386847e-02]

qfrc_actuator:
[-4.55421223e-05,-3.98566234e-04,-2.32539526e-04,-1.19213745e-04,
  1.14308471e-05,-4.29483423e-04,-3.15440068e-04,-7.15645538e-05,
  6.95431295e-05,-2.90215177e-04,-2.55454615e-04,-7.69123214e-05,
  1.35243755e-02,-1.22669290e-03, 8.25605819e-03,-1.80819617e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46789697,  2.10194531, -3.94257901,  2.10194531, 18.0382131 ,
        7.234874  , -3.94257901,  7.234874  ,  8.32509539,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002767409148590194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.56710066e-13, -6.01766652e-13,  1.00000000e+00,  9.43028914e-26,
        1.00000000e+00,  6.01766652e-13, -1.00000000e+00,  0.00000000e+00,
        1.56710066e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10476242, -0.09494567,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.60208806e-05, 1.40052793e-05,-1.94076102e-05,-2.82540066e-05,
 -5.35722672e-05, 7.22757343e-06, 2.40565761e-05, 1.65340461e-05,
  1.48639295e-05, 5.98792357e-05,-6.94901375e-07, 1.97103973e-05,
 -8.85866001e-05, 3.02037140e-06,-6.94908778e-05,-1.00234316e-04,
 -8.34929439e-06,-7.04419589e-07,-1.21645235e+00,-1.78842079e-03,
 -2.98493000e-04, 3.55499467e-06]


--- Step 1057 ---
qpos:
[ 2.86627295e-03,-5.61105579e-03,-1.02125712e-02, 2.82307346e-03,
 -4.46124901e-03,-5.18603592e-03,-1.77706858e-02, 5.10881096e-03,
 -4.75114152e-03,-3.93282161e-03,-7.80735578e-03,-1.91655722e-02,
  1.23854104e+00, 1.88165404e-02, 1.23140251e+00, 2.51295233e-02,
  9.49374588e-02,-7.00253584e-02, 1.30729957e-01, 9.96998629e-01,
  3.58660883e-04,-3.21552195e-04,-7.74177099e-02]

qacc:
[ -1.78057569,  1.55759284, -5.63909948,  7.1912504 , -5.52959369,
  -2.03476536, 10.01322238,-20.41982462,  1.49914905,  2.9250182 ,
 -10.62752049, 15.57963804, -0.10474228, -0.19724465, -2.98773308,
   9.11844676, -0.72027933,  1.7968199 , -0.15629499,-21.98968342,
 -17.58426419, -0.29520704]

qfrc_actuator:
[-5.54743986e-05,-4.08969623e-04,-2.62134364e-04,-1.17620792e-04,
 -1.97162574e-05,-4.02348250e-04,-2.88430910e-04,-9.84102502e-05,
  7.80911502e-05,-2.87367301e-04,-2.96999129e-04,-6.68163831e-05,
  1.34981788e-02,-1.25071672e-03, 8.25660970e-03,-1.76239993e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47529403, -1.69674919,  4.1411712 , -1.69674919,  9.94666181,
        2.2417665 ,  4.1411712 ,  2.2417665 ,  5.39380605,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027923303349207396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55311448e-13,  1.98798654e-13,  1.00000000e+00, -3.08757069e-26,
        1.00000000e+00, -1.98798654e-13, -1.00000000e+00,  0.00000000e+00,
        1.55311448e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10475765, -0.0949469 ,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.03821377e-05,-7.78261902e-06,-3.00660786e-05, 9.74735171e-07,
 -3.26820745e-05, 3.68181166e-05, 3.20323713e-05,-2.53810862e-05,
  8.99292947e-06, 3.70361969e-05,-2.85792143e-05, 1.30187951e-05,
 -7.29370519e-05,-4.30484804e-05,-4.78720019e-05, 3.01209420e-05,
 -4.33953500e-06,-5.01542789e-07,-1.21644366e+00,-1.78869686e-03,
 -3.00796708e-04, 1.98868986e-06]


--- Step 1058 ---
qpos:
[ 2.86652018e-03,-5.61180138e-03,-1.02129259e-02, 2.82248973e-03,
 -4.46165110e-03,-5.18484928e-03,-1.77704390e-02, 5.10805821e-03,
 -4.75054183e-03,-3.93216576e-03,-7.80842915e-03,-1.91653681e-02,
  1.23888228e+00, 1.88173041e-02, 1.23171759e+00, 2.51281524e-02,
  9.49365509e-02,-7.00203985e-02, 1.30729665e-01, 9.96992340e-01,
  3.25156178e-04,-3.40468807e-04,-7.74987275e-02]

qacc:
[  5.01730466,  0.86941051, -5.57047494, 13.24115114, -0.25128734,
   1.239747  , -2.01624344, -3.09787322, -2.17756395, -1.11960251,
   6.43241485,-16.25933724, -0.05981928, -0.25508968, -5.27824411,
  16.36244566, -0.73149674,  1.7636426 , -0.26856027,-21.89048916,
 -17.10640857, -0.54044967]

qfrc_actuator:
[-2.56769848e-05,-4.50604158e-04,-2.79529616e-04,-9.85436427e-05,
 -2.01204600e-05,-3.68687330e-04,-3.08244924e-04,-1.14008786e-04,
  6.50233285e-05,-3.03924886e-04,-3.03348317e-04,-9.67187457e-05,
  1.34701842e-02,-1.26537723e-03, 8.20831561e-03,-1.69877210e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47564394, -1.6307786 ,  4.16796711, -1.6307786 , 12.97169555,
        3.32420548,  4.16796711,  3.32420548,  5.77628835,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027935018361242847
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.34689685e-14, -1.98715285e-13,  1.00000000e+00, -8.63794845e-27,
        1.00000000e+00,  1.98715285e-13, -1.00000000e+00,  0.00000000e+00,
       -4.34689685e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10475417, -0.09494864,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.95006491e-05,-5.21405269e-05,-2.26633609e-05, 1.77261508e-05,
 -1.32853510e-06, 5.97379550e-05,-9.15410331e-06,-1.34070007e-05,
 -1.27964004e-05,-1.19882572e-06,-1.76521998e-06,-2.90525636e-05,
 -7.66809595e-05,-4.34530554e-05,-7.20218621e-05, 5.80243432e-05,
 -8.97400691e-07, 5.48384671e-07,-1.21644008e+00,-1.78831609e-03,
 -3.02557422e-04, 1.31911440e-06]


--- Step 1059 ---
qpos:
[ 2.86712265e-03,-5.61303930e-03,-1.02131432e-02, 2.82213087e-03,
 -4.46136488e-03,-5.18379271e-03,-1.77704554e-02, 5.10789736e-03,
 -4.75044802e-03,-3.93179887e-03,-7.80912613e-03,-1.91658552e-02,
  1.23922303e+00, 1.88176230e-02, 1.23203151e+00, 2.51272639e-02,
  9.49326825e-02,-7.00084911e-02, 1.30727921e-01, 9.96985928e-01,
  2.45581209e-04,-3.89355521e-04,-7.75812282e-02]

qacc:
[  3.12016121, -0.57775924,  0.15631283,  3.88892045,  5.99681018,
   1.77029474, -9.08088365, 19.864313  , -4.41239486, -2.84933752,
  12.53226908,-24.88761915,  0.04049523, -0.47403128, -3.20705379,
   8.66548908, -0.74011873,  1.73689194, -0.3627916 ,-21.80476012,
 -16.72543688, -0.73131529]

qfrc_actuator:
[-8.24153712e-06,-4.75057777e-04,-2.71955679e-04,-8.71086697e-05,
  1.53188619e-05,-4.20321542e-04,-3.37745880e-04,-8.73768801e-05,
  3.93393088e-05,-3.31887428e-04,-2.88972307e-04,-1.32153936e-04,
  1.34411310e-02,-1.29206927e-03, 8.14141952e-03,-1.67855941e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47037038, -1.54622884,  4.19444725, -1.54622884, 17.01999859,
        4.62625847,  4.19444725,  4.62625847,  6.17578086,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002775775467698943
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.62455842e-14, -5.99952898e-13,  1.00000000e+00,  3.37447013e-26,
        1.00000000e+00,  5.99952898e-13, -1.00000000e+00,  0.00000000e+00,
        5.62455842e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10475171, -0.09495079,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.82634301e-05,-5.74905424e-05,-5.36153462e-06, 8.76419004e-06,
  3.54230070e-05,-2.07391172e-05,-1.87689584e-05, 2.86121666e-05,
 -2.60475688e-05,-3.02559177e-05, 1.29113686e-05,-3.61121360e-05,
 -8.01061600e-05,-5.63170551e-05,-9.72550591e-05, 1.33714507e-05,
  2.08382517e-06, 2.47393661e-06,-1.21644139e+00,-1.78726561e-03,
 -3.03825699e-04, 1.49931133e-06]


--- Step 1060 ---
qpos:
[ 2.86723963e-03,-5.61427457e-03,-1.02137631e-02, 2.82188536e-03,
 -4.46100052e-03,-5.18353003e-03,-1.77699426e-02, 5.10843396e-03,
 -4.75066284e-03,-3.93179993e-03,-7.80932554e-03,-1.91664159e-02,
  1.23956330e+00, 1.88173685e-02, 1.23234493e+00, 2.51245199e-02,
  9.49258269e-02,-6.99897219e-02, 1.30724410e-01, 9.96979356e-01,
  1.20123550e-04,-4.67617660e-04,-7.76655049e-02]

qacc:
[ -4.25933921,  1.37036866, -5.34508167,  7.93300607,  0.71189922,
  -1.09267873, -0.57250009, 12.38298928, -2.68004327, -2.0235684 ,
   6.82753364, -8.63192443, -0.11812037, -0.36408324,  4.87379627,
 -18.1336782 , -0.74681367,  1.71544657, -0.4418451 ,-21.73303369,
 -16.42350992, -0.87906667]

qfrc_actuator:
[-3.37396597e-05,-4.53434124e-04,-2.85159488e-04,-8.02390585e-05,
  1.83023532e-05,-4.87151918e-04,-3.19776680e-04,-5.39359025e-05,
  2.41949030e-05,-3.48638334e-04,-2.62541098e-04,-1.35052836e-04,
  1.34114577e-02,-1.32569777e-03, 8.12199846e-03,-1.77288169e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46079302, -1.44047001,  4.22181484, -1.44047001, 22.41989335,
        6.1275888 ,  4.22181484,  6.1275888 ,  6.55150714,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002743190822002972
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.51769841e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.51769841e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10475005, -0.09495326,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.49921312e-05,-1.12045010e-05,-2.54196011e-05, 4.39455929e-06,
  3.99134074e-06,-8.11038373e-05, 1.23503760e-05, 3.24563383e-05,
 -1.58974793e-05,-3.25624533e-05, 2.05289143e-05,-4.44808762e-06,
 -8.61684068e-05,-6.74062469e-05,-6.51650376e-05,-1.06624705e-04,
  4.68325529e-06, 5.29110091e-06,-1.21644742e+00,-1.78553672e-03,
 -3.04639078e-04, 2.49394383e-06]


--- Step 1061 ---
qpos:
[ 2.86705023e-03,-5.61536716e-03,-1.02149280e-02, 2.82171559e-03,
 -4.46094790e-03,-5.18388294e-03,-1.77689238e-02, 5.10900074e-03,
 -4.75105792e-03,-3.93193107e-03,-7.80932415e-03,-1.91663267e-02,
  1.23990286e+00, 1.88167563e-02, 1.23265756e+00, 2.51222892e-02,
  9.49223178e-02,-6.99747693e-02, 1.30723132e-01, 9.96972816e-01,
  1.60880451e-05,-5.12415683e-04,-7.77492151e-02]

qacc:
[-2.69934531, 1.87342285,-6.7167027 , 8.7843869 ,-2.69237504,-2.15958287,
  6.40199101,-6.24695336,-1.5691778 , 0.60864151,-5.15329892,16.16002016,
 -0.22384777,-0.16615352,-2.69965025, 7.79007575, 0.83662287,-0.95414332,
  0.55815394, 9.37934955,17.51343946, 0.27670758]

qfrc_actuator:
[-4.87940258e-05,-4.39967408e-04,-3.10344942e-04,-7.60870995e-05,
  2.14718672e-06,-5.09126259e-04,-2.91765118e-04,-5.22570531e-05,
  1.53793656e-05,-3.40715047e-04,-2.46901164e-04,-1.01018507e-04,
  1.33707789e-02,-1.34542908e-03, 8.10441600e-03,-1.73850093e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47775966, -2.07178796,  3.96963804, -2.07178796, 20.42170445,
        8.3212808 ,  3.96963804,  8.3212808 ,  8.82070709,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028005714116038916
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.98213661e-13, -1.98213661e-13,  1.00000000e+00,  3.92886554e-26,
        1.00000000e+00,  1.98213661e-13, -1.00000000e+00,  0.00000000e+00,
        1.98213661e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08403149, -0.05631943,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.57671448e-05, 2.18224158e-06,-3.04556848e-05, 2.88351513e-06,
 -1.60708914e-05,-6.34009257e-05, 1.38939243e-05,-7.40021296e-07,
 -9.28185214e-06,-6.23845533e-06, 1.12928926e-05, 3.32658168e-05,
 -1.02734177e-04,-5.81634723e-05,-6.42267318e-05, 1.89972443e-05,
  6.95959126e-06, 9.00711583e-06,-1.21645806e+00,-1.78312352e-03,
 -3.05025232e-04, 4.27686763e-06]


--- Step 1062 ---
qpos:
[ 2.86668199e-03,-5.61674400e-03,-1.02159574e-02, 2.82160471e-03,
 -4.46074496e-03,-5.18416854e-03,-1.77678426e-02, 5.10918011e-03,
 -4.75155583e-03,-3.93207797e-03,-7.80917399e-03,-1.91658420e-02,
  1.24024169e+00, 1.88160998e-02, 1.23296929e+00, 2.51221215e-02,
  9.49221936e-02,-6.99635109e-02, 1.30723434e-01, 9.96966293e-01,
 -6.65583793e-05,-5.24978101e-04,-7.78327125e-02]

qacc:
[ -1.55529116, -0.63019225,  1.45857944, -0.45276563,  1.31161583,
  -0.88565767,  4.9181303 ,-11.76809841, -0.89516224,  0.37985088,
  -3.0487455 ,  9.65918593, -0.32920333,  0.14690779, -7.57437589,
  24.59358221,  0.84624573, -0.92356385,  0.39527403,  9.40907394,
  16.90050903,  0.10094067]

qfrc_actuator:
[-5.75670677e-05,-4.67041226e-04,-3.06910536e-04,-7.35734620e-05,
  1.03727243e-05,-4.68542443e-04,-2.75669330e-04,-6.92471994e-05,
  1.03562267e-05,-3.35830574e-04,-2.37638228e-04,-8.10235215e-05,
  1.33448370e-02,-1.33905565e-03, 8.07732787e-03,-1.62852506e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49298492,  1.88824103, -4.0769424 ,  1.88824103,  9.66771971,
        2.39668496, -4.0769424 ,  2.39668496,  5.60301259,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002850754044078363
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.9472445e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.9472445e-13, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08403615, -0.05631832,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.21713030e-06,-3.19721572e-05, 2.61183639e-07, 1.61549858e-06,
  7.74215983e-06, 7.96247148e-06, 4.67800484e-06,-1.92422312e-05,
 -5.29261899e-06, 5.15309228e-06, 1.05175274e-05, 2.07666295e-05,
 -9.38041262e-05,-3.35831223e-05,-5.91167587e-05, 1.01768303e-04,
  6.27051785e-06, 5.81786092e-06,-1.21645053e+00,-1.78220259e-03,
 -3.03469978e-04, 3.12775959e-06]


--- Step 1063 ---
qpos:
[ 2.86621132e-03,-5.61831374e-03,-1.02166836e-02, 2.82150144e-03,
 -4.46044555e-03,-5.18378972e-03,-1.77674677e-02, 5.10947519e-03,
 -4.75142028e-03,-3.93239151e-03,-7.80851139e-03,-1.91658179e-02,
  1.24057972e+00, 1.88159300e-02, 1.23328056e+00, 2.51209070e-02,
  9.49254827e-02,-6.99558478e-02, 1.30724771e-01, 9.96959769e-01,
 -1.27859106e-04,-5.06291055e-04,-7.79162733e-02]

qacc:
[ -0.88319169, -1.08512925,  3.47009206, -3.68485987,  0.80790152,
   3.08777084,-10.22765866, 12.87573112,  5.56444117, -2.61253766,
  10.91699761,-19.55653032, -1.0049025 ,  1.28622544,  2.61042919,
  -9.83631908,  0.85332311, -0.89880562,  0.25832783,  9.4243385 ,
  16.40802987, -0.03619149]

qfrc_actuator:
[-6.25762865e-05,-4.64811589e-04,-2.86766818e-04,-7.20562628e-05,
  1.51366661e-05,-4.08613033e-04,-3.01987104e-04,-6.15279594e-05,
  4.31084772e-05,-3.50584301e-04,-2.14477170e-04,-1.04963026e-04,
  1.33224400e-02,-1.29943728e-03, 8.04457614e-03,-1.68797866e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49951079,  1.84427101, -4.10417614,  1.84427101, 12.91673557,
        3.78240191, -4.10417614,  3.78240191,  6.19918788,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028719019991531314
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.93290548e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.93290548e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08403951, -0.05631709,  0.06199113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.27845382e-06,-1.54660043e-05, 1.36568229e-05, 1.93852777e-07,
  4.98928660e-06, 6.45237612e-05,-2.47728318e-05, 7.84525067e-06,
  3.26013983e-05,-8.81142772e-06, 2.62378403e-05,-2.29515657e-05,
 -7.94529222e-05, 8.56312079e-06,-5.31242815e-05,-6.23776083e-05,
  5.32903053e-06, 2.97108766e-06,-1.21644552e+00,-1.78153761e-03,
 -3.02451940e-04, 2.22567512e-06]


--- Step 1064 ---
qpos:
[ 2.86637389e-03,-5.61980451e-03,-1.02172805e-02, 2.82139373e-03,
 -4.46043595e-03,-5.18303231e-03,-1.77676125e-02, 5.10953863e-03,
 -4.75089355e-03,-3.93237132e-03,-7.80832639e-03,-1.91660763e-02,
  1.24091729e+00, 1.88154377e-02, 1.23359128e+00, 2.51189594e-02,
  9.49322062e-02,-6.99516999e-02, 1.30726680e-01, 9.96953231e-01,
 -1.67861380e-04,-4.57143504e-04,-7.80001125e-02]

qacc:
[ 5.54179649,-0.27685379, 1.13849923,-1.45962473,-2.55018561, 1.48004602,
 -3.56522091, 0.10017403, 3.40368813, 1.18751925,-2.41413779,-1.94244265,
 -0.16570555,-0.13881021, 1.40839532,-6.09859144, 0.85858184,-0.87881624,
  0.14340314, 9.43009464,16.01371179,-0.14274428]

qfrc_actuator:
[-2.98268245e-05,-4.44977542e-04,-2.74572068e-04,-7.11091913e-05,
  6.47589644e-08,-4.08710837e-04,-3.35256512e-04,-7.48365072e-05,
  6.23255224e-05,-3.23705875e-04,-2.36658298e-04,-1.19059956e-04,
  1.32915497e-02,-1.32914811e-03, 8.02439535e-03,-1.72253699e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4988465 ,  1.7835708 , -4.1301931 ,  1.7835708 , 17.2471465 ,
        5.50518949, -4.1301931 ,  5.50518949,  6.87619182,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028697589672101176
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.67174454e-14, -1.93434891e-13,  1.00000000e+00,  1.87085285e-26,
        1.00000000e+00,  1.93434891e-13, -1.00000000e+00,  0.00000000e+00,
        9.67174454e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08404183, -0.05631576,  0.06199113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.25983778e-05, 1.40798641e-05, 1.07167753e-05, 7.66416005e-07,
 -1.49056848e-05, 3.11857430e-05,-2.27321058e-05,-1.12511888e-05,
  2.01445683e-05, 2.64028191e-05,-2.15689554e-05,-1.40155192e-05,
 -7.11304782e-05,-4.51784665e-05,-5.73274390e-05,-4.61384233e-05,
  4.13387936e-06, 4.18551620e-07,-1.21644282e+00,-1.78114019e-03,
 -3.01946106e-04, 1.55396742e-06]


--- Step 1065 ---
qpos:
[ 2.86692761e-03,-5.62106259e-03,-1.02175279e-02, 2.82126251e-03,
 -4.46060678e-03,-5.18229763e-03,-1.77676777e-02, 5.10876214e-03,
 -4.75014037e-03,-3.93193244e-03,-7.80851646e-03,-1.91661747e-02,
  1.24125440e+00, 1.88144026e-02, 1.23390145e+00, 2.51185253e-02,
  9.49423800e-02,-6.99510030e-02, 1.30728779e-01, 9.96946663e-01,
 -1.86611699e-04,-3.78163494e-04,-7.80843960e-02]

qacc:
[  3.42842793, -0.72445787,  3.11690866, -4.2413518 , -1.57109123,
  -1.97864235, 10.56286399,-25.21703201,  1.9636242 ,  1.92784993,
  -6.75152534,  9.81720056,  0.15243034, -0.66688207, -5.43461506,
  17.7429844 ,  0.86257296, -0.86274134,  0.04716004,  9.43003105,
  15.69964026, -0.22505847]

qfrc_actuator:
[-1.06221217e-05,-4.14775556e-04,-2.49341385e-04,-7.04952117e-05,
 -8.80833620e-06,-4.27052269e-04,-3.37095784e-04,-1.18213287e-04,
  7.34103548e-05,-2.90034504e-04,-2.49754413e-04,-1.09492588e-04,
  1.32608873e-02,-1.36433696e-03, 8.02775987e-03,-1.63553721e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49248636,  1.70384707, -4.15684242,  1.70384707, 22.98669996,
        7.58058844, -4.15684242,  7.58058844,  7.5996918 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028491296369376196
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.8967094e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        3.8967094e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08404334, -0.05631434,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.01462142e-05, 4.03940077e-05, 2.95087123e-05, 1.60651726e-06,
 -9.28814754e-06,-6.11105297e-06, 1.40565523e-06,-4.30471899e-05,
  1.16709809e-05, 4.33869285e-05,-1.07862951e-05, 9.67831875e-06,
 -7.93493170e-05,-6.39369982e-05,-3.29302020e-05, 7.59906964e-05,
  2.68404845e-06,-1.87540775e-06,-1.21644231e+00,-1.78101865e-03,
 -3.01932993e-04, 1.09955780e-06]


--- Step 1066 ---
qpos:
[ 2.86736261e-03,-5.62192978e-03,-1.02177970e-02, 2.82079933e-03,
 -4.46122759e-03,-5.18165330e-03,-1.77677102e-02, 5.10713899e-03,
 -4.74891491e-03,-3.93141749e-03,-7.80817057e-03,-1.91665227e-02,
  1.24159070e+00, 1.88137163e-02, 1.23421111e+00, 2.51174948e-02,
  9.49560166e-02,-6.99537056e-02, 1.30730744e-01, 9.96940049e-01,
 -1.84152605e-04,-2.69847346e-04,-7.81692515e-02]

qacc:
[ -1.04595426, -0.10417632,  2.52571262, -8.5272327 , -3.92204182,
  -1.9458782 , 10.35267903,-25.00684854,  4.1500078 , -1.9200736 ,
   8.02890024,-13.24103344, -0.88694993,  1.05031925,  1.14700944,
  -4.87765294,  0.8657115 , -0.84988625, -0.03325767,  9.42686681,
  15.45139004, -0.2881242 ]

qfrc_actuator:
[-1.73081108e-05,-3.96290746e-04,-2.52066357e-04,-8.78128590e-05,
 -3.17082341e-05,-4.38337362e-04,-3.38221101e-04,-1.61177431e-04,
  9.73767445e-05,-2.88011079e-04,-2.21805748e-04,-1.21561532e-04,
  1.32303791e-02,-1.33145251e-03, 7.98668740e-03,-1.67283507e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48180468,  1.60218509, -4.18563927,  1.60218509, 30.5529928 ,
        9.97956734, -4.18563927,  9.97956734,  8.301798  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000281402147366952
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.86331337e-14,  1.97266267e-13,  1.00000000e+00, -1.94569901e-26,
        1.00000000e+00, -1.97266267e-13, -1.00000000e+00,  0.00000000e+00,
        9.86331337e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0840442 , -0.05631286,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.09307887e-06, 4.72913289e-05, 9.32555548e-06,-1.45318249e-05,
 -2.31665699e-05,-1.62838158e-05,-3.70983699e-06,-4.40145595e-05,
  2.43160361e-05, 2.44648116e-05, 3.59139350e-05,-1.03963122e-05,
 -8.69015422e-05,-3.56306270e-06,-5.32058614e-05,-3.85227040e-05,
  9.78407704e-07,-3.93704692e-06,-1.21644388e+00,-1.78117887e-03,
 -3.02397507e-04, 8.52333335e-07]


--- Step 1067 ---
qpos:
[ 2.86805943e-03,-5.62256658e-03,-1.02183034e-02, 2.82016844e-03,
 -4.46211806e-03,-5.18124580e-03,-1.77674782e-02, 5.10605244e-03,
 -4.74775647e-03,-3.93081287e-03,-7.80746483e-03,-1.91670022e-02,
  1.24192635e+00, 1.88133391e-02, 1.23451978e+00, 2.51160819e-02,
  9.49731264e-02,-6.99597670e-02, 1.30732308e-01, 9.96933371e-01,
 -1.60520521e-04,-1.32583151e-04,-7.82547753e-02]

qacc:
[ 2.27861069, 0.61764012,-1.06025804,-1.62385592,-2.33905148, 0.05762206,
 -2.91682146,11.94655325,-0.57702451,-1.15716147, 4.85333684,-7.76931555,
 -0.68933218, 0.82996033,-0.22565646,-1.14785765, 0.86830782,-0.83968525,
 -0.10029486, 9.42258087,15.25732489,-0.33586775]

qfrc_actuator:
[-3.66984758e-06,-4.02840148e-04,-2.71333237e-04,-9.78189956e-05,
 -4.49298650e-05,-4.45311932e-04,-3.21150260e-04,-1.32540770e-04,
  9.32303930e-05,-2.87048640e-04,-2.05496487e-04,-1.28513900e-04,
  1.32053367e-02,-1.31165674e-03, 7.92962050e-03,-1.69444371e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46800215,  1.47499461, -4.21751516,  1.47499461, 40.46467624,
       12.58914274, -4.21751516, 12.58914274,  8.8708121 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027677656041524834
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00563050e-13,  2.00563050e-13,  1.00000000e+00, -4.02255372e-26,
        1.00000000e+00, -2.00563050e-13, -1.00000000e+00,  0.00000000e+00,
        2.00563050e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08404457, -0.05631133,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.34839570e-05, 2.12317121e-05,-8.83854605e-06,-7.93626957e-06,
 -1.38894749e-05,-1.87599223e-05, 1.17246526e-05, 2.69571390e-05,
 -3.44250436e-06, 2.16060314e-05, 2.54168312e-05,-4.86641542e-06,
 -7.18548936e-05,-9.10671693e-07,-9.14670980e-05,-3.18401940e-05,
 -9.84533340e-07,-5.78548027e-06,-1.21644745e+00,-1.78162503e-03,
 -3.03328030e-04, 8.04634623e-07]


--- Step 1068 ---
qpos:
[ 2.86822463e-03,-5.62320123e-03,-1.02186751e-02, 2.81977204e-03,
 -4.46281535e-03,-5.18123164e-03,-1.77666911e-02, 5.10566231e-03,
 -4.74665644e-03,-3.92999066e-03,-7.80717145e-03,-1.91671784e-02,
  1.24226139e+00, 1.88131986e-02, 1.23482756e+00, 2.51143700e-02,
  9.49895322e-02,-6.99712963e-02, 1.30733090e-01, 9.96926757e-01,
 -9.44621999e-05, 6.45281044e-06,-7.83392158e-02]

qacc:
[-4.64583592, 0.11838374,-1.39204211, 5.2160895 , 1.70915398,-0.64027437,
 -1.41665425,12.8770051 ,-0.52785889, 2.06605818,-8.22473318,13.96404923,
 -0.58709788, 0.6806757 ,-0.37370582,-0.48995531,-0.17600928,-1.36698653,
 -0.19548266,21.0788188 , 2.54311151, 0.53979824]

qfrc_actuator:
[-3.14279656e-05,-4.06653311e-04,-2.64795859e-04,-8.57170704e-05,
 -3.45922256e-05,-4.67270210e-04,-2.93406564e-04,-9.74934794e-05,
  9.03194161e-05,-2.86766834e-04,-2.31714393e-04,-1.14661960e-04,
  1.31782638e-02,-1.29981376e-03, 7.89497274e-03,-1.70661429e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45642321,  3.80384451,  2.3217396 ,  3.80384451,  7.74135381,
       -5.38189779,  2.3217396 , -5.38189779, 13.27390745,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002728151583166333
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.06950637e-13,  2.03475319e-13,  1.00000000e+00, -8.28044105e-26,
        1.00000000e+00, -2.03475319e-13, -1.00000000e+00,  0.00000000e+00,
        4.06950637e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09705178, -0.04648519,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.73619727e-05, 5.92682597e-06, 9.57316368e-06, 1.25545808e-05,
  9.93131244e-06,-2.88919765e-05, 2.62415961e-05, 3.51755367e-05,
 -3.00002008e-06, 1.73784394e-05,-1.88062308e-05, 1.55603800e-05,
 -6.62540043e-05,-4.22302881e-06,-8.35573132e-05,-2.64172907e-05,
 -3.20679469e-06,-7.43430579e-06,-1.21645298e+00,-1.78236006e-03,
 -3.04715720e-04, 9.50827513e-07]


--- Step 1069 ---
qpos:
[ 2.86840106e-03,-5.62400922e-03,-1.02188871e-02, 2.81989008e-03,
 -4.46303855e-03,-5.18154380e-03,-1.77657865e-02, 5.10502659e-03,
 -4.74594481e-03,-3.92876100e-03,-7.80784756e-03,-1.91671725e-02,
  1.24259578e+00, 1.88132756e-02, 1.23513457e+00, 2.51118058e-02,
  9.50037434e-02,-6.99880522e-02, 1.30733020e-01, 9.96920275e-01,
  1.37593362e-05, 1.35052844e-04,-7.84216003e-02]

qacc:
[  0.1065998 ,  0.38400091, -3.87338753, 12.64919044,  4.14345959,
  -1.27276237,  4.93543708, -9.11916837, -3.4376105 ,  3.63051163,
 -12.91737838, 17.30033713, -0.68793878,  0.7688284 ,  1.53550187,
  -6.81878044, -0.54865245, -1.30664065, -0.21297661, 21.42558936,
  -3.55050876,  1.02969873]

qfrc_actuator:
[-3.00773097e-05,-4.26441257e-04,-2.60805568e-04,-6.06854068e-05,
 -1.04740060e-05,-4.97967478e-04,-2.95160951e-04,-1.12232170e-04,
  7.04152316e-05,-2.69304558e-04,-2.82820337e-04,-1.06462260e-04,
  1.31393388e-02,-1.29279378e-03, 7.86315324e-03,-1.74855768e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44904275,  2.25167818, -3.83717692,  2.25167818, 27.02268703,
       13.24634837, -3.83717692, 13.24634837, 12.22207855,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027024991891136385
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.10813453e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.10813453e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203031, -0.04704335,  0.06199165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.72232905e-07,-1.39401807e-05, 6.84171186e-06, 2.58654642e-05,
  2.43903277e-05,-3.99316576e-05,-3.28093830e-06,-1.43851230e-05,
 -1.99808074e-05, 2.39319160e-05,-4.93058043e-05, 8.59447525e-06,
 -7.58416405e-05,-8.74712375e-06,-7.67249579e-05,-5.49289658e-05,
 -7.01295594e-06,-6.36666645e-06,-1.21645638e+00,-1.78325370e-03,
 -3.05323952e-04, 1.99075969e-06]


--- Step 1070 ---
qpos:
[ 2.86928193e-03,-5.62498245e-03,-1.02190185e-02, 2.82031198e-03,
 -4.46262619e-03,-5.18179978e-03,-1.77653592e-02, 5.10455717e-03,
 -4.74616686e-03,-3.92750576e-03,-7.80872202e-03,-1.91674179e-02,
  1.24292929e+00, 1.88142289e-02, 1.23544096e+00, 2.51090156e-02,
  9.50152071e-02,-6.99974418e-02, 1.30733315e-01, 9.96913780e-01,
  7.40278470e-05, 2.30039087e-04,-7.85038624e-02]

qacc:
[  6.16726774,  0.16984304, -2.22585897,  7.49952441,  5.52676407,
   1.73899954, -6.81401669, 10.4352488 , -8.18076731,  0.08676885,
   0.82630237, -4.90215941, -1.24604436,  1.79668304, -0.10312168,
  -0.64396404, -0.68687038,  1.84155015,  0.09108492,-22.58465635,
 -18.6354096 ,  0.05751298]

qfrc_actuator:
[ 6.16102756e-06,-4.37886833e-04,-2.58422385e-04,-4.60222976e-05,
  2.15543862e-05,-4.80559909e-04,-3.14398468e-04,-1.02921106e-04,
  2.29158484e-05,-2.77316150e-04,-2.94879137e-04,-1.19406716e-04,
  1.31093078e-02,-1.23548525e-03, 7.84902715e-03,-1.75443410e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44915558, -0.08187631, -4.44840215, -0.08187631, 24.84433965,
       -0.37538928, -4.44840215, -0.37538928,  4.45606492,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027028937951756316
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09106392e-13, -4.10753477e-13,  1.00000000e+00,  4.48158300e-26,
        1.00000000e+00,  4.10753477e-13, -1.00000000e+00,  0.00000000e+00,
        1.09106392e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10470526, -0.09497706,  0.06199165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.62512279e-05,-1.66883841e-05, 1.25294803e-06, 1.48079519e-05,
  3.27144150e-05,-6.20528971e-06,-2.83938018e-05, 7.20574503e-06,
 -4.80567926e-05,-4.48605553e-06,-1.28960437e-05,-1.34584205e-05,
 -7.28955079e-05, 3.79679556e-05,-5.96883472e-05,-1.97080286e-05,
 -1.02527762e-05,-3.83930579e-06,-1.21646019e+00,-1.78456915e-03,
 -3.05894148e-04, 2.89390723e-06]


--- Step 1071 ---
qpos:
[ 2.86886578e-03,-5.62598307e-03,-1.02194046e-02, 2.82022154e-03,
 -4.46217791e-03,-5.18192775e-03,-1.77650078e-02, 5.10485583e-03,
 -4.74695657e-03,-3.92635905e-03,-7.80939208e-03,-1.91681724e-02,
  1.24326228e+00, 1.88157733e-02, 1.23574668e+00, 2.51051589e-02,
  9.50238566e-02,-6.99996251e-02, 1.30733369e-01, 9.96907238e-01,
  8.68316067e-05, 2.92785848e-04,-7.85866791e-02]

qacc:
[-11.35296734, -0.3570969 ,  3.4217133 ,-11.90239651,  0.30924154,
   1.96154707, -9.9924486 , 23.31488511, -4.96160958, -1.75411397,
   8.20848816,-17.27750697, -0.85085075,  1.24141602,  2.35204763,
  -9.40622737, -0.70355588,  1.80160468, -0.06004718,-22.3936048 ,
 -17.93309013, -0.28258183]

qfrc_actuator:
[-6.16341360e-05,-4.44265740e-04,-2.74740994e-04,-7.30807720e-05,
  2.24725125e-05,-4.52294054e-04,-3.08072915e-04,-6.17412214e-05,
 -4.93475413e-06,-2.82640552e-04,-2.83892992e-04,-1.44677178e-04,
  1.30953069e-02,-1.20200720e-03, 7.81357808e-03,-1.80996615e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46317805, -1.10918492,  4.32315477, -1.10918492,  8.96397018,
        1.15476105,  4.32315477,  1.15476105,  4.75945325,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027513532991564615
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.57624566e-13, -4.03518888e-13,  1.00000000e+00,  6.36044895e-26,
        1.00000000e+00,  4.03518888e-13, -1.00000000e+00,  0.00000000e+00,
        1.57624566e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10469951, -0.09497679,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.67624011e-05,-1.47721165e-05,-1.90893780e-05,-2.74421030e-05,
  1.85466758e-06, 1.92567158e-05, 1.79318778e-06, 4.00709648e-05,
 -2.92204283e-05,-1.11250831e-05, 8.00343570e-06,-2.61691465e-05,
 -4.38541089e-05, 2.78973358e-05,-7.03494347e-05,-6.54503230e-05,
 -5.50140239e-06,-3.66520592e-06,-1.21644850e+00,-1.78475988e-03,
 -3.09083177e-04, 5.37579851e-07]


--- Step 1072 ---
qpos:
[ 2.86833053e-03,-5.62699285e-03,-1.02203101e-02, 2.82016947e-03,
 -4.46206687e-03,-5.18175503e-03,-1.77643842e-02, 5.10525272e-03,
 -4.74772940e-03,-3.92538864e-03,-7.80963484e-03,-1.91688855e-02,
  1.24359522e+00, 1.88166991e-02, 1.23605172e+00, 2.51012680e-02,
  9.50296414e-02,-6.99947322e-02, 1.30732675e-01, 9.96900613e-01,
  5.25844467e-05, 3.24395703e-04,-7.86705801e-02]

qacc:
[ -1.05790891,  1.52078861, -5.59838957,  7.09602827, -2.93761488,
  -0.15494272,  0.72444142,  0.30831581,  0.1641495 , -1.34250507,
   4.27271559, -4.10767992,  0.42436715, -0.91511218, -0.97660351,
   1.79160678, -0.71617375,  1.76904097, -0.18721171,-22.2290659 ,
 -17.3691261 , -0.54926195]

qfrc_actuator:
[-6.58612986e-05,-4.47676405e-04,-3.01977464e-04,-7.12196406e-05,
  5.06988328e-06,-4.17607528e-04,-2.86620032e-04,-5.53662356e-05,
 -3.23600641e-06,-2.86228766e-04,-2.59403286e-04,-1.41479473e-04,
  1.30802732e-02,-1.25390339e-03, 7.79731550e-03,-1.80559747e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46914743, -1.04752087,  4.34464945, -1.04752087, 11.8542796 ,
        1.78059937,  4.34464945,  1.78059937,  4.89846055,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002771643047565775
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00282469e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.00282469e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10469524, -0.09497732,  0.06199144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.13500519e-06,-1.67711561e-05,-3.35691477e-05, 3.96758597e-08,
 -1.73444800e-05, 4.75424788e-05, 2.70345573e-05, 8.04077879e-06,
  8.63972370e-07,-9.32165187e-06, 2.22686824e-05, 2.49034264e-06,
 -3.27746223e-05,-5.33029975e-05,-6.01657791e-05,-9.25738932e-06,
 -1.37491644e-06,-2.64673620e-06,-1.21644225e+00,-1.78429342e-03,
 -3.11710247e-04,-8.77233247e-07]


--- Step 1073 ---
qpos:
[ 2.86878284e-03,-5.62792284e-03,-1.02216344e-02, 2.82046690e-03,
 -4.46251022e-03,-5.18125473e-03,-1.77631825e-02, 5.10466156e-03,
 -4.74847588e-03,-3.92483866e-03,-7.80946213e-03,-1.91691773e-02,
  1.24392776e+00, 1.88171774e-02, 1.23635599e+00, 2.50987515e-02,
  9.50325232e-02,-6.99828688e-02, 1.30730804e-01, 9.96893870e-01,
 -2.83674184e-05, 3.25751167e-04,-7.87559787e-02]

qacc:
[  8.62404175,  1.97866191, -8.40630096, 15.09698278, -4.82278488,
  -3.2067909 , 16.25026394,-34.53513971,  0.25122116, -0.84952827,
   0.44542221,  6.48819776,  0.14852852, -0.58025782, -5.33045872,
  16.92021897, -0.72573291,  1.74261035, -0.29412759,-22.08966337,
 -16.91747434, -0.75791516]

qfrc_actuator:
[-1.48541374e-05,-4.31560760e-04,-3.17645463e-04,-5.23525297e-05,
 -2.29663928e-05,-3.97045119e-04,-2.56408363e-04,-1.05016825e-04,
 -1.91774576e-06,-3.24169335e-04,-2.44868741e-04,-1.21547816e-04,
  1.30432922e-02,-1.28504022e-03, 7.77661385e-03,-1.73038895e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46846398, -0.96851198,  4.36224196, -0.96851198, 15.6855824 ,
        2.49044268,  4.36224196,  2.49044268,  5.02139607,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027693300434787627
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.00899498e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.00899498e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10469215, -0.0949785 ,  0.06199144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.08314496e-05,-1.48268250e-07,-2.32423977e-05, 1.69924362e-05,
 -2.85183458e-05, 5.30557458e-05, 4.36305001e-05,-4.65235078e-05,
  1.34136280e-06,-3.84799511e-05, 1.54303061e-05, 2.03511882e-05,
 -6.78210767e-05,-5.32156361e-05,-5.29436280e-05, 6.61581755e-05,
  2.25101892e-06,-7.53118080e-07,-1.21644115e+00,-1.78315540e-03,
 -3.13832909e-04,-1.41017488e-06]


--- Step 1074 ---
qpos:
[ 2.86811845e-03,-5.62874915e-03,-1.02231693e-02, 2.82062480e-03,
 -4.46328590e-03,-5.18093577e-03,-1.77614068e-02, 5.10423697e-03,
 -4.74885594e-03,-3.92443561e-03,-7.80946212e-03,-1.91692218e-02,
  1.24425952e+00, 1.88176592e-02, 1.23665958e+00, 2.50958330e-02,
  9.50324731e-02,-6.99641204e-02, 1.30727397e-01, 9.96886973e-01,
 -1.55738988e-04, 2.97556069e-04,-7.88431962e-02]

qacc:
[ -9.77630837,  0.45741135, -0.81016102, -1.37954389, -2.87711027,
  -1.49456947,  4.28825208, -2.20111144,  3.20508769,  0.79149568,
  -4.15596104,  8.82497774, -0.6114717 ,  0.50459976,  0.26822501,
  -2.25955624, -0.73301087,  1.72128234, -0.38396312,-21.97382401,
 -16.55725078, -0.92063326]

qfrc_actuator:
[-7.37864667e-05,-4.21567254e-04,-3.26265343e-04,-5.91135576e-05,
 -3.92781847e-05,-4.38362235e-04,-2.39108910e-04,-9.84726241e-05,
  1.69086180e-05,-3.29148784e-04,-2.54219015e-04,-1.09724955e-04,
  1.29931759e-02,-1.28589246e-03, 7.73197731e-03,-1.75609231e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46250708, -0.86980731,  4.37691726, -0.86980731, 20.72814148,
        3.23240467,  4.37691726,  3.23240467,  5.10486997,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027490602242916107
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.03855476e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.03855476e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10468999, -0.0949802 ,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.74750559e-05, 5.90256299e-06,-1.09021997e-05,-7.23875564e-06,
 -1.71106707e-05,-4.67112878e-06, 3.20052048e-05, 9.42045251e-06,
  1.88516311e-05,-2.24618399e-05,-1.47020997e-05, 1.11038919e-05,
 -9.84382050e-05,-3.13927477e-05,-6.58151813e-05,-2.97572281e-05,
  5.46836663e-06, 2.03317850e-06,-1.21644496e+00,-1.78133619e-03,
 -3.15494069e-04,-1.10620983e-06]


--- Step 1075 ---
qpos:
[ 2.86640884e-03,-5.62997979e-03,-1.02240692e-02, 2.82139787e-03,
 -4.46390627e-03,-5.18082047e-03,-1.77602143e-02, 5.10466925e-03,
 -4.74866284e-03,-3.92375401e-03,-7.80950262e-03,-1.91691887e-02,
  1.24459051e+00, 1.88183402e-02, 1.23696196e+00, 2.50913950e-02,
  9.50296745e-02,-6.99512051e-02, 1.30725597e-01, 9.96880350e-01,
 -2.39811550e-04, 2.61375572e-04,-7.89268139e-02]

qacc:
[ -9.11550228, -1.02404852,  0.3101529 ,  9.58496472,  1.34025483,
   3.12139038,-15.14258083, 31.06126137,  5.01180051,  0.6315407 ,
  -2.06166798,  3.28211083, -0.77410839,  0.8302867 ,  2.88542905,
 -12.50667832, -0.6870818 , -1.45830429,  0.40175344, 21.89639157,
  -2.27367494,  1.81084997]

qfrc_actuator:
[-1.25962720e-04,-4.50808098e-04,-2.95191697e-04,-2.76443618e-05,
 -3.08029513e-05,-4.80923910e-04,-2.83041823e-04,-5.89709537e-05,
  4.58892394e-05,-2.78951615e-04,-2.41972924e-04,-1.02761723e-04,
  1.29618569e-02,-1.26884600e-03, 7.64637072e-03,-1.84111631e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48322052, -0.27482282,  4.47478922, -0.27482282, 22.17477124,
        1.086541  ,  4.47478922,  1.086541  ,  4.54995132,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028187088985993924
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.96938220e-13, -1.96938220e-13,  1.00000000e+00,  3.87846624e-26,
        1.00000000e+00,  1.96938220e-13, -1.00000000e+00,  0.00000000e+00,
        1.96938220e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1020546 , -0.04705241,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.38120354e-05,-2.84726481e-05, 3.07297597e-05, 3.12113932e-05,
  7.98138917e-06,-3.81969789e-05,-4.06520077e-05, 4.05894548e-05,
  2.95125304e-05, 3.50664216e-05, 6.17442581e-06, 5.70716045e-06,
 -9.07530382e-05,-1.42467747e-05,-1.23946057e-04,-9.61790696e-05,
  8.34524497e-06, 5.72060975e-06,-1.21645351e+00,-1.77882927e-03,
 -3.16725590e-04, 1.16842193e-09]


--- Step 1076 ---
qpos:
[ 2.86477645e-03,-5.63151976e-03,-1.02245696e-02, 2.82254610e-03,
 -4.46442057e-03,-5.18069421e-03,-1.77596036e-02, 5.10485401e-03,
 -4.74846843e-03,-3.92308041e-03,-7.80902583e-03,-1.91690753e-02,
  1.24492134e+00, 1.88180803e-02, 1.23726301e+00, 2.50878921e-02,
  9.50242868e-02,-6.99440219e-02, 1.30724724e-01, 9.96873967e-01,
 -2.81303192e-04, 2.16428859e-04,-7.90073887e-02]

qacc:
[ 0.69357065,-0.75448556, 0.51111939, 5.57244723, 0.90646596, 1.12840282,
 -2.96094629,-0.39664656, 0.02788533,-1.29104941, 4.24812211,-3.67729999,
  0.66449225,-1.4440602 ,-4.89054908,14.02786053,-0.6473151 ,-1.43300127,
  0.23163672,21.56961738,-2.68944205, 1.53075349]

qfrc_actuator:
[-1.20452223e-04,-4.67617747e-04,-2.76568440e-04,-9.44117168e-06,
 -2.55628557e-05,-4.70879578e-04,-3.09528670e-04,-7.14622447e-05,
  4.51038438e-05,-2.84778346e-04,-2.16832139e-04,-9.86435982e-05,
  1.29524943e-02,-1.33002065e-03, 7.61081578e-03,-1.78292805e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49967307, -0.42726815, -4.47934143, -0.42726815,  9.35632221,
       -0.46325817, -4.47934143, -0.46325817,  4.54386159,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028724252117032223
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.66276702e-14, -3.86510681e-13,  1.00000000e+00,  3.73476266e-26,
        1.00000000e+00,  3.86510681e-13, -1.00000000e+00,  0.00000000e+00,
        9.66276702e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10205911, -0.04705437,  0.06199113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.96464728e-06,-2.50068451e-05, 1.76342630e-05, 1.86596737e-05,
  5.45552956e-06,-1.79890537e-05,-3.79961376e-05,-1.47488707e-05,
  7.12761161e-08, 1.52885490e-05, 3.33328668e-05, 5.94190745e-06,
 -6.21762840e-05,-8.51347999e-05,-1.05257050e-04, 3.65008365e-05,
  5.16774022e-06, 4.60636424e-06,-1.21644696e+00,-1.77755987e-03,
 -3.14209248e-04,-1.89360840e-07]


--- Step 1077 ---
qpos:
[ 2.86356695e-03,-5.63285358e-03,-1.02252784e-02, 2.82318879e-03,
 -4.46521284e-03,-5.18080353e-03,-1.77584456e-02, 5.10518583e-03,
 -4.74828440e-03,-3.92247445e-03,-7.80898970e-03,-1.91691839e-02,
  1.24525194e+00, 1.88168264e-02, 1.23756390e+00, 2.50855207e-02,
  9.50164362e-02,-6.99424867e-02, 1.30724206e-01, 9.96867795e-01,
 -2.80809516e-04, 1.62105895e-04,-7.90853619e-02]

qacc:
[  3.6886234 , -0.19338377,  3.2062339 ,-11.76013522, -2.40283669,
  -1.53240969,  4.39998514, -2.56622072, -0.10375322,  0.6852109 ,
  -1.63593853, -1.45116061,  0.58812442, -1.39959024, -3.76051413,
  12.58567195, -0.61569454, -1.41201483,  0.08871002, 21.29718004,
  -3.01528431,  1.30826984]

qfrc_actuator:
[-9.87866766e-05,-4.41396689e-04,-2.83186762e-04,-3.47089076e-05,
 -4.00293483e-05,-4.64910065e-04,-2.72058106e-04,-6.11297810e-05,
  4.45540557e-05,-3.24044289e-04,-2.55506649e-04,-1.14018951e-04,
  1.29403020e-02,-1.38380952e-03, 7.65327763e-03,-1.71166968e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50700971, -0.47859857, -4.48152652, -0.47859857, 12.65041918,
       -0.86966442, -4.48152652, -0.86966442,  4.59988435,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002895944722674376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.58429054e-14, -1.91685811e-13,  1.00000000e+00,  1.83717250e-26,
        1.00000000e+00,  1.91685811e-13, -1.00000000e+00,  0.00000000e+00,
        9.58429054e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206288, -0.04705528,  0.06199105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.17738209e-05, 1.67447813e-05,-8.94309492e-06,-2.53636623e-05,
 -1.43142231e-05,-1.25800359e-05, 2.85546275e-05, 7.95745028e-06,
 -5.41363955e-07,-2.36071101e-05,-3.12193346e-05,-1.34544366e-05,
 -6.62641056e-05,-9.15717458e-05,-2.97814945e-06, 5.95301023e-05,
  2.46132739e-06, 4.19162851e-06,-1.21644352e+00,-1.77693705e-03,
 -3.11794368e-04,-4.29432316e-07]


--- Step 1078 ---
qpos:
[ 2.86262664e-03,-5.63403972e-03,-1.02257950e-02, 2.82350319e-03,
 -4.46582766e-03,-5.18077234e-03,-1.77573003e-02, 5.10597355e-03,
 -4.74810848e-03,-3.92172754e-03,-7.80978565e-03,-1.91694743e-02,
  1.24558180e+00, 1.88156996e-02, 1.23786457e+00, 2.50843473e-02,
  9.50062232e-02,-6.99465303e-02, 1.30723563e-01, 9.96861804e-01,
 -2.38821194e-04, 9.79289157e-05,-7.91610839e-02]

qacc:
[  2.35794345, -1.02273592,  5.30748441,-11.39621251,  1.54492359,
   1.15629401, -5.78346265, 13.59677123, -0.0995038 ,  2.13791289,
  -6.58436524,  4.66348227, -0.56827666,  0.54107224, -3.88618608,
  13.27329103, -0.5906155 , -1.39471336, -0.03120734, 21.07183462,
  -3.27109601,  1.13119391]

qfrc_actuator:
[-8.55572786e-05,-4.25254216e-04,-2.68996549e-04,-4.98232989e-05,
 -3.04729312e-05,-4.43390648e-04,-2.68119883e-04,-3.73986314e-05,
  4.41568078e-05,-3.12300398e-04,-2.96214043e-04,-1.23067512e-04,
  1.29104450e-02,-1.36172700e-03, 7.64662867e-03,-1.65089233e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50677986, -0.54378893, -4.47385274, -0.54378893, 17.00098389,
       -1.51864851, -4.47385274, -1.51864851,  4.69136892,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002895211848988888
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.91734333e-13,  1.91734333e-13,  1.00000000e+00, -3.67620544e-26,
        1.00000000e+00, -1.91734333e-13, -1.00000000e+00,  0.00000000e+00,
        1.91734333e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206606, -0.04705535,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38638260e-05, 2.26387577e-05, 1.56925539e-05,-1.51976081e-05,
  9.14018374e-06, 2.07082113e-05, 5.12033386e-06, 2.43327212e-05,
 -4.17191864e-07,-8.50313167e-06,-4.99008881e-05,-1.14027802e-05,
 -8.54797483e-05,-1.94434684e-05,-7.81993801e-06, 6.22520759e-05,
  1.70973657e-07, 4.42911780e-06,-1.21644308e+00,-1.77695682e-03,
 -3.09432095e-04,-7.41803814e-07]


--- Step 1079 ---
qpos:
[ 2.86150771e-03,-5.63528602e-03,-1.02257684e-02, 2.82363606e-03,
 -4.46632361e-03,-5.18015077e-03,-1.77565865e-02, 5.10666477e-03,
 -4.74759379e-03,-3.92099973e-03,-7.81025072e-03,-1.91695862e-02,
  1.24591078e+00, 1.88150725e-02, 1.23816504e+00, 2.50829314e-02,
  9.49937270e-02,-6.99560962e-02, 1.30722393e-01, 9.96855966e-01,
 -1.55738778e-04, 2.35223202e-05,-7.92348337e-02]

qacc:
[ -1.54442884, -1.96837991,  7.6744157 ,-11.64590953,  1.01299191,
   1.78479346, -4.82826161,  3.41848339,  2.97654745, -0.5884653 ,
   1.29901988,  1.28314166, -1.04330246,  1.30574719,  0.53349454,
  -2.04817737, -0.57079588, -1.38055935, -0.1316707 , 20.8873825 ,
  -3.47247356,  0.98989151]

qfrc_actuator:
[-9.51576640e-05,-4.32935517e-04,-2.42638474e-04,-5.88207235e-05,
 -2.45996189e-05,-3.95070507e-04,-2.83960163e-04,-4.15012015e-05,
  6.16055780e-05,-2.87884757e-04,-2.66562952e-04,-1.10518781e-04,
  1.28700445e-02,-1.33035040e-03, 7.62650043e-03,-1.66793336e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50053418, -0.62605422, -4.45677731, -0.62605422, 22.69201422,
       -2.55540091, -4.45677731, -2.55540091,  4.85949748,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002875199307603715
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.86137762e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.86137762e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1020688 , -0.04705475,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.19200178e-06, 7.62469919e-06, 3.24609308e-05,-7.77750845e-06,
  6.14134926e-06, 6.19870177e-05,-1.01061586e-05,-2.56930356e-06,
  1.74378711e-05, 8.84904693e-06, 2.13558113e-05, 1.02368740e-05,
 -8.88901417e-05, 5.90353056e-06,-2.39887118e-05,-1.61847507e-05,
 -1.74414009e-06, 5.28463941e-06,-1.21644553e+00,-1.77761529e-03,
 -3.07085805e-04,-1.14248177e-06]


--- Step 1080 ---
qpos:
[ 2.86097230e-03,-5.63645836e-03,-1.02251514e-02, 2.82329402e-03,
 -4.46674523e-03,-5.17898535e-03,-1.77560776e-02, 5.10694598e-03,
 -4.74652925e-03,-3.92006161e-03,-7.81017524e-03,-1.91699379e-02,
  1.24623900e+00, 1.88150191e-02, 1.23846491e+00, 2.50810392e-02,
  9.49790100e-02,-6.99711385e-02, 1.30720360e-01, 9.96850250e-01,
 -3.18852129e-05,-6.14108621e-05,-7.93068334e-02]

qacc:
[  5.12101622, -2.54087455, 11.18868168,-20.38774667,  0.63240269,
   0.4458892 ,  1.18148125, -8.34703536,  4.82696625, -1.73620266,
   7.58634612,-12.7294105 , -0.97022144,  1.30593808,  0.67670833,
  -3.37342264, -0.55521046, -1.36909476, -0.21570954, 20.73850681,
  -3.63163557,  0.87675517]

qfrc_actuator:
[-6.48578890e-05,-4.19257056e-04,-2.09407490e-04,-8.19160416e-05,
 -2.09485667e-05,-3.66681287e-04,-2.93490961e-04,-6.19339601e-05,
  8.94183396e-05,-2.55762410e-04,-2.31032172e-04,-1.20804427e-04,
  1.28446607e-02,-1.29382076e-03, 7.58764087e-03,-1.69519868e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48970817, -0.72926152, -4.43008545, -0.72926152, 30.06336222,
       -4.20982443, -4.43008545, -4.20982443,  5.18271128,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028400546977203067
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95458036e-13,  1.95458036e-13,  1.00000000e+00, -3.82038437e-26,
        1.00000000e+00, -1.95458036e-13, -1.00000000e+00,  0.00000000e+00,
        1.95458036e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10207118, -0.04705362,  0.06199122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.00426221e-05, 2.43588847e-05, 3.85506369e-05,-2.17937164e-05,
  3.84925631e-06, 6.08241038e-05, 1.92112957e-06,-1.81814668e-05,
  2.83143481e-05, 4.19070284e-05, 4.03399059e-05,-8.96944963e-06,
 -7.02330205e-05, 1.77497423e-05,-5.87200938e-05,-3.28085907e-05,
 -3.31403822e-06, 6.73411255e-06,-1.21645080e+00,-1.77890892e-03,
 -3.04727957e-04,-1.64274879e-06]


--- Step 1081 ---
qpos:
[ 2.86114893e-03,-5.63730802e-03,-1.02242110e-02, 2.82231873e-03,
 -4.46746429e-03,-5.17771141e-03,-1.77555098e-02, 5.10701810e-03,
 -4.74548425e-03,-3.91899232e-03,-7.80964289e-03,-1.91700492e-02,
  1.24656695e+00, 1.88143820e-02, 1.23876343e+00, 2.50822108e-02,
  9.49621208e-02,-6.99916205e-02, 1.30717184e-01, 9.96844626e-01,
  1.32483543e-04,-1.57107327e-04,-7.93772611e-02]

qacc:
[  6.23238787, -1.79342699,  9.66509576,-21.35567833, -2.59405958,
  -0.44685614,  2.69294638, -6.495721  , -0.1587736 , -0.60828009,
   1.40718368,  1.92302505,  0.50702211, -1.06404942,-11.37022934,
  36.66737636, -0.54303888, -1.35992897, -0.28590844, 20.62064013,
  -3.75814732,  0.78577577]

qfrc_actuator:
[-2.90613428e-05,-3.92872785e-04,-1.90070037e-04,-1.13104094e-04,
 -3.63865247e-05,-3.85945499e-04,-2.99289987e-04,-7.40601031e-05,
  8.75976415e-05,-2.54743061e-04,-2.10068225e-04,-1.08938712e-04,
  1.28176545e-02,-1.34323637e-03, 7.53758420e-03,-1.53298887e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47556139, -0.8580143 , -4.3925461 , -0.8580143 , 39.50026943,
       -6.8415219 , -4.3925461 , -6.8415219 ,  5.81194432,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002793225511109193
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.98734943e-13,  1.98734943e-13,  1.00000000e+00,  3.94955775e-26,
        1.00000000e+00, -1.98734943e-13, -1.00000000e+00,  0.00000000e+00,
       -1.98734943e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10207327, -0.04705209,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.66662317e-05, 4.70831374e-05, 2.83698813e-05,-2.92336967e-05,
 -1.53057048e-05, 1.43184392e-05, 6.35106835e-06,-9.81206965e-06,
 -9.95765652e-07, 3.23805266e-05, 3.42664624e-05, 1.48790204e-05,
 -6.02475724e-05,-6.00721263e-05,-8.57266836e-05, 1.51731878e-04,
 -4.56049177e-06, 8.76146463e-06,-1.21645884e+00,-1.78083466e-03,
 -3.02337766e-04,-2.25061571e-06]


--- Step 1082 ---
qpos:
[ 2.86175369e-03,-5.63792504e-03,-1.02232966e-02, 2.82135857e-03,
 -4.46870749e-03,-5.17654776e-03,-1.77546312e-02, 5.10730086e-03,
 -4.74515827e-03,-3.91821148e-03,-7.80891588e-03,-1.91695992e-02,
  1.24689468e+00, 1.88122793e-02, 1.23906111e+00, 2.50865494e-02,
  9.49423929e-02,-7.00049050e-02, 1.30714591e-01, 9.96838914e-01,
  2.47527897e-04,-2.86207976e-04,-7.94483303e-02]

qacc:
[  3.74004906,  0.40375703, -1.07006987,  1.21605029, -4.5592468 ,
  -0.5713366 ,  0.95205102,  2.26075574, -6.28345036,  0.24314472,
  -3.76459916, 13.34876605,  1.11752201, -2.33060027,-10.97592934,
  36.2332023 , -0.70965672,  1.79937764,  0.14598419,-23.25866119,
 -18.60705757, -0.31714836]

qfrc_actuator:
[-8.08128707e-06,-3.94648597e-04,-1.96790285e-04,-1.13294230e-04,
 -6.29358433e-05,-3.98078707e-04,-2.85279314e-04,-6.34865443e-05,
  5.05936771e-05,-3.07895776e-04,-2.15729548e-04,-8.41663271e-05,
  1.27790087e-02,-1.44329121e-03, 7.52350594e-03,-1.36695947e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4929304 ,  0.18047445, -4.48930424,  0.18047445, 29.92991528,
        1.02259183, -4.48930424,  1.02259183,  4.5340396 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028505764600117445
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.47696633e-14, -5.84209742e-13,  1.00000000e+00,  3.19969708e-26,
        1.00000000e+00,  5.84209742e-13, -1.00000000e+00,  0.00000000e+00,
        5.47696633e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10465482, -0.09498005,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.20464786e-05, 2.91948158e-05, 5.48745822e-06, 2.24033625e-06,
 -2.69829531e-05,-3.29349890e-06, 1.73897648e-05, 1.12121928e-05,
 -3.70191867e-05,-2.73727332e-05, 5.74441614e-06, 2.76312830e-05,
 -8.49742832e-05,-1.30627583e-04,-3.83343541e-05, 1.63077320e-04,
 -5.49891475e-06, 1.13571188e-05,-1.21646960e+00,-1.78338991e-03,
 -2.99899458e-04,-2.97185883e-06]


--- Step 1083 ---
qpos:
[ 2.86295042e-03,-5.63810400e-03,-1.02231059e-02, 2.82042614e-03,
 -4.46922465e-03,-5.17563534e-03,-1.77534911e-02, 5.10772983e-03,
 -4.74562313e-03,-3.91764500e-03,-7.80875992e-03,-1.91691561e-02,
  1.24722160e+00, 1.88100337e-02, 1.23935915e+00, 2.50887380e-02,
  9.49197694e-02,-7.00111164e-02, 1.30711934e-01, 9.96833080e-01,
  3.14035770e-04,-4.47452000e-04,-7.95205113e-02]

qacc:
[ 5.14778803e+00, 2.64883179e+00,-8.73891588e+00, 1.00726072e+01,
  6.34419325e+00,-7.73679848e-01, 1.63849265e+00, 6.81341884e-01,
 -6.93784015e+00, 1.31226322e+00,-5.03631817e+00, 5.95992527e+00,
 -7.46159234e-01, 5.69002817e-01, 7.09716308e+00,-2.39065206e+01,
 -7.23924635e-01, 1.76824857e+00,-1.62689716e-02,-2.29148024e+01,
 -1.79491103e+01,-5.48028643e-01]

qfrc_actuator:
[ 2.17605975e-05,-3.77854225e-04,-2.36677917e-04,-1.13033333e-04,
 -2.47957740e-05,-4.23510547e-04,-2.77410825e-04,-5.73818991e-05,
  1.09396871e-05,-3.39926666e-04,-2.55039206e-04,-8.75723057e-05,
  1.27493602e-02,-1.43059316e-03, 7.53101572e-03,-1.48400901e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50893527,  0.08367421,  4.50815881,  0.08367421,  9.17919808,
       -0.08668296,  4.50815881, -0.08668296,  4.51054416,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002902074578966518
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.37977604e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.37977604e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10464969, -0.09497825,  0.06199103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.04830995e-05, 3.43692119e-05,-3.31066194e-05, 1.74572849e-06,
  3.73642080e-05,-2.32639993e-05, 9.69493296e-06, 6.77948276e-06,
 -4.07187778e-05,-4.50174491e-05,-4.33166107e-05,-3.84425132e-06,
 -1.04308290e-04,-4.42878614e-05, 4.04872974e-06,-1.13813220e-04,
 -3.17912195e-06, 1.05784206e-05,-1.21646511e+00,-1.78475450e-03,
 -2.99485911e-04,-2.61395047e-06]


--- Step 1084 ---
qpos:
[ 2.86484074e-03,-5.63800223e-03,-1.02233676e-02, 2.81950591e-03,
 -4.46928078e-03,-5.17502760e-03,-1.77524580e-02, 5.10791638e-03,
 -4.74621522e-03,-3.91709137e-03,-7.80920517e-03,-1.91684352e-02,
  1.24754739e+00, 1.88088498e-02, 1.23965745e+00, 2.50852156e-02,
  9.48942058e-02,-7.00103582e-02, 1.30708664e-01, 9.96827091e-01,
  3.32663100e-04,-6.39835196e-04,-7.95941623e-02]

qacc:
[  6.04786815,  1.64854319, -5.41156836,  6.16167045,  4.02233149,
  -0.6106542 ,  2.60292524, -6.38885495, -1.13234859,  2.23822853,
  -9.17094735, 14.93919504, -2.08694523,  2.8410171 , 17.94220935,
 -61.59117501, -0.7350148 ,  1.74243801, -0.15308563,-22.6266571 ,
 -17.42428653, -0.72330493]

qfrc_actuator:
[ 5.65844857e-05,-3.67968850e-04,-2.60252519e-04,-1.12520453e-04,
 -2.14048954e-06,-4.56736523e-04,-2.91055266e-04,-7.17310544e-05,
  5.56037562e-06,-3.23737905e-04,-2.78344759e-04,-7.20363652e-05,
  1.27145194e-02,-1.35097983e-03, 7.50879642e-03,-1.78460835e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51558047,  0.15731835,  4.51283923,  0.15731835, 12.66163164,
       -0.28397275,  4.51283923, -0.28397275,  4.52547981,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002923094138473775
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.34109083e-14,  1.89905452e-13,  1.00000000e+00, -1.01430226e-26,
        1.00000000e+00, -1.89905452e-13, -1.00000000e+00,  0.00000000e+00,
        5.34109083e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10464595, -0.09497765,  0.06199097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.57089694e-05, 2.23542545e-05,-2.04933687e-05, 8.74409177e-07,
  2.37176433e-05,-4.39765866e-05,-1.70472056e-05,-1.48855503e-05,
 -6.55388386e-06,-1.81351342e-05,-3.80798475e-05, 1.20335156e-05,
 -9.92191600e-05, 4.28055862e-05,-4.18253886e-05,-3.08401670e-04,
 -1.42215953e-06, 1.08466044e-05,-1.21646591e+00,-1.78540761e-03,
 -2.98520549e-04,-1.30435519e-06]


--- Step 1085 ---
qpos:
[ 2.86747904e-03,-5.63780303e-03,-1.02235807e-02, 2.81858779e-03,
 -4.46940958e-03,-5.17442286e-03,-1.77522421e-02, 5.10725007e-03,
 -4.74652256e-03,-3.91668231e-03,-7.80992529e-03,-1.91675399e-02,
  1.24787259e+00, 1.88079759e-02, 1.23995478e+00, 2.50791944e-02,
  9.48729976e-02,-7.00103612e-02, 1.30708181e-01, 9.96821173e-01,
  3.49562013e-04,-7.98453913e-04,-7.96667344e-02]

qacc:
[ 6.54237772e+00,-1.52631678e-02, 2.10224574e-01,-2.99071382e-01,
 -6.59755379e-01, 5.24716166e-01, 1.72555371e+00,-1.51790178e+01,
  2.48680672e+00, 9.31469595e-01,-4.34075889e+00, 7.90819941e+00,
 -8.04522276e-01, 9.86833185e-01, 6.22971797e+00,-2.36476057e+01,
  1.08883822e+00,-1.90325260e-01, 6.96742767e-01,-2.20486125e+00,
  1.67600902e+01, 5.35589863e-01]

qfrc_actuator:
[ 9.40591640e-05,-3.62246776e-04,-2.56268610e-04,-1.11851956e-04,
 -6.55412065e-06,-4.58979755e-04,-3.35096269e-04,-1.15774984e-04,
  2.03985939e-05,-3.31991030e-04,-2.91789262e-04,-6.31699013e-05,
  1.26925994e-02,-1.33888048e-03, 7.45808265e-03,-1.90687451e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52565605, -2.60073674,  3.70374555, -2.60073674, 18.76130953,
        9.99614756,  3.70374555,  9.99614756, 11.54486078,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002954573643854097
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.87882104e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.87882104e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08192627, -0.06758449,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.85040301e-05, 1.40349185e-05, 6.10789827e-06, 9.34732151e-07,
 -3.74773748e-06,-3.10198372e-05,-5.57600272e-05,-4.68128566e-05,
  1.46472020e-05,-2.57645934e-05,-2.14670673e-05, 7.00491238e-06,
 -6.47499241e-05, 2.09812952e-06,-1.12321161e-04,-1.46590294e-04,
 -1.18536538e-07, 1.21347938e-05,-1.21647172e+00,-1.78534959e-03,
 -2.97051901e-04, 8.93210378e-07]


--- Step 1086 ---
qpos:
[ 2.86985667e-03,-5.63767720e-03,-1.02236656e-02, 2.81770130e-03,
 -4.46958975e-03,-5.17431140e-03,-1.77521434e-02, 5.10642144e-03,
 -4.74664950e-03,-3.91671829e-03,-7.81066019e-03,-1.91668699e-02,
  1.24819748e+00, 1.88065456e-02, 1.24025061e+00, 2.50730786e-02,
  9.48560955e-02,-7.00110411e-02, 1.30709800e-01, 9.96815327e-01,
  3.65150662e-04,-9.24080395e-04,-7.97384263e-02]

qacc:
[-2.27484976,-0.38586745, 1.10932579,-0.72137611,-0.44332709,-0.65771429,
  2.0860956 ,-4.34715154, 1.58644204,-1.01403002, 3.70595618,-7.24377146,
  0.22416522,-0.71263748,-1.99013212, 3.61873218, 1.07651993,-0.16920349,
  0.52540327,-1.96690214,16.39166941, 0.43621206]

qfrc_actuator:
[ 7.95346002e-05,-3.76704300e-04,-2.53822125e-04,-1.11084875e-04,
 -9.10717478e-06,-4.96071059e-04,-3.43364204e-04,-1.23670468e-04,
  2.92536141e-05,-3.72525054e-04,-2.99402996e-04,-7.60653429e-05,
  1.26624463e-02,-1.38471533e-03, 7.39569938e-03,-1.90531595e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54069043,  4.02001626, -2.11124107,  4.02001626,  6.59067742,
        3.9033823 , -2.11124107,  3.9033823 , 11.9731246 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003000700959725766
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.84993946e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.84993946e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08192825, -0.06758209,  0.06199073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.34196629e-05,-5.30508118e-06, 6.12814692e-06, 1.59793835e-06,
 -2.66711864e-06,-6.79845131e-05,-2.31719649e-05,-1.20655299e-05,
  9.26561561e-06,-5.90795809e-05,-1.53360708e-05,-1.46071348e-05,
 -6.57264144e-05,-5.89673718e-05,-1.32781132e-04,-2.15470864e-05,
 -1.41102896e-07, 1.00259404e-05,-1.21646195e+00,-1.78631585e-03,
 -2.94808119e-04, 1.89409596e-06]


--- Step 1087 ---
qpos:
[ 2.87169721e-03,-5.63758948e-03,-1.02240120e-02, 2.81719923e-03,
 -4.46979924e-03,-5.17468227e-03,-1.77516223e-02, 5.10581062e-03,
 -4.74701421e-03,-3.91704673e-03,-7.81153993e-03,-1.91663698e-02,
  1.24852177e+00, 1.88047109e-02, 1.24054506e+00, 2.50692545e-02,
  9.48438975e-02,-7.00103117e-02, 1.30712778e-01, 9.96809642e-01,
  3.64889471e-04,-1.01681166e-03,-7.98083400e-02]

qacc:
[-4.70512379, 1.48159733,-6.96252827,14.04459058,-0.23422318,-1.36864966,
  3.03685374, 0.4104293 ,-2.0813104 ,-0.32776079, 1.33152559,-3.8322948 ,
  0.08233671,-0.53031863,-8.99332095,28.45406852, 1.17603495, 0.35231349,
  0.33999991,-9.21039565,15.76370438, 0.8940639 ]

qfrc_actuator:
[ 5.22725882e-05,-3.85385133e-04,-2.70149883e-04,-9.25363771e-05,
 -1.05361193e-05,-5.00321826e-04,-3.12788877e-04,-1.10226280e-04,
  1.67565237e-05,-3.78811408e-04,-3.03668408e-04,-8.39354803e-05,
  1.26220238e-02,-1.41131021e-03, 7.36367875e-03,-1.77760929e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54606717,  1.14146456, -4.40043013,  1.14146456, 11.23595689,
        1.73534672, -4.40043013,  1.73534672,  4.99621334,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003016959776592139
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83996988e-13,  3.69188117e-08,  1.00000000e+00, -6.79295016e-21,
        1.00000000e+00, -3.69188117e-08, -1.00000000e+00,  0.00000000e+00,
        1.83996988e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08063401, -0.07505344,  0.06199068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.76478884e-05,-1.03269634e-05,-1.66138304e-05, 1.85663309e-05,
 -1.52768969e-06,-4.75746110e-05, 1.32607494e-05, 9.49614763e-06,
 -1.22526200e-05,-4.31052161e-05,-1.88550889e-05,-1.12154337e-05,
 -9.08226431e-05,-5.74353599e-05,-9.56098731e-05, 1.09448437e-04,
 -1.94857270e-07, 8.04563210e-06,-1.21645415e+00,-1.78719469e-03,
 -2.93044097e-04, 2.69006607e-06]


--- Step 1088 ---
qpos:
[ 2.87354126e-03,-5.63733749e-03,-1.02243732e-02, 2.81688002e-03,
 -4.47002456e-03,-5.17515397e-03,-1.77508855e-02, 5.10498451e-03,
 -4.74752576e-03,-3.91782330e-03,-7.81213853e-03,-1.91659778e-02,
  1.24884523e+00, 1.88032980e-02, 1.24083860e+00, 2.50672435e-02,
  9.48366826e-02,-7.00062871e-02, 1.30716030e-01, 9.96804214e-01,
  3.35683343e-04,-1.07676419e-03,-7.98754477e-02]

qacc:
[  0.02750473,  0.63503104, -2.72114315,  5.7885957 , -0.12967535,
  -1.17828544,  4.91750392, -8.91519918, -1.26906311, -1.59823758,
   5.29808985, -7.28892119, -0.73551859,  0.89666017, -6.78752005,
  21.93564938,  1.2457943 ,  0.82378782,  0.06819214,-15.73292555,
  15.18270449,  1.4175236 ]

qfrc_actuator:
[ 5.32540425e-05,-3.55100580e-04,-2.61898407e-04,-8.14371060e-05,
 -1.12920914e-05,-4.84681909e-04,-2.94905651e-04,-1.19798759e-04,
  9.54682169e-06,-4.00029015e-04,-2.88036220e-04,-8.87555902e-05,
  1.25967791e-02,-1.37303272e-03, 7.33393959e-03,-1.68307806e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54503999,  1.50616284, -4.28822364,  1.50616284,  9.38250273,
        1.69907337, -4.28822364,  1.69907337,  5.14180951,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030138631552582715
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.76897921e-07, -2.76897468e-07,  1.00000000e+00, -7.66723334e-14,
        1.00000000e+00,  2.76897468e-07, -1.00000000e+00,  0.00000000e+00,
       -2.76897921e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07939562, -0.08218868,  0.06199069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.87677091e-07, 2.18599989e-05, 4.71779811e-06, 1.04457538e-05,
 -8.17298146e-07,-7.80946395e-06, 1.00186646e-05,-1.09659795e-05,
 -7.57525966e-06,-4.96808717e-05, 4.03195935e-06,-7.53481295e-06,
 -8.68735999e-05, 1.38250581e-06,-6.34340098e-05, 8.79475428e-05,
  2.79403438e-07, 5.96850655e-06,-1.21644789e+00,-1.78777581e-03,
 -2.92221010e-04, 3.63203894e-06]


--- Step 1089 ---
qpos:
[ 2.87538242e-03,-5.63693067e-03,-1.02243740e-02, 2.81667064e-03,
 -4.47094704e-03,-5.17561475e-03,-1.77500183e-02, 5.10438646e-03,
 -4.74811984e-03,-3.91924360e-03,-7.81188472e-03,-1.91656613e-02,
  1.24916786e+00, 1.88027574e-02, 1.24113187e+00, 2.50652793e-02,
  9.48336364e-02,-7.00027677e-02, 1.30720131e-01, 9.96798853e-01,
  3.05994598e-04,-1.10473769e-03,-7.99420618e-02]

qacc:
[ -0.0165507 , -0.57653002,  1.88895191, -0.67835623, -6.07584476,
   0.13128505, -1.38941199,  5.09781095, -0.68480718, -3.38800737,
  11.16469603,-13.35963057, -1.2154738 ,  1.75982008, -0.39618602,
   1.15185733,  1.04214535, -0.12628813,  0.21239839, -1.51745203,
  15.91925532,  0.24356926]

qfrc_actuator:
[ 5.31031914e-05,-3.37129208e-04,-2.39041522e-04,-7.47595683e-05,
 -4.71513160e-05,-4.75048778e-04,-2.84599725e-04,-1.07329994e-04,
  5.51372078e-06,-4.29932699e-04,-2.43080886e-04,-9.17396679e-05,
  1.25753590e-02,-1.31424892e-03, 7.33220771e-03,-1.67990068e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53904554,  1.68293606,  4.21552614,  1.68293606, 20.48354847,
       -6.36541632,  4.21552614, -6.36541632,  7.08026774,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029957022670128175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.85302631e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.85302631e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08193082, -0.06757752,  0.06199075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.38856159e-07, 3.16076277e-05, 2.83149059e-05, 7.98131505e-06,
 -3.58853274e-05, 6.87568551e-06, 9.54635422e-06, 1.22687317e-05,
 -4.26961178e-06,-5.71448858e-05, 3.49449722e-05,-5.11647218e-06,
 -6.66033606e-05, 3.93801930e-05,-2.53035524e-05,-9.83712417e-07,
  1.41314599e-06, 4.06192178e-06,-1.21644417e+00,-1.78785064e-03,
 -2.92223043e-04, 4.36494353e-06]


--- Step 1090 ---
qpos:
[ 2.87720765e-03,-5.63656432e-03,-1.02242688e-02, 2.81658578e-03,
 -4.47194724e-03,-5.17610900e-03,-1.77493041e-02, 5.10431314e-03,
 -4.74875805e-03,-3.92087793e-03,-7.81151238e-03,-1.91653878e-02,
  1.24948987e+00, 1.88028843e-02, 1.24142454e+00, 2.50630769e-02,
  9.48347413e-02,-6.99997213e-02, 1.30724712e-01, 9.96793555e-01,
  2.75967531e-04,-1.10118595e-03,-8.00082548e-02]

qacc:
[-0.13525976,-0.09290591,-0.27150291, 2.28633467,-0.6815968 , 1.46471107,
 -7.49982495,16.84878617,-0.37898889,-0.70178565, 2.27355291,-3.04785524,
 -0.90462384, 1.32219724,-0.06401193,-0.814551  , 1.03779787,-0.11824173,
  0.11996881,-1.4284926 ,15.69873846, 0.20775292]

qfrc_actuator:
[ 5.22779495e-05,-3.62107283e-04,-2.43295982e-04,-7.07351975e-05,
 -5.01269294e-05,-4.86843769e-04,-2.96593972e-04,-8.19937278e-05,
  3.38101049e-06,-4.29167912e-04,-2.34473292e-04,-9.36113535e-05,
  1.25509371e-02,-1.27928575e-03, 7.29399629e-03,-1.69498923e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52832864,  2.9251587 , -3.45676248,  2.9251587 , 26.37159289,
       18.48406269, -3.45676248, 18.48406269, 20.16978999,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029628464001460464
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.36787530e-14, -5.62072518e-13,  1.00000000e+00, -5.26542526e-26,
        1.00000000e+00,  5.62072518e-13, -1.00000000e+00,  0.00000000e+00,
       -9.36787530e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08193094, -0.06757659,  0.06199085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.20907991e-07,-1.13252218e-06, 6.03204117e-06, 6.51299555e-06,
 -4.00285732e-06,-5.45733586e-06,-8.97550320e-06, 2.62019388e-05,
 -2.27995624e-06,-2.41474137e-05, 9.44095876e-07,-3.20754512e-06,
 -4.98890310e-05, 3.10194650e-05,-5.65866296e-05,-1.98644124e-05,
  1.50230027e-06, 2.33953207e-06,-1.21644161e+00,-1.78786297e-03,
 -2.91840823e-04, 4.28122430e-06]


--- Step 1091 ---
qpos:
[ 2.87900902e-03,-5.63656284e-03,-1.02237681e-02, 2.81691769e-03,
 -4.47263090e-03,-5.17650212e-03,-1.77487702e-02, 5.10418347e-03,
 -4.74941722e-03,-3.92238751e-03,-7.81147335e-03,-1.91651511e-02,
  1.24981154e+00, 1.88027604e-02, 1.24171597e+00, 2.50608020e-02,
  9.48399832e-02,-6.99971223e-02, 1.30729465e-01, 9.96788314e-01,
  2.45714581e-04,-1.06647162e-03,-8.00740837e-02]

qacc:
[-0.18986081,-0.72886942, 0.14065574, 6.7071917 , 2.75302409, 0.51589486,
 -1.4171192 , 0.66606632,-0.19612791, 1.02079658,-3.24327695, 3.04279011,
 -0.02372385,-0.23228102,-1.61869628, 2.98780354, 1.034244  ,-0.11186839,
  0.04303594,-1.35901947,15.52238179, 0.17963583]

qfrc_actuator:
[ 5.10622706e-05,-3.94969012e-04,-2.28201669e-04,-5.06087123e-05,
 -3.37129636e-05,-4.75950358e-04,-3.03984409e-04,-8.48301069e-05,
  2.38314634e-06,-4.10174263e-04,-2.47281417e-04,-9.48180752e-05,
  1.25140730e-02,-1.31201694e-03, 7.21795948e-03,-1.70301850e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002916929700392812
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.90306785e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.90306785e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08193063, -0.06757583,  0.06199099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24131004e-06,-3.19903870e-05, 1.58215896e-05, 2.04122707e-05,
  1.62965807e-05, 7.11880673e-06,-8.71880438e-06,-2.87098409e-06,
 -1.07604965e-06, 5.59957571e-06,-1.77767207e-05,-2.26845486e-06,
 -5.64462743e-05,-3.48120975e-05,-1.08929211e-04,-1.74374391e-05,
  1.56099022e-06, 6.68425376e-07,-1.21644063e+00,-1.78782128e-03,
 -2.91932805e-04, 4.04534061e-06]


--- Step 1092 ---
qpos:
[ 2.88009189e-03,-5.63681525e-03,-1.02228305e-02, 2.81781640e-03,
 -4.47311267e-03,-5.17670123e-03,-1.77480953e-02, 5.10364091e-03,
 -4.75008339e-03,-3.92368725e-03,-7.81194239e-03,-1.91649298e-02,
  1.25013248e+00, 1.88027037e-02, 1.24200624e+00, 2.50593944e-02,
  9.48493510e-02,-6.99949506e-02, 1.30734135e-01, 9.96783125e-01,
  2.15323072e-04,-1.00088096e-03,-8.01395929e-02]

qacc:
[ -6.26629776, -0.37717279, -1.51330717, 10.78771946,  1.76149639,
  -0.99109951,  5.64314238,-13.15142163, -0.08083785,  1.66627945,
  -5.47310325,  5.86445885, -0.47008702,  0.38830795, -4.30189221,
  12.65797808,  1.03146753, -0.1068304 , -0.02078794, -1.30508957,
  15.38310154,  0.15759459]

qfrc_actuator:
[ 1.41213709e-05,-3.96715086e-04,-2.01830007e-04,-2.11630090e-05,
 -2.37810365e-05,-4.51565107e-04,-2.90771420e-04,-1.04198885e-04,
  2.06067340e-06,-3.98249091e-04,-2.72534550e-04,-9.56145616e-05,
  1.24644158e-02,-1.31370305e-03, 7.17789001e-03,-1.65362476e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028611206975276415
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.70094538e-14, -3.88037815e-13,  1.00000000e+00,  3.76433365e-26,
        1.00000000e+00,  3.88037815e-13, -1.00000000e+00,  0.00000000e+00,
        9.70094538e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08192999, -0.06757519,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.69896193e-05,-1.55052840e-05, 2.24105457e-05, 2.90176385e-05,
  1.04020669e-05, 2.64561882e-05, 1.35079376e-05,-1.94220833e-05,
 -3.55134488e-07, 1.13388307e-05,-2.63484543e-05,-1.21323345e-06,
 -8.91169501e-05,-2.36880645e-05,-9.34576849e-05, 3.41369313e-05,
  1.58942126e-06,-9.61671410e-07,-1.21644120e+00,-1.78773007e-03,
 -2.92494850e-04, 3.66248837e-06]


--- Step 1093 ---
qpos:
[ 2.88037825e-03,-5.63668923e-03,-1.02223590e-02, 2.81835110e-03,
 -4.47312668e-03,-5.17658499e-03,-1.77475960e-02, 5.10253113e-03,
 -4.75005822e-03,-3.92524909e-03,-7.81227320e-03,-1.91643583e-02,
  1.25045258e+00, 1.88031424e-02, 1.24229600e+00, 2.50577977e-02,
  9.48620654e-02,-6.99960905e-02, 1.30738263e-01, 9.96777892e-01,
  2.06465510e-04,-9.06111639e-04,-8.02057962e-02]

qacc:
[ -6.98833892,  1.0667468 , -1.51782377, -4.34025524,  4.0681224 ,
  -0.26817148,  3.94159   ,-13.69468727,  6.06146   , -0.02334819,
  -1.91572905,  7.96477351, -0.97206438,  1.22754248, -0.0872507 ,
  -0.5498602 ,  0.83663206, -0.82786238, -0.13536882,  9.56281171,
  15.4051616 , -0.36152951]

qfrc_actuator:
[-2.57978505e-05,-3.62004175e-04,-2.22149485e-04,-3.97004164e-05,
  2.32896471e-09,-4.36970719e-04,-3.00950862e-04,-1.33108022e-04,
  3.76431231e-05,-4.26205267e-04,-2.69441343e-04,-7.84191922e-05,
  1.24337585e-02,-1.27922706e-03, 7.17009002e-03,-1.65945107e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47921773,  1.27293308,  4.29453523,  1.27293308, 19.41743893,
       -4.42780298,  4.29453523, -4.42780298,  5.79165239,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002805429620061223
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.97870411e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.97870411e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08409717, -0.0562635 ,  0.06199133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.09843282e-05, 3.18925392e-05,-1.97673277e-05,-1.78636950e-05,
  2.40910631e-05, 3.13505706e-05,-3.72789179e-06,-2.76864695e-05,
  3.55728220e-05,-2.70597940e-05, 2.16756704e-06, 1.67490501e-05,
 -8.36550575e-05, 7.70016980e-06,-4.95931264e-05,-1.64904577e-05,
  1.58736169e-06,-2.55868740e-06,-1.21644324e+00,-1.78759279e-03,
 -2.93523658e-04, 3.13635851e-06]


--- Step 1094 ---
qpos:
[ 2.88052831e-03,-5.63599326e-03,-1.02225534e-02, 2.81864861e-03,
 -4.47320036e-03,-5.17600808e-03,-1.77475901e-02, 5.10108703e-03,
 -4.74995185e-03,-3.92713411e-03,-7.81167563e-03,-1.91636324e-02,
  1.25077225e+00, 1.88034083e-02, 1.24258551e+00, 2.50560482e-02,
  9.48781510e-02,-7.00005228e-02, 1.30741652e-01, 9.96772602e-01,
  2.19055441e-04,-7.82580981e-04,-8.02727788e-02]

qacc:
[-1.22291508, 2.12850217,-5.49100335, 2.02731635,-0.54378005, 1.29967217,
 -2.33803278,-2.99912086, 0.74560906,-2.70568804, 8.37248546,-6.94280523,
 -0.23189255, 0.0386292 , 0.12618447,-0.91327375, 0.84283295,-0.82314421,
 -0.1850168 , 9.53543323,15.19433279,-0.40341311]

qfrc_actuator:
[-3.16333879e-05,-3.23702453e-04,-2.52002776e-04,-5.08183408e-05,
 -3.75533743e-06,-4.10697158e-04,-3.24905439e-04,-1.49669263e-04,
  4.08150863e-05,-4.24444338e-04,-2.14278139e-04,-6.85406697e-05,
  1.24145373e-02,-1.29451950e-03, 7.17630987e-03,-1.66219471e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46099933, -0.17503289, -4.45756419, -0.17503289, 41.905754  ,
       -1.47032399, -4.45756419, -1.47032399,  4.51873379,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027438981434864396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02307623e-13, -4.04615247e-13,  1.00000000e+00,  8.18567490e-26,
        1.00000000e+00,  4.04615247e-13, -1.00000000e+00,  0.00000000e+00,
        2.02307623e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0840976 , -0.0562622 ,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.99527601e-06, 5.12611245e-05,-2.63254333e-05,-1.07840202e-05,
 -3.05478977e-06, 4.18491935e-05,-1.89022676e-05,-1.58858132e-05,
  4.17241903e-06,-1.21341412e-05, 5.04400940e-05, 9.12224978e-06,
 -6.13654884e-05,-3.21044776e-05,-2.37981222e-05,-1.12175062e-05,
  7.46509578e-08,-4.10617770e-06,-1.21644589e+00,-1.78776460e-03,
 -2.94390086e-04, 2.98784956e-06]


--- Step 1095 ---
qpos:
[ 2.88026216e-03,-5.63516991e-03,-1.02224302e-02, 2.81914418e-03,
 -4.47331793e-03,-5.17543288e-03,-1.77477429e-02, 5.10018293e-03,
 -4.75015325e-03,-3.92894968e-03,-7.81053186e-03,-1.91631640e-02,
  1.25109134e+00, 1.88039849e-02, 1.24287492e+00, 2.50535680e-02,
  9.48976288e-02,-7.00082333e-02, 1.30744136e-01, 9.96767237e-01,
  2.53026035e-04,-6.30609010e-04,-8.03406041e-02]

qacc:
[ -3.63272295, -0.30441852,  0.5058847 ,  2.30701613, -0.3874163 ,
   1.5533831 , -7.82053951, 17.42049615, -2.67859452, -1.96015506,
   8.21502893,-13.59828602, -0.70827912,  0.87555001,  2.12504297,
  -7.48604528,  0.84803672, -0.81952431, -0.22602396,  9.51397679,
  15.0327827 , -0.43444536]

qfrc_actuator:
[-5.28655909e-05,-3.19094418e-04,-2.33932136e-04,-3.97131492e-05,
 -5.94466802e-06,-4.30945446e-04,-3.38984525e-04,-1.23322519e-04,
  2.48743656e-05,-4.04687232e-04,-1.81976265e-04,-8.07491739e-05,
  1.23968462e-02,-1.26819231e-03, 7.17495783e-03,-1.69855470e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026773801223552163
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.07333844e-13, -2.07333844e-13,  1.00000000e+00,  4.29873228e-26,
        1.00000000e+00,  2.07333844e-13, -1.00000000e+00,  0.00000000e+00,
        2.07333844e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08409763, -0.05626083,  0.06199173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.14148083e-05, 2.73470737e-05, 2.50368393e-05, 1.21791907e-05,
 -2.26087752e-06,-1.45020135e-06,-8.31700050e-06, 2.71784888e-05,
 -1.58334344e-05, 2.38419173e-05, 3.63369678e-05,-1.08042829e-05,
 -5.73403788e-05, 3.14965351e-06,-1.94657244e-05,-4.13740540e-05,
 -1.69705312e-06,-5.45705606e-06,-1.21645049e+00,-1.78823113e-03,
 -2.95710892e-04, 3.03662408e-06]


--- Step 1096 ---
qpos:
[ 2.87939850e-03,-5.63422002e-03,-1.02215137e-02, 2.81973533e-03,
 -4.47311575e-03,-5.17520205e-03,-1.77476298e-02, 5.09996198e-03,
 -4.75019939e-03,-3.93043767e-03,-7.80965869e-03,-1.91628221e-02,
  1.25140971e+00, 1.88053759e-02, 1.24316365e+00, 2.50523750e-02,
  9.49205168e-02,-7.00192112e-02, 1.30745581e-01, 9.96761779e-01,
  3.08328029e-04,-4.50435933e-04,-8.04093176e-02]

qacc:
[-5.20367918,-1.8429684 , 6.42794805,-6.15445911, 2.80309035, 0.20295714,
 -4.27733702,15.93909784, 1.34515288, 0.92620773,-2.14521867, 0.1535205 ,
 -0.96362188, 1.44849188,-4.79410386,15.57761262, 0.8525404 ,-0.81684249,
 -0.25979006, 9.49810532,14.91171587,-0.45676074]

qfrc_actuator:
[-8.30013549e-05,-2.98982727e-04,-1.87824354e-04,-3.33671009e-05,
  1.05677310e-05,-4.61076111e-04,-3.29523029e-04,-8.97241905e-05,
  3.33277888e-05,-3.92148415e-04,-1.98885638e-04,-8.81071741e-05,
  1.23694489e-02,-1.21730786e-03, 7.14775672e-03,-1.63017703e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026075781858320157
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.19325907e-13, -4.25767876e-13,  1.00000000e+00,  1.35958713e-25,
        1.00000000e+00,  4.25767876e-13, -1.00000000e+00,  0.00000000e+00,
        3.19325907e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08409735, -0.05625941,  0.06199194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.07426501e-05, 4.10586347e-05, 5.52508397e-05, 8.61891427e-06,
  1.64462833e-05,-3.15128797e-05, 9.07512016e-06, 3.37785391e-05,
  8.00407824e-06, 3.29586992e-05,-7.87621298e-06,-5.28904069e-06,
 -5.67015123e-05, 3.87638418e-05,-4.73090150e-05, 6.21061197e-05,
 -3.72932877e-06,-6.62060534e-06,-1.21645702e+00,-1.78899360e-03,
 -2.97478903e-04, 3.27744997e-06]


--- Step 1097 ---
qpos:
[ 2.87818013e-03,-5.63319973e-03,-1.02199769e-02, 2.82041678e-03,
 -4.47271712e-03,-5.17543409e-03,-1.77473016e-02, 5.10016462e-03,
 -4.75048896e-03,-3.93152507e-03,-7.80957684e-03,-1.91628890e-02,
  1.25172753e+00, 1.88071548e-02, 1.24345168e+00, 2.50516830e-02,
  9.49405513e-02,-7.00228520e-02, 1.30746769e-01, 9.96756253e-01,
  3.16813875e-04,-3.02194210e-04,-8.04784411e-02]

qacc:
[ -3.08423883, -1.44859606,  4.92921937, -4.42129943,  1.72804541,
  -0.3435664 , -1.4564298 ,  8.79029586, -2.16312044,  1.90353421,
  -4.28723617, -1.82237878, -0.60746715,  0.80503035, -2.48770951,
   7.35782755, -0.71334722,  1.83426649, -0.06448089,-22.04856718,
 -17.79628219, -0.19155033]

qfrc_actuator:
[-1.00378839e-04,-3.05124233e-04,-1.61002267e-04,-2.98532764e-05,
  2.02024473e-05,-4.96792853e-04,-3.24050975e-04,-6.98867086e-05,
  2.05725024e-05,-3.84226475e-04,-2.44723430e-04,-1.10335484e-04,
  1.23362627e-02,-1.20557489e-03, 7.11042683e-03,-1.60719821e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41596747,  1.98625794, -3.94405224,  1.98625794, 20.82273992,
        8.26258884, -3.94405224,  8.26258884,  8.57707682,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025834099602284333
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.67871486e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.67871486e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10460758, -0.09501776,  0.06199202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.82484948e-05, 2.85459293e-05, 4.23857925e-05, 7.34863772e-06,
  1.00934239e-05,-5.00203418e-05, 1.24584238e-06, 1.94578675e-05,
 -1.25184257e-05, 2.45445382e-05,-4.01773925e-05,-2.11920618e-05,
 -5.38997336e-05, 1.00223385e-05,-5.70359972e-05, 1.92857660e-05,
 -6.02472356e-06,-7.60258285e-06,-1.21646544e+00,-1.79005282e-03,
 -2.99688861e-04, 3.70688831e-06]


--- Step 1098 ---
qpos:
[ 2.87676258e-03,-5.63202032e-03,-1.02183646e-02, 2.82081657e-03,
 -4.47255076e-03,-5.17619636e-03,-1.77467980e-02, 5.09992481e-03,
 -4.75058384e-03,-3.93286237e-03,-7.80924043e-03,-1.91632099e-02,
  1.25204504e+00, 1.88086156e-02, 1.24373956e+00, 2.50475512e-02,
  9.49576927e-02,-7.00193110e-02, 1.30747199e-01, 9.96750632e-01,
  2.78752394e-04,-1.84846103e-04,-8.05485297e-02]

qacc:
[ -1.74283965, -0.5773908 ,  3.55858383, -8.67713366, -2.01128835,
  -2.09739439,  8.33677507,-15.89323974,  1.71654497, -1.56857762,
   6.17781887,-10.78617313, -0.29404563,  0.06549174, 10.23455175,
 -36.04155128, -0.72329141,  1.79544257, -0.18931112,-21.95516485,
 -17.26989801, -0.47292331]

qfrc_actuator:
[-1.10105166e-04,-3.09259482e-04,-1.63648520e-04,-4.58243738e-05,
  7.95332543e-06,-5.35604986e-04,-3.21028031e-04,-9.38246952e-05,
  3.09338556e-05,-4.14783971e-04,-2.36278791e-04,-1.23400424e-04,
  1.23102654e-02,-1.23498462e-03, 7.08834920e-03,-1.78871360e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42328442, -1.8905439 ,  3.99891096, -1.8905439 , 11.17688104,
        3.19286201,  3.99891096,  3.19286201,  5.93275684,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026103639799017475
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.1930227e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.1930227e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10460352, -0.09501884,  0.06199193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02448958e-05, 2.08387325e-05, 8.69583469e-06,-1.31445033e-05,
 -1.19780821e-05,-6.56845387e-05,-6.48378004e-06,-2.56603593e-05,
  1.00115530e-05,-2.60049637e-05, 7.84469466e-06,-1.38136527e-05,
 -5.24109461e-05,-3.85402173e-05,-5.03906109e-05,-1.88710639e-04,
 -1.68972919e-06,-6.96637572e-06,-1.21645529e+00,-1.78952597e-03,
 -3.03326055e-04, 1.15424783e-06]


--- Step 1099 ---
qpos:
[ 2.87558390e-03,-5.63037184e-03,-1.02171989e-02, 2.82101857e-03,
 -4.47287757e-03,-5.17704527e-03,-1.77467259e-02, 5.09938539e-03,
 -4.74986423e-03,-3.93439850e-03,-7.80854536e-03,-1.91633534e-02,
  1.25236236e+00, 1.88090469e-02, 1.24402668e+00, 2.50403219e-02,
  9.49719117e-02,-7.00087136e-02, 1.30746452e-01, 9.96744885e-01,
  1.94374469e-04,-9.75561534e-05,-8.06200201e-02]

qacc:
[  2.06733889,  1.45678783, -3.46689411,  0.42060682, -4.31316447,
   0.48259521, -0.60772935, -3.83928811,  7.14534282, -0.91381862,
   2.10438747,  0.56403362,  0.33226244, -1.09951132,  8.20572796,
 -30.46334611, -0.73059659,  1.76409421, -0.29414053,-21.87251426,
 -16.84581179, -0.69521085]

qfrc_actuator:
[-9.75017942e-05,-2.76802607e-04,-1.83679110e-04,-5.53979544e-05,
 -1.70759686e-05,-5.22763958e-04,-3.37273563e-04,-1.07826089e-04,
  7.25770709e-05,-4.14680972e-04,-2.13746677e-04,-1.13205961e-04,
  1.22779269e-02,-1.30628180e-03, 7.03811776e-03,-1.94716414e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42456354, -1.81685925,  4.03432584, -1.81685925, 14.63666144,
        4.59901983,  4.03432584,  4.59901983,  6.49573281,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026150391747473134
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.6336424e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        6.6336424e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10460057, -0.09502038,  0.06199192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23125605e-05, 4.52814001e-05,-1.51415966e-05,-8.64205959e-06,
 -2.53942674e-05,-2.63098156e-05,-3.14951886e-05,-1.75378582e-05,
  4.19163467e-05,-1.33617447e-05, 1.76611240e-05, 9.08576608e-06,
 -7.01106625e-05,-9.36906943e-05,-9.95444404e-05,-1.76588925e-04,
  2.16142255e-06,-5.51095024e-06,-1.21645029e+00,-1.78834404e-03,
 -3.06463653e-04,-5.33474634e-07]


--- Step 1100 ---
qpos:
[ 2.87491027e-03,-5.62835344e-03,-1.02168346e-02, 2.82114179e-03,
 -4.47350203e-03,-5.17794210e-03,-1.77469423e-02, 5.09901233e-03,
 -4.74899634e-03,-3.93561394e-03,-7.80806585e-03,-1.91637465e-02,
  1.25267909e+00, 1.88089628e-02, 1.24431256e+00, 2.50322389e-02,
  9.49831870e-02,-6.99911606e-02, 1.30744177e-01, 9.96738979e-01,
  6.38734095e-05,-3.96533747e-05,-8.06932551e-02]

qacc:
[  4.38613565,  2.55789331, -8.09317222,  7.75509333, -2.60384956,
   1.09003844, -4.6722561 ,  8.03900092,  1.28562866,  0.50963177,
  -0.15400994, -4.05015535, -0.10401978, -0.37267305,  0.73959223,
  -5.27172886, -0.7359494 ,  1.73890184, -0.38212936,-21.8019717 ,
 -16.50515732, -0.87072608]

qfrc_actuator:
[-7.18589955e-05,-2.76021948e-04,-2.31401033e-04,-6.11042284e-05,
 -3.16669096e-05,-5.14667793e-04,-3.46790810e-04,-9.80787604e-05,
  7.90338201e-05,-3.78380159e-04,-2.18473266e-04,-1.24890981e-04,
  1.22417850e-02,-1.33086228e-03, 6.98703197e-03,-1.98422644e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42099029, -1.72266051,  4.07155939, -1.72266051, 19.28273388,
        6.28794434,  4.07155939,  6.28794434,  7.08139441,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000260195163137647
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.00030804e-14, -4.26688571e-13,  1.00000000e+00,  2.56026286e-26,
        1.00000000e+00,  4.26688571e-13, -1.00000000e+00,  0.00000000e+00,
        6.00030804e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1045985 , -0.09502229,  0.06199196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.60050387e-05, 2.25384764e-05,-4.05654445e-05,-4.46528667e-06,
 -1.53261133e-05,-1.38504203e-05,-1.94268653e-05, 7.19279849e-06,
  7.64383655e-06, 3.29306042e-05,-4.98762324e-06,-1.14686973e-05,
 -9.68408921e-05,-6.65392913e-05,-1.18775803e-04,-6.01767885e-05,
  5.61497117e-06,-3.20299536e-06,-1.21645022e+00,-1.78649382e-03,
 -3.09143561e-04,-1.39504336e-06]


--- Step 1101 ---
qpos:
[ 2.87420454e-03,-5.62625049e-03,-1.02172128e-02, 2.82088378e-03,
 -4.47429646e-03,-5.17938190e-03,-1.77467759e-02, 5.09843064e-03,
 -4.74840231e-03,-3.93670710e-03,-7.80729572e-03,-1.91646318e-02,
  1.25299491e+00, 1.88090875e-02, 1.24459719e+00, 2.50253613e-02,
  9.49915027e-02,-6.99667325e-02, 1.30740078e-01, 9.96732881e-01,
 -1.12593901e-04,-1.06009094e-05,-8.07685031e-02]

qacc:
[ -0.30569396,  1.40234195, -3.22779577, -2.24577581, -1.46112194,
  -2.21306275,  7.73585174,-11.56553516, -2.39073464, -1.65993774,
   8.2345854 ,-17.30668307, -0.68031128,  0.67122557, -5.43670969,
  16.48962733, -0.73987558,  1.71878634, -0.45596676,-21.74419851,
 -16.23276732, -1.00914507]

qfrc_actuator:
[-7.42595193e-05,-2.94335502e-04,-2.77451711e-04,-8.22826391e-05,
 -3.99930997e-05,-5.62680513e-04,-3.34488908e-04,-1.09933585e-04,
  6.47191231e-05,-3.74058542e-04,-2.03619059e-04,-1.49347573e-04,
  1.22034033e-02,-1.30976253e-03, 6.95148188e-03,-1.91395517e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41366718, -1.60488507,  4.11154495, -1.60488507, 25.50401086,
        8.23232583,  4.11154495,  8.23232583,  7.62704243,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002574861035272713
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.73715378e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.73715378e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10459711, -0.0950245 ,  0.06199204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.65434914e-06,-1.43468312e-05,-4.65748170e-05,-2.17098695e-05,
 -8.76990175e-06,-5.94315586e-05, 7.31141871e-06,-1.29765770e-05,
 -1.40876713e-05, 2.12596182e-05, 2.06547647e-05,-2.34398225e-05,
 -1.06211657e-04,-1.94163794e-05,-9.82474652e-05, 5.13989531e-05,
  8.73506362e-06,-2.17042607e-08,-1.21645493e+00,-1.78396597e-03,
 -3.11397199e-04,-1.45986627e-06]


--- Step 1102 ---
qpos:
[ 2.87347578e-03,-5.62438441e-03,-1.02174597e-02, 2.82000979e-03,
 -4.47518491e-03,-5.18093801e-03,-1.77468956e-02, 5.09770331e-03,
 -4.74832922e-03,-3.93778770e-03,-7.80658657e-03,-1.91654192e-02,
  1.25331011e+00, 1.88088789e-02, 1.24488117e+00, 2.50195724e-02,
  9.49970642e-02,-6.99481671e-02, 1.30738090e-01, 9.96727030e-01,
 -2.45038687e-04, 9.70234071e-06,-8.08403781e-02]

qacc:
[ -0.193574  , -1.94823861,  9.09306552,-19.78997348, -0.82707522,
   0.34689192, -0.84239611, -1.13839647, -4.56260032,  0.3977349 ,
  -1.79128478,  3.55628851, -0.13805517, -0.22790262, -4.26416126,
  13.51308523, -0.68855232, -1.4656665 ,  0.52768471, 22.2927115 ,
  -2.58268719,  1.69026657]

qfrc_actuator:
[-7.53982829e-05,-3.06215539e-04,-2.68980104e-04,-1.12410383e-04,
 -4.45690683e-05,-5.55081173e-04,-3.45156548e-04,-1.16688633e-04,
  3.83043773e-05,-3.88854308e-04,-2.12941579e-04,-1.45619456e-04,
  1.21743803e-02,-1.33278301e-03, 6.94660151e-03,-1.85201200e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43125217, -0.2890899 ,  4.42181216, -0.2890899 , 26.3750353 ,
        1.43464398,  4.42181216,  1.43464398,  4.52504654,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002639311949452633
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.20648656e-13,  2.10324328e-13,  1.00000000e+00, -8.84726459e-26,
        1.00000000e+00, -2.10324328e-13, -1.00000000e+00,  0.00000000e+00,
        4.20648656e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10214681, -0.04707396,  0.06199184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.19449370e-06,-3.05228914e-05,-9.98713751e-07,-3.27797211e-05,
 -4.84787344e-06,-2.46316102e-05,-2.24748755e-05,-9.29642295e-06,
 -2.68123379e-05, 3.84295255e-07,-3.19166232e-06, 4.90021334e-06,
 -8.96784552e-05,-5.26166805e-05,-4.68403988e-05, 5.16826034e-05,
  1.15695335e-05, 4.04477038e-06,-1.21646428e+00,-1.78075374e-03,
 -3.13248043e-04,-7.49881087e-07]


--- Step 1103 ---
qpos:
[ 2.87308396e-03,-5.62297008e-03,-1.02172549e-02, 2.81913202e-03,
 -4.47577683e-03,-5.18225139e-03,-1.77473658e-02, 5.09720375e-03,
 -4.74857354e-03,-3.93870737e-03,-7.80634515e-03,-1.91658008e-02,
  1.25362490e+00, 1.88080608e-02, 1.24516463e+00, 2.50174706e-02,
  9.50000256e-02,-6.99353589e-02, 1.30737459e-01, 9.96721405e-01,
 -3.34312742e-04, 2.06079407e-05,-8.09093891e-02]

qacc:
[  2.9690547 , -1.87320024,  5.81861255, -6.26324286,  2.57112098,
   1.76414012, -6.7953979 , 11.12999763, -2.79604078,  2.361452  ,
  -9.81069998, 17.44360072,  0.41594738, -1.00005888,-12.00770839,
  40.71891195, -0.65001972, -1.43931755,  0.33942627, 21.89458578,
  -2.93882882,  1.43541081]

qfrc_actuator:
[-5.80235946e-05,-3.31700507e-04,-2.46124505e-04,-1.12015207e-04,
 -2.91502163e-05,-5.14324072e-04,-3.51337719e-04,-1.02610706e-04,
  2.27388530e-05,-3.79554434e-04,-2.36534800e-04,-1.25373776e-04,
  1.21616301e-02,-1.36406452e-03, 6.96011420e-03,-1.65341008e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45508761, -0.68508998, -4.40209693, -0.68508998,  8.65231056,
       -0.65320583, -4.40209693, -0.65320583,  4.55674479,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002723533032174541
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10215049, -0.04707714,  0.06199159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73258155e-05,-4.42250665e-05, 1.52773610e-05,-1.58666234e-06,
  1.52725740e-05, 2.20007274e-05,-1.43376222e-05, 1.20694490e-05,
 -1.63340097e-05, 9.08887285e-06,-2.37301452e-05, 2.02508313e-05,
 -7.18168963e-05,-6.69528474e-05,-6.87136260e-06, 1.94460285e-04,
  8.05192075e-06, 2.34042817e-06,-1.21645355e+00,-1.77863681e-03,
 -3.11655797e-04,-4.88704710e-07]


--- Step 1104 ---
qpos:
[ 2.87255850e-03,-5.62200693e-03,-1.02170400e-02, 2.81864178e-03,
 -4.47617945e-03,-5.18328116e-03,-1.77479999e-02, 5.09720296e-03,
 -4.74865791e-03,-3.93951725e-03,-7.80639154e-03,-1.91659427e-02,
  1.25393911e+00, 1.88070874e-02, 1.24544796e+00, 2.50170765e-02,
  9.50005103e-02,-6.99282199e-02, 1.30737553e-01, 9.96715983e-01,
 -3.81123841e-04, 2.16145091e-05,-8.09759388e-02]

qacc:
[-1.16070527e+00, 1.75905508e-01,-3.12415674e+00, 1.01423490e+01,
  1.64120540e+00, 1.85593993e+00,-8.18518246e+00, 1.68777617e+01,
  1.38956961e+00, 1.44082716e+00,-5.94113770e+00, 1.04695523e+01,
 -2.19980997e-01,-9.11322490e-03,-5.34611377e+00, 1.84609362e+01,
 -6.19187807e-01,-1.41729484e+00, 1.81094619e-01, 2.15623401e+01,
 -3.21587595e+00, 1.23371310e+00]

qfrc_actuator:
[-6.53968440e-05,-3.65038793e-04,-2.50516738e-04,-9.36720956e-05,
 -1.98400625e-05,-4.89490105e-04,-3.54647922e-04,-7.63481581e-05,
  3.14403498e-05,-3.73703195e-04,-2.50506671e-04,-1.13317171e-04,
  1.21373432e-02,-1.36438786e-03, 6.95271952e-03,-1.57112565e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46951381, -0.74319701, -4.40729077, -0.74319701, 12.10583671,
       -1.28770545, -4.40729077, -1.28770545,  4.68665829,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000277288192230038
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00096493e-13,  2.00192986e-13,  1.00000000e+00, -2.00386159e-26,
        1.00000000e+00, -2.00192986e-13, -1.00000000e+00,  0.00000000e+00,
        1.00096493e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10215359, -0.04707906,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.89854733e-06,-5.50257212e-05,-1.17176606e-05, 1.69436861e-05,
  9.75573712e-06, 3.47520487e-05,-9.31103013e-08, 2.69483860e-05,
  8.23558241e-06, 6.92449299e-06,-1.43074493e-05, 1.20220883e-05,
 -7.63195353e-05,-3.64847496e-05, 5.55907864e-06, 9.09915254e-05,
  5.03404966e-06, 1.33139747e-06,-1.21644606e+00,-1.77718596e-03,
 -3.10162726e-04,-2.91622439e-07]


--- Step 1105 ---
qpos:
[ 2.87160389e-03,-5.62136446e-03,-1.02171750e-02, 2.81803850e-03,
 -4.47646742e-03,-5.18381300e-03,-1.77485278e-02, 5.09781512e-03,
 -4.74863726e-03,-3.94064008e-03,-7.80614854e-03,-1.91659245e-02,
  1.25425258e+00, 1.88063493e-02, 1.24573142e+00, 2.50130648e-02,
  9.49986167e-02,-6.99266769e-02, 1.30737839e-01, 9.96710747e-01,
 -3.86057266e-04, 1.23340528e-05,-8.10403455e-02]

qacc:
[ -3.75939056,  0.32879698, -1.29733141,  0.12253022,  0.99495065,
   1.62090079, -7.41584601, 17.4924116 ,  0.93390578, -0.89453541,
   1.91080523,  0.6302755 , -1.05277288,  1.18528101, 11.26379534,
 -38.84384311, -0.59455752, -1.39899023,  0.0480951 , 21.2865863 ,
  -3.43148936,  1.07392194]

qfrc_actuator:
[-8.72830581e-05,-3.85156324e-04,-2.70996738e-04,-1.00455288e-04,
 -1.42065049e-05,-4.38842715e-04,-3.38529468e-04,-4.31369444e-05,
  3.65990193e-05,-4.05439640e-04,-2.40945911e-04,-1.06170297e-04,
  1.21008396e-02,-1.34634669e-03, 6.91678612e-03,-1.77115891e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47579381, -0.81694636, -4.40060551, -0.81694636, 16.66904117,
       -2.26360419, -4.40060551, -2.26360419,  4.89601853,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027940034172234396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.93398055e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.93398055e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10215623, -0.04707998,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.21059943e-05,-5.26194631e-05,-3.27148652e-05,-9.21769132e-06,
  5.92424156e-06, 7.12641582e-05, 2.42366552e-05, 3.52247789e-05,
  5.39370989e-06,-3.02717707e-05, 9.65468305e-06, 7.18433731e-06,
 -8.37903948e-05,-1.03682505e-05,-3.03375217e-05,-1.95844453e-04,
  2.45500586e-06, 9.69668985e-07,-1.21644164e+00,-1.77639320e-03,
 -3.08720856e-04,-1.77947801e-07]


--- Step 1106 ---
qpos:
[ 2.87073903e-03,-5.62087636e-03,-1.02176548e-02, 2.81733696e-03,
 -4.47668573e-03,-5.18357813e-03,-1.77492694e-02, 5.09880728e-03,
 -4.74820987e-03,-3.94221604e-03,-7.80568665e-03,-1.91657972e-02,
  1.25456527e+00, 1.88058481e-02, 1.24601495e+00, 2.50062849e-02,
  9.49944235e-02,-6.99306694e-02, 1.30737872e-01, 9.96705676e-01,
 -3.49593797e-04,-7.53431189e-06,-8.11028615e-02]

qacc:
[  0.77685156,  0.55551827, -1.86461882,  0.83185402,  0.58807603,
   2.39129583, -8.6628768 , 15.02093379,  3.57540464, -0.99327012,
   2.20083312, -0.31905473, -0.99396485,  1.11043306,  8.59188336,
 -29.64899563, -0.57492856, -1.38388191, -0.06347117, 21.05940809,
  -3.59949775,  0.94715523]

qfrc_actuator:
[-8.20228204e-05,-3.79538786e-04,-2.83020741e-04,-1.04216057e-04,
 -1.07799640e-05,-3.90787669e-04,-3.46463641e-04,-2.38228477e-05,
  5.73755805e-05,-4.41597234e-04,-2.35480291e-04,-1.01985559e-04,
  1.20623674e-02,-1.33536795e-03, 6.93294677e-03,-1.90515625e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47533493, -0.91009831, -4.38181969, -0.91009831, 22.62179526,
       -3.76899646, -4.38181969, -3.76899646,  5.25815065,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000279246729867455
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.98788903e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.98788903e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10215853, -0.04708009,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.60997744e-06,-3.09848628e-05,-2.72442861e-05,-7.32547011e-06,
  3.61879875e-06, 9.44469506e-05, 1.10007466e-05, 2.38925142e-05,
  2.09160350e-05,-5.07439030e-05, 6.60907869e-07, 3.36395919e-06,
 -8.51809424e-05,-1.08834232e-05,-2.65940464e-05,-1.50357505e-04,
  2.69125452e-07, 1.21975855e-06,-1.21644019e+00,-1.77625155e-03,
 -3.07294378e-04,-1.60882909e-07]


--- Step 1107 ---
qpos:
[ 2.86959879e-03,-5.62059510e-03,-1.02180572e-02, 2.81726332e-03,
 -4.47720569e-03,-5.18305023e-03,-1.77501330e-02, 5.09938767e-03,
 -4.74684716e-03,-3.94396303e-03,-7.80553603e-03,-1.91656199e-02,
  1.25487715e+00, 1.88055520e-02, 1.24629810e+00, 2.49999075e-02,
  9.49879929e-02,-6.99401479e-02, 1.30737276e-01, 9.96700748e-01,
 -2.72124804e-04,-3.82248429e-05,-8.11636867e-02]

qacc:
[-2.40251012, 0.80829507,-5.920814  ,16.80693322,-2.63971936,-0.11477116,
  2.71830954,-9.87520296, 8.18149425, 0.73128067,-3.17350254, 4.69164378,
 -0.73084508, 0.75749795,-1.70525415, 5.33094898,-0.5593389 ,-1.37152156,
 -0.15692129,20.87410578,-3.73071961, 0.84639841]

qfrc_actuator:
[-9.63272180e-05,-3.76270884e-04,-2.72083800e-04,-7.06276934e-05,
 -2.64311520e-05,-4.15766514e-04,-3.68551859e-04,-4.83645235e-05,
  1.04931788e-04,-4.44636905e-04,-2.50269646e-04,-9.95910106e-05,
  1.20174166e-02,-1.32872232e-03, 6.93775849e-03,-1.87466594e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46952821, -1.02710162, -4.34991319, -1.02710162, 30.27966893,
       -6.09429113, -4.34991319, -6.09429113,  5.9085124 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002772930612544716
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.00284206e-13,  2.00189471e-13,  1.00000000e+00, -6.01137364e-26,
        1.00000000e+00, -2.00189471e-13, -1.00000000e+00,  0.00000000e+00,
        3.00284206e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10216055, -0.04707956,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.41829605e-05,-2.00064410e-05, 9.29652660e-07, 3.11769654e-05,
 -1.55159269e-05, 3.11303400e-05,-3.94867446e-07,-1.96506017e-05,
  4.81311494e-05,-3.10747856e-05,-2.50600334e-05, 3.11201522e-07,
 -9.22363304e-05,-1.58110170e-05,-3.11368654e-05, 1.71607636e-05,
 -1.55765611e-06, 2.05593288e-06,-1.21644161e+00,-1.77675497e-03,
 -3.05856518e-04,-2.49406078e-07]


--- Step 1108 ---
qpos:
[ 2.86864105e-03,-5.62078510e-03,-1.02179054e-02, 2.81724784e-03,
 -4.47825367e-03,-5.18278963e-03,-1.77504329e-02, 5.10004072e-03,
 -4.74527005e-03,-3.94561125e-03,-7.80599206e-03,-1.91654295e-02,
  1.25518825e+00, 1.88055817e-02, 1.24658035e+00, 2.49936917e-02,
  9.49793742e-02,-6.99550726e-02, 1.30735741e-01, 9.96695940e-01,
 -1.53964931e-04,-7.99211147e-05,-8.12229799e-02]

qacc:
[ 1.62183866,-2.05499407, 6.17250281,-5.69955586,-4.58254368,-1.76913584,
  5.50467335,-4.9693801 , 1.85614925, 1.84958235,-6.46534546, 7.59229138,
 -0.7565586 , 0.87581377,-1.74638942, 4.36153397,-0.54701683,-1.36152371,
 -0.23508235,20.72499373,-3.83361037, 0.76610966]

qfrc_actuator:
[-8.65358960e-05,-4.09803812e-04,-2.47654472e-04,-6.85745854e-05,
 -5.31855185e-05,-4.48893428e-04,-3.45880942e-04,-4.53219853e-05,
  1.14606597e-04,-4.27906654e-04,-2.76769366e-04,-9.82552803e-05,
  1.19845887e-02,-1.30698698e-03, 6.87721461e-03,-1.87181494e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4596524 , -1.17311053, -4.30259354, -1.17311053, 39.96184207,
       -9.67974137, -4.30259354, -9.67974137,  7.09885279,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027392757594095485
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01324503e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.01324503e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10216236, -0.04707853,  0.06199154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.37717221e-06,-4.31993716e-05, 2.14935000e-05, 1.83612795e-06,
 -2.71874803e-05,-1.66582836e-05, 2.83753950e-05, 3.98027583e-06,
  1.10341316e-05,-5.72703615e-06,-3.59759672e-05,-8.54614403e-07,
 -8.43088268e-05,-4.05967907e-06,-7.89291406e-05,-1.49778180e-06,
 -3.05051890e-06, 3.46023219e-06,-1.21644583e+00,-1.77789840e-03,
 -3.04387209e-04,-4.49613195e-07]


--- Step 1109 ---
qpos:
[ 2.86815287e-03,-5.62142925e-03,-1.02171385e-02, 2.81725085e-03,
 -4.47995953e-03,-5.18227788e-03,-1.77509564e-02, 5.10140370e-03,
 -4.74427889e-03,-3.94701507e-03,-7.80688885e-03,-1.91652552e-02,
  1.25549876e+00, 1.88058070e-02, 1.24686172e+00, 2.49881848e-02,
  9.49693800e-02,-6.99755560e-02, 1.30733111e-01, 9.96691188e-01,
  4.84048504e-06,-1.26873736e-04,-8.12813663e-02]

qacc:
[  4.13434449, -2.28963852,  7.20093062, -7.51552358, -5.74813844,
   2.4291589 ,-11.15776591, 23.59747135, -5.14758744,  1.5318791 ,
  -4.90697627,  5.13195927, -0.47628501,  0.51596749, -3.40140181,
  10.12376008, -0.34387373, -1.38969171, -0.2735694 , 20.4691331 ,
  -0.96888249,  0.45206125]

qfrc_actuator:
[-6.26348772e-05,-4.29564800e-04,-2.15637415e-04,-6.73714234e-05,
 -8.62547670e-05,-4.15455540e-04,-3.50249234e-04,-8.29602210e-06,
  8.41467417e-05,-3.99515849e-04,-2.92122799e-04,-9.75378304e-05,
  1.19643862e-02,-1.29415308e-03, 6.84675340e-03,-1.83220973e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.44626688,  -3.67590588,  -2.50140063,  -3.67590588,
        16.87094474, -18.25854917,  -2.50140063, -18.25854917,
        31.27791766,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00026927676468679933
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.81480089e-07,  2.06149057e-13,  1.00000000e+00, -9.92566666e-20,
        1.00000000e+00, -2.06149057e-13, -1.00000000e+00,  0.00000000e+00,
        4.81480089e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09964841, -0.04678038,  0.06199168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.41534683e-05,-3.93883984e-05, 2.58059608e-05, 1.31618989e-07,
 -3.38557814e-05, 3.01371818e-05,-4.17568248e-06, 3.73714414e-05,
 -3.01509040e-05, 1.77945233e-05,-2.09714230e-05,-7.85056307e-07,
 -6.58656110e-05,-7.25790341e-06,-7.04023623e-05, 2.86454950e-05,
 -4.22778672e-06, 5.42103477e-06,-1.21645280e+00,-1.77967767e-03,
 -3.02871369e-04,-7.65668119e-07]


--- Step 1110 ---
qpos:
[ 2.86795499e-03,-5.62239152e-03,-1.02160300e-02, 2.81761496e-03,
 -4.48170385e-03,-5.18163336e-03,-1.77514938e-02, 5.10320001e-03,
 -4.74331574e-03,-3.94802821e-03,-7.80808606e-03,-1.91651030e-02,
  1.25580868e+00, 1.88062015e-02, 1.24714200e+00, 2.49855081e-02,
  9.49630477e-02,-6.99996577e-02, 1.30730867e-01, 9.96686349e-01,
  1.84581314e-04,-1.45467125e-04,-8.13404386e-02]

qacc:
[  2.55569023, -0.63637453,  0.12616594,  5.82027385, -0.33772933,
   1.10663895, -5.5196419 , 12.94322263, -0.26146236,  1.3113816 ,
  -3.83242713,  3.64287254, -0.26853749,  0.25158638,-10.1733622 ,
  33.28422124,  0.91546227, -0.90454767,  0.09651338,  9.28048888,
  14.98352068, -0.34673195]

qfrc_actuator:
[-4.83807283e-05,-4.40891254e-04,-1.97103074e-04,-4.89091963e-05,
 -8.72666057e-05,-4.13500834e-04,-3.52526624e-04, 1.29484151e-05,
  8.35785575e-05,-3.64313839e-04,-3.00711688e-04,-9.71673692e-05,
  1.19357923e-02,-1.28666032e-03, 6.81306899e-03,-1.68240072e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.43736543,  -3.57695855,  -2.62594354,  -3.57695855,
        14.17861449, -13.26915202,  -2.62594354, -13.26915202,
        22.51209015,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00026612457803729117
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.08590847e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.08590847e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08412415, -0.05623569,  0.06199178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49309594e-05,-2.79921400e-05, 1.35796339e-05, 1.76689144e-05,
 -1.97328637e-06, 1.95186018e-05, 4.72472309e-06, 2.31169290e-05,
 -1.42746406e-06, 4.08410339e-05,-7.49486753e-06, 3.97837419e-07,
 -6.53427504e-05,-9.29322700e-06,-6.62563473e-05, 1.41631098e-04,
 -5.35133551e-06, 7.74105225e-06,-1.21646201e+00,-1.78214776e-03,
 -3.01356781e-04,-9.82183131e-07]


--- Step 1111 ---
qpos:
[ 2.86827442e-03,-5.62329254e-03,-1.02150909e-02, 2.81749327e-03,
 -4.48310201e-03,-5.18106890e-03,-1.77519609e-02, 5.10560414e-03,
 -4.74271206e-03,-3.94883578e-03,-7.80933367e-03,-1.91649413e-02,
  1.25611807e+00, 1.88069050e-02, 1.24742171e+00, 2.49826102e-02,
  9.49538137e-02,-7.00164525e-02, 1.30729433e-01, 9.96681411e-01,
  3.14940335e-04,-1.96933736e-04,-8.14004118e-02]

qacc:
[  4.51829732, -0.45492643,  3.77482367,-11.94004057,  3.02262683,
   0.94364483, -6.09436968, 16.57202719, -3.15194995,  0.43817208,
  -1.19708843,  1.277762  , -0.60310669,  0.75534981, -0.10446801,
  -0.69552911, -0.72539671,  1.82668934,  0.20260375,-23.2721826 ,
 -18.39060513, -0.44635526]

qfrc_actuator:
[-2.21706397e-05,-4.29358713e-04,-2.04383441e-04,-7.36994309e-05,
 -6.94002830e-05,-4.30418110e-04,-3.53669865e-04, 4.24691772e-05,
  6.51165733e-05,-3.60774423e-04,-3.05205885e-04,-9.69927975e-05,
  1.19181619e-02,-1.26467127e-03, 6.77750157e-03,-1.69965863e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46043352,  2.30588999, -3.81815905,  2.30588999, 21.57592818,
       10.33651225, -3.81815905, 10.33651225, 10.70293411,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027419576743253904
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.32658736e-15, -2.02450795e-13,  1.00000000e+00,  1.28082264e-27,
        1.00000000e+00,  2.02450795e-13, -1.00000000e+00,  0.00000000e+00,
        6.32658736e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10455781, -0.09502323,  0.06199153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.66276318e-05,-5.31783340e-07,-1.07812136e-05,-2.51775237e-05,
  1.78154100e-05,-4.05810630e-06, 4.26510074e-06, 3.09663037e-05,
 -1.84926113e-05, 2.48994205e-05, 3.05845955e-06, 1.67687043e-06,
 -5.40774949e-05, 4.50405905e-06,-5.32677853e-05,-1.85303105e-05,
 -7.11200051e-06, 7.99565167e-06,-1.21646580e+00,-1.78524888e-03,
 -3.00761005e-04, 3.11837456e-07]


--- Step 1112 ---
qpos:
[ 2.86856065e-03,-5.62396276e-03,-1.02143516e-02, 2.81705561e-03,
 -4.48427528e-03,-5.18043991e-03,-1.77524542e-02, 5.10798622e-03,
 -4.74267939e-03,-3.94949877e-03,-7.81004279e-03,-1.91648119e-02,
  1.25642712e+00, 1.88078017e-02, 1.24770144e+00, 2.49748095e-02,
  9.49416416e-02,-7.00260837e-02, 1.30728131e-01, 9.96676353e-01,
  3.96693053e-04,-2.80094076e-04,-8.14617142e-02]

qacc:
[-3.00837988e-01, 2.13210787e-01, 1.01706406e+00,-6.33660808e+00,
  1.95932824e+00, 1.08950230e-01,-1.78315752e-01,-2.01828828e-01,
 -4.98443810e+00,-1.37102178e+00, 5.31758917e+00,-6.85951960e+00,
 -8.04025134e-01, 9.77740239e-01, 1.49826132e+01,-5.21251853e+01,
 -7.34561158e-01, 1.79091973e+00, 3.27033689e-02,-2.29326699e+01,
 -1.77727828e+01,-6.57436793e-01]

qfrc_actuator:
[-2.46353732e-05,-4.04362890e-04,-2.09025641e-04,-8.82334070e-05,
 -5.83289150e-05,-4.22993596e-04,-3.54211021e-04, 4.11026640e-05,
  3.62609544e-05,-3.40698461e-04,-2.71867859e-04,-9.69583819e-05,
  1.19071257e-02,-1.25194466e-03, 6.75677377e-03,-1.95725824e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47985814, -0.31028414,  4.46909976, -0.31028414,  9.45465245,
        0.3453939 ,  4.46909976,  0.3453939 ,  4.50383841,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028075598424627535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.32513108e-14, -3.95440556e-13,  1.00000000e+00, -1.71033224e-26,
        1.00000000e+00,  3.95440556e-13, -1.00000000e+00,  0.00000000e+00,
       -4.32513108e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1045531 , -0.09502121,  0.06199133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.70045882e-06, 2.14229302e-05,-6.95281899e-06,-1.54208544e-05,
  1.15792219e-05, 7.34874401e-06, 2.10452396e-07,-7.96405093e-07,
 -2.93790319e-05, 3.47420250e-05, 3.89405637e-05, 1.24431668e-06,
 -3.88549418e-05, 2.02735355e-06,-5.16841229e-05,-2.66448728e-04,
 -4.45940127e-06, 6.48168503e-06,-1.21645599e+00,-1.78685896e-03,
 -3.01296406e-04,-5.95764323e-07]


--- Step 1113 ---
qpos:
[ 2.86847062e-03,-5.62459262e-03,-1.02136600e-02, 2.81715149e-03,
 -4.48496183e-03,-5.17957104e-03,-1.77530172e-02, 5.10996830e-03,
 -4.74299333e-03,-3.94970595e-03,-7.81019242e-03,-1.91647256e-02,
  1.25673568e+00, 1.88087105e-02, 1.24798067e+00, 2.49646182e-02,
  9.49265036e-02,-7.00286695e-02, 1.30726386e-01, 9.96671153e-01,
  4.30488237e-04,-3.94003027e-04,-8.15246734e-02]

qacc:
[ -3.29301647,  1.292272  , -6.77118324, 16.03948295,  4.23810318,
  -0.32017634,  3.27587627,-10.24834454, -3.02461553, -1.0440827 ,
   4.78697082, -6.76846443, -0.54118126,  0.51329522,  6.5560907 ,
 -23.87268453, -0.74145421,  1.76135368, -0.11045224,-22.64685666,
 -17.276907  , -0.81871225]

qfrc_actuator:
[-4.39614117e-05,-4.06988431e-04,-2.11986835e-04,-6.10838890e-05,
 -3.35990909e-05,-4.01076562e-04,-3.54322737e-04, 2.15905241e-05,
  1.92771210e-05,-2.92969165e-04,-2.34151861e-04,-9.69700791e-05,
  1.18680944e-02,-1.26253597e-03, 6.74491712e-03,-2.07025089e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48995179, -0.22497928,  4.4843117 , -0.22497928, 13.44515836,
        0.44928543,  4.4843117 ,  0.44928543,  4.51249258,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028408520566232387
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.10634923e-15, -3.90806351e-13,  1.00000000e+00,  2.38640006e-27,
        1.00000000e+00,  3.90806351e-13, -1.00000000e+00,  0.00000000e+00,
        6.10634923e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10454967, -0.09502038,  0.06199122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93647907e-05, 7.27241637e-06, 7.37983496e-08, 2.75275203e-05,
  2.50643650e-05, 2.60173867e-05, 1.39711980e-06,-1.92116203e-05,
 -1.78151337e-05, 7.52748987e-05, 4.97477594e-05, 2.85165772e-06,
 -6.06037950e-05,-1.79939848e-05,-7.06839694e-05,-1.35672511e-04,
 -2.35240203e-06, 6.01328359e-06,-1.21645161e+00,-1.78775728e-03,
 -3.01299471e-04,-5.47108214e-07]


--- Step 1114 ---
qpos:
[ 2.86780477e-03,-5.62520389e-03,-1.02129887e-02, 2.81757278e-03,
 -4.48465660e-03,-5.17860748e-03,-1.77538681e-02, 5.11277093e-03,
 -4.74385364e-03,-3.94938593e-03,-7.80990596e-03,-1.91646413e-02,
  1.25704366e+00, 1.88096025e-02, 1.24825892e+00, 2.49590396e-02,
  9.49083787e-02,-7.00243072e-02, 1.30723718e-01, 9.96665784e-01,
  4.16864963e-04,-5.37906643e-04,-8.15895380e-02]

qacc:
[-5.03750209e+00, 7.60904444e-01,-4.03392377e+00, 9.66573412e+00,
  8.63895075e+00, 2.60197601e+00,-1.25896592e+01, 2.72146469e+01,
 -4.77849887e+00,-5.17212657e-01, 2.87918681e+00,-4.01601853e+00,
 -1.79151135e-02,-1.66480382e-01,-1.54281084e+01, 5.18425700e+01,
 -7.46719358e-01, 1.73702631e+00,-2.30983011e-01,-2.24079910e+01,
 -1.68807393e+01,-9.40553865e-01]

qfrc_actuator:
[-7.30479022e-05,-4.08336024e-04,-2.14011466e-04,-4.51526507e-05,
  1.67266549e-05,-4.06170455e-04,-3.71875426e-04, 6.25882990e-05,
 -8.33226893e-06,-2.64522203e-04,-2.11798093e-04,-9.69858493e-05,
  1.18335927e-02,-1.26926146e-03, 6.75973278e-03,-1.81298812e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49217299, -0.11756564,  4.4906343 , -0.11756564, 18.67968802,
        0.37143178,  4.4906343 ,  0.37143178,  4.50189714,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028481079505429663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.48171332e-14, -1.94905362e-13,  1.00000000e+00,  1.06841532e-26,
        1.00000000e+00,  1.94905362e-13, -1.00000000e+00,  0.00000000e+00,
        5.48171332e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10454724, -0.09502053,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.96373098e-05, 3.92189694e-06, 4.39120440e-07, 1.67816432e-05,
  5.10541096e-05, 8.89964712e-06,-1.26806411e-05, 4.17807431e-05,
 -2.80948013e-05, 8.09393019e-05, 4.41313705e-05, 4.98591044e-06,
 -7.17165714e-05,-2.50862709e-05,-3.67276298e-05, 2.39778472e-04,
 -6.89326781e-07, 6.56747738e-06,-1.21645235e+00,-1.78794405e-03,
 -3.00814846e-04, 3.94647242e-07]


--- Step 1115 ---
qpos:
[ 2.86679516e-03,-5.62555674e-03,-1.02127069e-02, 2.81783124e-03,
 -4.48375013e-03,-5.17782398e-03,-1.77544745e-02, 5.11535084e-03,
 -4.74434834e-03,-3.94867201e-03,-7.80953503e-03,-1.91645160e-02,
  1.25735108e+00, 1.88104214e-02, 1.24853657e+00, 2.49575441e-02,
  9.48872505e-02,-7.00130764e-02, 1.30719720e-01, 9.96660215e-01,
  3.56267180e-04,-7.11207383e-04,-8.16564929e-02]

qacc:
[-3.02362071e+00, 1.10104253e+00,-2.73277353e+00, 3.36797675e-01,
  5.25398850e+00,-1.38976773e+00, 5.53285907e+00,-9.62765457e+00,
  3.19674518e+00, 3.62866617e-01,-7.22486519e-01, 1.01977857e+00,
 -2.20940883e-02,-1.85824724e-01,-1.32906498e+01, 4.51395531e+01,
 -7.50844200e-01, 1.71712632e+00,-3.32397591e-01,-2.22102149e+01,
 -1.65663580e+01,-1.03109772e+00]

qfrc_actuator:
[-8.98879669e-05,-3.91158592e-04,-2.33235339e-04,-5.37103017e-05,
  4.62049496e-05,-4.27421658e-04,-3.64141218e-04, 5.00683234e-05,
  1.12793111e-05,-2.65650980e-04,-2.16514708e-04,-9.70277479e-05,
  1.18071624e-02,-1.27364349e-03, 6.74267995e-03,-1.60590883e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48803551e+00,  1.50171192e-02,  4.48801039e+00,  1.50171192e-02,
        2.54448353e+01, -7.01225561e-02,  4.48801039e+00, -7.01225561e-02,
        4.48827015e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00])
  dim: 3
  dist: -0.0002834572017686027
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.50789015e-14, -5.87508282e-13,  1.00000000e+00,  3.23593108e-26,
        1.00000000e+00,  5.87508282e-13, -1.00000000e+00,  0.00000000e+00,
        5.50789015e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10454562, -0.09502144,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.76853264e-05, 2.01854162e-05,-1.77787498e-05,-8.04749739e-06,
  3.09437848e-05,-1.71171319e-05, 9.44653913e-06,-1.17729470e-05,
  1.88368297e-05, 5.34329380e-05, 1.76016431e-05, 5.04777524e-06,
 -6.88734068e-05,-2.83663370e-05,-1.12401553e-05, 2.14852386e-04,
  6.04902169e-07, 8.12126209e-06,-1.21645797e+00,-1.78742080e-03,
 -2.99875407e-04, 2.18222771e-06]


--- Step 1116 ---
qpos:
[ 2.86524639e-03,-5.62562152e-03,-1.02129636e-02, 2.81764652e-03,
 -4.48318664e-03,-5.17718101e-03,-1.77549165e-02, 5.11672549e-03,
 -4.74460407e-03,-3.94781515e-03,-7.80936939e-03,-1.91639933e-02,
  1.25765819e+00, 1.88106366e-02, 1.24881406e+00, 2.49552400e-02,
  9.48703779e-02,-7.00025811e-02, 1.30718484e-01, 9.96654721e-01,
  2.94221943e-04,-8.50049524e-04,-8.17224408e-02]

qacc:
[ -4.7382214 ,  0.98208803, -1.06258478, -5.97547756, -2.98430184,
  -3.12031332, 15.95492428,-36.98637889,  2.0832454 ,  1.57730184,
  -7.03092903, 14.13135344,  0.09447886, -0.58155747,  2.20145674,
  -8.08344128,  1.06391495, -0.18389882,  0.69043275, -2.12784928,
  17.11286719,  0.49932078]

qfrc_actuator:
[-1.17134540e-04,-3.80866043e-04,-2.62401232e-04,-7.66032143e-05,
  2.76633222e-05,-4.40377745e-04,-3.59404852e-04,-1.15998874e-05,
  2.30247615e-05,-2.84602790e-04,-2.37296366e-04,-7.93750172e-05,
  1.17855928e-02,-1.31206167e-03, 6.70650870e-03,-1.66103916e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49642467, -2.68977446,  3.60318584, -2.68977446, 20.8383699 ,
       12.19924499,  3.60318584, 12.19924499, 13.60314828,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002861927454624047
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.93964215e-13, -1.93964215e-13,  1.00000000e+00,  3.76221167e-26,
        1.00000000e+00,  1.93964215e-13, -1.00000000e+00,  0.00000000e+00,
        1.93964215e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08193757, -0.06753081,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.77431701e-05, 1.75690593e-05,-2.74627965e-05,-2.27993591e-05,
 -1.76604004e-05,-2.10974700e-05, 1.94803848e-06,-6.23112884e-05,
  1.23037830e-05, 1.47538101e-05,-7.41717702e-06, 2.06447085e-05,
 -6.29385456e-05,-6.28598813e-05,-2.28126010e-05,-4.58082677e-05,
  1.58583536e-06, 1.06522881e-05,-1.21646831e+00,-1.78618973e-03,
 -2.98505143e-04, 4.78070618e-06]


--- Step 1117 ---
qpos:
[ 2.86338324e-03,-5.62589140e-03,-1.02130871e-02, 2.81686085e-03,
 -4.48284943e-03,-5.17677361e-03,-1.77550004e-02, 5.11769473e-03,
 -4.74506174e-03,-3.94672023e-03,-7.80973419e-03,-1.91635974e-02,
  1.25796482e+00, 1.88104191e-02, 1.24909165e+00, 2.49499321e-02,
  9.48577334e-02,-6.99927435e-02, 1.30719334e-01, 9.96649301e-01,
  2.31082437e-04,-9.55348140e-04,-8.17875586e-02]

qacc:
[-2.74251944e+00,-1.87556092e+00, 8.83995463e+00,-1.93122160e+01,
 -1.95842851e+00,-2.14225160e+00, 8.90519391e+00,-1.63291421e+01,
 -1.78864553e+00, 1.53984387e+00,-4.49270719e+00, 2.96564840e+00,
 -3.43901833e-01,-2.16559763e-04, 9.25784678e+00,-3.21256697e+01,
  1.05703001e+00,-1.64401166e-01, 5.21600956e-01,-1.91559163e+00,
  1.66710961e+01, 4.12125399e-01]

qfrc_actuator:
[-1.32539472e-04,-4.10342710e-04,-2.61722413e-04,-1.07751795e-04,
  1.65187414e-05,-4.48324270e-04,-3.38732261e-04,-3.06748902e-05,
  1.22783198e-05,-2.78649754e-04,-2.67461072e-04,-8.69834978e-05,
  1.17562861e-02,-1.33483647e-03, 6.70145328e-03,-1.81697906e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5122454 ,  3.28037216, -3.09830874,  3.28037216,  8.86646806,
        4.61008634, -3.09830874,  4.61008634,  9.39323052,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002912570904226863
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.90591587e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.90591587e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194036, -0.06752872,  0.061991  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61891821e-05,-2.63005596e-05, 1.43065752e-07,-3.17872813e-05,
 -1.16557125e-05,-2.20388797e-05, 1.43938355e-05,-2.11271106e-05,
 -1.03874971e-05, 1.35247919e-05,-2.73305247e-05,-6.83531993e-06,
 -7.70056324e-05,-5.51825113e-05,-2.62953447e-05,-1.62697312e-04,
  1.97269753e-06, 8.67491853e-06,-1.21645963e+00,-1.78590100e-03,
 -2.96413614e-04, 4.98958983e-06]


--- Step 1118 ---
qpos:
[ 2.86169455e-03,-5.62627298e-03,-1.02132518e-02, 2.81605372e-03,
 -4.48230402e-03,-5.17615326e-03,-1.77553311e-02, 5.11875674e-03,
 -4.74529950e-03,-3.94556254e-03,-7.81011431e-03,-1.91636540e-02,
  1.25827081e+00, 1.88101671e-02, 1.24936882e+00, 2.49434622e-02,
  9.48484959e-02,-6.99865397e-02, 1.30721517e-01, 9.96643874e-01,
  1.89772010e-04,-1.02948538e-03,-8.18528701e-02]

qacc:
[  1.52658868, -0.07989974,  0.15617028, -0.37422891,  1.80449111,
   1.15801046, -4.11862749,  5.96912314,  1.92342512, -0.81018423,
   4.90964438,-12.7490628 , -0.55895201,  0.45255817,  2.97629136,
 -11.14686387,  0.85173734, -0.90845643,  0.33336417,  9.60357005,
  16.42113126, -0.11077045]

qfrc_actuator:
[-1.23095918e-04,-4.10045063e-04,-2.61345600e-04,-1.08013476e-04,
  2.75855127e-05,-4.17608538e-04,-3.44262612e-04,-2.45117157e-05,
  2.38873195e-05,-2.75658740e-04,-2.67343084e-04,-1.09383563e-04,
  1.17276889e-02,-1.33040208e-03, 6.68842250e-03,-1.87111222e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52035619,  2.70055404,  3.62500041,  2.70055404, 13.67846836,
       -6.82261352,  3.62500041, -6.82261352,  9.60306914,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029380730423525514
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.44686371e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.44686371e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08414713, -0.05622544,  0.06199092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.97412137e-06,-1.57288861e-05,-6.12919077e-06,-1.99864290e-06,
  1.07252363e-05, 2.04394928e-05,-9.04591532e-06, 5.30341814e-06,
  1.13216319e-05, 4.57501197e-06,-7.00613983e-07,-2.29017130e-05,
 -8.21412661e-05,-2.88458686e-05,-4.96152645e-05,-6.79964699e-05,
  2.32714246e-06, 6.81361740e-06,-1.21645293e+00,-1.78552703e-03,
 -2.94819858e-04, 5.01292913e-06]


--- Step 1119 ---
qpos:
[ 2.86047680e-03,-5.62664116e-03,-1.02132034e-02, 2.81521546e-03,
 -4.48197521e-03,-5.17524896e-03,-1.77561109e-02, 5.12057938e-03,
 -4.74608595e-03,-3.94461566e-03,-7.81011886e-03,-1.91636252e-02,
  1.25857608e+00, 1.88101795e-02, 1.24964469e+00, 2.49388018e-02,
  9.48426756e-02,-6.99838901e-02, 1.30724523e-01, 9.96638433e-01,
  1.70189186e-04,-1.07329370e-03,-8.19185804e-02]

qacc:
[  4.12583851, -0.64971907,  2.45972423, -3.33379286, -1.90741332,
   3.19956488,-14.06912115, 27.73763512, -4.78805752, -1.14340516,
   3.32850061, -2.31461357, -0.49727791,  0.54610824, -7.36503655,
  23.07536486,  0.85429982, -0.88856155,  0.20556912,  9.58588295,
  16.00275363, -0.21344199]

qfrc_actuator:
[-9.91063507e-05,-3.91894195e-04,-2.43276357e-04,-1.07834751e-04,
  1.61298516e-05,-3.99555005e-04,-3.65053159e-04, 1.42109947e-05,
 -4.68938967e-06,-2.92117497e-04,-2.49358412e-04,-1.04776810e-04,
  1.16995501e-02,-1.30986736e-03, 6.62804121e-03,-1.77603852e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52239592,  1.6229119 , -4.22116356,  1.6229119 , 17.12873246,
        4.84676163, -4.22116356,  4.84676163,  6.38583168,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029444386457481986
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.42644047e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.42644047e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0841495 , -0.05622443,  0.0619909 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.42424458e-05, 8.02959801e-06, 1.40057516e-05,-7.43220780e-07,
 -1.11409163e-05, 2.78246772e-05,-1.75058431e-05, 3.93851439e-05,
 -2.82475427e-05,-1.50600646e-05, 1.80412873e-05, 4.33041520e-06,
 -7.81663934e-05,-6.32872875e-06,-9.57625511e-05, 8.38215791e-05,
  1.79830528e-06, 4.80339122e-06,-1.21644646e+00,-1.78542327e-03,
 -2.93073483e-04, 4.44679252e-06]


--- Step 1120 ---
qpos:
[ 2.85921117e-03,-5.62689100e-03,-1.02129732e-02, 2.81402859e-03,
 -4.48144124e-03,-5.17421395e-03,-1.77568284e-02, 5.12318105e-03,
 -4.74755368e-03,-3.94362628e-03,-7.81028946e-03,-1.91631913e-02,
  1.25888075e+00, 1.88101854e-02, 1.24991952e+00, 2.49356007e-02,
  9.48402790e-02,-6.99847306e-02, 1.30727923e-01, 9.96632968e-01,
  1.72243986e-04,-1.08744248e-03,-8.19848499e-02]

qacc:
[ -0.41537005, -1.06911998,  5.51173636,-11.92410661,  1.78934376,
   1.5987793 , -8.7448897 , 22.03904592, -5.96991795,  1.36667004,
  -6.47830029, 13.69570974, -0.2856908 ,  0.15518298, -5.95641988,
  18.62637661,  0.85592817, -0.87251843,  0.09854276,  9.56731168,
  15.66611805, -0.29372209]

qfrc_actuator:
[-1.02260711e-04,-3.80864440e-04,-2.32581930e-04,-1.25126165e-04,
  2.70075267e-05,-3.89254974e-04,-3.59193398e-04, 5.40118151e-05,
 -3.89442496e-05,-2.84492385e-04,-2.56543768e-04,-8.43228038e-05,
  1.16663895e-02,-1.31546268e-03, 6.58727711e-03,-1.70046331e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51770839,  1.53995876, -4.24714211,  1.53995876, 23.25407888,
        6.79356546, -4.24714211,  6.79356546,  6.9809673 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029297812900359876
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.47359986e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.47359986e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08415103, -0.05622326,  0.06199095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.45791736e-06, 1.84080316e-05, 1.40583147e-05,-1.64753794e-05,
  1.05670667e-05, 2.38993952e-05, 1.08082654e-05, 4.11498374e-05,
 -3.50647147e-05, 3.06871278e-06,-7.93481967e-06, 2.05164292e-05,
 -7.61680888e-05,-2.48884718e-05,-7.73695973e-05, 6.75579025e-05,
  1.00682428e-06, 3.05968510e-06,-1.21644230e+00,-1.78560086e-03,
 -2.91815855e-04, 4.09969911e-06]


--- Step 1121 ---
qpos:
[ 2.85791781e-03,-5.62701072e-03,-1.02126199e-02, 2.81264631e-03,
 -4.47974653e-03,-5.17316102e-03,-1.77568100e-02, 5.12551599e-03,
 -4.74873099e-03,-3.94245567e-03,-7.81119067e-03,-1.91621489e-02,
  1.25918512e+00, 1.88097897e-02, 1.25019344e+00, 2.49316643e-02,
  9.48413103e-02,-6.99890098e-02, 1.30731360e-01, 9.96627470e-01,
  1.95859185e-04,-1.07246744e-03,-8.20518030e-02]

qacc:
[-2.41043981e-01,-5.73949743e-01, 3.12162134e+00,-6.79694859e+00,
  1.01452555e+01,-2.60102142e+00, 1.04009160e+01,-1.61715652e+01,
  2.51682258e+00, 3.53044434e+00,-1.48116583e+01, 2.63738229e+01,
  3.45477313e-02,-3.79559620e-01, 8.86786132e-01,-5.06126720e+00,
  8.56978524e-01,-8.59658716e-01, 9.12501032e-03, 9.54967747e+00,
  1.53966192e+01,-3.56242790e-01]

qfrc_actuator:
[-1.03618345e-04,-3.74217657e-04,-2.26366496e-04,-1.34817108e-04,
  8.64553448e-05,-3.83567391e-04,-3.19922677e-04, 4.08789603e-05,
 -2.29960433e-05,-2.80338575e-04,-2.96192373e-04,-5.47144304e-05,
  1.16568610e-02,-1.33657096e-03, 6.53167861e-03,-1.74347642e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50783641,  1.43377473, -4.27374299,  1.43377473, 31.30566542,
        8.9902575 , -4.27374299,  8.9902575 ,  7.52392887,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002898578629753068
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.91511628e-13,  1.91511628e-13,  1.00000000e+00, -3.66767037e-26,
        1.00000000e+00, -1.91511628e-13, -1.00000000e+00,  0.00000000e+00,
        1.91511628e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08415191, -0.05622195,  0.06199105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.42055131e-06, 1.91506874e-05, 1.11835488e-05,-8.73338226e-06,
  5.97569423e-05, 2.30161181e-05, 4.69526003e-05,-1.09408964e-05,
  1.49504110e-05, 5.05787393e-06,-3.92928430e-05, 2.98630953e-05,
 -5.55957179e-05,-4.54166301e-05,-8.63887758e-05,-4.97750920e-05,
 -4.50042703e-08, 1.55429790e-06,-1.21644033e+00,-1.78606529e-03,
 -2.91031521e-04, 3.96093802e-06]


--- Step 1122 ---
qpos:
[ 2.85696325e-03,-5.62715721e-03,-1.02120969e-02, 2.81083048e-03,
 -4.47804199e-03,-5.17214527e-03,-1.77562098e-02, 5.12700249e-03,
 -4.74901842e-03,-3.94118137e-03,-7.81252159e-03,-1.91614612e-02,
  1.25948914e+00, 1.88091149e-02, 1.25046642e+00, 2.49265649e-02,
  9.48457725e-02,-6.99966867e-02, 1.30734535e-01, 9.96621927e-01,
  2.40970900e-04,-1.02879432e-03,-8.21195357e-02]

qacc:
[  2.96899464, -1.40854112,  6.79080992,-14.53478005,  0.1039936 ,
  -3.42134948, 15.70991576,-31.29833617,  7.7749168 ,  0.59249   ,
  -0.44464451, -5.05001906, -0.11893409, -0.13624066,  2.11835872,
  -9.44350693,  0.85771275, -0.84943557, -0.06538865,  9.5342314 ,
  15.18245752, -0.40464456]

qfrc_actuator:
[-8.61463111e-05,-3.88012408e-04,-2.22852374e-04,-1.57714141e-04,
  8.52444395e-05,-3.98339391e-04,-2.96809156e-04,-3.27995452e-06,
  2.23748092e-05,-2.78423263e-04,-3.19182682e-04,-7.32367315e-05,
  1.16402026e-02,-1.34883677e-03, 6.48318074e-03,-1.80277381e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49415382,  1.30093609, -4.30174195,  1.30093609, 41.79075243,
       11.27926584, -4.30174195, 11.27926584,  7.905238  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028545576354023494
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.9169748e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.9169748e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08415227, -0.05622054,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.74383195e-05,-1.14290366e-06, 8.54690222e-06,-2.18566089e-05,
  5.08780316e-07, 7.30477861e-06, 3.32525824e-05,-4.17709882e-05,
  4.58028962e-05,-2.12580542e-06,-2.57590987e-05,-1.90875134e-05,
 -5.77345213e-05,-3.73445343e-05,-9.60082777e-05,-7.36591056e-05,
 -1.35569213e-06, 2.66446142e-07,-1.21644045e+00,-1.78682050e-03,
 -2.90708440e-04, 4.02237903e-06]


--- Step 1123 ---
qpos:
[ 2.85622545e-03,-5.62722960e-03,-1.02115849e-02, 2.80909964e-03,
 -4.47739884e-03,-5.17159142e-03,-1.77553892e-02, 5.12837443e-03,
 -4.74910458e-03,-3.93993297e-03,-7.81324598e-03,-1.91614016e-02,
  1.25979249e+00, 1.88086182e-02, 1.25073852e+00, 2.49220403e-02,
  9.48544877e-02,-7.00048699e-02, 1.30737812e-01, 9.96616433e-01,
  2.86210344e-04,-9.55024226e-04,-8.21869343e-02]

qacc:
[  1.89454852,  0.30012315, -1.29316092,  2.7340512 , -9.24162523,
  -1.44337555,  4.77599879, -6.8057893 ,  1.78111149, -3.02730319,
  13.38433801,-25.18807741, -0.54766592,  0.56126574, -2.98358792,
   8.68544656,  1.06326698, -0.1265925 ,  0.02561156, -1.17196033,
  15.00296399,  0.16477208]

qfrc_actuator:
[-7.54845411e-05,-3.78461965e-04,-2.21054955e-04,-1.52713270e-04,
  3.05722906e-05,-4.60844482e-04,-3.01282898e-04,-1.21082137e-05,
  3.14257346e-05,-2.60093381e-04,-2.78928781e-04,-1.02165070e-04,
  1.16033043e-02,-1.33800623e-03, 6.46560953e-03,-1.76460417e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47773198, -0.57212952, -4.44103045, -0.57212952, 19.19893492,
       -1.89650461, -4.44103045, -1.89650461,  4.72205506,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000280047907494729
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.10597465e-08,  4.10593779e-08,  1.00000000e+00, -1.68588765e-15,
        1.00000000e+00, -4.10593779e-08, -1.00000000e+00, -1.97215226e-31,
        4.10597465e-08])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08196826, -0.06737397,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11606409e-05, 9.75262667e-06, 1.85771124e-06, 4.82491966e-06,
 -5.46546171e-05,-5.33888596e-05,-3.36514192e-07,-8.18451621e-06,
  1.03628535e-05, 1.09863132e-05, 3.59788638e-05,-3.02856114e-05,
 -7.74294942e-05,-1.22953418e-05,-7.18660513e-05, 2.13170446e-05,
 -2.92462257e-06,-8.18919179e-07,-1.21644257e+00,-1.78786926e-03,
 -2.90837284e-04, 4.27800739e-06]


--- Step 1124 ---
qpos:
[ 2.85631116e-03,-5.62723099e-03,-1.02110790e-02, 2.80778738e-03,
 -4.47707104e-03,-5.17156794e-03,-1.77545376e-02, 5.12965290e-03,
 -4.74908114e-03,-3.93868169e-03,-7.81323308e-03,-1.91613577e-02,
  1.26009510e+00, 1.88082993e-02, 1.25100972e+00, 2.49199512e-02,
  9.48674309e-02,-7.00135029e-02, 1.30740955e-01, 9.96610978e-01,
  3.31393569e-04,-8.51187179e-04,-8.22540213e-02]

qacc:
[ 7.20205499, 0.9589225 ,-5.07409589,12.30207341,-2.74018592,-0.97480031,
  2.86276909,-4.1506352 , 0.98254823,-2.0912296 , 7.5228309 ,-8.96684724,
 -0.43690283, 0.41350396,-8.67443829,28.49831378, 1.05698678,-0.11243096,
 -0.03380201,-1.26342671,14.98036305, 0.15262742]

qfrc_actuator:
[-3.34171595e-05,-3.72747195e-04,-2.20174669e-04,-1.31318771e-04,
  1.59012083e-05,-4.98291939e-04,-3.04427517e-04,-1.78852034e-05,
  3.67699954e-05,-2.49579273e-04,-2.37097975e-04,-1.01416330e-04,
  1.15649559e-02,-1.33141602e-03, 6.44531847e-03,-1.63372158e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027470496462127236
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01037765e-13,  2.02075530e-13,  1.00000000e+00, -2.04172598e-26,
        1.00000000e+00, -2.02075530e-13, -1.00000000e+00,  0.00000000e+00,
        1.01037765e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08193773, -0.06752093,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.23895458e-05, 1.17656446e-05, 3.28957536e-06, 2.19731188e-05,
 -1.62561739e-05,-6.77742340e-05,-1.45136394e-05,-8.23925566e-06,
  5.64706916e-06, 2.27582667e-05, 4.74765897e-05, 1.87263845e-06,
 -8.21376000e-05,-1.43468576e-05,-5.43049647e-05, 1.22121757e-04,
 -3.35041413e-06,-2.34570626e-06,-1.21644496e+00,-1.78886709e-03,
 -2.92087576e-04, 4.30588200e-06]


--- Step 1125 ---
qpos:
[ 2.85655546e-03,-5.62692866e-03,-1.02109468e-02, 2.80673716e-03,
 -4.47657768e-03,-5.17156727e-03,-1.77539724e-02, 5.13115399e-03,
 -4.74864882e-03,-3.93724012e-03,-7.81302041e-03,-1.91616377e-02,
  1.26039725e+00, 1.88075493e-02, 1.25128052e+00, 2.49177283e-02,
  9.48845747e-02,-7.00225718e-02, 1.30743763e-01, 9.96605551e-01,
  3.76603509e-04,-7.17312784e-04,-8.23208315e-02]

qacc:
[  1.37053292,  1.98265425, -7.59753891, 12.51154494,  1.4354655 ,
   1.225787  , -5.35933492,  9.69318986,  3.58240073, -0.9811333 ,
   5.21558794,-11.26145796, -0.06787844, -0.32498458, -0.18393482,
  -0.21778975,  1.05014417, -0.10897769, -0.08339837, -1.2219208 ,
  14.96893139,  0.13405515]

qfrc_actuator:
[-2.64577427e-05,-3.51607752e-04,-2.37597829e-04,-1.18208321e-04,
  2.49092803e-05,-4.67193681e-04,-3.06673649e-04,-4.05407020e-06,
  5.76540516e-05,-2.43773045e-04,-2.30199653e-04,-1.18727921e-04,
  1.15364180e-02,-1.36294636e-03, 6.42342922e-03,-1.64458090e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002687051920783612
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.09881347e-13, -2.06587565e-13,  1.00000000e+00,  6.40176328e-26,
        1.00000000e+00,  2.06587565e-13, -1.00000000e+00,  0.00000000e+00,
        3.09881347e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08193609, -0.06752036,  0.0619917 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.17378574e-06, 2.93513615e-05,-1.38321049e-05, 1.41560928e-05,
  8.51932671e-06,-1.01708055e-05,-1.83302379e-05, 1.02605682e-05,
  2.10552594e-05, 2.83751730e-05, 1.74959257e-05,-1.46610209e-05,
 -7.44691484e-05,-5.45075810e-05,-3.70923948e-05,-1.18649368e-05,
 -3.79236434e-06,-3.85727261e-06,-1.21644875e+00,-1.78982338e-03,
 -2.93800160e-04, 4.19065545e-06]


--- Step 1126 ---
qpos:
[ 2.85584699e-03,-5.62646602e-03,-1.02107268e-02, 2.80618390e-03,
 -4.47598056e-03,-5.17139711e-03,-1.77533209e-02, 5.13310241e-03,
 -4.74796912e-03,-3.93596109e-03,-7.81254405e-03,-1.91620813e-02,
  1.26069890e+00, 1.88066385e-02, 1.25155122e+00, 2.49126979e-02,
  9.49058988e-02,-7.00320663e-02, 1.30746075e-01, 9.96600137e-01,
  4.21907949e-04,-5.53414099e-04,-8.23873926e-02]

qacc:
[ -8.33365257,  1.0066519 , -5.35134492, 13.66332704,  0.90491623,
   0.90191267, -4.78243525, 12.26537129,  2.17673776, -1.29330002,
   4.98133024, -8.10378755, -0.50934216,  0.35940312,  8.40209052,
 -29.48884448,  1.0450889 , -0.10640125, -0.12426519, -1.18863531,
  14.9651285 ,  0.1190141 ]

qfrc_actuator:
[-7.57328683e-05,-3.39227246e-04,-2.30127835e-04,-9.23265544e-05,
  3.00174372e-05,-4.30768687e-04,-2.90322845e-04, 2.12632280e-05,
  6.97662281e-05,-2.76485378e-04,-2.26265588e-04,-1.28808544e-04,
  1.15190944e-02,-1.36355321e-03, 6.40589373e-03,-1.79214809e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026224451578754637
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05838536e-13, -6.35031216e-13,  1.00000000e+00,  6.72107742e-26,
        1.00000000e+00,  6.35031216e-13, -1.00000000e+00,  0.00000000e+00,
        1.05838536e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08193444, -0.06751988,  0.0619919 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.90321819e-05, 2.65351878e-05, 1.23155161e-05, 2.69372454e-05,
  5.34914799e-06, 2.73840495e-05, 1.23367292e-05, 2.44419107e-05,
  1.27280044e-05,-1.39046332e-05, 1.14232259e-05,-8.54941927e-06,
 -6.90005653e-05,-3.32786758e-05,-4.07992504e-05,-1.54084079e-04,
 -4.26968376e-06,-5.34967068e-06,-1.21645395e+00,-1.79074037e-03,
 -2.95966515e-04, 3.93765118e-06]


--- Step 1127 ---
qpos:
[ 2.85489860e-03,-5.62606733e-03,-1.02105622e-02, 2.80563873e-03,
 -4.47532689e-03,-5.17086690e-03,-1.77528404e-02, 5.13498602e-03,
 -4.74714914e-03,-3.93492106e-03,-7.81196481e-03,-1.91622752e-02,
  1.26099993e+00, 1.88057310e-02, 1.25182121e+00, 2.49099005e-02,
  9.49243560e-02,-7.00342693e-02, 1.30747834e-01, 9.96594641e-01,
  4.20714301e-04,-4.20682507e-04,-8.24546395e-02]

qacc:
[ -2.09932743,  0.09092144, -0.47385536,  0.74171618,  0.48159215,
   0.81871543, -1.95704513,  0.84602415,  1.23546071, -0.09159542,
  -1.18825363,  5.52156594, -0.27142189,  0.13769678, -7.81038883,
  25.82016242, -0.71672601,  1.82288038, -0.13823477,-21.8862856 ,
 -17.4461601 , -0.3256742 ]

qfrc_actuator:
[-8.66902647e-05,-3.67585452e-04,-2.43539047e-04,-9.46269956e-05,
  3.27812298e-05,-4.09083439e-04,-2.98577362e-04, 1.76532136e-05,
  7.66132172e-05,-2.96526868e-04,-2.24253907e-04,-1.16828653e-04,
  1.14872159e-02,-1.36345652e-03, 6.40693604e-03,-1.66396018e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4232158 ,  2.8524167 , -3.38061488,  2.8524167 , 16.46345765,
       10.1590356 , -3.38061488, 10.1590356 , 12.99497089,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026101128690660114
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.98154642e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.98154642e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10450859, -0.09505325,  0.06199194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23527611e-05,-9.85459295e-06,-5.48512621e-06,-2.11156368e-07,
  2.92517967e-06, 4.05772402e-05,-2.47049586e-07,-1.54050829e-06,
  7.20996810e-06,-2.58679268e-05, 2.31537106e-07, 1.16098690e-05,
 -7.63867842e-05,-2.48752385e-05,-4.03575840e-05, 1.13146410e-04,
 -4.78455638e-06,-6.82525815e-06,-1.21646055e+00,-1.79161955e-03,
 -2.98587233e-04, 3.54828266e-06]


--- Step 1128 ---
qpos:
[ 2.85382571e-03,-5.62566059e-03,-1.02105485e-02, 2.80472312e-03,
 -4.47498984e-03,-5.17013763e-03,-1.77526976e-02, 5.13718963e-03,
 -4.74659832e-03,-3.93392945e-03,-7.81141292e-03,-1.91626849e-02,
  1.26130008e+00, 1.88055880e-02, 1.25209021e+00, 2.49110106e-02,
  9.49399146e-02,-7.00293269e-02, 1.30748587e-01, 9.96589035e-01,
  3.73234712e-04,-3.18221044e-04,-8.25230614e-02]

qacc:
[ -1.09404223, -0.32840653,  2.75371668, -8.9333112 , -2.77490865,
   1.87075713, -7.63059643, 13.55348303, -2.35657063, -0.42735096,
   2.34805964, -6.0077918 , -0.81241875,  1.18177377,-13.20541212,
  44.28886321, -0.72467053,  1.78634604, -0.25135391,-21.81642831,
 -16.99203969, -0.57396859]

qfrc_actuator:
[-9.27413864e-05,-3.66968849e-04,-2.51618408e-04,-1.13546677e-04,
  1.63914833e-05,-4.14253039e-04,-3.21372403e-04, 3.25252772e-05,
  6.25566239e-05,-2.91071739e-04,-2.23340331e-04,-1.27465583e-04,
  1.14572859e-02,-1.30977957e-03, 6.37125183e-03,-1.46299987e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42673388, -2.11198747,  3.89043465, -2.11198747, 12.40404704,
        4.33061776,  3.89043465,  4.33061776,  6.7776821 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026229471785740865
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92046365e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.92046365e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10450528, -0.09505488,  0.0619919 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.40871553e-06,-6.05260095e-06,-1.08017404e-05,-1.95351726e-05,
 -1.62916555e-05, 1.73757943e-05,-1.45138560e-05, 1.65654596e-05,
 -1.38563622e-05,-8.50394116e-06,-4.01701397e-06,-1.15139925e-05,
 -7.51704858e-05, 2.89174827e-05,-4.60234768e-05, 2.01116991e-04,
 -7.60886002e-07,-6.08926587e-06,-1.21645207e+00,-1.79098930e-03,
 -3.01927985e-04, 1.32417745e-06]


--- Step 1129 ---
qpos:
[ 2.85268842e-03,-5.62527119e-03,-1.02101045e-02, 2.80389586e-03,
 -4.47485173e-03,-5.16935038e-03,-1.77527848e-02, 5.13991068e-03,
 -4.74622003e-03,-3.93318055e-03,-7.81049909e-03,-1.91632210e-02,
  1.26159984e+00, 1.88056919e-02, 1.25235900e+00, 2.49108239e-02,
  9.49525512e-02,-7.00173567e-02, 1.30747955e-01, 9.96583288e-01,
  2.79651497e-04,-2.45308069e-04,-8.25930429e-02]

qacc:
[ -0.54946881, -1.04274987,  3.31360336, -2.46195645, -1.74281062,
   1.78782003, -8.44228785, 17.71733835, -1.49484086, -1.59008502,
   5.74117009, -8.33125571, -0.56236664,  0.7066802 ,  3.67178659,
 -13.15414897, -0.73048035,  1.75694151, -0.34624295,-21.75419017,
 -16.62646977, -0.77006788]

qfrc_actuator:
[-9.58682075e-05,-3.49013782e-04,-2.20875694e-04,-1.06557343e-04,
  6.61278179e-06,-4.17765944e-04,-3.34903883e-04, 5.81276999e-05,
  5.40638428e-05,-3.05918886e-04,-2.05243892e-04,-1.33554421e-04,
  1.14498728e-02,-1.29572763e-03, 6.34021011e-03,-1.54049110e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42490316, -2.02981622,  3.93187157, -2.02981622, 16.25089657,
        6.10513156,  3.93187157,  6.10513156,  7.57665795,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002616278681285833
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.96744964e-14, -2.12175987e-13,  1.00000000e+00,  1.26614952e-26,
        1.00000000e+00,  2.12175987e-13, -1.00000000e+00,  0.00000000e+00,
        5.96744964e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10450292, -0.09505687,  0.06199192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.31197628e-06, 1.14905577e-05, 2.74845008e-05, 5.97758178e-06,
 -1.02397822e-05, 3.87667349e-06,-1.11717170e-05, 2.61608315e-05,
 -8.88718424e-06,-2.09698152e-05, 1.54308850e-05,-6.81802763e-06,
 -3.91289743e-05, 4.99830505e-06,-3.39254507e-05,-7.30994670e-05,
  2.82852775e-06,-4.51776343e-06,-1.21644858e+00,-1.78969937e-03,
 -3.04790131e-04,-6.02526503e-08]


--- Step 1130 ---
qpos:
[ 2.85255714e-03,-5.62486700e-03,-1.02095771e-02, 2.80317815e-03,
 -4.47448729e-03,-5.16838551e-03,-1.77530705e-02, 5.14255430e-03,
 -4.74560159e-03,-3.93272162e-03,-7.80908863e-03,-1.91631388e-02,
  1.26189933e+00, 1.88055127e-02, 1.25262737e+00, 2.49097056e-02,
  9.49622489e-02,-6.99984529e-02, 1.30745620e-01, 9.96577371e-01,
  1.40116317e-04,-2.01364833e-04,-8.26648856e-02]

qacc:
[ 8.80210416e+00,-4.87088316e-03,-4.46426041e-01, 2.23039140e+00,
  1.96453613e+00, 6.25785268e-01,-1.57066411e+00, 4.24759007e-01,
  2.12315807e+00,-5.01816285e-01,-1.38083748e+00, 1.15021283e+01,
 -7.23435802e-02,-1.69397172e-01, 2.21176163e+00,-8.62130281e+00,
 -7.34725651e-01, 1.73339862e+00,-4.25804658e-01,-2.17013349e+01,
 -1.63333159e+01,-9.24801603e-01]

qfrc_actuator:
[-4.39928497e-05,-3.56138727e-04,-2.20618548e-04,-1.02085852e-04,
  1.85623112e-05,-4.02470745e-04,-3.42849851e-04, 5.43376415e-05,
  6.66729955e-05,-3.14981104e-04,-1.77216093e-04,-1.01412157e-04,
  1.14240032e-02,-1.32299136e-03, 6.32257203e-03,-1.58613309e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41887597, -1.92537245,  3.97736166, -1.92537245, 21.4562201 ,
        8.2474856 ,  3.97736166,  8.2474856 ,  8.41134206,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002594167468214781
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.27358484e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.27358484e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10450131, -0.09505914,  0.06199198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.17818253e-05, 5.21885654e-06, 6.21624358e-06, 6.03157219e-06,
  1.16566961e-05, 1.62391252e-05,-7.63002705e-06,-3.50862323e-06,
  1.23509036e-05,-1.79317757e-05, 2.53437401e-05, 3.16432969e-05,
 -4.57508627e-05,-3.43542643e-05,-4.65910537e-05,-5.52506688e-05,
  6.05689162e-06,-2.08291789e-06,-1.21644991e+00,-1.78773845e-03,
 -3.07209668e-04,-6.37150689e-07]


--- Step 1131 ---
qpos:
[ 2.85373840e-03,-5.62438554e-03,-1.02093172e-02, 2.80219110e-03,
 -4.47432740e-03,-5.16728285e-03,-1.77534721e-02, 5.14547645e-03,
 -4.74449229e-03,-3.93209794e-03,-7.80750088e-03,-1.91630544e-02,
  1.26219814e+00, 1.88058658e-02, 1.25289478e+00, 2.49087714e-02,
  9.49689952e-02,-6.99726904e-02, 1.30741315e-01, 9.96571247e-01,
 -4.52496805e-05,-1.85929408e-04,-8.27388250e-02]

qacc:
[ 11.4710531 ,  0.27264141,  0.27415728, -4.52265667, -1.78969439,
   1.08282331, -4.76666256,  9.66526136,  4.30007572, -0.28179926,
   1.29684797, -1.64820809, -0.80732704,  1.0881655 , -1.89986862,
   4.78470106, -0.73784156,  1.71468178, -0.49250957,-21.65887764,
 -16.09958717, -1.04667945]

qfrc_actuator:
[ 2.20865342e-05,-3.60584253e-04,-2.38477837e-04,-1.16934237e-04,
  7.69782389e-06,-3.93786138e-04,-3.47384089e-04, 6.88052502e-05,
  9.15996638e-05,-2.84922761e-04,-1.61261580e-04,-1.00283361e-04,
  1.13923883e-02,-1.28585012e-03, 6.27039528e-03,-1.57700679e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.40968825, -1.79503044,  4.02780537, -1.79503044, 28.48992207,
       10.73158922,  4.02780537, 10.73158922,  9.19232483,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025599868882561494
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.21973369e-13, -2.16841545e-13,  1.00000000e+00,  2.64488938e-26,
        1.00000000e+00,  2.16841545e-13, -1.00000000e+00,  0.00000000e+00,
        1.21973369e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10450028, -0.09506163,  0.06199209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.75590368e-05, 1.46022002e-08,-1.58181428e-05,-1.42948834e-05,
 -1.05242001e-05, 1.60055643e-05,-2.25579308e-06, 1.48231097e-05,
  2.52736971e-05, 2.65936765e-05, 1.64451362e-05, 1.84907562e-06,
 -6.43004164e-05, 1.72034866e-05,-8.39522040e-05,-8.86874357e-07,
  8.97878303e-06, 1.23228879e-06,-1.21645592e+00,-1.78509844e-03,
 -3.09213561e-04,-4.30827267e-07]


--- Step 1132 ---
qpos:
[ 2.85535822e-03,-5.62411660e-03,-1.02088559e-02, 2.80069371e-03,
 -4.47429862e-03,-5.16636797e-03,-1.77537592e-02, 5.14822982e-03,
 -4.74378259e-03,-3.93113788e-03,-7.80607519e-03,-1.91633014e-02,
  1.26249617e+00, 1.88071685e-02, 1.25316121e+00, 2.49072829e-02,
  9.49790752e-02,-6.99507118e-02, 1.30739059e-01, 9.96565128e-01,
 -2.08911727e-04,-1.37378016e-04,-8.28123410e-02]

qacc:
[  3.84582467, -1.90242062,  8.51682932,-17.50077717, -1.13675784,
  -0.91339629,  3.61324927, -6.58396895, -3.50931953,  0.22180983,
   1.26274202, -6.99419161, -1.21757059,  1.80588843,  0.37629106,
  -3.06927949,  0.83342512, -0.94596106,  0.51228696,  9.44481818,
  17.39908068,  0.20993837]

qfrc_actuator:
[ 4.27215073e-05,-3.81243133e-04,-2.31384224e-04,-1.43039475e-04,
  1.23790649e-06,-4.24604380e-04,-3.49874414e-04, 5.83972075e-05,
  7.03121595e-05,-2.67236086e-04,-1.70182969e-04,-1.17393746e-04,
  1.13626992e-02,-1.22852085e-03, 6.21886316e-03,-1.60677308e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42213853, -2.03043173,  3.92844196, -2.03043173, 22.0780091 ,
        9.12551088,  3.92844196,  9.12551088,  9.13869717,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002606166514330377
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.12999250e-13, -4.25998500e-13,  1.00000000e+00,  9.07373608e-26,
        1.00000000e+00,  4.25998500e-13, -1.00000000e+00,  0.00000000e+00,
        2.12999250e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0841706 , -0.05620763,  0.06199195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.25655603e-05,-2.45289999e-05, 4.64318387e-06,-2.69326975e-05,
 -6.75655899e-06,-2.17444442e-05, 1.03633090e-06,-9.51951088e-06,
 -2.05535907e-05, 3.60045299e-05,-1.36517916e-06,-1.53724748e-05,
 -6.01442155e-05, 4.81420596e-05,-9.29944650e-05,-4.11963438e-05,
  1.16350197e-05, 5.43703443e-06,-1.21646650e+00,-1.78177347e-03,
 -3.10821915e-04, 5.40712666e-07]


--- Step 1133 ---
qpos:
[ 2.85652350e-03,-5.62397616e-03,-1.02080629e-02, 2.79887521e-03,
 -4.47400272e-03,-5.16563427e-03,-1.77539706e-02, 5.14945815e-03,
 -4.74333290e-03,-3.93024498e-03,-7.80461400e-03,-1.91633675e-02,
  1.26279350e+00, 1.88090004e-02, 1.25342686e+00, 2.49053746e-02,
  9.49881324e-02,-6.99347487e-02, 1.30738492e-01, 9.96559155e-01,
 -3.28549099e-04,-8.56136244e-05,-8.28838656e-02]

qacc:
[ -3.96356296, -1.75071963,  7.36459907,-13.37218936,  2.33415651,
  -3.59463282, 18.90025288,-45.27513945, -2.2740007 ,  0.18896421,
  -1.55693072,  4.66802363, -0.8781918 ,  1.16611118,  0.21165317,
  -2.18339047, -0.25571907, -1.50389143,  0.42217466, 21.80384233,
   3.42367735,  0.99564699]

qfrc_actuator:
[ 1.86861597e-05,-3.75865904e-04,-2.09680791e-04,-1.57797453e-04,
  1.51817448e-05,-4.43348611e-04,-3.51322538e-04,-1.98582293e-05,
  5.74955339e-05,-2.92715190e-04,-1.76008850e-04,-1.09609727e-04,
  1.13182216e-02,-1.21296666e-03, 6.19438238e-03,-1.62370481e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44355253,  4.3791546 ,  0.75376658,  4.3791546 ,  4.90448427,
       -2.67787325,  0.75376658, -2.67787325, 20.00118182,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002683206939713828
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.10325401e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.10325401e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09727268, -0.0465012 ,  0.06199171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.33990499e-05,-8.54337684e-06, 1.62689681e-05,-1.61720396e-05,
  1.37429131e-05,-3.11358020e-05,-6.15441851e-06,-7.93437883e-05,
 -1.33858693e-05,-6.34166848e-06, 8.84812270e-07, 8.97561289e-06,
 -6.58603807e-05, 1.64256622e-05,-7.44985389e-05,-3.17407561e-05,
  1.09465580e-05, 2.09305552e-06,-1.21646184e+00,-1.77975026e-03,
 -3.10675572e-04,-1.09874442e-06]


--- Step 1134 ---
qpos:
[ 2.85773646e-03,-5.62360194e-03,-1.02072388e-02, 2.79790347e-03,
 -4.47354226e-03,-5.16479622e-03,-1.77543447e-02, 5.14971907e-03,
 -4.74235043e-03,-3.92956768e-03,-7.80339265e-03,-1.91636463e-02,
  1.26309027e+00, 1.88108676e-02, 1.25369179e+00, 2.49029002e-02,
  9.49947107e-02,-6.99244323e-02, 1.30738964e-01, 9.96553394e-01,
 -4.05050885e-04,-4.32939823e-05,-8.29528043e-02]

qacc:
[  0.41462438,  1.96550118,-10.1353538 , 24.56959943,  1.42774134,
  -1.40189157,  9.27792853,-25.83304119,  4.66036464, -0.06163974,
   0.68700558, -3.80508039, -0.45956119,  0.40262367,  0.68522424,
  -3.84729772, -0.61971778, -1.41168222,  0.25969609, 21.88513574,
  -2.91891976,  1.2938162 ]

qfrc_actuator:
[ 2.18241999e-05,-3.37113375e-04,-1.97175017e-04,-1.12474283e-04,
  2.32694121e-05,-4.19274659e-04,-3.52152215e-04,-6.63878022e-05,
  8.52869601e-05,-3.26072148e-04,-1.97862780e-04,-1.22773979e-04,
  1.12808687e-02,-1.22243712e-03, 6.16484693e-03,-1.65060127e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46229002,  1.72731192, -4.11441681,  1.72731192, 11.32416477,
        2.88074802, -4.11441681,  2.88074802,  5.67168387,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027483178490448083
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.25208440e-07,  3.25208441e-07,  1.00000000e+00, -1.05760530e-13,
        1.00000000e+00, -3.25208441e-07, -1.00000000e+00, -1.26217745e-29,
        3.25208440e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206013, -0.04708391,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.46538678e-06, 3.66204637e-05, 1.21782817e-05, 4.52080348e-05,
  8.47432472e-06, 1.97020701e-06,-1.07740928e-05,-4.96253856e-05,
  2.74108502e-05,-3.63885631e-05,-2.27706130e-05,-1.32349219e-05,
 -6.87052668e-05,-1.93094719e-05,-7.07235746e-05,-3.89725854e-05,
  7.71735856e-06,-6.67398301e-08,-1.21645241e+00,-1.77795707e-03,
 -3.09733495e-04,-1.11285347e-06]


--- Step 1135 ---
qpos:
[ 2.85966719e-03,-5.62304635e-03,-1.02062359e-02, 2.79713273e-03,
 -4.47298828e-03,-5.16388754e-03,-1.77548434e-02, 5.15080255e-03,
 -4.74138728e-03,-3.92939979e-03,-7.80200344e-03,-1.91644156e-02,
  1.26338654e+00, 1.88124388e-02, 1.25395625e+00, 2.49010115e-02,
  9.49988567e-02,-6.99196849e-02, 1.30739890e-01, 9.96547829e-01,
 -4.39145410e-04,-1.12868083e-05,-8.30194660e-02]

qacc:
[  6.28094094,  0.14166654, -1.02701623,  4.1093388 ,  0.81091616,
   2.13298281,-10.94543934, 25.33271446, -0.15538765, -2.15278859,
   8.76647308,-17.14229281, -0.13145032, -0.17898102, -2.45730288,
   7.60570685, -0.60808311, -1.39222337,  0.11368261, 21.55836281,
  -3.3800189 ,  1.13972751]

qfrc_actuator:
[ 5.86984867e-05,-3.31904441e-04,-1.90019771e-04,-1.03152369e-04,
  2.78390877e-05,-4.05228110e-04,-3.52402729e-04,-2.28189381e-05,
  8.34965242e-05,-3.63980515e-04,-1.93567154e-04,-1.48186099e-04,
  1.12478032e-02,-1.24664004e-03, 6.16958229e-03,-1.61215187e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47284046, -1.27119085, -4.28840012, -1.27119085, 13.89769203,
       -2.79376567, -4.28840012, -2.79376567,  5.30098365,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000278409707883856
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.99079825e-13, -1.99386550e-13,  1.00000000e+00,  5.96324947e-26,
        1.00000000e+00,  1.99386550e-13, -1.00000000e+00,  0.00000000e+00,
        2.99079825e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10224985, -0.04710847,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.69533151e-05, 3.01157039e-05, 1.77707145e-05, 1.21914464e-05,
  4.81579845e-06, 1.07730181e-05,-2.89453875e-06, 4.23125542e-05,
 -1.01554232e-06,-6.35520605e-05,-6.50425060e-06,-2.80205506e-05,
 -7.42272449e-05,-4.50707518e-05,-3.54625250e-05, 2.64627708e-05,
  4.56068173e-06,-7.64434151e-07,-1.21644533e+00,-1.77664200e-03,
 -3.08764261e-04,-6.94696001e-07]


--- Step 1136 ---
qpos:
[ 2.86168009e-03,-5.62248104e-03,-1.02050304e-02, 2.79615527e-03,
 -4.47203875e-03,-5.16314183e-03,-1.77550027e-02, 5.15308745e-03,
 -4.74045301e-03,-3.92941438e-03,-7.80075038e-03,-1.91648139e-02,
  1.26368240e+00, 1.88132384e-02, 1.25422031e+00, 2.49002180e-02,
  9.50006563e-02,-6.99204509e-02, 1.30740784e-01, 9.96542443e-01,
 -4.31424828e-04, 1.00987809e-05,-8.30841278e-02]

qacc:
[ 7.24883894e-01,-9.80889250e-01, 4.38617119e+00,-8.29253277e+00,
  3.46371731e+00, 1.30310622e+00,-1.00424707e+01, 3.04260639e+01,
 -2.53822018e-01, 9.04253384e-01,-5.13655178e+00, 1.19025917e+01,
  3.02554028e-01,-9.58033643e-01,-3.97295278e+00, 1.28934597e+01,
 -5.86580681e-01,-1.37836346e+00,-8.19549311e-03, 2.12763273e+01,
 -3.55716277e+00, 1.00142872e+00]

qfrc_actuator:
[ 6.18674832e-05,-3.46862779e-04,-1.86235061e-04,-1.15124164e-04,
  4.80558259e-05,-4.14958672e-04,-3.34526202e-04, 3.79007201e-05,
  8.20485902e-05,-3.50981785e-04,-1.91646172e-04,-1.27326038e-04,
  1.12173259e-02,-1.29711796e-03, 6.16292781e-03,-1.55317289e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47586389, -1.50151014, -4.21649438, -1.50151014, 18.42746393,
       -4.96821933, -4.21649438, -4.96821933,  6.24506622,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002794237917950887
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.97325875e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.97325875e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10225217, -0.04710933,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.23182614e-06, 6.05212188e-06, 1.25961398e-05,-9.83289638e-06,
  2.03569084e-05,-2.51925837e-06, 2.12019538e-05, 6.19010733e-05,
 -1.49588088e-06,-2.51005436e-05,-1.29912717e-05, 1.73662967e-05,
 -7.95663941e-05,-8.05265219e-05,-2.47522819e-05, 5.48429138e-05,
  1.82644918e-06,-8.06304169e-07,-1.21644127e+00,-1.77598136e-03,
 -3.07826506e-04,-3.61295220e-07]


--- Step 1137 ---
qpos:
[ 2.86302578e-03,-5.62183353e-03,-1.02038312e-02, 2.79573822e-03,
 -4.47119930e-03,-5.16229036e-03,-1.77549624e-02, 5.15502099e-03,
 -4.73919853e-03,-3.92944441e-03,-7.79990347e-03,-1.91642720e-02,
  1.26397778e+00, 1.88136243e-02, 1.25448343e+00, 2.48999104e-02,
  9.50001784e-02,-6.99266844e-02, 1.30741236e-01, 9.96537219e-01,
 -3.82372240e-04, 2.06250256e-05,-8.31470079e-02]

qacc:
[-5.83743198e+00, 1.29226996e+00,-6.79582756e+00, 1.64231955e+01,
 -9.55843281e-01,-1.13943803e+00, 5.75233739e+00,-1.22345555e+01,
  2.79129467e+00, 3.04620091e+00,-1.48614669e+01, 3.17868312e+01,
 -1.06043563e-02,-3.89501699e-01,-2.86360553e+00, 7.98409148e+00,
 -5.69393361e-01,-1.36687957e+00,-1.10363700e-01, 2.10456943e+01,
 -3.69426718e+00, 8.92293937e-01]

qfrc_actuator:
[ 2.74091507e-05,-3.38317104e-04,-1.84568083e-04,-8.62869535e-05,
  4.18160928e-05,-4.03244873e-04,-3.23940192e-04, 1.94398031e-05,
  9.85760838e-05,-3.43067216e-04,-2.08665742e-04,-7.93680579e-05,
  1.11990615e-02,-1.30950900e-03, 6.09619307e-03,-1.53587783e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4728035 , -1.60658385, -4.17430946, -1.60658385, 24.52747462,
       -7.71852471, -4.17430946, -7.71852471,  7.44346422,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002783972820268876
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.96977248e-14,  1.99395450e-13,  1.00000000e+00, -1.98792727e-26,
        1.00000000e+00, -1.99395450e-13, -1.00000000e+00,  0.00000000e+00,
        9.96977248e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1022542 , -0.04710939,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.43382071e-05, 1.40732748e-05, 4.10760806e-06, 2.93386724e-05,
 -5.66046979e-06, 1.73131611e-05, 1.48068430e-05,-1.66375809e-05,
  1.64769772e-05,-8.07185551e-06,-2.32156751e-05, 4.67700562e-05,
 -7.80887083e-05,-5.40924269e-05,-7.69418476e-05, 1.60615149e-05,
 -5.18493062e-07,-2.52891431e-07,-1.21644016e+00,-1.77597422e-03,
 -3.06892138e-04,-1.35950835e-07]


--- Step 1138 ---
qpos:
[ 2.86394793e-03,-5.62098832e-03,-1.02029060e-02, 2.79498288e-03,
 -4.47078591e-03,-5.16114912e-03,-1.77554086e-02, 5.15639723e-03,
 -4.73775574e-03,-3.92953934e-03,-7.79898587e-03,-1.91631868e-02,
  1.26427282e+00, 1.88134759e-02, 1.25474600e+00, 2.48987507e-02,
  9.49974776e-02,-6.99383478e-02, 1.30740904e-01, 9.96532135e-01,
 -2.92378124e-04, 2.01084778e-05,-8.32082785e-02]

qacc:
[-3.71702964, 0.33744426, 0.61645038,-6.19211556,-3.73607842, 0.60190548,
  0.77444832,-9.86802847, 1.65223187, 0.83259918,-5.38824669,14.72304301,
  0.05083025,-0.49309042, 1.72960737,-7.30413874,-0.55569873,-1.35748041,
 -0.19587625,20.85897611,-3.80050331, 0.80612788]

qfrc_actuator:
[ 6.59619660e-06,-3.33498022e-04,-2.01796317e-04,-1.04659327e-04,
  2.00498954e-05,-3.96620642e-04,-3.53229773e-04,-9.95197599e-06,
  1.07798666e-04,-3.38297202e-04,-2.01219939e-04,-5.13741407e-05,
  1.11881472e-02,-1.33460230e-03, 6.07335885e-03,-1.57892726e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.46500629,  -1.73602128,  -4.11369801,  -1.73602128,
        32.09691745, -11.66094   ,  -4.11369801, -11.66094   ,
         9.38603839,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002757588514093745
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.02606487e-13, -2.01303244e-13,  1.00000000e+00,  8.10459917e-26,
        1.00000000e+00,  2.01303244e-13, -1.00000000e+00,  0.00000000e+00,
        4.02606487e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10225602, -0.04710883,  0.06199148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.17940715e-05, 1.47416277e-05,-1.28207691e-05,-1.70582339e-05,
 -2.19223302e-05, 1.86133942e-05,-2.44799059e-05,-2.84675026e-05,
  9.69017323e-06,-2.53611683e-06, 4.52735878e-06, 2.77521549e-05,
 -6.49181307e-05,-5.82572452e-05,-5.89873540e-05,-5.26025053e-05,
 -2.50669460e-06, 8.73107589e-07,-1.21644189e+00,-1.77661384e-03,
 -3.05937814e-04,-2.44137365e-08]


--- Step 1139 ---
qpos:
[ 2.86495813e-03,-5.62017138e-03,-1.02020876e-02, 2.79368597e-03,
 -4.47063633e-03,-5.16018335e-03,-1.77560411e-02, 5.15779563e-03,
 -4.73621378e-03,-3.92929382e-03,-7.79812851e-03,-1.91625089e-02,
  1.26456732e+00, 1.88130304e-02, 1.25500834e+00, 2.48979573e-02,
  9.49925976e-02,-6.99554109e-02, 1.30739504e-01, 9.96527170e-01,
 -1.61754036e-04, 8.40675819e-06,-8.32680753e-02]

qacc:
[  0.76704873, -0.8557452 ,  5.2803234 ,-14.45836505, -2.30354782,
   0.33896375, -1.63093425,  2.4332773 ,  0.86024191, -0.22246115,
   3.15985798,-10.3545339 , -0.18302637, -0.12439139, -1.4301446 ,
   4.54472731, -0.54483597, -1.34990674, -0.2673393 , 20.70988891,
  -3.88303313,  0.73803462]

qfrc_actuator:
[ 1.17463286e-05,-3.48815904e-04,-2.12338967e-04,-1.32930263e-04,
  7.08045005e-06,-4.28781725e-04,-3.70333165e-04,-1.00505337e-05,
  1.12642112e-04,-2.99853019e-04,-1.97161900e-04,-7.08431004e-05,
  1.11603441e-02,-1.34927839e-03, 6.09284275e-03,-1.55052386e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027186529301259643
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02093119e-13,  2.04186237e-13,  1.00000000e+00,  2.08460098e-26,
        1.00000000e+00, -2.04186237e-13, -1.00000000e+00,  0.00000000e+00,
       -1.02093119e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10225767, -0.04710778,  0.0619916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.53011560e-06,-1.05037128e-05,-9.68619566e-06,-2.84164997e-05,
 -1.35892266e-05,-2.80755203e-05,-1.72699776e-05,-7.06039045e-07,
  5.11880198e-06, 3.91478307e-05, 5.04105578e-06,-1.88849665e-05,
 -7.60249395e-05,-4.59720708e-05,-1.70511187e-05, 1.70981242e-05,
 -4.16221369e-06, 2.55623374e-06,-1.21644640e+00,-1.77789466e-03,
 -3.04946142e-04,-3.03390108e-08]


--- Step 1140 ---
qpos:
[ 2.86602182e-03,-5.61926446e-03,-1.02012445e-02, 2.79307196e-03,
 -4.47064337e-03,-5.15969934e-03,-1.77564274e-02, 5.15884647e-03,
 -4.73462534e-03,-3.92905173e-03,-7.79733788e-03,-1.91627156e-02,
  1.26486113e+00, 1.88126627e-02, 1.25526991e+00, 2.48992280e-02,
  9.49855724e-02,-6.99778497e-02, 1.30736795e-01, 9.96522299e-01,
  9.25594069e-06,-1.45917133e-05,-8.33265054e-02]

qacc:
[  0.46751389,  1.45525824, -7.90030399, 19.61456755, -1.35024848,
  -2.03727169,  7.8125166 ,-13.8731419 ,  0.40447333, -1.64075552,
   9.56942185,-24.75158515, -0.38900663,  0.30107964, -7.35848716,
  24.16589176, -0.53627356, -1.34392883, -0.32697831, 20.59314877,
  -3.94744348,  0.68414359]

qfrc_actuator:
[ 1.43794953e-05,-3.22811187e-04,-2.01175201e-04,-9.57912308e-05,
 -6.02762673e-07,-4.66112028e-04,-3.62477713e-04,-2.84349520e-05,
  1.14871896e-04,-3.30346881e-04,-2.12786508e-04,-1.18056456e-04,
  1.11277627e-02,-1.33997497e-03, 6.05782020e-03,-1.44462106e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002670124786674638
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.15794434e-13,  2.07897217e-13,  1.00000000e+00, -8.64425057e-26,
        1.00000000e+00, -2.07897217e-13, -1.00000000e+00,  0.00000000e+00,
        4.15794434e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10225918, -0.04710635,  0.06199175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.75737691e-06, 1.68748338e-05, 6.80029707e-06, 3.57995837e-05,
 -8.08184602e-06,-5.66628249e-05,-1.01850235e-07,-2.02020217e-05,
  2.39200009e-06,-8.38391973e-06,-7.58445458e-06,-4.57339981e-05,
 -8.24488430e-05,-2.15495358e-05,-4.67102063e-05, 1.03375863e-04,
 -5.50254445e-06, 4.78694889e-06,-1.21645365e+00,-1.77981216e-03,
 -3.03904151e-04,-1.56028832e-07]


--- Step 1141 ---
qpos:
[ 2.86710872e-03,-5.61821487e-03,-1.02003476e-02, 2.79358860e-03,
 -4.47074258e-03,-5.15967060e-03,-1.77567245e-02, 5.16002191e-03,
 -4.73371198e-03,-3.92913327e-03,-7.79659998e-03,-1.91630996e-02,
  1.26515431e+00, 1.88127823e-02, 1.25553084e+00, 2.49017509e-02,
  9.49757025e-02,-6.99930380e-02, 1.30734760e-01, 9.96517321e-01,
  1.30686531e-04,-7.03588637e-05,-8.33858886e-02]

qacc:
[  0.20295452,  2.36656942,-12.93768112, 32.31498254, -0.7931583 ,
  -0.59263889,  0.71696579,  1.62849077, -5.90635868, -0.63438293,
   2.40916227, -5.17681715, -0.66478507,  0.90705071, -4.67622508,
  15.1461212 , -0.71117332,  1.81260054,  0.16846693,-23.3382387 ,
 -18.39300335, -0.47882593]

qfrc_actuator:
[ 1.55018268e-05,-3.07625110e-04,-1.94829064e-04,-3.81666773e-05,
 -5.11589823e-06,-4.88414757e-04,-3.57757684e-04,-2.19247725e-05,
  8.00412318e-05,-3.66490608e-04,-2.22437490e-04,-1.28018530e-04,
  1.11189779e-02,-1.29878727e-03, 6.02743138e-03,-1.38282612e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42812982,  0.10825595, -4.42680633,  0.10825595, 36.32863036,
        0.78011521, -4.42680633,  0.78011521,  4.44720725,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002628017230989349
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05614131e-13, -5.28070655e-14,  1.00000000e+00,  5.57717234e-27,
        1.00000000e+00,  5.28070655e-14, -1.00000000e+00,  0.00000000e+00,
        1.05614131e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10446221, -0.09506663,  0.06199188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20164632e-06, 2.75173293e-05, 1.18878866e-05, 5.92768233e-05,
 -4.76374469e-06,-5.48930408e-05,-7.69837738e-06, 3.68349360e-06,
 -3.47615324e-05,-4.43687416e-05,-1.39091613e-05,-1.14756073e-05,
 -5.63931116e-05, 1.60040884e-05,-4.44463126e-05, 6.06482106e-05,
 -6.54006302e-06, 7.56066108e-06,-1.21646359e+00,-1.78236273e-03,
 -3.02802142e-04,-4.02949389e-07]


--- Step 1142 ---
qpos:
[ 2.86785572e-03,-5.61706124e-03,-1.01996003e-02, 2.79446545e-03,
 -4.47055051e-03,-5.15984683e-03,-1.77570709e-02, 5.16124327e-03,
 -4.73322347e-03,-3.92911932e-03,-7.79618749e-03,-1.91632898e-02,
  1.26544695e+00, 1.88135687e-02, 1.25579147e+00, 2.49026444e-02,
  9.49629459e-02,-7.00011032e-02, 1.30732748e-01, 9.96512213e-01,
  2.03332821e-04,-1.57713011e-04,-8.34466472e-02]

qacc:
[-2.97938042e+00, 1.30350448e+00,-5.95857443e+00, 1.23444441e+01,
  2.54223507e+00,-4.33288456e-02,-4.40984281e-01, 1.47473835e+00,
 -3.73115567e+00, 1.44247231e+00,-5.76366219e+00, 9.55036623e+00,
 -9.80324781e-01, 1.41506887e+00, 4.60305037e+00,-1.64722791e+01,
 -7.21685500e-01, 1.78081024e+00, 5.55954829e-03,-2.29902857e+01,
 -1.77725503e+01,-6.86900147e-01]

qfrc_actuator:
[-2.02609423e-06,-3.16771539e-04,-2.09165047e-04,-2.22296266e-05,
  1.00238332e-05,-4.83782100e-04,-3.54860358e-04,-1.85635992e-05,
  5.91825431e-05,-3.34692154e-04,-2.28491604e-04,-1.15983052e-04,
  1.11031859e-02,-1.25666214e-03, 5.99983934e-03,-1.47177811e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44675498,  0.08204518,  4.44599803,  0.08204518,  9.94142937,
       -0.10139716,  4.44599803, -0.10139716,  4.44862614,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000269448218366386
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.43805881e-14, -4.12035764e-13,  1.00000000e+00,  2.65271048e-26,
        1.00000000e+00,  4.12035764e-13, -1.00000000e+00,  0.00000000e+00,
        6.43805881e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10445741, -0.09506422,  0.06199167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.74912677e-05, 1.11839965e-05,-5.16166791e-06, 1.86754112e-05,
  1.49841724e-05,-2.74972922e-05,-9.26085704e-06, 8.12727667e-07,
 -2.18654020e-05, 3.60935103e-06,-1.73327778e-05, 9.43171959e-06,
 -4.14785379e-05, 3.40118938e-05,-4.55469886e-05,-9.22397292e-05,
 -3.99199131e-06, 6.19721958e-06,-1.21645463e+00,-1.78384608e-03,
 -3.03255522e-04,-1.16777955e-06]


--- Step 1143 ---
qpos:
[ 2.86804190e-03,-5.61580096e-03,-1.01992727e-02, 2.79520033e-03,
 -4.47017886e-03,-5.15985864e-03,-1.77572548e-02, 5.16174156e-03,
 -4.73264417e-03,-3.92900267e-03,-7.79616109e-03,-1.91636770e-02,
  1.26573909e+00, 1.88146869e-02, 1.25605151e+00, 2.49021408e-02,
  9.49472706e-02,-7.00021505e-02, 1.30730208e-01, 9.96506950e-01,
  2.27857227e-04,-2.75708526e-04,-8.35091040e-02]

qacc:
[ -4.92080389,  1.03098074, -2.85555758,  0.9730076 ,  1.56797608,
  -1.72840439,  9.52553764,-22.41586065,  0.78087433,  0.80763567,
  -1.85441361, -1.0089074 , -0.68730675,  0.87195434,  3.44261122,
 -13.11219024, -0.72967831,  1.75444477, -0.13178355,-22.69868107,
 -17.27523856, -0.84577595]

qfrc_actuator:
[-3.03903455e-05,-3.22783274e-04,-2.35728380e-04,-3.09868968e-05,
  1.88560772e-05,-4.45303775e-04,-3.35201137e-04,-5.25682572e-05,
  6.44794699e-05,-3.33428591e-04,-2.49846451e-04,-1.26554622e-04,
  1.10672277e-02,-1.24985439e-03, 5.96859212e-03,-1.54228158e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45685976,  0.16418191,  4.45383466,  0.16418191, 13.86465633,
       -0.34680003,  4.45383466, -0.34680003,  4.46964386,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027296589493704115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14391663e-13, -4.06725912e-13,  1.00000000e+00,  4.65260533e-26,
        1.00000000e+00,  4.06725912e-13, -1.00000000e+00,  0.00000000e+00,
        1.14391663e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10445388, -0.09506304,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.88654354e-05,-8.45609840e-08,-2.42669834e-05,-8.09881181e-06,
  9.25253922e-06, 2.12369955e-05, 1.28698207e-05,-3.54896354e-05,
  4.67450956e-06, 9.48570614e-08,-2.24209623e-05,-1.08325730e-05,
 -5.04564134e-05, 7.69471908e-06,-6.73100109e-05,-8.25821530e-05,
 -1.97677521e-06, 5.88649370e-06,-1.21645110e+00,-1.78461454e-03,
 -3.03180956e-04,-9.77668460e-07]


--- Step 1144 ---
qpos:
[ 2.86857630e-03,-5.61461461e-03,-1.01989247e-02, 2.79581758e-03,
 -4.47039380e-03,-5.15976079e-03,-1.77572111e-02, 5.16183024e-03,
 -4.73235069e-03,-3.92931339e-03,-7.79561784e-03,-1.91641821e-02,
  1.26603066e+00, 1.88162253e-02, 1.25631115e+00, 2.49023407e-02,
  9.49286519e-02,-6.99962671e-02, 1.30726678e-01, 9.96501504e-01,
  2.04808080e-04,-4.23592070e-04,-8.35735038e-02]

qacc:
[  3.04786466, -0.40263717,  1.78000105, -3.78246778, -5.11075764,
  -1.32438101,  6.67919655,-14.23237058, -2.4786971 , -2.24753221,
   7.69799843,-10.25418325, -0.64152236,  0.85286522, -2.65676151,
   8.59836815, -0.7358401 ,  1.73269083, -0.24750485,-22.45597328,
 -16.8784735 , -0.96569128]

qfrc_actuator:
[-1.16416014e-05,-3.26958415e-04,-2.33793028e-04,-3.64500195e-05,
 -1.16062469e-05,-4.40063332e-04,-3.23429559e-04,-7.27365213e-05,
  4.96187990e-05,-3.68283998e-04,-2.26933008e-04,-1.32624483e-04,
  1.10404889e-02,-1.22866349e-03, 5.98312021e-03,-1.49478088e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45974394,  0.26608795,  4.45179887,  0.26608795, 18.94496304,
       -0.86579433,  4.45179887, -0.86579433,  4.51149323,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027395902255704374
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.15289855e-13, -2.02625746e-13,  1.00000000e+00,  4.36232674e-26,
        1.00000000e+00,  2.02625746e-13, -1.00000000e+00,  0.00000000e+00,
        2.15289855e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10445136, -0.09506286,  0.06199153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79205457e-05,-9.64373582e-06,-1.37066650e-06,-6.46811461e-06,
 -3.01887137e-05, 1.82584095e-05, 1.65160646e-05,-1.95048073e-05,
 -1.47254695e-05,-3.98973692e-05, 1.97964183e-05,-7.05198309e-06,
 -5.23606163e-05, 1.25049757e-05,-2.91717058e-05, 3.34631675e-05,
 -3.94001388e-07, 6.60338628e-06,-1.21645269e+00,-1.78466873e-03,
 -3.02622446e-04, 1.04292448e-07]


--- Step 1145 ---
qpos:
[ 2.86898625e-03,-5.61386888e-03,-1.01980913e-02, 2.79603410e-03,
 -4.47062722e-03,-5.15952101e-03,-1.77573498e-02, 5.16239154e-03,
 -4.73223779e-03,-3.92976963e-03,-7.79463196e-03,-1.91644420e-02,
  1.26632167e+00, 1.88180713e-02, 1.25657055e+00, 2.49017497e-02,
  9.49134851e-02,-6.99942108e-02, 1.30725158e-01, 9.96496056e-01,
  2.03389800e-04,-5.39578993e-04,-8.36377781e-02]

qacc:
[ -1.06606197, -2.76258954, 10.7003612 ,-18.09192481, -0.16889163,
   1.67067443, -7.67975977, 16.04724383, -1.56447902, -0.92164926,
   1.97861078,  1.65508805, -0.69081994,  0.84483881,  2.11286846,
  -7.72768004,  0.86296009, -0.95677992,  0.50221908,  9.44476579,
  16.79641153,  0.05450309]

qfrc_actuator:
[-1.85676840e-05,-3.65398937e-04,-2.15030534e-04,-5.76568571e-05,
 -1.16930730e-05,-4.37024007e-04,-3.34273360e-04,-4.91219251e-05,
  4.07564874e-05,-3.53311266e-04,-1.95959715e-04,-1.18241054e-04,
  1.10086539e-02,-1.21681647e-03, 5.96653433e-03,-1.53779305e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46122219, -1.89753071,  4.03755875, -1.89753071, 22.66697385,
        8.55615362,  4.03755875,  8.55615362,  8.48235608,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002744661979517532
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01125661e-13, -4.04502643e-13,  1.00000000e+00,  4.09055970e-26,
        1.00000000e+00,  4.04502643e-13, -1.00000000e+00,  0.00000000e+00,
        1.01125661e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08419108, -0.05618423,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.42116712e-06,-4.44374191e-05, 1.63572678e-05,-2.17990107e-05,
 -9.45727917e-07, 1.58101753e-05,-5.71363333e-06, 2.45895466e-05,
 -9.29778394e-06,-3.54903551e-06, 2.49262532e-05, 1.32237151e-05,
 -5.60988664e-05, 3.55563726e-06,-3.13434948e-05,-4.60300715e-05,
  8.30329830e-07, 8.32340155e-06,-1.21645917e+00,-1.78401046e-03,
 -3.01612354e-04, 2.03106624e-06]


--- Step 1146 ---
qpos:
[ 2.86965512e-03,-5.61353343e-03,-1.01975618e-02, 2.79604643e-03,
 -4.47051522e-03,-5.15920576e-03,-1.77576051e-02, 5.16358083e-03,
 -4.73188775e-03,-3.92964714e-03,-7.79386213e-03,-1.91649215e-02,
  1.26661214e+00, 1.88199016e-02, 1.25682925e+00, 2.49013525e-02,
  9.49017747e-02,-6.99958688e-02, 1.30725032e-01, 9.96490593e-01,
  2.23584909e-04,-6.24615577e-04,-8.37021996e-02]

qacc:
[ 2.26211697,-0.11767905, 0.48713008,-3.22486157, 3.00778803, 1.71215135,
 -8.62159733,19.63273744, 2.05928668, 0.91256155,-1.22539327,-2.64426452,
 -0.36022141, 0.25450043,-1.58803974, 4.13331269, 0.86410445,-0.92857749,
  0.34880713, 9.47448169,16.32477451,-0.08288104]

qfrc_actuator:
[-5.06001444e-06,-4.06249811e-04,-2.39902984e-04,-7.02271217e-05,
  6.11190869e-06,-4.35381476e-04,-3.40614622e-04,-1.77086327e-05,
  5.32549263e-05,-2.90799927e-04,-1.95788299e-04,-1.27406722e-04,
  1.09684549e-02,-1.22838378e-03, 5.93128021e-03,-1.52738412e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47394891,  2.43173896, -3.75537807,  2.43173896, 11.37658194,
        4.46969688, -3.75537807,  4.46969688,  7.36823434,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027878206365500313
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.99120239e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.99120239e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08419428, -0.05618313,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33056260e-05,-6.32964342e-05,-3.28099772e-05,-1.43363415e-05,
  1.77825944e-05, 1.03482086e-05,-2.93100404e-06, 3.23701108e-05,
  1.22296397e-05, 6.62440788e-05, 2.96076443e-06,-8.19796726e-06,
 -6.88046390e-05,-2.31834307e-05,-6.01242079e-05, 2.62508651e-06,
  3.24662899e-07, 6.59072998e-06,-1.21645185e+00,-1.78457727e-03,
 -2.99294142e-04, 1.79561170e-06]


--- Step 1147 ---
qpos:
[ 2.87082526e-03,-5.61325977e-03,-1.01977759e-02, 2.79589419e-03,
 -4.47019046e-03,-5.15912133e-03,-1.77577457e-02, 5.16447035e-03,
 -4.73173542e-03,-3.92916274e-03,-7.79332279e-03,-1.91654785e-02,
  1.26690220e+00, 1.88213557e-02, 1.25708712e+00, 2.49020667e-02,
  9.48935218e-02,-7.00011504e-02, 1.30725786e-01, 9.96485103e-01,
  2.65367992e-04,-6.79467436e-04,-8.37669819e-02]

qacc:
[  4.36251845,  1.64930275, -5.31923013,  3.72174398,  1.86292403,
  -1.24602571,  5.25962115,-10.45507482, -1.74440301,  0.96640243,
  -2.41867886,  1.1732114 ,  0.07354291, -0.44051358, -4.61912329,
  14.31853442,  0.86437888, -0.90588397,  0.21993659,  9.4927327 ,
  15.94282933, -0.19105549]

qfrc_actuator:
[ 2.03743277e-05,-3.95143082e-04,-2.72608511e-04,-7.76516990e-05,
  1.65428544e-05,-4.70072609e-04,-3.44247339e-04,-3.52184207e-05,
  4.27190572e-05,-2.89194613e-04,-2.13616392e-04,-1.32582608e-04,
  1.09445599e-02,-1.25379947e-03, 5.90085216e-03,-1.46783827e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4788042 ,  2.37336701, -3.79826489,  2.37336701, 15.41184864,
        6.83157381, -3.79826489,  6.83157381,  8.74755121,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002804052916649258
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89837797e-14, -1.97967559e-13,  1.00000000e+00, -1.95955773e-26,
        1.00000000e+00,  1.97967559e-13, -1.00000000e+00,  0.00000000e+00,
       -9.89837797e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08419651, -0.05618192,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.57928556e-05,-3.16960328e-05,-5.03287021e-05,-1.15536290e-05,
  1.09431002e-05,-2.81278945e-05,-7.40251616e-07,-1.65413455e-05,
 -1.01622019e-05, 3.89020998e-05,-4.07431872e-06,-2.39749925e-06,
 -6.55930332e-05,-4.76110596e-05,-6.13246482e-05, 5.11842474e-05,
 -4.43911395e-07, 5.15363643e-06,-1.21644698e+00,-1.78541393e-03,
 -2.97472734e-04, 1.76784906e-06]


--- Step 1148 ---
qpos:
[ 2.87160129e-03,-5.61288392e-03,-1.01985325e-02, 2.79561847e-03,
 -4.47008794e-03,-5.15923619e-03,-1.77576378e-02, 5.16513035e-03,
 -4.73205481e-03,-3.92895986e-03,-7.79272142e-03,-1.91656843e-02,
  1.26719191e+00, 1.88224473e-02, 1.25734460e+00, 2.49001319e-02,
  9.48887254e-02,-7.00099827e-02, 1.30726988e-01, 9.96479574e-01,
  3.28711551e-04,-7.04752078e-04,-8.38322926e-02]

qacc:
[ -3.46626674,  1.40367716, -4.27591788,  2.91838278, -1.92719054,
  -1.42631729,  5.67927037, -9.91022306, -4.12269493,  0.18587586,
  -2.66844114,  8.83274655, -0.22539574, -0.06072047,  7.46077401,
 -26.89803394,  0.8641481 , -0.88770369,  0.11188101,  9.50379421,
  15.63459018, -0.27611196]

qfrc_actuator:
[-6.39160449e-07,-3.70798799e-04,-2.91699991e-04,-8.19468152e-05,
  4.79122214e-06,-4.73029935e-04,-3.28686892e-04,-4.59002431e-05,
  1.87026046e-05,-3.41900233e-04,-2.24390684e-04,-1.17666192e-04,
  1.09304542e-02,-1.26940492e-03, 5.86270525e-03,-1.61058961e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47720506,  2.29350282, -3.84515409,  2.29350282, 20.88486842,
        9.78660968, -3.84515409,  9.78660968, 10.31458281,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027987205761005607
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.91723713e-14,  3.96689485e-13,  1.00000000e+00,  3.93406369e-26,
        1.00000000e+00, -3.96689485e-13, -1.00000000e+00,  0.00000000e+00,
       -9.91723713e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08419795, -0.05618061,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.02854702e-05,-4.27279896e-06,-3.22401466e-05,-7.62069917e-06,
 -1.14470239e-05,-1.95474664e-05, 9.08529934e-06,-1.22368574e-05,
 -2.42908376e-05,-3.19216398e-05,-3.33424647e-06, 1.63941768e-05,
 -5.97625600e-05,-4.41977554e-05,-6.35817078e-05,-1.48435291e-04,
 -1.47442498e-06, 3.97764469e-06,-1.21644440e+00,-1.78652920e-03,
 -2.96131300e-04, 1.94045609e-06]


--- Step 1149 ---
qpos:
[ 2.87211975e-03,-5.61262456e-03,-1.01992021e-02, 2.79527715e-03,
 -4.46978212e-03,-5.15955605e-03,-1.77570779e-02, 5.16598867e-03,
 -4.73265954e-03,-3.92912924e-03,-7.79214030e-03,-1.91660367e-02,
  1.26748124e+00, 1.88233006e-02, 1.25760206e+00, 2.48917809e-02,
  9.48882393e-02,-7.00193687e-02, 1.30729019e-01, 9.96474101e-01,
  3.91659739e-04,-6.98971788e-04,-8.38971041e-02]

qacc:
[ -2.24837954, -0.52813236,  1.94420948, -3.14134011,  1.79066147,
  -1.1288386 ,  2.78898566,  0.07726312, -2.49241081, -0.73247543,
   2.52384425, -4.76075114, -0.67218575,  0.5334612 , 19.49780199,
 -68.04054069,  1.07755126, -0.13838974,  0.20733305, -1.49894497,
  15.46131404,  0.24608658]

qfrc_actuator:
[-1.33211961e-05,-3.74156516e-04,-2.84774120e-04,-8.43395010e-05,
  1.55852125e-05,-4.74638804e-04,-3.01790274e-04,-3.46829915e-05,
  4.70351324e-06,-3.73435843e-04,-2.31133022e-04,-1.26597303e-04,
  1.09115798e-02,-1.27898724e-03, 5.84122081e-03,-1.94241397e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47403078, -0.23559818, -4.46782328, -0.23559818, 19.70751945,
       -0.80329546, -4.46782328, -0.80329546,  4.51639032,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002788095389807954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.95503085e-14, -1.99100617e-13,  1.00000000e+00,  1.98205278e-26,
        1.00000000e+00,  1.99100617e-13, -1.00000000e+00,  0.00000000e+00,
        9.95503085e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194723, -0.06747455,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.32620570e-05,-1.27467352e-05, 1.81351596e-06,-3.83754865e-06,
  1.04591613e-05,-1.11899924e-05, 2.35539243e-05, 1.04549903e-05,
 -1.47032397e-05,-4.93960052e-05,-1.31872610e-05,-1.00947149e-05,
 -6.15817668e-05,-3.54376054e-05,-7.09663266e-05,-3.49093392e-04,
 -2.76611436e-06, 3.03741996e-06,-1.21644399e+00,-1.78792947e-03,
 -2.95256644e-04, 2.30775516e-06]


--- Step 1150 ---
qpos:
[ 2.87179215e-03,-5.61245002e-03,-1.01998011e-02, 2.79490660e-03,
 -4.46900450e-03,-5.16010629e-03,-1.77561392e-02, 5.16663745e-03,
 -4.73342773e-03,-3.92935633e-03,-7.79233397e-03,-1.91664810e-02,
  1.26777001e+00, 1.88240688e-02, 1.25785880e+00, 2.48808128e-02,
  9.48924743e-02,-7.00273039e-02, 1.30731478e-01, 9.96468779e-01,
  4.39866568e-04,-6.61613059e-04,-8.39603575e-02]

qacc:
[ -7.39706804, -0.35478277,  1.25068292, -1.83371495,  4.13028799,
  -1.8016536 ,  6.85322414,-10.90167921, -1.45448536,  1.90322094,
  -6.50323495,  6.18806901, -0.54536457,  0.42838213,  6.90801838,
 -25.58957471,  1.18027657,  0.36267599,  0.10698554, -8.66884634,
  15.11552773,  0.78159914]

qfrc_actuator:
[-5.64885208e-05,-3.76205000e-04,-2.80403060e-04,-8.55992228e-05,
  3.95699378e-05,-4.93105825e-04,-2.86147512e-04,-4.61675966e-05,
 -3.28284571e-06,-3.74313472e-04,-2.70903995e-04,-1.31727079e-04,
  1.08792088e-02,-1.28493500e-03, 5.82438790e-03,-2.06330785e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46735867,  0.40220993, -4.44921573,  0.40220993, 22.18079499,
        1.60129794, -4.44921573,  1.60129794,  4.6121163 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027655838638860085
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00360636e-13, -2.85378279e-07,  1.00000000e+00,  2.86407457e-20,
        1.00000000e+00,  2.85378279e-07, -1.00000000e+00,  0.00000000e+00,
        1.00360636e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08058792, -0.07494081,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.35508033e-05,-8.97338746e-06, 1.83427080e-06,-1.81568667e-06,
  2.42792670e-05,-1.94046629e-05, 1.65896977e-05,-1.09483233e-05,
 -8.42254064e-06,-3.16625780e-05,-5.19508682e-05,-7.89762073e-06,
 -7.48425527e-05,-2.92728357e-05,-9.27543255e-05,-1.50426686e-04,
 -3.20375949e-06, 1.49550060e-06,-1.21644311e+00,-1.78927835e-03,
 -2.95519477e-04, 2.80359646e-06]


--- Step 1151 ---
qpos:
[ 2.87129435e-03,-5.61219072e-03,-1.02004405e-02, 2.79485482e-03,
 -4.46794536e-03,-5.16082555e-03,-1.77549935e-02, 5.16680255e-03,
 -4.73394079e-03,-3.92985623e-03,-7.79298238e-03,-1.91666322e-02,
  1.26805811e+00, 1.88252378e-02, 1.25811416e+00, 2.48730911e-02,
  9.48977450e-02,-7.00298379e-02, 1.30734074e-01, 9.96463536e-01,
  4.49353467e-04,-6.23903967e-04,-8.40228003e-02]

qacc:
[-1.49129554e+00, 8.84221729e-01,-4.33066465e+00, 9.84409607e+00,
  2.46425866e+00,-1.80244992e+00, 8.13666505e+00,-1.67067752e+01,
  2.22418056e+00, 1.50980460e+00,-7.14769441e+00, 1.31476803e+01,
 -4.31215365e-01, 5.60312197e-01,-1.18328935e+01, 3.85294403e+01,
  2.58907848e-01, 1.35030654e+00, 3.43225547e-02,-1.93060578e+01,
 -1.45070244e+00, 4.19921103e-01]

qfrc_actuator:
[-6.39976084e-05,-3.59700377e-04,-2.77583080e-04,-6.84366713e-05,
  5.33666428e-05,-5.03827704e-04,-2.77364515e-04,-7.09447822e-05,
  1.00833296e-05,-3.92467215e-04,-2.94224231e-04,-1.16819532e-04,
  1.08600721e-02,-1.25325462e-03, 5.79975909e-03,-1.88134993e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46055972,  3.32035761, -2.97855978,  3.32035761, 11.48540211,
        7.83096214, -2.97855978,  7.83096214, 13.19014604,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027423906414095656
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.41722781e-07,  1.35011780e-13,  1.00000000e+00,  7.31389569e-20,
        1.00000000e+00, -1.35011780e-13, -1.00000000e+00,  0.00000000e+00,
       -5.41722781e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09190882, -0.08888191,  0.06199153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.75681639e-06, 1.17751237e-05, 1.13744507e-06, 1.68098556e-05,
  1.44857318e-05,-1.85993589e-05, 6.43278438e-06,-2.52508950e-05,
  1.31160191e-05,-4.69214920e-05,-3.65260994e-05, 1.16025198e-05,
 -6.65183562e-05, 6.86648030e-06,-8.65802889e-05, 1.61141931e-04,
 -2.84028590e-06,-4.11032539e-07,-1.21644251e+00,-1.79033849e-03,
 -2.96676516e-04, 2.98755124e-06]


--- Step 1152 ---
qpos:
[ 2.87139979e-03,-5.61188322e-03,-1.02007576e-02, 2.79498813e-03,
 -4.46707372e-03,-5.16169227e-03,-1.77537690e-02, 5.16702104e-03,
 -4.73428968e-03,-3.93079116e-03,-7.79385821e-03,-1.91665984e-02,
  1.26834566e+00, 1.88269443e-02, 1.25836880e+00, 2.48684861e-02,
  9.49001450e-02,-7.00253063e-02, 1.30735282e-01, 9.96458184e-01,
  4.12894477e-04,-6.16038064e-04,-8.40864829e-02]

qacc:
[  5.28605318, -0.46627037,  0.95581052,  1.71577338, -1.6302059 ,
  -0.30161978,  0.57287874,  0.32769077,  1.43767509,  0.43896821,
  -3.18329259,  7.0696298 , -0.48357704,  0.74238327,-10.46617354,
  35.17226576, -0.71764934,  1.76640171, -0.34716194,-21.63831024,
 -16.79938789, -0.60121004]

qfrc_actuator:
[-3.26965591e-05,-3.49952185e-04,-2.57858503e-04,-5.83096902e-05,
  4.32994633e-05,-5.09871721e-04,-2.72677298e-04,-6.78342847e-05,
  1.81551760e-05,-4.20748446e-04,-3.07684163e-04,-1.07990318e-04,
  1.08489062e-02,-1.21720186e-03, 5.79184043e-03,-1.71777639e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45627159,  4.42425385, -0.5332301 ,  4.42425385,  4.55624501,
        0.82948769, -0.5332301 ,  0.82948769, 11.33859897,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027276277959310813
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01757196e-13,  1.52635794e-13,  1.00000000e+00, -1.55317904e-26,
        1.00000000e+00, -1.52635794e-13, -1.00000000e+00,  0.00000000e+00,
        1.01757196e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10442641, -0.09507449,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.10539771e-05, 1.72847834e-05, 2.28840264e-05, 1.09994677e-05,
 -9.65761707e-06,-1.61804780e-05, 7.58200358e-07, 2.04282022e-06,
  8.42873919e-06,-6.15378361e-05,-2.72357429e-05, 5.78418622e-06,
 -4.45116351e-05, 2.30889048e-05,-3.12690539e-05, 1.61150099e-04,
 -7.00738653e-07,-1.03925804e-06,-1.21644075e+00,-1.79038813e-03,
 -2.98360086e-04, 2.45855145e-06]


--- Step 1153 ---
qpos:
[ 2.87118951e-03,-5.61124760e-03,-1.02012245e-02, 2.79523820e-03,
 -4.46667429e-03,-5.16260355e-03,-1.77528353e-02, 5.16763277e-03,
 -4.73488412e-03,-3.93204188e-03,-7.79467654e-03,-1.91664944e-02,
  1.26863238e+00, 1.88294599e-02, 1.25862294e+00, 2.48668527e-02,
  9.48996459e-02,-7.00138123e-02, 1.30734778e-01, 9.96452692e-01,
  3.30623242e-04,-6.37387315e-04,-8.41517508e-02]

qacc:
[ -2.77195272,  1.09840133, -3.77073931,  5.77973475, -4.12629387,
   1.5710887 , -7.33377801, 14.62322433, -2.14249179, -0.42910505,
   0.63529409,  0.71310914, -0.91064114,  1.33387183, -9.64759134,
  32.90715417, -0.72479382,  1.7406058 , -0.42775606,-21.59715273,
 -16.4823056 , -0.77569025]

qfrc_actuator:
[-4.98253093e-05,-3.26502560e-04,-2.63842947e-04,-5.23978743e-05,
  1.92703671e-05,-5.13062965e-04,-2.88154619e-04,-4.83347853e-05,
  5.28670221e-06,-4.19329561e-04,-2.97520707e-04,-1.02817293e-04,
  1.07999297e-02,-1.17882258e-03, 5.77796143e-03,-1.56640237e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44824721, -1.97874755,  3.98390027, -1.97874755, 18.57211435,
        7.01512728,  3.98390027,  7.01512728,  7.93256281,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026997149301531687
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.08427849e-13, -5.14046415e-14,  1.00000000e+00,  1.58546230e-26,
        1.00000000e+00,  5.14046415e-14, -1.00000000e+00,  0.00000000e+00,
        3.08427849e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10442452, -0.09507722,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.62372169e-05, 3.83162549e-05, 7.83665553e-07, 7.65677459e-06,
 -2.43117122e-05,-1.19818597e-05,-1.86595603e-05, 1.88713577e-05,
 -1.26522437e-05,-3.83245321e-05,-5.68065434e-06, 1.71148953e-06,
 -6.62994328e-05, 3.48111681e-05,-1.44583706e-05, 1.55428656e-04,
  1.84714015e-06, 4.46910740e-07,-1.21644095e+00,-1.78939712e-03,
 -2.99676460e-04, 2.30110104e-06]


--- Step 1154 ---
qpos:
[ 2.87077582e-03,-5.61025045e-03,-1.02020661e-02, 2.79556855e-03,
 -4.46622109e-03,-5.16366520e-03,-1.77523512e-02, 5.16884368e-03,
 -4.73562853e-03,-3.93330302e-03,-7.79497079e-03,-1.91664019e-02,
  1.26891828e+00, 1.88329880e-02, 1.25887682e+00, 2.48663818e-02,
  9.49032751e-02,-7.00029333e-02, 1.30735371e-01, 9.96447267e-01,
  2.47625195e-04,-6.25846305e-04,-8.42163367e-02]

qacc:
[ -1.79710255,  1.69380231, -5.67885706,  7.39491403,  0.45780976,
   2.28984244,-10.98451993, 22.18708939, -1.29633076, -1.50019073,
   5.38133518, -6.41515129, -1.21260642,  1.81492112, -3.75881585,
  12.93931754,  1.03210518, -0.15376862,  0.27416647, -1.74579673,
  16.35634723,  0.33746661]

qfrc_actuator:
[-5.98290110e-05,-3.12883896e-04,-2.84909556e-04,-4.90208717e-05,
  2.27290958e-05,-5.32339100e-04,-3.15392631e-04,-1.93630917e-05,
 -2.04927365e-06,-3.82283209e-04,-2.55624536e-04,-9.97972950e-05,
  1.07655922e-02,-1.12178150e-03, 5.76051222e-03,-1.51221292e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44615076, -2.7217751 ,  3.51570717, -2.7217751 , 17.23313387,
        9.89937175,  3.51570717,  9.89937175, 12.11000394,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002692359584424292
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03090151e-13, -2.06180302e-13,  1.00000000e+00,  2.12551585e-26,
        1.00000000e+00,  2.06180302e-13, -1.00000000e+00,  0.00000000e+00,
        1.03090151e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194864, -0.06746885,  0.06199168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04563436e-05, 3.55120199e-05,-1.27922683e-05, 5.19465136e-06,
  2.75757278e-06,-2.90095449e-05,-3.13590408e-05, 2.81794870e-05,
 -7.71528526e-06, 1.45637998e-05, 3.33639364e-05, 1.22030904e-06,
 -5.96059517e-05, 5.15857240e-05,-1.23829237e-05, 5.97601589e-05,
  4.05405426e-06, 2.82050013e-06,-1.21644579e+00,-1.78773065e-03,
 -3.00553095e-04, 2.93836491e-06]


--- Step 1155 ---
qpos:
[ 2.87059033e-03,-5.60915180e-03,-1.02030349e-02, 2.79560817e-03,
 -4.46538529e-03,-5.16492239e-03,-1.77521839e-02, 5.17038929e-03,
 -4.73645572e-03,-3.93397965e-03,-7.79531871e-03,-1.91663119e-02,
  1.26920395e+00, 1.88363823e-02, 1.25913059e+00, 2.48645719e-02,
  9.49102485e-02,-6.99956076e-02, 1.30736639e-01, 9.96441824e-01,
  1.86396823e-04,-5.83529085e-04,-8.42811723e-02]

qacc:
[  1.99027583, -0.11279534,  1.81723945, -6.71259946,  3.33032047,
   1.30913095, -6.4672548 , 12.92306909, -0.7363333 ,  0.9190031 ,
  -2.14304885,  1.75390999, -0.18780282,  0.07438509,  3.90735753,
 -13.86675898,  0.83603221, -0.88832427,  0.1685899 ,  9.5501604 ,
  16.25007967, -0.13573643]

qfrc_actuator:
[-4.77910821e-05,-3.23081116e-04,-2.96988107e-04,-6.49276140e-05,
  4.23434216e-05,-5.43389897e-04,-3.31659323e-04,-2.82395286e-06,
 -6.06311044e-06,-3.24039429e-04,-2.48436216e-04,-9.80152913e-05,
  1.07507199e-02,-1.14283348e-03, 5.74091665e-03,-1.58672414e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44679549,  2.41959183,  3.7308934 ,  2.41959183, 19.07554383,
       -9.48716464,  3.7308934 , -9.48716464, 10.59949502,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026946244172164346
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.09010511e-13, -2.06007007e-13,  1.00000000e+00,  6.36583307e-26,
        1.00000000e+00,  2.06007007e-13, -1.00000000e+00,  0.00000000e+00,
        3.09010511e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08421089, -0.05617253,  0.06199167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17494057e-05, 7.21206502e-06,-6.14090525e-06,-1.47272920e-05,
  1.96833465e-05,-3.25113717e-05,-2.51424368e-05, 1.47579415e-05,
 -4.23475764e-06, 7.33749754e-05, 1.43653036e-05, 3.58724652e-06,
 -3.31326900e-05,-1.99252207e-05,-2.48447340e-05,-7.41492840e-05,
  4.40658703e-06, 1.07586391e-06,-1.21644524e+00,-1.78688432e-03,
 -3.00695473e-04, 2.21614726e-06]


--- Step 1156 ---
qpos:
[ 2.86986058e-03,-5.60790090e-03,-1.02041669e-02, 2.79545316e-03,
 -4.46432088e-03,-5.16636064e-03,-1.77522350e-02, 5.17211236e-03,
 -4.73732450e-03,-3.93442364e-03,-7.79514834e-03,-1.91665415e-02,
  1.26948939e+00, 1.88389297e-02, 1.25938365e+00, 2.48642399e-02,
  9.49205925e-02,-6.99917752e-02, 1.30738189e-01, 9.96436348e-01,
  1.46849961e-04,-5.11156304e-04,-8.43464369e-02]

qacc:
[ -4.76868673,  0.26574855,  0.18208514, -3.418902  ,  1.99009289,
   0.73210687, -3.71365905,  7.27507663, -0.3520254 , -1.79886086,
   8.20673665,-14.73067129,  0.5361488 , -1.22781953, -5.59518128,
  17.87105651,  0.84263508, -0.87330957,  0.07066928,  9.53550108,
  15.88793124, -0.22431352]

qfrc_actuator:
[-7.61363169e-05,-3.11947167e-04,-3.03771327e-04,-7.43130676e-05,
  5.35481359e-05,-5.49400168e-04,-3.41296173e-04, 6.28047306e-06,
 -8.09087347e-06,-3.24678469e-04,-2.26199226e-04,-1.14733256e-04,
  1.07102209e-02,-1.21000006e-03, 5.72002973e-03,-1.50563504e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44483092,  1.10710884, -4.30474528,  1.10710884, 21.99571455,
        4.51379516, -4.30474528,  4.51379516,  5.60570391,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026877153647140994
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03268285e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.03268285e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08421304, -0.05617157,  0.0619917 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.80085421e-05, 1.32436318e-05,-6.56141880e-06,-9.57641256e-06,
  1.17580313e-05,-2.87040878e-05,-1.89299738e-05, 7.12678792e-06,
 -2.12630250e-06, 4.35367973e-05, 3.92965650e-05,-1.30066958e-05,
 -6.29660033e-05,-8.02311772e-05,-4.56086860e-05, 7.26241205e-05,
  3.41397518e-06,-1.00689345e-06,-1.21644374e+00,-1.78632900e-03,
 -3.00703401e-04, 1.56276109e-06]


--- Step 1157 ---
qpos:
[ 2.86810701e-03,-5.60646075e-03,-1.02056887e-02, 2.79519782e-03,
 -4.46347513e-03,-5.16803213e-03,-1.77521350e-02, 5.17425728e-03,
 -4.73786579e-03,-3.93483375e-03,-7.79455600e-03,-1.91672821e-02,
  1.26977413e+00, 1.88412945e-02, 1.25963597e+00, 2.48662084e-02,
  9.49343277e-02,-6.99913877e-02, 1.30739694e-01, 9.96430823e-01,
  1.28907618e-04,-4.09298476e-04,-8.44122685e-02]

qacc:
[-8.97117940e+00, 1.15020392e+00,-3.28441989e+00, 1.99940532e+00,
 -1.89807827e+00, 1.42136115e-01,-2.72838678e+00, 9.95242452e+00,
  2.87939611e+00,-2.19317244e+00, 1.00278054e+01,-1.95515344e+01,
 -1.95558074e-01,-8.79414446e-02,-8.08170253e+00, 2.66601639e+01,
  8.47814029e-01,-8.61222012e-01,-1.13200114e-02, 9.52014303e+00,
  1.56010640e+01,-2.92256027e-01]

qfrc_actuator:
[-1.28030261e-04,-3.05858518e-04,-3.25043176e-04,-7.97655564e-05,
  4.19554016e-05,-5.52322404e-04,-3.29174258e-04, 2.87000479e-05,
  8.81756979e-06,-3.42776522e-04,-2.13236154e-04,-1.42233114e-04,
  1.06703326e-02,-1.21530547e-03, 5.69309917e-03,-1.38672499e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43848186,  1.02291831, -4.31899981,  1.02291831, 28.90956428,
        5.79576738, -4.31899981,  5.79576738,  5.81115999,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002665226068004345
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.08279335e-13,  2.08279335e-13,  1.00000000e+00, -4.33802813e-26,
        1.00000000e+00, -2.08279335e-13, -1.00000000e+00,  0.00000000e+00,
        2.08279335e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08421444, -0.05617048,  0.06199176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.26919466e-05, 1.16897117e-05,-1.96750184e-05,-5.29709304e-06,
 -1.12652163e-05,-2.25248517e-05, 4.12099626e-06, 2.06723479e-05,
  1.68605921e-05, 1.38180085e-05, 2.63480491e-05,-2.45279745e-05,
 -9.14588890e-05,-4.29879053e-05,-4.30220228e-05, 1.16371434e-04,
  2.16418973e-06,-2.85080958e-06,-1.21644438e+00,-1.78605948e-03,
 -3.01197513e-04, 1.12757887e-06]


--- Step 1158 ---
qpos:
[ 2.86643475e-03,-5.60515204e-03,-1.02070570e-02, 2.79488291e-03,
 -4.46277504e-03,-5.16964585e-03,-1.77519781e-02, 5.17593194e-03,
 -4.73854508e-03,-3.93527037e-03,-7.79373938e-03,-1.91683242e-02,
  1.27005842e+00, 1.88432163e-02, 1.25988777e+00, 2.48675987e-02,
  9.49514709e-02,-6.99944064e-02, 1.30740880e-01, 9.96425232e-01,
  1.32504673e-04,-2.78403345e-04,-8.44787720e-02]

qacc:
[  0.71830732, -0.72644707,  2.58717434, -3.76413589, -1.26972569,
  -1.04821887,  5.83794326,-14.11533931, -1.2007831 , -1.28075625,
   5.78995766,-11.34588617, -0.08848107, -0.30615874,  0.99127919,
  -4.57427238,  0.85199965, -0.85156165, -0.07982866,  9.50557452,
  15.37587007, -0.34378474]

qfrc_actuator:
[-1.22345642e-04,-3.20647566e-04,-3.19211144e-04,-8.28747207e-05,
  3.47926639e-05,-5.35514574e-04,-3.22031700e-04, 5.53545898e-06,
  1.23003002e-06,-3.53491631e-04,-2.05948425e-04,-1.58130146e-04,
  1.06521637e-02,-1.23707780e-03, 5.65192086e-03,-1.42406251e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42883712,  0.91783948, -4.33268611,  0.91783948, 37.78686312,
        7.06658926, -4.33268611,  7.06658926,  5.92582869,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026305813250424026
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.16533559e-13, -2.11022373e-13,  1.00000000e+00,  6.67956626e-26,
        1.00000000e+00,  2.11022373e-13, -1.00000000e+00,  0.00000000e+00,
        3.16533559e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08421527, -0.05616929,  0.06199187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.18076928e-06,-1.25897479e-05, 5.64531763e-06,-3.38893602e-06,
 -7.49456488e-06, 5.99981138e-06, 3.72725367e-06,-2.35855081e-05,
 -7.10210592e-06, 1.41718087e-06, 1.25364845e-05,-1.48707900e-05,
 -7.51446505e-05,-5.54435413e-05,-5.20128572e-05,-3.72703434e-05,
  6.56455186e-07,-4.47641238e-06,-1.21644707e+00,-1.78607963e-03,
 -3.02164072e-04, 9.00343935e-07]


--- Step 1159 ---
qpos:
[ 2.86553292e-03,-5.60405855e-03,-1.02080152e-02, 2.79452614e-03,
 -4.46182143e-03,-5.17133038e-03,-1.77513579e-02, 5.17626811e-03,
 -4.73931011e-03,-3.93543884e-03,-7.79295724e-03,-1.91695687e-02,
  1.27034216e+00, 1.88452646e-02, 1.26013916e+00, 2.48678311e-02,
  9.49689557e-02,-6.99954604e-02, 1.30743235e-01, 9.96419628e-01,
  1.23181985e-04,-1.48350537e-04,-8.45451788e-02]

qacc:
[ 6.75568253e+00,-1.53038125e+00, 5.19779793e+00,-6.39530108e+00,
  2.22580713e+00,-4.14773245e+00, 2.02971064e+01,-4.41453510e+01,
 -7.56326646e-01, 3.55056341e-02, 1.24282172e+00,-4.88607877e+00,
 -5.81976868e-01, 6.04231440e-01, 2.96228768e+00,-1.10932795e+01,
  8.53910207e-02, 4.91186432e-01, 2.92380036e-01,-6.40118550e+00,
 -9.65373250e-01, 4.94641654e-02]

qfrc_actuator:
[-8.28094933e-05,-3.29965618e-04,-2.97503960e-04,-8.45785107e-05,
  4.80550081e-05,-5.42571674e-04,-3.00090420e-04,-6.20089002e-05,
 -2.96797799e-06,-3.24224881e-04,-2.02037002e-04,-1.67070601e-04,
  1.06417045e-02,-1.21513878e-03, 5.63415397e-03,-1.48217943e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41676161,  1.9151814 , -3.97993257,  1.9151814 , 19.022919  ,
        7.02862183, -3.97993257,  7.02862183,  7.79900127,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025863529140617415
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.64935141e-13,  6.54611672e-08,  1.00000000e+00,  1.73429635e-20,
        1.00000000e+00, -6.54611672e-08, -1.00000000e+00,  0.00000000e+00,
       -2.64935141e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0941759 , -0.07536823,  0.06199201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.96484811e-05,-1.53613141e-05, 1.96877053e-05,-2.11284278e-06,
  1.30504218e-05,-3.89226463e-06, 2.28371145e-05,-6.76175468e-05,
 -4.40097054e-06, 3.20156621e-05, 5.23111802e-06,-8.73391461e-06,
 -6.28840763e-05,-1.11545531e-05,-4.96968128e-05,-6.77438563e-05,
 -1.11058793e-06,-5.89828450e-06,-1.21645175e+00,-1.78639207e-03,
 -3.03592590e-04, 8.73425355e-07]


--- Step 1160 ---
qpos:
[ 2.86511180e-03,-5.60295173e-03,-1.02087862e-02, 2.79413753e-03,
 -4.46106117e-03,-5.17315318e-03,-1.77501787e-02, 5.17613967e-03,
 -4.74011997e-03,-3.93479593e-03,-7.79270748e-03,-1.91706014e-02,
  1.27062523e+00, 1.88477809e-02, 1.26038988e+00, 2.48686787e-02,
  9.49836645e-02,-6.99894025e-02, 1.30744331e-01, 9.96413928e-01,
  6.77264360e-05,-4.86821666e-05,-8.46125074e-02]

qacc:
[  4.21056237, -0.57924528,  2.21104744, -3.05580655, -1.66660886,
  -2.69713498, 11.31938016,-20.15999164, -0.42296101,  2.99768316,
 -10.02232488, 13.93435358, -0.73571939,  0.96196065, -2.78875986,
   8.48976248, -0.69398635,  1.77796586, -0.31483244,-21.69947769,
 -17.08804434, -0.45797222]

qfrc_actuator:
[-5.91893281e-05,-3.18112079e-04,-2.84342510e-04,-8.54329577e-05,
  3.77262307e-05,-5.46089641e-04,-2.69699136e-04,-8.41142585e-05,
 -5.12933338e-06,-2.53500444e-04,-2.17734952e-04,-1.54063066e-04,
  1.06145924e-02,-1.18511796e-03, 5.61446582e-03,-1.44543735e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41723873,  2.02237016, -3.92708759,  2.02237016,  9.69190208,
        2.71634424, -3.92708759,  2.71634424,  5.81610071,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025881189900535395
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20647554e-13,  2.14484540e-13,  1.00000000e+00, -2.58770352e-26,
        1.00000000e+00, -2.14484540e-13, -1.00000000e+00,  0.00000000e+00,
        1.20647554e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10440444, -0.09509494,  0.061992  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47448822e-05, 7.22868083e-06, 1.23388994e-05,-8.73468025e-07,
 -9.95412417e-06,-3.81687517e-06, 3.00717981e-05,-2.27968105e-05,
 -2.27568880e-06, 8.93296113e-05,-8.74824635e-06, 1.43909952e-05,
 -6.29896252e-05, 1.27267904e-05,-5.43863142e-05, 2.56231296e-05,
 -1.31154605e-07,-5.94317136e-06,-1.21645163e+00,-1.78605535e-03,
 -3.05943660e-04,-7.16842566e-09]


--- Step 1161 ---
qpos:
[ 2.86463231e-03,-5.60161812e-03,-1.02094912e-02, 2.79372219e-03,
 -4.46077565e-03,-5.17465846e-03,-1.77491258e-02, 5.17608100e-03,
 -4.74094929e-03,-3.93364684e-03,-7.79231520e-03,-1.91711332e-02,
  1.27090832e+00, 1.88488775e-02, 1.26063965e+00, 2.48703137e-02,
  9.49955572e-02,-6.99763403e-02, 1.30743831e-01, 9.96408095e-01,
 -3.37275239e-05, 2.13867704e-05,-8.46812048e-02]

qacc:
[ -0.51242311,  0.06109157,  0.33153281, -1.06818856, -4.14959553,
   0.92384211, -2.96592284,  4.12710743, -0.17428921,  1.30279061,
  -5.78485819, 13.84500592,  1.0752909 , -2.14212346, -3.93273975,
  11.36922141, -0.70402813,  1.75106453, -0.39891614,-21.66451641,
 -16.69271411, -0.68550907]

qfrc_actuator:
[-6.28898404e-05,-2.93698048e-04,-2.76249519e-04,-8.57710741e-05,
  1.35882331e-05,-5.11883075e-04,-2.70023978e-04,-7.92946968e-05,
 -6.07530398e-06,-2.29562395e-04,-2.09181563e-04,-1.28219887e-04,
  1.05881704e-02,-1.29266129e-03, 5.56703489e-03,-1.40634757e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41323241, -1.68014579,  4.08089824, -1.68014579, 16.320918  ,
        4.90251081,  4.08089824,  4.90251081,  6.43164414,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002573241157769468
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.04483693e-14, -4.31449272e-13,  1.00000000e+00, -1.74514195e-26,
        1.00000000e+00,  4.31449272e-13, -1.00000000e+00,  0.00000000e+00,
       -4.04483693e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10440167, -0.09509721,  0.06199205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.99385754e-06, 3.09473696e-05, 1.10721183e-05, 3.80745682e-07,
 -2.44249508e-05, 3.73559479e-05, 1.81058943e-06, 5.25514038e-06,
 -9.77941867e-07, 7.26728376e-05, 2.64153858e-05, 2.96465136e-05,
 -5.64616496e-05,-1.18044537e-04,-7.33856711e-05, 3.26906164e-05,
  3.35831047e-06,-4.22526559e-06,-1.21644883e+00,-1.78464132e-03,
 -3.08725754e-04,-1.27160898e-06]


--- Step 1162 ---
qpos:
[ 2.86445735e-03,-5.60018474e-03,-1.02100247e-02, 2.79296954e-03,
 -4.46078210e-03,-5.17542307e-03,-1.77485642e-02, 5.17570542e-03,
 -4.74178324e-03,-3.93223418e-03,-7.79169136e-03,-1.91713261e-02,
  1.27119125e+00, 1.88487321e-02, 1.26088884e+00, 2.48706953e-02,
  9.50048767e-02,-6.99688563e-02, 1.30744040e-01, 9.96402486e-01,
 -9.22740567e-05, 8.18859733e-05,-8.47470952e-02]

qacc:
[  2.66733047, -1.04716567,  5.33981485,-11.51524353, -2.57427668,
   1.7035516 , -3.30786161, -1.94466828, -0.03766563,  0.39932387,
  -2.34686905,  7.64353596,  0.61007338, -1.54030564,  2.8591757 ,
 -11.44988614, -0.64330799, -1.39453259,  0.17719754, 21.78181609,
  -2.95100374,  1.40827072]

qfrc_actuator:
[-4.71306960e-05,-2.97471774e-04,-2.71151369e-04,-1.03544411e-04,
 -7.23920994e-07,-4.55442274e-04,-2.88316944e-04,-9.41739879e-05,
 -6.29948172e-06,-2.33715547e-04,-2.04291955e-04,-1.12801761e-04,
  1.05727761e-02,-1.35677405e-03, 5.53496159e-03,-1.47278333e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41186642, -0.31622903,  4.40051867, -0.31622903, 23.5552742 ,
        1.37567902,  4.40051867,  1.37567902,  4.51072514,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000256814309807063
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08076437e-13,  1.08076437e-13,  1.00000000e+00,  1.16805163e-26,
        1.00000000e+00, -1.08076437e-13, -1.00000000e+00,  0.00000000e+00,
       -1.08076437e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10232781, -0.04712692,  0.06199206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56804931e-05, 1.57968096e-05, 1.28617368e-05,-1.60570613e-05,
 -1.49996070e-05, 7.79630996e-05,-1.01658574e-05,-1.31116707e-05,
 -2.25107585e-07, 4.31626665e-05, 2.41611461e-05, 2.00191488e-05,
 -7.32460685e-05,-1.10944486e-04,-6.35788509e-05,-7.43769595e-05,
  6.47996407e-06,-1.66557135e-06,-1.21645084e+00,-1.78256323e-03,
 -3.11059897e-04,-1.73142174e-06]


--- Step 1163 ---
qpos:
[ 2.86447270e-03,-5.59884614e-03,-1.02103680e-02, 2.79168867e-03,
 -4.46096010e-03,-5.17571039e-03,-1.77481847e-02, 5.17551201e-03,
 -4.74261334e-03,-3.93050238e-03,-7.79099474e-03,-1.91713285e-02,
  1.27147342e+00, 1.88487590e-02, 1.26113761e+00, 2.48708650e-02,
  9.50117351e-02,-6.99668967e-02, 1.30744439e-01, 9.96397079e-01,
 -1.08578859e-04, 1.32339646e-04,-8.48105597e-02]

qacc:
[  1.67197972, -1.74828176,  8.27578555,-17.64582171, -1.50987791,
   1.51726801, -5.25904113,  8.34736696,  0.03076813,  0.61097055,
  -2.36998566,  5.31518803, -0.69408801,  0.70514352,  0.07760303,
  -1.02181801, -0.61526247, -1.38111917,  0.04744963, 21.47045718,
  -3.21488363,  1.21839584]

qfrc_actuator:
[-3.77879462e-05,-3.18121863e-04,-2.67981908e-04,-1.31457596e-04,
 -9.13346357e-06,-4.39468982e-04,-2.99222614e-04,-8.50085506e-05,
 -6.09762196e-06,-2.19178018e-04,-2.01746660e-04,-1.03677050e-04,
  1.05533637e-02,-1.32342778e-03, 5.53340650e-03,-1.47654011e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4204754 , -1.42060243, -4.18598751, -1.42060243, 14.04914545,
       -3.26769061, -4.18598751, -3.26769061,  5.52943457,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002600058762586982
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06749801e-13, -6.40498808e-13,  1.00000000e+00,  6.83731204e-26,
        1.00000000e+00,  6.40498808e-13, -1.00000000e+00,  0.00000000e+00,
        1.06749801e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10233082, -0.04712878,  0.06199197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.79272811e-06,-9.88573573e-06, 7.45172761e-06,-2.71047579e-05,
 -8.81138055e-06, 5.69250604e-05, 3.49518518e-06, 1.19006822e-05,
  2.13759726e-07, 4.44607677e-05, 1.51044021e-05, 1.21946209e-05,
 -8.42811083e-05,-1.52585689e-05,-4.19000551e-05,-1.67136223e-05,
  3.37639204e-06,-2.03269181e-06,-1.21644472e+00,-1.78148443e-03,
 -3.10465520e-04,-1.19175883e-06]


--- Step 1164 ---
qpos:
[ 2.86391024e-03,-5.59765167e-03,-1.02106278e-02, 2.79009758e-03,
 -4.46054768e-03,-5.17581185e-03,-1.77478075e-02, 5.17545525e-03,
 -4.74308949e-03,-3.92849484e-03,-7.79021951e-03,-1.91715615e-02,
  1.27175502e+00, 1.88488041e-02, 1.26138581e+00, 2.48729387e-02,
  9.50162223e-02,-6.99704167e-02, 1.30744592e-01, 9.96391853e-01,
 -8.31865171e-05, 1.72380728e-04,-8.48718981e-02]

qacc:
[ -5.04942213, -1.05294946,  4.8044206 ,-10.2190819 ,  5.14583273,
   0.52346214, -2.10439553,  4.35550455,  3.09624313, -0.33647131,
   2.68983976, -6.99491841, -0.27883797,  0.16907008, -6.58438819,
  21.86700969, -0.59280547, -1.36987959, -0.0614743 , 21.21487477,
  -3.41948601,  1.06908424]

qfrc_actuator:
[-6.78078861e-05,-3.30990492e-04,-2.66057095e-04,-1.47376226e-04,
  2.15002114e-05,-4.47809079e-04,-3.05808564e-04,-7.95412310e-05,
  1.21058438e-05,-2.11339697e-04,-2.00541800e-04,-1.16068291e-04,
  1.05315982e-02,-1.32128686e-03, 5.52886681e-03,-1.37221911e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42295485, -1.49705997, -4.16189153, -1.49705997, 18.48502919,
       -5.05822137, -4.16189153, -5.05822137,  6.24243062,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026091576365433466
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.12755069e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.12755069e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10233339, -0.0471297 ,  0.06199194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.97463161e-05,-1.80571172e-05,-1.46409524e-07,-1.66116701e-05,
  3.04003029e-05, 2.47271864e-05, 6.01389143e-06, 8.25945660e-06,
  1.82301650e-05, 3.62690889e-05, 1.26408913e-05,-9.73275114e-06,
 -6.90417557e-05,-2.15111236e-05,-3.04475006e-05, 9.69504507e-05,
  7.05145558e-07,-1.78783254e-06,-1.21644158e+00,-1.78106540e-03,
 -3.09912460e-04,-7.47120799e-07]


--- Step 1165 ---
qpos:
[ 2.86230245e-03,-5.59638837e-03,-1.02112539e-02, 2.78867737e-03,
 -4.45977140e-03,-5.17561985e-03,-1.77478377e-02, 5.17582459e-03,
 -4.74299828e-03,-3.92674415e-03,-7.78915759e-03,-1.91722317e-02,
  1.27203597e+00, 1.88486974e-02, 1.26163354e+00, 2.48762399e-02,
  9.50184101e-02,-6.99793790e-02, 1.30744134e-01, 9.96386785e-01,
 -1.65392283e-05, 2.01725932e-04,-8.49313459e-02]

qacc:
[ -9.15651665,  1.48490602, -5.85279958,  9.31191372,  3.15587532,
   2.39666333, -9.79278474, 17.6155819 ,  4.98024031, -2.05128408,
   8.64637603,-16.45600923, -0.28901362,  0.05406691, -4.39927782,
  14.41845764, -0.5748522 , -1.3605757 , -0.15279917, 21.00677975,
  -3.57804282,  0.9517449 ]

qfrc_actuator:
[-1.20753444e-04,-3.21350336e-04,-2.82601034e-04,-1.38352207e-04,
  3.93612018e-05,-4.35131440e-04,-3.27662199e-04,-5.85674930e-05,
  4.07586520e-05,-2.60863063e-04,-2.00176139e-04,-1.41024074e-04,
  1.04871295e-02,-1.33778388e-03, 5.50658661e-03,-1.31159845e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42046555, -1.59128776, -4.12411432, -1.59128776, 24.09775244,
       -7.5924728 , -4.12411432, -7.5924728 ,  7.35001795,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002600022541148911
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06751288e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.06751288e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1023356 , -0.04712988,  0.06199197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.38045434e-05,-1.24468078e-06,-2.08722369e-05, 7.92475899e-06,
  1.87405293e-05, 2.81109505e-05,-1.57239628e-05, 2.24002989e-05,
  2.91930690e-05,-2.71241866e-05, 9.04369590e-06,-2.31612241e-05,
 -8.48601330e-05,-3.86797645e-05,-2.99509337e-05, 6.11093299e-05,
 -1.57694005e-06,-9.58353719e-07,-1.21644132e+00,-1.78129877e-03,
 -3.09368057e-04,-4.07870520e-07]


--- Step 1166 ---
qpos:
[ 2.85972729e-03,-5.59507503e-03,-1.02120966e-02, 2.78736820e-03,
 -4.45913159e-03,-5.17516389e-03,-1.77484307e-02, 5.17680256e-03,
 -4.74256380e-03,-3.92544827e-03,-7.78825069e-03,-1.91727929e-02,
  1.27231596e+00, 1.88494049e-02, 1.26188089e+00, 2.48782743e-02,
  9.50178072e-02,-6.99812638e-02, 1.30743171e-01, 9.96381614e-01,
  2.08684576e-06, 1.99896173e-04,-8.49919991e-02]

qacc:
[ -8.46941445,  0.91634357, -3.61133826,  5.81132904, -1.21194228,
   3.17599112,-13.38410144, 24.62068185,  3.0081099 ,  0.05074376,
  -1.52204292,  3.99857462, -1.36315814,  1.83032148,  3.42397433,
 -12.42597746, -0.69766335,  1.76935001, -0.12620021,-22.59986551,
 -17.57039282, -0.61003193]

qfrc_actuator:
[-1.69003089e-04,-3.16112866e-04,-2.92057080e-04,-1.32472237e-04,
  3.17963233e-05,-4.27777731e-04,-3.58270518e-04,-2.86340116e-05,
  5.75734326e-05,-3.08875876e-04,-2.18306159e-04,-1.37714510e-04,
  1.04556952e-02,-1.27653777e-03, 5.46834833e-03,-1.38379877e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41827877,  0.03055284, -4.41817313,  0.03055284, 27.84696464,
        0.16201561, -4.41817313,  0.16201561,  4.41939915,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025919633166716916
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.14166423e-13, -2.14166423e-13,  1.00000000e+00,  4.58672568e-26,
        1.00000000e+00,  2.14166423e-13, -1.00000000e+00,  0.00000000e+00,
        2.14166423e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10438478, -0.09510105,  0.06199199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.97904267e-05, 5.20729531e-07,-1.20103141e-05, 5.26293140e-06,
 -7.01812523e-06, 2.07842558e-05,-2.59673551e-05, 3.10277681e-05,
  1.76460861e-05,-6.23683193e-05,-2.34523099e-05, 2.00393720e-06,
 -8.39696892e-05, 3.03949351e-05,-5.00160670e-05,-7.37232919e-05,
 -3.50188131e-06, 4.36715182e-07,-1.21644387e+00,-1.78217837e-03,
 -3.08808130e-04,-1.80740850e-07]


--- Step 1167 ---
qpos:
[ 2.85762815e-03,-5.59397856e-03,-1.02126839e-02, 2.78648657e-03,
 -4.45893206e-03,-5.17455581e-03,-1.77493580e-02, 5.17813038e-03,
 -4.74262069e-03,-3.92456290e-03,-7.78729224e-03,-1.91733297e-02,
  1.27259530e+00, 1.88507301e-02, 1.26212777e+00, 2.48803771e-02,
  9.50143733e-02,-6.99761660e-02, 1.30741245e-01, 9.96376308e-01,
 -2.68124789e-05, 1.67814804e-04,-8.50542387e-02]

qacc:
[  4.17576215, -0.12778488, -1.77904657,  8.94486137, -3.85252353,
   1.86285107, -7.81476696, 14.2793361 , -4.29306988, -0.62799713,
   1.36351925, -0.73744028, -0.88142773,  1.22891207, -0.79142138,
   2.01760024, -0.70777599,  1.74566993, -0.24054504,-22.39098564,
 -17.09070155, -0.80075959]

qfrc_actuator:
[-1.43084506e-04,-3.31278380e-04,-2.79511152e-04,-1.10734574e-04,
  9.33072765e-06,-4.23706273e-04,-3.76060719e-04,-1.14302921e-05,
  3.17772908e-05,-3.20176399e-04,-2.11701293e-04,-1.35569653e-04,
  1.04374578e-02,-1.24056172e-03, 5.46315058e-03,-1.37391478e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42324872, -0.1598178 ,  4.42036057, -0.1598178 , 15.54113759,
        0.40196644,  4.42036057,  0.40196644,  4.43778179,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026102333363219044
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.12667391e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.12667391e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10438132, -0.0951008 ,  0.06199193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.44929445e-05,-1.71736503e-05, 1.13582983e-05, 2.14512572e-05,
 -2.26597780e-05, 1.16455204e-05,-1.56226566e-05, 1.77979065e-05,
 -2.53082004e-05,-5.09833827e-05,-9.12075770e-06,-1.30279652e-06,
 -5.49773128e-05, 2.58537015e-05,-4.14384700e-05,-1.75781187e-06,
 -8.61683045e-07, 9.07080527e-07,-1.21644031e+00,-1.78204265e-03,
 -3.09999146e-04,-7.21466958e-07]


--- Step 1168 ---
qpos:
[ 2.85585543e-03,-5.59305810e-03,-1.02131065e-02, 2.78587330e-03,
 -4.45934811e-03,-5.17410976e-03,-1.77501030e-02, 5.18000406e-03,
 -4.74333130e-03,-3.92387926e-03,-7.78553462e-03,-1.91739165e-02,
  1.27287429e+00, 1.88517791e-02, 1.26237421e+00, 2.48838545e-02,
  9.50080634e-02,-6.99702489e-02, 1.30740839e-01, 9.96370988e-01,
 -5.94993335e-05, 1.15118419e-04,-8.51166136e-02]

qacc:
[  2.86373687, -0.14588771, -0.95975106,  5.4805511 , -5.35971336,
   0.41096208, -4.06225868, 13.31786688, -5.6945787 , -2.59246781,
   9.08496013,-11.09594514,  0.03660849, -0.31989103, -4.8407791 ,
  15.93502101, -0.71897816,  0.20483809,  0.37980828, -1.0101941 ,
 -10.43122656, -0.06863165]

qfrc_actuator:
[-1.26979301e-04,-3.40686149e-04,-2.71901849e-04,-9.75958559e-05,
 -2.17169029e-05,-4.39350529e-04,-3.68410636e-04, 1.59035376e-05,
 -1.13545366e-06,-2.91559295e-04,-1.54894778e-04,-1.34082654e-04,
  1.04058425e-02,-1.27313456e-03, 5.46182060e-03,-1.29785600e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42244365, -0.16601024,  4.41932669, -0.16601024, 21.55758608,
        0.64367478,  4.41932669,  0.64367478,  4.44662303,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026072850149608945
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.12907875e-13, -1.74150338e-07,  1.00000000e+00,  3.70779785e-20,
        1.00000000e+00,  1.74150338e-07, -1.00000000e+00,  0.00000000e+00,
        2.12907875e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10335839, -0.07105272,  0.06199194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67951964e-05,-1.57617208e-05, 6.20046549e-06, 1.32136585e-05,
 -3.16932736e-05,-1.16185227e-05, 8.74853054e-06, 2.76372351e-05,
 -3.36491618e-05,-1.88322957e-06, 4.50884425e-05,-1.03918347e-06,
 -5.43489631e-05,-3.73994074e-05,-2.51011747e-05, 6.96270844e-05,
  1.36016092e-06, 2.33769650e-06,-1.21644179e+00,-1.78120879e-03,
 -3.10718015e-04,-3.94547739e-07]


--- Step 1169 ---
qpos:
[ 2.85463458e-03,-5.59226887e-03,-1.02134357e-02, 2.78542156e-03,
 -4.45944345e-03,-5.17400948e-03,-1.77503186e-02, 5.18149966e-03,
 -4.74443127e-03,-3.92289755e-03,-7.78413806e-03,-1.91748113e-02,
  1.27315275e+00, 1.88529852e-02, 1.26261993e+00, 2.48856598e-02,
  9.49993010e-02,-6.99698965e-02, 1.30740309e-01, 9.96365862e-01,
 -5.07216113e-05, 5.24452998e-05,-8.51766583e-02]

qacc:
[  4.83270958, -0.11139198, -0.55257148,  3.3126861 ,  2.8192271 ,
  -2.71976333, 10.62173429,-17.74871788, -3.42545151,  0.77562654,
  -0.88407316, -4.0960483 , -0.60202641,  0.65187909,  4.06757521,
 -15.6124119 , -0.61314016, -1.39119026, -0.03104635, 21.08151525,
  -3.20568264,  1.17125481]

qfrc_actuator:
[-9.90503164e-05,-3.46593387e-04,-2.67266055e-04,-8.96283343e-05,
 -4.30444549e-06,-4.66570914e-04,-3.45879284e-04,-4.27841569e-06,
 -2.02066289e-05,-2.74541450e-04,-1.75251318e-04,-1.50678361e-04,
  1.03821750e-02,-1.25742697e-03, 5.38826541e-03,-1.39645745e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4260012 , -0.25929984,  4.41839905, -0.25929984, 14.02238614,
        0.56317709,  4.41839905,  0.56317709,  4.45905202,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026202809774522606
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.23703807e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.23703807e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10234655, -0.04713141,  0.0619919 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.84003463e-05,-1.28898523e-05, 2.59774824e-06, 7.76383110e-06,
  1.64983375e-05,-3.07490059e-05, 2.21663059e-05,-1.98412770e-05,
 -2.00306788e-05, 2.51749660e-05,-1.52548668e-05,-1.51394645e-05,
 -6.03663501e-05,-7.66947743e-06,-8.17709870e-05,-9.89577259e-05,
  1.46482950e-06, 3.39895790e-06,-1.21644357e+00,-1.78051753e-03,
 -3.09935610e-04,-4.97113671e-08]


--- Step 1170 ---
qpos:
[ 2.85375822e-03,-5.59182124e-03,-1.02133401e-02, 2.78541832e-03,
 -4.45863979e-03,-5.17432242e-03,-1.77501471e-02, 5.18207020e-03,
 -4.74575140e-03,-3.92161373e-03,-7.78383714e-03,-1.91761920e-02,
  1.27343075e+00, 1.88541211e-02, 1.26286452e+00, 2.48849979e-02,
  9.49881696e-02,-6.99750530e-02, 1.30739267e-01, 9.96360904e-01,
 -8.69748890e-07,-2.06125740e-05,-8.52346679e-02]

qacc:
[ 3.03277179e+00,-7.20840471e-01, 1.18066110e-02, 7.33306539e+00,
  7.85862232e+00,-3.54686411e+00, 1.57335985e+01,-3.20316659e+01,
 -1.96719949e+00, 2.46469178e+00,-6.15170842e+00,-7.34046463e-01,
 -4.38117846e-01, 3.36480743e-01, 5.84996939e+00,-2.27762456e+01,
 -5.92241436e-01,-1.37722721e+00,-1.27910168e-01, 2.09046558e+01,
 -3.42428452e+00, 1.02182621e+00]

qfrc_actuator:
[-8.21357099e-05,-3.68127324e-04,-2.46656359e-04,-6.70114089e-05,
  4.14939914e-05,-5.00488427e-04,-3.32591930e-04,-5.22642412e-05,
 -3.09757184e-05,-2.82654899e-04,-2.41065130e-04,-1.77845772e-04,
  1.03526524e-02,-1.26633171e-03, 5.31402197e-03,-1.52634778e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42447126, -0.59730654, -4.38396748, -0.59730654, 22.18230207,
       -2.41946789, -4.38396748, -2.41946789,  4.75411878,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002614702258991186
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.12303910e-13,  1.06151955e-13,  1.00000000e+00,  2.25364750e-26,
        1.00000000e+00, -1.06151955e-13, -1.00000000e+00,  0.00000000e+00,
       -2.12303910e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10234929, -0.04713129,  0.06199192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.77193126e-05,-2.78826731e-05, 1.85315595e-05, 2.23046787e-05,
  4.62606024e-05,-4.73825713e-05, 8.97753780e-06,-4.89261313e-05,
 -1.13267134e-05, 2.10476149e-06,-6.30428559e-05,-2.69145381e-05,
 -6.40116067e-05,-2.42377352e-05,-1.25498729e-04,-1.46494137e-04,
 -1.21120509e-07, 3.63621447e-06,-1.21644382e+00,-1.78069540e-03,
 -3.07828055e-04,-4.17336057e-07]


--- Step 1171 ---
qpos:
[ 2.85274682e-03,-5.59178907e-03,-1.02129181e-02, 2.78570261e-03,
 -4.45798303e-03,-5.17493575e-03,-1.77501199e-02, 5.18208425e-03,
 -4.74719026e-03,-3.92037195e-03,-7.78397602e-03,-1.91775427e-02,
  1.27370814e+00, 1.88554448e-02, 1.26310826e+00, 2.48839695e-02,
  9.49742250e-02,-6.99734618e-02, 1.30737375e-01, 9.96355808e-01,
  2.81322841e-06,-1.23883542e-04,-8.52941348e-02]

qacc:
[ -1.16375609, -0.86671057,  1.08385378,  3.67188129, -1.28072695,
  -1.13687042,  5.8313562 ,-15.01628183, -1.05248709,  1.23784244,
  -4.61643176,  5.86467904, -0.57611213,  0.61432862, -0.09370655,
  -1.36175422, -0.70330568,  1.68693529, -0.21251672,-21.7128496 ,
 -17.01916878, -0.73146886]

qfrc_actuator:
[-8.95957251e-05,-3.98774407e-04,-2.34583626e-04,-5.37090518e-05,
  3.26069370e-05,-5.20465832e-04,-3.42672986e-04,-8.07289253e-05,
 -3.67770278e-05,-2.88217761e-04,-2.62263766e-04,-1.75549693e-04,
  1.03249557e-02,-1.25433415e-03, 5.30866357e-03,-1.53152636e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41962716,  0.0934289 , -4.41863953,  0.0934289 , 25.66866411,
        0.44929536, -4.41863953,  0.44929536,  4.42912718,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002596936533448905
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.75578721e-07, -3.75579011e-07,  1.00000000e+00, -1.41059485e-13,
        1.00000000e+00,  3.75579011e-07, -1.00000000e+00, -2.52435490e-29,
       -3.75578721e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10433213, -0.09420711,  0.06199197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.96650260e-06,-4.14639733e-05, 9.36162201e-06, 1.31812909e-05,
 -7.57574640e-06,-4.66911629e-05,-2.04565343e-05,-3.11392808e-05,
 -6.11626727e-06,-1.86146400e-05,-2.94759683e-05,-3.19250989e-07,
 -6.89501135e-05,-8.55037605e-06,-7.98152573e-05,-2.95402518e-05,
 -1.35211126e-06, 4.46487668e-06,-1.21644692e+00,-1.78150950e-03,
 -3.05714172e-04,-8.79621927e-07]


--- Step 1172 ---
qpos:
[ 2.85268860e-03,-5.59196365e-03,-1.02124272e-02, 2.78648065e-03,
 -4.45778246e-03,-5.17561870e-03,-1.77506342e-02, 5.18210035e-03,
 -4.74799763e-03,-3.91925823e-03,-7.78440430e-03,-1.91781643e-02,
  1.27398511e+00, 1.88568354e-02, 1.26335166e+00, 2.48827402e-02,
  9.49637864e-02,-6.99756074e-02, 1.30736704e-01, 9.96350687e-01,
  2.78746234e-05,-1.96721641e-04,-8.53537836e-02]

qacc:
[  8.34381321,  0.53457987, -4.41477963, 13.03185535, -3.994245  ,
   1.43245796, -5.23666333,  6.17547671,  5.52206123,  2.13068272,
 -10.93281852, 24.11393786, -0.37228153,  0.35494436,  0.14010904,
  -1.13364962,  0.87651422, -0.93422252,  0.30510899,  9.35237141,
  16.07270873, -0.09299528]

qfrc_actuator:
[-4.03282545e-05,-3.99173612e-04,-2.27704560e-04,-2.82612491e-05,
  9.34749896e-06,-5.14274075e-04,-3.66398541e-04,-7.97268207e-05,
 -4.10577109e-06,-2.92026974e-04,-2.74663512e-04,-1.38144562e-04,
  1.03143621e-02,-1.24777779e-03, 5.31802312e-03,-1.53400221e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42545064, -1.83182685,  4.02852626, -1.83182685, 21.55785904,
        7.7903441 ,  4.02852626,  7.7903441 ,  7.96782833,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026182752317714664
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.12014194e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.12014194e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08423886, -0.05614605,  0.06199191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.90523821e-05,-2.10934154e-05,-8.10375533e-08, 2.42505513e-05,
 -2.34907858e-05,-2.54577533e-05,-3.69599593e-05,-2.31079858e-06,
  3.24948249e-05,-2.03671696e-05,-1.98969559e-05, 3.55824355e-05,
 -4.93012709e-05,-1.11978069e-05,-3.31257056e-05,-1.49128830e-05,
  1.43442995e-07, 5.45728277e-06,-1.21644945e+00,-1.78126445e-03,
 -3.05268570e-04, 1.48187159e-07]


--- Step 1173 ---
qpos:
[ 2.85287620e-03,-5.59219447e-03,-1.02116819e-02, 2.78821541e-03,
 -4.45751722e-03,-5.17670409e-03,-1.77513645e-02, 5.18283920e-03,
 -4.74840714e-03,-3.91827325e-03,-7.78501057e-03,-1.91779955e-02,
  1.27426208e+00, 1.88572424e-02, 1.26359459e+00, 2.48814738e-02,
  9.49568466e-02,-6.99813962e-02, 1.30736774e-01, 9.96345531e-01,
  7.43403465e-05,-2.39762373e-04,-8.54138117e-02]

qacc:
[  2.15986683,  1.18080418, -8.36361788, 24.56322232,  0.56458821,
   1.55886557, -9.3832512 , 22.53634529,  3.48008558,  1.94897294,
 -10.53838312, 24.59708162,  0.67796286, -1.40298631, -0.66669733,
   1.11141399,  0.87468245, -0.91077631,  0.18533868,  9.39141277,
  15.75777433, -0.19298934]

qfrc_actuator:
[-2.90690197e-05,-3.81466621e-04,-2.06062236e-04, 2.19052343e-05,
  1.33379631e-05,-5.45749337e-04,-3.80103353e-04,-4.36279720e-05,
  1.54410327e-05,-2.94681145e-04,-2.81758416e-04,-9.81376193e-05,
  1.03033836e-02,-1.31545086e-03, 5.29891758e-03,-1.53487548e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43030118,  2.9903319 , -3.2688658 ,  2.9903319 , 14.4466521 ,
        9.16287652, -3.2688658 ,  9.16287652, 12.81242625,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002635878504762268
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.21196585e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.21196585e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08424064, -0.05614467,  0.06199185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26527177e-05, 6.94997160e-06, 1.81071324e-05, 4.97274260e-05,
  3.30975014e-06,-5.34214453e-05,-2.35810648e-05, 3.36877006e-05,
  2.04699323e-05,-1.66542814e-05,-1.25298187e-05, 3.91374475e-05,
 -3.94317026e-05,-8.20160293e-05,-4.04868133e-05,-6.96434820e-06,
 -6.13117989e-07, 4.20821676e-06,-1.21644544e+00,-1.78212344e-03,
 -3.03686988e-04, 1.76142381e-07]


--- Step 1174 ---
qpos:
[ 2.85319772e-03,-5.59239760e-03,-1.02109419e-02, 2.78985383e-03,
 -4.45686170e-03,-5.17801774e-03,-1.77523289e-02, 5.18398364e-03,
 -4.74892372e-03,-3.91737865e-03,-7.78625190e-03,-1.91776669e-02,
  1.27453864e+00, 1.88574068e-02, 1.26383662e+00, 2.48822375e-02,
  9.49533981e-02,-6.99907531e-02, 1.30737183e-01, 9.96340327e-01,
  1.42224637e-04,-2.53518753e-04,-8.54743734e-02]

qacc:
[ 1.17070646,-0.14932188, 0.98816469,-2.66297778, 3.40041159, 1.18037649,
 -6.37041006,13.94520669,-0.95554547, 1.98673896,-7.9258943 ,11.76412673,
  0.04891922,-0.33327952,-7.52203119,24.30169265, 0.87284523,-0.89204002,
  0.08491136, 9.41944068,15.50336169,-0.2715576 ]

qfrc_actuator:
[-2.25360183e-05,-3.88468992e-04,-2.11280255e-04, 1.52319303e-05,
  3.33399686e-05,-5.46206236e-04,-3.87904401e-04,-2.26978458e-05,
  9.34158249e-06,-3.14343035e-04,-3.21171311e-04,-9.24278943e-05,
  1.02814990e-02,-1.32012215e-03, 5.26275630e-03,-1.42835484e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42962261,  2.91283505, -3.33720668,  2.91283505, 19.41696097,
       13.08149257, -3.33720668, 13.08149257, 15.84762384,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002633425063447159
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.10794497e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.10794497e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08424176, -0.05614326,  0.06199186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.89387878e-06, 2.75448181e-06, 1.58041698e-07,-4.78666553e-06,
  2.00777954e-05,-3.37095677e-05,-2.05546751e-05, 1.84831849e-05,
 -5.51929856e-06,-2.99098538e-05,-4.30478704e-05, 5.32284429e-06,
 -6.21269166e-05,-3.72802832e-05,-5.87560064e-05, 1.00195193e-04,
 -1.62865375e-06, 3.20262137e-06,-1.21644364e+00,-1.78326110e-03,
 -3.02578318e-04, 3.97474275e-07]


--- Step 1175 ---
qpos:
[ 2.85359515e-03,-5.59250508e-03,-1.02105268e-02, 2.79072297e-03,
 -4.45562710e-03,-5.17897927e-03,-1.77536330e-02, 5.18461124e-03,
 -4.74916420e-03,-3.91665939e-03,-7.78792369e-03,-1.91776202e-02,
  1.27481468e+00, 1.88572722e-02, 1.26407792e+00, 2.48839253e-02,
  9.49471480e-02,-6.99929933e-02, 1.30736809e-01, 9.96335022e-01,
  1.62919630e-04,-2.98091946e-04,-8.55360076e-02]

qacc:
[  0.6517221 , -0.55107648,  5.39324586,-18.25506007,  5.03318136,
   0.34073266,  1.62494168,-10.26700216,  2.40642609,  0.3858998 ,
  -0.53107973, -3.52079611, -0.08692083, -0.23345147, -3.86905967,
  11.97767796, -0.70040674,  1.77919675, -0.19601901,-22.19140503,
 -17.3688434 , -0.53040847]

qfrc_actuator:
[-1.88251733e-05,-3.92605772e-04,-2.32456539e-04,-2.48748834e-05,
  6.25974279e-05,-4.92560067e-04,-3.92058906e-04,-4.63461696e-05,
  2.37054066e-05,-3.26443778e-04,-3.43941484e-04,-1.06982009e-04,
  1.02477838e-02,-1.34059775e-03, 5.22707028e-03,-1.38371859e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42969688,  2.08409554, -3.90880547,  2.08409554, 17.05675813,
        6.73249213, -3.90880547,  6.73249213,  8.01932469,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026336937345368405
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.58079745e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.58079745e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.104356  , -0.09510451,  0.06199186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.90859648e-06,-2.77248090e-06,-2.07640325e-05,-4.00816923e-05,
  2.98213344e-05, 3.14058957e-05,-1.29862163e-05,-2.54424836e-05,
  1.41989138e-05,-3.75116335e-05,-3.40625458e-05,-1.72206052e-05,
 -7.48163436e-05,-4.53985111e-05,-5.40855700e-05, 4.21056005e-05,
 -2.90373817e-06, 2.42025654e-06,-1.21644395e+00,-1.78468342e-03,
 -3.01931614e-04, 8.08826290e-07]


--- Step 1176 ---
qpos:
[ 2.85368921e-03,-5.59263855e-03,-1.02103786e-02, 2.79180744e-03,
 -4.45405119e-03,-5.17973054e-03,-1.77546697e-02, 5.18423514e-03,
 -4.74923065e-03,-3.91636492e-03,-7.78894694e-03,-1.91777914e-02,
  1.27509013e+00, 1.88569132e-02, 1.26431892e+00, 2.48867066e-02,
  9.49380554e-02,-6.99882225e-02, 1.30735234e-01, 9.96329582e-01,
  1.36770251e-04,-3.72652670e-04,-8.55991010e-02]

qacc:
[ -2.66142893,  1.16052722, -5.0876829 ,  9.25067654,  2.98071648,
  -2.54161514, 13.69307056,-31.63702329,  1.55113914, -2.82610181,
  10.17336001,-14.6556206 , -0.21640953, -0.0582468 , -3.74526477,
  12.4830869 , -0.71062966,  1.75271552, -0.2998964 ,-22.05404369,
 -16.94239292, -0.72327015]

qfrc_actuator:
[-3.45558125e-05,-3.95102244e-04,-2.45133391e-04,-1.33197938e-05,
  7.93106170e-05,-4.77951655e-04,-3.76073409e-04,-9.59813606e-05,
  3.22542415e-05,-3.33886715e-04,-3.03418698e-04,-1.15563929e-04,
  1.02176449e-02,-1.35264983e-03, 5.23429114e-03,-1.32266118e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43066908, -0.97545347,  4.32195777, -0.97545347, 16.42855731,
        2.70788895,  4.32195777,  2.70788895,  5.04183184,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002637207449237844
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05246084e-13,  2.10492168e-13,  1.00000000e+00, -2.21534763e-26,
        1.00000000e+00, -2.10492168e-13, -1.00000000e+00,  0.00000000e+00,
        1.05246084e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10435294, -0.09510546,  0.06199185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56176453e-05,-1.00559821e-05,-1.72001945e-05, 9.93479707e-06,
  1.75806327e-05, 2.84572833e-05, 2.00160698e-05,-4.92317902e-05,
  8.94388506e-06,-3.61945089e-05, 2.79941992e-05,-1.17007904e-05,
 -7.96709524e-05,-4.22702360e-05,-1.61953824e-05, 5.57329934e-05,
 -6.63556263e-07, 2.98268060e-06,-1.21644241e+00,-1.78462062e-03,
 -3.02473358e-04, 8.64515750e-07]


--- Step 1177 ---
qpos:
[ 2.85393895e-03,-5.59281969e-03,-1.02103915e-02, 2.79301707e-03,
 -4.45194187e-03,-5.18046049e-03,-1.77554476e-02, 5.18363744e-03,
 -4.74953899e-03,-3.91640621e-03,-7.78923837e-03,-1.91777370e-02,
  1.27536467e+00, 1.88573787e-02, 1.26455994e+00, 2.48920968e-02,
  9.49323878e-02,-6.99871337e-02, 1.30734863e-01, 9.96324129e-01,
  1.32319095e-04,-4.16314257e-04,-8.56623566e-02]

qacc:
[ 1.35755812, 0.64197613,-2.91321578, 5.37650106, 4.65937863,-1.15991017,
  5.09667943,-9.34503626,-2.08887975,-2.02050894, 5.61489825,-2.64032918,
 -1.04781594, 1.47546883,-7.76234437,27.46869014, 0.85623934,-0.92048285,
  0.3007319 , 9.48679218,16.3215231 ,-0.08752196]

qfrc_actuator:
[-2.60971734e-05,-3.96531137e-04,-2.52638566e-04,-6.94973186e-06,
  1.06256013e-04,-4.86764888e-04,-3.66227981e-04,-1.07257188e-04,
  1.95530694e-05,-3.38215402e-04,-2.61332222e-04,-1.02761276e-04,
  1.01950029e-02,-1.28859225e-03, 5.26724421e-03,-1.18127956e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43821537, -1.92686752,  3.99811671, -1.92686752, 21.06977625,
        8.01547751,  3.99811671,  8.01547751,  8.30122499,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002664276681845906
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04176776e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.04176776e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08424757, -0.0561397 ,  0.06199177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.00910689e-06,-1.01844475e-05,-1.13592214e-05, 5.53555655e-06,
  2.74605612e-05, 9.17127409e-06, 1.65063139e-05,-1.03180068e-05,
 -1.24591850e-05,-1.92829497e-05, 3.76622239e-05, 1.19949789e-05,
 -7.30873390e-05, 3.32485188e-05, 2.64152980e-05, 1.41213253e-04,
  1.17399465e-06, 4.48550293e-06,-1.21644570e+00,-1.78386815e-03,
 -3.02542866e-04, 1.76452926e-06]


--- Step 1178 ---
qpos:
[ 2.85428796e-03,-5.59303137e-03,-1.02104937e-02, 2.79394101e-03,
 -4.44952598e-03,-5.18091538e-03,-1.77562365e-02, 5.18358591e-03,
 -4.74999711e-03,-3.91667282e-03,-7.78928506e-03,-1.91778555e-02,
  1.27563851e+00, 1.88585394e-02, 1.26480107e+00, 2.48978394e-02,
  9.49301533e-02,-6.99896448e-02, 1.30735217e-01, 9.96318649e-01,
  1.49524266e-04,-4.29820109e-04,-8.57259768e-02]

qacc:
[ 0.86597518,-0.38058954, 2.50136738,-7.27688963, 2.6689481 , 1.51334103,
 -7.18344803,16.46180699,-1.29984284,-1.33570779, 5.06318464,-8.2830238 ,
 -0.99946906, 1.39467395,-0.80700285, 3.31118297, 0.85829005,-0.89996001,
  0.18140421, 9.49668071,15.94997883,-0.18931054]

qfrc_actuator:
[-2.12152862e-05,-3.97287424e-04,-2.57039970e-04,-2.14392681e-05,
  1.21259480e-04,-4.56268375e-04,-3.60164806e-04,-7.81453775e-05,
  1.22008387e-05,-3.58347272e-04,-2.54155488e-04,-1.12989508e-04,
  1.01662570e-02,-1.25083865e-03, 5.25703505e-03,-1.17118257e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4425055 ,  2.03677944, -3.94808619,  2.03677944, 17.64639137,
        6.81175689, -3.94808619,  6.81175689,  7.95662493,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002679507035993761
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.07169268e-13, -2.07169268e-13,  1.00000000e+00,  4.29191058e-26,
        1.00000000e+00,  2.07169268e-13, -1.00000000e+00,  0.00000000e+00,
        2.07169268e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08424984, -0.05613866,  0.06199172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.10781642e-06,-8.55459374e-06,-7.71370760e-06,-1.52138803e-05,
  1.57936582e-05, 3.86388713e-05, 9.65170544e-06, 2.98787241e-05,
 -7.71719053e-06,-2.26227746e-05, 8.25150850e-06,-9.51634691e-06,
 -5.69535962e-05, 2.99980458e-05, 9.94596411e-06, 1.96212219e-05,
  3.42627735e-07, 2.88716606e-06,-1.21644200e+00,-1.78427316e-03,
 -3.01328768e-04, 1.54855051e-06]


--- Step 1179 ---
qpos:
[ 2.85469284e-03,-5.59326052e-03,-1.02106479e-02, 2.79433450e-03,
 -4.44763856e-03,-5.18104926e-03,-1.77569568e-02, 5.18352634e-03,
 -4.75019503e-03,-3.91706554e-03,-7.78953912e-03,-1.91780763e-02,
  1.27591184e+00, 1.88599318e-02, 1.26504230e+00, 2.48993990e-02,
  9.49313571e-02,-6.99956898e-02, 1.30735897e-01, 9.96313128e-01,
  1.88345172e-04,-4.13766746e-04,-8.57901194e-02]

qacc:
[  0.48708493, -0.97128921,  5.66706906,-14.74953847, -4.61210699,
   0.22475741, -0.13636685, -0.36535251,  2.27360481,  0.19761973,
  -0.52225022, -0.81631593, -0.89967484,  1.05238583, 12.94832541,
 -44.78957137,  0.85958627, -0.883494  ,  0.08131786,  9.50097442,
  15.65166642, -0.26880821]

qfrc_actuator:
[-1.84853254e-05,-3.97638194e-04,-2.59586284e-04,-4.80837902e-05,
  9.36059888e-05,-4.37953547e-04,-3.56204714e-04,-7.87380099e-05,
  2.58152486e-05,-3.70184552e-04,-2.67730243e-04,-1.18975275e-04,
  1.01338641e-02,-1.24682052e-03, 5.22092061e-03,-1.39841705e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44115151,  1.95362157, -3.98838181,  1.95362157, 23.73287599,
        9.44962916, -3.98838181,  9.44962916,  9.06984561,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026747125080746337
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03770314e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.03770314e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08425135, -0.05613752,  0.06199174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.87449843e-06,-7.37223028e-06,-5.78887130e-06,-2.75757346e-05,
 -2.71888734e-05, 4.32265437e-05, 1.41778971e-05, 1.98065673e-06,
  1.33852836e-05,-2.31847426e-05,-1.75565399e-05,-6.85319370e-06,
 -5.40240633e-05,-5.39886217e-07,-3.64709408e-05,-2.26476263e-04,
 -7.48215952e-07, 1.54167695e-06,-1.21644055e+00,-1.78495899e-03,
 -3.00597903e-04, 1.53886865e-06]


--- Step 1180 ---
qpos:
[ 2.85512723e-03,-5.59334258e-03,-1.02109052e-02, 2.79404248e-03,
 -4.44644171e-03,-5.18121757e-03,-1.77574543e-02, 5.18349566e-03,
 -4.75022843e-03,-3.91747463e-03,-7.79005425e-03,-1.91776868e-02,
  1.27618467e+00, 1.88616554e-02, 1.26528272e+00, 2.48979852e-02,
  9.49360028e-02,-7.00052163e-02, 1.30736567e-01, 9.96307552e-01,
  2.48745754e-04,-3.68630024e-04,-8.58549064e-02]

qacc:
[ 2.51935594e-01,-9.29629278e-01, 6.48934060e+00,-1.82952536e+01,
 -6.01486406e+00,-5.96329476e-01, 1.95877608e+00,-1.81182250e+00,
  1.43279598e+00, 1.96275084e+00,-9.60615996e+00, 2.05936828e+01,
 -8.00778959e-01, 9.95356835e-01, 7.88611887e+00,-2.91228068e+01,
  8.60437010e-01,-8.70365248e-01,-2.47312740e-03, 9.50239698e+00,
  1.54136549e+01,-3.30611921e-01]

qfrc_actuator:
[-1.70428246e-05,-3.79993883e-04,-2.61021209e-04,-8.16622589e-05,
  5.88233807e-05,-4.62608973e-04,-3.53581756e-04,-7.90649415e-05,
  3.39069404e-05,-3.59301543e-04,-2.75649060e-04,-8.69116990e-05,
  1.01099413e-02,-1.22735306e-03, 5.16393223e-03,-1.55062444e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43535246,  1.84623434, -4.0328365 ,  1.84623434, 31.83806899,
       12.5449758 , -4.0328365 , 12.5449758 , 10.17844796,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002654049509309142
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04578213e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.04578213e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08425225, -0.05613628,  0.0619918 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.52427014e-06, 1.11534247e-05,-4.62189952e-06,-3.46315990e-05,
 -3.55476190e-05, 2.53381703e-06, 1.33776325e-05, 2.05748742e-06,
  8.46528589e-06,-5.97971907e-06,-1.50995692e-05, 3.03311566e-05,
 -5.31072732e-05, 7.51944410e-06,-1.04505752e-04,-1.70758819e-04,
 -2.09842310e-06, 4.25829207e-07,-1.21644122e+00,-1.78593120e-03,
 -3.00337011e-04, 1.72850834e-06]


--- Step 1181 ---
qpos:
[ 2.85557568e-03,-5.59337889e-03,-1.02114610e-02, 2.79372223e-03,
 -4.44567125e-03,-5.18150939e-03,-1.77578532e-02, 5.18382746e-03,
 -4.75050946e-03,-3.91785920e-03,-7.79070133e-03,-1.91769308e-02,
  1.27645697e+00, 1.88638584e-02, 1.26552187e+00, 2.48970492e-02,
  9.49378557e-02,-7.00075245e-02, 1.30736638e-01, 9.96301897e-01,
  2.62103121e-04,-3.54577074e-04,-8.59205146e-02]

qacc:
[  0.11290624,  0.83610651, -2.77461665,  2.72987009, -3.71297929,
   0.31439388, -2.87550404,  9.06850641, -2.17235049,  1.16042137,
  -5.62714204, 12.1478883 , -0.58980889,  0.83685322, -3.25776243,
   8.8321548 , -0.69816978,  1.80455778, -0.14969762,-22.10055013,
 -17.50405962, -0.39992216]

qfrc_actuator:
[-1.63687811e-05,-3.87215356e-04,-2.79469957e-04,-8.35285956e-05,
  3.78894240e-05,-4.77314240e-04,-3.51942552e-04,-6.15135303e-05,
  2.09239656e-05,-3.52598271e-04,-2.80037652e-04,-6.81955958e-05,
  1.00911193e-02,-1.19880802e-03, 5.12645431e-03,-1.51533084e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43844974,  2.01657727, -3.95389076,  2.01657727, 17.99399342,
        6.91364606, -3.95389076,  6.91364606,  7.96457182,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002665111652005725
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.21306294e-13, -4.16576553e-13,  1.00000000e+00,  9.21910129e-26,
        1.00000000e+00,  4.16576553e-13, -1.00000000e+00,  0.00000000e+00,
        2.21306294e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10433598, -0.09511161,  0.06199176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.23707287e-07,-3.41720208e-06,-1.79084798e-05,-2.22117444e-06,
 -2.19527658e-05,-1.04374787e-05, 3.89103737e-06, 1.81660116e-05,
 -1.27457210e-05, 1.56249121e-06,-6.42438155e-06, 1.85289801e-05,
 -4.67592235e-05, 1.96728910e-05,-1.06215663e-04, 1.20005151e-05,
 -3.70832607e-06,-4.77065383e-07,-1.21644395e+00,-1.78719377e-03,
 -3.00535812e-04, 2.11226851e-06]


--- Step 1182 ---
qpos:
[ 2.85602881e-03,-5.59338770e-03,-1.02125370e-02, 2.79374550e-03,
 -4.44446824e-03,-5.18201241e-03,-1.77579060e-02, 5.18470663e-03,
 -4.75094380e-03,-3.91833061e-03,-7.79131375e-03,-1.91766443e-02,
  1.27672917e+00, 1.88654041e-02, 1.26576061e+00, 2.48930792e-02,
  9.49368752e-02,-7.00027408e-02, 1.30735663e-01, 9.96296130e-01,
  2.28724353e-04,-3.70713933e-04,-8.59873902e-02]

qacc:
[ 2.43179009e-02, 2.19787801e+00,-9.23399125e+00, 1.59910093e+01,
  3.78682711e+00,-1.26028916e-01,-2.27896978e+00, 1.13681615e+01,
 -1.33987282e+00,-1.17613887e+00, 6.00978319e+00,-1.41233002e+01,
  1.28938198e-01,-5.87623054e-01, 8.55847055e+00,-3.08767775e+01,
 -7.08359699e-01, 1.77300434e+00,-2.61514508e-01,-2.19848974e+01,
 -1.70470652e+01,-6.23921347e-01]

qfrc_actuator:
[-1.61521778e-05,-3.91561169e-04,-3.07890497e-04,-6.67507224e-05,
  6.07819537e-05,-4.85946569e-04,-3.33106123e-04,-3.35802613e-05,
  1.33951736e-05,-3.66189833e-04,-2.82332805e-04,-9.29934677e-05,
  1.00700510e-02,-1.25386037e-03, 5.10607811e-03,-1.67159327e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44099666, -1.45719655,  4.19511973, -1.45719655, 14.06067877,
        3.34144638,  4.19511973,  3.34144638,  5.60166536,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026741634539928505
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.16765572e-13, -4.15166479e-13,  1.00000000e+00,  4.84771514e-26,
        1.00000000e+00,  4.15166479e-13, -1.00000000e+00,  0.00000000e+00,
        1.16765572e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10433263, -0.09511279,  0.06199174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.37654244e-07,-1.00436677e-05,-3.14019694e-05, 1.59704483e-05,
  2.22586390e-05,-1.28800081e-05, 1.77968311e-05, 2.79760251e-05,
 -7.89446852e-06,-1.32367617e-05,-2.11199424e-06,-2.45913809e-05,
 -4.22774046e-05,-5.91902748e-05,-6.85114990e-05,-1.69356105e-04,
 -7.76183574e-07, 1.80144100e-07,-1.21644014e+00,-1.78692373e-03,
 -3.02050866e-04, 1.40650365e-06]


--- Step 1183 ---
qpos:
[ 2.85682587e-03,-5.59335495e-03,-1.02137034e-02, 2.79393791e-03,
 -4.44265571e-03,-5.18246930e-03,-1.77577982e-02, 5.18554780e-03,
 -4.75077505e-03,-3.91922910e-03,-7.79178663e-03,-1.91766199e-02,
  1.27700110e+00, 1.88663749e-02, 1.26599890e+00, 2.48868642e-02,
  9.49330300e-02,-6.99909670e-02, 1.30733266e-01, 9.96290214e-01,
  1.48867207e-04,-4.16327541e-04,-8.60558791e-02]

qacc:
[ 3.00504802e+00, 6.49961117e-01,-2.96180493e+00, 6.01369617e+00,
  5.31980095e+00,-4.76700929e-01, 1.93074318e+00,-2.86021902e+00,
  5.29137814e+00,-1.50492415e+00, 5.63343270e+00,-1.00551546e+01,
 -2.15888922e-03,-4.35488595e-01, 6.13726745e+00,-2.24405349e+01,
 -7.16177168e-01, 1.74750815e+00,-3.55455325e-01,-2.18860821e+01,
 -1.66822747e+01,-7.98093602e-01]

qfrc_actuator:
[ 1.54635880e-06,-3.76428997e-04,-3.06447645e-04,-5.68994280e-05,
  9.15293786e-05,-4.73045409e-04,-3.21990688e-04,-3.52530205e-05,
  4.46488839e-05,-4.09609354e-04,-2.83485718e-04,-1.07705125e-04,
  1.00476162e-02,-1.28711569e-03, 5.09593175e-03,-1.77969496e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43812807, -1.36612522,  4.22263929, -1.36612522, 18.56793541,
        4.57133202,  4.22263929,  4.57133202,  5.91706376,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026639655678484253
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04188943e-13,  1.56283414e-13,  1.00000000e+00, -1.62830037e-26,
        1.00000000e+00, -1.56283414e-13, -1.00000000e+00,  0.00000000e+00,
        1.04188943e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10433024, -0.09511444,  0.06199177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.77035483e-05, 3.72518430e-06,-3.93487766e-06, 8.64745066e-06,
  3.13791523e-05, 1.05979677e-05, 1.16192604e-05,-1.06585073e-06,
  3.10226935e-05,-5.22913380e-05,-4.98591350e-06,-1.58283736e-05,
 -5.98834477e-05,-5.93980479e-05,-6.32052496e-05,-1.26943278e-04,
  1.72893090e-06, 1.74292225e-06,-1.21644123e+00,-1.78597529e-03,
 -3.03083554e-04, 1.55039740e-06]


--- Step 1184 ---
qpos:
[ 2.85782872e-03,-5.59308472e-03,-1.02149566e-02, 2.79422077e-03,
 -4.44083354e-03,-5.18261010e-03,-1.77579765e-02, 5.18670381e-03,
 -4.75057815e-03,-3.92042142e-03,-7.79232432e-03,-1.91764292e-02,
  1.27727244e+00, 1.88672296e-02, 1.26623620e+00, 2.48836858e-02,
  9.49325548e-02,-6.99829181e-02, 1.30732392e-01, 9.96284300e-01,
  9.08207904e-05,-4.30239503e-04,-8.61243265e-02]

qacc:
[ 1.79339319e+00, 7.39470588e-01,-2.56912468e+00, 4.10541970e+00,
  6.99230012e-02, 1.86500141e+00,-7.37346250e+00, 1.30486969e+01,
  2.49555268e-01, 1.34977788e-01,-1.74637596e+00, 4.94284398e+00,
 -6.73847612e-02,-1.62822711e-01,-1.06816602e+01, 3.52050463e+01,
  8.42524463e-01,-9.31223503e-01, 3.80703582e-01, 9.50086003e+00,
  1.67304947e+01, 1.38808381e-02]

qfrc_actuator:
[ 1.16402993e-05,-3.49635100e-04,-3.05061172e-04,-5.11670907e-05,
  9.11344737e-05,-4.47397003e-04,-3.33213650e-04,-1.88177127e-05,
  4.52191305e-05,-4.17292798e-04,-2.84072044e-04,-9.86319571e-05,
  1.00190555e-02,-1.28935968e-03, 5.08661498e-03,-1.60993878e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44580569, -1.97454168,  3.98326166, -1.97454168, 21.14642948,
        8.27866219,  3.98326166,  8.27866219,  8.54961933,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026911463782754164
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03136625e-13, -2.06273251e-13,  1.00000000e+00,  2.12743270e-26,
        1.00000000e+00,  2.06273251e-13, -1.00000000e+00,  0.00000000e+00,
        1.03136625e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08426181, -0.056132  ,  0.06199168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06020679e-05, 2.84504372e-05, 1.98178964e-06, 5.92530475e-06,
  5.07938319e-07, 3.39533884e-05,-7.63856963e-06, 1.72683266e-05,
  1.43544054e-06,-3.85827698e-05,-1.25335561e-05, 6.35483418e-06,
 -7.46493726e-05,-3.27061429e-05,-5.55988256e-05, 1.53890174e-04,
  3.88086405e-06, 4.22042824e-06,-1.21644707e+00,-1.78434163e-03,
 -3.03668746e-04, 2.50911734e-06]


--- Step 1185 ---
qpos:
[ 2.85894503e-03,-5.59272128e-03,-1.02161382e-02, 2.79457744e-03,
 -4.43937492e-03,-5.18235529e-03,-1.77584073e-02, 5.18907078e-03,
 -4.75106590e-03,-3.92156780e-03,-7.79273689e-03,-1.91765341e-02,
  1.27754337e+00, 1.88675208e-02, 1.26647290e+00, 2.48821865e-02,
  9.49354711e-02,-6.99785032e-02, 1.30732510e-01, 9.96278373e-01,
  5.45170355e-05,-4.13349934e-04,-8.61929743e-02]

qacc:
[  0.99319133,  0.07304834, -0.39659846,  1.49438901, -3.18435312,
   3.72710646,-17.632778  , 38.69394898, -5.99084931, -0.88644141,
   4.51469864, -9.88228367,  0.21151915, -0.71886894, -6.02365093,
  19.66930432,  0.84784535, -0.9085006 ,  0.2480701 ,  9.50451336,
  16.27981439, -0.10650077]

qfrc_actuator:
[ 1.71720507e-05,-3.51561973e-04,-3.03675872e-04,-4.78951073e-05,
  7.24102479e-05,-4.14388664e-04,-3.39704411e-04, 4.36500623e-05,
  9.96036355e-06,-3.85744377e-04,-2.66417243e-04,-1.11116784e-04,
  9.99218200e-03,-1.32648350e-03, 5.06188427e-03,-1.52638838e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45354786,  1.74769889, -4.09629554,  1.74769889, 14.69511808,
        4.36960192, -4.09629554,  4.36960192,  6.31785388,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027181956334766666
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02110294e-13,  2.04220589e-13,  1.00000000e+00, -2.08530244e-26,
        1.00000000e+00, -2.04220589e-13, -1.00000000e+00,  0.00000000e+00,
        1.02110294e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0842649 , -0.05613111,  0.0619916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.84473517e-06, 1.46506648e-05, 7.72051061e-06, 4.67581612e-06,
 -1.86982264e-05, 5.11617891e-05, 1.79981393e-07, 6.39923754e-05,
 -3.52352886e-05, 7.70673113e-06, 8.38194823e-06,-1.44436504e-05,
 -7.28855541e-05,-6.38149570e-05,-3.57661879e-05, 8.44254064e-05,
  3.06513549e-06, 1.98669892e-06,-1.21644289e+00,-1.78394455e-03,
 -3.02784633e-04, 1.83032934e-06]


--- Step 1186 ---
qpos:
[ 2.85977433e-03,-5.59246287e-03,-1.02171892e-02, 2.79499235e-03,
 -4.43815189e-03,-5.18197614e-03,-1.77587175e-02, 5.19079530e-03,
 -4.75231765e-03,-3.92245901e-03,-7.79278428e-03,-1.91768326e-02,
  1.27781364e+00, 1.88678610e-02, 1.26670920e+00, 2.48803690e-02,
  9.49417943e-02,-6.99776489e-02, 1.30733175e-01, 9.96272417e-01,
  3.98905843e-05,-3.66379521e-04,-8.62620105e-02]

qacc:
[ -2.50470634, -0.37897719,  0.91246497, -0.0452201 , -2.05328057,
  -1.49089991,  8.27367354,-19.68494377, -6.68171802, -1.06909457,
   5.13845022, -9.27850922, -0.55423528,  0.48717237,  0.44060242,
  -2.24755346,  0.85172776, -0.8901521 ,  0.1366872 ,  9.50185624,
  15.91864693, -0.20000679]

qfrc_actuator:
[ 2.22386862e-06,-3.70672037e-04,-3.02415035e-04,-4.61188653e-05,
  6.08103920e-05,-4.30428205e-04,-3.43275054e-04, 8.44684065e-06,
 -2.83416469e-05,-3.48631702e-04,-2.37981776e-04,-1.18388293e-04,
  9.96632701e-03,-1.31303098e-03, 5.03323164e-03,-1.54767631e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45475509,  1.68068976, -4.1255454 ,  1.68068976, 19.72264759,
        6.21992685, -4.1255454 ,  6.21992685,  6.98866669,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027223815322573175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.03906582e-13, -2.03906582e-13,  1.00000000e+00,  4.15778941e-26,
        1.00000000e+00,  2.03906582e-13, -1.00000000e+00,  0.00000000e+00,
        2.03906582e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08426706, -0.05613007,  0.06199159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47765448e-05,-9.12394441e-06, 5.40720876e-06, 2.76270514e-06,
 -1.21207095e-05, 1.53327034e-05, 9.23094290e-06,-3.17635630e-05,
 -3.93093417e-05, 4.25676412e-05, 3.05792305e-05,-6.92760057e-06,
 -7.81662149e-05,-2.19692496e-05,-3.93758292e-05,-2.19964671e-05,
  1.99360040e-06, 2.74980310e-08,-1.21644100e+00,-1.78382386e-03,
 -3.02403233e-04, 1.37570671e-06]


--- Step 1187 ---
qpos:
[ 2.85972830e-03,-5.59234027e-03,-1.02181775e-02, 2.79543445e-03,
 -4.43707737e-03,-5.18171615e-03,-1.77588928e-02, 5.19142538e-03,
 -4.75367431e-03,-3.92293509e-03,-7.79284620e-03,-1.91772108e-02,
  1.27808331e+00, 1.88682915e-02, 1.26694475e+00, 2.48786856e-02,
  9.49515360e-02,-6.99802962e-02, 1.30734013e-01, 9.96266416e-01,
  4.68819642e-05,-2.89902223e-04,-8.63315801e-02]

qacc:
[ -7.65249859, -0.28382537,  0.66264085, -0.22033271, -1.28953274,
  -2.7851762 , 14.32733662,-33.40323952, -0.92600405,  0.42689867,
  -0.38694396, -1.27711338, -0.47166913,  0.43203764, -1.49214858,
   3.68777831,  0.85463597, -0.87540468,  0.04332155,  9.49586605,
  15.63082692, -0.27219815]

qfrc_actuator:
[-4.24098143e-05,-3.82178416e-04,-3.01316486e-04,-4.52540292e-05,
  5.35026204e-05,-4.58030829e-04,-3.45365634e-04,-4.84846972e-05,
 -3.26111102e-05,-3.26160715e-04,-2.38873282e-04,-1.22515710e-04,
  9.94111975e-03,-1.30512490e-03, 4.99157673e-03,-1.54177858e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45071808,  1.59324788, -4.15577341,  1.59324788, 26.36451628,
        8.40135136, -4.15577341,  8.40135136,  7.67164327,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027083502706831686
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.04962969e-13, -4.09925938e-13,  1.00000000e+00,  8.40196372e-26,
        1.00000000e+00,  4.09925938e-13, -1.00000000e+00,  0.00000000e+00,
        2.04962969e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08426846, -0.05612891,  0.06199163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.50593519e-05,-1.53790106e-05,-1.63538115e-08, 7.16082117e-07,
 -7.64894521e-06,-1.85011864e-05, 1.11008281e-06,-5.65769042e-05,
 -5.38103906e-06, 5.23096373e-05, 1.14390141e-05,-1.37717798e-06,
 -7.08159273e-05,-1.63038945e-05,-6.67104763e-05,-1.37661243e-06,
  6.65743759e-07,-1.68654385e-06,-1.21644127e+00,-1.78398608e-03,
 -3.02507295e-04, 1.13384302e-06]


--- Step 1188 ---
qpos:
[ 2.85949248e-03,-5.59250668e-03,-1.02185286e-02, 2.79620861e-03,
 -4.43644378e-03,-5.18152782e-03,-1.77591421e-02, 5.19206792e-03,
 -4.75472695e-03,-3.92313109e-03,-7.79311524e-03,-1.91779497e-02,
  1.27835254e+00, 1.88685234e-02, 1.26718013e+00, 2.48766186e-02,
  9.49647054e-02,-6.99863981e-02, 1.30734712e-01, 9.96260353e-01,
  7.54396829e-05,-1.84371616e-04,-8.64017940e-02]

qacc:
[-1.63511372,-1.47559377, 3.31100218, 1.62349317,-3.84644876, 0.14534877,
 -0.69526449, 1.06794617, 2.65019229, 0.20095786, 1.33201977,-7.43484444,
 -0.23820569, 0.02929525, 0.94770267,-3.60875409, 0.85691765,-0.86362827,
 -0.0347887 , 9.48870854,15.40332243,-0.32744978]

qfrc_actuator:
[-5.08937882e-05,-3.89049794e-04,-2.64794406e-04,-2.71756544e-05,
  3.10246235e-05,-4.56872271e-04,-3.46630917e-04,-4.67337290e-05,
 -1.68145491e-05,-3.30489402e-04,-2.57127330e-04,-1.42545679e-04,
  9.92164559e-03,-1.31836022e-03, 5.00607762e-03,-1.55539966e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44263917,  1.48213868, -4.18811506,  1.48213868, 35.08392554,
       10.84369339, -4.18811506, 10.84369339,  8.28013101,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026799797762958044
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03566362e-13, -2.07132724e-13,  1.00000000e+00,  2.14519828e-26,
        1.00000000e+00,  2.07132724e-13, -1.00000000e+00,  0.00000000e+00,
        1.03566362e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08426927, -0.05612766,  0.06199172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.77666249e-06,-1.54534971e-05, 3.33791912e-05, 1.74356381e-05,
 -2.27014211e-05,-1.13934134e-05,-6.90993444e-06,-1.05777724e-07,
  1.56590963e-05, 2.72388793e-05,-6.08268496e-06,-1.74188299e-05,
 -6.05026726e-05,-3.38514909e-05,-1.91717297e-05,-2.28830980e-05,
 -9.19213216e-07,-3.17680630e-06,-1.21644362e+00,-1.78443578e-03,
 -3.03083464e-04, 1.09601513e-06]


--- Step 1189 ---
qpos:
[ 2.85950109e-03,-5.59266508e-03,-1.02185339e-02, 2.79717475e-03,
 -4.43608453e-03,-5.18160134e-03,-1.77590319e-02, 5.19237511e-03,
 -4.75523698e-03,-3.92329666e-03,-7.79378357e-03,-1.91785310e-02,
  1.27862116e+00, 1.88690925e-02, 1.26741529e+00, 2.48750376e-02,
  9.49782527e-02,-6.99905334e-02, 1.30736795e-01, 9.96254285e-01,
  9.09547240e-05,-7.98158432e-05,-8.64718794e-02]

qacc:
[  2.14895304, -0.56504441,  1.21243022,  1.55882165, -2.37691667,
  -2.03563967,  8.18031755,-14.37603592,  4.73734997,  1.4716585 ,
  -5.86805332,  9.22387622, -0.65443903,  0.79450644, -1.73372104,
   5.75278913,  0.09448178,  0.49161371,  0.34600394, -6.45482555,
  -1.04904508,  0.06507197]

qfrc_actuator:
[-3.80233347e-05,-3.75180022e-04,-2.43122962e-04,-1.68375304e-05,
  1.75489556e-05,-4.73962111e-04,-3.29493308e-04,-6.37002659e-05,
  1.06546550e-05,-3.50928893e-04,-2.85600498e-04,-1.36299050e-04,
  9.90029201e-03,-1.29076980e-03, 5.00631278e-03,-1.52701007e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43178518,  1.96422071, -3.97272663,  1.96422071, 18.48607456,
        6.94881092, -3.97272663,  6.94881092,  7.86746036,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026412337837075677
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01801719e-13, -1.78160101e-07,  1.00000000e+00, -1.81370045e-20,
        1.00000000e+00,  1.78160101e-07, -1.00000000e+00,  3.00926554e-36,
       -1.01801719e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09415498, -0.07536344,  0.06199184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25843001e-05, 1.28756738e-05, 2.31991631e-05, 1.11702683e-05,
 -1.41301590e-05,-2.49060046e-05, 1.39296418e-05,-1.76962330e-05,
  2.79258123e-05,-7.19593925e-06,-2.41936158e-05, 6.86536958e-06,
 -6.04666833e-05, 3.88129352e-06,-1.62351586e-05, 2.35098931e-05,
 -2.76252303e-06,-4.45855541e-06,-1.21644797e+00,-1.78517616e-03,
 -3.04121486e-04, 1.25571617e-06]


--- Step 1190 ---
qpos:
[ 2.86000863e-03,-5.59264991e-03,-1.02186137e-02, 2.79826497e-03,
 -4.43589022e-03,-5.18134009e-03,-1.77592503e-02, 5.19244722e-03,
 -4.75506889e-03,-3.92333899e-03,-7.79457976e-03,-1.91787181e-02,
  1.27888949e+00, 1.88694166e-02, 1.26764979e+00, 2.48732221e-02,
  9.49890666e-02,-6.99875038e-02, 1.30737846e-01, 9.96248136e-01,
  6.00044969e-05,-5.92984415e-06,-8.65427557e-02]

qacc:
[  4.35915571,  0.68483468, -2.64744329,  4.80224741, -1.45450265,
   0.87861887, -1.4938418 , -2.30058998,  5.93076912,  1.32079639,
  -6.15389555, 13.10451963, -0.04458585, -0.18485663, -0.27947444,
  -0.46164878, -0.68335113,  1.79126835, -0.258061  ,-21.81960274,
 -17.28645574, -0.39424798]

qfrc_actuator:
[-1.26985328e-05,-3.66799607e-04,-2.48078181e-04,-1.11362998e-05,
  9.48445320e-06,-4.30771599e-04,-3.37223056e-04,-7.38018558e-05,
  4.47672591e-05,-3.27639348e-04,-2.84424870e-04,-1.14660447e-04,
  9.88316853e-03,-1.31015077e-03, 4.95539378e-03,-1.54514075e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43500754,  2.06852924, -3.92307006,  2.06852924,  9.60448963,
        2.72572875, -3.92307006,  2.72572875,  5.87221093,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026528138629751397
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.17705290e-13, -2.09253849e-13,  1.00000000e+00,  2.46302851e-26,
        1.00000000e+00,  2.09253849e-13, -1.00000000e+00,  0.00000000e+00,
        1.17705290e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10430585, -0.0951272 ,  0.0619918 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.56878812e-05, 2.08591004e-05, 9.47670138e-07, 7.27077681e-06,
 -8.47809833e-06, 3.13779327e-05,-1.17710132e-05,-1.10312482e-05,
  3.49069360e-05, 1.45858377e-05,-3.04345554e-06, 2.06289324e-05,
 -4.71114528e-05,-3.21520065e-05,-6.11438433e-05,-2.01010311e-05,
 -1.79789975e-06,-4.60855029e-06,-1.21644736e+00,-1.78524243e-03,
 -3.06141116e-04, 5.34339262e-07]


--- Step 1191 ---
qpos:
[ 2.86012621e-03,-5.59257781e-03,-1.02189737e-02, 2.79944474e-03,
 -4.43579424e-03,-5.18069307e-03,-1.77599742e-02, 5.19343886e-03,
 -4.75449292e-03,-3.92344445e-03,-7.79501489e-03,-1.91786551e-02,
  1.27915741e+00, 1.88695590e-02, 1.26788362e+00, 2.48711835e-02,
  9.49971023e-02,-6.99774247e-02, 1.30737489e-01, 9.96241867e-01,
 -1.72224865e-05, 3.81425262e-05,-8.66148949e-02]

qacc:
[-3.42091187e+00, 1.04952369e+00,-3.99936748e+00, 5.94287613e+00,
 -8.79369031e-01, 3.81677341e+00,-1.67489875e+01, 3.31869072e+01,
  3.58340716e+00,-5.84277361e-01, 8.94903336e-01, 2.91544900e+00,
 -1.74950574e-01,-2.60978459e-02,-2.97028713e-01,-3.62577747e-01,
 -6.94554088e-01, 1.76235030e+00,-3.52102034e-01,-2.17614895e+01,
 -1.68533833e+01,-6.33173335e-01]

qfrc_actuator:
[-3.35112943e-05,-3.79634199e-04,-2.68727279e-04,-8.22609404e-06,
  4.66699003e-06,-4.05162654e-04,-3.59329168e-04,-2.64927117e-05,
  6.47607185e-05,-3.31475273e-04,-2.65571660e-04,-1.01838941e-04,
  9.85792462e-03,-1.32176199e-03, 4.92708811e-03,-1.55515231e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43262122, -1.57192547,  4.14453631, -1.57192547, 15.00833649,
        4.01112089,  4.14453631,  4.01112089,  5.95394535,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026442445853926133
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31207490e-14,  4.19863968e-13,  1.00000000e+00, -5.50892974e-27,
        1.00000000e+00, -4.19863968e-13, -1.00000000e+00,  0.00000000e+00,
        1.31207490e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10430272, -0.09512921,  0.06199183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.00718252e-05,-6.57554945e-07,-1.59753978e-05, 3.97479774e-06,
 -5.04862780e-06, 4.02413223e-05,-1.74571973e-05, 4.80315657e-05,
  2.09936661e-05, 4.59920581e-06, 2.22136924e-05, 1.37433642e-05,
 -5.80247537e-05,-3.13056394e-05,-6.12683389e-05,-1.95662937e-05,
  1.70253896e-06,-3.18068687e-06,-1.21644400e+00,-1.78419561e-03,
 -3.08623123e-04,-5.94304688e-07]


--- Step 1192 ---
qpos:
[ 2.85930392e-03,-5.59260544e-03,-1.02192104e-02, 2.80029745e-03,
 -4.43610143e-03,-5.18004846e-03,-1.77608048e-02, 5.19501190e-03,
 -4.75402620e-03,-3.92379672e-03,-7.79536065e-03,-1.91787412e-02,
  1.27942479e+00, 1.88698274e-02, 1.26811671e+00, 2.48693566e-02,
  9.50022208e-02,-6.99664108e-02, 1.30738607e-01, 9.96235588e-01,
 -9.77131276e-05, 6.19982731e-05,-8.66870199e-02]

qacc:
[-8.21601737e+00,-1.13422659e+00, 5.26114023e+00,-1.10752409e+01,
 -3.51895692e+00, 1.49867310e+00,-7.79103469e+00, 1.80137038e+01,
 -9.49404519e-01,-8.81699389e-01, 3.30249295e+00,-5.84790846e+00,
 -4.47232426e-01, 4.40614216e-01,-1.69733474e+00, 4.44778361e+00,
 -7.29297027e-01, 2.33704840e-01, 3.68933664e-01,-7.50166228e-01,
 -1.02116640e+01, 6.32954432e-03]

qfrc_actuator:
[-8.13172643e-05,-3.87397957e-04,-2.63051978e-04,-2.47582410e-05,
 -1.59555118e-05,-4.25792816e-04,-3.71999897e-04, 9.44400809e-07,
  5.85290477e-05,-3.69202029e-04,-2.72054952e-04,-1.12074035e-04,
  9.83315489e-03,-1.31092405e-03, 4.89639690e-03,-1.54245723e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42675049, -0.39566632,  4.40903256, -0.39566632, 21.67984529,
        1.54829169,  4.40903256,  1.54829169,  4.56569409,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000262300758322937
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.11631684e-13,  6.26961615e-07,  1.00000000e+00, -1.32684943e-19,
        1.00000000e+00, -6.26961615e-07, -1.00000000e+00, -2.40741243e-35,
        2.11631684e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10335532, -0.07107875,  0.06199189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.83794792e-05,-1.12694101e-05, 3.71068176e-06,-1.70369386e-05,
 -2.07544875e-05, 3.05698393e-07,-4.84840368e-06, 2.94901550e-05,
 -5.63278213e-06,-2.99603406e-05,-2.31604286e-06,-9.00168012e-06,
 -6.28359001e-05,-1.11751982e-05,-6.38454232e-05, 3.11755631e-06,
  4.80740937e-06,-8.98489857e-07,-1.21644548e+00,-1.78248303e-03,
 -3.10641448e-04,-9.01013978e-07]


--- Step 1193 ---
qpos:
[ 2.85860465e-03,-5.59278183e-03,-1.02190541e-02, 2.80058758e-03,
 -4.43665343e-03,-5.17946698e-03,-1.77616892e-02, 5.19621561e-03,
 -4.75432764e-03,-3.92412251e-03,-7.79585614e-03,-1.91793126e-02,
  1.27969183e+00, 1.88699118e-02, 1.26834901e+00, 2.48680081e-02,
  9.50047783e-02,-6.99609193e-02, 1.30739924e-01, 9.96229543e-01,
 -1.36029377e-04, 7.63142224e-05,-8.67564053e-02]

qacc:
[  1.09065003, -2.45566473, 10.84149839,-21.09272995, -2.13570964,
  -0.68930499,  3.90316083,-10.17089433, -6.73050342, -0.53276693,
   4.01797242,-12.21222698, -0.05116332, -0.15179725, -2.61486881,
   7.45227128, -0.64025716, -1.38061962,  0.04987863, 21.42122968,
  -2.92409784,  1.37562207]

qfrc_actuator:
[-7.36027455e-05,-3.91985310e-04,-2.41873539e-04,-5.25750107e-05,
 -2.79642331e-05,-4.38427317e-04,-3.79206053e-04,-1.90766515e-05,
  1.91636341e-05,-3.56043818e-04,-2.75860245e-04,-1.35843687e-04,
  9.81934871e-03,-1.32235684e-03, 4.86430530e-03,-1.51648386e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43557345, -0.4950729 ,  4.40785829, -0.4950729 , 15.3092031 ,
        1.2212823 ,  4.40785829,  1.2212823 ,  4.57274296,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026548407803622665
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04547044e-13,  6.27282265e-13,  1.00000000e+00, -6.55805066e-26,
        1.00000000e+00, -6.27282265e-13, -1.00000000e+00,  0.00000000e+00,
        1.04547044e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10241911, -0.04715785,  0.0619918 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.32859017e-06,-1.08651487e-05, 1.87221598e-05,-2.85019589e-05,
 -1.26046304e-05,-1.22259212e-05,-6.72022856e-06,-1.96039952e-05,
 -3.95377420e-05,-4.44280927e-06,-1.05810315e-05,-2.53060343e-05,
 -4.95198430e-05,-2.87027717e-05,-6.39200183e-05, 1.73331656e-05,
  4.84831762e-06, 3.58363656e-07,-1.21644508e+00,-1.78092734e-03,
 -3.10950371e-04,-6.15900831e-07]


--- Step 1194 ---
qpos:
[ 2.85869259e-03,-5.59302932e-03,-1.02186475e-02, 2.80019652e-03,
 -4.43734494e-03,-5.17946457e-03,-1.77618774e-02, 5.19753025e-03,
 -4.75475353e-03,-3.92470769e-03,-7.79629314e-03,-1.91801420e-02,
  1.27995851e+00, 1.88696427e-02, 1.26858114e+00, 2.48678289e-02,
  9.50048797e-02,-6.99609027e-02, 1.30741001e-01, 9.96223704e-01,
 -1.32714644e-04, 8.05899329e-05,-8.68234238e-02]

qacc:
[  6.89475873, -2.20973   , 10.59448295,-22.70586542, -1.18507434,
  -2.4792311 ,  7.26594886, -6.03912095, -1.08328653, -1.03569636,
   4.28610024, -8.65332563,  0.04974805, -0.38124736, -3.82374396,
  12.94859099, -0.61401423, -1.36869815, -0.06016196, 21.17245872,
  -3.19548297,  1.18884225]

qfrc_actuator:
[-3.32628754e-05,-3.94577916e-04,-2.29464758e-04,-8.67962034e-05,
 -3.48017870e-05,-4.81707989e-04,-3.47638445e-04,-1.35965359e-05,
  1.38784988e-05,-3.83539737e-04,-2.77855392e-04,-1.49585830e-04,
  9.79614380e-03,-1.34689250e-03, 4.88998768e-03,-1.44738961e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4373509 , -1.21761097, -4.26702549, -1.21761097, 16.27619062,
       -3.37825521, -4.26702549, -3.37825521,  5.40134809,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002661193927534222
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.08594912e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.08594912e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10242235, -0.04715868,  0.06199178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.05177304e-05,-6.01408730e-06, 1.14843744e-05,-3.45943518e-05,
 -7.20207852e-06,-5.23631583e-05, 2.75374678e-05, 4.34067332e-06,
 -6.41593710e-06,-3.32453812e-05,-5.07935612e-06,-1.47865181e-05,
 -5.62846462e-05,-4.38278812e-05,-4.09015972e-06, 6.13378520e-05,
  2.12450988e-06, 1.91676078e-07,-1.21644108e+00,-1.78024268e-03,
 -3.09671097e-04,-4.27347186e-07]


--- Step 1195 ---
qpos:
[ 2.85926329e-03,-5.59308890e-03,-1.02184884e-02, 2.79939958e-03,
 -4.43811330e-03,-5.17980117e-03,-1.77617512e-02, 5.19924116e-03,
 -4.75454975e-03,-3.92595435e-03,-7.79627394e-03,-1.91811048e-02,
  1.28022460e+00, 1.88695969e-02, 1.26881327e+00, 2.48674610e-02,
  9.50026086e-02,-6.99663213e-02, 1.30741469e-01, 9.96218047e-01,
 -8.82112273e-05, 7.44350667e-05,-8.68883699e-02]

qacc:
[  4.2115608 ,  0.09568242,  1.71817619, -8.46971665, -0.65433872,
  -0.50937303, -0.50429162,  7.10640641,  5.53801534, -2.43544804,
   7.9583207 ,-10.48786376, -0.63553685,  0.7072179 ,  0.64139124,
  -2.07694926, -0.59314223, -1.35882026, -0.1523467 , 20.96930942,
  -3.40766743,  1.04116954]

qfrc_actuator:
[-9.56646181e-06,-3.78239191e-04,-2.40084856e-04,-1.06763788e-04,
 -3.85440007e-05,-4.89577286e-04,-3.29040316e-04, 6.85175331e-06,
  4.64576978e-05,-4.35152834e-04,-2.61160137e-04,-1.57344584e-04,
  9.77263951e-03,-1.32578893e-03, 4.88639858e-03,-1.45982081e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43403763, -1.29594214, -4.24042729, -1.29594214, 21.153854  ,
       -5.10984228, -4.24042729, -5.10984228,  5.99568684,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002649335247154744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.09528603e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.09528603e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10242511, -0.04715877,  0.06199181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.48537631e-05, 1.38845142e-05,-1.16475687e-05,-2.05023809e-05,
 -3.96824361e-06,-3.12800020e-05, 1.13246664e-05, 1.92400208e-05,
  3.23827330e-05,-7.18615195e-05, 8.70509552e-06,-9.64181973e-06,
 -6.21945832e-05,-4.81912254e-06,-3.89389993e-06,-1.07258123e-05,
 -1.92872311e-07, 6.28361710e-07,-1.21643997e+00,-1.78020470e-03,
 -3.08422445e-04,-3.26573730e-07]


--- Step 1196 ---
qpos:
[ 2.86011408e-03,-5.59308878e-03,-1.02187278e-02, 2.79874200e-03,
 -4.43857601e-03,-5.18002056e-03,-1.77621244e-02, 5.20083602e-03,
 -4.75464739e-03,-3.92747579e-03,-7.79565151e-03,-1.91818680e-02,
  1.28048999e+00, 1.88700569e-02, 1.26904491e+00, 2.48653869e-02,
  9.49980310e-02,-6.99771430e-02, 1.30741019e-01, 9.96212546e-01,
 -2.87555593e-06, 5.75443122e-05,-8.69514761e-02]

qacc:
[  2.43673819,  1.47483405, -5.74057632,  8.75450985,  2.64788789,
   1.30625041, -3.95225816,  2.66683824, -2.6150949 , -1.63298301,
   4.46170638, -1.77850113, -0.99248584,  1.26680953,  4.57018697,
 -16.74524006, -0.57659134, -1.35074628, -0.229465  , 20.80526477,
  -3.57380578,  0.92430253]

qfrc_actuator:
[ 4.13346266e-06,-3.86277510e-04,-2.64124746e-04,-1.00429402e-04,
 -2.26832448e-05,-4.76208187e-04,-3.53625906e-04, 4.45966831e-07,
  3.00406469e-05,-4.11967257e-04,-2.15919127e-04,-1.43781936e-04,
  9.73833820e-03,-1.29548978e-03, 4.83328209e-03,-1.55578231e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4267804 , -1.39287547, -4.20193796, -1.39287547, 27.32781547,
       -7.59132815, -4.20193796, -7.59132815,  6.94318469,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002623116337559239
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.1162291e-13, -2.1162291e-13,  1.0000000e+00,  4.4784256e-26,
        1.0000000e+00,  2.1162291e-13, -1.0000000e+00,  0.0000000e+00,
        2.1162291e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10242749, -0.04715827,  0.06199189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.44166120e-05,-3.54948370e-06,-2.33170446e-05, 6.12760659e-06,
  1.57348232e-05,-9.53519286e-07,-2.89867096e-05,-6.98278515e-06,
 -1.55214415e-05,-1.55549227e-05, 3.11524585e-05, 1.06021892e-05,
 -6.70680954e-05, 1.45352071e-05,-6.22015851e-05,-9.84247210e-05,
 -2.14027136e-06, 1.64440189e-06,-1.21644169e+00,-1.78080842e-03,
 -3.07173883e-04,-3.25357348e-07]


--- Step 1197 ---
qpos:
[ 2.86146782e-03,-5.59336482e-03,-1.02188564e-02, 2.79851898e-03,
 -4.43850008e-03,-5.18023201e-03,-1.77630579e-02, 5.20236031e-03,
 -4.75528620e-03,-3.92863342e-03,-7.79507603e-03,-1.91821560e-02,
  1.28075495e+00, 1.88701693e-02, 1.26927596e+00, 2.48624753e-02,
  9.49907232e-02,-6.99808928e-02, 1.30740029e-01, 9.96206947e-01,
  3.43760371e-05, 9.28958585e-06,-8.70156120e-02]

qacc:
[  4.40795431,  0.21190322, -3.13420682, 10.69687061,  4.67978699,
   1.42113203, -4.77026054,  4.45672336, -4.74510843,  1.60048094,
  -6.99571462, 15.00390952, -0.14132231, -0.17465963,  1.65700008,
  -7.06808416, -0.68259357,  1.76795024, -0.13493979,-22.58737984,
 -17.71307763, -0.51859332]

qfrc_actuator:
[ 2.95976700e-05,-4.08888987e-04,-2.60461226e-04,-7.86967207e-05,
  4.58753283e-06,-4.85921929e-04,-3.85680867e-04,-3.96582459e-06,
  2.65769517e-06,-3.61777192e-04,-2.07138054e-04,-1.17706233e-04,
  9.70291579e-03,-1.33105574e-03, 4.81440197e-03,-1.59375324e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41950257,  0.04382101, -4.41928532,  0.04382101, 27.29487606,
        0.22682898, -4.41928532,  0.22682898,  4.42175178,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002596477541682435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.60345556e-13, -2.13794074e-13,  1.00000000e+00, -3.42809296e-26,
        1.00000000e+00,  2.13794074e-13, -1.00000000e+00,  0.00000000e+00,
       -1.60345556e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10428229, -0.09513631,  0.06199198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.58760617e-05,-2.91435298e-05, 2.73128874e-07, 2.08942465e-05,
  2.77229860e-05,-1.65189813e-05,-3.60616130e-05,-5.59458359e-06,
 -2.78376564e-05, 4.84239907e-05, 9.78468279e-06, 2.66981496e-05,
 -6.75662431e-05,-4.61389430e-05,-6.21446139e-05,-5.22497404e-05,
 -3.74442429e-06, 3.22348964e-06,-1.21644617e+00,-1.78204963e-03,
 -3.05902644e-04,-4.31785015e-07]


--- Step 1198 ---
qpos:
[ 2.86242646e-03,-5.59371889e-03,-1.02189901e-02, 2.79819527e-03,
 -4.43844238e-03,-5.18070060e-03,-1.77642990e-02, 5.20418218e-03,
 -4.75555886e-03,-3.92911370e-03,-7.79484664e-03,-1.91821496e-02,
  1.28101943e+00, 1.88701271e-02, 1.26950608e+00, 2.48594812e-02,
  9.49806345e-02,-6.99776626e-02, 1.30738047e-01, 9.96201216e-01,
  2.40481469e-05,-6.93649555e-05,-8.70811834e-02]

qacc:
[-3.45509994e+00,-2.89445044e-01, 1.31906395e+00,-3.00866461e+00,
 -1.64154957e-01, 1.13231612e+00,-5.78640669e+00, 1.16176036e+01,
  3.18320619e+00, 2.46282119e+00,-8.73266059e+00, 1.38866897e+01,
 -2.20166921e-01, 2.15877367e-02,-1.12163733e+00, 1.94742283e+00,
 -6.95201886e-01, 1.74501469e+00,-2.47964576e-01,-2.23768677e+01,
 -1.72123565e+01,-7.20518043e-01]

qfrc_actuator:
[ 8.52766204e-06,-4.04427144e-04,-2.58278118e-04,-8.35812693e-05,
  2.84380503e-06,-5.09422987e-04,-4.04204289e-04, 1.05723623e-05,
  2.23134074e-05,-3.13665762e-04,-2.19824073e-04,-1.02230826e-04,
  9.68279853e-03,-1.33447906e-03, 4.76815945e-03,-1.59711607e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42412543, -0.04750026,  4.42387043, -0.04750026, 14.73387122,
        0.11069846,  4.42387043,  0.11069846,  4.42531403,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002613439102767401
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.25681930e-13,  2.12406523e-13,  1.00000000e+00, -4.79363141e-26,
        1.00000000e+00, -2.12406523e-13, -1.00000000e+00,  0.00000000e+00,
        2.25681930e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10427856, -0.09513603,  0.06199192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.03404572e-05,-1.08668792e-05,-3.07726023e-06,-5.71706533e-06,
 -9.53050362e-07,-4.04016018e-05,-2.65624244e-05, 1.24715692e-05,
  1.88730063e-05, 7.83782685e-05,-5.47638884e-07, 1.84105056e-05,
 -6.65802395e-05,-3.19756056e-05,-8.35408925e-05,-1.48924861e-05,
 -1.33396511e-06, 3.53704993e-06,-1.21644350e+00,-1.78221880e-03,
 -3.06473037e-04,-4.87152143e-07]


--- Step 1199 ---
qpos:
[ 2.86243548e-03,-5.59401119e-03,-1.02194291e-02, 2.79747306e-03,
 -4.43875077e-03,-5.18134996e-03,-1.77655018e-02, 5.20578477e-03,
 -4.75524902e-03,-3.92909666e-03,-7.79501618e-03,-1.91815855e-02,
  1.28128329e+00, 1.88702759e-02, 1.26973509e+00, 2.48558260e-02,
  9.49677256e-02,-6.99675273e-02, 1.30734693e-01, 9.96195315e-01,
 -3.34433699e-05,-1.77653393e-04,-8.71485020e-02]

qacc:
[ -8.31744434,  0.13026268,  1.36417021, -7.8483593 , -3.18836938,
  -0.79071092,  3.40934634, -7.14463223,  5.07876839,  2.91125545,
 -11.7927158 , 21.72316656, -0.58408196,  0.62129294,  0.43384378,
  -3.73515456, -0.70503756,  1.72624744, -0.34314035,-22.20201238,
 -16.81422076, -0.87564949]

qfrc_actuator:
[-3.97659909e-05,-4.01561578e-04,-2.74664310e-04,-1.04074730e-04,
 -1.59671947e-05,-5.05429271e-04,-3.96884764e-04, 6.35346203e-07,
  5.17488404e-05,-3.02765838e-04,-2.45072413e-04,-7.53720889e-05,
  9.65590702e-03,-1.31867072e-03, 4.70555150e-03,-1.63339185e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42322545,  0.04209225,  4.42302517,  0.04209225, 19.3555029 ,
       -0.1421048 ,  4.42302517, -0.1421048 ,  4.42457781,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026101481809201466
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.19011493e-13, -2.12674329e-13,  1.00000000e+00,  6.78455552e-26,
        1.00000000e+00,  2.12674329e-13, -1.00000000e+00,  0.00000000e+00,
        3.19011493e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10427585, -0.09513651,  0.06199193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.88771106e-05,-4.08683147e-06,-1.92014343e-05,-2.11743571e-05,
 -1.88518665e-05,-2.35234746e-05,-3.84986821e-06,-1.23447263e-05,
  2.99997149e-05, 5.54243682e-05,-8.48844329e-06, 3.05545231e-05,
 -6.98014690e-05,-8.23161003e-06,-1.04356904e-04,-4.81882625e-05,
  6.41221056e-07, 4.82130859e-06,-1.21644584e+00,-1.78169018e-03,
 -3.06555654e-04, 3.32402501e-07]


--- Step 1200 ---
qpos:
[ 2.86255540e-03,-5.59451410e-03,-1.02196873e-02, 2.79651243e-03,
 -4.43928243e-03,-5.18200869e-03,-1.77664287e-02, 5.20721650e-03,
 -4.75389845e-03,-3.92892360e-03,-7.79588559e-03,-1.91806382e-02,
  1.28154642e+00, 1.88706762e-02, 1.26996332e+00, 2.48523225e-02,
  9.49582482e-02,-6.99612274e-02, 1.30733222e-01, 9.96189419e-01,
 -6.93217979e-05,-2.54195441e-04,-8.72156676e-02]

qacc:
[  0.97917844, -1.2765695 ,  5.15088136, -9.40772586, -1.93849118,
  -1.13145722,  4.74445982, -8.14369707,  9.08688386,  2.93445661,
 -11.80823495, 19.47006448, -0.68563512,  0.7391702 , -1.54033387,
   3.88786198,  0.8578492 , -0.95881625,  0.47098283,  9.38211752,
  16.75457396,  0.07501358]

qfrc_actuator:
[-3.26707637e-05,-4.17515019e-04,-2.66384668e-04,-1.15842827e-04,
 -2.69107941e-05,-4.84912201e-04,-3.74282188e-04,-5.83632870e-06,
  1.04441935e-04,-3.32036350e-04,-2.95419507e-04,-5.98170238e-05,
  9.61432861e-03,-1.30935985e-03, 4.69175643e-03,-1.61779332e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43903834, -1.85922431,  4.03092376, -1.85922431, 22.61934382,
        8.38548878,  4.03092376,  8.38548878,  8.30676335,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002667207123093901
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.24373909e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.24373909e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08429165, -0.05610677,  0.06199176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.70002740e-06,-2.31120180e-05, 4.34976528e-06,-1.30144900e-05,
 -1.14915782e-05, 6.06635407e-06, 1.68613055e-05,-7.85170025e-06,
  5.35682071e-05, 1.28933070e-06,-3.88882544e-05, 1.82277366e-05,
 -8.10594977e-05,-8.28408614e-06,-6.81432195e-05,-6.77227409e-07,
  2.25945278e-06, 7.06774310e-06,-1.21645299e+00,-1.78046113e-03,
 -3.06186137e-04, 1.98426427e-06]


--- Step 1201 ---
qpos:
[ 2.86275913e-03,-5.59541853e-03,-1.02194482e-02, 2.79507558e-03,
 -4.44028603e-03,-5.18281979e-03,-1.77673137e-02, 5.20893919e-03,
 -4.75192636e-03,-3.92887630e-03,-7.79690884e-03,-1.91802029e-02,
  1.28180874e+00, 1.88716960e-02, 1.27019099e+00, 2.48489674e-02,
  9.49522100e-02,-6.99586510e-02, 1.30733047e-01, 9.96183512e-01,
 -8.36005669e-05,-2.99897844e-04,-8.72829464e-02]

qacc:
[  0.75528339, -2.90286225, 11.58789418,-20.32663833, -4.11163072,
   0.28886908, -2.53658815,  7.60262371,  5.43810969, -0.80160705,
   4.75664368,-13.25236381, -0.98895343,  1.30191243, -1.18868934,
   3.1917792 ,  0.85980729, -0.93089171,  0.32373233,  9.41381104,
  16.3029814 , -0.05847871]

qfrc_actuator:
[-2.85281331e-05,-4.44512185e-04,-2.43669434e-04,-1.40129009e-04,
 -5.08829538e-05,-5.07838114e-04,-3.78268179e-04, 7.56311883e-06,
  1.34893114e-04,-3.49761495e-04,-3.07107446e-04,-8.65981603e-05,
  9.58527494e-03,-1.26857912e-03, 4.67530486e-03,-1.60712382e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45101273,  2.43136786, -3.72826564,  2.43136786, 11.8905709 ,
        4.8516668 , -3.72826564,  4.8516668 ,  7.61500046,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027093776229965283
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.09770501e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.09770501e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08429479, -0.05610567,  0.06199163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.29988712e-06,-3.95556221e-05, 1.80373899e-05,-2.53756635e-05,
 -2.42998341e-05,-1.63597901e-05,-9.11752135e-07, 1.40908713e-05,
  3.19820442e-05,-2.42308914e-05,-1.55753011e-05,-2.77190297e-05,
 -7.33039512e-05, 2.01094289e-05,-5.07401198e-05, 1.26983655e-06,
  1.66549261e-06, 5.00435625e-06,-1.21644647e+00,-1.78047862e-03,
 -3.04395545e-04, 1.47209548e-06]


--- Step 1202 ---
qpos:
[ 2.86197628e-03,-5.59651351e-03,-1.02195762e-02, 2.79373750e-03,
 -4.44191412e-03,-5.18380991e-03,-1.77682008e-02, 5.21081601e-03,
 -4.74994899e-03,-3.92913690e-03,-7.79741913e-03,-1.91804600e-02,
  1.28207058e+00, 1.88730941e-02, 1.27041757e+00, 2.48468193e-02,
  9.49496151e-02,-6.99597082e-02, 1.30733671e-01, 9.96177583e-01,
 -7.63027368e-05,-3.15492098e-04,-8.73505465e-02]

qacc:
[ -8.63816158,  0.99440399, -4.29867397,  6.70367833, -5.4430196 ,
   0.0973938 , -1.32277766,  4.10542693,  0.06721664, -3.26723581,
  13.97528484,-26.53750385, -0.4432461 ,  0.61252633, -5.21441038,
  16.02526391,  0.86083456, -0.90839097,  0.20003086,  9.43311301,
  15.93826515, -0.16304842]

qfrc_actuator:
[-7.94322276e-05,-4.60107800e-04,-2.65939566e-04,-1.36087616e-04,
 -8.23342774e-05,-5.21177802e-04,-3.80330869e-04, 1.47391329e-05,
  1.34249451e-04,-3.60340042e-04,-2.78113342e-04,-1.20286373e-04,
  9.57442007e-03,-1.24489029e-03, 4.61998846e-03,-1.54621116e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45570667,  2.37202156, -3.77184778,  2.37202156, 16.01437571,
        7.26896042, -3.77184778,  7.26896042,  9.02697569,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027256750554928433
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.03660195e-13,  4.07320389e-13,  1.00000000e+00, -8.29549498e-26,
        1.00000000e+00, -4.07320389e-13, -1.00000000e+00,  0.00000000e+00,
        2.03660195e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08429698, -0.05610446,  0.06199158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.07917750e-05,-3.50426847e-05,-2.90863901e-05, 2.48129899e-06,
 -3.21542039e-05,-2.20450460e-05,-5.04941809e-06, 6.71873769e-06,
  2.62172596e-07,-2.85056892e-05, 2.11232162e-05,-3.58042261e-05,
 -4.41877190e-05, 1.30010488e-05,-8.24016888e-05, 5.36278842e-05,
  8.15982316e-07, 3.22905675e-06,-1.21644234e+00,-1.78076545e-03,
 -3.03106001e-04, 1.17380201e-06]


--- Step 1203 ---
qpos:
[ 2.86127919e-03,-5.59759808e-03,-1.02203773e-02, 2.79279930e-03,
 -4.44390697e-03,-5.18475708e-03,-1.77691431e-02, 5.21170333e-03,
 -4.74833952e-03,-3.92945978e-03,-7.79769740e-03,-1.91807860e-02,
  1.28233224e+00, 1.88740411e-02, 1.27064321e+00, 2.48473494e-02,
  9.49504654e-02,-6.99643267e-02, 1.30734681e-01, 9.96171617e-01,
 -4.74549387e-05,-3.01566006e-04,-8.74186302e-02]

qacc:
[  0.72908489,  2.71726997,-11.35885831, 19.3505428 , -3.18395882,
  -1.82005544, 10.7600784 ,-27.84115541, -3.21242659, -0.86668919,
   3.27184623, -4.80032742,  0.42257595, -0.82859801, -9.565872  ,
  31.29175089,  0.86130163, -0.89033219,  0.09629494,  9.44441064,
  15.6449673 , -0.24470494]

qfrc_actuator:
[-7.35643335e-05,-4.51160218e-04,-2.96782847e-04,-1.15434185e-04,
 -1.00179138e-04,-5.10925519e-04,-3.81212329e-04,-3.50563494e-05,
  1.15316507e-04,-3.48645556e-04,-2.60820541e-04,-1.22228442e-04,
  9.55318048e-03,-1.28472107e-03, 4.60000339e-03,-1.40301287e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45442617,  2.29119655, -3.81999095,  2.29119655, 21.60346268,
       10.28583938, -3.81999095, 10.28583938, 10.62378102,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002721241882126524
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.03991977e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.03991977e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08429842, -0.05610317,  0.06199159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.40892858e-06,-1.65211828e-05,-4.15583286e-05, 1.82017574e-05,
 -1.87744192e-05,-2.79927195e-06,-5.80519923e-06,-5.07826355e-05,
 -1.89361592e-05,-1.39388273e-06, 1.27795543e-05,-3.12644540e-06,
 -4.20345263e-05,-4.55700389e-05,-5.32152930e-05, 1.35329841e-04,
 -2.89548999e-07, 1.70949660e-06,-1.21644043e+00,-1.78132988e-03,
 -3.02300558e-04, 1.08085038e-06]


--- Step 1204 ---
qpos:
[ 2.86169215e-03,-5.59875827e-03,-1.02212782e-02, 2.79208687e-03,
 -4.44575381e-03,-5.18547894e-03,-1.77701868e-02, 5.21162127e-03,
 -4.74765928e-03,-3.92990724e-03,-7.79773647e-03,-1.91811256e-02,
  1.28259344e+00, 1.88750658e-02, 1.27086866e+00, 2.48501304e-02,
  9.49547616e-02,-6.99724488e-02, 1.30735729e-01, 9.96165599e-01,
  2.91696147e-06,-2.58589125e-04,-8.74873229e-02]

qacc:
[ 9.70832778e+00, 6.25014883e-01,-3.35927147e+00, 7.51711205e+00,
  1.26570113e+00,-1.41696666e+00, 9.57255785e+00,-2.63494479e+01,
 -8.12543506e+00,-8.45397703e-01, 2.85955294e+00,-3.41362354e+00,
 -2.14414011e-01, 1.66375064e-01,-7.08770716e+00, 2.44172382e+01,
  8.61480278e-01,-8.75918941e-01, 9.46892834e-03, 9.45096670e+00,
  1.54105958e+01,-3.08175502e-01]

qfrc_actuator:
[-1.65583171e-05,-4.45364084e-04,-2.96811864e-04,-1.02906768e-04,
 -9.21174337e-05,-4.86668419e-04,-3.81331242e-04,-8.24475118e-05,
  6.80284206e-05,-3.59214985e-04,-2.50472764e-04,-1.23221886e-04,
  9.53635354e-03,-1.27322246e-03, 4.61722044e-03,-1.28340752e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44843631,  2.1853962 , -3.8746134 ,  2.1853962 , 29.16305225,
       13.9397721 , -3.8746134 , 13.9397721 , 12.31087879,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027003770900825563
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.05568146e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.05568146e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08429926, -0.05610182,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.71316221e-05,-1.11923821e-05,-7.90600409e-06, 1.07419992e-05,
  7.52485361e-06, 1.93538752e-05,-3.14869098e-06,-4.86973878e-05,
 -4.78310871e-05,-8.82908087e-06, 1.15358358e-05,-6.68685553e-07,
 -4.94063143e-05,-1.13206234e-05, 5.95813667e-06, 1.19887134e-04,
 -1.65150895e-06, 4.21880777e-07,-1.21644065e+00,-1.78217788e-03,
 -3.01965989e-04, 1.18655658e-06]


--- Step 1205 ---
qpos:
[ 2.86278512e-03,-5.59978774e-03,-1.02222871e-02, 2.79150360e-03,
 -4.44749017e-03,-5.18569278e-03,-1.77708861e-02, 5.21159413e-03,
 -4.74789660e-03,-3.93004241e-03,-7.79753654e-03,-1.91818764e-02,
  1.28285401e+00, 1.88769171e-02, 1.27109436e+00, 2.48523012e-02,
  9.49625042e-02,-6.99840290e-02, 1.30736524e-01, 9.96159515e-01,
  7.47908948e-05,-1.86933347e-04,-8.75567212e-02]

qacc:
[  5.94274995,  0.72888652, -2.91352761,  5.24710962,  0.96566394,
  -0.17966646,  1.37978095, -1.35028343, -8.03095797, -1.08672332,
   6.23303828,-13.9830004 , -1.10040805,  1.61162692,  2.34517405,
  -7.35643205,  0.861567  , -0.86450422, -0.06305658,  9.45518182,
  15.22503377, -0.35717754]

qfrc_actuator:
[ 1.68140749e-05,-4.23624329e-04,-2.96409038e-04,-9.52408068e-05,
 -8.66292773e-05,-4.18702703e-04,-3.45418969e-04,-7.47624869e-05,
  2.21883799e-05,-3.12045012e-04,-2.26639354e-04,-1.41426599e-04,
  9.52220425e-03,-1.21352192e-03, 4.61944479e-03,-1.32062303e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43888569,  2.05017968, -3.93706356,  2.05017968, 39.355733  ,
       18.18253876, -3.93706356, 18.18253876, 13.90722952,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002666663891940507
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.08167034e-13, -2.08167034e-13,  1.00000000e+00,  4.33335139e-26,
        1.00000000e+00,  2.08167034e-13, -1.00000000e+00,  0.00000000e+00,
        2.08167034e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08429963, -0.0561004 ,  0.06199176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.50059655e-05, 1.43809244e-05,-2.48819452e-06, 7.12563595e-06,
  5.71278513e-06, 7.60927753e-05, 3.78572398e-05, 7.46127009e-06,
 -4.72110035e-05, 4.45896883e-05, 2.34165401e-05,-1.81927515e-05,
 -4.12845858e-05, 4.46957621e-05, 1.27738461e-05,-3.10272142e-05,
 -3.27055270e-06,-6.51040340e-07,-1.21644292e+00,-1.78331378e-03,
 -3.02092022e-04, 1.48585108e-06]


--- Step 1206 ---
qpos:
[ 2.86358035e-03,-5.60063409e-03,-1.02233114e-02, 2.79065789e-03,
 -4.44880242e-03,-5.18526952e-03,-1.77712153e-02, 5.21129390e-03,
 -4.74799246e-03,-3.92945945e-03,-7.79726584e-03,-1.91828813e-02,
  1.28311412e+00, 1.88792351e-02, 1.27132004e+00, 2.48537051e-02,
  9.49706547e-02,-6.99936472e-02, 1.30738765e-01, 9.96153432e-01,
  1.33573749e-04,-1.16434419e-04,-8.76259529e-02]

qacc:
[ -2.60824223, -0.25019388,  2.35982833, -7.02132105,  3.69903674,
  -0.76152175,  5.07747568,-10.85113726,  1.22823072,  0.22567205,
   1.63864937, -6.66763378, -0.74192783,  1.01456777,  2.38161728,
  -8.16226826,  0.10201691,  0.49050841,  0.36144306, -6.46974112,
  -1.14930341,  0.08428968]

qfrc_actuator:
[ 4.87049173e-07,-4.10247112e-04,-2.95699035e-04,-1.08238055e-04,
 -6.49555011e-05,-3.78142553e-04,-3.23798501e-04,-8.79261986e-05,
  3.08350853e-05,-2.48371070e-04,-2.12562686e-04,-1.51802381e-04,
  9.49371602e-03,-1.19669069e-03, 4.61264087e-03,-1.36120713e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4267718 ,  2.00394662, -3.94721503,  2.00394662, 19.52492569,
        7.66512447, -3.94721503,  7.66512447,  8.31824976,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026230850714385013
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09119364e-13, -1.56539332e-09,  1.00000000e+00,  1.70814723e-22,
        1.00000000e+00,  1.56539332e-09, -1.00000000e+00,  0.00000000e+00,
        1.09119364e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09414073, -0.07535965,  0.06199189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.53172965e-05, 2.12695395e-05, 3.64318779e-06,-1.23243078e-05,
  2.18622614e-05, 9.12677714e-05, 4.22695395e-05,-8.44631408e-06,
  7.31349302e-06, 9.26526708e-05, 2.55435289e-05,-8.00680269e-06,
 -3.88392565e-05, 2.03702160e-05,-1.14073562e-05,-4.22555037e-05,
 -5.14779627e-06,-1.52142212e-06,-1.21644718e+00,-1.78474069e-03,
 -3.02670754e-04, 1.97506013e-06]


--- Step 1207 ---
qpos:
[ 2.86348448e-03,-5.60163484e-03,-1.02236392e-02, 2.79000233e-03,
 -4.44949958e-03,-5.18436081e-03,-1.77714941e-02, 5.21122552e-03,
 -4.74798399e-03,-3.92856598e-03,-7.79694395e-03,-1.91839491e-02,
  1.28337403e+00, 1.88810774e-02, 1.27154507e+00, 2.48563297e-02,
  9.49760850e-02,-6.99960652e-02, 1.30740184e-01, 9.96147278e-01,
  1.45566306e-04,-7.68314515e-05,-8.76959190e-02]

qacc:
[ -7.77011685, -1.74394316,  5.14560479, -2.88325319,  5.35756255,
   0.96729874, -3.51510553,  7.10986242,  0.9095992 ,  0.13590697,
   0.37281629, -1.76741904,  0.30762465, -0.70553165, -4.7051972 ,
  14.95046448, -0.68008521,  1.80003614, -0.20557718,-21.95155154,
 -17.43863428, -0.3640955 ]

qfrc_actuator:
[-4.49538736e-05,-4.19744752e-04,-2.59348768e-04,-9.77880164e-05,
 -3.39281619e-05,-3.72110660e-04,-3.28669210e-04,-7.77878532e-05,
  3.59765768e-05,-2.64088659e-04,-2.22020052e-04,-1.57473482e-04,
  9.46728507e-03,-1.24105699e-03, 4.58445766e-03,-1.29689592e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43297773,  2.11297092, -3.89700467,  2.11297092, 10.73996781,
        3.41967428, -3.89700467,  3.41967428,  6.28713828,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002645527099428002
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.22944600e-13, -2.09830212e-13,  1.00000000e+00,  4.67805128e-26,
        1.00000000e+00,  2.09830212e-13, -1.00000000e+00,  0.00000000e+00,
        2.22944600e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10424561, -0.09514675,  0.06199183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.58670265e-05, 2.65745005e-06, 4.07895035e-05, 1.12541013e-05,
  3.16845773e-05, 6.54338114e-05, 1.88938954e-05, 1.53466747e-05,
  5.38390996e-06, 4.10064440e-05, 1.25402447e-05,-9.75331295e-07,
 -4.17818202e-05,-4.71674744e-05,-4.36526690e-05, 5.92454810e-05,
 -4.27015396e-06,-1.86043821e-06,-1.21644572e+00,-1.78550616e-03,
 -3.04227265e-04, 1.46204963e-06]


--- Step 1208 ---
qpos:
[ 2.86353417e-03,-5.60239729e-03,-1.02236585e-02, 2.78945304e-03,
 -4.44947419e-03,-5.18306967e-03,-1.77720483e-02, 5.21166115e-03,
 -4.74791366e-03,-3.92749442e-03,-7.79693653e-03,-1.91846876e-02,
  1.28363366e+00, 1.88822499e-02, 1.27176948e+00, 2.48597037e-02,
  9.49787478e-02,-6.99914042e-02, 1.30740372e-01, 9.96141014e-01,
  1.11018174e-04,-6.72261803e-05,-8.77670951e-02]

qacc:
[ 1.27891050e+00,-3.30842781e-01, 1.18363714e+00,-8.24437357e-03,
  6.28638794e+00, 2.29960249e+00,-9.61561845e+00, 1.85218630e+01,
  5.28844799e-01, 1.79174966e+00,-7.43570334e+00, 1.35012604e+01,
  2.99737143e-01,-8.49600044e-01,-3.23669821e+00, 9.87057202e+00,
 -6.91854283e-01, 1.76974936e+00,-3.07863691e-01,-2.18653912e+01,
 -1.69818681e+01,-6.03526616e-01]

qfrc_actuator:
[-3.61401566e-05,-3.89445130e-04,-2.37825386e-04,-9.13698635e-05,
  2.35067916e-06,-3.69146280e-04,-3.49263000e-04,-5.40639623e-05,
  3.89954896e-05,-2.74062907e-04,-2.45606584e-04,-1.42658648e-04,
  9.43675345e-03,-1.28588098e-03, 4.55415580e-03,-1.26009138e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43318782, -1.45265951,  4.18842865, -1.45265951, 14.32461307,
        3.43061185,  4.18842865,  3.43061185,  5.62301611,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002646282491410995
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.44217092e-13, -4.19540630e-13,  1.00000000e+00, -6.05049296e-26,
        1.00000000e+00,  4.19540630e-13, -1.00000000e+00,  0.00000000e+00,
       -1.44217092e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10424222, -0.09514832,  0.06199182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.50523646e-06, 4.07190940e-05, 2.75049036e-05, 8.16887184e-06,
  3.72086056e-05, 4.40960169e-05,-4.22852653e-06, 2.74773851e-05,
  3.18945967e-06, 1.54728359e-05,-1.36182316e-05, 1.69852815e-05,
 -6.34549693e-05,-6.80341749e-05,-4.65006024e-05, 3.38695552e-05,
 -9.46177952e-07,-1.14621274e-06,-1.21644083e+00,-1.78515553e-03,
 -3.06211489e-04, 4.17264942e-07]


--- Step 1209 ---
qpos:
[ 2.86368863e-03,-5.60269045e-03,-1.02240524e-02, 2.78865721e-03,
 -4.44901333e-03,-5.18203816e-03,-1.77725558e-02, 5.21278441e-03,
 -4.74677283e-03,-3.92631428e-03,-7.79691818e-03,-1.91849107e-02,
  1.28389293e+00, 1.88828566e-02, 1.27199380e+00, 2.48611011e-02,
  9.49786070e-02,-6.99797618e-02, 1.30738984e-01, 9.96134605e-01,
  3.01391065e-05,-8.69024110e-05,-8.78398521e-02]

qacc:
[  0.89660747,  1.15766301, -2.19017441, -1.81950691,  3.80388121,
   0.93509814, -6.74778773, 18.77942172,  9.37061352,  1.15625758,
  -6.11788956, 14.96565638, -0.06820586, -0.37119635,  5.84082561,
 -20.6479183 , -0.70091409,  1.74535744, -0.3936981 ,-21.79114123,
 -16.61751096, -0.79055613]

qfrc_actuator:
[-3.09591377e-05,-3.71103355e-04,-2.60593973e-04,-1.05115655e-04,
  2.36742973e-05,-4.21371451e-04,-3.61232450e-04,-2.25536641e-05,
  9.39994838e-05,-2.62830307e-04,-2.41820145e-04,-1.15919271e-04,
  9.41975573e-03,-1.31284251e-03, 4.54390656e-03,-1.36407638e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42861953, -1.36385311,  4.21338055, -1.36385311, 18.69106635,
        4.6166925 ,  4.21338055,  4.6166925 ,  5.92302298,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026297928733268194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31928525e-14, -4.22171280e-13,  1.00000000e+00,  5.56964344e-27,
        1.00000000e+00,  4.22171280e-13, -1.00000000e+00,  0.00000000e+00,
        1.31928525e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10423979, -0.09515028,  0.06199187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.41082876e-06, 4.71748592e-05,-1.06771530e-05,-1.08877109e-05,
  2.24047285e-05,-2.72915001e-05,-2.44265914e-06, 3.37838971e-05,
  5.51035769e-05, 1.77636704e-05, 5.88163544e-06, 2.72606612e-05,
 -6.58459726e-05,-6.13185900e-05,-3.07741973e-05,-1.08738804e-04,
  1.95064599e-06, 4.49092651e-07,-1.21644084e+00,-1.78413431e-03,
 -3.07714707e-04, 2.14700049e-07]


--- Step 1210 ---
qpos:
[ 2.86390432e-03,-5.60275028e-03,-1.02249265e-02, 2.78808671e-03,
 -4.44898960e-03,-5.18160758e-03,-1.77727077e-02, 5.21430017e-03,
 -4.74601604e-03,-3.92529966e-03,-7.79668407e-03,-1.91854813e-02,
  1.28415192e+00, 1.88828022e-02, 1.27221805e+00, 2.48588882e-02,
  9.49756344e-02,-6.99612161e-02, 1.30735734e-01, 9.96128012e-01,
 -9.68993022e-05,-1.35291934e-04,-8.79144770e-02]

qacc:
[  0.51657905,  2.11351509, -8.04127416, 12.53909145, -3.79052275,
  -0.97206272,  0.66983707,  5.98219076, -3.35269078, -1.53104485,
   6.61653464,-12.85827181, -0.08872262, -0.38633796, 10.84514484,
 -38.0677482 , -0.70794417,  1.72583529, -0.46570466,-21.72945166,
 -16.32850295, -0.93602217]

qfrc_actuator:
[-2.79751788e-05,-3.78015233e-04,-2.91625437e-04,-9.51442367e-05,
  5.17582692e-07,-4.70716018e-04,-3.50486384e-04,-4.50936159e-06,
  7.26453506e-05,-2.92133213e-04,-2.39562192e-04,-1.35600863e-04,
  9.40556781e-03,-1.34667517e-03, 4.52968692e-03,-1.55010876e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42039096, -1.25352553,  4.23893029, -1.25352553, 24.46839271,
        5.92854338,  4.23893029,  5.92854338,  6.17356452,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002599748188688439
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06762554e-13,  5.33812770e-14,  1.00000000e+00, -5.69912146e-27,
        1.00000000e+00, -5.33812770e-14, -1.00000000e+00,  0.00000000e+00,
        1.06762554e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10423812, -0.09515254,  0.06199197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.15743952e-06, 1.68148457e-05,-2.29696024e-05, 1.14143735e-05,
 -2.25252473e-05,-6.36890825e-05, 5.96774429e-06, 1.74434035e-05,
 -1.97719835e-05,-1.70069061e-05, 7.57992372e-06,-1.81908379e-05,
 -6.28968842e-05,-6.66630402e-05,-4.50384486e-05,-1.97077996e-04,
  4.49593987e-06, 2.94191698e-06,-1.21644557e+00,-1.78243366e-03,
 -3.08773019e-04, 8.20976736e-07]


--- Step 1211 ---
qpos:
[ 2.86484410e-03,-5.60281119e-03,-1.02257942e-02, 2.78763702e-03,
 -4.44889882e-03,-5.18138876e-03,-1.77728358e-02, 5.21564819e-03,
 -4.74621014e-03,-3.92464193e-03,-7.79628246e-03,-1.91865997e-02,
  1.28441028e+00, 1.88826249e-02, 1.27244164e+00, 2.48567780e-02,
  9.49759843e-02,-6.99464826e-02, 1.30734395e-01, 9.96121438e-01,
 -2.02180742e-04,-1.51066601e-04,-8.79887369e-02]

qacc:
[  6.33421009,  0.21704835, -1.30727421,  3.41158944,  0.58902481,
  -0.69291982,  2.77090686, -5.55467743, -8.31365131, -2.05218574,
   8.96903952,-18.47601285, -0.37363916,  0.17353436, -1.2554879 ,
   3.05048126,  0.83064174, -0.95306563,  0.47779087,  9.40272983,
  17.20064534,  0.1826927 ]

qfrc_actuator:
[ 9.19745634e-06,-3.82278423e-04,-2.91853947e-04,-8.90683872e-05,
  4.62896923e-06,-4.64629166e-04,-3.44191374e-04,-1.22772189e-05,
  2.42553119e-05,-3.27774117e-04,-2.38430515e-04,-1.64725762e-04,
  9.37176916e-03,-1.34880382e-03, 4.51841128e-03,-1.53440851e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43788642, -1.96351747,  3.97987877, -1.96351747, 21.8078985 ,
        8.56968872,  3.97987877,  8.56968872,  8.66583771,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002663104194441379
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.08445285e-13, -2.08445285e-13,  1.00000000e+00,  4.34494368e-26,
        1.00000000e+00,  2.08445285e-13, -1.00000000e+00,  0.00000000e+00,
        2.08445285e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08431425, -0.05609214,  0.06199177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.72703920e-05, 8.98300968e-07, 8.22278022e-07, 6.22682615e-06,
  3.44244375e-06,-2.75728068e-05,-5.52675780e-06,-9.95366386e-06,
 -4.89568101e-05,-4.44072259e-05,-2.08855433e-06,-2.99456891e-05,
 -8.28987145e-05,-3.55448262e-05,-5.80521634e-05,-1.99080703e-06,
  6.74574254e-06, 6.34023352e-06,-1.21645491e+00,-1.78004746e-03,
 -3.09413105e-04, 2.21135890e-06]


--- Step 1212 ---
qpos:
[ 2.86656723e-03,-5.60310720e-03,-1.02262485e-02, 2.78692031e-03,
 -4.44807014e-03,-5.18111323e-03,-1.77730286e-02, 5.21686366e-03,
 -4.74594794e-03,-3.92446330e-03,-7.79610804e-03,-1.91873238e-02,
  1.28466793e+00, 1.88824186e-02, 1.27266446e+00, 2.48565013e-02,
  9.49752862e-02,-6.99376556e-02, 1.30734061e-01, 9.96115025e-01,
 -2.64161367e-04,-1.64061843e-04,-8.80611174e-02]

qacc:
[  6.86889726, -2.02931466,  7.88864593,-12.97273192,  6.4319114 ,
  -0.02955771,  0.75192341, -2.96063644,  3.99594828,  0.80623425,
  -5.46796414, 13.01471332, -0.33887999,  0.17111653, -6.68298727,
  21.76258733, -0.26200975, -1.47662136,  0.25129452, 21.44431445,
   3.28913676,  0.94026476]

qfrc_actuator:
[ 4.84432931e-05,-4.02563962e-04,-2.73895216e-04,-1.03068115e-04,
  4.25245178e-05,-4.43184904e-04,-3.40377478e-04,-1.73764947e-05,
  4.91273581e-05,-3.66960255e-04,-2.55765280e-04,-1.45919393e-04,
  9.33689777e-03,-1.34993631e-03, 4.49830629e-03,-1.43544268e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.455856  ,  4.36780089,  0.8814579 ,  4.36780089,  4.86052256,
       -2.00520405,  0.8814579 , -2.00520405, 14.3920447 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002726191404101852
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09751507, -0.04652269,  0.06199158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.03122542e-05,-1.93231794e-05, 1.84704307e-05,-1.38102499e-05,
  3.79852522e-05, 4.44945452e-06,-2.91071045e-06,-6.66899595e-06,
  2.34620880e-05,-6.57759451e-05,-2.78081976e-05, 1.62514400e-05,
 -8.61951389e-05,-3.03277757e-05,-5.01366691e-05, 9.07241366e-05,
  6.04880153e-06, 3.47521123e-06,-1.21644892e+00,-1.77899564e-03,
 -3.08369016e-04, 1.08665155e-06]


--- Step 1213 ---
qpos:
[ 2.86805770e-03,-5.60330495e-03,-1.02266261e-02, 2.78636717e-03,
 -4.44713847e-03,-5.18086100e-03,-1.77731447e-02, 5.21766319e-03,
 -4.74504536e-03,-3.92446715e-03,-7.79684802e-03,-1.91874616e-02,
  1.28492490e+00, 1.88823957e-02, 1.27288695e+00, 2.48547222e-02,
  9.49736393e-02,-6.99346537e-02, 1.30734171e-01, 9.96108747e-01,
 -2.83460156e-04,-1.74994465e-04,-8.81320209e-02]

qacc:
[ -2.03430851,  0.25633293, -1.40915287,  4.03775843,  0.90076624,
  -1.10312122,  5.64165054,-12.94312375,  5.58113749,  3.51166555,
 -15.35835705, 27.10755808, -0.76013781,  0.7999928 ,  4.14587619,
 -15.0109408 , -0.23721241, -1.45628557,  0.11083369, 21.16732947,
   2.90642469,  0.73826889]

qfrc_actuator:
[ 3.53262770e-05,-3.78970556e-04,-2.63186238e-04,-9.32684232e-05,
  4.67350140e-05,-4.48215210e-04,-3.37973148e-04,-3.85953490e-05,
  8.14245649e-05,-3.72503300e-04,-3.01604865e-04,-1.16829883e-04,
  9.31206335e-03,-1.33276321e-03, 4.46761237e-03,-1.51907361e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46533648, -0.59061681, -4.42610457, -0.59061681, 13.21852262,
       -1.16802004, -4.42610457, -1.16802004,  4.62119639,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002758712646705741
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.01221216e-13,  2.01221216e-13,  1.00000000e+00, -4.04899776e-26,
        1.00000000e+00, -2.01221216e-13, -1.00000000e+00,  0.00000000e+00,
        2.01221216e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09751868, -0.04652398,  0.06199148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.19702214e-05, 1.60375701e-05, 8.52181138e-06, 9.34336350e-06,
  5.30140038e-06,-3.42635291e-06, 2.72877433e-06,-2.12632378e-05,
  3.29453097e-05,-4.73700887e-05,-6.22909870e-05, 2.56268302e-05,
 -7.60677779e-05,-1.14967289e-05,-4.68217585e-05,-8.57060166e-05,
  3.47745853e-06, 2.12260584e-06,-1.21644323e+00,-1.77818819e-03,
 -3.06590160e-04, 7.73810146e-07]


--- Step 1214 ---
qpos:
[ 2.86834487e-03,-5.60319036e-03,-1.02270021e-02, 2.78625806e-03,
 -4.44650793e-03,-5.18081777e-03,-1.77731625e-02, 5.21857020e-03,
 -4.74376276e-03,-3.92441467e-03,-7.79800709e-03,-1.91876606e-02,
  1.28518130e+00, 1.88827313e-02, 1.27310897e+00, 2.48525868e-02,
  9.49711220e-02,-6.99374098e-02, 1.30734252e-01, 9.96102578e-01,
 -2.60587481e-04,-1.84429647e-04,-8.82017646e-02]

qacc:
[-1.05305262e+01, 1.34334691e+00,-6.02947683e+00, 1.34431494e+01,
 -2.61938601e+00,-3.24230654e-01, 3.10502483e-01, 1.53659105e+00,
  3.31267589e+00, 1.11339002e+00,-3.61424891e+00, 3.19491658e+00,
 -6.83065476e-01, 8.49412195e-01, 4.70841288e-01,-2.45724165e+00,
 -2.17588304e-01,-1.43947735e+00,-7.11688621e-03, 2.09378129e+01,
  2.60398002e+00, 5.79036175e-01]

qfrc_actuator:
[-2.62584193e-05,-3.47041735e-04,-2.56655831e-04,-6.95128706e-05,
  3.10742142e-05,-4.69072942e-04,-3.36530151e-04,-3.36442812e-05,
  1.00057620e-04,-3.40212832e-04,-3.10511345e-04,-1.17425433e-04,
  9.29860004e-03,-1.30480765e-03, 4.45718159e-03,-1.53213392e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46766778, -0.66242733, -4.41828535, -0.66242733, 17.72383972,
       -1.98747929, -4.41828535, -1.98747929,  4.76564777,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002766632192574142
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.00645215e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.00645215e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0975216 , -0.04652438,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.19208400e-05, 4.30615529e-05, 1.12229951e-05, 2.49221709e-05,
 -1.55092407e-05,-2.31288745e-05, 3.31994460e-07, 4.48252201e-06,
  1.95579968e-05,-5.94346947e-06,-2.54670974e-05,-4.27964259e-06,
 -5.58086713e-05, 7.47727071e-06,-4.57048528e-05,-2.47704937e-05,
  1.09068400e-06, 1.51687290e-06,-1.21644051e+00,-1.77800880e-03,
 -3.05001267e-04, 6.00112487e-07]


--- Step 1215 ---
qpos:
[ 2.86858148e-03,-5.60297402e-03,-1.02269298e-02, 2.78643014e-03,
 -4.44572495e-03,-5.18113814e-03,-1.77730706e-02, 5.21954890e-03,
 -4.74261151e-03,-3.92437662e-03,-7.79874625e-03,-1.91879156e-02,
  1.28543733e+00, 1.88831048e-02, 1.27333034e+00, 2.48509662e-02,
  9.49677964e-02,-6.99458686e-02, 1.30733909e-01, 9.96096494e-01,
 -1.95960642e-04,-1.92812962e-04,-8.82705975e-02]

qacc:
[-0.4298601 ,-0.53848604, 0.92963354, 3.14347725, 1.33907514,-0.64200033,
  1.28497146, 0.05205204,-1.1364315 ,-1.30578143, 4.866671  ,-6.49622982,
 -0.23235032, 0.1849296 ,-2.50828139, 7.41662904,-0.20207525,-1.42570082,
 -0.10601713,20.74942221, 2.36516793, 0.45356256]

qfrc_actuator:
[-2.70968681e-05,-3.45870314e-04,-2.34835527e-04,-5.54823084e-05,
  3.93588255e-05,-4.99232094e-04,-3.35716170e-04,-3.11009354e-05,
  9.27437798e-05,-3.20893343e-04,-2.79634894e-04,-1.17666434e-04,
  9.28132261e-03,-1.30613629e-03, 4.43230356e-03,-1.50339688e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46422061, -0.75219077, -4.40039484, -0.75219077, 23.5413577 ,
       -3.26099064, -4.40039484, -3.26099064,  5.02164492,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027549112494583416
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02248310e-13,  2.01498873e-13,  1.00000000e+00, -6.09026938e-26,
        1.00000000e+00, -2.01498873e-13, -1.00000000e+00,  0.00000000e+00,
        3.02248310e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09752398, -0.04652408,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.59464305e-06, 2.86155323e-05, 3.29652891e-05, 1.67523771e-05,
  7.83172395e-06,-4.28408472e-05,-3.76891051e-06, 1.64968134e-06,
 -6.75724429e-06, 1.05755865e-05, 2.63781146e-05,-1.45763669e-06,
 -4.47487816e-05,-1.15869959e-05,-5.23816416e-05, 2.06678880e-05,
 -1.14439023e-06, 1.61389677e-06,-1.21644062e+00,-1.77845535e-03,
 -3.03566767e-04, 5.42054893e-07]


--- Step 1216 ---
qpos:
[ 2.86984021e-03,-5.60249506e-03,-1.02266285e-02, 2.78676349e-03,
 -4.44484904e-03,-5.18162328e-03,-1.77730195e-02, 5.22019015e-03,
 -4.74190139e-03,-3.92472680e-03,-7.79841595e-03,-1.91874785e-02,
  1.28569293e+00, 1.88835044e-02, 1.27355122e+00, 2.48480247e-02,
  9.49638424e-02,-6.99599266e-02, 1.30732874e-01, 9.96090461e-01,
 -9.05079539e-05,-1.99618195e-04,-8.83388125e-02]

qacc:
[  8.94358214,  0.0215883 , -0.28434893,  2.54857417,  0.81172607,
  -0.79981953,  3.9577445 , -9.6086709 , -3.82137573, -2.06963162,
   3.7294551 ,  6.80229697, -0.42022505,  0.38392613,  3.3179213 ,
 -12.55517429, -0.15710365, -1.39978237, -0.17283095, 20.26365786,
   2.58776625,  0.30624017]

qfrc_actuator:
[ 2.55936570e-05,-3.27562417e-04,-2.22041229e-04,-4.73015152e-05,
  4.39249341e-05,-4.99228652e-04,-3.35330392e-04,-4.77620424e-05,
  7.02211462e-05,-3.44813472e-04,-2.25560037e-04,-8.21702584e-05,
  9.25643361e-03,-1.30710559e-03, 4.39879113e-03,-1.57457842e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45622505, -1.23263558, -4.28235347, -1.23263558, 28.84432971,
       -7.01988889, -4.28235347, -7.01988889,  6.47683472,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027274669951916073
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.59041349e-07,  8.59041746e-07,  1.00000000e+00, -7.37952380e-13,
        1.00000000e+00, -8.59041746e-07, -1.00000000e+00,  0.00000000e+00,
        8.59041349e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09710698, -0.04682664,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.26235319e-05, 4.18260647e-05, 2.33413377e-05, 1.08726773e-05,
  4.77576123e-06,-2.46495561e-05,-8.86991200e-06,-1.85969513e-05,
 -2.27135942e-05,-1.26114041e-05, 5.94677456e-05, 3.68359818e-05,
 -5.12421172e-05,-1.42562430e-05,-5.80439116e-05,-7.73658342e-05,
 -3.25211198e-06, 2.38193941e-06,-1.21644348e+00,-1.77952552e-03,
 -3.02260028e-04, 5.82764300e-07]


--- Step 1217 ---
qpos:
[ 2.87137582e-03,-5.60175043e-03,-1.02266933e-02, 2.78688824e-03,
 -4.44427029e-03,-5.18191514e-03,-1.77731683e-02, 5.22093653e-03,
 -4.74181157e-03,-3.92553969e-03,-7.79756378e-03,-1.91869169e-02,
  1.28594831e+00, 1.88838218e-02, 1.27377158e+00, 2.48442120e-02,
  9.49634470e-02,-6.99776014e-02, 1.30732024e-01, 9.96084358e-01,
  3.60993700e-05,-1.78122062e-04,-8.84076879e-02]

qacc:
[ 2.40581879, 0.94022288,-1.97062305,-1.24048435,-2.60096938, 1.03510101,
 -3.75534756, 5.74308559,-5.40616213,-1.80333847, 5.03506802,-3.39355515,
 -0.16488185, 0.07319224, 1.87427172,-7.65194615, 0.88964876,-0.90419933,
  0.0461168 , 9.28584199,15.02977178,-0.33279773]

qfrc_actuator:
[ 3.83385721e-05,-3.34679472e-04,-2.50127881e-04,-6.03757714e-05,
  2.85058477e-05,-4.63428406e-04,-3.35094846e-04,-4.00601169e-05,
  3.89355655e-05,-3.94297804e-04,-2.11641549e-04,-7.92152213e-05,
  9.25362389e-03,-1.30786270e-03, 4.38141011e-03,-1.61531824e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44985126, -3.30295962, -2.98188431, -3.30295962, 12.51921615,
       -8.93823624, -2.98188431, -8.93823624, 14.35051484,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000270532499837578
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02596086e-13,  2.05192172e-13,  1.00000000e+00, -2.10519137e-26,
        1.00000000e+00, -2.05192172e-13, -1.00000000e+00,  0.00000000e+00,
        1.02596086e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08432387, -0.05608248,  0.06199164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.42602678e-05, 2.15521246e-05,-1.62091401e-05,-1.02677623e-05,
 -1.52896453e-05, 1.94047911e-05,-6.58853163e-06, 5.97622905e-06,
 -3.19432307e-05,-4.26742324e-05, 1.99132546e-05, 5.18980786e-06,
 -3.35307445e-05,-1.61356193e-05,-5.57072290e-05,-5.31691905e-05,
 -5.25063020e-06, 3.73345146e-06,-1.21644889e+00,-1.78121790e-03,
 -3.01088906e-04, 7.28703949e-07]


--- Step 1218 ---
qpos:
[ 2.87236303e-03,-5.60090816e-03,-1.02270220e-02, 2.78687078e-03,
 -4.44353601e-03,-5.18196659e-03,-1.77733965e-02, 5.22209935e-03,
 -4.74209794e-03,-3.92637084e-03,-7.79691798e-03,-1.91870206e-02,
  1.28620353e+00, 1.88838559e-02, 1.27399156e+00, 2.48385590e-02,
  9.49665857e-02,-6.99988273e-02, 1.30731042e-01, 9.96078167e-01,
  1.83941335e-04,-1.28537545e-04,-8.84773112e-02]

qacc:
[ -4.8070691 ,  0.58293396, -1.27474537, -0.85382312,  1.35007793,
   1.39402156, -6.27239331, 13.4356639 , -3.29990372, -0.81129534,
   5.67275709,-16.84548619, -0.06725545, -0.14280875,  5.02565022,
 -18.37267641,  0.88351375, -0.88777435, -0.03322235,  9.33406775,
  14.92783076, -0.37876186]

qfrc_actuator:
[ 9.69988305e-06,-3.39406955e-04,-2.66734238e-04,-6.81450665e-05,
  3.69538259e-05,-4.41947481e-04,-3.34774097e-04,-1.80479501e-05,
  2.05004710e-05,-3.87880366e-04,-2.21697085e-04,-1.13246814e-04,
  9.24275710e-03,-1.32614717e-03, 4.36307726e-03,-1.70872478e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44150048,  4.32057799, -1.02933588,  4.32057799,  6.75802621,
        9.72348309, -1.02933588,  9.72348309, 45.25525973,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002675949294165536
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03722353e-13,  2.07444705e-13,  1.00000000e+00,  2.15166528e-26,
        1.00000000e+00, -2.07444705e-13, -1.00000000e+00,  0.00000000e+00,
       -1.03722353e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08432351, -0.05608052,  0.06199173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.82248328e-05, 3.51007508e-06,-1.45168244e-05,-7.60928717e-06,
  8.01644542e-06, 3.12325145e-05, 3.72806736e-06, 2.27318315e-05,
 -1.93648062e-05,-1.31032060e-05,-1.62378095e-05,-3.50691043e-05,
 -3.30085864e-05,-3.01152847e-05,-5.25195684e-05,-1.04110881e-04,
 -7.12373895e-06, 3.35134694e-06,-1.21645270e+00,-1.78352606e-03,
 -3.00982040e-04, 1.62267320e-06]


--- Step 1219 ---
qpos:
[ 2.87299938e-03,-5.60006219e-03,-1.02269840e-02, 2.78707384e-03,
 -4.44270606e-03,-5.18210988e-03,-1.77734915e-02, 5.22389018e-03,
 -4.74191345e-03,-3.92736039e-03,-7.79636274e-03,-1.91875210e-02,
  1.28645848e+00, 1.88832734e-02, 1.27421098e+00, 2.48331144e-02,
  9.49670004e-02,-7.00126350e-02, 1.30730659e-01, 9.96071923e-01,
  2.83009064e-04,-1.11632826e-04,-8.85473426e-02]

qacc:
[ -3.05750347, -0.55969464,  1.08224671,  2.13388716,  0.84035362,
   0.79796888, -5.67536215, 16.40233143,  4.12181195, -0.78159816,
   4.14126597,-10.72550577,  0.24677806, -0.74261005, -1.49878532,
   3.9420805 , -0.68099524,  1.85452588,  0.15006776,-22.84578727,
 -18.43356416, -0.19950342]

qfrc_actuator:
[-7.54917056e-06,-3.24886299e-04,-2.40903025e-04,-5.49617032e-05,
  4.16355773e-05,-4.64687860e-04,-3.34442765e-04, 1.21969812e-05,
  4.52849374e-05,-4.01439110e-04,-2.27864897e-04,-1.33225126e-04,
  9.21108049e-03,-1.37246685e-03, 4.35483005e-03,-1.69039293e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46120314,  2.13457439, -3.91738761,  2.13457439, 20.5768275 ,
        8.78136209, -3.91738761,  8.78136209,  9.24614466,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002744596696699769
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.16025207e-13, -4.04512264e-13,  1.00000000e+00,  1.27836072e-25,
        1.00000000e+00,  4.04512264e-13, -1.00000000e+00,  0.00000000e+00,
        3.16025207e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10419937, -0.09515689,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80559581e-05, 1.31193106e-05, 2.44989994e-05, 1.26831982e-05,
  4.92136771e-06,-3.52664747e-06, 8.02860523e-06, 3.21522398e-05,
  2.42270110e-05,-2.57265272e-05,-1.20845327e-05,-2.17826725e-05,
 -5.69691150e-05,-6.20780782e-05,-4.69091687e-05, 5.13940302e-06,
 -9.25738543e-06, 3.16455081e-06,-1.21645845e+00,-1.78612389e-03,
 -3.01312530e-04, 2.69638025e-06]


--- Step 1220 ---
qpos:
[ 2.87342366e-03,-5.59906698e-03,-1.02269884e-02, 2.78778765e-03,
 -4.44286095e-03,-5.18231093e-03,-1.77738319e-02, 5.22605199e-03,
 -4.74108853e-03,-3.92867207e-03,-7.79582005e-03,-1.91882411e-02,
  1.28671327e+00, 1.88816565e-02, 1.27442981e+00, 2.48295445e-02,
  9.49646411e-02,-7.00191831e-02, 1.30730231e-01, 9.96065593e-01,
  3.33913644e-04,-1.26173010e-04,-8.86183249e-02]

qacc:
[-1.85862749e+00, 1.37116659e+00,-6.75239363e+00, 1.55428543e+01,
 -8.59509352e+00, 1.38965156e+00,-6.60310553e+00, 1.34281162e+01,
  5.61176007e+00,-8.54191375e-01, 3.33474218e+00,-6.85568704e+00,
  7.22181686e-01,-1.52719936e+00,-6.65287354e+00, 2.17578362e+01,
 -6.93486303e-01, 1.81493467e+00,-1.12567596e-02,-2.25948398e+01,
 -1.77931913e+01,-4.70233456e-01]

qfrc_actuator:
[-1.79426268e-05,-3.16514519e-04,-2.43392100e-04,-2.95125843e-05,
 -9.20264460e-06,-4.78219666e-04,-3.52038447e-04, 2.92508118e-05,
  7.75519417e-05,-4.26836127e-04,-2.31733345e-04,-1.44773886e-04,
  9.19356163e-03,-1.43516092e-03, 4.34733846e-03,-1.58857773e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47775171, -0.9431767 ,  4.37729118, -0.9431767 ,  9.26566898,
        1.03165447,  4.37729118,  1.03165447,  4.70004272,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002800544903304586
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.71654132e-14, -1.98215537e-13,  1.00000000e+00, -7.36676234e-27,
        1.00000000e+00,  1.98215537e-13, -1.00000000e+00,  0.00000000e+00,
       -3.71654132e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10419434, -0.09515592,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09092156e-05, 2.12721718e-05, 3.66664583e-06, 2.71040483e-05,
 -5.07000295e-05,-1.24640011e-05,-1.62238122e-05, 1.78026937e-05,
  3.29486095e-05,-4.31724829e-05,-1.14186882e-05,-1.34916135e-05,
 -6.17834459e-05,-9.37243537e-05,-3.13146466e-05, 9.54577914e-05,
 -5.62464382e-06, 2.32415140e-06,-1.21644775e+00,-1.78710016e-03,
 -3.03101893e-04, 1.08381479e-06]


--- Step 1221 ---
qpos:
[ 2.87406473e-03,-5.59786882e-03,-1.02273155e-02, 2.78881356e-03,
 -4.44362405e-03,-5.18253194e-03,-1.77741171e-02, 5.22837581e-03,
 -4.74022817e-03,-3.93013077e-03,-7.79540627e-03,-1.91891084e-02,
  1.28696756e+00, 1.88799754e-02, 1.27464817e+00, 2.48262378e-02,
  9.49594701e-02,-7.00186012e-02, 1.30729216e-01, 9.96059145e-01,
  3.37170284e-04,-1.71167844e-04,-8.86906790e-02]

qacc:
[  1.88297382,  1.8093047 , -7.38572149, 13.16075553, -5.30183861,
   0.16315787, -1.28600684,  3.99685879,  0.30865032, -0.13777488,
   0.8287483 , -3.0588267 , -0.29568844,  0.16079989, -1.48386932,
   4.21816022, -0.7029261 ,  1.78248766, -0.1470561 ,-22.38088414,
 -17.27889116, -0.68028478]

qfrc_actuator:
[-6.46853711e-06,-3.11979076e-04,-2.62611021e-04,-1.48350899e-05,
 -3.90527142e-05,-4.68471037e-04,-3.44559829e-04, 3.83957899e-05,
  7.84452831e-05,-4.23603765e-04,-2.34263963e-04,-1.51283294e-04,
  9.18453889e-03,-1.41825210e-03, 4.31369399e-03,-1.58044345e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48551134, -0.86921702,  4.40048563, -0.86921702, 12.71594494,
        1.62573715,  4.40048563,  1.62573715,  4.80663917,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002826271041927869
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.08686985e-13, -3.92822560e-13,  1.00000000e+00,  8.19769555e-26,
        1.00000000e+00,  3.92822560e-13, -1.00000000e+00,  0.00000000e+00,
        2.08686985e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10419064, -0.09515593,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11651498e-05, 1.83068477e-05,-1.34486282e-05, 1.62399199e-05,
 -3.13079672e-05, 1.79381203e-07, 3.52528585e-06, 8.39449615e-06,
  1.81647640e-06,-2.37888238e-05,-1.33106285e-05,-9.01392701e-06,
 -6.24667719e-05,-2.48512619e-05,-4.04111112e-05, 8.76146754e-06,
 -2.56049839e-06, 2.44413075e-06,-1.21644243e+00,-1.78739077e-03,
 -3.04343360e-04, 4.16991964e-07]


--- Step 1222 ---
qpos:
[ 2.87483835e-03,-5.59676742e-03,-1.02274436e-02, 2.78966474e-03,
 -4.44404967e-03,-5.18293092e-03,-1.77739446e-02, 5.23043778e-03,
 -4.73936374e-03,-3.93158841e-03,-7.79484237e-03,-1.91900860e-02,
  1.28722105e+00, 1.88791806e-02, 1.27486576e+00, 2.48227773e-02,
  9.49514587e-02,-7.00109952e-02, 1.30727155e-01, 9.96052547e-01,
  2.93209189e-04,-2.45825985e-04,-8.87647291e-02]

qacc:
[  1.16721794, -1.0459608 ,  4.27745543, -7.54406031,  2.96020722,
  -2.05851953,  8.09446208,-13.21749449,  0.04026114, -0.64549305,
   2.76777344, -4.91430125, -1.16788391,  1.66917412, -0.53158452,
   0.54236717, -0.7101112 ,  1.75600788, -0.26128004,-22.20051822,
 -16.86738943, -0.84233692]

qfrc_actuator:
[ 2.94099597e-08,-3.27611482e-04,-2.56065292e-04,-2.43788549e-05,
 -2.07873342e-05,-4.80274113e-04,-3.22239102e-04, 2.51034167e-05,
  7.86158796e-05,-4.03240014e-04,-2.18117862e-04,-1.54753714e-04,
  9.15934567e-03,-1.35413791e-03, 4.26436931e-03,-1.59215077e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48594594, -0.77448385,  4.41858413, -0.77448385, 17.30165557,
        2.2463214 ,  4.41858413,  2.2463214 ,  4.87967832,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028277025906096875
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.08581335e-13, -3.92623690e-13,  1.00000000e+00,  8.18939734e-26,
        1.00000000e+00,  3.92623690e-13, -1.00000000e+00,  0.00000000e+00,
        2.08581335e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10418799, -0.09515673,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.81965117e-06,-7.51725607e-06, 9.21899930e-06,-8.91348517e-06,
  1.73674180e-05,-1.06197146e-05, 2.30845538e-05,-1.30020684e-05,
  2.10715353e-07, 3.97920019e-06, 9.29640398e-06,-5.12085945e-06,
 -6.33274393e-05, 4.27077483e-05,-7.05234840e-05,-1.71971377e-05,
  4.67307028e-08, 3.52560439e-06,-1.21644219e+00,-1.78698919e-03,
 -3.05087598e-04, 6.35963060e-07]


--- Step 1223 ---
qpos:
[ 2.87499409e-03,-5.59576826e-03,-1.02274490e-02, 2.79005583e-03,
 -4.44459827e-03,-5.18336388e-03,-1.77737976e-02, 5.23199422e-03,
 -4.73815933e-03,-3.93280207e-03,-7.79423654e-03,-1.91907768e-02,
  1.28747388e+00, 1.88787150e-02, 1.27508284e+00, 2.48181492e-02,
  9.49405846e-02,-6.99964512e-02, 1.30723665e-01, 9.96045763e-01,
  2.02385226e-04,-3.49518283e-04,-8.88407232e-02]

qacc:
[ -5.39949147, -1.41537985,  6.8108494 ,-14.91430841, -1.07293713,
  -1.01202822,  5.68119593,-14.36898481,  2.97365627,  0.79023977,
  -3.56830398,  8.29111193, -0.80200027,  0.94069097,  2.87637593,
 -10.93466133, -0.7156514 ,  1.73451841, -0.35729215,-22.05054735,
 -16.5399656 , -0.9663461 ]

qfrc_actuator:
[-3.19660621e-05,-3.37373425e-04,-2.52205925e-04,-4.80933794e-05,
 -2.76129725e-05,-4.87089589e-04,-3.26942926e-04,-1.29232264e-06,
  9.61226556e-05,-3.72686713e-04,-2.08745845e-04,-1.38626153e-04,
  9.11384439e-03,-1.35138852e-03, 4.24295989e-03,-1.65095649e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48052946, -0.65602867,  4.43224217, -0.65602867, 23.33943701,
        2.7913601 ,  4.43224217,  2.7913601 ,  4.89368655,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002809790592089856
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.17385324e-14, -3.95126608e-13,  1.00000000e+00,  2.43945369e-26,
        1.00000000e+00,  3.95126608e-13, -1.00000000e+00,  0.00000000e+00,
        6.17385324e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10418618, -0.09515816,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.18067100e-05,-1.24836166e-05, 3.11938377e-06,-2.38955961e-05,
 -6.33184716e-06,-8.52904891e-06,-4.50618400e-06,-2.63097667e-05,
  1.75097918e-05, 3.45304310e-05, 1.11751888e-05, 1.65242416e-05,
 -6.89010300e-05, 1.33817331e-06,-5.85048106e-05,-6.93986725e-05,
  2.27958747e-06, 5.56374064e-06,-1.21644681e+00,-1.78589172e-03,
 -3.05372177e-04, 1.69559635e-06]


--- Step 1224 ---
qpos:
[ 2.87511009e-03,-5.59497668e-03,-1.02271149e-02, 2.79084890e-03,
 -4.44487946e-03,-5.18371021e-03,-1.77737870e-02, 5.23355984e-03,
 -4.73675450e-03,-3.93364517e-03,-7.79440357e-03,-1.91915740e-02,
  1.28772599e+00, 1.88784226e-02, 1.27529943e+00, 2.48147645e-02,
  9.49268306e-02,-6.99750384e-02, 1.30718423e-01, 9.96038755e-01,
  6.49864858e-05,-4.81748242e-04,-8.89188481e-02]

qacc:
[ -0.33320916, -0.39466908, -0.68645717,  7.25182773,  2.32619805,
   0.50956057, -1.69748955,  2.01931236,  1.72395531,  2.42746825,
  -7.50019062,  6.62510718, -0.53762574,  0.52602119, -4.45004141,
  14.62441012, -0.72001131,  1.71720656, -0.43796232,-21.92800096,
 -16.28153233, -1.06012692]

qfrc_actuator:
[-3.31022787e-05,-3.43568907e-04,-2.32209189e-04,-2.66972060e-05,
 -1.36625022e-05,-4.73232662e-04,-3.29808645e-04, 3.03607558e-07,
  1.05940972e-04,-3.71768293e-04,-2.56648011e-04,-1.46597983e-04,
  9.07215219e-03,-1.34975023e-03, 4.24895544e-03,-1.57717234e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47063201, -0.51048323,  4.44139139, -0.51048323, 31.2093715 ,
        3.07328873,  4.44139139,  3.07328873,  4.8238687 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027766584762924096
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.99881053e-13,  1.49940527e-13,  1.00000000e+00, -4.49643231e-26,
        1.00000000e+00, -1.49940527e-13, -1.00000000e+00,  0.00000000e+00,
        2.99881053e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10418502, -0.09516008,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.05200998e-06,-1.36044386e-05, 1.69641377e-05, 2.05023480e-05,
  1.37672506e-05, 7.03786996e-06,-6.09284172e-06, 5.59893066e-07,
  1.03259053e-05, 2.32917902e-05,-3.88128937e-05,-5.78227743e-06,
 -7.75518782e-05,-1.32928201e-05,-3.19920643e-05, 6.16840222e-05,
  4.19917334e-06, 8.55000273e-06,-1.21645614e+00,-1.78409647e-03,
 -3.05224770e-04, 3.56234437e-06]


--- Step 1225 ---
qpos:
[ 2.87555621e-03,-5.59455241e-03,-1.02261835e-02, 2.79223977e-03,
 -4.44464646e-03,-5.18402862e-03,-1.77735274e-02, 5.23511262e-03,
 -4.73558748e-03,-3.93440182e-03,-7.79532528e-03,-1.91924241e-02,
  1.28797745e+00, 1.88781954e-02, 1.27551579e+00, 2.48119045e-02,
  9.49164070e-02,-6.99575996e-02, 1.30716158e-01, 9.96031779e-01,
 -5.03108362e-05,-5.80284348e-04,-8.89963844e-02]

qacc:
[ 2.91305986,-0.92924641, 0.07574982, 9.59573634, 4.49157121,-0.69390142,
  2.56690364,-3.19177524,-2.10706354, 2.11923549,-7.15934748, 7.3787682 ,
 -0.51483032, 0.44484304,-1.87469428, 6.19140031, 0.8326334 ,-0.99352772,
  0.74430265, 9.50906599,17.76283526, 0.28808141]

qfrc_actuator:
[-1.60539303e-05,-3.65230918e-04,-2.02795864e-04, 3.33471368e-06,
  1.24124520e-05,-4.64831960e-04,-3.13697926e-04, 6.29411140e-07,
  9.33971453e-05,-3.88854965e-04,-3.02611414e-04,-1.50998284e-04,
  9.03809864e-03,-1.34875410e-03, 4.24478231e-03,-1.55004666e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50090618, -1.96627927,  4.04869143, -1.96627927, 23.71103384,
        9.32955166,  4.04869143,  9.32955166,  9.03187734,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002876396606308479
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.64942580e-14,  1.92988516e-13,  1.00000000e+00, -1.86222836e-26,
        1.00000000e+00, -1.92988516e-13, -1.00000000e+00,  0.00000000e+00,
        9.64942580e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08434638, -0.05607064,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.69804098e-05,-2.49225333e-05, 2.93872571e-05, 3.04308628e-05,
  2.64723106e-05, 1.11155221e-05, 1.68330657e-05, 4.24060308e-07,
 -1.22420052e-05,-1.22838795e-05,-4.61183856e-05,-4.85440427e-06,
 -7.66464169e-05,-2.07484233e-05,-1.61492255e-05, 2.55555891e-05,
  5.85083677e-06, 1.24734878e-05,-1.21647005e+00,-1.78160263e-03,
 -3.04665558e-04, 6.21175631e-06]


--- Step 1226 ---
qpos:
[ 2.87516844e-03,-5.59443576e-03,-1.02251091e-02, 2.79331310e-03,
 -4.44444750e-03,-5.18420007e-03,-1.77733990e-02, 5.23666804e-03,
 -4.73492461e-03,-3.93533211e-03,-7.79645100e-03,-1.91929791e-02,
  1.28822846e+00, 1.88774797e-02, 1.27573188e+00, 2.48090613e-02,
  9.49093405e-02,-6.99439975e-02, 1.30716093e-01, 9.96024818e-01,
 -1.43606216e-04,-6.46451736e-04,-8.90736938e-02]

qacc:
[ -7.28477262, -1.44609626,  5.9312299 ,-11.455805  , -0.3035512 ,
   0.56704569, -1.75028473,  1.89696391, -4.41696546,  0.95722814,
  -4.97405967, 10.51273961, -0.02221846, -0.40470194, -0.47170014,
   1.02744773,  0.83925989, -0.95915104,  0.55001367,  9.51703385,
  17.09918172,  0.10813748]

qfrc_actuator:
[-5.94593400e-05,-3.95930075e-04,-2.03631410e-04,-1.50664297e-05,
  9.90306712e-06,-4.59680920e-04,-3.22037382e-04, 2.11482754e-07,
  6.77940894e-05,-3.98856183e-04,-3.11615337e-04,-1.35514148e-04,
  9.00865000e-03,-1.38360997e-03, 4.22917568e-03,-1.55069475e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52488876,  1.93936863, -4.08821081,  1.93936863,  7.85371214,
        1.57912983, -4.08821081,  1.57912983,  5.2739976 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029521926504295914
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.82050451e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.82050451e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08435145, -0.05607   ,  0.06199088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.29338124e-05,-3.72867074e-05,-1.33080869e-06,-1.78667191e-05,
 -1.74729743e-06, 1.48760519e-05,-3.95912728e-06, 6.44657445e-07,
 -2.59583823e-05,-2.65641279e-05,-1.73658738e-05, 1.32743004e-05,
 -7.31615769e-05,-5.86658418e-05,-2.52524577e-05,-2.41338392e-06,
  5.52604963e-06, 9.23752180e-06,-1.21645918e+00,-1.78056511e-03,
 -3.02300039e-04, 4.91098842e-06]


--- Step 1227 ---
qpos:
[ 2.87460833e-03,-5.59437775e-03,-1.02243987e-02, 2.79381608e-03,
 -4.44427976e-03,-5.18442446e-03,-1.77732825e-02, 5.23822407e-03,
 -4.73422921e-03,-3.93625390e-03,-7.79775662e-03,-1.91937149e-02,
  1.28847900e+00, 1.88761268e-02, 1.27594664e+00, 2.48090344e-02,
  9.49056489e-02,-6.99341202e-02, 1.30717575e-01, 9.96017860e-01,
 -2.14999870e-04,-6.81320224e-04,-8.91510594e-02]

qacc:
[-1.51826213e+00,-2.31988903e-01, 3.12730623e+00,-1.23784230e+01,
 -2.71734474e-01,-3.51909441e-02, 2.23064430e-02, 4.50975511e-02,
  2.78945717e-01, 1.40983262e-01, 2.75233906e-01,-3.12098696e+00,
  3.61189312e-01,-9.48296790e-01,-1.05652798e+01, 3.39447681e+01,
  8.43729136e-01,-9.31205295e-01, 3.86527493e-01, 9.51335867e+00,
  1.65626794e+01,-3.26772158e-02]

qfrc_actuator:
[-6.70945122e-05,-3.96459034e-04,-2.22400950e-04,-4.40985543e-05,
  8.33828385e-06,-4.74362526e-04,-3.27013585e-04,-6.63020929e-07,
  7.02222365e-05,-3.86627979e-04,-3.16444994e-04,-1.43931342e-04,
  8.97664275e-03,-1.42169680e-03, 4.15878956e-03,-1.40793530e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53802524,  1.89987821, -4.12118136,  1.89987821, 10.896546  ,
        2.93129906, -4.12118136,  2.93129906,  5.88936378,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002992595815148047
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.78242476e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.78242476e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08435512, -0.0560691 ,  0.06199075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.87615241e-06,-2.24531151e-05,-2.72677641e-05,-3.10267199e-05,
 -1.60955083e-06,-7.15250751e-06,-2.37190342e-06,-3.64915646e-07,
  1.67351717e-06,-5.60351275e-06,-1.19688419e-05,-9.89016327e-06,
 -8.31535621e-05,-7.21167508e-05,-8.65649942e-05, 1.38428653e-04,
  4.94822764e-06, 6.37633722e-06,-1.21645102e+00,-1.77978240e-03,
 -3.00481309e-04, 3.86960243e-06]


--- Step 1228 ---
qpos:
[ 2.87430542e-03,-5.59431027e-03,-1.02237125e-02, 2.79393459e-03,
 -4.44413205e-03,-5.18481726e-03,-1.77728835e-02, 5.23975212e-03,
 -4.73385527e-03,-3.93729065e-03,-7.79908367e-03,-1.91945411e-02,
  1.28872893e+00, 1.88747460e-02, 1.27616049e+00, 2.48080631e-02,
  9.49053442e-02,-6.99278770e-02, 1.30720053e-01, 9.96010893e-01,
 -2.64587658e-04,-6.85751585e-04,-8.92287020e-02]

qacc:
[  2.24871969, -0.71598762,  4.18625536,-10.79992986, -0.16291548,
  -1.06904184,  3.60777253, -4.42111384, -2.8130357 , -0.27256282,
   1.14143069, -2.59417413, -0.47969674,  0.36206756,  1.5641775 ,
  -7.30892408,  0.8467104 , -0.9085422 ,  0.24921339,  9.50266986,
  16.12999537, -0.14255077]

qfrc_actuator:
[-5.35955356e-05,-3.79011792e-04,-2.15975847e-04,-6.13768090e-05,
  7.35105169e-06,-4.83049974e-04,-3.12286204e-04,-1.81050265e-06,
  5.36288107e-05,-3.96680071e-04,-3.18712597e-04,-1.48578795e-04,
  8.95909589e-03,-1.40812009e-03, 4.09292106e-03,-1.46597975e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54192969,  1.84217241, -4.15156911,  1.84217241, 15.00095525,
        4.64097496, -4.15156911,  4.64097496,  6.60126575,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000300445927963508
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.23812674e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.23812674e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08435768, -0.05606801,  0.06199072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.32388379e-05,-2.08319740e-06,-2.65426506e-06,-1.97900979e-05,
 -1.03575955e-06,-1.31898874e-05, 1.29430773e-05,-1.54629281e-06,
 -1.65510929e-05,-1.60281086e-05,-5.21294093e-06,-5.48742117e-06,
 -7.75049949e-05,-2.64531373e-05,-9.06554949e-05,-6.15201297e-05,
  4.11770634e-06, 3.83534816e-06,-1.21644533e+00,-1.77926665e-03,
 -2.99182167e-04, 3.06817424e-06]


--- Step 1229 ---
qpos:
[ 2.87347671e-03,-5.59424621e-03,-1.02227024e-02, 2.79382171e-03,
 -4.44399752e-03,-5.18506447e-03,-1.77726750e-02, 5.24055610e-03,
 -4.73402798e-03,-3.93867284e-03,-7.80004504e-03,-1.91954135e-02,
  1.28897828e+00, 1.88738645e-02, 1.27637348e+00, 2.48076710e-02,
  9.49084343e-02,-6.99251948e-02, 1.30723068e-01, 9.96003903e-01,
 -2.92457617e-04,-6.60437547e-04,-8.93067933e-02]

qacc:
[ -4.58934744, -1.37720934,  5.89616255,-10.43286103, -0.12390147,
  -0.76559652,  6.06610427,-18.40071629, -4.76822167, -1.56479568,
   5.12722722, -6.27352369, -0.66653692,  0.91434144, -2.96165867,
   8.68016472,  0.84870598, -0.89022728,  0.13412463,  9.48836861,
  15.78234943, -0.22792494]

qfrc_actuator:
[-8.10345746e-05,-3.68576117e-04,-1.94628099e-04,-7.15604879e-05,
  6.71163802e-06,-4.70251638e-04,-3.21531544e-04,-3.85986864e-05,
  2.59634281e-05,-4.19980286e-04,-3.01776853e-04,-1.50982634e-04,
  8.95558063e-03,-1.36389978e-03, 4.07237926e-03,-1.42884067e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53833069,  1.76395297, -4.18149679,  1.76395297, 20.49570142,
        6.73157314, -4.18149679,  6.73157314,  7.37802639,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002993526300599514
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.78155989e-13,  1.85437326e-13,  1.00000000e+00, -5.15805028e-26,
        1.00000000e+00, -1.85437326e-13, -1.00000000e+00,  0.00000000e+00,
        2.78155989e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08435936, -0.05606674,  0.06199075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.70613947e-05, 7.86939829e-06, 1.98964025e-05,-1.07524050e-05,
 -6.74167119e-07, 8.03555632e-06,-1.04322157e-05,-3.69388794e-05,
 -2.81479959e-05,-3.35244390e-05, 1.28238818e-05,-3.36957616e-06,
 -5.07815935e-05, 1.93657931e-05,-7.05500515e-05, 2.17629928e-05,
  3.03503536e-06, 1.57381264e-06,-1.21644194e+00,-1.77902651e-03,
 -2.98381306e-04, 2.49132345e-06]


--- Step 1230 ---
qpos:
[ 2.87267051e-03,-5.59404437e-03,-1.02217802e-02, 2.79359765e-03,
 -4.44387157e-03,-5.18542104e-03,-1.77722137e-02, 5.24091510e-03,
 -4.73418642e-03,-3.94024955e-03,-7.80055961e-03,-1.91963331e-02,
  1.28922696e+00, 1.88737668e-02, 1.27658610e+00, 2.48095756e-02,
  9.49149247e-02,-6.99260146e-02, 1.30726234e-01, 9.95996879e-01,
 -2.98687733e-04,-6.05930401e-04,-8.93854658e-02]

qacc:
[  0.19171188,  0.19820869,  0.02607624, -1.91021238, -0.06525906,
  -1.76672294,  7.96883016,-15.99528705,  0.14218136, -1.60346542,
   5.5415462 , -6.92576215, -0.83529627,  1.25300212, -7.40589569,
  25.34567713,  0.85008937, -0.87549851,  0.03788906,  9.47291536,
  15.50459085, -0.29386647]

qfrc_actuator:
[-7.90983973e-05,-3.62338286e-04,-2.00170391e-04,-7.74867020e-05,
  6.28209543e-06,-4.80313742e-04,-3.09295164e-04,-6.05587520e-05,
  2.75138973e-05,-4.15447639e-04,-2.73697638e-04,-1.52048217e-04,
  8.92854818e-03,-1.31956197e-03, 4.09503967e-03,-1.30023216e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52889554,  1.66230754, -4.21279342,  1.66230754, 27.80194366,
        9.1832092 , -4.21279342,  9.1832092 ,  8.15245747,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002964597072520059
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.36234333e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.36234333e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08436034, -0.05606535,  0.06199084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16391819e-06, 1.42667718e-05,-1.84851475e-06,-5.11068788e-06,
 -4.44107171e-07,-9.30156624e-06, 1.13313395e-05,-2.26974564e-05,
  7.29024563e-07,-1.16567940e-05, 2.26481147e-05,-2.11488646e-06,
 -4.94532618e-05, 3.89392423e-05,-9.37189352e-06, 1.20326672e-04,
  1.70060986e-06,-4.38651478e-07,-1.21644071e+00,-1.77906811e-03,
 -2.98062086e-04, 2.12702352e-06]


--- Step 1231 ---
qpos:
[ 2.87258334e-03,-5.59375441e-03,-1.02209329e-02, 2.79365524e-03,
 -4.44340683e-03,-5.18597857e-03,-1.77713165e-02, 5.24169766e-03,
 -4.73432577e-03,-3.94156987e-03,-7.80092724e-03,-1.91972961e-02,
  1.28947503e+00, 1.88742630e-02, 1.27679949e+00, 2.48108386e-02,
  9.49248197e-02,-6.99302893e-02, 1.30729231e-01, 9.95989805e-01,
 -2.83344622e-04,-5.22667708e-04,-8.94648208e-02]

qacc:
[ 6.28599052, 0.8935926 ,-4.2272471 , 9.17941562, 2.97182118,-0.61680914,
  0.01608891, 6.77596641, 0.16735318,-0.16180057, 1.25098378,-2.4252793 ,
 -0.97521102, 1.32129529, 3.20288555,-9.26676201, 0.85113531,-0.86373345,
 -0.04237907, 9.45805577,15.28447098,-0.34435943]

qfrc_actuator:
[-4.21224505e-05,-3.58758995e-04,-2.03811966e-04,-6.31334748e-05,
  2.37317644e-05,-4.86142760e-04,-2.84536938e-04,-3.81061353e-05,
  2.84989990e-05,-3.76475391e-04,-2.56912355e-04,-1.52291442e-04,
  8.89808752e-03,-1.29339040e-03, 4.14893334e-03,-1.33172268e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51512846,  1.53362816, -4.24668926,  1.53362816, 37.44609742,
       11.89252575, -4.24668926, 11.89252575,  8.80993584,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029216709253840345
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.49989794e-14,  1.89997959e-13,  1.00000000e+00,  1.80496122e-26,
        1.00000000e+00, -1.89997959e-13, -1.00000000e+00,  0.00000000e+00,
       -9.49989794e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08436078, -0.05606385,  0.06199097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.70129423e-05, 1.09418680e-05,-1.11106396e-06, 1.47991741e-05,
  1.74341792e-05,-9.65582089e-06, 2.34453967e-05, 2.20034324e-05,
  9.95326560e-07, 3.71059809e-05, 1.71201863e-05, 6.63709383e-09,
 -4.60395225e-05, 2.61251102e-05, 5.80588884e-05,-2.70885178e-05,
  1.14416867e-07,-2.22455359e-06,-1.21644155e+00,-1.77939580e-03,
 -2.98211573e-04, 1.96601953e-06]


--- Step 1232 ---
qpos:
[ 2.87294014e-03,-5.59353943e-03,-1.02200388e-02, 2.79355167e-03,
 -4.44273674e-03,-5.18640798e-03,-1.77705236e-02, 5.24273788e-03,
 -4.73479729e-03,-3.94256564e-03,-7.80115813e-03,-1.91979179e-02,
  1.28972253e+00, 1.88753765e-02, 1.27701310e+00, 2.48108117e-02,
  9.49381228e-02,-6.99379816e-02, 1.30731792e-01, 9.95982668e-01,
 -2.46482867e-04,-4.10992282e-04,-8.95449351e-02]

qacc:
[  3.88616791, -0.56916608,  2.55273832, -5.34720444,  1.78549361,
   0.98734114, -4.36869457,  8.90730365, -2.90907675,  0.75540872,
  -3.49957061,  8.93262545, -0.97006175,  1.33998001,  4.32371388,
 -14.40954052,  0.85204335, -0.85442289, -0.10915119,  9.44499723,
  15.11206811, -0.38253545]

qfrc_actuator:
[-2.03334375e-05,-3.74532901e-04,-2.06290900e-04,-7.24661941e-05,
  3.38123930e-05,-4.71543956e-04,-2.88054979e-04,-2.52017292e-05,
  1.13817125e-05,-3.52717755e-04,-2.46782304e-04,-1.34273421e-04,
  8.87091315e-03,-1.26048976e-03, 4.13626493e-03,-1.40399512e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002868067716485928
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.87097912e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.87097912e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0843608 , -0.05606229,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.28483257e-05,-9.25793799e-06, 1.41611954e-07,-8.61849063e-06,
  1.05751991e-05, 1.49987250e-05,-1.86922262e-06, 1.37270948e-05,
 -1.70813502e-05, 4.80975966e-05, 1.99245241e-05, 2.02054008e-05,
 -4.32948852e-05, 2.95183287e-05, 1.94739993e-06,-6.83714323e-05,
 -1.72413303e-06,-3.80032476e-06,-1.21644438e+00,-1.78001264e-03,
 -2.98819779e-04, 2.00134290e-06]


--- Step 1233 ---
qpos:
[ 2.87321062e-03,-5.59313176e-03,-1.02198461e-02, 2.79335502e-03,
 -4.44195101e-03,-5.18647982e-03,-1.77701883e-02, 5.24426483e-03,
 -4.73478053e-03,-3.94325928e-03,-7.80126596e-03,-1.91979700e-02,
  1.28996933e+00, 1.88776687e-02, 1.27722643e+00, 2.48089921e-02,
  9.49548378e-02,-6.99490626e-02, 1.30733694e-01, 9.95975449e-01,
 -1.88144834e-04,-2.71168372e-04,-8.96258652e-02]

qacc:
[ -0.78034349,  2.02448367, -6.45332354,  5.81926313,  0.98840427,
   2.75067538,-11.18091872, 20.07880259,  4.27370135,  1.22069064,
  -6.18872418, 15.63737864, -1.45124937,  2.20101063,  5.21845799,
 -18.39168323,  0.85295615, -0.84714967, -0.16454421,  9.43454591,
  14.97933103, -0.41085514]

qfrc_actuator:
[-2.54217583e-05,-3.66285619e-04,-2.43669166e-04,-7.79277015e-05,
  3.94695267e-05,-4.44937148e-04,-3.08173060e-04,-2.77127279e-07,
  3.70045181e-05,-3.38259589e-04,-2.40693955e-04,-1.05665992e-04,
  8.84572901e-03,-1.18830718e-03, 4.10498586e-03,-1.49983185e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028065315594591467
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.9779272e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.9779272e-13, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08436049, -0.05606067,  0.06199133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.43975056e-06, 2.71903848e-06,-3.95853745e-05,-6.02428768e-06,
  5.96504065e-06, 3.52037173e-05,-1.67823707e-05, 2.57661329e-05,
  2.51466304e-05, 4.63673409e-05, 1.91915379e-05, 3.17547239e-05,
 -4.03960495e-05, 7.10097824e-05,-4.42686167e-05,-1.00802888e-04,
 -3.81631280e-06,-5.17762495e-06,-1.21644916e+00,-1.78092078e-03,
 -2.99879073e-04, 2.22791097e-06]


--- Step 1234 ---
qpos:
[ 2.87272831e-03,-5.59247345e-03,-1.02201809e-02, 2.79307497e-03,
 -4.44075871e-03,-5.18609262e-03,-1.77701761e-02, 5.24605579e-03,
 -4.73445734e-03,-3.94315831e-03,-7.80180443e-03,-1.91973587e-02,
  1.29021586e+00, 1.88803008e-02, 1.27743967e+00, 2.48062738e-02,
  9.49749687e-02,-6.99635099e-02, 1.30734754e-01, 9.95968129e-01,
 -1.08360801e-04,-1.03394796e-04,-8.97076516e-02]

qacc:
[ -6.60584057,  1.64696013, -5.01732156,  4.20911412,  3.52782633,
   2.04590757, -7.54150746, 12.30362027,  2.65588616,  3.61552433,
 -14.17117152, 25.75355748, -0.4896572 ,  0.70164288,  2.62366875,
  -9.26443737,  0.85397372, -0.8415717 , -0.21037083,  9.42721252,
  14.87971592, -0.43125081]

qfrc_actuator:
[-6.40364200e-05,-3.43863307e-04,-2.65752483e-04,-8.10700995e-05,
  6.02327600e-05,-4.11406234e-04,-3.20103517e-04, 1.37748023e-05,
  5.20785227e-05,-2.76230614e-04,-2.54824287e-04,-7.10699294e-05,
  8.83242407e-03,-1.18212700e-03, 4.12115869e-03,-1.53777777e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002739319488189035
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.02645772e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.02645772e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08435994, -0.05605903,  0.06199154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.87402080e-05, 1.54890329e-05,-2.66127295e-05,-4.51370970e-06,
  2.09461277e-05, 5.08515390e-05,-5.84167330e-06, 1.54767032e-05,
  1.58039032e-05, 9.33164464e-05,-1.08264541e-06, 3.78648857e-05,
 -1.83665841e-05, 1.83833144e-05,-1.97047811e-05,-5.01893587e-05,
 -6.16414340e-06,-6.36430331e-06,-1.21645586e+00,-1.78212169e-03,
 -3.01383713e-04, 2.64219874e-06]


--- Step 1235 ---
qpos:
[ 2.87144223e-03,-5.59207805e-03,-1.02200396e-02, 2.79275553e-03,
 -4.43932662e-03,-5.18543444e-03,-1.77702108e-02, 5.24731535e-03,
 -4.73464545e-03,-3.94241702e-03,-7.80275273e-03,-1.91963193e-02,
  1.29046243e+00, 1.88825403e-02, 1.27765251e+00, 2.48041062e-02,
  9.49927943e-02,-6.99830541e-02, 1.30734826e-01, 9.95960959e-01,
  1.36224053e-05, 5.34915400e-05,-8.97873279e-02]

qacc:
[ -7.01154875, -1.74558565,  5.90975432, -7.18494234,  2.08475214,
  -0.60920327,  4.92810809,-14.24215724, -4.49980222,  2.88254569,
 -10.83778528, 18.40538412,  0.35564373, -0.64270591, -2.29274907,
   7.06838563, -0.57631586, -1.27422922, -0.24717675, 21.50296774,
  -3.52898451,  1.05474404]

qfrc_actuator:
[-1.04313249e-04,-3.66328885e-04,-2.43046732e-04,-8.27934744e-05,
  7.19698406e-05,-4.09470618e-04,-3.27072731e-04,-1.41740822e-05,
  2.53045253e-05,-2.57283020e-04,-2.80581336e-04,-5.09548540e-05,
  8.82623145e-03,-1.21518092e-03, 4.11254020e-03,-1.50566081e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44269081,  4.07552754,  1.76849564,  4.07552754,  6.60008005,
       -4.9717393 ,  1.76849564, -4.9717393 , 15.9001465 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002680162354640747
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.07118614e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.07118614e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10255231, -0.04720472,  0.06199172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.13790756e-05,-1.95258304e-05, 2.24698299e-05,-2.06685761e-06,
  1.23548994e-05, 2.98170699e-05, 3.34047626e-06,-2.56768484e-05,
 -2.62917496e-05, 7.25354196e-05,-5.30300853e-06, 2.48101714e-05,
 -1.18964763e-05,-3.15248945e-05,-2.76941014e-05, 2.57952102e-05,
 -8.77042962e-06,-7.36510877e-06,-1.21646444e+00,-1.78361642e-03,
 -3.03329489e-04, 3.24197136e-06]


--- Step 1236 ---
qpos:
[ 2.87037282e-03,-5.59192162e-03,-1.02196184e-02, 2.79277378e-03,
 -4.43776443e-03,-5.18493221e-03,-1.77701309e-02, 5.24827467e-03,
 -4.73515243e-03,-3.94160963e-03,-7.80344617e-03,-1.91953638e-02,
  1.29070920e+00, 1.88838824e-02, 1.27786451e+00, 2.48007798e-02,
  9.50079995e-02,-6.99950906e-02, 1.30735454e-01, 9.95953763e-01,
  8.72544497e-05, 1.77363624e-04,-8.98669174e-02]

qacc:
[  1.90841462, -0.40639906, -0.44102642,  6.02027546,  1.1406531 ,
  -1.14624824,  5.05184321,-10.31291728, -2.78469683, -0.7923531 ,
   3.31412456, -5.2290384 ,  0.70102606, -1.30734559,  2.17949179,
  -9.64251806, -0.65509739,  1.87692205,  0.1390596 ,-22.59580656,
 -18.61111257,  0.04094741]

qfrc_actuator:
[-9.19773833e-05,-3.79808649e-04,-2.29765460e-04,-6.59234609e-05,
  7.82953821e-05,-4.44240378e-04,-3.31212308e-04,-3.11284006e-05,
  9.62215698e-06,-2.82100437e-04,-2.77657722e-04,-5.73110322e-05,
  8.82428886e-03,-1.27117883e-03, 4.04114415e-03,-1.57461723e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43854355, -0.25899918, -4.43098051, -0.25899918, 26.54149244,
       -1.29195909, -4.43098051, -1.29195909,  4.514061  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002665445776009884
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.16524333e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.16524333e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10413343, -0.09518964,  0.06199176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11442546e-05,-1.98715119e-05, 1.19416710e-05, 1.67721929e-05,
  6.69106975e-06,-1.85284306e-05, 1.53134809e-06,-1.60656981e-05,
 -1.64071255e-05, 1.56833555e-05, 1.81115383e-05,-2.95104715e-06,
 -1.59764083e-05,-6.77381612e-05,-8.42877822e-05,-7.17712387e-05,
 -1.20329224e-05,-4.51195209e-06,-1.21646859e+00,-1.78506548e-03,
 -3.04422351e-04, 4.35322256e-06]


--- Step 1237 ---
qpos:
[ 2.86980391e-03,-5.59178078e-03,-1.02191137e-02, 2.79297880e-03,
 -4.43648324e-03,-5.18459837e-03,-1.77703425e-02, 5.24905393e-03,
 -4.73515378e-03,-3.94084557e-03,-7.80344927e-03,-1.91945075e-02,
  1.29095596e+00, 1.88841346e-02, 1.27807574e+00, 2.47966077e-02,
  9.50205225e-02,-6.99997933e-02, 1.30736004e-01, 9.95946502e-01,
  1.13033665e-04, 2.69576644e-04,-8.99470923e-02]

qacc:
[ 4.38108228e+00, 1.22210053e-01,-1.26881013e+00, 4.39509582e+00,
 -2.45684614e+00, 2.25711340e-01,-3.59361381e-01,-2.17597341e+00,
  4.44885739e+00,-2.20021371e+00, 8.16375829e+00,-1.09329155e+01,
  6.84244066e-01,-1.46405567e+00, 1.32045011e+00,-6.51164214e+00,
 -6.70565086e-01, 1.83345621e+00,-1.96197946e-02,-2.24069969e+01,
 -1.79156953e+01,-2.97226201e-01]

qfrc_actuator:
[-6.65254749e-05,-3.70063066e-04,-2.22133124e-04,-5.60113658e-05,
  6.36351384e-05,-4.65209553e-04,-3.51549341e-04,-4.15045783e-05,
  3.61121137e-05,-2.79600865e-04,-2.40273830e-04,-6.14566418e-05,
  8.80357750e-03,-1.34028117e-03, 4.01202287e-03,-1.61396520e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45502833, -1.27665974,  4.26818666, -1.27665974,  8.60604755,
        1.24161372,  4.26818666,  1.24161372,  4.82640812,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027233278050034504
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.0383573e-13, -2.0383573e-13,  1.0000000e+00,  4.1549005e-26,
        1.0000000e+00,  2.0383573e-13, -1.0000000e+00,  0.0000000e+00,
        2.0383573e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10412774, -0.09518914,  0.06199159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.57613793e-05, 1.81531529e-06, 5.57285624e-06, 9.79875218e-06,
 -1.44742835e-05,-3.17211983e-05,-2.45406181e-05,-1.14334628e-05,
  2.60283050e-05, 1.48534628e-05, 4.27484177e-05,-2.90658894e-06,
 -4.67661684e-05,-9.18024642e-05,-7.61096026e-05,-5.42360586e-05,
 -7.04521691e-06,-4.78392937e-06,-1.21645443e+00,-1.78542635e-03,
 -3.08023904e-04, 1.45903950e-06]


--- Step 1238 ---
qpos:
[ 2.86954451e-03,-5.59157986e-03,-1.02185354e-02, 2.79294636e-03,
 -4.43573265e-03,-5.18435413e-03,-1.77705090e-02, 5.24863341e-03,
 -4.73414796e-03,-3.93995709e-03,-7.80329582e-03,-1.91940377e-02,
  1.29120254e+00, 1.88831231e-02, 1.27828647e+00, 2.47922288e-02,
  9.50303168e-02,-6.99973039e-02, 1.30735941e-01, 9.95939141e-01,
  9.13845034e-05, 3.31220381e-04,-9.00283791e-02]

qacc:
[  2.7084855 , -0.62081659,  3.32189376, -7.5834853 , -4.62512772,
  -2.70504286, 14.55421743,-35.34323596,  8.81983922, -1.0863086 ,
   5.70996854,-12.69968132,  0.68114408, -1.619526  , -0.20671704,
  -0.58314445, -0.6821607 ,  1.79801303, -0.15310105,-22.24309815,
 -17.35575688, -0.5629166 ]

qfrc_actuator:
[-5.13270685e-05,-3.64262694e-04,-2.17805671e-04,-6.80108102e-05,
  3.67424797e-05,-4.60070933e-04,-3.45739463e-04,-1.01191846e-04,
  8.72085158e-05,-2.78380746e-04,-2.36009095e-04,-8.19795717e-05,
  8.77694156e-03,-1.41669481e-03, 4.00829092e-03,-1.61764515e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46319083, -1.21489906,  4.29465862, -1.21489906, 11.47592392,
        1.98380443,  4.29465862,  1.98380443,  5.02438145,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027513969390928483
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.03512488e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.03512488e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1041235 , -0.09518948,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.59336866e-05, 8.38579520e-06, 5.71946289e-06,-1.15409655e-05,
 -2.73172092e-05,-1.81747880e-05,-4.16342509e-06,-6.21195838e-05,
  5.18458767e-05, 1.82105487e-05, 1.24851911e-05,-1.84690696e-05,
 -7.34978212e-05,-1.13537847e-04,-4.57066992e-05,-1.66848787e-05,
 -2.66941303e-06,-4.20599347e-06,-1.21644580e+00,-1.78513213e-03,
 -3.11063088e-04,-4.88156355e-07]


--- Step 1239 ---
qpos:
[ 2.86912458e-03,-5.59124078e-03,-1.02182235e-02, 2.79278405e-03,
 -4.43565528e-03,-5.18423329e-03,-1.77703452e-02, 5.24748505e-03,
 -4.73322677e-03,-3.93929285e-03,-7.80291482e-03,-1.91937768e-02,
  1.29144878e+00, 1.88809357e-02, 1.27849663e+00, 2.47878265e-02,
  9.50373477e-02,-6.99877376e-02, 1.30734817e-01, 9.95931645e-01,
  2.26639108e-05, 3.63169520e-04,-9.01111897e-02]

qacc:
[ -1.41492724,  0.66271355, -1.54498472, -0.38336809, -5.85895631,
  -2.57259526, 12.02915003,-25.08609629, -0.7299792 , -1.36154772,
   5.30729638, -9.12127894,  0.51561818, -1.42086694, -0.86494032,
   1.5871699 , -0.69085066,  1.76922514, -0.26529817,-22.10320371,
 -16.90593564, -0.77133375]

qfrc_actuator:
[-6.00425962e-05,-3.60898885e-04,-2.33237356e-04,-7.50550270e-05,
  2.87238499e-06,-4.57031688e-04,-3.24461325e-04,-1.36116133e-04,
  8.13544617e-05,-3.13583989e-04,-2.33605562e-04,-9.42494474e-05,
  8.75209299e-03,-1.47913287e-03, 3.98251478e-03,-1.61797750e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46438819, -1.1346981 ,  4.31777977, -1.1346981 , 15.30508346,
        2.84889851,  4.31777977,  2.84889851,  5.21306921,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027554825741719913
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.01457094e-13, -2.01457094e-13,  1.00000000e+00,  4.05849608e-26,
        1.00000000e+00,  2.01457094e-13, -1.00000000e+00,  0.00000000e+00,
        2.01457094e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10412042, -0.09519051,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.25817573e-06, 8.73248979e-06,-1.34038148e-05,-6.71390664e-06,
 -3.46568090e-05,-1.06609556e-05, 1.48626884e-05,-3.70542407e-05,
 -4.36376735e-06,-2.32459496e-05, 7.04920505e-06,-1.14229600e-05,
 -8.94244650e-05,-1.12577533e-04,-5.13190545e-05,-7.72296044e-06,
  1.21966816e-06,-2.74706907e-06,-1.21644237e+00,-1.78416794e-03,
 -3.13597597e-04,-1.54851275e-06]


--- Step 1240 ---
qpos:
[ 2.86860375e-03,-5.59098419e-03,-1.02180136e-02, 2.79255587e-03,
 -4.43632950e-03,-5.18430660e-03,-1.77702530e-02, 5.24734518e-03,
 -4.73272719e-03,-3.93891707e-03,-7.80245864e-03,-1.91933001e-02,
  1.29169432e+00, 1.88784331e-02, 1.27870632e+00, 2.47837428e-02,
  9.50415891e-02,-6.99711875e-02, 1.30732255e-01, 9.95923976e-01,
 -9.28325964e-05, 3.66123956e-04,-9.01958449e-02]

qacc:
[-8.84539753e-01, 4.17455720e-02,-2.60483451e-02,-8.93416543e-01,
 -6.55286288e+00, 2.03239971e+00,-1.18545191e+01, 2.95428587e+01,
 -3.68362199e+00,-1.39787236e-01,-9.51591888e-01, 4.76084109e+00,
 -2.94746869e-01,-5.43312874e-02,-1.64020355e+00, 4.77461817e+00,
 -6.97379162e-01, 1.74596627e+00,-3.59541156e-01,-2.19860964e+01,
 -1.65458777e+01,-9.34427400e-01]

qfrc_actuator:
[-6.50076308e-05,-3.76851767e-04,-2.42461206e-04,-7.91387035e-05,
 -3.48293273e-05,-4.72935074e-04,-3.29710764e-04,-8.51641302e-05,
  5.97716941e-05,-3.34837084e-04,-2.32452370e-04,-8.38377064e-05,
  8.72833808e-03,-1.47950989e-03, 3.97016621e-03,-1.59864929e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45999528, -1.03352045,  4.33859348, -1.03352045, 20.37950674,
        3.79227523,  4.33859348,  3.79227523,  5.36337422,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002740453445128632
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -2.0256192e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  2.0256192e-13, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10411824, -0.09519209,  0.06199153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.19855181e-06,-1.41430998e-05,-9.30990524e-06,-4.30467764e-06,
 -3.86980256e-05,-2.03985002e-05,-6.90222168e-06, 5.02917437e-05,
 -2.17127607e-05,-3.33130230e-05,-3.18680247e-06, 9.43516269e-06,
 -9.61377148e-05,-5.39195562e-05,-3.94375641e-05, 1.17344812e-05,
  4.71473372e-06,-3.89207082e-07,-1.21644390e+00,-1.78252373e-03,
 -3.15670586e-04,-1.76771221e-06]


--- Step 1241 ---
qpos:
[ 2.86837242e-03,-5.59101422e-03,-1.02178182e-02, 2.79230119e-03,
 -4.43710572e-03,-5.18472757e-03,-1.77701509e-02, 5.24817650e-03,
 -4.73283536e-03,-3.93848407e-03,-7.80213547e-03,-1.91927327e-02,
  1.29193906e+00, 1.88760766e-02, 1.27891545e+00, 2.47805774e-02,
  9.50429847e-02,-6.99603530e-02, 1.30731012e-01, 9.95916620e-01,
 -1.65326792e-04, 3.60603167e-04,-9.02769502e-02]

qacc:
[  2.53689425, -0.39743741,  0.97078964, -1.1859877 , -0.88275613,
   1.51389129,-10.16175644, 27.2077587 , -5.3256466 ,  0.6448983 ,
  -2.55409852,  4.27481588, -0.61750925,  0.57278093, -3.54505576,
  11.35037229, -0.71144538, -1.42890978,  0.32970547, 21.79509624,
  -2.28124693,  1.7892752 ]

qfrc_actuator:
[-4.99651382e-05,-4.04229264e-04,-2.48018390e-04,-8.14581235e-05,
 -3.89770783e-05,-5.00083926e-04,-3.32854327e-04,-3.73894351e-05,
  2.91225398e-05,-3.12060917e-04,-2.31988033e-04,-7.79107656e-05,
  8.69995740e-03,-1.46079331e-03, 3.94990776e-03,-1.55010475e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46265465, -0.18696047,  4.45873662, -0.18696047, 21.68475454,
        0.72214443,  4.45873662,  0.72214443,  4.49293508,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002749564748949357
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00945343e-13,  2.01890686e-13,  1.00000000e+00, -2.03799245e-26,
        1.00000000e+00, -2.01890686e-13, -1.00000000e+00,  0.00000000e+00,
        1.00945343e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10257634, -0.04721417,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48885525e-05,-3.74052226e-05,-9.77845462e-06,-3.33155607e-06,
 -5.26607209e-06,-3.78380530e-05,-6.46501661e-06, 4.76426023e-05,
 -3.12793585e-05, 3.86756003e-06,-6.49168914e-06, 4.57182992e-06,
 -9.00509294e-05,-1.92058899e-05,-4.09156134e-05, 4.33071553e-05,
  7.88453837e-06, 2.87655451e-06,-1.21645020e+00,-1.78019266e-03,
 -3.17314244e-04,-1.18008273e-06]


--- Step 1242 ---
qpos:
[ 2.86694341e-03,-5.59117968e-03,-1.02177499e-02, 2.79200924e-03,
 -4.43792618e-03,-5.18521023e-03,-1.77704455e-02, 5.24922024e-03,
 -4.73262057e-03,-3.93784506e-03,-7.80162963e-03,-1.91921406e-02,
  1.29218294e+00, 1.88739528e-02, 1.27912384e+00, 2.47806661e-02,
  9.50416908e-02,-6.99551477e-02, 1.30730458e-01, 9.95909538e-01,
 -1.95506761e-04, 3.45849744e-04,-9.03550458e-02]

qacc:
[-10.47834315,  0.11978761, -0.49400673,  0.1133059 , -0.39695907,
   1.46479698, -6.23690117, 10.59230529,  2.82962377, -0.19304801,
   0.96946471, -0.97535916, -0.51540776,  0.49104601,-10.90994058,
  36.67889093, -0.67236898, -1.40731299,  0.17234618, 21.48694784,
  -2.68776501,  1.51792421]

qfrc_actuator:
[-1.12031346e-04,-4.02719148e-04,-2.51422054e-04,-8.27320043e-05,
 -4.10940373e-05,-4.98243616e-04,-3.52539921e-04,-2.73924989e-05,
  4.66462297e-05,-2.80850114e-04,-2.14006261e-04,-7.46360653e-05,
  8.65818405e-03,-1.44870840e-03, 3.93557963e-03,-1.37824179e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4762051 , -0.62790254, -4.43194658, -0.62790254, 10.20935205,
       -0.81225202, -4.43194658, -0.81225202,  4.59128209,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002795379247957225
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.92909124e-14,  1.98581825e-13,  1.00000000e+00, -1.97173706e-26,
        1.00000000e+00, -1.98581825e-13, -1.00000000e+00,  0.00000000e+00,
        9.92909124e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10258076, -0.04721607,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.16532567e-05,-2.15642255e-05,-1.24514736e-05,-3.28015424e-06,
 -2.28285080e-06,-1.86021651e-05,-2.66465232e-05, 9.07840247e-06,
  1.66336592e-05, 3.21965180e-05, 1.81302814e-05, 3.30306983e-06,
 -9.21637313e-05,-1.41946434e-05,-3.21092210e-05, 1.68206903e-04,
  4.63203584e-06, 2.12894531e-06,-1.21644411e+00,-1.77904073e-03,
 -3.15340769e-04,-1.15448023e-06]


--- Step 1243 ---
qpos:
[ 2.86512644e-03,-5.59118581e-03,-1.02181378e-02, 2.79134355e-03,
 -4.43911073e-03,-5.18563197e-03,-1.77707420e-02, 5.24964164e-03,
 -4.73150780e-03,-3.93693010e-03,-7.80148826e-03,-1.91918306e-02,
  1.29242617e+00, 1.88717166e-02, 1.27933160e+00, 2.47821803e-02,
  9.50378320e-02,-6.99555000e-02, 1.30730065e-01, 9.95902695e-01,
 -1.83941042e-04, 3.21273017e-04,-9.04305589e-02]

qacc:
[ -3.41088232,  0.72232658, -0.6809103 , -5.18726413, -3.17665659,
  -1.18927921,  6.99545827,-17.82041157,  7.84498635,  0.78705969,
  -1.11401056, -3.35734068, -0.29181224,  0.07772263, -5.24867189,
  17.0284624 , -0.64124813, -1.38937903,  0.04019025, 21.23083399,
  -3.00588827,  1.30298494]

qfrc_actuator:
[-1.30228224e-04,-3.83913007e-04,-2.71167970e-04,-1.01109813e-04,
 -5.97621228e-05,-4.79156722e-04,-3.46242775e-04,-5.74445453e-05,
  9.23860103e-05,-2.80255473e-04,-2.39034404e-04,-9.06755220e-05,
  8.62438640e-03,-1.45850016e-03, 3.89289152e-03,-1.31261721e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48163282, -0.68092038, -4.42960271, -0.68092038, 13.60104282,
       -1.40183952, -4.42960271, -1.40183952,  4.69712418,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002813451778255205
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10258447, -0.04721696,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.99653403e-05, 4.02374343e-06,-2.58416485e-05,-1.97927556e-05,
 -1.87393232e-05, 3.58774027e-06,-5.06559559e-07,-3.15950034e-05,
  4.62278240e-05, 2.24610111e-05,-1.60460815e-05,-1.39735602e-05,
 -8.34068491e-05,-3.53875905e-05,-4.24403227e-05, 7.00672270e-05,
  1.85679101e-06, 2.04413336e-06,-1.21644106e+00,-1.77853700e-03,
 -3.13461834e-04,-1.18549659e-06]


--- Step 1244 ---
qpos:
[ 2.86448465e-03,-5.59115708e-03,-1.02190511e-02, 2.79082906e-03,
 -4.44016494e-03,-5.18618776e-03,-1.77702696e-02, 5.24828934e-03,
 -4.73019991e-03,-3.93605186e-03,-7.80153675e-03,-1.91913410e-02,
  1.29266896e+00, 1.88690657e-02, 1.27953911e+00, 2.47837504e-02,
  9.50315071e-02,-6.99613506e-02, 1.30729389e-01, 9.95896058e-01,
 -1.31096058e-04, 2.86411494e-04,-9.05038279e-02]

qacc:
[ 10.26281376,  1.80619741, -7.04612187, 10.51506675,  1.16191037,
  -5.97849547, 28.54482648,-60.37207751,  1.70295321,  0.84884898,
  -3.8592052 ,  7.30051061, -0.06491811, -0.30728127, -0.52634687,
   1.31731403, -0.6165174 , -1.37459313, -0.07064957, 21.01975397,
  -3.25511429,  1.13251448]

qfrc_actuator:
[-6.91762586e-05,-3.90475100e-04,-3.00339354e-04,-9.38933521e-05,
 -5.25180659e-05,-4.85325080e-04,-3.06839535e-04,-1.46281456e-04,
  1.01093357e-04,-2.98182872e-04,-2.53889154e-04,-8.25012834e-05,
  8.60603872e-03,-1.48116601e-03, 3.88646306e-03,-1.31020875e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48037568, -0.74762132, -4.41755912, -0.74762132, 18.04688118,
       -2.29597577, -4.41755912, -2.29597577,  4.86894329,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028092797761984645
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.87996135e-14, -3.95198454e-13,  1.00000000e+00,  3.90454545e-26,
        1.00000000e+00,  3.95198454e-13, -1.00000000e+00,  0.00000000e+00,
        9.87996135e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10258762, -0.04721704,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.04851649e-05,-1.04928243e-05,-3.21994243e-05, 6.11296810e-06,
  6.70942824e-06,-5.60911254e-06, 3.89967243e-05,-8.93142342e-05,
  1.00396767e-05,-9.29576729e-06,-1.26890913e-05, 8.30414561e-06,
 -6.91279193e-05,-5.22070635e-05,-2.14298872e-05, 1.36898690e-07,
 -4.94919875e-07, 2.58196660e-06,-1.21644093e+00,-1.77867709e-03,
 -3.11630880e-04,-1.29415196e-06]


--- Step 1245 ---
qpos:
[ 2.86388980e-03,-5.59133628e-03,-1.02202249e-02, 2.79041826e-03,
 -4.44077955e-03,-5.18661689e-03,-1.77697477e-02, 5.24658998e-03,
 -4.72914242e-03,-3.93505145e-03,-7.80155676e-03,-1.91907930e-02,
  1.29291092e+00, 1.88669181e-02, 1.27974650e+00, 2.47862858e-02,
  9.50227944e-02,-6.99726513e-02, 1.30728059e-01, 9.95889596e-01,
 -3.73507605e-05, 2.40903480e-04,-9.05751208e-02]

qacc:
[  0.40602906,  0.66608225, -3.21259673,  5.57778081,  3.83290577,
  -0.69269611,  4.16502054,-10.33018162, -2.19322923,  0.20649704,
  -0.74081655,  1.60763872, -0.89655823,  1.10631269, -3.02818426,
  10.53479071, -0.59692577, -1.36251307, -0.16347971, 20.84773324,
  -3.45073608,  0.99708459]

qfrc_actuator:
[-6.84987365e-05,-4.12197392e-04,-3.17161555e-04,-8.94484062e-05,
 -3.00755180e-05,-4.70970713e-04,-3.01600494e-04,-1.62473201e-04,
  8.79249060e-05,-2.73763312e-04,-2.44916057e-04,-7.79003349e-05,
  8.57566182e-03,-1.44019837e-03, 3.89645135e-03,-1.25616735e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47384111, -0.83125513, -4.39593781, -0.83125513, 23.81912148,
       -3.65811896, -4.39593781, -3.65811896,  5.1655775 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027874588242327025
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99146085e-13,  1.99146085e-13,  1.00000000e+00, -3.96591632e-26,
        1.00000000e+00, -1.99146085e-13, -1.00000000e+00,  0.00000000e+00,
        1.99146085e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10259033, -0.04721649,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.40455998e-06,-3.39450947e-05,-2.27344870e-05, 3.00086077e-06,
  2.26350796e-05, 1.54658149e-05, 5.79728848e-06,-1.68179773e-05,
 -1.28819883e-05, 1.69315233e-05, 5.76775526e-06, 3.92240834e-06,
 -7.78186893e-05, 9.74483427e-06,-4.16629690e-06, 5.03239493e-05,
 -2.46288794e-06, 3.71381867e-06,-1.21644365e+00,-1.77945691e-03,
 -3.09813117e-04,-1.49507178e-06]


--- Step 1246 ---
qpos:
[ 2.86365310e-03,-5.59165916e-03,-1.02213347e-02, 2.78968782e-03,
 -4.44146527e-03,-5.18673825e-03,-1.77696184e-02, 5.24609811e-03,
 -4.72859582e-03,-3.93378530e-03,-7.80181117e-03,-1.91905402e-02,
  1.29315201e+00, 1.88659317e-02, 1.27995346e+00, 2.47901557e-02,
  9.50114217e-02,-6.99831041e-02, 1.30728229e-01, 9.95883119e-01,
  5.25510383e-05, 1.73293509e-04,-9.06464581e-02]

qacc:
[ 3.13715471e+00,-1.03354770e+00, 4.74819892e+00,-1.02652343e+01,
 -6.36997335e-01, 3.99008154e+00,-1.87328784e+01, 4.00318912e+01,
 -4.48467060e+00, 4.06996958e-01, 3.18224244e-01,-5.26133880e+00,
 -1.30383068e+00, 1.96740404e+00,-4.51004614e+00, 1.52447640e+01,
 -6.65013815e-01, 2.11978015e-01, 3.74849308e-01,-9.12901463e-01,
 -1.11796145e+01,-2.37179603e-02]

qfrc_actuator:
[-5.01298135e-05,-4.07281699e-04,-3.08876389e-04,-1.04431951e-04,
 -3.43805426e-05,-4.44509798e-04,-3.16448096e-04,-1.00289743e-04,
  6.19984412e-05,-2.59585046e-04,-2.57293914e-04,-9.31466492e-05,
  8.55409552e-03,-1.36180286e-03, 3.87368267e-03,-1.18983055e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46317748e+00, -1.23682931e-02, -4.46316034e+00, -1.23682931e-02,
        2.53790498e+01, -5.79619863e-02, -4.46316034e+00, -5.79619863e-02,
        4.46333810e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00])
  dim: 3
  dist: -0.0002751351334594709
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.10595729e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.10595729e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10334222, -0.07113663,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.84284447e-05,-1.86100306e-05,-1.40567895e-06,-1.71623100e-05,
 -3.65026219e-06, 3.56073246e-05,-1.15192291e-05, 6.27220314e-05,
 -2.62855703e-05, 2.49671930e-05,-8.04577098e-06,-1.42479559e-05,
 -5.82895538e-05, 6.32030770e-05,-2.48040715e-05, 6.73315042e-05,
 -4.07631680e-06, 5.41996770e-06,-1.21644915e+00,-1.78087280e-03,
 -3.07982504e-04,-1.79841846e-06]


--- Step 1247 ---
qpos:
[ 2.86398332e-03,-5.59212312e-03,-1.02220786e-02, 2.78876176e-03,
 -4.44219708e-03,-5.18655830e-03,-1.77696633e-02, 5.24599509e-03,
 -4.72801880e-03,-3.93295158e-03,-7.80190855e-03,-1.91904088e-02,
  1.29339285e+00, 1.88650465e-02, 1.28016017e+00, 2.47944345e-02,
  9.49974027e-02,-6.99865140e-02, 1.30727739e-01, 9.95876542e-01,
  9.43104159e-05, 7.44764695e-05,-9.07187876e-02]

qacc:
[  4.97289975, -1.62145038,  6.31972647,-10.16823846, -0.41227297,
   1.68597213, -7.07428151, 13.86061147,  0.27852212, -1.26091302,
   4.17647635, -6.2050105 , -0.20883015,  0.23226244, -1.60387348,
   5.10092384, -0.66159711,  1.7607064 , -0.16487582,-22.55761867,
 -17.72128407, -0.50189555]

qfrc_actuator:
[-2.14760366e-05,-4.04116923e-04,-2.85747240e-04,-1.12938124e-04,
 -3.66465972e-05,-4.28769377e-04,-3.25172881e-04,-8.12600401e-05,
  6.42830873e-05,-3.22754516e-04,-2.64478228e-04,-1.02218389e-04,
  8.54317551e-03,-1.36832568e-03, 3.86324479e-03,-1.17012976e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47093231,  0.10798834, -4.46962797,  0.10798834, 12.43595274,
        0.19243869, -4.46962797,  0.19243869,  4.47558172,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002777671501422718
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99847791e-13, -3.99695581e-13,  1.00000000e+00,  7.98782787e-26,
        1.00000000e+00,  3.99695581e-13, -1.00000000e+00,  0.00000000e+00,
        1.99847791e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10409106, -0.09519396,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.91770535e-05,-8.23421588e-06, 1.85359616e-05,-9.68212447e-06,
 -2.36042143e-06, 3.59625912e-05,-6.17460931e-07, 2.13786992e-05,
  1.54742811e-06,-5.15307969e-05,-3.52218355e-06,-8.55991397e-06,
 -2.56942523e-05,-1.18344016e-06,-1.90032215e-05, 1.92336285e-05,
 -3.47205102e-06, 6.45055046e-06,-1.21645084e+00,-1.78201980e-03,
 -3.07139934e-04,-2.03888261e-06]


--- Step 1248 ---
qpos:
[ 2.86430980e-03,-5.59278949e-03,-1.02225009e-02, 2.78775171e-03,
 -4.44260528e-03,-5.18641943e-03,-1.77696180e-02, 5.24545650e-03,
 -4.72776388e-03,-3.93264464e-03,-7.80199609e-03,-1.91903636e-02,
  1.29363348e+00, 1.88637227e-02, 1.28036640e+00, 2.47973146e-02,
  9.49806797e-02,-6.99829655e-02, 1.30726148e-01, 9.95869825e-01,
  8.84461245e-05,-5.45766078e-05,-9.07925154e-02]

qacc:
[-1.93275066e-02,-1.33931558e+00, 4.74178944e+00,-6.56072878e+00,
  2.82547390e+00,-1.20816492e+00, 6.05856881e+00,-1.37014151e+01,
 -2.81053325e+00,-8.96019201e-01, 2.55768333e+00,-3.68789655e+00,
  3.37121833e-02,-3.69166345e-01, 3.53187561e+00,-1.33896033e+01,
 -6.75982905e-01, 1.73963183e+00,-2.75294093e-01,-2.23421005e+01,
 -1.72159218e+01,-7.02976409e-01]

qfrc_actuator:
[-2.25086490e-05,-4.19700463e-04,-2.71791656e-04,-1.17554032e-04,
 -1.99332200e-05,-4.55083145e-04,-3.30285296e-04,-1.05539593e-04,
  4.76521873e-05,-3.60730227e-04,-2.68844078e-04,-1.07641245e-04,
  8.51198917e-03,-1.40745118e-03, 3.81760000e-03,-1.24902934e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47175436,  0.16455906,  4.46872547,  0.16455906, 14.44496778,
       -0.36725966,  4.46872547, -0.36725966,  4.48527855,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002780442139521111
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.99648647e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.99648647e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10408739, -0.09519409,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.99518221e-07,-1.67375302e-05, 1.42175390e-05,-4.51227309e-06,
  1.66573923e-05,-5.42188776e-06, 2.97808870e-06,-2.23439659e-05,
 -1.66016264e-05,-6.79124904e-05,-1.57475135e-05,-7.92008824e-06,
 -4.48420224e-05,-4.51540048e-05,-5.62157239e-05,-8.11851445e-05,
 -1.19970015e-06, 6.95514322e-06,-1.21645032e+00,-1.78225795e-03,
 -3.07109850e-04,-1.42291387e-06]


--- Step 1249 ---
qpos:
[ 2.86496656e-03,-5.59354434e-03,-1.02230545e-02, 2.78671134e-03,
 -4.44246503e-03,-5.18634478e-03,-1.77698765e-02, 5.24466249e-03,
 -4.72736583e-03,-3.93220905e-03,-7.80244968e-03,-1.91900970e-02,
  1.29387374e+00, 1.88620289e-02, 1.28057196e+00, 2.47985773e-02,
  9.49612073e-02,-6.99725274e-02, 1.30723085e-01, 9.95862927e-01,
  3.53842646e-05,-2.13097749e-04,-9.08679516e-02]

qacc:
[  2.88657648,  0.1817951 , -0.69957118,  0.46021154,  4.77433054,
   0.22849242,  0.1240825 , -3.99395773,  1.23943232,  1.64700853,
  -6.56234356, 10.88462235, -0.14014516, -0.17256538,  3.89891456,
 -15.08405563, -0.68733828,  1.72237963, -0.3682106 ,-22.16361599,
 -16.8158515 , -0.85631241]

qfrc_actuator:
[-5.50392286e-06,-4.28662582e-04,-2.81194960e-04,-1.19869166e-04,
  7.81654417e-06,-4.70902312e-04,-3.51177533e-04,-1.19630536e-04,
  5.55175677e-05,-3.12311840e-04,-2.71434478e-04,-9.31086447e-05,
  8.48462594e-03,-1.43013386e-03, 3.77748816e-03,-1.33218716e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46691445,  0.25155755,  4.4598255 ,  0.25155755, 18.8894596 ,
       -0.81350719,  4.4598255 , -0.81350719,  4.51280052,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027640763924018097
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25519214e-14,  2.00830742e-13,  1.00000000e+00, -2.52081168e-27,
        1.00000000e+00, -2.00830742e-13, -1.00000000e+00,  0.00000000e+00,
        1.25519214e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10408475, -0.09519498,  0.06199146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.69955361e-05,-1.55481555e-05,-1.12508158e-05,-2.62350226e-06,
  2.82262150e-05,-1.91918232e-05,-2.24201240e-05,-1.46549790e-05,
  7.36943633e-06, 6.83519419e-06,-1.88325143e-05, 1.09253318e-05,
 -6.20061090e-05,-4.57014562e-05,-7.74528632e-05,-9.54674109e-05,
  6.43845441e-07, 8.44092103e-06,-1.21645474e+00,-1.78179775e-03,
 -3.06586959e-04, 6.38522402e-08]


--- Step 1250 ---
qpos:
[ 2.86547720e-03,-5.59439805e-03,-1.02237157e-02, 2.78565136e-03,
 -4.44164828e-03,-5.18619128e-03,-1.77707615e-02, 5.24405555e-03,
 -4.72653185e-03,-3.93167294e-03,-7.80298580e-03,-1.91896755e-02,
  1.29411355e+00, 1.88604989e-02, 1.28077703e+00, 2.47954773e-02,
  9.49451045e-02,-6.99660240e-02, 1.30722166e-01, 9.95856040e-01,
  3.94783111e-06,-3.39395427e-04,-9.09430177e-02]

qacc:
[ -1.27992871,  0.13224859, -0.57403112,  0.47485996,  5.87874871,
   2.2279313 , -8.6028602 , 12.80692774,  3.81211315,  0.67498579,
  -2.87898863,  5.62717454, -0.78868646,  0.87940082, 12.59340995,
 -44.86591783,  0.84238167, -0.98368067,  0.53643354,  9.3039794 ,
  17.02761336,  0.1819377 ]

qfrc_actuator:
[-1.35146015e-05,-4.33684838e-04,-2.86536769e-04,-1.20823904e-04,
  4.18338677e-05,-4.62632509e-04,-3.81179884e-04,-1.09861624e-04,
  7.77443330e-05,-3.01264863e-04,-2.72587652e-04,-8.46285987e-05,
  8.47555590e-03,-1.40733861e-03, 3.73540625e-03,-1.55914280e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46975008, -1.84059095,  4.07319172, -1.84059095, 22.07493444,
        7.95541808,  4.07319172,  7.95541808,  8.0646387 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027736804672454096
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00067675e-13,  2.00135350e-13,  1.00000000e+00, -2.00270792e-26,
        1.00000000e+00, -2.00135350e-13, -1.00000000e+00,  0.00000000e+00,
        1.00067675e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08439643, -0.05602541,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.52663720e-06,-1.61131935e-05,-1.00137365e-05,-2.05689861e-06,
  3.48213281e-05,-7.70890904e-06,-3.72326186e-05, 7.88652956e-06,
  2.24408767e-05, 1.14401052e-05,-1.68314174e-06, 8.33312006e-06,
 -5.28810880e-05,-4.19383152e-06,-9.00300923e-05,-2.42602244e-04,
  2.13843536e-06, 1.08948304e-05,-1.21646390e+00,-1.78063728e-03,
 -3.05607511e-04, 2.37892392e-06]


--- Step 1251 ---
qpos:
[ 2.86554306e-03,-5.59525761e-03,-1.02242127e-02, 2.78455714e-03,
 -4.44077472e-03,-5.18609440e-03,-1.77717288e-02, 5.24389513e-03,
 -4.72612745e-03,-3.93140833e-03,-7.80307276e-03,-1.91894902e-02,
  1.29435291e+00, 1.88594114e-02, 1.28098139e+00, 2.47905988e-02,
  9.49323847e-02,-6.99633289e-02, 1.30722757e-01, 9.95849150e-01,
 -5.84929354e-06,-4.34506625e-04,-9.10180317e-02]

qacc:
[ -3.88542502, -0.52973216,  2.0352404 , -2.90047383,  0.49420828,
   1.0734565 , -5.82290224, 13.72642736, -3.74211199, -2.09340555,
   7.95008591,-12.56225412, -0.72950477,  0.98574817,  4.42696988,
 -16.79607305,  0.84576813, -0.95207653,  0.37708255,  9.35673084,
  16.51259356,  0.02202813]

qfrc_actuator:
[-3.61902194e-05,-4.18544753e-04,-2.71660171e-04,-1.20960993e-04,
  4.37590379e-05,-4.57779330e-04,-3.80698766e-04,-8.61171078e-05,
  5.49799830e-05,-3.30416693e-04,-2.55262966e-04,-9.75546581e-05,
  8.46683132e-03,-1.37539514e-03, 3.72410381e-03,-1.63820066e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48388188,  2.46276512, -3.74699676,  2.46276512, 10.03534229,
        3.64877365, -3.74699676,  3.64877365,  6.88208851,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028208949000047
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.8392803e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        9.8392803e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0844001 , -0.0560241 ,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.28922831e-05, 4.00977025e-06, 1.02635386e-05,-1.20807066e-06,
  2.92190880e-06,-6.79168499e-06,-5.41627326e-06, 2.22807844e-05,
 -2.21185481e-05,-2.27489684e-05, 1.97675837e-05,-1.23338318e-05,
 -3.90646770e-05, 1.97473546e-05,-8.16647184e-05,-1.04553952e-04,
  1.59565894e-06, 8.58581178e-06,-1.21645490e+00,-1.78086589e-03,
 -3.03000208e-04, 1.88554435e-06]


--- Step 1252 ---
qpos:
[ 2.86602636e-03,-5.59610063e-03,-1.02242489e-02, 2.78310039e-03,
 -4.44022960e-03,-5.18588748e-03,-1.77724366e-02, 5.24293860e-03,
 -4.72634370e-03,-3.93140196e-03,-7.80291315e-03,-1.91894484e-02,
  1.29459154e+00, 1.88595032e-02, 1.28118456e+00, 2.47890909e-02,
  9.49230561e-02,-6.99643403e-02, 1.30724320e-01, 9.95842242e-01,
  5.99007409e-06,-4.99269856e-04,-9.10932435e-02]

qacc:
[  3.66544748, -2.01955457,  8.75030817,-15.75965338, -2.85860134,
  -2.21300014, 11.47249744,-25.75821097, -5.42144928, -1.31574583,
   4.81894718, -7.52427595, -0.97477717,  1.63808615,-11.87605215,
  39.2344761 ,  0.84777664, -0.9266196 ,  0.24323041,  9.39219207,
  16.0956514 , -0.10385022]

qfrc_actuator:
[-1.40498014e-05,-4.09113363e-04,-2.44881340e-04,-1.38337639e-04,
  2.67779867e-05,-4.37119574e-04,-3.62221126e-04,-1.25332031e-04,
  2.36647251e-05,-3.47850737e-04,-2.45102858e-04,-1.05242781e-04,
  8.44235197e-03,-1.30280169e-03, 3.70467759e-03,-1.45183274e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48969095,  2.41299615, -3.78612921,  2.41299615, 13.444685  ,
        5.70724479, -3.78612921,  5.70724479,  8.12706277,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002839998307517799
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08440269, -0.05602271,  0.06199122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.14906170e-05, 1.37730937e-05, 2.88486414e-05,-1.68667924e-05,
 -1.69003650e-05, 1.67070027e-05, 1.71891328e-05,-3.92574994e-05,
 -3.19543425e-05,-2.66159021e-05, 7.46817112e-06,-8.21837395e-06,
 -4.16071495e-05, 7.04038804e-05,-7.02536626e-05, 1.69715980e-04,
  8.00549459e-07, 6.60638694e-06,-1.21644842e+00,-1.78135243e-03,
 -3.00901308e-04, 1.60364883e-06]


--- Step 1253 ---
qpos:
[ 2.86711599e-03,-5.59685888e-03,-1.02239784e-02, 2.78144848e-03,
 -4.43989231e-03,-5.18548808e-03,-1.77729307e-02, 5.24082126e-03,
 -4.72693406e-03,-3.93130879e-03,-7.80279152e-03,-1.91891785e-02,
  1.29482917e+00, 1.88617607e-02, 1.28138698e+00, 2.47887996e-02,
  9.49171230e-02,-6.99689765e-02, 1.30726407e-01, 9.95835305e-01,
  3.94542541e-05,-5.34361352e-04,-9.11688487e-02]

qacc:
[  5.31181158, -1.15785815,  5.09677534, -9.00802172, -1.80962503,
  -2.72855301, 15.00506638,-35.58676123, -3.27772721,  0.69713308,
  -3.26915488,  7.19738686, -2.02176493,  3.37699281, -4.54591977,
  14.89269165,  0.84888211, -0.9061885 ,  0.13101037,  9.41590544,
  15.75911172, -0.2028024 ]

qfrc_actuator:
[ 1.65432970e-05,-4.03127250e-04,-2.29075954e-04,-1.47963416e-04,
  1.65683819e-05,-4.24872514e-04,-3.51007185e-04,-1.83505983e-04,
  5.33446123e-06,-3.22653508e-04,-2.39218583e-04,-9.20335977e-05,
  8.41378753e-03,-1.17122675e-03, 3.66446952e-03,-1.39468901e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48864464,  2.34351434, -3.82829874,  2.34351434, 18.06841035,
        8.31292901, -3.82829874,  8.31292901,  9.5774503 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002836570287731849
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08440443, -0.05602125,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.12146547e-05, 1.89644500e-05, 2.16322632e-05,-8.36144814e-06,
 -1.06873328e-05, 2.34549207e-05, 1.54323552e-05,-5.76234123e-05,
 -1.92518534e-05, 1.14902794e-05, 1.02143226e-06, 1.21685501e-05,
 -3.37998708e-05, 1.43187677e-04,-5.49887645e-05, 5.73040605e-05,
 -2.47773203e-07, 4.91445165e-06,-1.21644429e+00,-1.78210815e-03,
 -2.99291721e-04, 1.52527264e-06]


--- Step 1254 ---
qpos:
[ 2.86821894e-03,-5.59721632e-03,-1.02236695e-02, 2.78001711e-03,
 -4.44002499e-03,-5.18488085e-03,-1.77736217e-02, 5.23874061e-03,
 -4.72774028e-03,-3.93064243e-03,-7.80255112e-03,-1.91891726e-02,
  1.29506645e+00, 1.88648803e-02, 1.28158931e+00, 2.47867788e-02,
  9.49145876e-02,-6.99771722e-02, 1.30728643e-01, 9.95828323e-01,
  9.45284028e-05,-5.40324222e-04,-9.12450004e-02]

qacc:
[  0.11107991,  0.876544  , -3.28809268,  6.7492021 , -4.10828818,
   0.90792433, -2.98007089,  3.76263056, -1.89590786, -0.11428738,
   2.62475772, -7.80514249, -0.97046735,  1.54623101,  5.23728487,
 -18.20479899,  0.84943706, -0.88987472,  0.03712463,  9.43202809,
  15.48871241, -0.28041807]

qfrc_actuator:
[ 1.63468762e-05,-3.63777883e-04,-2.19885039e-04,-1.35208382e-04,
 -7.32024037e-06,-4.17799530e-04,-3.61961960e-04,-1.81361656e-04,
 -5.20308621e-06,-2.54366616e-04,-2.17961243e-04,-1.02105501e-04,
  8.38814763e-03,-1.14774209e-03, 3.65972684e-03,-1.48528462e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48218356,  2.25143088, -3.87569716,  2.25143088, 24.3256569 ,
       11.52727027, -3.87569716, 11.52727027, 11.17848908,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028152768710204557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.85891509e-14, -3.94356603e-13,  1.00000000e+00,  3.88792827e-26,
        1.00000000e+00,  3.94356603e-13, -1.00000000e+00,  0.00000000e+00,
        9.85891509e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08440548, -0.05601974,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.04260929e-07, 5.40997984e-05, 1.54903920e-05, 1.41566653e-05,
 -2.41850458e-05, 2.08997538e-05,-6.19700527e-06, 2.56714826e-06,
 -1.10833973e-05, 7.54302984e-05, 2.41744543e-05,-9.30795992e-06,
 -1.00565497e-05, 5.85066809e-05,-2.69047912e-05,-9.51571772e-05,
 -1.54978658e-06, 3.47875516e-06,-1.21644236e+00,-1.78314129e-03,
 -2.98156455e-04, 1.64405497e-06]


--- Step 1255 ---
qpos:
[ 2.86965632e-03,-5.59739918e-03,-1.02229016e-02, 2.77909451e-03,
 -4.44044301e-03,-5.18416919e-03,-1.77744429e-02, 5.23740124e-03,
 -4.72901154e-03,-3.92941674e-03,-7.80236682e-03,-1.91892743e-02,
  1.29530395e+00, 1.88669586e-02, 1.28179147e+00, 2.47826651e-02,
  9.49154510e-02,-6.99888756e-02, 1.30730714e-01, 9.95821283e-01,
  1.71198584e-04,-5.17591980e-04,-9.13218174e-02]

qacc:
[ 2.93697653e+00,-9.86225223e-03,-1.78759584e+00, 9.74114077e+00,
 -2.49372983e+00, 2.03279777e+00,-1.01691252e+01, 2.31218894e+01,
 -4.08269367e+00, 6.82193524e-01,-8.91882935e-01,-1.30779389e+00,
  6.90497262e-01,-1.37044444e+00, 5.98322515e+00,-2.15328751e+01,
  8.49700271e-01,-8.76941064e-01,-4.12440470e-02, 9.44365092e+00,
  1.52729208e+01,-3.41093417e-01]

qfrc_actuator:
[ 3.35324752e-05,-3.58018407e-04,-1.96764438e-04,-1.09362506e-04,
 -2.13183492e-05,-4.13923324e-04,-3.68140363e-04,-1.43759561e-04,
 -2.88262496e-05,-2.31757570e-04,-2.23126901e-04,-1.07992705e-04,
  8.36424099e-03,-1.24193225e-03, 3.64960164e-03,-1.59105391e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47162564,  2.13296071, -3.93012907,  2.13296071, 32.77395255,
       15.36024648, -3.93012907, 15.36024648, 12.80794276,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027800085643397976
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.98398925e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.98398925e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08440601, -0.05601817,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72244848e-05, 3.98276970e-05, 3.66958314e-05, 2.89784825e-05,
 -1.46840085e-05, 1.43754848e-05,-2.52954780e-06, 3.83389087e-05,
 -2.39115847e-05, 6.93503352e-05, 1.30582938e-05,-2.00343531e-06,
 -1.63532280e-05,-7.86803332e-05,-3.73483377e-05,-1.15478646e-04,
 -3.10596633e-06, 2.27627949e-06,-1.21644253e+00,-1.78445791e-03,
 -2.97483793e-04, 1.95508983e-06]


--- Step 1256 ---
qpos:
[ 2.87094373e-03,-5.59741556e-03,-1.02223648e-02, 2.77853819e-03,
 -4.44068074e-03,-5.18370131e-03,-1.77746309e-02, 5.23685996e-03,
 -4.72986594e-03,-3.92799141e-03,-7.80233538e-03,-1.91897375e-02,
  1.29554141e+00, 1.88680711e-02, 1.28199312e+00, 2.47782980e-02,
  9.49197139e-02,-7.00040462e-02, 1.30732358e-01, 9.95814170e-01,
  2.69454615e-04,-4.66507567e-04,-9.13993913e-02]

qacc:
[-1.32168271, 1.62285792,-7.00870351,13.58987314, 1.59664758,-0.45131845,
 -2.23244471,15.21708838, 3.6411117 ,-0.06054624, 2.10982033,-8.2492138 ,
  0.59407134,-1.29234161,-0.05336519,-1.08611635, 0.84985919,-0.86678849,
 -0.10650454, 9.4530484 ,15.10239297,-0.38828478]

qfrc_actuator:
[ 2.53156005e-05,-3.72346950e-04,-2.18979848e-04,-9.37912092e-05,
 -1.16261766e-05,-4.29697560e-04,-3.35935470e-04,-1.03354689e-04,
 -6.70734871e-06,-2.54523289e-04,-2.44018980e-04,-1.29172305e-04,
  8.34666023e-03,-1.29865279e-03, 3.63625884e-03,-1.59835639e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027339980647914097
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.03040199e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.03040199e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08440613, -0.05601658,  0.06199155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.71340033e-06, 1.67657855e-05,-8.47288821e-06, 1.91113569e-05,
  9.27473467e-06,-6.63374835e-06, 3.61941570e-05, 4.16833241e-05,
  2.14638544e-05, 1.85672325e-05,-5.04586925e-06,-1.77990299e-05,
 -4.55966752e-05,-8.31841858e-05,-4.60184109e-05,-1.91445734e-05,
 -4.91706673e-06, 1.29034940e-06,-1.21644474e+00,-1.78606245e-03,
 -2.97264626e-04, 2.45476395e-06]


--- Step 1257 ---
qpos:
[ 2.87143283e-03,-5.59699837e-03,-1.02224609e-02, 2.77782184e-03,
 -4.44045579e-03,-5.18335746e-03,-1.77743828e-02, 5.23611468e-03,
 -4.72975887e-03,-3.92632156e-03,-7.80281711e-03,-1.91907760e-02,
  1.29577854e+00, 1.88687334e-02, 1.28219425e+00, 2.47754899e-02,
  9.49213625e-02,-7.00118591e-02, 1.30733624e-01, 9.95807032e-01,
  3.20618162e-04,-4.47269471e-04,-9.14770630e-02]

qacc:
[ -7.01042905,  2.02591905, -5.69290213,  3.59078906,  4.05062841,
  -1.80982782,  7.06316657,-11.18579567,  8.39661932,  0.55634062,
   0.88188667,-10.15871925,  0.18893522, -0.58972449, -5.54081201,
  18.16003367, -0.65356136,  1.83941183, -0.09476309,-21.99233357,
 -18.00863755, -0.03455964]

qfrc_actuator:
[-1.55447718e-05,-3.45532152e-04,-2.50137789e-04,-1.02198303e-04,
  1.19286790e-05,-4.39202983e-04,-3.16917310e-04,-1.14879363e-04,
  4.21608912e-05,-2.51119997e-04,-2.74227725e-04,-1.59230546e-04,
  8.33289163e-03,-1.31479805e-03, 3.63167211e-03,-1.51207575e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44724881,  1.98649096, -3.97892895,  1.98649096, 17.58881243,
        6.56096091, -3.97892895,  6.56096091,  7.72282615,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026962153391742183
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.05885451e-13,  5.14713629e-14,  1.00000000e+00, -1.05972048e-26,
        1.00000000e+00, -5.14713629e-14, -1.00000000e+00,  0.00000000e+00,
        2.05885451e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10405267, -0.09521034,  0.06199167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.10758251e-05, 3.52477636e-05,-2.80830113e-05,-7.60980541e-06,
  2.38152328e-05,-3.96358535e-06, 2.35467167e-05,-9.74483328e-06,
  4.94930687e-05, 1.19353909e-05,-2.76288330e-05,-2.97874979e-05,
 -5.72253793e-05,-5.08793181e-05,-3.00947022e-05, 7.88080666e-05,
 -6.98431203e-06, 5.09256298e-07,-1.21644893e+00,-1.78795823e-03,
 -2.97491938e-04, 3.14059829e-06]


--- Step 1258 ---
qpos:
[ 2.87211816e-03,-5.59639068e-03,-1.02222979e-02, 2.77663421e-03,
 -4.43995016e-03,-5.18303447e-03,-1.77742152e-02, 5.23560560e-03,
 -4.72941153e-03,-3.92442124e-03,-7.80373155e-03,-1.91914794e-02,
  1.29601551e+00, 1.88683904e-02, 1.28239520e+00, 2.47749798e-02,
  9.49203329e-02,-7.00124628e-02, 1.30734027e-01, 9.95799823e-01,
  3.24974562e-04,-4.58778036e-04,-9.15554289e-02]

qacc:
[  1.72113368, -1.44625615,  7.50537317,-16.20939415,  2.44564884,
   0.67879171, -3.46575299,  7.70679759,  2.08607149,  2.20022051,
  -8.82081432, 15.14099983,  0.70812236, -1.48163229, -7.32888957,
  25.00308458, -0.6695563 ,  1.80232205, -0.2158012 ,-21.89928021,
 -17.44988834, -0.33341044]

qfrc_actuator:
[-4.27238361e-06,-3.29870287e-04,-2.32909142e-04,-1.24612627e-04,
  2.56939962e-05,-4.44969359e-04,-3.23619916e-04,-1.03621036e-04,
  5.31094976e-05,-2.32140043e-04,-2.91852377e-04,-1.40999728e-04,
  8.31611161e-03,-1.37773790e-03, 3.64833693e-03,-1.38910910e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45203049, -1.51733041,  4.18548491, -1.51733041, 11.13048516,
        2.42108683,  4.18548491,  2.42108683,  5.32972776,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002712922268437168
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27885970e-14, -2.04617552e-13,  1.00000000e+00,  2.61677140e-27,
        1.00000000e+00,  2.04617552e-13, -1.00000000e+00,  0.00000000e+00,
        1.27885970e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10404816, -0.09521164,  0.06199162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01110647e-05, 2.92174018e-05, 2.07859108e-05,-2.20214639e-05,
  1.44461231e-05,-3.54222008e-06,-4.96408378e-06, 1.17130584e-05,
  1.23731091e-05, 1.86370556e-05,-1.96063814e-05, 1.72036963e-05,
 -5.77727554e-05,-9.11349828e-05, 8.51070845e-06, 1.22808729e-04,
 -3.32369202e-06, 7.55129172e-07,-1.21644211e+00,-1.78814911e-03,
 -2.99385481e-04, 1.99532854e-06]


--- Step 1259 ---
qpos:
[ 2.87293302e-03,-5.59583956e-03,-1.02215588e-02, 2.77554202e-03,
 -4.43962821e-03,-5.18272521e-03,-1.77735529e-02, 5.23484904e-03,
 -4.72962476e-03,-3.92266146e-03,-7.80418181e-03,-1.91916287e-02,
  1.29625226e+00, 1.88672254e-02, 1.28259638e+00, 2.47736025e-02,
  9.49165756e-02,-7.00059771e-02, 1.30733159e-01, 9.95792501e-01,
  2.82768600e-04,-5.00156308e-04,-9.16349531e-02]

qacc:
[  1.15208001, -1.49076675,  4.80012091, -4.023907  , -1.58626676,
  -1.90639258,  7.82163332,-12.89239811, -4.89020286, -0.3321389 ,
  -1.40507953, 10.33288449,  0.26195868, -0.8691436 ,  2.93363948,
  -9.85961751, -0.68192615,  1.77232745, -0.31745989,-21.81627593,
 -17.00385659, -0.56641114]

qfrc_actuator:
[ 2.09917400e-06,-3.38583185e-04,-2.05039948e-04,-1.19550776e-04,
  1.58299016e-05,-4.30793233e-04,-2.92154938e-04,-1.14556747e-04,
  2.38903063e-05,-2.39403118e-04,-2.66296499e-04,-1.12228223e-04,
  8.30817337e-03,-1.41476143e-03, 3.64578555e-03,-1.44077219e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45073524, -1.44706203,  4.20892571, -1.44706203, 14.4535323 ,
        3.43904094,  4.20892571,  3.43904094,  5.63310478,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027084101080807055
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.40495127e-14, -4.09916881e-13,  1.00000000e+00,  2.62549765e-26,
        1.00000000e+00,  4.09916881e-13, -1.00000000e+00,  0.00000000e+00,
        6.40495127e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10404485, -0.09521341,  0.06199163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.66895394e-06, 1.09555786e-05, 3.56950812e-05, 6.60474223e-06,
 -9.45147768e-06, 1.16643418e-05, 3.05219758e-05,-1.10318480e-05,
 -2.88543218e-05,-2.05273823e-07, 2.75755862e-05, 2.92251688e-05,
 -5.77008345e-05,-7.76849398e-05, 1.04732184e-05,-4.47650027e-05,
 -1.76854552e-07, 1.87177113e-06,-1.21644029e+00,-1.78768001e-03,
 -3.00747673e-04, 1.73099682e-06]


--- Step 1260 ---
qpos:
[ 2.87312827e-03,-5.59533906e-03,-1.02210168e-02, 2.77491764e-03,
 -4.43908219e-03,-5.18215705e-03,-1.77726115e-02, 5.23360117e-03,
 -4.72984131e-03,-3.92113920e-03,-7.80423544e-03,-1.91914149e-02,
  1.29648859e+00, 1.88659901e-02, 1.28279725e+00, 2.47690850e-02,
  9.49100520e-02,-6.99924987e-02, 1.30730681e-01, 9.95785023e-01,
  1.94205520e-04,-5.70707871e-04,-9.17159953e-02]

qacc:
[-5.42493436e+00, 1.45824720e+00,-7.25270860e+00, 1.56813119e+01,
  1.95809863e+00,-1.45311230e+00, 7.74540068e+00,-1.68789947e+01,
 -1.24180199e-02,-6.74893648e-01, 4.20538184e-01, 5.39780835e+00,
 -5.16818348e-01, 4.33426659e-01, 9.09863423e+00,-3.23731825e+01,
 -6.91555977e-01, 1.74818649e+00,-4.02794444e-01,-2.17447468e+01,
 -1.66494926e+01,-7.47254643e-01]

qfrc_actuator:
[-2.99868135e-05,-3.61750050e-04,-2.24465029e-04,-9.83814212e-05,
  2.76455021e-05,-4.04650390e-04,-2.73837665e-04,-1.38419700e-04,
  2.45330485e-05,-2.62133175e-04,-2.51061383e-04,-9.52381387e-05,
  8.30022485e-03,-1.40051107e-03, 3.58906717e-03,-1.61271992e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4446464 , -1.35824237,  4.2320278 , -1.35824237, 18.87184711,
        4.63031818,  4.2320278 ,  4.63031818,  5.93071753,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026870652298845166
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.06586541e-13, -5.16466353e-14,  1.00000000e+00,  1.06694998e-26,
        1.00000000e+00,  5.16466353e-14, -1.00000000e+00,  0.00000000e+00,
        2.06586541e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1040425 , -0.09521555,  0.0619917 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.18955655e-05,-9.41081003e-06,-1.25506004e-05, 2.30016098e-05,
  1.15479443e-05, 3.84764294e-05, 2.40953446e-05,-2.25217423e-05,
 -1.78572589e-07,-1.59665907e-05, 1.95861120e-05, 1.85029615e-05,
 -5.51327825e-05,-2.21192486e-05,-6.25182835e-05,-1.74372332e-04,
  2.55605619e-06, 3.88163112e-06,-1.21644328e+00,-1.78653917e-03,
 -3.01625702e-04, 2.30492822e-06]


--- Step 1261 ---
qpos:
[ 2.87259261e-03,-5.59484253e-03,-1.02212852e-02, 2.77493476e-03,
 -4.43839863e-03,-5.18150110e-03,-1.77719705e-02, 5.23283025e-03,
 -4.72935900e-03,-3.91943093e-03,-7.80506386e-03,-1.91913172e-02,
  1.29672436e+00, 1.88649089e-02, 1.28299730e+00, 2.47642012e-02,
  9.49067794e-02,-6.99828577e-02, 1.30729949e-01, 9.95777576e-01,
  1.27463977e-04,-6.08920858e-04,-9.17966885e-02]

qacc:
[ -6.41855892,  3.5933604 ,-15.50593916, 27.88327718,  1.18877589,
   1.93490628, -8.74856333, 17.42424855,  6.09069282,  2.16083354,
  -6.87802911,  5.9931966 , -0.52114324,  0.53138044, -0.04227212,
  -1.47228892,  0.81273177, -0.95934646,  0.43679853,  9.38189438,
  17.10186952,  0.16582845]

qfrc_actuator:
[-6.66973769e-05,-3.75820008e-04,-2.71723828e-04,-6.79581034e-05,
  3.43820119e-05,-4.24852547e-04,-2.98896664e-04,-1.16438279e-04,
  6.05125744e-05,-2.58484969e-04,-2.95394735e-04,-1.03099998e-04,
  8.27099243e-03,-1.39142453e-03, 3.56379951e-03,-1.62343429e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46009292, -1.94419451,  4.01404242, -1.94419451, 20.01227821,
        7.53267406,  4.01404242,  7.53267406,  8.10853057,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027407886732142006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01268572e-13, -2.02537145e-13,  1.00000000e+00,  2.05106475e-26,
        1.00000000e+00,  2.02537145e-13, -1.00000000e+00,  0.00000000e+00,
        1.01268572e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08441946, -0.05600951,  0.06199153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.76279238e-05,-2.09742028e-05,-4.99623631e-05, 3.00338507e-05,
  7.08095651e-06, 5.30062840e-06,-1.49383254e-05, 2.40243796e-05,
  3.59721029e-05,-4.98172716e-07,-4.45965527e-05,-7.51151089e-06,
 -6.40565221e-05,-9.32575815e-06,-7.62843182e-05,-2.90784483e-05,
  4.94887848e-06, 6.79624049e-06,-1.21645093e+00,-1.78471862e-03,
 -3.02054488e-04, 3.68520358e-06]


--- Step 1262 ---
qpos:
[ 2.87162068e-03,-5.59422005e-03,-1.02224679e-02, 2.77496201e-03,
 -4.43798418e-03,-5.18111089e-03,-1.77711579e-02, 5.23199694e-03,
 -4.72844905e-03,-3.91766105e-03,-7.80640830e-03,-1.91913158e-02,
  1.29695969e+00, 1.88634832e-02, 1.28319711e+00, 2.47590770e-02,
  9.49067945e-02,-6.99769482e-02, 1.30730396e-01, 9.95770138e-01,
  8.25111058e-05,-6.15866847e-04,-9.18773437e-02]

qacc:
[-3.84696235e+00, 2.75027087e+00,-9.59439222e+00, 1.11250419e+01,
 -2.33686867e+00,-9.54511547e-01, 3.16527609e+00,-4.33298126e+00,
  3.72656547e+00, 1.31813360e+00,-4.18722332e+00, 3.31230944e+00,
 -1.40126362e-01,-1.78988140e-01, 3.74028033e-01,-1.81775699e+00,
  8.21908244e-01,-9.32892909e-01, 2.94524052e-01, 9.41324328e+00,
  1.65675571e+01, 1.07112063e-02]

qfrc_actuator:
[-8.80708981e-05,-3.66705575e-04,-3.17238190e-04,-6.78484955e-05,
  2.03153474e-05,-4.55041539e-04,-2.96255532e-04,-1.20979851e-04,
  8.14880527e-05,-2.57090961e-04,-3.21198502e-04,-1.07786618e-04,
  8.23967004e-03,-1.42113789e-03, 3.57876151e-03,-1.62768954e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46997708,  1.76393976, -4.10721458,  1.76393976, 11.90232206,
        3.1919951 , -4.10721458,  3.1919951 ,  5.84085434,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027744473643186163
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00080030e-13, -4.00160060e-13,  1.00000000e+00,  8.00640369e-26,
        1.00000000e+00,  4.00160060e-13, -1.00000000e+00,  0.00000000e+00,
        2.00080030e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08442339, -0.05600843,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24568166e-05,-1.16739657e-05,-5.49622019e-05,-1.93224891e-06,
 -1.38622162e-05,-2.93082283e-05, 2.71336740e-06,-4.36529885e-06,
  2.20092600e-05,-8.45566211e-06,-3.16706287e-05,-6.40076618e-06,
 -6.73026778e-05,-4.65585106e-05,-2.50214584e-05,-1.60105419e-05,
  4.02724811e-06, 4.12170418e-06,-1.21644510e+00,-1.78432574e-03,
 -3.00674928e-04, 2.90648564e-06]


--- Step 1263 ---
qpos:
[ 2.87074464e-03,-5.59351629e-03,-1.02241821e-02, 2.77393358e-03,
 -4.43739671e-03,-5.18076939e-03,-1.77706692e-02, 5.23112263e-03,
 -4.72832889e-03,-3.91622214e-03,-7.80737826e-03,-1.91910367e-02,
  1.29719470e+00, 1.88614454e-02, 1.28339676e+00, 2.47538906e-02,
  9.49101245e-02,-6.99746849e-02, 1.30731543e-01, 9.95762690e-01,
  5.93076578e-05,-5.92404451e-04,-9.19582037e-02]

qacc:
[  0.8200952 , -0.58296675,  6.68770377,-24.16452868,  1.49943676,
   0.75323343, -2.61130856,  2.46136403, -6.89674923, -0.89874774,
   1.42223053,  3.00031348,  0.14398713, -0.63261197, -0.07752932,
  -0.14490177,  0.82875027, -0.91153812,  0.17500955,  9.43172937,
  16.13900904, -0.11034826]

qfrc_actuator:
[-8.24918492e-05,-3.61561479e-04,-3.43525157e-04,-1.21057604e-04,
  2.96236532e-05,-4.55398929e-04,-3.12851537e-04,-1.23334041e-04,
  4.01948787e-05,-2.74752106e-04,-3.00328107e-04,-9.27887082e-05,
  8.22308056e-03,-1.45594159e-03, 3.58055858e-03,-1.62804887e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47259978,  1.71071921, -4.13250391,  1.71071921, 15.81627849,
        4.69590579, -4.13250391,  4.69590579,  6.41654863,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027832877011389756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.98889064e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.98889064e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0844262 , -0.05600723,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.93467263e-06,-1.28332016e-05,-3.55267334e-05,-5.56464750e-05,
  8.90075137e-06,-1.63996445e-05,-2.24780515e-05,-3.60121905e-06,
 -4.06618266e-05,-2.92427736e-05, 1.49969153e-05, 1.34137195e-05,
 -6.18444041e-05,-6.39302874e-05,-1.55246224e-05,-5.34855141e-06,
  2.85977864e-06, 1.76496368e-06,-1.21644166e+00,-1.78419619e-03,
 -2.99812033e-04, 2.35626141e-06]


--- Step 1264 ---
qpos:
[ 2.86994225e-03,-5.59305544e-03,-1.02258578e-02, 2.77262311e-03,
 -4.43635765e-03,-5.18025497e-03,-1.77707892e-02, 5.23021814e-03,
 -4.72870422e-03,-3.91526596e-03,-7.80771436e-03,-1.91905789e-02,
  1.29742915e+00, 1.88594639e-02, 1.28359552e+00, 2.47514787e-02,
  9.49167902e-02,-6.99759991e-02, 1.30732989e-01, 9.95755213e-01,
  5.78133188e-05,-5.39218886e-04,-9.20394569e-02]

qacc:
[ 0.64943797,-1.0106373 , 4.32597594,-9.08750628, 3.91638544, 1.8590563 ,
 -6.18340488, 6.52256388,-4.30959032,-2.0332546 , 5.58390112,-3.16426772,
 -0.19167165, 0.09365541,-9.72745903,32.11691111, 0.83391731,-0.89436757,
  0.07480485, 9.44180016,15.79675649,-0.20443441]

qfrc_actuator:
[-7.88515358e-05,-3.76557926e-04,-3.40540153e-04,-1.34185657e-04,
  5.26224802e-05,-4.37968110e-04,-3.40562892e-04,-1.24372228e-04,
  1.58447803e-05,-3.03478414e-04,-2.69889940e-04,-8.40682070e-05,
  8.20468346e-03,-1.44013607e-03, 3.54250324e-03,-1.48413146e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46934559,  1.6400128 , -4.15757238,  1.6400128 , 20.99769084,
        6.51983784, -4.15757238,  6.51983784,  7.04118717,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000277231320352761
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00234054e-13, -4.00468108e-13,  1.00000000e+00,  8.01873529e-26,
        1.00000000e+00,  4.00468108e-13, -1.00000000e+00,  0.00000000e+00,
        2.00234054e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08442811, -0.05600592,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.78035061e-06,-3.18940329e-05,-5.95253786e-06,-1.59858189e-05,
  2.32493262e-05, 3.45007949e-06,-3.40004482e-05,-2.58908260e-06,
 -2.55190276e-05,-4.14619457e-05, 2.67050850e-05, 8.24825886e-06,
 -6.47672763e-05,-1.72881754e-05,-5.00031547e-05, 1.40693233e-04,
  1.44419480e-06,-3.13848420e-07,-1.21644047e+00,-1.78433987e-03,
 -2.99445016e-04, 2.02216040e-06]


--- Step 1265 ---
qpos:
[ 2.86953470e-03,-5.59290683e-03,-1.02272043e-02, 2.77149922e-03,
 -4.43505088e-03,-5.17974571e-03,-1.77706406e-02, 5.22892448e-03,
 -4.72902370e-03,-3.91498604e-03,-7.80753511e-03,-1.91899866e-02,
  1.29766299e+00, 1.88576543e-02, 1.28379344e+00, 2.47508343e-02,
  9.49268075e-02,-6.99808358e-02, 1.30734399e-01, 9.95747689e-01,
  7.79904689e-05,-4.56853746e-04,-9.21212490e-02]

qacc:
[ 3.46961512e+00,-9.55218689e-01, 2.00786981e+00, 9.37046074e-01,
  2.34280704e+00,-1.56270278e+00, 7.19736114e+00,-1.43506385e+01,
  5.16673808e-01,-2.05848281e+00, 5.47345289e+00,-3.47125845e+00,
 -3.94634063e-01, 3.82854635e-01,-6.55522899e+00, 2.12215552e+01,
  8.37910193e-01,-8.80638056e-01,-9.03732538e-03, 9.44676911e+00,
  1.55251445e+01,-2.77123179e-01]

qfrc_actuator:
[-5.86379501e-05,-3.85594385e-04,-3.20349295e-04,-1.23616445e-04,
  6.57351885e-05,-4.27819145e-04,-3.21271240e-04,-1.42367869e-04,
  1.94347756e-05,-3.56312294e-04,-2.51872921e-04,-7.91263044e-05,
  8.17458365e-03,-1.42989399e-03, 3.49658609e-03,-1.39848101e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46152603,  1.54915284, -4.18393834,  1.54915284, 27.82060531,
        8.64897639, -4.18393834,  8.64897639,  7.66391221,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027457028692765006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01087324e-13, -2.02174648e-13,  1.00000000e+00,  2.04372942e-26,
        1.00000000e+00,  2.02174648e-13, -1.00000000e+00,  0.00000000e+00,
        1.01087324e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08442932, -0.05600454,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.03119205e-05,-2.87764588e-05, 1.23343282e-05, 8.69117722e-06,
  1.37818981e-05, 4.93743728e-06, 1.57226812e-05,-1.90746779e-05,
  2.84813164e-06,-7.01920003e-05, 1.30201584e-05, 4.24942321e-06,
 -6.71118846e-05,-9.64613590e-06,-5.53803244e-05, 8.66141651e-05,
 -2.21436478e-07,-2.14400603e-06,-1.21644140e+00,-1.78476388e-03,
 -2.99557732e-04, 1.89459093e-06]


--- Step 1266 ---
qpos:
[ 2.86937246e-03,-5.59280407e-03,-1.02284058e-02, 2.77048873e-03,
 -4.43359678e-03,-5.17935875e-03,-1.77702307e-02, 5.22778579e-03,
 -4.72964293e-03,-3.91522632e-03,-7.80689099e-03,-1.91890106e-02,
  1.29789644e+00, 1.88561002e-02, 1.28399120e+00, 2.47491465e-02,
  9.49401893e-02,-6.99891515e-02, 1.30735493e-01, 9.95740099e-01,
  1.19806761e-04,-3.45736562e-04,-9.22036912e-02]

qacc:
[  2.1511232 , -0.23671636,  0.27014619,  1.50203876,  1.29529537,
  -0.57506597,  1.1575579 ,  1.20100559, -2.60044981, -1.19156887,
   1.64200515,  4.62419488, -0.54234618,  0.67072714,  2.99007623,
 -10.64741069,  0.84110711, -0.86974464, -0.07903776,  9.44907998,
  15.3115628 , -0.3328022 ]

qfrc_actuator:
[-4.65836882e-05,-3.73135731e-04,-3.07893675e-04,-1.16937310e-04,
  7.29194887e-05,-4.39682998e-04,-3.09916791e-04,-1.34661656e-04,
  3.93043073e-06,-3.69966199e-04,-2.23690984e-04,-5.87261163e-05,
  8.17476768e-03,-1.40537543e-03, 3.48858471e-03,-1.45440925e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45031273,  1.43483885, -4.21266197,  1.43483885, 36.75271796,
       11.00224663, -4.21266197, 11.00224663,  8.19769408,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002706936136692706
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.15210132e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.15210132e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08442998, -0.05600309,  0.06199164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26250211e-05,-6.91813027e-07, 8.34774977e-06, 6.04654683e-06,
  7.58127891e-06,-6.68519188e-06, 1.36456173e-05, 8.09145152e-06,
 -1.54470242e-05,-5.00472539e-05, 1.54277549e-05, 1.79248882e-05,
 -3.65189690e-05, 6.48674915e-06,-2.60514318e-05,-5.86926612e-05,
 -2.13907021e-06,-3.74679230e-06,-1.21644438e+00,-1.78547332e-03,
 -3.00137717e-04, 1.96628413e-06]


--- Step 1267 ---
qpos:
[ 2.86935611e-03,-5.59267770e-03,-1.02295029e-02, 2.76990506e-03,
 -4.43241261e-03,-5.17900076e-03,-1.77699798e-02, 5.22676568e-03,
 -4.73009848e-03,-3.91570823e-03,-7.80573465e-03,-1.91878376e-02,
  1.29812965e+00, 1.88547681e-02, 1.28418907e+00, 2.47463813e-02,
  9.49569462e-02,-7.00009120e-02, 1.30736037e-01, 9.95732423e-01,
  1.83236824e-04,-2.06199391e-04,-9.22868675e-02]

qacc:
[  1.27932362,  0.61606602, -3.95723361, 11.16423294, -2.3585224 ,
   0.65448981, -2.88197736,  5.20152871,  1.45323418, -1.34830762,
   3.50814258, -0.73630599, -0.43336605,  0.56445169,  3.48301563,
 -11.81594439,  0.84379181, -0.86119426, -0.13735366,  9.45051325,
  15.14583654, -0.37492301]

qfrc_actuator:
[-3.94334136e-05,-3.65674128e-04,-3.00026762e-04,-9.48410446e-05,
  5.88073882e-05,-4.46882718e-04,-3.21177490e-04,-1.29675434e-04,
  1.28079908e-05,-3.59997680e-04,-1.89565765e-04,-4.71066161e-05,
  8.17182014e-03,-1.39019598e-03, 3.50862769e-03,-1.50441763e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026588994539605837
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08443021, -0.0560016 ,  0.06199178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.51138075e-06, 9.07560697e-06, 8.97623216e-06, 2.24773827e-05,
 -1.38979826e-05,-7.78656896e-06,-1.06876276e-05, 5.32996149e-06,
  8.41769255e-06,-1.40718592e-05, 2.63016954e-05, 1.03564380e-05,
 -2.06073647e-05, 9.09591150e-06,-2.53099794e-06,-5.75305055e-05,
 -4.31093923e-06,-5.13736131e-06,-1.21644933e+00,-1.78647182e-03,
 -3.01175433e-04, 2.23190402e-06]


--- Step 1268 ---
qpos:
[ 2.86977060e-03,-5.59254998e-03,-1.02301817e-02, 2.76922619e-03,
 -4.43209644e-03,-5.17871592e-03,-1.77698652e-02, 5.22616305e-03,
 -4.73044442e-03,-3.91608026e-03,-7.80485383e-03,-1.91868710e-02,
  1.29836250e+00, 1.88534895e-02, 1.28438697e+00, 2.47452979e-02,
  9.49711219e-02,-7.00052216e-02, 1.30736460e-01, 9.95724729e-01,
  1.99415122e-04,-9.87734541e-05,-9.23699826e-02]

qacc:
[  3.78172147, -1.37073891,  5.27901716, -7.58247733, -7.57246659,
   1.15833519, -6.00749023, 13.47763522,  0.94899102,  0.48859699,
  -0.66473755, -2.54016728, -0.19628489,  0.1519317 , -5.04238964,
  17.7292298 , -0.64530766,  1.86271423, -0.03031311,-22.04332633,
 -18.16745356,  0.03750681]

qfrc_actuator:
[-1.74716158e-05,-3.61261883e-04,-2.77177767e-04,-9.93585374e-05,
  1.45231622e-05,-4.51328367e-04,-3.27938901e-04,-1.08594175e-04,
  1.82185430e-05,-3.53678821e-04,-2.05365762e-04,-5.84748988e-05,
  8.14036605e-03,-1.39844127e-03, 3.54015278e-03,-1.40840172e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44180246,  1.95616362, -3.9878607 ,  1.95616362, 17.68015343,
        6.4938027 , -3.9878607 ,  6.4938027 ,  7.62720475,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002677018954758831
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.68481476e-13, -2.07361816e-13,  1.00000000e+00,  3.49366248e-26,
        1.00000000e+00,  2.07361816e-13, -1.00000000e+00,  0.00000000e+00,
        1.68481476e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10400847, -0.09523268,  0.06199173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.21791852e-05, 1.23167596e-05, 2.66194366e-05,-3.37737964e-06,
 -4.46851573e-05,-1.07975095e-05,-9.50614057e-06, 2.04830215e-05,
  5.64441681e-06, 4.32871166e-06,-1.51200483e-05,-1.08638273e-05,
 -4.01035431e-05,-1.00397212e-05, 1.89418663e-05, 9.13571114e-05,
 -6.73973062e-06,-6.32608246e-06,-1.21645622e+00,-1.78776197e-03,
 -3.02663677e-04, 2.68772006e-06]


--- Step 1269 ---
qpos:
[ 2.87044538e-03,-5.59259537e-03,-1.02307325e-02, 2.76819618e-03,
 -4.43265853e-03,-5.17858925e-03,-1.77695370e-02, 5.22614957e-03,
 -4.73037783e-03,-3.91630317e-03,-7.80448347e-03,-1.91860365e-02,
  1.29859468e+00, 1.88529492e-02, 1.28458473e+00, 2.47444374e-02,
  9.49826531e-02,-7.00022440e-02, 1.30736236e-01, 9.95716971e-01,
  1.68628053e-04,-2.22671583e-05,-9.24536911e-02]

qacc:
[  2.28356421, -1.31414211,  5.82814207,-11.97422514, -7.64944441,
   0.42208667, -4.26946945, 14.21284903,  3.59291333,  1.34475981,
  -3.9630162 ,  2.39528112, -0.96919046,  1.37789541, -0.77528899,
   2.67474356, -0.66113199,  1.82181818, -0.16178544,-21.95428833,
 -17.56288322, -0.29306868]

qfrc_actuator:
[-4.71883635e-06,-3.94171702e-04,-2.81200450e-04,-1.19493005e-04,
 -2.94056738e-05,-4.54065791e-04,-3.14207171e-04,-7.82022257e-05,
  3.92901137e-05,-3.49804625e-04,-2.32785412e-04,-6.55587599e-05,
  8.11313129e-03,-1.34965122e-03, 3.51466146e-03,-1.40462587e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44979921, -1.6444136 ,  4.13480555, -1.6444136 , 10.00988652,
        2.21124865,  4.13480555,  2.21124865,  5.32921356,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027051432008437515
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15428354e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.15428354e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10400354, -0.09523376,  0.06199164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33904674e-05,-2.06572659e-05, 1.69004700e-06,-1.87496076e-05,
 -4.52140935e-05,-9.88713444e-06, 1.10378043e-05, 3.00013448e-05,
  2.12352401e-05, 2.70849203e-06,-2.87723644e-05,-7.63672763e-06,
 -4.90777094e-05, 3.62897618e-05,-1.22248618e-05, 1.00351302e-05,
 -2.14838011e-06,-5.44934039e-06,-1.21644756e+00,-1.78724976e-03,
 -3.05975996e-04, 6.35731630e-07]


--- Step 1270 ---
qpos:
[ 2.87126819e-03,-5.59297831e-03,-1.02315165e-02, 2.76732572e-03,
 -4.43339829e-03,-5.17868563e-03,-1.77689750e-02, 5.22616188e-03,
 -4.73005909e-03,-3.91653536e-03,-7.80413072e-03,-1.91853072e-02,
  1.29882629e+00, 1.88530123e-02, 1.28478154e+00, 2.47434516e-02,
  9.49914917e-02,-6.99921113e-02, 1.30734923e-01, 9.95709102e-01,
  9.11225747e-05, 2.42748667e-05,-9.25385065e-02]

qacc:
[  1.293481  ,  0.53153301, -3.22025261,  6.60726103, -1.53840498,
  -0.89166193,  2.64810267, -2.41744353,  2.20702955, -0.18414153,
   1.07481594, -2.85151093, -0.7753967 ,  1.09904978, -0.93331072,
   1.44599758, -0.67314626,  1.78875354, -0.27225967,-21.8740062 ,
 -17.07770575, -0.55307679]

qfrc_actuator:
[ 2.50675006e-06,-4.31548194e-04,-3.01223130e-04,-1.13198358e-04,
 -3.72585555e-05,-4.73416654e-04,-3.06227577e-04,-7.80677807e-05,
  5.16589034e-05,-3.47480422e-04,-2.31326438e-04,-7.00635865e-05,
  8.08314165e-03,-1.32060403e-03, 3.43899717e-03,-1.41990246e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45112216, -1.58125339,  4.16078432, -1.58125339, 12.98848759,
        3.24451762,  4.16078432,  3.24451762,  5.68415999,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027097590361778445
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.04856412e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.04856412e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1039999 , -0.09523535,  0.06199163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.60270830e-06,-4.93694243e-05,-2.47221917e-05, 5.10604199e-06,
 -9.15420944e-06,-2.13386475e-05, 8.33191001e-06, 6.77640534e-07,
  1.29774619e-05,-2.42149683e-06,-1.79387246e-06,-5.53606712e-06,
 -4.63836658e-05, 2.86072100e-05,-8.51387584e-05,-1.73876764e-05,
  1.92287238e-06,-3.75997506e-06,-1.21644407e+00,-1.78609146e-03,
 -3.08759893e-04,-5.33921226e-07]


--- Step 1271 ---
qpos:
[ 2.87217130e-03,-5.59358491e-03,-1.02325809e-02, 2.76652661e-03,
 -4.43388190e-03,-5.17904464e-03,-1.77685304e-02, 5.22586052e-03,
 -4.73062924e-03,-3.91662653e-03,-7.80386250e-03,-1.91843074e-02,
  1.29905750e+00, 1.88532424e-02, 1.28497707e+00, 2.47446283e-02,
  9.49976011e-02,-6.99749301e-02, 1.30732149e-01, 9.95701079e-01,
 -3.28934959e-05, 4.16166092e-05,-9.26248301e-02]

qacc:
[  0.69740463,  0.63375877, -2.99206389,  4.84226019,  2.23453309,
  -0.66919962,  3.19924392, -8.23944378, -7.78690938,  0.99515   ,
  -4.39128821,  9.07126114, -0.16349397,  0.17190839, -8.44064757,
  26.79343454, -0.68228174,  1.76214193, -0.36503514,-21.80440933,
 -16.68957079, -0.75726064]

qfrc_actuator:
[ 6.42415449e-06,-4.35865762e-04,-3.12783285e-04,-1.09169119e-04,
 -2.38151386e-05,-5.02607415e-04,-3.19557518e-04,-9.57601520e-05,
  5.54349775e-06,-3.28234820e-04,-2.30581585e-04,-5.52424130e-05,
  8.05684017e-03,-1.32131556e-03, 3.39189024e-03,-1.30433053e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44708242, -1.50048077,  4.18629903, -1.50048077, 16.96231842,
        4.48579301,  4.18629903,  4.48579301,  6.05490979,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002695631549249622
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.05930040e-13, -2.05930040e-13,  1.00000000e+00,  4.24071813e-26,
        1.00000000e+00,  2.05930040e-13, -1.00000000e+00,  0.00000000e+00,
        2.05930040e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10399727, -0.09523735,  0.06199167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.12043515e-06,-3.67878172e-05,-2.46118140e-05, 1.16190390e-06,
  1.31731769e-05,-3.93795400e-05,-1.66926687e-05,-1.83057884e-05,
 -4.57455830e-05, 1.72921146e-05,-1.71000242e-07, 1.45452463e-05,
 -4.46935847e-05,-2.11196819e-06,-8.92891333e-05, 1.03447010e-04,
  5.57799869e-06,-1.22068265e-06,-1.21644554e+00,-1.78427105e-03,
 -3.11064738e-04,-8.65052720e-07]


--- Step 1272 ---
qpos:
[ 2.87345945e-03,-5.59459683e-03,-1.02334426e-02, 2.76577173e-03,
 -4.43454576e-03,-5.17941480e-03,-1.77684005e-02, 5.22602182e-03,
 -4.73140295e-03,-3.91616600e-03,-7.80407066e-03,-1.91831642e-02,
  1.29928852e+00, 1.88525883e-02, 1.28517195e+00, 2.47460953e-02,
  9.50008370e-02,-6.99634163e-02, 1.30730767e-01, 9.95693365e-01,
 -1.13592036e-04, 5.01541682e-05,-9.27076483e-02]

qacc:
[ 3.38148154,-1.01767574, 2.65325338,-1.90151585,-1.58130279, 1.82007478,
 -8.4592278 ,16.97329477,-1.80632591, 2.3599684 ,-7.95418356,10.78233739,
  0.48302043,-1.1523859 ,-1.91920685, 5.13452149,-0.71839572,-1.41685966,
  0.34762721,21.9733314 ,-2.37709214, 1.76025074]

qfrc_actuator:
[ 2.61178126e-05,-4.55832092e-04,-3.01372731e-04,-1.06474740e-04,
 -3.34619705e-05,-4.84315430e-04,-3.27662907e-04,-7.05615567e-05,
 -3.61171558e-06,-2.81230336e-04,-2.47943872e-04,-4.69119256e-05,
  8.02210656e-03,-1.39294537e-03, 3.36730789e-03,-1.29001338e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44459361, -0.20823951,  4.43971268, -0.20823951, 21.59996839,
        0.80465272,  4.43971268,  0.80465272,  4.4823349 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002686879194373215
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03300423e-13,  2.06600845e-13,  1.00000000e+00, -2.13419546e-26,
        1.00000000e+00, -2.06600845e-13, -1.00000000e+00,  0.00000000e+00,
        1.03300423e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10268922, -0.04724893,  0.0619917 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.98026938e-05,-4.55373630e-05, 8.40631008e-07, 2.94271179e-07,
 -9.28149292e-06,-7.94783983e-06,-1.89298261e-05, 2.25773378e-05,
 -1.04559518e-05, 5.72418915e-05,-1.33115734e-05, 9.34747731e-06,
 -5.90857736e-05,-8.19357008e-05,-5.40596472e-05, 8.63961771e-06,
  8.89392903e-06, 2.19148336e-06,-1.21645178e+00,-1.78177722e-03,
 -3.12927356e-04,-3.90694980e-07]


--- Step 1273 ---
qpos:
[ 2.87359383e-03,-5.59560851e-03,-1.02343386e-02, 2.76501884e-03,
 -4.43532002e-03,-5.17981989e-03,-1.77681358e-02, 5.22680012e-03,
 -4.73159083e-03,-3.91534914e-03,-7.80442663e-03,-1.91822733e-02,
  1.29951920e+00, 1.88511448e-02, 1.28536640e+00, 2.47457091e-02,
  9.50013535e-02,-6.99574924e-02, 1.30730136e-01, 9.95685922e-01,
 -1.51725745e-04, 4.91617265e-05,-9.27874971e-02]

qacc:
[-10.09348992,  0.11996687, -0.4016025 ,  0.45394147, -0.95762965,
   0.84913337, -5.69618383, 16.18170311,  5.1178148 ,  0.3541934 ,
   0.46702356, -4.83893558,  0.11315651, -0.7113401 ,  4.95190342,
 -18.30929787, -0.67985902, -1.39747237,  0.18816098, 21.63245238,
  -2.77161203,  1.49138846]

qfrc_actuator:
[-3.38228144e-05,-4.31658667e-04,-2.94303319e-04,-1.04582696e-04,
 -3.88763766e-05,-4.73185483e-04,-3.14636595e-04,-3.80318845e-05,
  2.68320320e-05,-2.71295514e-04,-2.57992153e-04,-6.02096594e-05,
  7.99828580e-03,-1.43513103e-03, 3.33492665e-03,-1.38869992e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45970873, -0.92910999, -4.36185243, -0.92910999, 10.03176206,
       -1.18689261, -4.36185243, -1.18689261,  4.7125265 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002739469302079217
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -4.0526938e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  4.0526938e-13, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10269342, -0.04725137,  0.06199154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.93863542e-05,-1.05368602e-06,-2.20148223e-06,-1.94709443e-08,
 -5.68343383e-06, 3.75131493e-06, 9.83694038e-06, 3.19740527e-05,
  3.01667483e-05, 3.95721822e-05, 4.52688720e-07,-1.11277264e-05,
 -7.37003958e-05,-7.97162570e-05,-5.80887481e-05,-1.05563441e-04,
  5.40538991e-06, 1.40898324e-06,-1.21644490e+00,-1.78046625e-03,
 -3.11092195e-04,-2.56712616e-07]


--- Step 1274 ---
qpos:
[ 2.87197392e-03,-5.59612906e-03,-1.02356781e-02, 2.76425888e-03,
 -4.43580822e-03,-5.18059148e-03,-1.77669418e-02, 5.22691325e-03,
 -4.73175664e-03,-3.91506297e-03,-7.80447542e-03,-1.91818105e-02,
  1.29974916e+00, 1.88501139e-02, 1.28556062e+00, 2.47450356e-02,
  9.49992734e-02,-6.99570935e-02, 1.30729723e-01, 9.95678716e-01,
 -1.47915225e-04, 3.80745980e-05,-9.28648001e-02]

qacc:
[-15.36758448,  1.90403334, -5.76534455,  5.93478867,  2.5296128 ,
  -4.45449793, 17.980719  ,-30.70263688,  0.21180962, -2.44229453,
   9.49293375,-16.99294021, -0.84217806,  1.0150019 ,  0.63349973,
  -2.47046668, -0.64912142, -1.38125136,  0.05416979, 21.34992568,
  -3.07981768,  1.27865312]

qfrc_actuator:
[-1.22406574e-04,-3.81244817e-04,-3.07435329e-04,-1.03147511e-04,
 -2.39964431e-05,-5.01829791e-04,-2.71502360e-04,-7.24535026e-05,
  2.70693104e-05,-3.54638315e-04,-2.63790054e-04,-8.61458321e-05,
  7.98635858e-03,-1.38838086e-03, 3.35112733e-03,-1.39338755e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46675066, -0.98410533, -4.35699417, -0.98410533, 13.36523492,
       -2.00988238, -4.35699417, -2.00988238,  4.92071867,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002763520299949307
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.00871154e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.00871154e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10269694, -0.0472527 ,  0.06199146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.02770934e-05, 4.93966995e-05,-1.35952541e-05, 1.32186144e-06,
  1.47165837e-05,-2.31369806e-05, 4.62274938e-05,-3.32993293e-05,
  1.11539975e-06,-6.16147687e-05, 2.03742593e-06,-2.44467838e-05,
 -6.90838920e-05, 6.70020380e-06,-2.47216198e-05,-1.85771082e-05,
  2.41173657e-06, 1.29257336e-06,-1.21644110e+00,-1.77980950e-03,
 -3.09352959e-04,-1.84117828e-07]


--- Step 1275 ---
qpos:
[ 2.87033930e-03,-5.59650131e-03,-1.02370857e-02, 2.76388517e-03,
 -4.43611421e-03,-5.18185113e-03,-1.77648167e-02, 5.22628362e-03,
 -4.73191759e-03,-3.91575229e-03,-7.80431162e-03,-1.91815963e-02,
  1.29997860e+00, 1.88488683e-02, 1.28575446e+00, 2.47462679e-02,
  9.49946948e-02,-6.99621658e-02, 1.30729077e-01, 9.95671716e-01,
 -1.02668977e-04, 1.64528024e-05,-9.29398924e-02]

qacc:
[ -0.13313055,  1.18242726, -5.56156683, 12.24573534,  1.62594705,
  -4.77803572, 19.23180586,-33.21308096,  0.06564505, -2.39598374,
   7.71952621,-11.63999352, -0.10178744, -0.16652237, -6.3544907 ,
  21.38174698, -0.62465367, -1.36778899, -0.05827045, 21.11745885,
  -3.32077903,  1.11016029]

qfrc_actuator:
[-1.20598395e-04,-3.86588237e-04,-3.14512668e-04,-8.42255404e-05,
 -1.50448438e-05,-5.36240464e-04,-2.28904372e-04,-1.10505246e-04,
  2.72647491e-05,-4.39945314e-04,-2.67433578e-04,-1.01635827e-04,
  7.94965887e-03,-1.41342390e-03, 3.35386762e-03,-1.28924253e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4670784 , -1.05260118, -4.34129245, -1.05260118, 17.71219667,
       -3.2114462 , -4.34129245, -3.2114462 ,  5.24573409,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000276463287626344
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00395159e-13, -4.01580635e-13,  1.00000000e+00,  4.03167515e-26,
        1.00000000e+00,  4.01580635e-13, -1.00000000e+00,  0.00000000e+00,
        1.00395159e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10269994, -0.04725315,  0.06199146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.51134672e-07, 1.95375789e-05, 1.52582628e-06, 2.06036538e-05,
  9.36493706e-06,-3.92083470e-05, 4.23555794e-05,-3.80932162e-05,
  2.07669570e-07,-1.20398726e-04,-1.69685390e-05,-1.85357945e-05,
 -7.03255951e-05,-3.87875603e-05,-1.51900756e-05, 9.89464777e-05,
 -1.44347898e-07, 1.80060364e-06,-1.21644027e+00,-1.77980139e-03,
 -3.07662239e-04,-1.93121196e-07]


--- Step 1276 ---
qpos:
[ 2.86908328e-03,-5.59691422e-03,-1.02382295e-02, 2.76443329e-03,
 -4.43665528e-03,-5.18343571e-03,-1.77625187e-02, 5.22592563e-03,
 -4.73138551e-03,-3.91698362e-03,-7.80406781e-03,-1.91816156e-02,
  1.30020745e+00, 1.88478184e-02, 1.28594762e+00, 2.47481570e-02,
  9.49876952e-02,-6.99726649e-02, 1.30727820e-01, 9.95664890e-01,
 -1.64000859e-05,-1.60474168e-05,-9.30130390e-02]

qacc:
[ 3.32121771, 1.10067751,-7.90471136,23.47810213,-2.03900345,-0.34901845,
 -0.51823625, 5.17420537, 6.07905837,-1.43276053, 5.0320874 ,-8.77466875,
 -0.49447787, 0.51772319,-2.93790244, 8.94884407,-0.60523292,-1.3567275 ,
 -0.15249674,20.92805537,-3.50945066, 0.97652829]

qfrc_actuator:
[-1.01098180e-04,-3.89734360e-04,-3.00402437e-04,-3.74493633e-05,
 -2.74134432e-05,-5.56090172e-04,-2.22506920e-04,-9.71335324e-05,
  6.29487509e-05,-4.37010606e-04,-2.52060146e-04,-1.10866312e-04,
  7.93005923e-03,-1.39231731e-03, 3.30062270e-03,-1.26389714e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46204847, -1.13789554, -4.31451854, -1.13789554, 23.31673126,
       -4.97266597, -4.31451854, -4.97266597,  5.77352143,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002747491430904192
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01021518e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.01021518e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10270253, -0.04725291,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.94873425e-05, 9.01298646e-06, 1.90701183e-05, 4.80722672e-05,
 -1.21139330e-05,-3.46329080e-05, 2.18935190e-06, 1.24152559e-05,
  3.56473951e-05,-6.86680116e-05,-1.22197942e-05,-1.53339236e-05,
 -6.38445431e-05,-6.73648748e-06,-5.32272085e-05, 2.80108086e-05,
 -2.30540601e-06, 2.90327001e-06,-1.21644231e+00,-1.78043691e-03,
 -3.05984670e-04,-2.97663254e-07]


--- Step 1277 ---
qpos:
[ 2.86841556e-03,-5.59724713e-03,-1.02389372e-02, 2.76550990e-03,
 -4.43768537e-03,-5.18498246e-03,-1.77608760e-02, 5.22608693e-03,
 -4.72974052e-03,-3.91829701e-03,-7.80362946e-03,-1.91814685e-02,
  1.30043588e+00, 1.88471351e-02, 1.28614022e+00, 2.47483540e-02,
  9.49783361e-02,-6.99885551e-02, 1.30725638e-01, 9.95658209e-01,
  1.10559836e-04,-5.96958397e-05,-9.30844500e-02]

qacc:
[  5.15864156, -0.03456351, -1.97154503, 10.38043113, -4.28548476,
   2.95805806,-12.65314358, 22.64675105,  9.75066189, -0.3287743 ,
   0.28088281,  2.37982015, -0.6653017 ,  0.86780496,  4.37298853,
 -16.31404447, -0.58988055, -1.34775326, -0.23135201, 20.77579506,
  -3.65755238,  0.87034862]

qfrc_actuator:
[-7.13701711e-05,-3.73679846e-04,-2.73884529e-04,-1.01560012e-05,
 -5.22297593e-05,-5.49418578e-04,-2.55196618e-04,-7.13776472e-05,
  1.19235753e-04,-3.98926772e-04,-2.25228980e-04,-9.85042321e-05,
  7.92607019e-03,-1.36159820e-03, 3.25643247e-03,-1.35635549e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45291639, -1.24383175, -4.27566918, -1.24383175, 30.45089681,
       -7.56305323, -4.27566918, -7.56305323,  6.6530786 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027160026944116067
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.0219274e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.0219274e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10270479, -0.04725212,  0.06199161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.02877300e-05, 2.71312892e-05, 3.24095085e-05, 2.92767665e-05,
 -2.51762843e-05,-1.16835675e-05,-3.91507708e-05, 2.45891569e-05,
  5.72784934e-05,-3.43963482e-06, 1.06234085e-05, 8.70087579e-06,
 -3.85265912e-05, 1.43831450e-05,-6.80589359e-05,-9.82864057e-05,
 -4.10276805e-06, 4.57990761e-06,-1.21644715e+00,-1.78171166e-03,
 -3.04293824e-04,-5.07330347e-07]


--- Step 1278 ---
qpos:
[ 2.86879916e-03,-5.59717111e-03,-1.02397002e-02, 2.76655136e-03,
 -4.43866031e-03,-5.18633956e-03,-1.77597276e-02, 5.22617940e-03,
 -4.72777839e-03,-3.91964505e-03,-7.80294192e-03,-1.91808404e-02,
  1.30066403e+00, 1.88463360e-02, 1.28633241e+00, 2.47486691e-02,
  9.49663558e-02,-6.99972188e-02, 1.30723686e-01, 9.95651450e-01,
  1.88264011e-04,-1.35666896e-04,-9.31565146e-02]

qacc:
[  9.18740949,  0.60470607, -1.25470143,  0.46776937,  0.46220027,
   1.48840287, -4.65482878,  4.11685823,  2.78517132,  0.2432566 ,
  -2.97106067, 10.92791706, -0.11165171, -0.02374984, -0.95688031,
   2.48326798, -0.65529055,  1.80662797,  0.05751109,-23.01659271,
 -18.38365846, -0.32578879]

qfrc_actuator:
[-1.81139959e-05,-3.46209342e-04,-2.75704945e-04,-1.22803484e-05,
 -4.86614690e-05,-5.27066989e-04,-2.75074296e-04,-7.40528480e-05,
  1.33929592e-04,-3.93254509e-04,-2.09422339e-04,-7.34929300e-05,
  7.90482448e-03,-1.37861867e-03, 3.26562133e-03,-1.33988354e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47130357,  0.02925627, -4.47120786,  0.02925627, 27.5120307 ,
        0.15076144, -4.47120786,  0.15076144,  4.47229004,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002778923263571098
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99757769e-13, -1.99757769e-13,  1.00000000e+00,  3.99031664e-26,
        1.00000000e+00,  1.99757769e-13, -1.00000000e+00,  0.00000000e+00,
        1.99757769e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10396701, -0.09523861,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.41303469e-05, 5.06218346e-05, 8.79809369e-06, 7.28233060e-07,
  2.84302345e-06, 8.81303588e-06,-2.62633063e-05,-4.05158783e-06,
  1.63238657e-05, 6.38294827e-06, 1.67149266e-05, 2.54005218e-05,
 -3.90157121e-05,-2.07968477e-05,-3.50924867e-05, 1.80465908e-06,
 -5.55919268e-06, 6.81709255e-06,-1.21645474e+00,-1.78362192e-03,
 -3.02569913e-04,-8.28720123e-07]


--- Step 1279 ---
qpos:
[ 2.86981853e-03,-5.59687306e-03,-1.02403801e-02, 2.76722866e-03,
 -4.43924033e-03,-5.18743358e-03,-1.77591703e-02, 5.22589081e-03,
 -4.72634496e-03,-3.92065141e-03,-7.80277777e-03,-1.91799124e-02,
  1.30089189e+00, 1.88453779e-02, 1.28652440e+00, 2.47487857e-02,
  9.49516941e-02,-6.99987701e-02, 1.30721378e-01, 9.95644573e-01,
  2.17412168e-04,-2.42766455e-04,-9.32297105e-02]

qacc:
[  5.55981278, -0.69974626,  4.43903706,-11.01725719,  3.4209642 ,
   1.20818118, -2.20669464, -3.62332214, -4.65066574,  2.54140305,
  -9.65300561, 15.40361202, -0.12982887, -0.03093617,  0.31530196,
  -1.50965818, -0.6703602 ,  1.77808998, -0.08915799,-22.72258889,
 -17.75833823, -0.56243352]

qfrc_actuator:
[ 1.30554777e-05,-3.47755440e-04,-2.76458808e-04,-3.17030882e-05,
 -2.84109714e-05,-5.13226979e-04,-3.04916434e-04,-9.34062943e-05,
  1.06265493e-04,-3.71538519e-04,-2.35868151e-04,-5.90260627e-05,
  7.88920472e-03,-1.38844188e-03, 3.26423783e-03,-1.34794979e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48334851,  0.09088877,  4.48242714,  0.09088877, 10.47261845,
       -0.12144255,  4.48242714, -0.12144255,  4.48581096,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002819132123024759
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.09215445e-13, -5.90725963e-13,  1.00000000e+00,  1.23588995e-25,
        1.00000000e+00,  5.90725963e-13, -1.00000000e+00,  0.00000000e+00,
        2.09215445e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1039622 , -0.09523725,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.27342007e-05, 2.86317739e-05, 1.08145038e-05,-1.69382691e-05,
  2.03363043e-05, 1.32066244e-05,-3.13952261e-05,-1.99634496e-05,
 -2.72008799e-05, 2.98767207e-05,-2.21823139e-05, 1.58128596e-05,
 -4.08257642e-05,-2.46438976e-05,-2.02844671e-05,-1.31418536e-05,
 -2.84788145e-06, 6.56744436e-06,-1.21645028e+00,-1.78437286e-03,
 -3.02964174e-04,-9.07730444e-07]


--- Step 1280 ---
qpos:
[ 2.87120416e-03,-5.59644869e-03,-1.02410075e-02, 2.76768284e-03,
 -4.43991790e-03,-5.18830161e-03,-1.77593078e-02, 5.22572999e-03,
 -4.72525425e-03,-3.92121587e-03,-7.80299234e-03,-1.91791866e-02,
  1.30111949e+00, 1.88442815e-02, 1.28671609e+00, 2.47468401e-02,
  9.49343041e-02,-6.99933033e-02, 1.30718218e-01, 9.95637537e-01,
  1.98585024e-04,-3.80043315e-04,-9.33044038e-02]

qacc:
[  3.20313796, -0.44553482,  2.76173329, -6.78818109, -0.87628195,
   2.50387403, -9.03157006, 12.18576534, -3.02002431,  1.23229086,
  -2.68368537, -0.54321218, -0.26739824,  0.14684279,  5.82952829,
 -20.9707769 , -0.68206957,  1.75452144, -0.21277339,-22.47662799,
 -17.25947707, -0.74376172]

qfrc_actuator:
[ 3.09679546e-05,-3.48935534e-04,-2.76689033e-04,-4.34091525e-05,
 -3.40182585e-05,-5.04643218e-04,-3.40442466e-04,-8.69216521e-05,
  8.94108783e-05,-3.40558752e-04,-2.51487267e-04,-6.86496652e-05,
  7.87697110e-03,-1.39385706e-03, 3.22987776e-03,-1.45923291e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48728615,  0.16629421,  4.48420375,  0.16629421, 14.13029838,
       -0.35760577,  4.48420375, -0.35760577,  4.50054776,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002832111089134809
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.06259787e-13, -5.88018790e-13,  1.00000000e+00,  1.80086509e-25,
        1.00000000e+00,  5.88018790e-13, -1.00000000e+00,  0.00000000e+00,
        3.06259787e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10395868, -0.09523697,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.88579375e-05, 1.63427658e-05, 6.43042877e-06,-1.04369703e-05,
 -5.01758435e-06, 8.66984478e-06,-3.73504801e-05, 5.57644107e-06,
 -1.76235606e-05, 4.38097541e-05,-1.16228695e-05,-8.80250265e-06,
 -3.90043883e-05,-2.19086450e-05,-4.89710653e-05,-1.15483714e-04,
 -6.48164188e-07, 7.33125471e-06,-1.21645107e+00,-1.78442206e-03,
 -3.02823456e-04,-5.68763034e-08]


--- Step 1281 ---
qpos:
[ 2.87279395e-03,-5.59581384e-03,-1.02416854e-02, 2.76833491e-03,
 -4.44100201e-03,-5.18921276e-03,-1.77592597e-02, 5.22596676e-03,
 -4.72402915e-03,-3.92176999e-03,-7.80291801e-03,-1.91792631e-02,
  1.30134662e+00, 1.88436177e-02, 1.28690685e+00, 2.47449547e-02,
  9.49170976e-02,-6.99860977e-02, 1.30717337e-01, 9.95630468e-01,
  1.65033764e-04,-5.16826546e-04,-9.33792116e-02]

qacc:
[  1.78081322,  0.82335201, -3.37341466,  6.73057713, -3.5385356 ,
   0.25003204, -2.6406293 ,  9.24389433,  1.18506613, -2.44924081,
  12.12955648,-26.46806223, -0.57661552,  0.79137211, -1.49860493,
   3.3945112 ,  0.04586757,  0.43472443,  0.56967825, -7.3529892 ,
  -0.44119245, -0.05579373]

qfrc_actuator:
[ 4.09414323e-05,-3.32136503e-04,-2.76607698e-04,-3.27279626e-05,
 -5.48056963e-05,-4.99281339e-04,-3.25781041e-04,-6.52905736e-05,
  9.68200960e-05,-3.57515518e-04,-2.42793044e-04,-1.10098162e-04,
  7.86145144e-03,-1.36107950e-03, 3.18639969e-03,-1.45297674e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48396093, -1.64969722,  4.16946096, -1.64969722, 20.87905368,
        6.486915  ,  4.16946096,  6.486915  ,  7.05058662,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028211560278380073
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.53092052e-14, -5.01741697e-07,  1.00000000e+00, -4.78206024e-20,
        1.00000000e+00,  5.01741697e-07, -1.00000000e+00,  0.00000000e+00,
       -9.53092052e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09407915, -0.07534309,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05175435e-05, 2.68121536e-05, 3.88715234e-06, 1.13991809e-05,
 -2.09269807e-05, 2.76604542e-06, 1.20563870e-05, 2.08213272e-05,
  6.92020387e-06, 4.78245270e-06, 1.60160847e-05,-4.01447879e-05,
 -4.17048897e-05, 1.79613232e-05,-8.16409595e-05,-7.08921445e-06,
  1.14215951e-06, 9.09106016e-06,-1.21645682e+00,-1.78376737e-03,
 -3.02193732e-04, 1.66615588e-06]


--- Step 1282 ---
qpos:
[ 2.87380154e-03,-5.59537059e-03,-1.02418993e-02, 2.76912588e-03,
 -4.44198193e-03,-5.19041061e-03,-1.77583595e-02, 5.22644540e-03,
 -4.72306992e-03,-3.92216571e-03,-7.80308474e-03,-1.91794723e-02,
  1.30157329e+00, 1.88433589e-02, 1.28709692e+00, 2.47421120e-02,
  9.49032284e-02,-6.99827582e-02, 1.30718065e-01, 9.95623404e-01,
  1.53138788e-04,-6.22267931e-04,-9.34538706e-02]

qacc:
[-5.07483055,-1.25415069, 3.53516766,-1.75095642, 0.94025723,-2.26294367,
  6.49545665,-3.45897277,-2.33794117, 0.61468872,-1.32088867,-0.71207198,
 -0.64887319, 0.8611296 , 1.94133   ,-8.10942685, 0.83433304,-0.96656715,
  0.40212597, 9.31752819,16.61358577, 0.06615998]

qfrc_actuator:
[ 1.06618395e-05,-3.57942571e-04,-2.58504822e-04,-2.66988102e-05,
 -4.88479643e-05,-5.13426515e-04,-2.81609509e-04,-5.26451887e-05,
  8.29423151e-05,-3.49721501e-04,-2.55532213e-04,-1.16702533e-04,
  7.83866265e-03,-1.34140693e-03, 3.15349587e-03,-1.50176283e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49855786, -1.70050411,  4.16476993, -1.70050411, 16.49946484,
        4.90005258,  4.16476993,  4.90005258,  6.49928291,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028688270912974323
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.67488619e-14,  1.93497724e-13,  1.00000000e+00, -1.87206846e-26,
        1.00000000e+00, -1.93497724e-13, -1.00000000e+00,  0.00000000e+00,
        9.67488619e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08446758, -0.0559738 ,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.99717132e-05,-9.53920248e-06, 2.45113822e-05, 7.53223066e-06,
  5.35741242e-06,-9.19139465e-06, 4.69590441e-05, 1.35886588e-05,
 -1.36791570e-05, 1.20827985e-05,-1.11610086e-05,-6.62585974e-06,
 -4.12069679e-05, 1.61807610e-05,-7.21460664e-05,-5.98478667e-05,
  1.65668213e-06, 9.19907432e-06,-1.21645730e+00,-1.78342801e-03,
 -3.00560452e-04, 2.65876845e-06]


--- Step 1283 ---
qpos:
[ 2.87374866e-03,-5.59511655e-03,-1.02418417e-02, 2.76999639e-03,
 -4.44253823e-03,-5.19167490e-03,-1.77572275e-02, 5.22674123e-03,
 -4.72193948e-03,-3.92252593e-03,-7.80308893e-03,-1.91797713e-02,
  1.30179964e+00, 1.88429181e-02, 1.28728668e+00, 2.47389142e-02,
  9.48927088e-02,-6.99831756e-02, 1.30719847e-01, 9.95616331e-01,
  1.62915887e-04,-6.97261934e-04,-9.35286564e-02]

qacc:
[-9.26433761,-0.82679429, 2.28073239,-1.2328808 , 3.70249695,-1.11899398,
  4.62192883,-8.09466221, 1.50326047,-0.59542138, 2.56412716,-4.39685457,
 -0.14487226,-0.03636668, 0.64253594,-2.86712282, 0.83741398,-0.93918047,
  0.26356232, 9.36586107,16.16972024,-0.07264708]

qfrc_actuator:
[-4.30648881e-05,-3.73488549e-04,-2.47835954e-04,-2.34810454e-05,
 -2.71912402e-05,-5.21262462e-04,-2.73730521e-04,-6.31471606e-05,
  9.21441065e-05,-3.44981842e-04,-2.45211749e-04,-1.20501949e-04,
  7.81152810e-03,-1.36524809e-03, 3.16422954e-03,-1.51157043e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50496863,  2.44865326, -3.78138065,  2.44865326, 12.23807943,
        5.00761725, -3.78138065,  5.00761725,  7.74767797,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002889427719960924
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92118151e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.92118151e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08447042, -0.05597226,  0.06199107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.45893309e-05,-1.55235361e-05, 1.19740236e-05, 3.80259988e-06,
  2.18046420e-05,-2.66046287e-06, 1.22377620e-05,-9.00683198e-06,
  8.81463599e-06, 8.92232021e-06, 1.12207955e-05,-3.79465223e-06,
 -4.57360505e-05,-2.77468662e-05,-3.07397282e-05,-2.27518330e-05,
  9.15157784e-07, 7.18110949e-06,-1.21645021e+00,-1.78390433e-03,
 -2.98306396e-04, 2.35699881e-06]


--- Step 1284 ---
qpos:
[ 2.87305169e-03,-5.59477850e-03,-1.02414761e-02, 2.77086078e-03,
 -4.44283088e-03,-5.19243603e-03,-1.77570614e-02, 5.22657389e-03,
 -4.72070735e-03,-3.92328797e-03,-7.80274044e-03,-1.91804154e-02,
  1.30202550e+00, 1.88427449e-02, 1.28747583e+00, 2.47369616e-02,
  9.48855466e-02,-6.99872617e-02, 1.30722218e-01, 9.95609232e-01,
  1.94367380e-04,-7.42530091e-04,-9.36037851e-02]

qacc:
[ -5.62582745, -0.75182123,  2.88654234, -3.56746807,  2.26027931,
   2.40507451, -5.66380899, -1.16829703,  0.9081183 , -2.22980532,
   8.63073848,-14.86261317, -0.42121615,  0.50393387, -4.64228556,
  15.01718284,  0.83933107, -0.91719761,  0.14738848,  9.39946319,
  15.81132032, -0.18187041]

qfrc_actuator:
[-7.46434973e-05,-3.47298971e-04,-2.23867889e-04,-2.19463163e-05,
 -1.42288505e-05,-4.89913185e-04,-3.22852938e-04,-8.72096265e-05,
  9.71102861e-05,-3.95273152e-04,-2.39115328e-04,-1.40360754e-04,
  7.79244142e-03,-1.34376207e-03, 3.14255127e-03,-1.44495229e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50410334,  2.3855828 , -3.82046353,  2.3855828 , 16.36304776,
        7.40498989, -3.82046353,  7.40498989,  9.1279445 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028866588369212687
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.92302431e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.92302431e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08447235, -0.05597068,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.31459313e-05, 2.01143451e-05, 2.23647084e-05, 1.35759942e-06,
  1.35864361e-05, 3.20429587e-05,-4.84760723e-05,-2.39295273e-05,
  5.21951908e-06,-4.31265107e-05, 9.19568227e-06,-1.91610291e-05,
 -4.92568746e-05, 3.01304315e-06,-4.16658076e-05, 6.06674891e-05,
 -7.64609174e-08, 5.46331068e-06,-1.21644550e+00,-1.78464628e-03,
 -2.96544473e-04, 2.25824295e-06]


--- Step 1285 ---
qpos:
[ 2.87232592e-03,-5.59431018e-03,-1.02405499e-02, 2.77136719e-03,
 -4.44296563e-03,-5.19270589e-03,-1.77581370e-02, 5.22648594e-03,
 -4.72080507e-03,-3.92403649e-03,-7.80303679e-03,-1.91809305e-02,
  1.30225074e+00, 1.88431015e-02, 1.28766399e+00, 2.47359007e-02,
  9.48817464e-02,-6.99949463e-02, 1.30724790e-01, 9.95602093e-01,
  2.47488901e-04,-7.58652312e-04,-9.36794259e-02]

qacc:
[ -0.2368141 , -2.13113069,  9.3602323 ,-16.54848754,  1.3299226 ,
   4.27889069,-14.6555526 , 17.66116422,-11.66287247,  2.1090599 ,
  -7.99716377, 11.20443528, -0.68586471,  0.93315254, -4.07956878,
  12.3430772 ,  0.84049493, -0.89963604,  0.05019693,  9.4231688 ,
  15.52311516, -0.26766678]

qfrc_actuator:
[-7.51727875e-05,-3.31770846e-04,-1.92065579e-04,-3.91201965e-05,
 -6.49255060e-06,-4.71101060e-04,-3.87318574e-04,-8.35496367e-05,
  2.85255906e-05,-3.89396766e-04,-2.71313740e-04,-1.34058637e-04,
  7.76223384e-03,-1.31320908e-03, 3.08016193e-03,-1.40494750e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49748313,  2.3013467 , -3.86408565,  2.3013467 , 21.9450817 ,
       10.39132596, -3.86408565, 10.39132596, 10.68628067,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002865353785823227
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.68661383e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.68661383e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08447355, -0.05596905,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47219216e-06, 3.14260769e-05, 3.87507179e-05,-1.55137120e-05,
  8.13992826e-06, 2.57232959e-05,-6.46402021e-05, 2.89066958e-06,
 -6.84524453e-05,-1.71303188e-05,-4.06289563e-05, 4.40268346e-06,
 -5.48196639e-05, 2.03580518e-05,-7.74606943e-05, 3.74540582e-05,
 -1.31936943e-06, 4.01138383e-06,-1.21644303e+00,-1.78566324e-03,
 -2.95258647e-04, 2.35634465e-06]


--- Step 1286 ---
qpos:
[ 2.87194421e-03,-5.59396918e-03,-1.02391017e-02, 2.77169969e-03,
 -4.44266148e-03,-5.19281943e-03,-1.77593191e-02, 5.22571607e-03,
 -4.72103462e-03,-3.92434299e-03,-7.80398583e-03,-1.91810758e-02,
  1.30247560e+00, 1.88431448e-02, 1.28785127e+00, 2.47340051e-02,
  9.48813110e-02,-7.00061738e-02, 1.30727239e-01, 9.95594901e-01,
  3.22274316e-04,-7.46092117e-04,-9.37557107e-02]

qacc:
[  3.02809059, -1.99140546,  7.58008032,-11.31979405,  3.82109525,
  -0.90749842,  6.40149218,-18.13501756, -1.18193383,  3.17290048,
 -12.01852464, 19.12407202, -0.10773432, -0.17814866,  1.21078051,
  -6.145476  ,  0.84120969, -0.88569927, -0.0309237 ,  9.44059608,
  15.29276743, -0.33487913]

qfrc_actuator:
[-5.74301387e-05,-3.58224724e-04,-1.73690934e-04,-4.94122970e-05,
  1.58610188e-05,-4.60000604e-04,-3.89317342e-04,-1.16871363e-04,
  2.37170445e-05,-3.32321739e-04,-2.90127345e-04,-1.12396143e-04,
  7.72538256e-03,-1.34859573e-03, 3.02535574e-03,-1.45206581e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48650521,  2.19255956, -3.91425748,  2.19255956, 29.48462398,
       14.00262106, -3.91425748, 14.00262106, 12.3300313 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002829543400731799
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.96184131e-13, -1.96184131e-13,  1.00000000e+00,  3.84882131e-26,
        1.00000000e+00,  1.96184131e-13, -1.00000000e+00,  0.00000000e+00,
        1.96184131e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08447419, -0.05596738,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.77080933e-05,-1.56792997e-06, 2.90855870e-05,-7.91068017e-06,
  2.25983885e-05, 1.22828029e-05,-4.53286246e-06,-3.43974475e-05,
 -6.77064674e-06, 3.93002808e-05,-2.71873613e-05, 1.96152040e-05,
 -6.09651936e-05,-4.13704331e-05,-8.73916256e-05,-5.52064789e-05,
 -2.81449530e-06, 2.80003853e-06,-1.21644268e+00,-1.78696211e-03,
 -2.94436372e-04, 2.64650188e-06]


--- Step 1287 ---
qpos:
[ 2.87177811e-03,-5.59364466e-03,-1.02380089e-02, 2.77229905e-03,
 -4.44209163e-03,-5.19302382e-03,-1.77595848e-02, 5.22416777e-03,
 -4.72063074e-03,-3.92447093e-03,-7.80507393e-03,-1.91816536e-02,
  1.30270004e+00, 1.88428290e-02, 1.28803796e+00, 2.47298337e-02,
  9.48851783e-02,-7.00180203e-02, 1.30730074e-01, 9.95587761e-01,
  3.97056635e-04,-7.03219641e-04,-9.38315429e-02]

qacc:
[  1.87527321,  1.51750868, -6.57504335, 11.78062486,  2.34689503,
  -4.28715061, 18.39123279,-33.25588928,  5.53785658, -0.27710386,
   3.13460064,-10.50241412, -0.24829078, -0.05532424,  6.05678155,
 -22.38226287,  1.07566388, -0.15476339,  0.09653734, -1.42235628,
  15.08932321,  0.22287645]

qfrc_actuator:
[-4.68383076e-05,-3.74157054e-04,-1.99063901e-04,-3.78635835e-05,
  2.88881667e-05,-4.53388714e-04,-3.36722035e-04,-1.53899924e-04,
  5.65080964e-05,-3.33724606e-04,-3.00644269e-04,-1.35067690e-04,
  7.70052328e-03,-1.36965702e-03, 2.99642991e-03,-1.56784085e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47626648, -0.51173592, -4.44691893, -0.51173592, 19.29385264,
       -1.70515614, -4.44691893, -1.70515614,  4.6724899 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002795584514892896
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92836220e-14, -1.98567244e-13,  1.00000000e+00, -1.97144752e-26,
        1.00000000e+00,  1.98567244e-13, -1.00000000e+00,  0.00000000e+00,
       -9.92836220e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08199827, -0.06721382,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10939329e-05,-1.11628443e-05,-2.24099525e-05, 1.23286302e-05,
  1.36808993e-05, 1.10979480e-05, 5.33995368e-05,-3.73249873e-05,
  3.26097265e-05, 1.58177298e-05,-5.05448326e-06,-2.15438765e-05,
 -6.70257605e-05,-4.66096725e-05,-7.58598423e-05,-1.30190510e-04,
 -4.56284899e-06, 1.81088005e-06,-1.21644438e+00,-1.78854797e-03,
 -2.94067887e-04, 3.12514268e-06]


--- Step 1288 ---
qpos:
[ 2.87208531e-03,-5.59327200e-03,-1.02378123e-02, 2.77306216e-03,
 -4.44171449e-03,-5.19348241e-03,-1.77594414e-02, 5.22327988e-03,
 -4.72052655e-03,-3.92484680e-03,-7.80611148e-03,-1.91821107e-02,
  1.30292389e+00, 1.88427261e-02, 1.28822438e+00, 2.47235300e-02,
  9.48942324e-02,-7.00266889e-02, 1.30732602e-01, 9.95580921e-01,
  4.44194775e-04,-6.28802991e-04,-9.39044053e-02]

qacc:
[  4.11126714,  2.8977085 ,-10.94461937, 15.1912191 , -1.66314787,
  -0.11573395, -2.85693302, 13.81353813, -2.61784726, -0.21543157,
  -0.20682433,  2.38447909, -0.7634378 ,  0.83493096,  6.14072135,
 -21.86099926,  1.29672654,  0.79446862, -0.07642611,-15.24003731,
  14.40624421,  1.49588369]

qfrc_actuator:
[-2.27935020e-05,-3.83836376e-04,-2.50016819e-04,-3.13342143e-05,
  1.85644570e-05,-4.84790570e-04,-3.23361081e-04,-1.21772787e-04,
  4.01358470e-05,-3.70127547e-04,-3.06435757e-04,-1.30427367e-04,
  7.68287608e-03,-1.34644675e-03, 2.99901362e-03,-1.66977717e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46557472, -0.44629776, -4.44321684, -0.44629776, 15.24043248,
       -1.08227777, -4.44321684, -1.08227777,  4.57428383,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027595233365851145
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.50634959e-07, -7.50635148e-07,  1.00000000e+00, -5.63452984e-13,
        1.00000000e+00,  7.50635148e-07, -1.00000000e+00,  0.00000000e+00,
       -7.50634959e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07905058, -0.08175337,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.43561161e-05,-2.00437847e-05,-5.56105989e-05, 5.51064714e-06,
 -9.92823346e-06,-1.57468169e-05, 2.09481128e-05, 3.37280681e-05,
 -1.54360182e-05,-2.94930420e-05,-3.87775416e-06, 4.72610253e-06,
 -6.41122592e-05,-5.28567418e-06,-4.84313156e-05,-1.19274433e-04,
 -5.13955954e-06, 8.41767528e-08,-1.21644526e+00,-1.79007676e-03,
 -2.94930390e-04, 3.51737000e-06]


--- Step 1289 ---
qpos:
[ 2.87302349e-03,-5.59313860e-03,-1.02381430e-02, 2.77390958e-03,
 -4.44180889e-03,-5.19395178e-03,-1.77594635e-02, 5.22279295e-03,
 -4.72061902e-03,-3.92564418e-03,-7.80688237e-03,-1.91814649e-02,
  1.30314723e+00, 1.88428363e-02, 1.28841078e+00, 2.47149529e-02,
  9.49006282e-02,-7.00280643e-02, 1.30734278e-01, 9.95574018e-01,
  4.44842225e-04,-5.84951118e-04,-9.39778426e-02]

qacc:
[  5.50697158,  1.32040517, -5.54113406,  8.03930887, -4.11689363,
   1.28148791, -6.26891015, 13.46640055, -1.70552155,  0.97305184,
  -8.92063705, 27.87116499, -0.7260434 ,  0.8164364 ,  6.93465772,
 -24.10831581, -0.66461562,  1.82331668, -0.21336986,-21.70770552,
 -17.39784205, -0.26770159]

qfrc_actuator:
[ 8.97915302e-06,-4.07574548e-04,-2.80129478e-04,-2.78200876e-05,
 -5.41762481e-06,-4.85543101e-04,-3.33399929e-04,-1.02537603e-04,
  3.04506405e-05,-3.91670200e-04,-2.91773326e-04,-7.42747782e-05,
  7.66426116e-03,-1.33260716e-03, 3.00984477e-03,-1.78039594e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46066433,  4.23891099, -1.388942  ,  4.23891099,  6.10567125,
        5.02039531, -1.388942  ,  5.02039531, 19.78240474,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027427494634645055
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02392351e-13,  1.01196176e-13,  1.00000000e+00, -2.04813319e-26,
        1.00000000e+00, -1.01196176e-13, -1.00000000e+00,  0.00000000e+00,
        2.02392351e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10392399, -0.0952547 ,  0.06199153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.24622680e-05,-4.62073542e-05,-4.09216369e-05, 8.34209872e-07,
 -2.42744489e-05,-3.77267791e-06,-9.53746853e-06, 1.99450320e-05,
 -1.01386892e-05,-3.86118259e-05, 8.27504428e-06, 5.48522263e-05,
 -5.33737536e-05,-1.93494251e-06,-2.80651976e-05,-1.24197810e-04,
 -3.72402478e-06,-2.45496481e-06,-1.21644509e+00,-1.79107381e-03,
 -2.97210825e-04, 3.19659768e-06]


--- Step 1290 ---
qpos:
[ 2.87399042e-03,-5.59319918e-03,-1.02385866e-02, 2.77441248e-03,
 -4.44219028e-03,-5.19424486e-03,-1.77596536e-02, 5.22182591e-03,
 -4.72048236e-03,-3.92665040e-03,-7.80723365e-03,-1.91805349e-02,
  1.30337012e+00, 1.88431047e-02, 1.28859681e+00, 2.47070714e-02,
  9.49043194e-02,-7.00222821e-02, 1.30734690e-01, 9.95567010e-01,
  3.99170691e-04,-5.70795621e-04,-9.40523472e-02]

qacc:
[  0.25104784, -0.65093342,  3.40230605, -9.04055526, -2.51124332,
  -0.28102813,  3.37529241,-11.55470306,  2.02288508, -0.86773185,
   1.48856907,  2.91555686, -0.37666143,  0.399146  , -2.61398275,
   8.44431566, -0.67611578,  1.78937013, -0.31584248,-21.66187644,
 -16.95921766, -0.51614938]

qfrc_actuator:
[ 9.53625440e-06,-4.03974633e-04,-2.79995789e-04,-4.38537916e-05,
 -1.94861928e-05,-4.68047769e-04,-3.39315108e-04,-1.26547552e-04,
  4.25471342e-05,-3.86271311e-04,-2.65074870e-04,-5.92560113e-05,
  7.64507929e-03,-1.32447540e-03, 3.01496016e-03,-1.73545656e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45879884, -1.93634979,  4.01639597, -1.93634979, 13.20354742,
        4.21594192,  4.01639597,  4.21594192,  6.49135198,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002736341158755262
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.15545485e-13, -6.08599016e-13,  1.00000000e+00,  1.31180770e-25,
        1.00000000e+00,  6.08599016e-13, -1.00000000e+00,  0.00000000e+00,
        2.15545485e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10392076, -0.09525701,  0.06199155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47014630e-06,-3.06507707e-05,-1.44242907e-05,-1.94163091e-05,
 -1.47662316e-05, 1.42802190e-05,-7.17124906e-06,-2.41102435e-05,
  1.17876815e-05,-1.21018041e-05, 2.16576494e-05, 1.47219499e-05,
 -4.74309679e-05,-4.30712628e-06,-2.58794639e-05, 3.34958514e-05,
 -2.84330703e-07,-1.49502056e-06,-1.21644090e+00,-1.79051420e-03,
 -2.99308302e-04, 2.20786899e-06]


--- Step 1291 ---
qpos:
[ 2.87495674e-03,-5.59342205e-03,-1.02387573e-02, 2.77399712e-03,
 -4.44239267e-03,-5.19439160e-03,-1.77599499e-02, 5.22092352e-03,
 -4.71985726e-03,-3.92755763e-03,-7.80738224e-03,-1.91794572e-02,
  1.30359250e+00, 1.88441574e-02, 1.28878237e+00, 2.47027369e-02,
  9.49052708e-02,-7.00094515e-02, 1.30733495e-01, 9.95559855e-01,
  3.07327454e-04,-5.85644019e-04,-9.41283035e-02]

qacc:
[ 5.44860730e-03,-2.86845076e+00, 1.37922993e+01,-3.00008715e+01,
  1.55513604e+00, 6.19932259e-01,-2.20812035e+00, 3.39513872e+00,
  4.28083081e+00,-1.39750406e-01, 5.06820844e-02, 2.12337948e+00,
 -5.86664981e-01, 1.00430946e+00,-1.13783788e+01, 3.89462006e+01,
 -6.84963197e-01, 1.76212130e+00,-4.01727796e-01,-2.16199552e+01,
 -1.66092709e+01,-7.10491243e-01]

qfrc_actuator:
[ 9.46649436e-06,-4.01674049e-04,-2.61917772e-04,-8.89737249e-05,
 -9.84995834e-06,-4.57539105e-04,-3.42687307e-04,-1.22526011e-04,
  6.73655159e-05,-3.64751547e-04,-2.49167055e-04,-5.07871874e-05,
  7.64154767e-03,-1.26654064e-03, 3.02200368e-03,-1.54598396e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45211131, -1.85324499,  4.04805856, -1.85324499, 17.15638359,
        5.81615326,  4.04805856,  5.81615326,  7.11480918,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027132034788900083
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.66234530e-13, -4.09192688e-13,  1.00000000e+00,  6.80219540e-26,
        1.00000000e+00,  4.09192688e-13, -1.00000000e+00,  0.00000000e+00,
        1.66234530e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10391846, -0.0952596 ,  0.06199162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.65038138e-08,-1.86470532e-05, 9.30200930e-06,-4.73104997e-05,
  9.21919045e-06, 1.59897581e-05,-2.13200380e-06, 3.91979328e-06,
  2.51459307e-05, 1.98992233e-05, 1.65985009e-05, 8.98701355e-06,
 -2.87221941e-05, 4.58836235e-05,-4.57122284e-06, 1.87276668e-04,
  2.74404735e-06, 3.25725986e-07,-1.21644154e+00,-1.78929345e-03,
 -3.00922697e-04, 2.04928019e-06]


--- Step 1292 ---
qpos:
[ 2.87591471e-03,-5.59379994e-03,-1.02384480e-02, 2.77302850e-03,
 -4.44247812e-03,-5.19441497e-03,-1.77602869e-02, 5.22007457e-03,
 -4.71893957e-03,-3.92821422e-03,-7.80768306e-03,-1.91782816e-02,
  1.30381462e+00, 1.88456012e-02, 1.28896777e+00, 2.47010168e-02,
  9.49103111e-02,-6.99973680e-02, 1.30733504e-01, 9.95552782e-01,
  2.14821368e-04,-5.67231325e-04,-9.42034499e-02]

qacc:
[ -0.05570032, -2.68584097, 11.61471183,-21.84347282,  1.01652564,
   0.38451543, -1.36355163,  2.26643678,  2.55242703,  0.95357618,
  -3.34044462,  5.10165479, -0.2273479 ,  0.42647559, -8.14799892,
  28.19397656,  1.02223675, -0.18675329,  0.30097548, -1.89513345,
  16.52565647,  0.40204396]

qfrc_actuator:
[ 9.03847764e-06,-4.00107185e-04,-2.33413794e-04,-1.15328592e-04,
 -4.09465230e-06,-4.51263024e-04,-3.44528416e-04,-1.19790923e-04,
  8.17134413e-05,-3.51536195e-04,-2.57437172e-04,-4.62256045e-05,
  7.63145106e-03,-1.25042417e-03, 3.01957500e-03,-1.41494219e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44583164, -2.64991138,  3.56978832, -2.64991138, 16.10647289,
        8.65588185,  3.56978832,  8.65588185, 10.87123217,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002691237622151482
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03133129e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.03133129e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08200007, -0.06720717,  0.06199168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.33014884e-07,-8.95837862e-06, 2.41654898e-05,-2.77511557e-05,
  6.02510519e-06, 1.49590831e-05, 1.34139757e-06, 3.42531180e-06,
  1.50691115e-05, 2.81990060e-05,-1.79525373e-06, 6.16206349e-06,
 -1.32252766e-05, 2.29308066e-05, 1.24123695e-05, 1.40035942e-04,
  5.43458452e-06, 3.02843616e-06,-1.21644685e+00,-1.78740116e-03,
 -3.02089482e-04, 2.69119804e-06]


--- Step 1293 ---
qpos:
[ 2.87651503e-03,-5.59401983e-03,-1.02382295e-02, 2.77209574e-03,
 -4.44249370e-03,-5.19448185e-03,-1.77605490e-02, 5.21893334e-03,
 -4.71751179e-03,-3.92888378e-03,-7.80766851e-03,-1.91774042e-02,
  1.30403670e+00, 1.88463672e-02, 1.28915302e+00, 2.47002563e-02,
  9.49185857e-02,-6.99889477e-02, 1.30734333e-01, 9.95545703e-01,
  1.44288463e-04,-5.17756170e-04,-9.42786528e-02]

qacc:
[ -3.13391214,  0.54248789, -1.77211092,  2.4103964 ,  0.61216913,
  -0.86931258,  4.24812862, -9.39236148,  4.47564617, -1.52166165,
   6.64139   ,-12.27390969,  0.48775721, -0.98436195, -3.18324511,
  10.66809002,  0.80856166, -0.91583594,  0.20479209,  9.47461995,
  16.49712631, -0.03794467]

qfrc_actuator:
[-9.34913764e-06,-3.81170263e-04,-2.34475753e-04,-1.12669469e-04,
 -6.77457683e-07,-4.65314676e-04,-3.45473920e-04,-1.35594978e-04,
  1.07532205e-04,-3.61247363e-04,-2.44434952e-04,-6.17703028e-05,
  7.60143323e-03,-1.31257697e-03, 3.00080126e-03,-1.37270299e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45000809,  2.57264573,  3.63098691,  2.57264573, 16.76855455,
       -8.72800058,  3.63098691, -8.72800058, 10.63401644,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027058726789944143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08448889, -0.05595839,  0.06199164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.84018708e-05, 1.77389472e-05,-8.94094268e-07, 2.57350773e-06,
  3.59494626e-06,-5.25400146e-06, 2.43392509e-06,-1.50475849e-05,
  2.62565988e-05, 5.98349399e-06, 1.88275235e-05,-1.42801395e-05,
 -3.06618229e-05,-5.86255977e-05,-2.01541000e-06, 5.06131039e-05,
  5.78831580e-06, 9.77976462e-07,-1.21644657e+00,-1.78647522e-03,
 -3.02327836e-04, 1.85320965e-06]


--- Step 1294 ---
qpos:
[ 2.87689027e-03,-5.59393591e-03,-1.02386832e-02, 2.77156899e-03,
 -4.44246821e-03,-5.19449296e-03,-1.77608747e-02, 5.21795409e-03,
 -4.71544063e-03,-3.92949176e-03,-7.80776425e-03,-1.91770448e-02,
  1.30425829e+00, 1.88468431e-02, 1.28933769e+00, 2.47007635e-02,
  9.49301314e-02,-6.99841223e-02, 1.30735564e-01, 9.95538596e-01,
  9.56550938e-05,-4.38035442e-04,-9.43541303e-02]

qacc:
[ -1.99491117,  3.1204651 ,-12.25051225, 20.12103436,  0.35537073,
   0.58408871, -2.66081713,  5.52652188,  5.62772926, -0.68865385,
   4.73808931,-13.54564506, -0.06967973, -0.2410429 , -4.70555561,
  15.19783396,  0.8177778 , -0.89869823,  0.10077499,  9.4751696 ,
  16.0877276 , -0.14585957]

qfrc_actuator:
[-2.04072517e-05,-3.69814957e-04,-2.70651154e-04,-9.29697851e-05,
  1.33717450e-06,-4.55940181e-04,-3.45981248e-04,-1.26692923e-04,
  1.39898925e-04,-3.66798453e-04,-2.54581285e-04,-8.90218301e-05,
  7.55945220e-03,-1.33201567e-03, 2.96157239e-03,-1.31212582e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44957029,  1.16817389, -4.29348874,  1.16817389, 18.58526004,
        3.84604333, -4.29348874,  3.84604333,  5.49600309,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027043434398071886
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02633324e-13, -2.05266648e-13,  1.00000000e+00,  2.10671983e-26,
        1.00000000e+00,  2.05266648e-13, -1.00000000e+00,  0.00000000e+00,
        1.02633324e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08449158, -0.05595737,  0.06199164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.15772873e-05, 2.11997112e-05,-3.25301361e-05, 2.04816204e-05,
  2.11638744e-06, 6.30381411e-06,-1.80717272e-06, 8.47143725e-06,
  3.31165300e-05, 1.10779355e-06,-7.07961134e-06,-2.66232218e-05,
 -7.10009700e-05,-4.40083127e-05,-3.83328316e-05, 6.22656144e-05,
  4.56636880e-06,-1.42874004e-06,-1.21644502e+00,-1.78583906e-03,
 -3.02328138e-04, 1.10825859e-06]


--- Step 1295 ---
qpos:
[ 2.87678504e-03,-5.59366815e-03,-1.02395486e-02, 2.77128002e-03,
 -4.44241885e-03,-5.19430790e-03,-1.77613184e-02, 5.21776512e-03,
 -4.71368720e-03,-3.93009868e-03,-7.80795959e-03,-1.91770074e-02,
  1.30447914e+00, 1.88473830e-02, 1.28952150e+00, 2.47033706e-02,
  9.49449771e-02,-6.99828364e-02, 1.30736850e-01, 9.95531442e-01,
  6.88544733e-05,-3.28716090e-04,-9.44300507e-02]

qacc:
[-4.21868520e+00, 1.89170037e+00,-7.38187035e+00, 1.20049546e+01,
  2.01600481e-01, 2.21512788e+00,-1.08593449e+01, 2.45829627e+01,
 -2.78488641e+00,-3.77788661e-01, 2.71505057e+00,-8.13257358e+00,
 -3.91786167e-01, 2.77668605e-01,-7.60127448e+00, 2.48201372e+01,
  8.25008040e-01,-8.84892321e-01, 1.36060643e-02, 9.47120094e+00,
  1.57632598e+01,-2.28901469e-01]

qfrc_actuator:
[-4.48097962e-05,-3.63217629e-04,-2.91771583e-04,-8.11828697e-05,
  2.51111162e-06,-4.32591867e-04,-3.46117195e-04,-8.55519161e-05,
  1.22599200e-04,-3.69922864e-04,-2.60564623e-04,-1.05205607e-04,
  7.52098767e-03,-1.32594260e-03, 2.92076663e-03,-1.20573241e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44432935,  1.09546907, -4.30720453,  1.09546907, 24.36806333,
        5.06728535, -4.30720453,  5.06728535,  5.73311291,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026859476777961466
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03336248e-13, -4.13344993e-13,  1.00000000e+00,  4.27135209e-26,
        1.00000000e+00,  4.13344993e-13, -1.00000000e+00,  0.00000000e+00,
        1.03336248e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08449341, -0.05595622,  0.0619917 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.47252787e-05, 1.26086766e-05,-2.00340320e-05, 1.19706467e-05,
  1.23653002e-06, 2.68702154e-05, 1.24269626e-06, 4.15162982e-05,
 -1.63541732e-05,-5.06688210e-06,-7.53939119e-06,-1.68998445e-05,
 -8.47803786e-05,-2.32779317e-05,-5.42419191e-05, 1.04334382e-04,
  3.09639670e-06,-3.57405658e-06,-1.21644563e+00,-1.78548210e-03,
 -3.02824943e-04, 5.86060800e-07]


--- Step 1296 ---
qpos:
[ 2.87638808e-03,-5.59329569e-03,-1.02406505e-02, 2.77113267e-03,
 -4.44201099e-03,-5.19379971e-03,-1.77620664e-02, 5.21737620e-03,
 -4.71284423e-03,-3.93089278e-03,-7.80761490e-03,-1.91768392e-02,
  1.30469936e+00, 1.88479422e-02, 1.28970486e+00, 2.47065266e-02,
  9.49631461e-02,-6.99850458e-02, 1.30737898e-01, 9.95524220e-01,
  6.38284443e-05,-1.90306518e-04,-9.45065425e-02]

qacc:
[-2.56098533, 1.09613359,-4.29661733, 7.03926688, 3.11125716, 0.85925475,
 -1.61083843,-1.58894761,-7.95054966,-1.47209221, 4.36467286,-2.8563989 ,
 -0.43635018, 0.33115468,-2.30110988, 7.16125486, 0.83080415,-0.87384154,
 -0.05929648, 9.46505816,15.50817176,-0.29218469]

qfrc_actuator:
[-5.91209520e-05,-3.59476638e-04,-3.03850646e-04,-7.41378104e-05,
  2.09340394e-05,-4.18774608e-04,-3.63703160e-04,-9.67711571e-05,
  7.62033645e-05,-3.71555382e-04,-2.28511463e-04,-9.69851017e-05,
  7.49532352e-03,-1.32255312e-03, 2.90036375e-03,-1.17970444e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43543118,  1.00389571, -4.32032906,  1.00389571, 31.84113077,
        6.36814094, -4.32032906,  6.36814094,  5.91516786,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002654331396609866
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04567107e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.04567107e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08449457, -0.05595498,  0.0619918 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.50130281e-05, 7.15927831e-06,-1.15193619e-05, 7.12806879e-06,
  1.84659748e-05, 3.08776900e-05,-1.04427611e-05,-9.21596836e-06,
 -4.68657378e-05,-6.72281599e-06, 2.95050987e-05, 7.41634767e-06,
 -7.41241400e-05,-2.29408007e-05,-3.58672631e-05, 2.44138515e-05,
  1.37595445e-06,-5.48298721e-06,-1.21644830e+00,-1.78540977e-03,
 -3.03802328e-04, 2.75276691e-07]


--- Step 1297 ---
qpos:
[ 2.87582247e-03,-5.59286569e-03,-1.02418831e-02, 2.77106967e-03,
 -4.44138544e-03,-5.19296181e-03,-1.77632834e-02, 5.21617634e-03,
 -4.71221902e-03,-3.93194247e-03,-7.80739797e-03,-1.91761733e-02,
  1.30491908e+00, 1.88482690e-02, 1.28988833e+00, 2.47065862e-02,
  9.49817187e-02,-6.99852829e-02, 1.30740144e-01, 9.95516984e-01,
  4.59134315e-05,-5.27180131e-05,-9.45829198e-02]

qacc:
[ -1.48029548,  0.61776049, -2.44335552,  4.06431948,  1.87765543,
   0.07276965,  3.78965076,-17.31035761, -1.90569915,  1.04823932,
  -6.31827952, 15.30851209, -0.52587938,  0.31167333,  9.59901128,
 -33.20720119,  0.1009228 ,  0.49309675,  0.29928579, -6.37683836,
  -1.01774053,  0.05753961]

qfrc_actuator:
[-6.73738223e-05,-3.57443848e-04,-3.10515390e-04,-6.99368005e-05,
  3.16095514e-05,-4.10881407e-04,-3.91525612e-04,-1.38732431e-04,
  6.63275920e-05,-4.07610213e-04,-2.45246720e-04,-7.44458914e-05,
  7.46670494e-03,-1.33850740e-03, 2.89219747e-03,-1.34320569e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42272354,  1.85144696, -4.01654424,  1.85144696, 17.16678792,
        5.87444278, -4.01654424,  5.87444278,  7.1305785 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002608310503125736
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.32537762e-15,  1.01762238e-06,  1.00000000e+00, -3.38397868e-21,
        1.00000000e+00, -1.01762238e-06, -1.00000000e+00, -3.76158192e-37,
        3.32537762e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09406689, -0.07535064,  0.06199194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.67931558e-06, 3.95801781e-06,-6.34830615e-06, 4.25054596e-06,
  1.12164774e-05, 2.26056435e-05,-2.30471540e-05,-4.11784421e-05,
 -1.12201054e-05,-3.33918480e-05,-1.42256610e-05, 2.34192789e-05,
 -7.16488958e-05,-3.97148230e-05,-2.52436084e-05,-1.67482291e-04,
 -5.97539596e-07,-7.17344556e-06,-1.21645297e+00,-1.78562582e-03,
 -3.05248113e-04, 1.67385444e-07]


--- Step 1298 ---
qpos:
[ 2.87516209e-03,-5.59232283e-03,-1.02429448e-02, 2.77102922e-03,
 -4.44098124e-03,-5.19211929e-03,-1.77647368e-02, 5.21485464e-03,
 -4.71102769e-03,-3.93314875e-03,-7.80795319e-03,-1.91752094e-02,
  1.30513851e+00, 1.88480699e-02, 1.29007170e+00, 2.47046465e-02,
  9.49977150e-02,-6.99783248e-02, 1.30741106e-01, 9.95509666e-01,
 -1.82486454e-05, 5.46467148e-05,-9.46599311e-02]

qacc:
[ -0.82545032, -0.28027876,  1.1233134 , -1.09209269, -1.93790028,
   0.41948246, -0.96611031, -0.7747304 ,  4.93473385,  2.55573202,
 -10.68371966, 17.20080233, -0.04704789, -0.34824604,  5.91569542,
 -20.90172017, -0.6440948 ,  1.79881837, -0.32085052,-21.5905572 ,
 -17.23124975, -0.3175755 ]

qfrc_actuator:
[-7.19981062e-05,-3.38678064e-04,-2.96190202e-04,-6.74416043e-05,
  1.98813943e-05,-4.24431103e-04,-4.07450865e-04,-1.45190048e-04,
  9.57879596e-05,-4.28669872e-04,-2.90803262e-04,-6.14873461e-05,
  7.45762915e-03,-1.36582378e-03, 2.89666424e-03,-1.43947251e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42152854,  1.94541818, -3.97054943,  1.94541818,  8.76863649,
        2.12991753, -3.97054943,  2.12991753,  5.46510711,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002603928502146191
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.13182317e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.13182317e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10389493, -0.09527829,  0.06199195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.87097518e-06, 1.98476904e-05, 1.45183338e-05, 2.53024332e-06,
 -1.13960690e-05,-7.44296305e-06,-1.55135963e-05,-7.08507459e-06,
  2.91249249e-05,-4.16354205e-05,-5.33858439e-05, 1.14932783e-05,
 -5.53320686e-05,-5.52576136e-05,-3.04017924e-05,-1.09870192e-04,
  4.99244044e-07,-7.19001837e-06,-1.21645303e+00,-1.78512128e-03,
 -3.07754189e-04,-7.57312810e-07]


--- Step 1299 ---
qpos:
[ 2.87479621e-03,-5.59163739e-03,-1.02438635e-02, 2.77136199e-03,
 -4.44072055e-03,-5.19146755e-03,-1.77660532e-02, 5.21415586e-03,
 -4.71018299e-03,-3.93408123e-03,-7.80869407e-03,-1.91748846e-02,
  1.30535773e+00, 1.88474407e-02, 1.29025488e+00, 2.47011956e-02,
  9.50108824e-02,-6.99703245e-02, 1.30743451e-01, 9.95502342e-01,
 -8.54612828e-05, 1.41432781e-04,-9.47367971e-02]

qacc:
[ 2.57828654e+00, 5.52342756e-01,-3.28004495e+00, 9.41478108e+00,
 -1.24353624e+00, 6.50153786e-01,-5.30951136e+00, 1.60075615e+01,
 -3.04547805e+00,-4.29872698e-01, 4.76187801e+00,-1.57299515e+01,
 -1.10363027e-02,-3.13250235e-01, 4.28409783e+00,-1.54178075e+01,
 -7.07201039e-01, 2.60515476e-01, 3.45626989e-01,-5.44447875e-01,
 -1.03875126e+01, 7.18599237e-02]

qfrc_actuator:
[-5.66990392e-05,-3.27703457e-04,-2.87272915e-04,-4.81892140e-05,
  1.28156342e-05,-4.32900698e-04,-3.98530176e-04,-1.12957571e-04,
  7.71427112e-05,-3.69718681e-04,-2.81946544e-04,-8.97818598e-05,
  7.45495061e-03,-1.38181848e-03, 2.89274788e-03,-1.51300969e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4176347 , -0.42993236,  4.39666402, -0.42993236, 19.45127801,
        1.47008045,  4.39666402,  1.47008045,  4.56138805,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025895835138918283
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.58755577e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.58755577e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10333504, -0.07120694,  0.061992  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.51654605e-05, 2.51740026e-05, 1.48998544e-05, 2.06560069e-05,
 -7.39414101e-06,-1.61540916e-05, 5.23767818e-06, 3.12436108e-05,
 -1.78305707e-05, 2.51965744e-05,-5.90177654e-06,-3.17000663e-05,
 -4.43387792e-05,-4.47971746e-05,-3.37071399e-05,-8.43638222e-05,
  4.41652219e-06,-5.14760493e-06,-1.21645058e+00,-1.78346984e-03,
 -3.10816874e-04,-2.02503942e-06]


--- Step 1300 ---
qpos:
[ 2.87427168e-03,-5.59088782e-03,-1.02448948e-02, 2.77195086e-03,
 -4.44020195e-03,-5.19081298e-03,-1.77673462e-02, 5.21417665e-03,
 -4.70991316e-03,-3.93471013e-03,-7.80915925e-03,-1.91745935e-02,
  1.30557675e+00, 1.88465241e-02, 1.29043764e+00, 2.46962274e-02,
  9.50214467e-02,-6.99677158e-02, 1.30745714e-01, 9.95495264e-01,
 -1.10602092e-04, 2.18287738e-04,-9.48109664e-02]

qacc:
[-1.39225571e+00, 9.29733283e-01,-4.26831552e+00, 8.82839806e+00,
  2.25017339e+00, 1.41489914e+00,-8.08507210e+00, 2.05080598e+01,
 -5.02917631e+00,-4.28919985e-01, 2.26978795e+00,-3.53309586e+00,
 -7.38440721e-02,-1.49917050e-01, 3.98357530e+00,-1.48213030e+01,
 -6.50794713e-01,-1.34788168e+00,-2.04414576e-02, 2.14115422e+01,
 -2.95047845e+00, 1.35645974e+00]

qfrc_actuator:
[-6.53025750e-05,-3.39231042e-04,-2.99393501e-04,-3.69948109e-05,
  2.63106320e-05,-4.20376057e-04,-3.92733351e-04,-7.59596935e-05,
  4.80730323e-05,-3.34139247e-04,-2.58472134e-04,-8.87523342e-05,
  7.45078913e-03,-1.39090550e-03, 2.86783672e-03,-1.59035030e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42311155, -0.52037384,  4.3923942 , -0.52037384, 13.03216414,
        1.01992799,  4.3923942 ,  1.01992799,  4.54394402,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002609731285817124
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.12708303e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.12708303e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10278544, -0.04728053,  0.06199194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.16406146e-06, 6.50412015e-06,-4.36889949e-06, 1.31898647e-05,
  1.32758727e-05, 5.90258610e-06, 4.19635066e-06, 3.70984890e-05,
 -2.95721691e-05, 4.71308414e-05, 2.68753542e-05, 1.29109175e-06,
 -3.78781204e-05,-3.22027033e-05,-5.29502897e-05,-8.70704548e-05,
  4.57920264e-06,-3.82534177e-06,-1.21644808e+00,-1.78199440e-03,
 -3.12076849e-04,-2.01214321e-06]


--- Step 1301 ---
qpos:
[ 2.87330352e-03,-5.59038586e-03,-1.02456267e-02, 2.77268149e-03,
 -4.43918092e-03,-5.19006208e-03,-1.77685611e-02, 5.21393388e-03,
 -4.70930419e-03,-3.93497842e-03,-7.80990729e-03,-1.91746068e-02,
  1.30579524e+00, 1.88462135e-02, 1.29061969e+00, 2.46933249e-02,
  9.50295074e-02,-6.99704711e-02, 1.30747505e-01, 9.95488406e-01,
 -9.42208759e-05, 2.84751000e-04,-9.48827921e-02]

qacc:
[-3.86684393,-0.86477705, 2.0232999 , 0.1190341 , 4.38228615,-0.6415721 ,
  3.57028633,-8.31172118, 2.95372749, 0.63467997,-0.29849847,-4.76673483,
 -0.57879112, 0.88318994,-7.25582853,23.99444072,-0.62588466,-1.34099701,
 -0.11819734,21.15986981,-3.20422347, 1.18088347]

qfrc_actuator:
[-8.79123239e-05,-3.64238542e-04,-2.88433120e-04,-3.06673815e-05,
  5.17980859e-05,-4.13124791e-04,-3.88752212e-04,-8.97062954e-05,
  6.63734692e-05,-3.30474817e-04,-2.79872098e-04,-1.05983480e-04,
  7.44041869e-03,-1.34256083e-03, 2.86231041e-03,-1.47408326e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42250184, -1.75671256, -4.05863075, -1.75671256, 16.42544177,
       -5.19527806, -4.05863075, -5.19527806,  6.67119377,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002607498281380072
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10278857, -0.04728145,  0.06199194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.28426227e-05,-2.17252566e-05, 1.22249819e-05, 6.71140703e-06,
  2.58683949e-05, 1.30041552e-05, 7.00800003e-06,-1.26255803e-05,
  1.74688317e-05, 3.56440460e-05,-8.29710226e-06,-1.42546917e-05,
 -3.83213454e-05, 3.06809156e-05,-4.16833235e-05, 1.04154945e-04,
  1.32538956e-06,-3.49115691e-06,-1.21644401e+00,-1.78137172e-03,
 -3.11681255e-04,-1.38684489e-06]


--- Step 1302 ---
qpos:
[ 2.87207180e-03,-5.59017602e-03,-1.02458671e-02, 2.77312952e-03,
 -4.43786207e-03,-5.18936350e-03,-1.77696314e-02, 5.21319778e-03,
 -4.70882549e-03,-3.93532061e-03,-7.81067343e-03,-1.91754784e-02,
  1.30601308e+00, 1.88467632e-02, 1.29080085e+00, 2.46945028e-02,
  9.50351443e-02,-6.99785673e-02, 1.30748495e-01, 9.95481741e-01,
 -3.67616660e-05, 3.40466302e-04,-9.49525507e-02]

qacc:
[ -2.28517898, -2.33727623,  8.97405623,-14.44415743,  2.60227326,
  -1.49420181,  7.30148201,-16.02384944, -1.1402781 , -1.8132525 ,
   9.94483321,-24.70859896, -0.66630672,  1.10184871,-13.61014432,
  45.86604121, -0.60597334, -1.33522595, -0.20001787, 20.95594617,
  -3.40106251,  1.04340537]

qfrc_actuator:
[-1.00824732e-04,-3.79295249e-04,-2.63991201e-04,-4.50008576e-05,
  6.63806803e-05,-4.26884823e-04,-3.85924295e-04,-1.15451638e-04,
  5.91540325e-05,-3.63890469e-04,-2.92243138e-04,-1.51639545e-04,
  7.41038143e-03,-1.29604065e-03, 2.83650225e-03,-1.26238039e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4175791 , -1.83422143, -4.0187855 , -1.83422143, 20.92328926,
       -7.53340215, -4.0187855 , -7.53340215,  7.85591332,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002589377932548098
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.14380259e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.14380259e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10279124, -0.04728162,  0.061992  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.35746102e-05,-2.44089430e-05, 2.16954128e-05,-1.47106518e-05,
  1.53289743e-05,-5.58511619e-06, 5.94520950e-06,-2.51908907e-05,
 -6.70881900e-06,-1.57813502e-05,-6.51226337e-06,-4.46925211e-05,
 -4.25336790e-05, 4.70735974e-05,-3.57152615e-05, 2.11653376e-04,
 -1.50925375e-06,-2.58082681e-06,-1.21644278e+00,-1.78139958e-03,
 -3.11314627e-04,-8.59224084e-07]


--- Step 1303 ---
qpos:
[ 2.87034959e-03,-5.59001478e-03,-1.02458938e-02, 2.77339011e-03,
 -4.43706814e-03,-5.18869778e-03,-1.77709539e-02, 5.21252982e-03,
 -4.70878168e-03,-3.93589786e-03,-7.81153536e-03,-1.91761726e-02,
  1.30623045e+00, 1.88476970e-02, 1.29098153e+00, 2.46975343e-02,
  9.50381486e-02,-6.99857457e-02, 1.30750658e-01, 9.95475077e-01,
  1.70795937e-05, 3.74390071e-04,-9.50222603e-02]

qacc:
[ -4.28304409, -1.03913885,  4.41753537, -7.98295542, -4.58488251,
   0.81083503, -3.2264878 ,  4.8172333 , -3.80607624,  0.33009945,
  -2.36258671,  5.74308051, -0.44075024,  0.60144964, -6.26601729,
  21.01819949, -0.65813419,  0.22943908,  0.29330033, -0.76622913,
 -11.01830491,  0.0234709 ]

qfrc_actuator:
[-1.25673988e-04,-3.70485309e-04,-2.49524778e-04,-5.36105975e-05,
  3.89187465e-05,-4.35388883e-04,-4.01638960e-04,-1.12555774e-04,
  3.69564277e-05,-3.83758641e-04,-2.99348450e-04,-1.42664196e-04,
  7.37922610e-03,-1.28661734e-03, 2.80921807e-03,-1.17378335e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41068552, -0.21878634, -4.40525587, -0.21878634, 24.45460206,
       -0.99547794, -4.40525587, -0.99547794,  4.46012577,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025637253220932836
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.16525346e-13, -1.16230719e-06,  1.00000000e+00, -2.51668967e-19,
        1.00000000e+00,  1.16230719e-06, -1.00000000e+00, -4.81482486e-35,
       -2.16525346e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10333271, -0.07121077,  0.06199208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.52465152e-05,-9.95158307e-07, 1.15890148e-05,-9.19128864e-06,
 -2.70236208e-05,-1.14843933e-05,-1.70022589e-05, 2.37384602e-06,
 -2.23946135e-05,-3.19295857e-05,-1.26975460e-05, 7.20881016e-06,
 -4.13719299e-05, 1.36270993e-05,-2.24886885e-05, 9.52943844e-05,
 -3.96229035e-06,-1.11366267e-06,-1.21644433e+00,-1.78207209e-03,
 -3.10948061e-04,-4.38341396e-07]


--- Step 1304 ---
qpos:
[ 2.86799794e-03,-5.58991239e-03,-1.02460166e-02, 2.77356828e-03,
 -4.43695435e-03,-5.18802922e-03,-1.77722066e-02, 5.21187474e-03,
 -4.70831468e-03,-3.93649483e-03,-7.81287205e-03,-1.91764099e-02,
  1.30644735e+00, 1.88490505e-02, 1.29116237e+00, 2.46985691e-02,
  9.50385987e-02,-6.99858958e-02, 1.30751706e-01, 9.95468327e-01,
  2.34241869e-05, 3.77836468e-04,-9.50929369e-02]

qacc:
[ -5.50798342,  0.03198432,  0.13963469, -1.38913203, -5.92927066,
  -0.15359657,  0.51879489, -0.43146511,  3.69049194,  2.23511552,
  -9.94410666, 18.62928212, -0.80915569,  1.04909572,  6.36659937,
 -21.71623772, -0.63855586,  1.7570846 , -0.27894835,-22.19267776,
 -17.42634426, -0.49412443]

qfrc_actuator:
[-1.57352995e-04,-3.82987315e-04,-2.58715086e-04,-5.87682165e-05,
  4.68632505e-06,-4.22985262e-04,-3.92634665e-04,-1.10591955e-04,
  5.93865344e-05,-3.77554975e-04,-3.20962030e-04,-1.19355173e-04,
  7.35805948e-03,-1.26381466e-03, 2.80234561e-03,-1.28272350e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41531376, -0.07558894, -4.41466669, -0.07558894, 11.41733926,
       -0.1198903 , -4.41466669, -0.1198903 ,  4.41736655,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002580984210717868
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.30154908e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.30154908e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10387051, -0.09528594,  0.06199203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.24015412e-05,-1.10679785e-05,-8.28581870e-06,-4.97762679e-06,
 -3.50105588e-05, 2.55494763e-06, 4.63019952e-06, 9.33675842e-07,
  2.17767952e-05,-1.39402059e-05,-2.95035375e-05, 2.16483648e-05,
 -3.88168635e-05, 1.73714673e-05,-9.90272000e-06,-1.07261492e-04,
 -3.38007755e-06,-6.80384888e-08,-1.21644277e+00,-1.78253461e-03,
 -3.11596007e-04,-8.54637265e-07]


--- Step 1305 ---
qpos:
[ 2.86597445e-03,-5.58989258e-03,-1.02462156e-02, 2.77333995e-03,
 -4.43725205e-03,-5.18739501e-03,-1.77730781e-02, 5.21157628e-03,
 -4.70827250e-03,-3.93724869e-03,-7.81440867e-03,-1.91767127e-02,
  1.30666383e+00, 1.88509246e-02, 1.29134299e+00, 2.46989635e-02,
  9.50364365e-02,-6.99790940e-02, 1.30751282e-01, 9.95461449e-01,
 -1.73668525e-05, 3.51709745e-04,-9.51650143e-02]

qacc:
[  2.8693218 , -0.73907732,  4.18299971,-11.02498037, -3.57575519,
  -0.36873938, -0.244258  ,  5.81874831, -3.72268222,  0.22370342,
  -0.80925548,  0.09641175, -0.708796  ,  1.00550335,  1.70756712,
  -6.22999678, -0.65306807,  1.73795329, -0.36790413,-22.0546512 ,
 -16.96067703, -0.71184677]

qfrc_actuator:
[-1.39536810e-04,-3.90494163e-04,-2.64122429e-04,-7.96372339e-05,
 -1.54905521e-05,-4.15812220e-04,-3.69020389e-04,-9.14067341e-05,
  3.68986213e-05,-3.91334789e-04,-3.33110634e-04,-1.23301628e-04,
  7.34290163e-03,-1.23317358e-03, 2.79702969e-03,-1.31179832e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41353599, -0.14187327,  4.41125514, -0.14187327, 16.63452457,
        0.39304723,  4.41125514,  0.39304723,  4.42617704,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002574372387395968
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.15629842e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.15629842e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10386707, -0.09528671,  0.06199205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.68865684e-05,-1.56273863e-05,-8.88281098e-06,-2.17253862e-05,
 -2.11798988e-05, 9.57776298e-06, 2.47544222e-05, 1.94773275e-05,
 -2.18739004e-05,-2.66949030e-05,-1.78898441e-05,-5.13871003e-06,
 -3.12019374e-05, 2.71584856e-05,-2.67730177e-05,-3.74387955e-05,
 -3.53872781e-07, 7.81171627e-07,-1.21644000e+00,-1.78213451e-03,
 -3.13047559e-04,-1.34960139e-06]


--- Step 1306 ---
qpos:
[ 2.86486964e-03,-5.58982696e-03,-1.02465686e-02, 2.77319751e-03,
 -4.43744490e-03,-5.18663610e-03,-1.77734336e-02, 5.21147953e-03,
 -4.70884498e-03,-3.93810113e-03,-7.81639652e-03,-1.91770501e-02,
  1.30688003e+00, 1.88529348e-02, 1.29152325e+00, 2.47006344e-02,
  9.50316166e-02,-6.99654024e-02, 1.30749087e-01, 9.95454402e-01,
 -1.04999027e-04, 2.96727113e-04,-9.52388287e-02]

qacc:
[  8.0303841 ,  0.65184777, -2.62602941,  4.35412428,  0.92845777,
  -0.86364153,  2.46415097,  0.11279132, -5.3935016 ,  1.07033255,
  -3.84040793,  4.01452821, -0.17272955,  0.20256572, -4.39788785,
  14.62887155, -0.66441284,  1.72248187, -0.44265156,-21.9409319 ,
 -16.59124638, -0.88104342]

qfrc_actuator:
[-9.27293375e-05,-3.77204021e-04,-2.67241524e-04,-7.40707828e-05,
 -9.47807650e-06,-3.93988825e-04,-3.36979180e-04,-7.99901780e-05,
  5.89125897e-06,-3.99206998e-04,-3.57417832e-04,-1.25509045e-04,
  7.32603692e-03,-1.23360360e-03, 2.79800080e-03,-1.24025348e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.40777005, -0.0516044 ,  4.40746796, -0.0516044 , 21.37470628,
        0.19865569,  4.40746796,  0.19865569,  4.41009599,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002552776523594563
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.17454018e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.17454018e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10386458, -0.09528801,  0.06199211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.72861114e-05, 1.80002735e-06,-8.18896980e-06, 4.16724513e-06,
  5.40681989e-06, 3.31071444e-05, 3.77472614e-05, 1.30647623e-05,
 -3.16444280e-05,-2.66765076e-05,-3.21736134e-05,-4.06294949e-06,
 -2.69007082e-05, 8.12283795e-07,-1.91582416e-05, 6.52039657e-05,
  2.27192270e-06, 2.55277039e-06,-1.21644213e+00,-1.78105165e-03,
 -3.14026113e-04,-9.98611250e-07]


--- Step 1307 ---
qpos:
[ 2.86433472e-03,-5.58993503e-03,-1.02466193e-02, 2.77346440e-03,
 -4.43756434e-03,-5.18579088e-03,-1.77733178e-02, 5.21083748e-03,
 -4.70875007e-03,-3.93925650e-03,-7.81861845e-03,-1.91770544e-02,
  1.30709625e+00, 1.88544328e-02, 1.29170296e+00, 2.47012236e-02,
  9.50240487e-02,-6.99573482e-02, 1.30747585e-01, 9.95447632e-01,
 -1.50503643e-04, 2.32240620e-04,-9.53096851e-02]

qacc:
[  4.9976829 , -0.24070789, -1.21943513,  7.96622207,  0.65307335,
  -2.32618123, 10.76003663,-21.01348089,  5.84061978,  0.92867911,
  -5.31504232, 11.6917559 ,  0.29081255, -0.64042172,  2.43239133,
  -9.7724716 , -0.68701214, -1.40936898,  0.17292771, 21.42017618,
  -2.72443717,  1.49119027]

qfrc_actuator:
[-6.47541353e-05,-3.87036291e-04,-2.51126851e-04,-5.29728362e-05,
 -5.85635858e-06,-3.99025813e-04,-3.17921965e-04,-1.08727839e-04,
  4.11425220e-05,-4.21282834e-04,-3.70936266e-04,-1.08925144e-04,
  7.31880108e-03,-1.27025261e-03, 2.74418207e-03,-1.30527671e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41504413, -0.0858092 ,  4.41421017, -0.0858092 , 22.67111976,
        0.35488551,  4.41421017,  0.35488551,  4.42194286,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002579982791356128
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.15160936e-13, -4.30321872e-13,  1.00000000e+00,  9.25884568e-26,
        1.00000000e+00,  4.30321872e-13, -1.00000000e+00,  0.00000000e+00,
        2.15160936e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10280791, -0.04728313,  0.06199203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.93276601e-05,-1.03165621e-05, 1.56249116e-05, 2.09720198e-05,
  3.78620668e-06, 2.18113685e-05, 3.09927986e-05,-2.57595058e-05,
  3.43349289e-05,-4.37704263e-05,-2.30967843e-05, 1.42574917e-05,
 -2.07449548e-05,-4.25177838e-05,-5.85784939e-05,-6.45806176e-05,
  4.57142899e-06, 5.25122205e-06,-1.21644899e+00,-1.77927993e-03,
 -3.14566238e-04, 1.62538463e-07]


--- Step 1308 ---
qpos:
[ 2.86379476e-03,-5.59020346e-03,-1.02461368e-02, 2.77327335e-03,
 -4.43729422e-03,-5.18514035e-03,-1.77731016e-02, 5.21026425e-03,
 -4.70823391e-03,-3.94075330e-03,-7.82012581e-03,-1.91772665e-02,
  1.30731246e+00, 1.88554705e-02, 1.29188182e+00, 2.46997523e-02,
  9.50138552e-02,-6.99548549e-02, 1.30746255e-01, 9.95441102e-01,
 -1.54411312e-04, 1.57653624e-04,-9.53780083e-02]

qacc:
[ -0.02485471, -2.64578587, 11.05914156,-19.71935603,  3.40380862,
  -0.40267434,  0.76049984,  0.42556916,  3.71591796, -2.88404838,
  10.49005378,-14.95751985,  0.1824154 , -0.49162244,  4.96189436,
 -19.23863585, -0.65640538, -1.39021268,  0.04323076, 21.18485276,
  -3.04518345,  1.27635059]

qfrc_actuator:
[-6.58496121e-05,-3.92788222e-04,-2.23866384e-04,-7.61716836e-05,
  1.40730399e-05,-4.37943143e-04,-3.24569320e-04,-1.07633803e-04,
  6.18548833e-05,-4.16131802e-04,-3.24760219e-04,-1.16925569e-04,
  7.31732625e-03,-1.29253393e-03, 2.68414750e-03,-1.41488779e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42293506, -0.48676281, -4.3960683 , -0.48676281, 14.1593222 ,
       -1.07807952, -4.3960683 , -1.07807952,  4.54230741,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002609085149835183
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06380490e-13, -6.38282939e-13,  1.00000000e+00,  6.79008517e-26,
        1.00000000e+00,  6.38282939e-13, -1.00000000e+00,  0.00000000e+00,
        1.06380490e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10281145, -0.04728422,  0.06199194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.62020130e-07,-7.37910750e-06, 2.77804232e-05,-2.26933698e-05,
  2.00453743e-05,-2.14520563e-05, 7.74219298e-07, 2.59885089e-06,
  2.16720160e-05,-2.34049466e-05, 3.48224127e-05,-1.03902995e-05,
 -2.33426394e-05,-3.90639766e-05,-9.53958052e-05,-1.21025417e-04,
  2.31256546e-06, 4.72644616e-06,-1.21644565e+00,-1.77865814e-03,
 -3.12036234e-04,-2.15716140e-07]


--- Step 1309 ---
qpos:
[ 2.86359088e-03,-5.59025036e-03,-1.02460328e-02, 2.77282008e-03,
 -4.43644219e-03,-5.18492252e-03,-1.77728136e-02, 5.20974229e-03,
 -4.70747358e-03,-3.94229552e-03,-7.82090856e-03,-1.91776127e-02,
  1.30752852e+00, 1.88562315e-02, 1.29206010e+00, 2.46971990e-02,
  9.50011330e-02,-6.99578592e-02, 1.30744662e-01, 9.95434778e-01,
 -1.17159111e-04, 7.24973234e-05,-9.54441362e-02]

qacc:
[ 2.92386727e+00, 8.05331147e-01,-1.34968341e+00,-2.73513621e+00,
  5.08433635e+00,-6.76603169e-01, 1.34934078e+00,-2.40439833e-01,
  2.16107989e+00,-2.36590023e+00, 8.90467765e+00,-1.23363455e+01,
  5.72106192e-03,-2.20393753e-01, 2.41662457e+00,-9.70889161e+00,
 -6.32170034e-01,-1.37442419e+00,-6.56401622e-02, 2.09899962e+01,
 -3.29787224e+00, 1.10488622e+00]

qfrc_actuator:
[-4.85352625e-05,-3.78283153e-04,-2.43528417e-04,-8.97398105e-05,
  4.34415228e-05,-4.79189573e-04,-3.28704460e-04,-1.06789390e-04,
  7.38230906e-05,-3.94484965e-04,-2.79127750e-04,-1.21516307e-04,
  7.30865793e-03,-1.30604166e-03, 2.67901403e-03,-1.46107702e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42478155, -0.55347556, -4.39002922, -0.55347556, 18.74940688,
       -1.8059857 , -4.39002922, -1.8059857 ,  4.65247227,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002615834930717459
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06105990e-13, -4.24423962e-13,  1.00000000e+00,  4.50339248e-26,
        1.00000000e+00,  4.24423962e-13, -1.00000000e+00,  0.00000000e+00,
        1.06105990e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10281445, -0.04728453,  0.06199192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73045056e-05, 1.51507086e-05,-1.85511871e-05,-1.33646241e-05,
  2.99355206e-05,-5.29889238e-05,-8.39039364e-06, 1.18346553e-09,
  1.25716476e-05, 1.53877690e-05, 4.47629118e-05,-4.58418481e-06,
 -3.19634758e-05,-2.94314523e-05,-6.20955647e-05,-6.51001367e-05,
  4.73873971e-07, 4.83401433e-06,-1.21644528e+00,-1.77867524e-03,
 -3.09549708e-04,-6.64970010e-07]


--- Step 1310 ---
qpos:
[ 2.86325136e-03,-5.59030398e-03,-1.02461115e-02, 2.77256912e-03,
 -4.43593432e-03,-5.18506238e-03,-1.77728610e-02, 5.20925385e-03,
 -4.70692052e-03,-3.94380718e-03,-7.82144270e-03,-1.91776429e-02,
  1.30774400e+00, 1.88574014e-02, 1.29223784e+00, 2.46953701e-02,
  9.49859586e-02,-6.99663096e-02, 1.30742442e-01, 9.95428629e-01,
 -3.91035919e-05,-2.35983694e-05,-9.55083385e-02]

qacc:
[-1.19188818e+00, 9.20546178e-01,-4.14502124e+00, 7.93879492e+00,
 -3.00562963e+00, 5.39211213e-01,-2.73999805e+00, 4.10882445e+00,
 -1.80716761e+00,-2.67542146e-04,-1.26611707e+00, 6.30292085e+00,
 -6.23586883e-01, 7.95786026e-01,-2.93302610e+00, 9.25321185e+00,
 -6.13058993e-01,-1.36150937e+00,-1.56929021e-01, 2.08305112e+01,
 -3.49762647e+00, 9.67582571e-01]

qfrc_actuator:
[-5.60193686e-05,-3.87446908e-04,-2.55140020e-04,-7.97894152e-05,
  2.48673912e-05,-5.03764937e-04,-3.49096438e-04,-1.06104715e-04,
  6.28007432e-05,-3.98605363e-04,-2.69622570e-04,-1.06299234e-04,
  7.27970979e-03,-1.27877935e-03, 2.67487272e-03,-1.41610947e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42174803, -0.63758001, -4.37553966, -0.63758001, 24.72125936,
       -2.95793515, -4.37553966, -2.95793515,  4.85276236,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026047340641151273
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.26232774e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.26232774e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10281702, -0.04728423,  0.06199195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.98280126e-06,-5.08778800e-06,-1.12297481e-05, 9.69769710e-06,
 -1.77340903e-05,-5.59390761e-05,-3.23762345e-05,-1.87718727e-06,
 -1.06653238e-05, 1.36060686e-05, 1.80661438e-05, 1.73411200e-05,
 -5.33891740e-05, 1.18074304e-05,-4.12905534e-05, 3.30685968e-05,
 -9.81976193e-07, 5.54406185e-06,-1.21644780e+00,-1.77932825e-03,
 -3.07072100e-04,-1.20148528e-06]


--- Step 1311 ---
qpos:
[ 2.86179039e-03,-5.59062981e-03,-1.02459114e-02, 2.77209632e-03,
 -4.43599751e-03,-5.18570496e-03,-1.77731004e-02, 5.20878656e-03,
 -4.70581391e-03,-3.94549948e-03,-7.82142910e-03,-1.91778291e-02,
  1.30795879e+00, 1.88593973e-02, 1.29241488e+00, 2.46954238e-02,
  9.49683919e-02,-6.99801642e-02, 1.30739288e-01, 9.95422620e-01,
  7.94681962e-05,-1.30927595e-04,-9.55708307e-02]

qacc:
[ -9.79639496, -1.57684613,  6.06979059,-10.19034116, -4.97761258,
  -0.07457921, -0.77057928,  1.79536918,  4.86632631, -2.10053326,
   7.78260069,-11.20108435, -0.86969822,  1.29978772, -6.64424018,
  21.97132961, -0.59807517, -1.35104839, -0.23339484, 20.70199844,
  -3.6563011 ,  0.85716371]

qfrc_actuator:
[-1.13550542e-04,-4.10672310e-04,-2.44213293e-04,-9.15928069e-05,
 -4.02638033e-06,-5.35992229e-04,-3.61111426e-04,-1.05518641e-04,
  9.15957459e-05,-4.18243894e-04,-2.46102338e-04,-1.15099069e-04,
  7.25461494e-03,-1.22763004e-03, 2.65004127e-03,-1.31782148e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41492475, -0.74303466, -4.35194899, -0.74303466, 32.42033497,
       -4.78153365, -4.35194899, -4.78153365,  5.23130501,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025795392506074155
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.30395864e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.30395864e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10281925, -0.04728344,  0.06199203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.77321749e-05,-2.79725225e-05, 8.83089551e-06,-1.22200114e-05,
 -2.94203084e-05,-7.02751756e-05,-2.76183723e-05,-2.96535293e-06,
  2.84883835e-05,-7.49693799e-06, 2.91805013e-05,-7.24927363e-06,
 -4.97287237e-05, 4.26379015e-05,-4.28852576e-05, 9.42341048e-05,
 -2.08225325e-06, 6.83565377e-06,-1.21645314e+00,-1.78061438e-03,
 -3.04577344e-04,-1.83689349e-06]


--- Step 1312 ---
qpos:
[ 2.85999605e-03,-5.59112713e-03,-1.02458804e-02, 2.77150428e-03,
 -4.43640689e-03,-5.18663267e-03,-1.77735730e-02, 5.20795943e-03,
 -4.70402603e-03,-3.94740871e-03,-7.82078872e-03,-1.91781197e-02,
  1.30817315e+00, 1.88617497e-02, 1.29259165e+00, 2.46952814e-02,
  9.49481809e-02,-6.99868559e-02, 1.30736040e-01, 9.95416479e-01,
  1.48968927e-04,-2.69652173e-04,-9.56343986e-02]

qacc:
[-2.91845930e+00, 6.29309282e-03, 1.61901616e-01,-1.83949293e+00,
 -3.02168926e+00,-4.60061947e-01, 2.62295455e+00,-8.27931044e+00,
  5.98728219e+00,-2.26564805e+00, 8.08085836e+00,-1.07047017e+01,
 -5.68494733e-01, 7.42273880e-01, 2.45194408e-01,-1.30208871e+00,
 -6.61065240e-01, 1.79073076e+00,-2.36521188e-02,-2.29230457e+01,
 -1.79707541e+01,-5.37227714e-01]

qfrc_actuator:
[-1.29059356e-04,-4.24313892e-04,-2.55657241e-04,-9.83526236e-05,
 -2.09947226e-05,-5.37017309e-04,-3.68109464e-04,-1.22745407e-04,
  1.25850592e-04,-4.29241720e-04,-2.14571651e-04,-1.20210964e-04,
  7.23186297e-03,-1.21598699e-03, 2.63413260e-03,-1.33101031e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42353186e+00,  2.85137114e-02, -4.42343996e+00,  2.85137114e-02,
        2.93115262e+01,  1.60429235e-01, -4.42343996e+00,  1.60429235e-01,
        4.42456600e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00])
  dim: 3
  dist: -0.00026112692247913516
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10384243, -0.09528693,  0.06199193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.71675460e-05,-2.79883769e-05,-1.65506561e-05,-7.88658362e-06,
 -1.78350483e-05,-4.61371167e-05,-2.50054792e-05,-2.12469565e-05,
  3.50595438e-05,-9.39851730e-06, 3.33453979e-05,-4.56130382e-06,
 -3.81541409e-05, 1.30951665e-05,-2.77007468e-05,-1.39974885e-05,
 -2.84651225e-06, 8.69498614e-06,-1.21646125e+00,-1.78253119e-03,
 -3.02045680e-04,-2.57959342e-06]


--- Step 1313 ---
qpos:
[ 2.85802930e-03,-5.59182900e-03,-1.02460181e-02, 2.77153100e-03,
 -4.43632737e-03,-5.18737333e-03,-1.77746643e-02, 5.20689772e-03,
 -4.70287634e-03,-3.94913882e-03,-7.81993231e-03,-1.91781466e-02,
  1.30838712e+00, 1.88642947e-02, 1.29276826e+00, 2.46952633e-02,
  9.49252746e-02,-6.99864827e-02, 1.30732169e-01, 9.95410167e-01,
  1.70050989e-04,-4.38765541e-04,-9.56994182e-02]

qacc:
[ -1.50967276,  1.47819052, -8.26936398, 19.3921042 ,  4.2410011 ,
   1.48417776, -3.95784485,  0.76603224, -5.58303103,  0.18687032,
  -1.41534987,  5.47721537, -0.409834  ,  0.47514547, -0.54385556,
   1.70225223, -0.67382836,  1.76620626, -0.15546077,-22.64544648,
 -17.44012798, -0.72195385]

qfrc_actuator:
[-1.37446894e-04,-4.32197016e-04,-2.62434492e-04,-6.65948936e-05,
  4.70100396e-06,-5.01584937e-04,-3.89731938e-04,-1.32534710e-04,
  9.20217019e-05,-3.99441293e-04,-1.96285456e-04,-1.05346564e-04,
  7.21051845e-03,-1.21015601e-03, 2.63954221e-03,-1.32099632e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43321126,  0.31194043,  4.42222288,  0.31194043, 12.96625355,
       -0.60191468,  4.42222288, -0.60191468,  4.47566989,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026463667720462436
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.57322726e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.57322726e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1038384 , -0.09528561,  0.06199182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.88530992e-06,-2.72722022e-05,-1.48606892e-05, 2.98357400e-05,
  2.51702255e-05, 3.59253945e-06,-3.49486247e-05,-1.30392176e-05,
 -3.28375399e-05, 3.13169369e-05, 2.03099787e-05, 1.55291691e-05,
 -3.80296376e-05, 1.20725432e-06,-1.22933746e-05, 4.91807901e-06,
 -1.18064933e-06, 8.56003414e-06,-1.21646043e+00,-1.78330463e-03,
 -3.01270766e-04,-1.66082415e-06]


--- Step 1314 ---
qpos:
[ 2.85632219e-03,-5.59293653e-03,-1.02458885e-02, 2.77227885e-03,
 -4.43594055e-03,-5.18803186e-03,-1.77763742e-02, 5.20677600e-03,
 -4.70248557e-03,-3.95084015e-03,-7.81906609e-03,-1.91779617e-02,
  1.30860080e+00, 1.88666931e-02, 1.29294493e+00, 2.46953092e-02,
  9.49058022e-02,-6.99900160e-02, 1.30730208e-01, 9.95403827e-01,
  2.13079171e-04,-5.76989068e-04,-9.57645154e-02]

qacc:
[ 2.28694328e+00, 1.97741019e-01,-4.53453327e+00, 1.68940992e+01,
  2.65969478e+00, 3.76629886e+00,-1.72495439e+01, 3.44582429e+01,
 -6.64385843e+00, 4.60076294e-01,-2.45568075e+00, 6.05825530e+00,
 -1.38492732e-01,-1.47456153e-02,-1.15031793e-01, 5.25403577e-01,
  8.58471848e-01,-9.76609138e-01, 4.77178968e-01, 9.44461089e+00,
  1.64241340e+01,-4.73690270e-02]

qfrc_actuator:
[-1.23836628e-04,-4.54276048e-04,-2.48592002e-04,-3.01695583e-05,
  1.97932850e-05,-4.97894104e-04,-4.19650343e-04,-8.45849683e-05,
  5.38947709e-05,-4.16481732e-04,-2.03538555e-04,-9.65753174e-05,
  7.19002960e-03,-1.22554372e-03, 2.65241474e-03,-1.31505532e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44846102, -1.72749216,  4.09933852, -1.72749216, 21.91511381,
        7.36057917,  4.09933852,  7.36057917,  7.55026457,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027004635991409454
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02780780e-13, -4.11123122e-13,  1.00000000e+00, -4.22555553e-26,
        1.00000000e+00,  4.11123122e-13, -1.00000000e+00,  0.00000000e+00,
       -1.02780780e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08452781, -0.05592046,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33485209e-05,-3.90908427e-05, 7.42329321e-06, 3.53258578e-05,
  1.58170690e-05,-2.02657417e-06,-3.39099960e-05, 4.66458545e-05,
 -3.90598470e-05, 5.37662416e-06, 2.26668628e-06, 1.11210543e-05,
 -3.95101593e-05,-2.37109202e-05, 3.75284897e-06, 3.73586261e-06,
  5.75717440e-08, 9.46146971e-06,-1.21646466e+00,-1.78336596e-03,
 -2.99993199e-04, 1.52698870e-07]


--- Step 1315 ---
qpos:
[ 2.85410155e-03,-5.59425791e-03,-1.02459046e-02, 2.77311609e-03,
 -4.43572029e-03,-5.18898291e-03,-1.77777526e-02, 5.20755719e-03,
 -4.70255491e-03,-3.95280764e-03,-7.81838429e-03,-1.91779658e-02,
  1.30881402e+00, 1.88692016e-02, 1.29312157e+00, 2.46941184e-02,
  9.48897535e-02,-6.99973448e-02, 1.30729559e-01, 9.95397448e-01,
  2.78047749e-04,-6.85121241e-04,-9.58299246e-02]

qacc:
[ -4.49285481,  0.31761939, -1.90469778,  3.82570357, -1.43668019,
   0.54939356, -6.32663133, 21.63388713, -4.02938626, -0.21785739,
   1.07705406, -3.8707982 , -0.53630269,  0.54766229,  3.76421766,
 -13.08505679,  0.85593629, -0.94887408,  0.32813505,  9.47884945,
  16.02703545, -0.1667317 ]

qfrc_actuator:
[-1.50648678e-04,-4.66837065e-04,-2.58251318e-04,-2.67988121e-05,
  1.07569139e-05,-5.13218104e-04,-4.01041054e-04,-3.85777876e-05,
  3.13176505e-05,-4.61547999e-04,-2.25995423e-04,-1.09266300e-04,
  7.16473362e-03,-1.21789499e-03, 2.63779838e-03,-1.38255796e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46023304,  2.87523013, -3.40979918,  2.87523013, 11.70111197,
        6.10569484, -3.40979918,  6.10569484,  9.60871154,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002741269672008051
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01250803e-13, -2.02501606e-13,  1.00000000e+00,  2.05034503e-26,
        1.00000000e+00,  2.02501606e-13, -1.00000000e+00,  0.00000000e+00,
        1.01250803e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08453032, -0.05591935,  0.06199153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.64427092e-05,-3.13267804e-05,-1.55861009e-05, 2.64056423e-06,
 -8.58420611e-06,-2.14129367e-05, 1.56550903e-05, 4.56596631e-05,
 -2.36957375e-05,-4.10765875e-05,-2.06710938e-05,-1.21626237e-05,
 -5.05605397e-05,-8.61077081e-06,-1.71463143e-05,-6.78686058e-05,
 -6.17111745e-07, 8.18711741e-06,-1.21645802e+00,-1.78464934e-03,
 -2.97398317e-04, 3.09595618e-07]


--- Step 1316 ---
qpos:
[ 2.85157683e-03,-5.59557641e-03,-1.02461012e-02, 2.77327124e-03,
 -4.43561009e-03,-5.19003837e-03,-1.77786498e-02, 5.20850329e-03,
 -4.70220514e-03,-3.95475091e-03,-7.81837084e-03,-1.91781248e-02,
  1.30902715e+00, 1.88709963e-02, 1.29329751e+00, 2.46938492e-02,
  9.48780490e-02,-7.00054459e-02, 1.30730506e-01, 9.95391135e-01,
  3.42921139e-04,-7.61481377e-04,-9.58946852e-02]

qacc:
[ -2.66601494, -0.89151817,  6.0724241 ,-17.60035658, -0.94288001,
  -1.14121867,  3.17633513, -1.01939854,  3.64760724,  1.57413766,
  -4.92463823,  3.30836153,  0.5063076 , -1.03925715, -3.89703339,
  11.95823892,  1.08604916, -0.19308961,  0.39893457, -1.56951829,
  15.8084546 ,  0.32161976]

qfrc_actuator:
[-1.65539535e-04,-4.55964168e-04,-2.63952989e-04,-6.06701616e-05,
  5.34692454e-06,-5.04103944e-04,-3.71770291e-04,-2.95803454e-05,
  5.35804525e-05,-4.52135802e-04,-2.57384241e-04,-1.16765808e-04,
  7.15255630e-03,-1.26763320e-03, 2.60669367e-03,-1.33307806e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46498722,  0.03644003, -4.46483852,  0.03644003, 18.62017444,
        0.11552835, -4.46483852,  0.11552835,  4.46593011,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002757523571854241
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.76403406e-07, -1.76403815e-07,  1.00000000e+00, -3.11182339e-14,
        1.00000000e+00,  1.76403815e-07, -1.00000000e+00,  0.00000000e+00,
       -1.76403406e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0820403 , -0.06701554,  0.06199148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56529843e-05,-9.70742191e-06,-1.39837900e-05,-3.56988826e-05,
 -5.66608681e-06, 2.37599283e-06, 2.83825444e-05, 9.51430192e-06,
  2.15675648e-05,-1.82931566e-05,-4.28236870e-05,-1.02067760e-05,
 -4.00832521e-05,-6.37584752e-05,-5.08162050e-05, 4.25462503e-05,
 -1.55115761e-06, 7.19666521e-06,-1.21645375e+00,-1.78620701e-03,
 -2.95282818e-04, 6.60136959e-07]


--- Step 1317 ---
qpos:
[ 2.84923797e-03,-5.59694026e-03,-1.02461036e-02, 2.77299919e-03,
 -4.43591078e-03,-5.19076670e-03,-1.77799181e-02, 5.20955332e-03,
 -4.70090190e-03,-3.95654728e-03,-7.81887235e-03,-1.91780538e-02,
  1.30924014e+00, 1.88719596e-02, 1.29347293e+00, 2.46941411e-02,
  9.48706469e-02,-7.00142322e-02, 1.30732571e-01, 9.95384888e-01,
  4.07660614e-04,-8.06414698e-04,-9.59588920e-02]

qacc:
[  1.63239991, -1.48575643,  7.00822328,-14.67260764, -3.60042954,
   1.69003836, -5.82570478,  7.96512515,  8.32835298,  2.09114703,
  -8.17050692, 12.89013789,  0.49316153, -1.11177629, -2.54167474,
   7.59857374,  1.07557629, -0.17128141,  0.27970535, -1.57328139,
  15.63468529,  0.27346307]

qfrc_actuator:
[-1.55529076e-04,-4.48914765e-04,-2.49434466e-04,-8.06457711e-05,
 -1.56297463e-05,-4.80397984e-04,-3.89643032e-04,-2.46592566e-05,
  1.02052018e-04,-4.27973072e-04,-2.75821908e-04,-1.03356387e-04,
  7.13758194e-03,-1.31551829e-03, 2.58706044e-03,-1.30383541e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46750104,  4.38478445, -0.8557049 ,  4.38478445,  5.56609416,
        5.62938694, -0.8557049 ,  5.62938694, 33.31348325,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027660667858653287
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00343114e-13,  2.00686229e-13,  1.00000000e+00,  2.01374812e-26,
        1.00000000e+00, -2.00686229e-13, -1.00000000e+00,  0.00000000e+00,
       -1.00343114e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08200884, -0.06715484,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.56609799e-06,-2.74481302e-06, 9.57620987e-06,-2.15660726e-05,
 -2.11398195e-05, 3.13493780e-05,-1.35353249e-05, 6.19278230e-06,
  4.90770903e-05, 4.73044791e-06,-2.78209969e-05, 1.09494698e-05,
 -5.08070009e-05,-7.58266323e-05,-3.94708463e-05, 2.48101670e-05,
 -1.97452245e-06, 5.57505298e-06,-1.21644879e+00,-1.78771925e-03,
 -2.94321514e-04, 1.58536759e-06]


--- Step 1318 ---
qpos:
[ 2.84669226e-03,-5.59823217e-03,-1.02462908e-02, 2.77284609e-03,
 -4.43680551e-03,-5.19126149e-03,-1.77810610e-02, 5.20994104e-03,
 -4.69937259e-03,-3.95834350e-03,-7.81957851e-03,-1.91778258e-02,
  1.30945266e+00, 1.88728179e-02, 1.29364792e+00, 2.46947634e-02,
  9.48684512e-02,-7.00197049e-02, 1.30734880e-01, 9.95378954e-01,
  4.43275350e-04,-8.18533985e-04,-9.60201642e-02]

qacc:
[ -1.81629842,  0.86015513, -3.4249154 ,  5.71945455, -5.18076437,
  -1.39512298,  8.23591485,-20.09036757,  1.97281641,  0.89184084,
  -3.84748776,  6.89560832, -0.25170075,  0.08828549, -1.62162083,
   4.79076415,  1.30162646,  0.82839249,  0.06088717,-16.06844258,
  14.93463289,  1.48057499]

qfrc_actuator:
[-1.66451406e-04,-4.44112378e-04,-2.58591553e-04,-7.45133699e-05,
 -4.56015611e-05,-4.66079359e-04,-3.81884022e-04,-5.76942373e-05,
  1.12288953e-04,-4.30597665e-04,-2.86374924e-04,-9.54771124e-05,
  7.12093751e-03,-1.30863055e-03, 2.56899342e-03,-1.28674319e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46818689, -0.2114967 , -4.46317861, -0.2114967 , 15.02452492,
       -0.50023332, -4.46317861, -0.50023332,  4.49189146,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002768391552680216
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.00517702e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.00517702e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07889202, -0.08220473,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06449811e-05, 4.38225689e-06,-9.27217722e-06, 5.93012809e-06,
 -3.05666295e-05, 2.93502647e-05, 1.28030025e-05,-3.20366918e-05,
  1.16346189e-05,-5.16466799e-06,-1.25975780e-05, 7.33565272e-06,
 -6.04553658e-05,-2.72295395e-05,-3.54438200e-05, 1.29517864e-05,
 -2.41867809e-06, 4.00939800e-06,-1.21644542e+00,-1.78917177e-03,
 -2.93833766e-04, 2.34807946e-06]


--- Step 1319 ---
qpos:
[ 2.84472539e-03,-5.59945322e-03,-1.02465789e-02, 2.77241666e-03,
 -4.43770785e-03,-5.19154075e-03,-1.77820844e-02, 5.20958728e-03,
 -4.69876684e-03,-3.96023451e-03,-7.82009647e-03,-1.91775202e-02,
  1.30966475e+00, 1.88734540e-02, 1.29382290e+00, 2.46948393e-02,
  9.48713718e-02,-7.00218660e-02, 1.30737024e-01, 9.95373316e-01,
  4.50242084e-04,-7.97875330e-04,-9.60787284e-02]

qacc:
[  5.05872543, -0.20349042,  2.01072175, -6.66538444, -0.06677083,
  -1.57518527,  9.16049754,-22.34420206, -8.07760464, -0.47579179,
   1.2146828 , -0.13316237, -0.25279718,  0.02772937,  1.66012615,
  -5.78138475,  1.27906588,  0.82788858, -0.04121444,-15.83043833,
  14.93856547,  1.36642698]

qfrc_actuator:
[-1.36357148e-04,-4.40757340e-04,-2.63900034e-04,-8.85966891e-05,
 -4.51177108e-05,-4.57430387e-04,-3.76846715e-04,-9.50255687e-05,
  6.44258441e-05,-4.31454017e-04,-2.74548844e-04,-9.09349524e-05,
  7.09799973e-03,-1.32253097e-03, 2.57850587e-03,-1.31244035e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.46532478,   3.25535306,   3.05643614,   3.25535306,
        15.55189992, -11.80810417,   3.05643614, -11.80810417,
        17.04191604,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002758672811184054
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00612061e-13, -2.01224121e-13,  1.00000000e+00,  2.02455735e-26,
        1.00000000e+00,  2.01224121e-13, -1.00000000e+00,  0.00000000e+00,
        1.00612061e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07889021, -0.08220373,  0.06199148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.97959905e-05, 4.19810934e-06,-5.31951612e-06,-1.40964020e-05,
 -3.81385782e-07, 2.63531258e-05, 1.15876071e-05,-3.62502322e-05,
 -4.75388069e-05,-5.95050603e-06, 9.49145229e-06, 4.03283308e-06,
 -6.01388561e-05,-3.57507014e-05,-8.23542644e-06,-3.01686832e-05,
 -1.52531572e-06, 1.66145165e-06,-1.21644127e+00,-1.79010829e-03,
 -2.94664752e-04, 2.98935513e-06]


--- Step 1320 ---
qpos:
[ 2.84313443e-03,-5.60063118e-03,-1.02463944e-02, 2.77213066e-03,
 -4.43859750e-03,-5.19181257e-03,-1.77829481e-02, 5.20881318e-03,
 -4.69873978e-03,-3.96185215e-03,-7.82063155e-03,-1.91771962e-02,
  1.30987624e+00, 1.88741849e-02, 1.29399797e+00, 2.46952124e-02,
  9.48793365e-02,-7.00207184e-02, 1.30738662e-01, 9.95367956e-01,
  4.28944832e-04,-7.44474497e-04,-9.61347660e-02]

qacc:
[  3.30229217, -0.97461483,  2.94105195, -1.23390565,  0.11532901,
  -1.30192121,  6.43067211,-13.96643674, -5.07113022,  0.45714908,
  -1.16647104,  1.2937645 , -0.51965529,  0.48013424, -0.71322492,
   2.81682511,  1.26102754,  0.82719772, -0.12656781,-15.6385764 ,
  14.93824051,  1.2747271 ]

qfrc_actuator:
[-1.17861151e-04,-4.20545777e-04,-2.31404129e-04,-7.89564767e-05,
 -4.44618963e-05,-4.70011249e-04,-3.73486605e-04,-1.16837963e-04,
  3.60198239e-05,-3.95649284e-04,-2.67358932e-04,-8.83784327e-05,
  7.07129964e-03,-1.31323960e-03, 2.59921782e-03,-1.29205580e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.45783824,   3.35019455,   2.94083631,   3.35019455,
        19.0360122 , -16.60742517,   2.94083631, -16.60742517,
        23.37698212,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002733033571187954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01555926e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.01555926e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07888832, -0.08220332,  0.06199156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.93541245e-05, 2.09215541e-05, 3.22394572e-05, 9.36511658e-06,
  6.55117364e-07, 3.01870344e-06, 8.99233189e-06,-2.09841252e-05,
 -2.97727340e-05, 3.46695177e-05, 7.29941812e-06, 2.71538438e-06,
 -6.53613726e-05,-1.51996420e-05, 9.10257588e-06, 1.66461727e-05,
 -4.23256977e-07,-2.58198585e-07,-1.21644015e+00,-1.79053300e-03,
 -2.95859993e-04, 3.02951564e-06]


--- Step 1321 ---
qpos:
[ 2.84212270e-03,-5.60165424e-03,-1.02458582e-02, 2.77195564e-03,
 -4.43947243e-03,-5.19197286e-03,-1.77837992e-02, 5.20778078e-03,
 -4.69870898e-03,-3.96324407e-03,-7.82137383e-03,-1.91764796e-02,
  1.31008734e+00, 1.88747156e-02, 1.29417262e+00, 2.46972155e-02,
  9.48922882e-02,-7.00162649e-02, 1.30739509e-01, 9.95362853e-01,
  3.79690541e-04,-6.58361948e-04,-9.61884229e-02]

qacc:
[  5.07509205, -0.55993167,  1.80786957, -0.54523629,  0.12659295,
  -0.42003436,  2.80165308, -7.37439356,  0.02264666,  1.68607807,
  -7.23262385, 14.1837518 , -0.02638208, -0.20503929, -5.56303284,
  18.5436287 ,  1.24673685,  0.82646932, -0.19780633,-15.48530615,
  14.93688131,  1.20056705]

qfrc_actuator:
[-8.86000822e-05,-4.07973515e-04,-2.12263837e-04,-7.31440090e-05,
 -4.37201670e-05,-4.59702873e-04,-3.71220903e-04,-1.29363568e-04,
  3.70652290e-05,-3.91436051e-04,-2.80573321e-04,-6.92325998e-05,
  7.05302370e-03,-1.32576671e-03, 2.57870851e-03,-1.20914219e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026950000247233374
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.08967444e-13, -2.05978296e-13,  1.00000000e+00,  6.36405875e-26,
        1.00000000e+00,  2.05978296e-13, -1.00000000e+00,  0.00000000e+00,
        3.08967444e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07888638, -0.08220338,  0.06199167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.98234504e-05, 3.13851417e-05, 2.77700498e-05, 8.00911830e-06,
  7.62074391e-07, 1.29766703e-05, 3.28579698e-06,-1.24892557e-05,
  2.01228006e-07, 2.52779713e-05,-5.03500533e-06, 2.09413041e-05,
 -5.41948409e-05,-3.23290346e-05,-1.99129184e-05, 8.37955327e-05,
  8.97962211e-07,-1.78162690e-06,-1.21644200e+00,-1.79045504e-03,
 -2.97432422e-04, 2.47839097e-06]


--- Step 1322 ---
qpos:
[ 2.84181464e-03,-5.60233053e-03,-1.02456941e-02, 2.77153209e-03,
 -4.43998696e-03,-5.19172262e-03,-1.77853214e-02, 5.20661528e-03,
 -4.69866606e-03,-3.96477570e-03,-7.82152442e-03,-1.91758927e-02,
  1.31029789e+00, 1.88755647e-02, 1.29434686e+00, 2.46982571e-02,
  9.49098073e-02,-7.00104132e-02, 1.30740158e-01, 9.95357872e-01,
  3.16696316e-04,-5.40017346e-04,-9.62409164e-02]

qacc:
[  6.13738492,  0.9746222 , -1.78182623, -2.15673418,  3.11503456,
   2.1372808 , -6.28278764,  4.76335629,  0.12684706, -2.10598232,
   7.78578217,-10.86783637, -0.68191564,  0.81635055,  2.37113906,
  -9.0067567 ,  1.1418694 ,  0.3495364 , -0.04947044, -8.38792521,
  15.38074434,  0.58331308]

qfrc_actuator:
[-5.32336561e-05,-4.00113871e-04,-2.36710508e-04,-8.74057362e-05,
 -2.51813458e-05,-4.35768015e-04,-4.05033920e-04,-1.36310978e-04,
  3.76779011e-05,-4.06239404e-04,-2.52575453e-04,-7.60198598e-05,
  7.03447993e-03,-1.29786988e-03, 2.53350885e-03,-1.26768905e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.43355428,   1.71601955,   4.08799223,   1.71601955,
        33.76283377, -12.31157354,   4.08799223, -12.31157354,
         9.60159269,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00026475994887855883
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.52096071e-08,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.52096071e-08, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08046458, -0.07459086,  0.06199182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.62310502e-05, 3.15343414e-05,-1.42602043e-05,-1.17997241e-05,
  1.85655838e-05, 3.13532890e-05,-3.11460099e-05,-6.51625638e-06,
  6.21543572e-07,-7.53528633e-07, 3.33466514e-05,-5.46804045e-06,
 -5.32414274e-05, 5.72601448e-06,-4.82158135e-05,-5.71538281e-05,
  2.44498428e-06,-2.93373665e-06,-1.21644677e+00,-1.78988156e-03,
 -2.99391734e-04, 1.34343191e-06]


--- Step 1323 ---
qpos:
[ 2.84193327e-03,-5.60277579e-03,-1.02457690e-02, 2.77060193e-03,
 -4.44027518e-03,-5.19119600e-03,-1.77872516e-02, 5.20572008e-03,
 -4.69827145e-03,-3.96630685e-03,-7.82105894e-03,-1.91757568e-02,
  1.31050790e+00, 1.88769496e-02, 1.29452061e+00, 2.46989033e-02,
  9.49245640e-02,-6.99974021e-02, 1.30739376e-01, 9.95352715e-01,
  2.07537556e-04,-4.50323805e-04,-9.62949985e-02]

qacc:
[  3.72059798, -0.07731645,  2.84448492,-11.38615067,  1.95611886,
   2.05734431, -7.95380979, 13.08898663,  3.09798561, -2.65662235,
  11.362043  ,-20.13160857, -0.77107959,  1.04933165,  0.55752065,
  -2.79333577, -0.6906191 ,  1.78986552, -0.35772218,-21.59681566,
 -16.48078753, -0.78213746]

qfrc_actuator:
[-3.23127778e-05,-3.95335634e-04,-2.51220852e-04,-1.13396870e-04,
 -1.40684951e-05,-4.21753515e-04,-4.24310132e-04,-1.22180745e-04,
  5.57737096e-05,-3.96672301e-04,-2.18318878e-04,-9.80018119e-05,
  7.01580282e-03,-1.26390975e-03, 2.51611638e-03,-1.28490423e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42758521,  3.32864547, -2.91952567,  3.32864547, 12.42200538,
        9.11469653, -2.91952567,  9.11469653, 14.819545  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026260407375723605
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.11387243e-13,  2.11387243e-13,  1.00000000e+00, -4.46845666e-26,
        1.00000000e+00, -2.11387243e-13, -1.00000000e+00,  0.00000000e+00,
        2.11387243e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10380868, -0.09530143,  0.06199189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.19705428e-05, 1.89983054e-05,-1.01557000e-05,-2.53624726e-05,
  1.16575657e-05, 2.48525938e-05,-1.68457909e-05, 1.42735647e-05,
  1.81072875e-05, 1.58553454e-05, 3.80371854e-05,-2.09645122e-05,
 -4.51189217e-05, 2.38964363e-05,-4.86411264e-05,-2.71899551e-05,
  3.36762712e-06,-4.05345840e-06,-1.21645280e+00,-1.78906377e-03,
 -3.01466995e-04, 1.11120464e-08]


--- Step 1324 ---
qpos:
[ 2.84195715e-03,-5.60293246e-03,-1.02460678e-02, 2.76935919e-03,
 -4.44042743e-03,-5.19110212e-03,-1.77880098e-02, 5.20532788e-03,
 -4.69766340e-03,-3.96730036e-03,-7.82098124e-03,-1.91755398e-02,
  1.31071765e+00, 1.88782368e-02, 1.29469386e+00, 2.46999607e-02,
  9.49426159e-02,-6.99879532e-02, 1.30739237e-01, 9.95347498e-01,
  1.20862475e-04,-3.30282497e-04,-9.63495395e-02]

qacc:
[-0.8409227 , 0.36498548, 0.5742332 ,-5.84110321, 1.23014082,-2.81249586,
  7.07170823, 0.08100822, 1.84712088, 1.95818308,-6.29844362, 7.93125395,
 -0.08399952,-0.0410892 ,-1.97415371, 5.85122685, 0.82381267,-0.89057597,
  0.16072196, 9.72832968,16.18583834,-0.2394815 ]

qfrc_actuator:
[-3.78163487e-05,-3.74676570e-04,-2.59753681e-04,-1.28315521e-04,
 -7.42126823e-06,-4.49226555e-04,-3.63848494e-04,-9.57540655e-05,
  6.62623243e-05,-3.54814609e-04,-2.33826033e-04,-9.32220996e-05,
  6.99706565e-03,-1.27991445e-03, 2.50477837e-03,-1.25974937e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42625986, -2.01208038,  3.94250033, -2.01208038, 21.70502975,
        8.81833128,  3.94250033,  8.81833128,  8.9267519 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026212226278242434
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.11775797e-13, -4.23551595e-13,  1.00000000e+00,  8.96979768e-26,
        1.00000000e+00,  4.23551595e-13, -1.00000000e+00,  0.00000000e+00,
        2.11775797e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08454473, -0.05591238,  0.0619919 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.86585700e-06, 2.81248874e-05,-6.72998612e-06,-1.49474051e-05,
  6.99018917e-06,-1.64339516e-05, 6.40316484e-05, 2.71909942e-05,
  1.10062581e-05, 5.77396852e-05,-8.26110636e-06, 6.36797177e-06,
 -3.67977947e-05,-1.87870082e-05,-3.92694582e-05, 1.68369268e-05,
  6.13484318e-06,-1.78450048e-06,-1.21645456e+00,-1.78694311e-03,
 -3.03795426e-04,-6.29228939e-07]


--- Step 1325 ---
qpos:
[ 2.84191503e-03,-5.60271055e-03,-1.02465613e-02, 2.76827871e-03,
 -4.44049851e-03,-5.19166276e-03,-1.77875398e-02, 5.20493473e-03,
 -4.69727916e-03,-3.96773875e-03,-7.82141433e-03,-1.91752610e-02,
  1.31092745e+00, 1.88785843e-02, 1.29486663e+00, 2.47009659e-02,
  9.49639878e-02,-6.99820218e-02, 1.30739356e-01, 9.95342205e-01,
  5.64950849e-05,-1.80544434e-04,-9.64046662e-02]

qacc:
[ -0.58985075,  1.37978966, -4.87661761,  7.71531731,  0.75727229,
  -4.29927346, 14.0770563 ,-15.57582129, -1.98481678,  2.29265988,
  -7.3625522 ,  8.8292381 ,  0.67033755, -1.32076639, -0.64620043,
   1.00574858,  0.8299946 , -0.87936136,  0.06460929,  9.67122516,
  15.85391502, -0.30064939]

qfrc_actuator:
[-4.10711935e-05,-3.44638988e-04,-2.64619540e-04,-1.18829439e-04,
 -3.45362526e-06,-5.00993547e-04,-3.10218757e-04,-9.77956130e-05,
  5.44315801e-05,-3.29625168e-04,-2.60681365e-04,-9.04897788e-05,
  6.98893879e-03,-1.34323142e-03, 2.48111359e-03,-1.26307872e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42511604,  0.22911403, -4.41918077,  0.22911403, 26.17831095,
        1.1278023 , -4.41918077,  1.1278023 ,  4.48358736,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002617055237997823
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.12113029e-13, -4.24226057e-13,  1.00000000e+00,  8.99838737e-26,
        1.00000000e+00,  4.24226057e-13, -1.00000000e+00,  0.00000000e+00,
        2.12113029e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08454668, -0.05591198,  0.06199191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.38216531e-06, 4.37446667e-05,-3.94370503e-07, 1.01713137e-05,
  4.15859127e-06,-4.65573731e-05, 5.90726330e-05, 1.56373985e-09,
 -1.14992254e-05, 5.60839432e-05,-1.57163362e-05, 5.04441923e-06,
 -3.16765800e-05,-7.70927859e-05,-4.20965217e-05,-7.94281259e-06,
  5.03699838e-06,-3.82724181e-06,-1.21645579e+00,-1.78581976e-03,
 -3.05027128e-04,-1.45515978e-06]


--- Step 1326 ---
qpos:
[ 2.84217947e-03,-5.60269150e-03,-1.02465865e-02, 2.76734910e-03,
 -4.44086661e-03,-5.19221425e-03,-1.77874721e-02, 5.20489411e-03,
 -4.69738407e-03,-3.96837517e-03,-7.82127551e-03,-1.91752748e-02,
  1.31113724e+00, 1.88783433e-02, 1.29503871e+00, 2.47016222e-02,
  9.49856586e-02,-6.99741417e-02, 1.30740710e-01, 9.95336877e-01,
 -2.09354640e-05,-3.07594530e-05,-9.64598350e-02]

qacc:
[  2.69986887, -1.27145165,  3.49840717, -1.47699049, -2.60263433,
   1.86676164, -8.11848279, 14.84806332, -4.26091186, -2.45477737,
   9.61891872,-15.45912442,  0.39286725, -0.80720982, -0.01970131,
  -1.54559973,  0.07473524,  0.48718296,  0.30859764, -6.5034209 ,
  -0.60632886, -0.02141727]

qfrc_actuator:
[-2.52150135e-05,-3.80190254e-04,-2.49472231e-04,-1.12802946e-04,
 -1.88459336e-05,-4.95931516e-04,-3.32223760e-04,-8.11100735e-05,
  2.95610976e-05,-3.67927117e-04,-2.40809592e-04,-1.06751588e-04,
  6.99780994e-03,-1.36304409e-03, 2.43941791e-03,-1.28319975e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41853058,  1.67892271, -4.08712993,  1.67892271, 18.84089396,
        5.92445892, -4.08712993,  5.92445892,  6.85219645,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025928930162053405
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10389967e-13,  1.09751680e-06,  1.00000000e+00, -1.21154843e-19,
        1.00000000e+00, -1.09751680e-06, -1.00000000e+00, -2.40741243e-35,
        1.10389967e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09404593, -0.07534541,  0.06199199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57743833e-05,-1.07357149e-05, 2.44922604e-05, 8.08828860e-06,
 -1.52917170e-05,-8.75398920e-06,-2.43424605e-05, 1.67360259e-05,
 -2.51806640e-05,-9.95266491e-06, 2.97048136e-05,-1.43036724e-05,
 -2.59127649e-05,-4.97667158e-05,-6.35134325e-05,-2.63440791e-05,
  3.67933985e-06,-5.64046255e-06,-1.21645911e+00,-1.78499182e-03,
 -3.06742878e-04,-2.05716951e-06]


--- Step 1327 ---
qpos:
[ 2.84228719e-03,-5.60308107e-03,-1.02462901e-02, 2.76688183e-03,
 -4.44107157e-03,-5.19261342e-03,-1.77877734e-02, 5.20537849e-03,
 -4.69744152e-03,-3.96917229e-03,-7.82057713e-03,-1.91754868e-02,
  1.31134643e+00, 1.88788502e-02, 1.29520998e+00, 2.47030235e-02,
  9.50047972e-02,-6.99716521e-02, 1.30742363e-01, 9.95331741e-01,
 -5.56095366e-05, 1.07960487e-04,-9.65127456e-02]

qacc:
[ -1.35362327, -0.48417399, -1.00409025,  8.78649625,  1.40886088,
   2.31018134,-10.1665968 , 19.73704152,  0.43577453, -2.18583032,
   8.31832093,-12.51868539, -0.83715246,  1.23584215, -3.35695967,
  10.23961939, -0.63305324, -1.34762492,  0.07491288, 21.81225168,
  -3.44460121,  1.13234141]

qfrc_actuator:
[-3.37436587e-05,-4.19159545e-04,-2.40654733e-04,-9.11531047e-05,
 -1.00032419e-05,-4.74926559e-04,-3.45212459e-04,-5.35413982e-05,
  3.27268951e-05,-3.72782275e-04,-2.11532575e-04,-1.16327636e-04,
  6.97960268e-03,-1.30347169e-03, 2.40824300e-03,-1.24206766e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41707804,  1.10928501,  4.27551929,  1.10928501, 20.93459145,
       -4.28547478,  4.27551929, -4.28547478,  5.52894601,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002587524369708355
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.43601489e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.43601489e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10286343, -0.04730416,  0.061992  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.08271474e-06,-3.95607573e-05, 9.89789843e-06, 2.21961756e-05,
  8.40153184e-06, 1.18129701e-05,-1.72099430e-05, 2.66787580e-05,
  2.44071854e-06,-4.88553930e-06, 3.03917481e-05,-9.25085419e-06,
 -4.42467117e-05, 3.93842205e-05,-6.39701559e-05, 3.13476595e-05,
  4.62399357e-06,-5.42647209e-06,-1.21646055e+00,-1.78358357e-03,
 -3.09236144e-04,-3.06013728e-06]


--- Step 1328 ---
qpos:
[ 2.84229189e-03,-5.60369053e-03,-1.02459224e-02, 2.76667118e-03,
 -4.44082416e-03,-5.19290513e-03,-1.77884781e-02, 5.20550676e-03,
 -4.69780589e-03,-3.96991309e-03,-7.81963644e-03,-1.91751274e-02,
  1.31155512e+00, 1.88796099e-02, 1.29538077e+00, 2.47071260e-02,
  9.50214848e-02,-6.99745271e-02, 1.30743864e-01, 9.95326782e-01,
 -4.82050966e-05, 2.35380481e-04,-9.65636530e-02]

qacc:
[-0.89492611, 0.04072625,-1.647092  , 6.1331362 , 3.93018987, 0.52779804,
 -0.18607756,-5.39650689,-2.67999414, 0.57944286,-4.3573689 ,13.79975826,
 -0.30550297, 0.35867201,-8.87835399,30.07291027,-0.6127561 ,-1.34114746,
 -0.03815608,21.4862309 ,-3.5931064 , 1.00739305]

qfrc_actuator:
[-3.88098924e-05,-4.24387487e-04,-2.35675794e-04,-7.82536851e-05,
  1.30391038e-05,-4.80007939e-04,-3.70416337e-04,-7.30141973e-05,
  1.68682363e-05,-3.57527463e-04,-1.94581453e-04,-8.63642379e-05,
  6.94520299e-03,-1.30388502e-03, 2.42069641e-03,-1.09412751e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42126264, -2.73390729, -3.4746675 , -2.73390729, 14.57421727,
       -7.98845838, -3.4746675 , -7.98845838, 10.70667113,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002602952162247124
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.0663114e-13, -4.2652456e-13,  1.0000000e+00,  4.5480800e-26,
        1.0000000e+00,  4.2652456e-13, -1.0000000e+00,  0.0000000e+00,
        1.0663114e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10286535, -0.04730592,  0.06199196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.31135712e-06,-2.43463616e-05,-1.20306128e-06, 1.19804593e-05,
  2.32869113e-05,-8.67369473e-07,-2.39539353e-05,-1.90428466e-05,
 -1.57933530e-05, 1.84257182e-05, 1.93665727e-05, 3.06261516e-05,
 -4.84764684e-05, 1.70552939e-06,-1.49819841e-05, 1.41150517e-04,
  1.51575644e-06,-5.23842691e-06,-1.21645454e+00,-1.78270731e-03,
 -3.10149785e-04,-1.94211839e-06]


--- Step 1329 ---
qpos:
[ 2.84258049e-03,-5.60426801e-03,-1.02455885e-02, 2.76624609e-03,
 -4.44064711e-03,-5.19333254e-03,-1.77893724e-02, 5.20507254e-03,
 -4.69870227e-03,-3.97068584e-03,-7.81899239e-03,-1.91743629e-02,
  1.31176324e+00, 1.88804929e-02, 1.29555144e+00, 2.47099883e-02,
  9.50357872e-02,-6.99827444e-02, 1.30744833e-01, 9.95321984e-01,
  7.28422481e-07, 3.51326590e-04,-9.66127549e-02]

qacc:
[  2.48156801, -0.31015717,  2.06404951, -5.73613561, -0.61737296,
  -0.80599114,  4.99035191,-14.32483857, -4.66576554,  1.63067376,
  -7.56634931, 15.05075643, -0.62108742,  0.62133664,  3.65404747,
 -12.86680375, -0.59630129, -1.33557947, -0.13299688, 21.22127393,
  -3.70509553,  0.91094051]

qfrc_actuator:
[-2.40370743e-05,-4.09395897e-04,-2.32878194e-04,-8.83363909e-05,
  8.74150486e-06,-5.00757191e-04,-3.85014843e-04,-1.02288155e-04,
 -1.00696799e-05,-3.83617312e-04,-2.20437703e-04,-6.88727924e-05,
  6.90642602e-03,-1.30458857e-03, 2.39009177e-03,-1.16839879e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.42015617,  -2.81912768,  -3.40445291,  -2.81912768,
        18.34473727, -11.53053753,  -3.40445291, -11.53053753,
        13.96825638,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002598884287560027
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10286706, -0.04730676,  0.06199197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.46136609e-05, 1.65824571e-06,-1.96144360e-06,-1.09330828e-05,
 -3.62854029e-06,-2.69710866e-05,-1.83770303e-05,-3.05097530e-05,
 -2.73858942e-05,-1.04663253e-05,-1.86085631e-05, 1.95462237e-05,
 -6.23474758e-05,-1.14968873e-05,-2.50733341e-05,-6.90743880e-05,
 -1.16974847e-06,-4.47851271e-06,-1.21645149e+00,-1.78249753e-03,
 -3.11066113e-04,-9.53227815e-07]


--- Step 1330 ---
qpos:
[ 2.84338850e-03,-5.60439292e-03,-1.02457364e-02, 2.76602529e-03,
 -4.44017787e-03,-5.19396313e-03,-1.77898836e-02, 5.20460517e-03,
 -4.69922496e-03,-3.97136994e-03,-7.81897920e-03,-1.91733861e-02,
  1.31197083e+00, 1.88814098e-02, 1.29572189e+00, 2.47102935e-02,
  9.50474133e-02,-6.99837835e-02, 1.30745283e-01, 9.95317042e-01,
  1.49768579e-06, 4.37208702e-04,-9.66633108e-02]

qacc:
[  4.52064542,  2.35683384, -8.41321877, 12.40315023,  2.56335228,
  -1.4121368 ,  4.77714669, -5.80561494,  3.25016272,  2.31160293,
  -8.97637609, 13.59950011, -0.65093967,  0.60522612,  7.50150379,
 -26.52732367, -0.66908369,  1.79453466, -0.1297166 ,-22.51693314,
 -17.2882943 , -0.73905505]

qfrc_actuator:
[ 2.29347035e-06,-3.64683882e-04,-2.49065648e-04,-7.63346691e-05,
  2.38869592e-05,-4.95201730e-04,-3.57797097e-04,-1.01588716e-04,
  9.95058624e-06,-3.81190316e-04,-2.53783715e-04,-5.89268091e-05,
  6.87569759e-03,-1.30543795e-03, 2.36559104e-03,-1.30212553e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42751452, -0.20977112, -4.42254236, -0.20977112, 33.04626417,
       -1.35745161, -4.42254236, -1.35745161,  4.4919015 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026257840297864987
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.11407909e-13, -4.22815819e-13,  1.00000000e+00,  8.93866083e-26,
        1.00000000e+00,  4.22815819e-13, -1.00000000e+00,  0.00000000e+00,
        2.11407909e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10378957, -0.09531179,  0.06199189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.67509081e-05, 4.47878519e-05,-1.64619425e-05, 1.17929304e-05,
  1.50340293e-05,-1.46037814e-05, 1.83439062e-05,-1.68185311e-06,
  1.92328019e-05,-6.42576382e-06,-3.71233733e-05, 9.23404345e-06,
 -6.52696726e-05,-1.83882090e-05,-4.76762465e-05,-1.41681687e-04,
 -3.46973191e-06,-3.16628971e-06,-1.21645131e+00,-1.78294497e-03,
 -3.11963544e-04,-9.41180489e-08]


--- Step 1331 ---
qpos:
[ 2.84450608e-03,-5.60426006e-03,-1.02460611e-02, 2.76629878e-03,
 -4.43953098e-03,-5.19452330e-03,-1.77902060e-02, 5.20447249e-03,
 -4.69950399e-03,-3.97202440e-03,-7.81882376e-03,-1.91723440e-02,
  1.31217777e+00, 1.88827937e-02, 1.29589178e+00, 2.47096527e-02,
  9.50563364e-02,-6.99777467e-02, 1.30744757e-01, 9.95311928e-01,
 -4.54355288e-05, 4.93862784e-04,-9.67156677e-02]

qacc:
[  2.69827409,  1.84761703, -8.18892527, 16.84609396,  1.55412947,
   0.25168784, -2.18049777,  7.6251672 ,  2.13694886, -0.22810334,
   0.58743726,  0.30093988, -0.83762909,  1.05630727,  2.1153535 ,
  -8.39640586, -0.67572716,  1.76900224, -0.24392014,-22.32651166,
 -16.851082  , -0.91499358]

qfrc_actuator:
[ 1.74569471e-05,-3.55830877e-04,-2.58429854e-04,-5.14152679e-05,
  3.26112326e-05,-4.73741668e-04,-3.41491890e-04,-8.32095807e-05,
  2.19476039e-05,-3.61761043e-04,-2.37912822e-04,-5.34773174e-05,
  6.85514273e-03,-1.27082934e-03, 2.34476570e-03,-1.34544408e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43168937, -0.48413393,  4.40516572, -0.48413393, 17.3884268 ,
        1.42396373,  4.40516572,  1.42396373,  4.58818499,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002640888463967539
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10378668, -0.09531185,  0.06199184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.59444492e-05, 3.10169288e-05,-1.73076800e-06, 2.64981270e-05,
  9.14951193e-06, 1.70457602e-05, 1.55042113e-05, 1.83584968e-05,
  1.25431873e-05, 8.59139243e-06, 1.02953334e-05, 4.06809174e-06,
 -5.88805315e-05, 1.46489058e-05,-6.16205108e-05,-5.80180190e-05,
 -4.65345986e-07,-2.88947055e-06,-1.21644494e+00,-1.78251634e-03,
 -3.14272765e-04,-1.70429757e-06]


--- Step 1332 ---
qpos:
[ 2.84545225e-03,-5.60410001e-03,-1.02463894e-02, 2.76688660e-03,
 -4.43912912e-03,-5.19516478e-03,-1.77905333e-02, 5.20459397e-03,
 -4.69998167e-03,-3.97286381e-03,-7.81837021e-03,-1.91715737e-02,
  1.31238413e+00, 1.88845870e-02, 1.29606126e+00, 2.47058108e-02,
  9.50625371e-02,-6.99647169e-02, 1.30742871e-01, 9.95306614e-01,
 -1.39690851e-04, 5.21960239e-04,-9.67700962e-02]

qacc:
[ -1.49982855,  0.69640167, -3.75265229,  9.17300312, -2.13538264,
   0.43343073, -2.76718686,  7.22597449, -1.72659234, -1.63439886,
   6.62355951,-11.66928491, -0.96614072,  1.1780983 ,  9.20805646,
 -32.81070115, -0.6806107 ,  1.74823214, -0.33990852,-22.16868564,
 -16.49967412, -1.05290971]

qfrc_actuator:
[ 8.16961864e-06,-3.68479515e-04,-2.63812409e-04,-3.68695886e-05,
  1.97278181e-05,-4.96189091e-04,-3.49445698e-04,-7.23298441e-05,
  1.13586054e-05,-3.85364746e-04,-2.28537814e-04,-6.84162822e-05,
  6.82474238e-03,-1.25089793e-03, 2.31020802e-03,-1.51263243e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43029011, -0.36894776,  4.41490068, -0.36894776, 23.28834846,
        1.57594447,  4.41490068,  1.57594447,  4.56198983,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026358385293116793
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.26503716e-14, -2.10601486e-13,  1.00000000e+00,  1.10882465e-26,
        1.00000000e+00,  2.10601486e-13, -1.00000000e+00,  0.00000000e+00,
        5.26503716e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10378463, -0.09531262,  0.06199186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.82196632e-06, 5.47434072e-06, 1.72781966e-06, 1.63294386e-05,
 -1.26165521e-05,-8.89898561e-06,-1.87751331e-06, 1.25058263e-05,
 -1.02300788e-05,-1.64757466e-05, 1.25609689e-05,-1.41374120e-05,
 -5.77928756e-05, 1.13374082e-05,-7.14532339e-05,-1.78781039e-04,
  2.17487369e-06,-1.66224405e-06,-1.21644363e+00,-1.78139164e-03,
 -3.16133732e-04,-2.46022005e-06]


--- Step 1333 ---
qpos:
[ 2.84593505e-03,-5.60397392e-03,-1.02467300e-02, 2.76765311e-03,
 -4.43888468e-03,-5.19587067e-03,-1.77912117e-02, 5.20486761e-03,
 -4.70092750e-03,-3.97371959e-03,-7.81783337e-03,-1.91713402e-02,
  1.31259031e+00, 1.88858497e-02, 1.29623026e+00, 2.47002496e-02,
  9.50660934e-02,-6.99573243e-02, 1.30741947e-01, 9.95301546e-01,
 -1.91376428e-04, 5.39507858e-04,-9.68220277e-02]

qacc:
[ -4.05289142,  0.36542269, -2.10857812,  5.23080177, -1.38257255,
   1.21183952, -5.08238043,  8.32027653, -4.09562654, -1.35227574,
   7.06600476,-16.48350418,  0.09603139, -0.48085239,  4.48084047,
 -16.74847898, -0.6610959 , -1.4093005 ,  0.24028426, 21.69479446,
  -3.19065976,  1.26487098]

qfrc_actuator:
[-1.54310260e-05,-3.76149035e-04,-2.66908436e-04,-2.85659126e-05,
  1.19840405e-05,-5.09352154e-04,-3.71836823e-04,-6.60030936e-05,
 -1.24371669e-05,-3.81327594e-04,-2.23273098e-04,-9.52773055e-05,
  6.80975717e-03,-1.29315997e-03, 2.30469729e-03,-1.59173537e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44375073, -0.09434094,  4.44274919, -0.09434094, 27.67333786,
        0.4932759 ,  4.44274919,  0.4932759 ,  4.45422535,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026839065723739675
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.06829671e-13, -4.13659341e-13,  1.00000000e+00,  8.55570253e-26,
        1.00000000e+00,  4.13659341e-13, -1.00000000e+00,  0.00000000e+00,
        2.06829671e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10287606, -0.0473117 ,  0.06199171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.38519185e-05,-3.56104575e-06,-1.18733700e-06, 8.91509527e-06,
 -8.10902743e-06,-1.79688192e-05,-2.40160860e-05, 6.12633071e-06,
 -2.40956451e-05,-3.16876401e-06, 2.92238724e-06,-2.74077910e-05,
 -4.32751976e-05,-5.13037101e-05,-6.03817974e-05,-9.86799022e-05,
  4.51384368e-06, 5.13156694e-07,-1.21644718e+00,-1.77956754e-03,
 -3.17575568e-04,-2.39940573e-06]


--- Step 1334 ---
qpos:
[ 2.84647607e-03,-5.60397293e-03,-1.02467757e-02, 2.76850367e-03,
 -4.43873517e-03,-5.19653825e-03,-1.77922129e-02, 5.20520006e-03,
 -4.70180654e-03,-3.97448103e-03,-7.81701998e-03,-1.91714585e-02,
  1.31279628e+00, 1.88866211e-02, 1.29639865e+00, 2.46960352e-02,
  9.50671077e-02,-6.99554924e-02, 1.30741418e-01, 9.95296700e-01,
 -2.01115728e-04, 5.46150048e-04,-9.68717735e-02]

qacc:
[  0.5207213 , -0.81756254,  2.31859727, -1.24162302, -0.83856177,
   1.07513245, -4.00575689,  5.50921614,  0.59155395, -1.37404654,
   6.55963424,-13.14901102,  0.28577114, -0.68824968, -5.02509513,
  16.16165077, -0.63550818, -1.39018357,  0.09870386, 21.40197188,
  -3.39670222,  1.10878301]

qfrc_actuator:
[-1.17538758e-05,-3.80780806e-04,-2.50869790e-04,-2.39975210e-05,
  7.33444925e-06,-4.99176364e-04,-3.84789433e-04,-6.24077919e-05,
 -8.30277853e-06,-3.60800541e-04,-2.02626343e-04,-1.11165220e-04,
  6.79867809e-03,-1.31870391e-03, 2.30598429e-03,-1.51167263e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45386849, -0.90268673, -4.36143339, -0.90268673, 15.97660224,
       -2.38486248, -4.36143339, -2.38486248,  4.94746395,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027193081990095624
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02068517e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.02068517e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10287846, -0.04731313,  0.0619916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.99365674e-06,-6.49853297e-06, 1.54665948e-05, 4.54791324e-06,
 -4.88762253e-06,-4.54006248e-06,-1.93945399e-05, 2.11637916e-06,
  3.44404383e-06, 1.81977335e-05, 1.94071369e-05,-1.64551316e-05,
 -4.62753348e-05,-5.02011829e-05,-3.88808768e-05, 6.65095181e-05,
  2.23786890e-06, 4.85031042e-08,-1.21644211e+00,-1.77868454e-03,
 -3.16629669e-04,-2.16968624e-06]


--- Step 1335 ---
qpos:
[ 2.84740156e-03,-5.60388058e-03,-1.02472428e-02, 2.76907898e-03,
 -4.43898753e-03,-5.19722242e-03,-1.77930736e-02, 5.20520223e-03,
 -4.70262939e-03,-3.97510300e-03,-7.81656374e-03,-1.91713829e-02,
  1.31300206e+00, 1.88867821e-02, 1.29656676e+00, 2.46940563e-02,
  9.50656619e-02,-6.99591580e-02, 1.30740807e-01, 9.95292054e-01,
 -1.69422039e-04, 5.41613114e-04,-9.69195795e-02]

qacc:
[ 3.34811900e+00, 7.25229878e-01,-1.26012436e+00,-2.88445672e+00,
 -3.50005399e+00,-1.08744373e+00, 5.25190507e+00,-1.11938993e+01,
  4.78362954e-01, 1.58100951e+00,-6.18720495e+00, 1.00065719e+01,
  4.43037264e-01,-9.27341458e-01,-7.26360407e+00, 2.46302517e+01,
 -6.15030841e-01,-1.37436127e+00,-2.01863383e-02, 2.11600195e+01,
 -3.55667947e+00, 9.85180816e-01]

qfrc_actuator:
[ 7.95370412e-06,-3.83485201e-04,-2.76910547e-04,-3.93997759e-05,
 -1.32107817e-05,-4.92826848e-04,-3.74214184e-04,-7.81715119e-05,
 -5.51060331e-06,-3.65988965e-04,-2.26234844e-04,-1.02687016e-04,
  6.78995376e-03,-1.35179669e-03, 2.31670449e-03,-1.39174679e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45693388, -0.99686548, -4.34402105, -0.99686548, 21.88945872,
       -4.00041392, -4.34402105, -4.00041392,  5.37494844,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027299147828144243
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01671949e-13,  2.03343898e-13,  1.00000000e+00, -2.06743704e-26,
        1.00000000e+00, -2.03343898e-13, -1.00000000e+00,  0.00000000e+00,
        1.01671949e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10288057, -0.04731367,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.97899379e-05,-2.95084895e-06,-2.53226635e-05,-1.50590067e-05,
 -2.06862426e-05,-7.09115004e-08, 7.34061950e-06,-1.65850286e-05,
  2.89517962e-06, 8.30810581e-06,-1.80303630e-05, 9.60843714e-06,
 -4.40735700e-05,-5.85933714e-05,-1.54366694e-06, 1.18251130e-04,
  3.74555678e-07, 1.81523295e-07,-1.21644004e+00,-1.77845868e-03,
 -3.15701318e-04,-2.03815545e-06]


--- Step 1336 ---
qpos:
[ 2.84786644e-03,-5.60390619e-03,-1.02479074e-02, 2.76878663e-03,
 -4.43948439e-03,-5.19780091e-03,-1.77935884e-02, 5.20498497e-03,
 -4.70341231e-03,-3.97568415e-03,-7.81635512e-03,-1.91712008e-02,
  1.31320771e+00, 1.88862316e-02, 1.29673492e+00, 2.46925047e-02,
  9.50618213e-02,-6.99682691e-02, 1.30739718e-01, 9.95287586e-01,
 -9.67144946e-05, 5.25685705e-04,-9.69656405e-02]

qacc:
[ -4.03374722, -1.38334102,  8.38222287,-23.0107239 , -2.12319367,
  -1.27435176,  5.68030513,-10.11749334,  0.34116457,  0.96496701,
  -3.81206768,  6.02066028,  0.37163542, -0.89415123, -1.25916392,
   4.40198204, -0.59869015, -1.36137366, -0.11989149, 20.96190498,
  -3.68109706,  0.88718058]

qfrc_actuator:
[-1.63278933e-05,-4.02952229e-04,-2.92095280e-04,-8.42113696e-05,
 -2.51958526e-05,-4.70980884e-04,-3.49856393e-04,-8.74324434e-05,
 -3.53986816e-06,-3.68936917e-04,-2.40368142e-04,-9.77465886e-05,
  6.78264647e-03,-1.38910316e-03, 2.31710026e-03,-1.37359886e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45426848, -1.11518334, -4.31240928, -1.11518334, 29.49047037,
       -6.4743287 , -4.31240928, -6.4743287 ,  6.12852132,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027206953078089124
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.06049437e-13, -4.08065917e-13,  1.00000000e+00,  1.24888344e-25,
        1.00000000e+00,  4.08065917e-13, -1.00000000e+00,  0.00000000e+00,
        3.06049437e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10288246, -0.04731351,  0.06199159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.37152817e-05,-2.69881593e-05,-1.94331026e-05,-4.61088318e-05,
 -1.25777506e-05, 2.26396554e-05, 2.46924267e-05,-9.32842716e-06,
  2.05515309e-06,-1.59924504e-06,-1.43047300e-05, 4.85939614e-06,
 -4.25815308e-05,-6.52231698e-05, 9.45620353e-06, 2.37746158e-05,
 -1.11103325e-06, 8.87779211e-07,-1.21644086e+00,-1.77888299e-03,
 -3.14764470e-04,-2.01294669e-06]


--- Step 1337 ---
qpos:
[ 2.84838186e-03,-5.60426627e-03,-1.02481148e-02, 2.76794218e-03,
 -4.43977652e-03,-5.19805570e-03,-1.77939268e-02, 5.20498673e-03,
 -4.70347554e-03,-3.97650044e-03,-7.81592328e-03,-1.91709579e-02,
  1.31341315e+00, 1.88849658e-02, 1.29690310e+00, 2.46911914e-02,
  9.50556378e-02,-6.99827835e-02, 1.30737814e-01, 9.95283271e-01,
  1.66684752e-05, 4.98203638e-04,-9.70101104e-02]

qacc:
[  0.46184286, -2.85762598, 11.87641508,-21.914287  ,  1.78534773,
   0.38210759, -1.67240552,  4.94954919,  6.31131996, -0.82183789,
   2.20139161, -1.31002059,  0.29249234, -0.83150876, -0.76351215,
   2.56329862, -0.58570356, -1.35082509, -0.20339589, 20.80166467,
  -3.77816233,  0.80934224]

qfrc_actuator:
[-1.30538023e-05,-4.14551418e-04,-2.65316596e-04,-1.10460780e-04,
 -1.42888295e-05,-4.39952679e-04,-3.35243357e-04,-7.50178009e-05,
  3.34370450e-05,-3.88250349e-04,-2.31030369e-04,-9.49191178e-05,
  6.76553989e-03,-1.42859257e-03, 2.31660613e-03,-1.36234593e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.44713016,  -1.26283441,  -4.26406097,  -1.26283441,
        39.07838848, -10.25631319,  -4.26406097, -10.25631319,
         7.4846161 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00026957990650808283
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02958622e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.02958622e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10288416, -0.0473128 ,  0.06199167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.59037301e-06,-3.26810845e-05, 1.72240841e-05,-2.89725621e-05,
  1.05537256e-05, 4.84118002e-05, 2.20220022e-05, 1.40610506e-05,
  3.70338278e-05,-2.29377234e-05, 7.41684889e-06, 2.35885764e-06,
 -5.33394912e-05,-6.89673224e-05, 2.13470392e-06, 1.28024024e-05,
 -2.24469826e-06, 2.15016814e-06,-1.21644449e+00,-1.77995167e-03,
 -3.13799712e-04,-2.09944411e-06]


--- Step 1338 ---
qpos:
[ 2.84893219e-03,-5.60480074e-03,-1.02478245e-02, 2.76745625e-03,
 -4.43959093e-03,-5.19794773e-03,-1.77940839e-02, 5.20478613e-03,
 -4.70344016e-03,-3.97723238e-03,-7.81608101e-03,-1.91703222e-02,
  1.31361823e+00, 1.88832011e-02, 1.29707094e+00, 2.46913868e-02,
  9.50467210e-02,-6.99900878e-02, 1.30736023e-01, 9.95278787e-01,
  8.06541818e-05, 4.40348705e-04,-9.70563555e-02]

qacc:
[  0.32406399, -0.88398512,  1.30311816,  4.2347757 ,  4.16536324,
  -0.45170457,  3.14648943, -7.19041061,  0.84345606,  2.56704216,
 -10.64804339, 18.32088193,  0.18054691, -0.60914382, -5.09329704,
  17.02287107, -0.68336508,  1.8025331 ,  0.02813532,-23.10845386,
 -17.5107916 , -0.90368626]

qfrc_actuator:
[-1.13258438e-05,-4.03413592e-04,-2.31688050e-04,-9.00361340e-05,
  1.00020417e-05,-4.21428067e-04,-3.26446084e-04,-8.54537705e-05,
  3.74640374e-05,-3.81618177e-04,-2.61239635e-04,-7.56036535e-05,
  6.74789214e-03,-1.45135067e-03, 2.30492945e-03,-1.28420122e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45886335e+00, -2.85598849e-02, -4.45877188e+00, -2.85598849e-02,
        4.15808582e+01, -2.37778457e-01, -4.45877188e+00, -2.37778457e-01,
        4.46038640e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00])
  dim: 3
  dist: -0.0002736563094539318
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.02849886e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.02849886e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10376782, -0.09531009,  0.06199155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79261780e-06,-4.80449173e-06, 2.80049197e-05, 1.90594221e-05,
  2.46088531e-05, 5.07641212e-05, 2.20025812e-05,-7.32509436e-06,
  5.07413598e-06,-4.52486959e-06,-3.39494071e-05, 1.86344522e-05,
 -6.02643318e-05,-5.57771585e-05,-1.34803640e-05, 7.81825713e-05,
 -3.04518161e-06, 3.95759570e-06,-1.21645089e+00,-1.78165988e-03,
 -3.12792550e-04,-2.30120697e-06]


--- Step 1339 ---
qpos:
[ 2.84880908e-03,-5.60535980e-03,-1.02471996e-02, 2.76755541e-03,
 -4.43877073e-03,-5.19737244e-03,-1.77941729e-02, 5.20445646e-03,
 -4.70404655e-03,-3.97768108e-03,-7.81645133e-03,-1.91695120e-02,
  1.31382283e+00, 1.88813595e-02, 1.29723863e+00, 2.46911925e-02,
  9.50350505e-02,-6.99902879e-02, 1.30733780e-01, 9.95274111e-01,
  9.59484942e-05, 3.52980204e-04,-9.71046349e-02]

qacc:
[ -5.87931682,  0.24900405, -3.38481306, 12.97236653,  5.52830145,
   0.15076238,  0.88473785, -3.55107786, -5.62951313,  1.33896194,
  -4.94654931,  8.07253458, -0.36399879,  0.22701861,  0.98604079,
  -3.69870206, -0.6884041 ,  1.77602139, -0.11320083,-22.79806053,
 -17.05005917, -1.03113863]

qfrc_actuator:
[-4.60354012e-05,-3.96412471e-04,-2.11925719e-04,-6.00494439e-05,
  4.19683265e-05,-3.92821511e-04,-3.21213614e-04,-9.15136991e-05,
  4.30165639e-06,-3.41891446e-04,-2.61195737e-04,-6.45043474e-05,
  6.72993930e-03,-1.44624775e-03, 2.28657300e-03,-1.30930835e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4695009 ,  0.42301102,  4.44943816,  0.42301102, 15.13188084,
       -1.01367949,  4.44943816, -1.01367949,  4.56587208,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002772838272112471
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00196138e-13, -2.00196138e-13,  1.00000000e+00,  4.00784935e-26,
        1.00000000e+00,  2.00196138e-13, -1.00000000e+00,  0.00000000e+00,
        2.00196138e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10376483, -0.09530872,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.46604324e-05, 1.09316274e-05, 2.28822459e-05, 3.11223106e-05,
  3.26889239e-05, 6.12312130e-05, 1.81746539e-05,-3.26654359e-06,
 -3.30208110e-05, 3.10112720e-05,-4.41843055e-06, 1.00941006e-05,
 -6.09679573e-05,-2.55437621e-05,-1.91623143e-05,-2.32244192e-05,
 -1.39505232e-06, 3.34298533e-06,-1.21644633e+00,-1.78238726e-03,
 -3.12860616e-04,-2.46152834e-06]


--- Step 1340 ---
qpos:
[ 2.84861592e-03,-5.60601811e-03,-1.02462755e-02, 2.76802518e-03,
 -4.43757356e-03,-5.19630738e-03,-1.77939350e-02, 5.20403551e-03,
 -4.70470058e-03,-3.97824878e-03,-7.81609914e-03,-1.91689344e-02,
  1.31402675e+00, 1.88800395e-02, 1.29740632e+00, 2.46886920e-02,
  9.50206112e-02,-6.99834716e-02, 1.30730607e-01, 9.95269219e-01,
  6.31347111e-05, 2.36785087e-04,-9.71551435e-02]

qacc:
[ -0.60148425, -0.20290953, -1.02914146,  7.03538108,  3.28911407,
  -0.46054813,  2.95562868, -5.40661209, -0.39242629, -2.65525489,
  10.2190975 ,-15.30615018, -1.05657417,  1.32583677,  7.10970117,
 -24.57243039, -0.6921962 ,  1.75412044, -0.23224265,-22.54036827,
 -16.68102049, -1.12697827]

qfrc_actuator:
[-4.86552053e-05,-4.09726057e-04,-2.00519003e-04,-4.24481540e-05,
  6.04392422e-05,-3.58415449e-04,-3.00326716e-04,-9.49403377e-05,
  2.78447644e-06,-3.53551131e-04,-2.25388445e-04,-7.60261053e-05,
  6.70650265e-03,-1.40689788e-03, 2.27485640e-03,-1.43057692e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47257357,  0.54064215,  4.43977707,  0.54064215, 21.00336218,
       -2.01299322,  4.43977707, -2.01299322,  4.71770051,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027831995475244287
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.99450849e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.99450849e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10376272, -0.09530841,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.60774548e-06,-1.13959757e-06, 1.75607126e-05, 1.94683246e-05,
  1.94288404e-05, 7.22524135e-05, 3.56536118e-05,-2.39513597e-07,
 -2.45128032e-06, 5.20666130e-06, 4.20259923e-05,-1.01487540e-05,
 -6.02471247e-05, 1.78383928e-05,-2.69202867e-05,-1.25868916e-04,
 -1.05207476e-07, 3.78529359e-06,-1.21644691e+00,-1.78239096e-03,
 -3.12475061e-04,-1.73923944e-06]


--- Step 1341 ---
qpos:
[ 2.84908213e-03,-5.60644364e-03,-1.02453340e-02, 2.76867910e-03,
 -4.43685370e-03,-5.19477816e-03,-1.77934254e-02, 5.20358357e-03,
 -4.70467825e-03,-3.97879477e-03,-7.81559043e-03,-1.91688234e-02,
  1.31423036e+00, 1.88786345e-02, 1.29757357e+00, 2.46857578e-02,
  9.50033914e-02,-6.99697107e-02, 1.30726105e-01, 9.95264081e-01,
 -1.73091731e-05, 9.23090072e-05,-9.72080254e-02]

qacc:
[  5.76421438,  0.62692508, -2.58576146,  5.59470671, -4.16181849,
  -0.20167397,  1.75414708, -3.08197451,  5.92519426, -1.3815526 ,
   6.91340966,-15.22470184, -0.20762994,  0.09176828,  0.6812274 ,
  -3.28321305, -0.6951373 ,  1.7361518 , -0.33245021,-22.32827762,
 -16.38738679, -1.19771318]

qfrc_actuator:
[-1.46025280e-05,-3.81886071e-04,-1.94224113e-04,-3.22976533e-05,
  3.53114836e-05,-3.38491699e-04,-2.88085899e-04,-9.67731797e-05,
  3.76696251e-05,-3.60248470e-04,-2.22231085e-04,-1.00783284e-04,
  6.69046145e-03,-1.41857828e-03, 2.26178956e-03,-1.44769619e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46949952,  0.68278186,  4.41703915,  0.68278186, 28.37893792,
       -3.69589906,  4.41703915, -3.69589906,  5.04080821,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027728336095825257
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00196474e-13, -4.00392948e-13,  1.00000000e+00,  8.01572566e-26,
        1.00000000e+00,  4.00392948e-13, -1.00000000e+00,  0.00000000e+00,
        2.00196474e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10376131, -0.09530895,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.39486947e-05, 3.16755094e-05, 8.89238992e-06, 1.10868025e-05,
 -2.45469706e-05, 6.76469521e-05, 3.15330350e-05, 2.48921775e-06,
  3.48143599e-05, 4.47197417e-06, 9.05831141e-06,-2.32785895e-05,
 -4.29186064e-05,-1.97666363e-05,-4.37437498e-05,-2.85247644e-05,
  8.86124907e-07, 5.25391945e-06,-1.21645241e+00,-1.78167468e-03,
 -3.11662543e-04,-1.79610808e-07]


--- Step 1342 ---
qpos:
[ 2.84995276e-03,-5.60645206e-03,-1.02449723e-02, 2.76946715e-03,
 -4.43678500e-03,-5.19304702e-03,-1.77931985e-02, 5.20353148e-03,
 -4.70458314e-03,-3.97903062e-03,-7.81516698e-03,-1.91690301e-02,
  1.31443369e+00, 1.88770967e-02, 1.29773974e+00, 2.46850241e-02,
  9.49832058e-02,-6.99550884e-02, 1.30723406e-01, 9.95258890e-01,
 -1.01981672e-04,-7.22527283e-05,-9.72611196e-02]

qacc:
[ 3.51237109e+00, 2.44126837e+00,-8.48263311e+00, 1.14371416e+01,
 -5.69052651e+00, 1.89114792e+00,-8.02505437e+00, 1.52293571e+01,
  6.28946958e-01,-7.46098206e-03, 1.95821770e+00,-7.54151366e+00,
  1.29100529e-01,-3.03988782e-01,-8.29862285e+00, 2.66350345e+01,
 -7.41432737e-01, 2.15349464e-01, 4.51047267e-01,-1.12804157e+00,
 -1.02007893e+01,-1.08565754e-01]

qfrc_actuator:
[ 5.24697898e-06,-3.65151534e-04,-2.26339511e-04,-2.65794118e-05,
  2.48063831e-06,-3.62932897e-04,-3.16613611e-04,-7.99208776e-05,
  4.04333348e-05,-3.28556234e-04,-2.20634061e-04,-1.15402046e-04,
  6.67885021e-03,-1.42497343e-03, 2.21599741e-03,-1.33226548e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46160243e+00,  1.64118157e-02,  4.46157225e+00,  1.64118157e-02,
        2.89523776e+01, -9.00888895e-02,  4.46157225e+00, -9.00888895e-02,
        4.46193382e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00])
  dim: 3
  dist: -0.00027459645323280594
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02155383e-13, -2.36909937e-08,  1.00000000e+00,  4.78926190e-21,
        1.00000000e+00,  2.36909937e-08, -1.00000000e+00,  7.52316385e-37,
        2.02155383e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10332714, -0.07123783,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.08303046e-05, 3.67726818e-05,-2.41029559e-05, 7.59480888e-06,
 -3.35123497e-05, 1.99371438e-05,-1.06067050e-05, 2.08878052e-05,
  3.75894609e-06, 3.50927542e-05, 2.82972251e-06,-1.45686889e-05,
 -3.86469744e-05,-2.17356029e-05,-7.12887279e-05, 1.07742908e-04,
  1.62453149e-06, 7.72130298e-06,-1.21646264e+00,-1.78024212e-03,
 -3.10442487e-04, 2.18390042e-06]


--- Step 1343 ---
qpos:
[ 2.85070998e-03,-5.60607485e-03,-1.02452550e-02, 2.76963588e-03,
 -4.43607557e-03,-5.19161756e-03,-1.77930338e-02, 5.20338741e-03,
 -4.70445522e-03,-3.97911006e-03,-7.81468524e-03,-1.91694009e-02,
  1.31463635e+00, 1.88764979e-02, 1.29790493e+00, 2.46853644e-02,
  9.49603534e-02,-6.99461073e-02, 1.30721431e-01, 9.95253902e-01,
 -1.44554479e-04,-2.47480004e-04,-9.73118115e-02]

qacc:
[-1.01917094, 1.03715916,-0.3409796 ,-9.63402705, 5.59071369,-0.42535735,
  1.30762578,-2.55807378, 0.28630337,-0.29479285, 2.04140574,-5.08553787,
 -0.97083117, 1.48211258,-4.5899747 ,14.22607231,-0.66671941,-1.41029181,
  0.18071828,21.46881507,-3.26027046, 1.20319584]

qfrc_actuator:
[-1.18685930e-06,-3.55357705e-04,-2.63158151e-04,-5.90494255e-05,
  3.64032448e-05,-4.13916487e-04,-3.33651263e-04,-8.77812050e-05,
  4.20098512e-05,-3.27385271e-04,-2.19794074e-04,-1.23899992e-04,
  6.65925224e-03,-1.35710522e-03, 2.16129560e-03,-1.28178645e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47571797, -0.08593594,  4.47489289, -0.08593594, 22.34375818,
        0.34313823,  4.47489289,  0.34313823,  4.4823076 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002793749600707718
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.93488307e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.93488307e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10289954, -0.04731623,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.82548564e-06, 2.57027760e-05,-3.19366413e-05,-3.15842387e-05,
  3.29683621e-05,-4.12078749e-05,-1.35249541e-05,-6.96949929e-06,
  1.69625292e-06, 2.07608539e-05, 7.93082312e-06,-7.18093281e-06,
 -4.49924348e-05, 5.29458437e-05,-7.54340295e-05, 4.73502568e-05,
  1.41406330e-06, 8.76437950e-06,-1.21646822e+00,-1.77897450e-03,
 -3.07878487e-04, 3.20244011e-06]


--- Step 1344 ---
qpos:
[ 2.85172931e-03,-5.60547798e-03,-1.02453976e-02, 2.76938115e-03,
 -4.43496535e-03,-5.19051754e-03,-1.77927530e-02, 5.20314233e-03,
 -4.70465424e-03,-3.97901490e-03,-7.81447553e-03,-1.91698498e-02,
  1.31483837e+00, 1.88769508e-02, 1.29806948e+00, 2.46846166e-02,
  9.49409791e-02,-6.99409820e-02, 1.30721492e-01, 9.95248871e-01,
 -1.64802750e-04,-3.91942084e-04,-9.73627441e-02]

qacc:
[  2.29303942, -0.97793401,  5.687709  ,-13.39341291,  3.50425571,
  -0.97442547,  3.25749867, -4.93681369, -2.87357953,  0.83593514,
  -2.30637186,  1.25084299, -1.20651049,  1.8310062 ,  2.49743882,
  -9.75395427,  0.86952407, -0.96397572,  0.50920935,  9.61234915,
  16.39582349, -0.12238253]

qfrc_actuator:
[ 1.24706275e-05,-3.32111042e-04,-2.49244356e-04,-7.82273348e-05,
  5.60885948e-05,-4.27144784e-04,-3.26149855e-04,-9.23845884e-05,
  2.51322743e-05,-3.26744762e-04,-2.37270385e-04,-1.28751984e-04,
  6.63490853e-03,-1.29895555e-03, 2.12258054e-03,-1.34104277e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.49116623,  -3.29690342,  -3.0497544 ,  -3.29690342,
        17.86930298, -14.46228748,  -3.0497544 , -14.46228748,
        20.12546291,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002844822303993133
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.9513047e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.9513047e-13, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08458044, -0.05588967,  0.06199121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35016165e-05, 2.96545107e-05, 1.41941756e-05,-1.97969836e-05,
  2.06169684e-05,-3.94056888e-05,-2.93698782e-06,-6.97725946e-06,
 -1.68217402e-05, 1.35794647e-05,-1.24637865e-05,-3.82843642e-06,
 -3.57584128e-05, 6.42891848e-05,-6.89572310e-05,-6.64626049e-05,
  6.45502764e-07, 7.82874270e-06,-1.21646693e+00,-1.77862858e-03,
 -3.04093400e-04, 2.05179709e-06]


--- Step 1345 ---
qpos:
[ 2.85221467e-03,-5.60491275e-03,-1.02450347e-02, 2.76959556e-03,
 -4.43397267e-03,-5.18929879e-03,-1.77928884e-02, 5.20316814e-03,
 -4.70574373e-03,-3.97877592e-03,-7.81477126e-03,-1.91699874e-02,
  1.31504008e+00, 1.88778858e-02, 1.29823328e+00, 2.46844527e-02,
  9.49250627e-02,-6.99396103e-02, 1.30722967e-01, 9.95243794e-01,
 -1.62834886e-04,-5.06412632e-04,-9.74141068e-02]

qacc:
[-4.6539889 ,-0.47957259,-0.31526424, 7.63213844,-1.03983764, 1.87947365,
 -7.61423749,12.87800806,-7.8134926 , 2.25949032,-9.06490575,15.11907634,
 -0.45756545, 0.72145348,-2.81740635, 8.38527516, 0.86449651,-0.93837742,
  0.35333672, 9.59517517,16.00605758,-0.21810856]

qfrc_actuator:
[-1.54051353e-05,-3.36286225e-04,-2.23170484e-04,-5.38728513e-05,
  4.94626149e-05,-3.99818844e-04,-3.39583659e-04,-7.72353475e-05,
 -2.02237688e-05,-3.26503281e-04,-2.65429467e-04,-1.13684129e-04,
  6.61838911e-03,-1.28263052e-03, 2.10411372e-03,-1.30463404e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50308621,  2.68784195, -3.61293386,  2.68784195, 13.47186632,
        6.67232347, -3.61293386,  6.67232347,  9.46696089,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002883399452466989
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92519809e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.92519809e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08458262, -0.05588893,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.74809632e-05, 1.44734697e-05, 3.32562273e-05, 2.57297208e-05,
 -6.04826031e-06, 4.34943106e-06,-2.21926967e-05, 1.32200591e-05,
 -4.58306252e-05, 5.08538367e-06,-2.70239553e-05, 1.51446115e-05,
 -2.10333706e-05, 2.81495885e-05,-5.92214794e-05, 2.35071062e-05,
  5.84657099e-07, 6.32188053e-06,-1.21645791e+00,-1.77886758e-03,
 -3.01424591e-04, 1.63933692e-06]


--- Step 1346 ---
qpos:
[ 2.85167226e-03,-5.60409452e-03,-1.02447044e-02, 2.76975530e-03,
 -4.43272210e-03,-5.18799779e-03,-1.77929376e-02, 5.20334428e-03,
 -4.70667841e-03,-3.97885909e-03,-7.81491333e-03,-1.91702741e-02,
  1.31524180e+00, 1.88783375e-02, 1.29839680e+00, 2.46846218e-02,
  9.49125858e-02,-6.99419093e-02, 1.30725332e-01, 9.95238665e-01,
 -1.38749126e-04,-5.91522729e-04,-9.74660480e-02]

qacc:
[-8.99544061, 0.33070551,-0.43287907,-0.67985762, 2.25025819, 0.17269921,
 -1.10033461, 3.51207393, 1.3655665 ,-1.16512187, 4.15986774,-6.74074423,
  0.37041308,-0.70856211,-1.48612114, 4.45739677, 0.85985221,-0.9176904 ,
  0.22253262, 9.57613709,15.68773516,-0.29367027]

qfrc_actuator:
[-6.75096232e-05,-3.21245808e-04,-2.25727334e-04,-5.73800394e-05,
  6.29131063e-05,-3.83982024e-04,-3.29587353e-04,-6.83186545e-05,
 -1.09620453e-05,-3.62045534e-04,-2.64150731e-04,-1.22527789e-04,
  6.60655931e-03,-1.32675672e-03, 2.10847992e-03,-1.28307355e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50670347,  2.60318331, -3.67883308,  2.60318331, 19.07253706,
       10.30694627, -3.67883308, 10.30694627, 11.80001358,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002894968206356985
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.87625704e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.87625704e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08458402, -0.05588798,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.28895054e-05, 3.10694569e-05, 5.40869745e-06,-1.23697895e-06,
  1.32789589e-05, 1.42066879e-05, 8.60577722e-06, 8.59011213e-06,
  7.95550866e-06,-3.76559073e-05,-4.73562889e-07,-9.26387418e-06,
 -1.69515775e-05,-3.99657229e-05,-2.13251210e-05, 1.50314972e-05,
  2.57976082e-07, 5.08437946e-06,-1.21645129e+00,-1.77938902e-03,
 -2.99241423e-04, 1.44072697e-06]


--- Step 1347 ---
qpos:
[ 2.85154383e-03,-5.60283085e-03,-1.02447751e-02, 2.76987274e-03,
 -4.43166477e-03,-5.18687487e-03,-1.77927309e-02, 5.20330210e-03,
 -4.70818502e-03,-3.97935477e-03,-7.81469331e-03,-1.91706670e-02,
  1.31544349e+00, 1.88781030e-02, 1.29856053e+00, 2.46833045e-02,
  9.49035316e-02,-6.99478125e-02, 1.30728149e-01, 9.95233479e-01,
 -9.26314019e-05,-6.47785427e-04,-9.75186845e-02]

qacc:
[  3.60098894,  1.61551005, -4.7396408 ,  4.33449015, -1.67416287,
  -1.39608289,  5.56404667, -9.62761262, -4.9884677 , -1.76634228,
   5.97046099, -8.09837549,  0.25592441, -0.72230506,  4.77778005,
 -16.35069201,  0.85569156, -0.90105184,  0.11298932,  9.55750102,
  15.42873912, -0.35325385]

qfrc_actuator:
[-4.46807947e-05,-2.94948010e-04,-2.45126582e-04,-5.95154464e-05,
  5.25758158e-05,-4.10554943e-04,-3.23621683e-04,-8.08819315e-05,
 -4.06292980e-05,-3.83144333e-04,-2.45666230e-04,-1.27629862e-04,
  6.59219804e-03,-1.37087575e-03, 2.12120596e-03,-1.35916788e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50357376,  2.48749955, -3.75426725,  2.48749955, 26.87673999,
       14.82399551, -3.75426725, 14.82399551, 14.32564546,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028849624234839055
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08458482, -0.05588684,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.13248786e-05, 4.46855265e-05,-1.23692964e-05,-6.41714769e-07,
 -9.95234872e-06,-1.65255559e-05, 1.02418040e-05,-1.14933296e-05,
 -2.94532562e-05,-4.26451891e-05, 1.03300879e-05,-6.91082408e-06,
 -3.26430994e-05,-5.97776711e-05, 2.17565846e-06,-7.85562826e-05,
 -3.30758340e-07, 4.08983773e-06,-1.21644693e+00,-1.78019799e-03,
 -2.97529904e-04, 1.44701469e-06]


--- Step 1348 ---
qpos:
[ 2.85203468e-03,-5.60160912e-03,-1.02446073e-02, 2.76998217e-03,
 -4.43108402e-03,-5.18625712e-03,-1.77922472e-02, 5.20280586e-03,
 -4.71003565e-03,-3.97994604e-03,-7.81467296e-03,-1.91707745e-02,
  1.31564452e+00, 1.88781885e-02, 1.29872449e+00, 2.46813712e-02,
  9.48978857e-02,-6.99572668e-02, 1.30731052e-01, 9.95228229e-01,
 -2.45541173e-05,-6.75615706e-04,-9.75721071e-02]

qacc:
[  5.42504823, -0.74940888,  2.60711972, -3.07672662, -4.13916967,
  -2.36798579,  9.4058524 ,-17.35188323, -3.01598517,  1.02543195,
  -5.03129223, 10.34244104, -0.78551167,  0.90247061,  2.29113066,
  -7.31379932,  0.85207144, -0.88775758,  0.02145831,  9.54084118,
  15.21919658, -0.40014564]

qfrc_actuator:
[-1.34278874e-05,-3.15447330e-04,-2.38744562e-04,-6.08182880e-05,
  2.83138109e-05,-4.62346276e-04,-3.20278436e-04,-1.06024658e-04,
 -5.74838382e-05,-3.77605200e-04,-2.52633412e-04,-1.12717630e-04,
  6.56034586e-03,-1.34358372e-03, 2.14423914e-03,-1.38565305e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028579228157818437
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.94236006e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.94236006e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08458513, -0.05588557,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.18745719e-05, 1.86910685e-06, 1.40514351e-05, 1.67483087e-07,
 -2.45530257e-05,-5.94559472e-05, 7.78748797e-07,-2.57225025e-05,
 -1.77121310e-05,-1.64689769e-05,-1.47383305e-05, 1.33112145e-05,
 -6.24132463e-05, 1.98063639e-06, 1.10302908e-05,-3.15532507e-05,
 -1.17849058e-06, 3.31858386e-06,-1.21644470e+00,-1.78129817e-03,
 -2.96278967e-04, 1.65120579e-06]


--- Step 1349 ---
qpos:
[ 2.85220684e-03,-5.60079186e-03,-1.02436064e-02, 2.77008082e-03,
 -4.43114352e-03,-5.18609385e-03,-1.77920060e-02, 5.20238800e-03,
 -4.71138458e-03,-3.98036419e-03,-7.81517635e-03,-1.91703695e-02,
  1.31584476e+00, 1.88786726e-02, 1.29888843e+00, 2.46801316e-02,
  9.48956359e-02,-6.99702300e-02, 1.30733735e-01, 9.95222904e-01,
  6.54243832e-05,-6.75346735e-04,-9.76263864e-02]

qacc:
[ -2.75458797, -2.87971353,  9.54689763,-10.77801889, -5.58322713,
   0.24924474, -2.07222966,  4.13043061,  4.37276727,  2.7400288 ,
 -11.6109911 , 21.19576716, -0.84039855,  0.96624647, -2.02723563,
   7.28497675,  0.84901742, -0.87723195, -0.054836  ,  9.52721238,
  15.05104262, -0.43692405]

qfrc_actuator:
[-3.07493065e-05,-3.45963085e-04,-1.99620385e-04,-6.16389542e-05,
 -3.94237015e-06,-4.93365068e-04,-3.36384835e-04,-1.02886740e-04,
 -3.11446408e-05,-3.56235229e-04,-2.74454700e-04,-8.61458469e-05,
  6.51272870e-03,-1.32743476e-03, 2.15214420e-03,-1.34714338e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002817631849840463
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.85067500e-14, -1.97013500e-13,  1.00000000e+00,  1.94071596e-26,
        1.00000000e+00,  1.97013500e-13, -1.00000000e+00,  0.00000000e+00,
        9.85067500e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08458507, -0.05588418,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64143816e-05,-2.65978139e-05, 4.12285509e-05,-2.55860030e-07,
 -3.29797870e-05,-6.52429905e-05,-2.91919310e-05, 1.16487763e-07,
  2.58257722e-05, 9.69593215e-06,-2.65717643e-05, 2.56176270e-05,
 -7.81189396e-05, 2.26668911e-06, 3.81963125e-06, 3.69194017e-05,
 -2.28301236e-06, 2.75621926e-06,-1.21644453e+00,-1.78269216e-03,
 -2.95479888e-04, 2.04798526e-06]


--- Step 1350 ---
qpos:
[ 2.85285992e-03,-5.60005486e-03,-1.02424994e-02, 2.77017767e-03,
 -4.43193446e-03,-5.18614108e-03,-1.77923767e-02, 5.20235072e-03,
 -4.71275257e-03,-3.98055119e-03,-7.81574948e-03,-1.91693436e-02,
  1.31604464e+00, 1.88790118e-02, 1.29905196e+00, 2.46804138e-02,
  9.48967722e-02,-6.99866692e-02, 1.30735946e-01, 9.95217493e-01,
  1.77259868e-04,-6.47243149e-04,-9.76815762e-02]

qacc:
[ 4.21144274,-0.41452308, 1.31748521,-1.44395175,-6.39389394, 2.22740033,
 -9.93126244,17.62943539,-0.17268026, 1.78011171,-8.52004815,19.1983247 ,
 -0.036505  ,-0.14746564,-5.24807081,17.42637093, 0.84653306,-0.86900363,
 -0.11826692, 9.51728434,14.91767425,-0.46561068]

qfrc_actuator:
[-5.51454651e-06,-3.46604125e-04,-1.94798697e-04,-6.21643525e-05,
 -4.06407556e-05,-4.94016340e-04,-3.63752282e-04,-8.31312316e-05,
 -3.28551999e-05,-3.25597229e-04,-2.69279243e-04,-5.29196169e-05,
  6.50362244e-03,-1.33593076e-03, 2.12968245e-03,-1.27070002e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002767228880195538
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.01203902e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.01203902e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08458472, -0.05588272,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47510453e-05,-7.05726770e-06, 4.37616642e-06,-2.46978534e-07,
 -3.76654573e-05,-4.31785941e-05,-4.44377564e-05, 1.59536084e-05,
 -9.71378187e-07, 3.16936454e-05, 4.79922831e-06, 3.32207065e-05,
 -4.71772799e-05,-2.60243710e-05,-2.18255745e-05, 7.78439353e-05,
 -3.64302663e-06, 2.39254157e-06,-1.21644637e+00,-1.78438190e-03,
 -2.95125828e-04, 2.63347383e-06]


--- Step 1351 ---
qpos:
[ 2.85415489e-03,-5.59911130e-03,-1.02417239e-02, 2.76991559e-03,
 -4.43247001e-03,-5.18618132e-03,-1.77926508e-02, 5.20212705e-03,
 -4.71378522e-03,-3.98075366e-03,-7.81558335e-03,-1.91682980e-02,
  1.31624435e+00, 1.88793565e-02, 1.29921497e+00, 2.46806601e-02,
  9.49012869e-02,-7.00065592e-02, 1.30737473e-01, 9.95211983e-01,
  3.10921939e-04,-5.91511906e-04,-9.77377174e-02]

qacc:
[ 5.60056868, 0.44920615, 0.29054872,-6.10378266, 2.23000081,-0.64894182,
  3.10673145,-6.48460713, 2.95914216,-2.05226147, 7.19349063,-8.0104836 ,
 -0.10187069, 0.07138317,-0.63286915, 1.14612744, 0.84460704,-0.86268619,
 -0.1708642 , 9.51144545,14.81367467,-0.48778926]

qfrc_actuator:
[ 2.68291524e-05,-3.29482765e-04,-2.10164761e-04,-8.02698813e-05,
 -2.63992867e-05,-4.58756642e-04,-3.44151993e-04,-8.92439994e-05,
 -1.55702687e-05,-3.25030945e-04,-2.30397602e-04,-5.15195040e-05,
  6.51228524e-03,-1.32332446e-03, 2.08903847e-03,-1.27911791e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002709308493623608
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02445239e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.02445239e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08458414, -0.0558812 ,  0.06199163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.30450023e-05, 1.40349929e-05,-1.63167545e-05,-1.82667725e-05,
  1.31477232e-05, 2.61254154e-06, 5.76628304e-06,-9.18748921e-06,
  1.72656910e-05, 2.07096439e-05, 4.71734586e-05, 3.56944164e-06,
 -2.10649416e-05,-6.03370319e-06,-4.48089959e-05,-7.50815565e-06,
 -5.25817307e-06, 2.22074345e-06,-1.21645015e+00,-1.78636879e-03,
 -2.95211473e-04, 3.40501841e-06]


--- Step 1352 ---
qpos:
[ 2.85513797e-03,-5.59817404e-03,-1.02410948e-02, 2.76979853e-03,
 -4.43248646e-03,-5.18587800e-03,-1.77928446e-02, 5.20109764e-03,
 -4.71529254e-03,-3.98082844e-03,-7.81524198e-03,-1.91672230e-02,
  1.31644380e+00, 1.88796288e-02, 1.29937768e+00, 2.46794482e-02,
  9.49101073e-02,-7.00270341e-02, 1.30739154e-01, 9.95206494e-01,
  4.45046799e-04,-5.05732871e-04,-9.77935594e-02]

qacc:
[ -2.73262306,  0.70497881, -3.12860601,  5.86720312,  4.52299135,
  -1.43794214,  9.1723039 ,-23.48269799, -4.15201835, -0.2524188 ,
   1.03471171, -0.91506624, -0.26502208,  0.18000539,  3.99695765,
 -14.5650213 ,  1.07641699, -0.14624012,  0.03868412, -1.23803009,
  14.97462987,  0.14510691]

qfrc_actuator:
[ 9.82698991e-06,-3.37463944e-04,-2.19495740e-04,-7.30603749e-05,
 -4.07921177e-08,-4.19836293e-04,-3.32340208e-04,-1.28215620e-04,
 -4.04927249e-05,-3.24600907e-04,-2.25331261e-04,-5.11094558e-05,
  6.48899908e-03,-1.33365453e-03, 2.06946250e-03,-1.35525614e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43492873, -0.82017291, -4.35842967, -0.82017291, 29.20271509,
       -4.66082255, -4.35842967, -4.66082255,  5.31200617,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026525314173053705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.18552262e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.18552262e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0820167 , -0.06710996,  0.0619918 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.60551089e-05,-4.32102242e-06,-9.09601926e-06, 6.88582762e-06,
  2.67364801e-05, 4.11884065e-05, 1.27474462e-05,-3.88383006e-05,
 -2.44244604e-05, 2.19127834e-05, 1.52736114e-05, 2.99541052e-06,
 -3.62326432e-05,-1.65079300e-05,-4.26831658e-05,-8.26896067e-05,
 -7.12902887e-06, 2.23681280e-06,-1.21645585e+00,-1.78865389e-03,
 -2.95732752e-04, 4.36101368e-06]


--- Step 1353 ---
qpos:
[ 2.85556509e-03,-5.59743121e-03,-1.02404772e-02, 2.76943845e-03,
 -4.43253150e-03,-5.18530590e-03,-1.77931904e-02, 5.19998004e-03,
 -4.71708679e-03,-3.98057414e-03,-7.81518804e-03,-1.91661449e-02,
  1.31664277e+00, 1.88801061e-02, 1.29954009e+00, 2.46772926e-02,
  9.49162305e-02,-7.00400882e-02, 1.30740951e-01, 9.95200901e-01,
  5.30976150e-04,-4.50870965e-04,-9.78502980e-02]

qacc:
[ -4.86016901, -0.71569314,  3.22122221, -7.28326611, -0.25861287,
   0.59879945, -1.24671641, -0.23460465, -2.52647019,  1.24965918,
  -3.82849551,  4.08860513, -0.56590454,  0.63011154,  2.46909577,
  -9.14237633, -0.67431088,  1.8552023 ,  0.02877201,-22.47069722,
 -17.74129463, -0.43216984]

qfrc_actuator:
[-1.83330309e-05,-3.60376403e-04,-2.25258100e-04,-8.65274910e-05,
 -2.28319931e-06,-4.14564176e-04,-3.42976436e-04,-1.32950750e-04,
 -5.45584642e-05,-3.06636962e-04,-2.40285778e-04,-5.13110511e-05,
  6.46253589e-03,-1.32216542e-03, 2.06252719e-03,-1.39957939e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45034966,  2.88127868, -3.3917319 ,  2.88127868, 19.47050165,
       12.7596299 , -3.3917319 , 12.7596299 , 15.28966442,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027070650088183157
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15346408e-13,  2.05060281e-13,  1.00000000e+00, -2.36529669e-26,
        1.00000000e+00, -2.05060281e-13, -1.00000000e+00,  0.00000000e+00,
        1.15346408e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10372591, -0.09532419,  0.06199164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.86239188e-05,-2.69623512e-05,-7.55543561e-06,-1.38357454e-05,
 -1.46044037e-06, 2.92762151e-05,-1.90265741e-06,-3.28425682e-06,
 -1.47560535e-05, 3.34834122e-05,-8.44988315e-06, 1.32132489e-06,
 -4.95986237e-05,-1.26746354e-06,-3.81134039e-05,-5.49337785e-05,
 -8.03669845e-06, 1.09672222e-06,-1.21645895e+00,-1.79089021e-03,
 -2.97308160e-04, 4.99538452e-06]


--- Step 1354 ---
qpos:
[ 2.85530619e-03,-5.59682777e-03,-1.02396738e-02, 2.76889912e-03,
 -4.43260273e-03,-5.18456692e-03,-1.77936201e-02, 5.19882301e-03,
 -4.71834579e-03,-3.98036399e-03,-7.81514010e-03,-1.91653941e-02,
  1.31684120e+00, 1.88809829e-02, 1.29970168e+00, 2.46759912e-02,
  9.49196270e-02,-7.00458738e-02, 1.30742298e-01, 9.95195180e-01,
  5.69182161e-04,-4.25966407e-04,-9.79083643e-02]

qacc:
[ -5.99277214, -1.06140444,  4.29406564, -7.61295307, -0.2339343 ,
   0.3741837 , -0.84703206,  0.17526668,  4.68601468, -0.72487541,
   3.86320986, -9.46275692, -0.54833734,  0.71279969, -3.73425532,
  11.45540211, -0.68167596,  1.81711096, -0.11237675,-22.28175331,
 -17.24204261, -0.64818825]

qfrc_actuator:
[-5.28189587e-05,-3.56551720e-04,-2.11202961e-04,-9.43179171e-05,
 -3.59348153e-06,-4.11791021e-04,-3.49128630e-04,-1.35291886e-04,
 -2.66027835e-05,-3.31663020e-04,-2.49107612e-04,-6.96177019e-05,
  6.43952080e-03,-1.29783321e-03, 2.02590687e-03,-1.35373436e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46087386, -1.50951068,  4.19771046, -1.50951068, 11.96670044,
        2.69912026,  4.19771046,  2.69912026,  5.4314865 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027434680016100166
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.1381588e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.1381588e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10372231, -0.09532425,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.53154819e-05,-1.34508228e-05, 7.06206887e-06,-9.47752916e-06,
 -1.34172165e-06, 1.85957793e-05,-4.53401418e-07,-1.21450640e-06,
  2.75472985e-05,-8.01406977e-06,-2.90830667e-06,-1.71421684e-05,
 -4.89964686e-05, 1.29410635e-05,-6.31013270e-05, 3.72712423e-05,
 -4.77808053e-06, 5.83353661e-08,-1.21644758e+00,-1.79173450e-03,
 -2.99358528e-04, 3.02136209e-06]


--- Step 1355 ---
qpos:
[ 2.85463559e-03,-5.59629753e-03,-1.02387603e-02, 2.76861222e-03,
 -4.43268897e-03,-5.18381071e-03,-1.77943305e-02, 5.19768032e-03,
 -4.71960475e-03,-3.98052499e-03,-7.81475193e-03,-1.91648498e-02,
  1.31703947e+00, 1.88816009e-02, 1.29986257e+00, 2.46739150e-02,
  9.49202750e-02,-7.00445152e-02, 1.30742721e-01, 9.95189306e-01,
  5.60064041e-04,-4.30247562e-04,-9.79680930e-02]

qacc:
[-3.59638759e+00, 1.22813521e-01,-1.63162581e+00, 5.86514105e+00,
 -1.39896505e-01, 8.36409638e-01,-3.00953710e+00, 3.69367527e+00,
  1.73604056e-02,-1.86703326e+00, 6.81455064e+00,-1.06539170e+01,
  1.76026943e-02,-2.25588064e-01, 1.29725966e+00,-6.06843345e+00,
 -6.87103835e-01, 1.78607864e+00,-2.30957879e-01,-2.21199213e+01,
 -1.68399608e+01,-8.16360943e-01]

qfrc_actuator:
[-7.29953355e-05,-3.54414653e-04,-2.03202833e-04,-8.09162573e-05,
 -4.33544050e-06,-4.28275468e-04,-3.70350326e-04,-1.36210091e-04,
 -2.73995564e-05,-3.64488856e-04,-2.36663644e-04,-8.07056446e-05,
  6.42924849e-03,-1.31932965e-03, 1.98218389e-03,-1.39722977e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46403762, -1.41466367,  4.23395307, -1.41466367, 16.38676745,
        3.9836655 ,  4.23395307,  3.9836655 ,  5.79507431,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027542872039483524
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13368797e-13, -2.01544527e-13,  1.00000000e+00,  2.28488605e-26,
        1.00000000e+00,  2.01544527e-13, -1.00000000e+00,  0.00000000e+00,
        1.13368797e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10371971, -0.09532505,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.11929505e-05,-4.37356062e-06, 5.75011114e-06, 1.28848302e-05,
 -7.73866364e-07,-6.25118477e-06,-1.74796515e-05,-1.58843964e-07,
 -1.11593492e-08,-3.86462859e-05, 9.83033798e-06,-1.18691720e-05,
 -3.27739795e-05,-2.84200527e-05,-6.97458766e-05,-4.97568160e-05,
 -1.97496086e-06,-2.81618382e-08,-1.21644138e+00,-1.79189352e-03,
 -3.00907968e-04, 1.94120021e-06]


--- Step 1356 ---
qpos:
[ 2.85407283e-03,-5.59571681e-03,-1.02380847e-02, 2.76849619e-03,
 -4.43243847e-03,-5.18309872e-03,-1.77955802e-02, 5.19725282e-03,
 -4.72086332e-03,-3.98087030e-03,-7.81426958e-03,-1.91644495e-02,
  1.31723764e+00, 1.88817195e-02, 1.30002327e+00, 2.46708777e-02,
  9.49181585e-02,-7.00361129e-02, 1.30741823e-01, 9.95183250e-01,
  5.03954979e-04,-4.63096473e-04,-9.80297427e-02]

qacc:
[ 9.35175119e-01, 1.08153653e+00,-4.48382813e+00, 7.78750700e+00,
  2.92086561e+00, 2.91502886e+00,-1.35082873e+01, 2.67934174e+01,
  9.29864353e-03,-8.03461899e-01, 3.11787149e+00,-5.62194615e+00,
  1.69060430e-01,-5.24487109e-01, 2.59566941e+00,-9.56415402e+00,
 -6.91136959e-01, 1.76091030e+00,-3.30503048e-01,-2.19834399e+01,
 -1.65175457e+01,-9.46623597e-01]

qfrc_actuator:
[-6.68332696e-05,-3.53300584e-04,-2.16586748e-04,-7.29119604e-05,
  1.30155128e-05,-4.38478963e-04,-4.00383484e-04,-1.00807278e-04,
 -2.73740701e-05,-3.66144634e-04,-2.29556684e-04,-8.74522606e-05,
  6.42128231e-03,-1.35007202e-03, 1.99280240e-03,-1.43978434e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46122071, -1.29322896,  4.26966616, -1.29322896, 22.33058097,
        5.41240774,  4.26966616,  5.41240774,  6.10057193,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002744656896678799
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.14892427e-13, -2.02251696e-13,  1.00000000e+00,  4.34623578e-26,
        1.00000000e+00,  2.02251696e-13, -1.00000000e+00,  0.00000000e+00,
        2.14892427e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10371791, -0.09532645,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.55149424e-06, 3.73654460e-07,-1.31478793e-05, 8.26509464e-06,
  1.73272984e-05,-1.73331605e-05,-3.34810483e-05, 3.45294673e-05,
  1.17675281e-08,-2.17483979e-05,-8.02475311e-08,-8.29459754e-06,
 -3.25738955e-05,-4.60978549e-05,-2.75164899e-05,-5.43932736e-05,
  4.55981316e-07, 8.39174696e-07,-1.21644012e+00,-1.79136208e-03,
 -3.01995004e-04, 1.70943547e-06]


--- Step 1357 ---
qpos:
[ 2.85358811e-03,-5.59520516e-03,-1.02372712e-02, 2.76881163e-03,
 -4.43198215e-03,-5.18225580e-03,-1.77970057e-02, 5.19720488e-03,
 -4.72211191e-03,-3.98123643e-03,-7.81404145e-03,-1.91644754e-02,
  1.31743539e+00, 1.88817773e-02, 1.30018362e+00, 2.46702857e-02,
  9.49132653e-02,-7.00207481e-02, 1.30739268e-01, 9.95176983e-01,
  4.01128582e-04,-5.24021100e-04,-9.80935112e-02]

qacc:
[  0.6882625 ,  0.41052968, -3.41980821, 10.71986817,  1.78735522,
   1.44179709, -6.49847975, 13.25957573,  0.07958264, -0.19519535,
   2.45269572, -9.40260061, -0.07253225, -0.07356812, -7.9154761 ,
  26.94834007, -0.69418687,  1.74061973, -0.41401892,-21.87046402,
 -16.2606683 , -1.04677495]

qfrc_actuator:
[-6.29756394e-05,-3.52894725e-04,-2.06992015e-04,-5.04128587e-05,
  2.31238453e-05,-4.09354067e-04,-3.99827200e-04,-7.98237018e-05,
 -2.68555711e-05,-3.66889399e-04,-2.43294583e-04,-1.09326611e-04,
  6.39872232e-03,-1.35051256e-03, 2.00937644e-03,-1.30375185e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45373849, -1.14105363,  4.30508805, -1.14105363, 30.26677604,
        6.84168591,  4.30508805,  6.84168591,  6.26711152,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002718857189577817
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14846130e-13, -4.08341795e-13,  1.00000000e+00,  4.68964748e-26,
        1.00000000e+00,  4.08341795e-13, -1.00000000e+00,  0.00000000e+00,
        1.14846130e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10371675, -0.09532832,  0.0619916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.01410942e-06,-1.77180657e-06, 8.32435157e-06, 2.22183516e-05,
  1.05989435e-05, 1.39920862e-05,-5.94677504e-06, 1.97557846e-05,
  5.11067226e-07,-1.32761558e-05,-1.85305276e-05,-2.29714497e-05,
 -5.03698864e-05,-2.14268765e-05,-4.74732851e-06, 1.28882029e-04,
  2.57663564e-06, 2.65730617e-06,-1.21644362e+00,-1.79013713e-03,
 -3.02648294e-04, 2.29159471e-06]


--- Step 1358 ---
qpos:
[ 2.85246368e-03,-5.59494755e-03,-1.02359711e-02, 2.76939356e-03,
 -4.43175301e-03,-5.18122409e-03,-1.77984739e-02, 5.19739136e-03,
 -4.72299992e-03,-3.98134495e-03,-7.81415604e-03,-1.91644479e-02,
  1.31763253e+00, 1.88821080e-02, 1.30034376e+00, 2.46703516e-02,
  9.49055858e-02,-6.99984858e-02, 1.30734777e-01, 9.95170470e-01,
  2.51804804e-04,-6.12632933e-04,-9.81595478e-02]

qacc:
[ -5.57586166, -1.13578297,  2.45656561,  1.54379036, -1.9854543 ,
   0.85504242, -3.66980794,  7.64956679,  3.14144113,  1.40255178,
  -4.74222683,  6.03567789, -0.59212226,  0.66272874, -2.25174683,
   7.56049416, -0.69656389,  1.72439143, -0.48406885,-21.7791397 ,
 -16.05790074, -1.12293334]

qfrc_actuator:
[-9.60192493e-05,-3.70567054e-04,-1.83890717e-04,-3.72984636e-05,
  1.11301979e-05,-3.92294848e-04,-3.98817780e-04,-6.74421154e-05,
 -8.29839674e-06,-3.31672047e-04,-2.51476036e-04,-1.04432437e-04,
  6.36743831e-03,-1.33301096e-03, 1.98693755e-03,-1.27662059e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44277065, -0.95332383,  4.3392839 , -0.95332383, 40.76282468,
        7.97937488,  4.3392839 ,  7.97937488,  6.19580833,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002680444641907642
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.88306503e-14, -4.14193603e-13,  1.00000000e+00, -1.60834070e-26,
        1.00000000e+00,  4.14193603e-13, -1.00000000e+00,  0.00000000e+00,
       -3.88306503e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10371607, -0.09533055,  0.06199172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.29332738e-05,-1.60174936e-05, 2.45136339e-05, 1.37552442e-05,
 -1.16854928e-05, 2.44915467e-05, 3.85707523e-06, 1.31607718e-05,
  1.85679044e-05, 2.29891570e-05,-1.40002226e-05, 3.23733150e-06,
 -6.09566391e-05,-7.43989896e-07,-1.37535557e-05, 3.29290072e-05,
  4.43306513e-06, 5.41989662e-06,-1.21645175e+00,-1.78821696e-03,
 -3.02889010e-04, 3.66192808e-06]


--- Step 1359 ---
qpos:
[ 2.85095199e-03,-5.59492640e-03,-1.02346008e-02, 2.76946442e-03,
 -4.43132445e-03,-5.17999634e-03,-1.77999114e-02, 5.19737323e-03,
 -4.72296907e-03,-3.98087822e-03,-7.81458719e-03,-1.91640604e-02,
  1.31782911e+00, 1.88824370e-02, 1.30050385e+00, 2.46680995e-02,
  9.49011735e-02,-6.99801575e-02, 1.30732783e-01, 9.95163972e-01,
  1.25028613e-04,-6.68529670e-04,-9.82252823e-02]

qacc:
[ -3.38162351, -1.55500915,  7.25970215,-16.05536071,  1.73651704,
  -0.25106281,  2.12909342, -5.85739259,  8.02417854,  2.37105766,
  -8.89423233, 15.22867326, -0.63180165,  0.55533585,  7.01442157,
 -24.48151416,  0.81681351, -0.9835142 ,  0.62431444,  9.6137877 ,
  17.38522242,  0.14006283]

qfrc_actuator:
[-1.15011827e-04,-3.98873706e-04,-1.88594495e-04,-6.53277528e-05,
  2.17312825e-05,-3.82585275e-04,-3.97599276e-04,-7.79810447e-05,
  3.84800241e-05,-2.75147526e-04,-2.56133448e-04,-8.37864202e-05,
  6.33095229e-03,-1.34055860e-03, 1.96239512e-03,-1.40278392e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44641518, -1.89284511,  4.02339972, -1.89284511, 25.74394047,
       10.01961511,  4.02339972, 10.01961511,  9.16023453,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002693288726566545
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.06109173e-13, -2.06109173e-13,  1.00000000e+00,  4.24809912e-26,
        1.00000000e+00,  2.06109173e-13, -1.00000000e+00,  0.00000000e+00,
        2.06109173e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08460252, -0.0558721 ,  0.06199168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.99432566e-05,-3.16445789e-05,-4.53391320e-06,-2.76027849e-05,
  1.02739234e-05, 2.47408665e-05, 7.21293900e-06,-9.09890478e-06,
  4.73166949e-05, 6.66357986e-05,-1.52056517e-06, 2.12086670e-05,
 -6.71141835e-05,-2.18019497e-05,-3.10814597e-05,-1.26950451e-04,
  6.05967514e-06, 9.11833500e-06,-1.21646442e+00,-1.78560066e-03,
 -3.02732621e-04, 5.80164064e-06]


--- Step 1360 ---
qpos:
[ 2.85025891e-03,-5.59523356e-03,-1.02334929e-02, 2.76888946e-03,
 -4.43077195e-03,-5.17901722e-03,-1.78008606e-02, 5.19760006e-03,
 -4.72341199e-03,-3.98031485e-03,-7.81489495e-03,-1.91633979e-02,
  1.31802535e+00, 1.88824078e-02, 1.30066367e+00, 2.46636821e-02,
  9.49000550e-02,-6.99656477e-02, 1.30732597e-01, 9.95157473e-01,
  2.06592267e-05,-6.92875714e-04,-9.82910165e-02]

qacc:
[ 7.15766250e+00,-1.04433028e+00, 5.79588685e+00,-1.62853293e+01,
  1.10047731e+00,-1.19056087e+00, 2.73082666e+00, 9.14140291e-01,
 -4.14505658e+00, 3.57391123e-01,-2.23402575e+00, 6.70578433e+00,
 -2.16186770e-01,-7.43591826e-02, 6.18544108e+00,-2.21629538e+01,
  8.23429381e-01,-9.54634167e-01, 4.51984299e-01, 9.59968503e+00,
  1.67995136e+01,-9.42352752e-03]

qfrc_actuator:
[-7.23124384e-05,-4.33476918e-04,-2.09759721e-04,-9.96196579e-05,
  2.78008610e-05,-4.12873525e-04,-3.78558872e-04,-6.64217436e-05,
  1.27255249e-05,-2.95022554e-04,-2.58565494e-04,-7.17697628e-05,
  6.31266525e-03,-1.36297038e-03, 1.94723506e-03,-1.51169565e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46555487,  1.61929099, -4.16161951,  1.61929099, 10.22675616,
        2.24169011, -4.16161951,  2.24169011,  5.33779909,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027594557974662537
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00583512e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.00583512e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08460697, -0.05587179,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.21182004e-05,-5.44372440e-05,-2.92293517e-05,-3.63440387e-05,
  6.37283585e-06,-1.53774748e-05, 2.47263187e-05, 1.26919234e-05,
 -2.43796361e-05, 1.79854432e-05, 1.18744741e-05, 1.52277757e-05,
 -5.78353044e-05,-4.40058557e-05,-4.72651302e-05,-1.20781057e-04,
  5.76605927e-06, 6.19053085e-06,-1.21645551e+00,-1.78423586e-03,
 -3.01092429e-04, 4.44038702e-06]


--- Step 1361 ---
qpos:
[ 2.85008302e-03,-5.59611767e-03,-1.02326007e-02, 2.76897352e-03,
 -4.43049545e-03,-5.17862492e-03,-1.78013971e-02, 5.19870377e-03,
 -4.72484925e-03,-3.97993947e-03,-7.81507601e-03,-1.91622140e-02,
  1.31822115e+00, 1.88827410e-02, 1.30082302e+00, 2.46592788e-02,
  9.49022488e-02,-6.99548624e-02, 1.30733640e-01, 9.95150957e-01,
 -6.14342808e-05,-6.86608635e-04,-9.83569860e-02]

qacc:
[ 4.52752975, 1.18856175,-8.14115019,20.33194262,-2.3835793 ,-0.1185138 ,
 -4.3961984 ,19.33526519,-8.6970729 , 0.48852555,-4.27063906,13.1914436 ,
 -0.53202151, 0.70186156,-0.67560013, 1.5025508 , 0.82808803,-0.93109839,
  0.30700612, 9.57942485,16.3271901 ,-0.12582941]

qfrc_actuator:
[-4.69067415e-05,-4.71671625e-04,-2.22744494e-04,-6.63194285e-05,
  1.33946115e-05,-4.66794207e-04,-3.67047957e-04,-2.42186110e-05,
 -3.77710083e-05,-3.24983532e-04,-2.59975649e-04,-4.72371137e-05,
  6.31595087e-03,-1.32293301e-03, 1.94305131e-03,-1.50296599e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47587422,  1.5699766 , -4.19149419,  1.5699766 , 14.09495584,
        3.60294738, -4.19149419,  3.60294738,  5.82540325,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002794272470970638
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.93302404e-14, -1.98660481e-13,  1.00000000e+00,  1.97329933e-26,
        1.00000000e+00,  1.98660481e-13, -1.00000000e+00,  0.00000000e+00,
        9.93302404e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08461019, -0.0558712 ,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.65931329e-05,-7.62145463e-05,-2.90962199e-05, 2.92468412e-05,
 -1.42304428e-05,-5.68914555e-05, 1.18188227e-05, 4.26461680e-05,
 -5.11860287e-05,-1.68270805e-05, 4.29002796e-06, 2.60090899e-05,
 -3.71543901e-05, 1.40694735e-05,-4.17520261e-05,-4.58423058e-06,
  5.22158940e-06, 3.59445545e-06,-1.21644915e+00,-1.78314088e-03,
 -2.99985730e-04, 3.33797177e-06]


--- Step 1362 ---
qpos:
[ 2.85021327e-03,-5.59730530e-03,-1.02322908e-02, 2.76979141e-03,
 -4.43039413e-03,-5.17827090e-03,-1.78019325e-02, 5.19957214e-03,
 -4.72584611e-03,-3.97963210e-03,-7.81528569e-03,-1.91607495e-02,
  1.31841665e+00, 1.88834483e-02, 1.30098185e+00, 2.46569618e-02,
  9.49077682e-02,-6.99477249e-02, 1.30735423e-01, 9.95144413e-01,
 -1.21370516e-04,-6.50481006e-04,-9.84233732e-02]

qacc:
[  2.66518447,  2.73263046,-13.43174291, 27.29571672, -1.52707254,
  -0.53512704,  2.8333996 , -6.88587287,  3.8556551 ,  0.56051882,
  -3.32415931,  8.28475829, -0.26841653,  0.44532839, -7.08157957,
  23.69373569,  0.83139267, -0.91197094,  0.18524861,  9.55627431,
  15.94754179, -0.21604633]

qfrc_actuator:
[-3.19032854e-05,-4.76136002e-04,-2.48515519e-04,-2.90156955e-05,
  4.80586888e-06,-4.45693541e-04,-3.60174469e-04,-3.53696076e-05,
 -1.36395236e-05,-3.25244844e-04,-2.60825341e-04,-3.33039663e-05,
  6.31089617e-03,-1.29926126e-03, 1.94015532e-03,-1.38945953e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47873345,  1.5020266 , -4.21935651,  1.5020266 , 19.2433503 ,
        5.25597852, -4.21935651,  5.25597852,  6.34978167,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028038172615499346
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.96976297e-13,  1.97984198e-13,  1.00000000e+00, -5.87966141e-26,
        1.00000000e+00, -1.97984198e-13, -1.00000000e+00,  0.00000000e+00,
        2.96976297e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08461244, -0.05587038,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57387496e-05,-5.18094020e-05,-4.40867793e-05, 3.35993381e-05,
 -9.01880913e-06,-6.45974215e-06,-1.94573280e-06,-1.23510081e-05,
  2.26637676e-05,-7.70753354e-06,-2.90127681e-06, 1.38661287e-05,
 -2.11692052e-05, 1.97499309e-05,-2.48202785e-05, 1.07418101e-04,
  4.42640281e-06, 1.28728374e-06,-1.21644513e+00,-1.78232427e-03,
 -2.99388287e-04, 2.47503195e-06]


--- Step 1363 ---
qpos:
[ 2.85086719e-03,-5.59839646e-03,-1.02324981e-02, 2.77064799e-03,
 -4.43039692e-03,-5.17767794e-03,-1.78025157e-02, 5.19992196e-03,
 -4.72654650e-03,-3.97934842e-03,-7.81550243e-03,-1.91594821e-02,
  1.31861193e+00, 1.88840168e-02, 1.30114049e+00, 2.46553199e-02,
  9.49166228e-02,-6.99441734e-02, 1.30737539e-01, 9.95137824e-01,
 -1.59254327e-04,-5.85094032e-04,-9.84903191e-02]

qacc:
[  4.56290911,  1.6439328 , -5.85523967,  7.29766349, -0.91377603,
  -0.61626725,  4.84775695,-13.92525047,  2.5954655 , -0.42248998,
   2.2823579 , -5.65046608, -0.0279643 , -0.11792898, -2.3160563 ,
   7.70521095,  0.83379684, -0.89648757,  0.08319088,  9.53258707,
  15.64389343, -0.28549586]

qfrc_actuator:
[-5.38435787e-06,-4.42652198e-04,-2.63752695e-04,-2.51535401e-05,
 -2.82802228e-07,-4.15399160e-04,-3.55836896e-04,-6.00189839e-05,
  9.73877940e-07,-3.25483782e-04,-2.61234115e-04,-4.34508297e-05,
  6.28486442e-03,-1.32107095e-03, 1.93272888e-03,-1.35718589e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47554818,  1.41268543, -4.24674598,  1.41268543, 26.04266465,
        7.17432864, -4.24674598,  7.17432864,  6.8620977 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002793181301646158
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.97476177e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.97476177e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08461391, -0.05586936,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.69543435e-05,-3.11233688e-06,-3.01988561e-05, 7.70157727e-07,
 -5.34888633e-06, 2.57393930e-05, 2.33676141e-06,-2.52350384e-05,
  1.52585467e-05,-4.56155670e-06,-1.88463083e-06,-1.03119658e-05,
 -3.21530372e-05,-2.06430215e-05,-9.16807446e-06, 3.45687970e-05,
  3.38071404e-06,-7.62850445e-07,-1.21644332e+00,-1.78179197e-03,
 -2.99281198e-04, 1.83638001e-06]


--- Step 1364 ---
qpos:
[ 2.85148899e-03,-5.59924029e-03,-1.02327492e-02, 2.77149079e-03,
 -4.43080542e-03,-5.17713894e-03,-1.78029399e-02, 5.19999676e-03,
 -4.72672127e-03,-3.97900085e-03,-7.81549099e-03,-1.91583739e-02,
  1.31880689e+00, 1.88844107e-02, 1.30129866e+00, 2.46547897e-02,
  9.49288199e-02,-6.99441580e-02, 1.30739646e-01, 9.95131179e-01,
 -1.75176123e-04,-4.90924652e-04,-9.85579312e-02]

qacc:
[-2.86648825e-01, 4.21398169e-01,-9.69134855e-01, 6.17787907e-01,
 -3.53240378e+00,-1.07483872e+00, 4.90211437e+00,-9.88990191e+00,
  4.60734510e+00,-8.90569287e-01, 3.95323529e+00,-7.10200199e+00,
 -1.25784445e-02,-1.79855910e-01,-4.07158021e+00, 1.32129865e+01,
  8.35638668e-01,-8.84022986e-01,-2.17403353e-03, 9.51002250e+00,
  1.54027896e+01,-3.38442146e-01]

qfrc_actuator:
[-7.80140879e-06,-4.04430701e-04,-2.54749095e-04,-2.32020946e-05,
 -2.10250558e-05,-4.33108336e-04,-3.52972320e-04,-7.46374034e-05,
  2.75968202e-05,-3.07973759e-04,-2.43635818e-04,-4.99277370e-05,
  6.26222788e-03,-1.33430081e-03, 1.90659427e-03,-1.30206479e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46766341,  1.29863983, -4.27475741,  1.29863983, 34.94997256,
        9.26030109, -4.27475741,  9.26030109,  7.2808747 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027666173778212455
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00323145e-13, -2.00646290e-13,  1.00000000e+00,  2.01294668e-26,
        1.00000000e+00,  2.00646290e-13, -1.00000000e+00,  0.00000000e+00,
        1.00323145e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08461478, -0.0558682 ,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64306635e-06, 3.03236199e-05, 4.67915767e-06, 7.87833455e-07,
 -2.08856593e-05,-3.93177490e-06, 7.59486329e-06,-1.39264968e-05,
  2.70585451e-05, 1.41208983e-05, 1.60623039e-05,-6.94198460e-06,
 -4.35746558e-05,-2.67966701e-05,-2.98287880e-05, 5.51236185e-05,
  2.08449457e-06,-2.57954898e-06,-1.21644360e+00,-1.78154808e-03,
 -2.99649786e-04, 1.41023843e-06]


--- Step 1365 ---
qpos:
[ 2.85173243e-03,-5.59987319e-03,-1.02332044e-02, 2.77271089e-03,
 -4.43145918e-03,-5.17701482e-03,-1.78027636e-02, 5.19818551e-03,
 -4.72588575e-03,-3.97838457e-03,-7.81538646e-03,-1.91570244e-02,
  1.31900153e+00, 1.88844353e-02, 1.30145625e+00, 2.46536486e-02,
  9.49443657e-02,-6.99476388e-02, 1.30741460e-01, 9.95124460e-01,
 -1.69211724e-04,-3.68347410e-04,-9.86262904e-02]

qacc:
[-3.31927390e+00, 1.63289657e+00,-6.99901567e+00, 1.36877162e+01,
 -2.11408336e+00,-6.10402106e+00, 2.89392959e+01,-6.22473570e+01,
  8.84261564e+00, 5.74882102e-01,-2.58164445e+00, 6.44107805e+00,
 -3.21713307e-02,-2.79678097e-01, 9.84965995e-01,-4.70733544e+00,
  8.37167749e-01,-8.74064710e-01,-7.34174560e-02, 9.48971725e+00,
  1.52133513e+01,-3.78237992e-01]

qfrc_actuator:
[-2.72337112e-05,-3.99061307e-04,-2.66972872e-04,-4.60745284e-06,
 -3.30635766e-05,-4.79422331e-04,-3.33426694e-04,-1.72036528e-04,
  7.88303808e-05,-2.79892480e-04,-2.33218320e-04,-3.64089157e-05,
  6.23631815e-03,-1.36004413e-03, 1.85861573e-03,-1.34045754e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027276668725742526
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01755738e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.01755738e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08461517, -0.05586692,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.94661392e-05, 2.33557643e-05,-5.34623066e-06, 2.00716632e-05,
 -1.26383751e-05,-4.75626669e-05, 1.91865026e-05,-9.75753658e-05,
  5.20122209e-05, 3.89915743e-05, 1.50642233e-05, 1.45396953e-05,
 -5.42497731e-05,-4.36776701e-05,-5.78485728e-05,-3.96611425e-05,
  5.37255994e-07,-4.18007765e-06,-1.21644591e+00,-1.78159539e-03,
 -3.00482721e-04, 1.18761329e-06]


--- Step 1366 ---
qpos:
[ 2.85208620e-03,-5.60059437e-03,-1.02333878e-02, 2.77414999e-03,
 -4.43190766e-03,-5.17700805e-03,-1.78024598e-02, 5.19521639e-03,
 -4.72547699e-03,-3.97768959e-03,-7.81477497e-03,-1.91558735e-02,
  1.31919569e+00, 1.88846286e-02, 1.30161295e+00, 2.46501385e-02,
  9.49632658e-02,-6.99545844e-02, 1.30742742e-01, 9.95117651e-01,
 -1.41422592e-04,-2.17652141e-04,-9.86954565e-02]

qacc:
[  0.97510365, -0.42744306,  0.42704243,  2.99689259,  1.79546718,
  -2.89858977, 14.99252398,-35.14436048, -3.72149466, -1.71495117,
   7.11411573,-11.42791779, -0.62545128,  0.67023926,  5.9284555 ,
 -22.48146728,  0.83856622, -0.86619213, -0.13273952,  9.47241867,
  15.06676635, -0.40751866]

qfrc_actuator:
[-2.10108324e-05,-4.13465697e-04,-2.56249922e-04, 5.83492050e-06,
 -2.21254008e-05,-4.71506187e-04,-3.22130102e-04,-2.28619866e-04,
  5.53722395e-05,-2.81204081e-04,-2.09312854e-04,-4.67348696e-05,
  6.21910819e-03,-1.33977319e-03, 1.78690614e-03,-1.46918603e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026792680447564055
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03593874e-13,  2.07187748e-13,  1.00000000e+00, -2.14633814e-26,
        1.00000000e+00, -2.07187748e-13, -1.00000000e+00,  0.00000000e+00,
        1.03593874e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08461518, -0.05586556,  0.06199172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.67627567e-06,-1.57014881e-06, 1.55938316e-05, 1.16492221e-05,
  1.05625470e-05,-1.89052225e-05, 4.60481641e-07,-5.98524532e-05,
 -2.19580080e-05, 2.42206052e-05, 3.43046264e-05,-7.85845277e-06,
 -5.56815599e-05,-4.81614429e-06,-1.04045828e-04,-1.38652113e-04,
 -1.26209195e-06,-5.57675998e-06,-1.21645018e+00,-1.78193574e-03,
 -3.01771342e-04, 1.16178458e-06]


--- Step 1367 ---
qpos:
[ 2.85251169e-03,-5.60147668e-03,-1.02330952e-02, 2.77569837e-03,
 -4.43222179e-03,-5.17695171e-03,-1.78022093e-02, 5.19296404e-03,
 -4.72500699e-03,-3.97704207e-03,-7.81374287e-03,-1.91555235e-02,
  1.31938959e+00, 1.88847171e-02, 1.30176859e+00, 2.46463931e-02,
  9.49855257e-02,-6.99649702e-02, 1.30743297e-01, 9.95110733e-01,
 -9.18562979e-05,-3.90582967e-05,-9.87654718e-02]

qacc:
[  0.64518697, -1.31918359,  3.9311925 , -2.68010792,  1.16957727,
   1.68781472, -8.95305793, 21.41214519,  0.54974672, -2.88933012,
  13.583095  ,-28.06412202, -0.07961974, -0.04706681, -0.86306918,
   0.73582306,  0.83996512, -0.86005958, -0.18202291,  9.45858791,
  14.9558846 , -0.42835449]

qfrc_actuator:
[-1.74847983e-05,-4.21766887e-04,-2.32153314e-04, 1.13932985e-05,
 -1.55062689e-05,-4.48936159e-04,-3.15550258e-04,-1.89676981e-04,
  5.91425436e-05,-3.00068894e-04,-1.95518346e-04,-8.87768973e-05,
  6.21247070e-03,-1.34554180e-03, 1.75426462e-03,-1.47258710e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026238484639549975
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.11563861e-13, -1.19004672e-13,  1.00000000e+00, -2.51770879e-26,
        1.00000000e+00,  1.19004672e-13, -1.00000000e+00,  0.00000000e+00,
       -2.11563861e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08461491, -0.05586414,  0.06199189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.68879696e-06,-5.43315645e-06, 2.61029226e-05, 6.25593939e-06,
  6.91781745e-06, 9.53560324e-06, 6.63034455e-07, 3.69893889e-05,
  3.15365710e-06, 1.38681286e-06, 2.27337187e-05,-3.99753686e-05,
 -3.80545124e-05,-1.89063955e-05,-9.56442954e-05,-2.43901563e-05,
 -3.31533086e-06,-6.77799381e-06,-1.21645638e+00,-1.78257034e-03,
 -3.03509123e-04, 1.32789343e-06]


--- Step 1368 ---
qpos:
[ 2.85263128e-03,-5.60237271e-03,-1.02328216e-02, 2.77731677e-03,
 -4.43245412e-03,-5.17676546e-03,-1.78019344e-02, 5.19117921e-03,
 -4.72415059e-03,-3.97649600e-03,-7.81251054e-03,-1.91553118e-02,
  1.31958332e+00, 1.88842612e-02, 1.30192353e+00, 2.46441659e-02,
  9.50053810e-02,-6.99805094e-02, 1.30743198e-01, 9.95103977e-01,
 -9.19947316e-08, 1.28032353e-04,-9.88334923e-02]

qacc:
[-2.67610625, 0.18410151,-0.96925839, 2.21159224, 0.71215454, 1.06476712,
 -5.52365567,13.48377009, 3.39044418,-0.98541023, 3.8900722 ,-6.51434671,
  0.38403402,-0.81240091,-5.6829882 ,18.25035771,-0.60115134,-1.28834214,
 -0.1632877 ,21.56395146,-3.63971179, 0.99915764]

qfrc_actuator:
[-3.33350460e-05,-4.26298006e-04,-2.35850514e-04, 1.40434066e-05,
 -1.14897518e-05,-4.35446431e-04,-3.11670541e-04,-1.65840368e-04,
  7.89326079e-05,-3.11618310e-04,-1.87906848e-04,-9.59089829e-05,
  6.19619606e-03,-1.38448066e-03, 1.75576340e-03,-1.38422530e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41878875,  4.10412668,  1.63763192,  4.10412668,  6.81507816,
       -6.00542478,  1.63763192, -6.00542478, 19.46919404,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002593845729446237
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07005499e-13, -2.14010998e-13,  1.00000000e+00,  2.29003536e-26,
        1.00000000e+00,  2.14010998e-13, -1.00000000e+00,  0.00000000e+00,
        1.07005499e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10296835, -0.04734175,  0.06199198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.57458348e-05,-1.88453197e-06,-1.38491021e-06, 3.43995472e-06,
  4.21659961e-06, 2.05462045e-05, 7.21218704e-06, 2.49921293e-05,
  1.98845366e-05,-7.82408662e-06, 9.29471721e-06,-7.06902813e-06,
 -4.16607874e-05,-5.24777728e-05,-4.42925833e-05, 7.49478301e-05,
 -5.62498727e-06,-7.78899853e-06,-1.21646448e+00,-1.78349992e-03,
 -3.05691253e-04, 1.68260908e-06]


--- Step 1369 ---
qpos:
[ 2.85324999e-03,-5.60350398e-03,-1.02321853e-02, 2.77861133e-03,
 -4.43229170e-03,-5.17627689e-03,-1.78016913e-02, 5.18967540e-03,
 -4.72375326e-03,-3.97620279e-03,-7.81110465e-03,-1.91551657e-02,
  1.31977640e+00, 1.88845846e-02, 1.30207837e+00, 2.46422571e-02,
  9.50226865e-02,-6.99885867e-02, 1.30743372e-01, 9.95097148e-01,
  4.31371660e-05, 2.63417944e-04,-9.89019496e-02]

qacc:
[  4.38104203, -2.00007923,  8.03243728,-14.02796876,  3.43650038,
   1.05972051, -4.39693559,  9.10183047, -4.00891275, -0.94670769,
   3.18029923, -4.42001206, -0.97257489,  1.39042285, -0.99428271,
   3.54438581, -0.63745346,  1.86548062,  0.0680049 ,-22.58196798,
 -18.17335967, -0.22398205]

qfrc_actuator:
[-7.20422736e-06,-4.46402657e-04,-2.20414317e-04,-2.80853293e-06,
  8.71664351e-06,-4.09752401e-04,-3.09467220e-04,-1.51104981e-04,
  5.47269919e-05,-3.36458143e-04,-1.83953015e-04,-1.00189908e-04,
  6.18479171e-03,-1.31857190e-03, 1.76177378e-03,-1.36673349e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41814606, -0.34609281, -4.40456972, -0.34609281, 28.12012695,
       -1.86240329, -4.40456972, -1.86240329,  4.56448598,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002591473201527805
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10367703, -0.09535305,  0.06199199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.56822802e-05,-2.12773970e-05, 1.49995611e-05,-1.69152442e-05,
  2.03331158e-05, 3.97392551e-05, 8.19884616e-06, 1.63545067e-05,
 -2.36375135e-05,-2.76229931e-05, 3.21681262e-06,-4.43714068e-06,
 -4.49859661e-05, 4.07932909e-05,-7.08853689e-06, 1.57451630e-05,
 -8.72167512e-06,-5.44463536e-06,-1.21646627e+00,-1.78446193e-03,
 -3.07089433e-04, 2.90051367e-06]


--- Step 1370 ---
qpos:
[ 2.85348720e-03,-5.60492222e-03,-1.02310565e-02, 2.78003692e-03,
 -4.43154332e-03,-5.17557764e-03,-1.78016647e-02, 5.18838459e-03,
 -4.72364902e-03,-3.97598234e-03,-7.80970002e-03,-1.91554283e-02,
  1.31996902e+00, 1.88856073e-02, 1.30223348e+00, 2.46401635e-02,
  9.50373929e-02,-6.99893560e-02, 1.30743232e-01, 9.95090208e-01,
  3.83216950e-05, 3.68278555e-04,-9.89714094e-02]

qacc:
[ -3.31653177, -1.47954729,  4.18319593, -2.50410875,  5.09977612,
   1.31158726, -5.18935498,  9.08642313, -2.56485554, -0.92949145,
   4.9054262 ,-11.92544471, -0.84920958,  1.25218764,  1.0451636 ,
  -2.85354705, -0.6497811 ,  1.82700732, -0.07824865,-22.39491365,
 -17.56352119, -0.50998408]

qfrc_actuator:
[-2.75779483e-05,-4.57871802e-04,-1.93872085e-04, 4.50942125e-06,
  3.82912974e-05,-4.12465435e-04,-3.25976098e-04,-1.41830830e-04,
  4.03201223e-05,-3.33574986e-04,-1.82247217e-04,-1.20530171e-04,
  6.17103282e-03,-1.27962350e-03, 1.78643966e-03,-1.37341859e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43176437, -1.13918258,  4.28284934, -1.13918258, 10.32287402,
        1.56695904,  4.28284934,  1.56695904,  4.84855523,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026411587969735195
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.10177257e-13, -2.10177257e-13,  1.00000000e+00,  4.41744795e-26,
        1.00000000e+00,  2.10177257e-13, -1.00000000e+00,  0.00000000e+00,
        2.10177257e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10367224, -0.0953525 ,  0.06199184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.96443366e-05,-2.09563579e-05, 2.34106880e-05, 6.59312462e-06,
  3.01704236e-05, 2.18929115e-05,-6.73090753e-06, 1.15797156e-05,
 -1.50891175e-05,-1.21234521e-05,-3.77569929e-06,-2.15013739e-05,
 -2.67201941e-05, 4.09072639e-05, 1.88900896e-05,-7.65301907e-06,
 -4.27619507e-06,-5.56223701e-06,-1.21645405e+00,-1.78443742e-03,
 -3.10588309e-04, 1.62809482e-07]


--- Step 1371 ---
qpos:
[ 2.85278856e-03,-5.60614201e-03,-1.02301032e-02, 2.78186785e-03,
 -4.43079109e-03,-5.17448093e-03,-1.78019401e-02, 5.18754247e-03,
 -4.72371845e-03,-3.97588595e-03,-7.80801654e-03,-1.91556003e-02,
  1.32016148e+00, 1.88864096e-02, 1.30238832e+00, 2.46423295e-02,
  9.50494635e-02,-6.99829426e-02, 1.30742288e-01, 9.95083124e-01,
 -1.41245995e-05, 4.43564347e-04,-9.90423159e-02]

qacc:
[-8.19484098e+00, 1.60381664e+00,-7.02115100e+00, 1.41409220e+01,
  1.76580797e-02, 2.29263535e+00,-9.30713824e+00, 1.72644857e+01,
 -1.50940054e+00,-7.54089261e-01, 2.07402773e+00,-8.68225140e-01,
  3.81822275e-01,-6.08798922e-01,-1.33502157e+01, 4.59966688e+01,
 -6.58936556e-01, 1.79564604e+00,-2.01273285e-01,-2.22346832e+01,
 -1.70718521e+01,-7.35134060e-01]

qfrc_actuator:
[-7.51734392e-05,-4.28508543e-04,-1.96446434e-04, 2.60039678e-05,
  3.76325296e-05,-3.78994101e-04,-3.35762214e-04,-1.18125191e-04,
  3.18101663e-05,-3.31889613e-04,-1.64032198e-04,-1.14631465e-04,
  6.15054277e-03,-1.31034110e-03, 1.80629293e-03,-1.14569714e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43801906, -1.06519805,  4.30829041, -1.06519805, 13.85782099,
        2.32898752,  4.30829041,  2.32898752,  5.01384676,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026635770318152174
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.08408282e-13, -4.16816563e-13,  1.00000000e+00,  8.68680237e-26,
        1.00000000e+00,  4.16816563e-13, -1.00000000e+00,  0.00000000e+00,
        2.08408282e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1036687 , -0.09535278,  0.06199177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.81624247e-05, 2.27899409e-05,-3.79054729e-06, 2.15332914e-05,
  2.13594057e-07, 4.48072789e-05,-5.69946780e-06, 2.46361006e-05,
 -8.94198260e-06,-6.82339847e-06, 1.44843621e-05, 4.82785827e-06,
 -2.39870037e-05,-2.46649729e-05, 2.22769037e-05, 2.28515889e-04,
 -3.38441284e-07,-4.79480911e-06,-1.21644723e+00,-1.78374435e-03,
 -3.13568210e-04,-1.66079800e-06]


--- Step 1372 ---
qpos:
[ 2.85117986e-03,-5.60718152e-03,-1.02294569e-02, 2.78360799e-03,
 -4.43074195e-03,-5.17316457e-03,-1.78022574e-02, 5.18665022e-03,
 -4.72319969e-03,-3.97570188e-03,-7.80678624e-03,-1.91553318e-02,
  1.32035368e+00, 1.88871620e-02, 1.30254360e+00, 2.46451773e-02,
  9.50588713e-02,-6.99694485e-02, 1.30740124e-01, 9.95075857e-01,
 -1.13857151e-04, 4.90038808e-04,-9.91150160e-02]

qacc:
[ -7.97314695,  0.92465218, -2.54104096,  1.29893283, -6.13655965,
   0.31605109, -0.47345443, -0.51086781,  5.1336842 ,  2.28032284,
  -9.83560472, 18.13088215, -0.15600928,  0.07165869, -1.4162867 ,
   5.9079664 , -0.66572427,  1.77019969, -0.3046938 ,-22.09971131,
 -16.67645182, -0.91217095]

qfrc_actuator:
[-1.20642391e-04,-4.28274381e-04,-2.16019644e-04, 2.01724904e-05,
  1.42880122e-06,-3.77341092e-04,-3.41342454e-04,-1.21586799e-04,
  6.23414310e-05,-3.30842509e-04,-1.89449150e-04,-9.33250695e-05,
  6.13665422e-03,-1.31120764e-03, 1.81797050e-03,-1.11900220e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43816254, -0.97090769,  4.33066104, -0.97090769, 18.54445518,
        3.16254443,  4.33066104,  3.16254443,  5.14718564,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002664088437672324
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.08368275e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.08368275e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10366613, -0.09535373,  0.06199177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.68357542e-05, 1.31323479e-05,-1.45858544e-05,-4.56840893e-06,
 -3.61827650e-05, 2.65526045e-05, 3.81729323e-06,-1.25953018e-06,
  3.02747201e-05, 4.03766934e-07,-2.48954467e-05, 2.16060935e-05,
 -3.03352441e-05,-1.43704502e-05, 4.36009973e-05, 4.14248701e-05,
  3.19415520e-06,-3.12244649e-06,-1.21644552e+00,-1.78237150e-03,
 -3.16076573e-04,-2.62230863e-06]


--- Step 1373 ---
qpos:
[ 2.84972803e-03,-5.60803292e-03,-1.02287702e-02, 2.78489438e-03,
 -4.43147171e-03,-5.17195858e-03,-1.78027572e-02, 5.18577648e-03,
 -4.72197436e-03,-3.97518814e-03,-7.80601952e-03,-1.91544953e-02,
  1.32054575e+00, 1.88876171e-02, 1.30269923e+00, 2.46460563e-02,
  9.50654668e-02,-6.99615752e-02, 1.30739085e-01, 9.95068893e-01,
 -1.70760838e-04, 5.26843589e-04,-9.91846368e-02]

qacc:
[  1.36986765, -0.80115304,  5.12784458,-13.17818327, -6.79638798,
   0.41517589, -1.74731177,  2.41610472,  6.16548812,  2.88969192,
 -12.08470723, 22.42545874, -0.10894324, -0.09612186,  6.50194183,
 -21.95424999, -0.70304452, -1.40521791,  0.2810272 , 21.78745284,
  -2.68879084,  1.55708845]

qfrc_actuator:
[-1.11228990e-04,-4.10073610e-04,-2.10085334e-04,-1.72061111e-06,
 -3.76438675e-05,-4.12512888e-04,-3.62291154e-04,-1.23276789e-04,
  9.78523975e-05,-2.94835220e-04,-2.04919532e-04,-6.31603814e-05,
  6.12674170e-03,-1.32975127e-03, 1.80871237e-03,-1.22880183e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44724972, -0.1178278 ,  4.44568855, -0.1178278 , 22.94428346,
        0.49024236,  4.44568855,  0.49024236,  4.46024302,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002696218545936435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02942603e-13, -4.11770413e-13,  1.00000000e+00,  4.23887183e-26,
        1.00000000e+00,  4.11770413e-13, -1.00000000e+00,  0.00000000e+00,
        1.02942603e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10298365, -0.04735098,  0.06199167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.08243016e-06, 2.23507952e-05, 6.69645959e-06,-2.19248048e-05,
 -4.01007994e-05,-1.96440115e-05,-1.50459379e-05,-4.43487378e-07,
  3.63777151e-05, 3.20069399e-05,-1.77234535e-05, 2.97363935e-05,
 -2.73984573e-05,-3.02911655e-05, 9.33927530e-06,-1.03276234e-04,
  6.39753721e-06,-5.34817162e-07,-1.21644871e+00,-1.78031131e-03,
 -3.18148904e-04,-2.76114333e-06]


--- Step 1374 ---
qpos:
[ 2.84977940e-03,-5.60861108e-03,-1.02277971e-02, 2.78587973e-03,
 -4.43197485e-03,-5.17076586e-03,-1.78032748e-02, 5.18521126e-03,
 -4.72067766e-03,-3.97426778e-03,-7.80524727e-03,-1.91533472e-02,
  1.32073761e+00, 1.88878586e-02, 1.30285422e+00, 2.46490308e-02,
  9.50693827e-02,-6.99592485e-02, 1.30738576e-01, 9.95062198e-01,
 -1.85513525e-04, 5.53419202e-04,-9.92516103e-02]

qacc:
[ 13.15300471, -1.08525359,  5.61970574,-11.44076315,  1.97620777,
   0.66348252, -3.70034176,  9.08557636,  0.61824498,  1.16255705,
  -4.68033513,  9.76139223,  0.18082821, -0.3948217 , -7.32876945,
  24.18283303, -0.66992761, -1.38664008,  0.13254846, 21.47818819,
  -2.99929403,  1.34065636]

qfrc_actuator:
[-3.40838046e-05,-3.81172822e-04,-1.89070936e-04,-1.50987857e-05,
 -2.48229614e-05,-3.98526877e-04,-3.56798383e-04,-1.06199767e-04,
  1.00492276e-04,-2.55881510e-04,-1.96477673e-04,-4.57370091e-05,
  6.11388681e-03,-1.34088109e-03, 1.78688399e-03,-1.11632565e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45910841, -0.9340904 , -4.36017465, -0.9340904 , 12.09337247,
       -1.63550622, -4.36017465, -1.63550622,  4.80948673,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002737405989715891
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01393713e-13, -4.05574850e-13,  1.00000000e+00,  4.11227398e-26,
        1.00000000e+00,  4.05574850e-13, -1.00000000e+00,  0.00000000e+00,
        1.01393713e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1029871 , -0.04735285,  0.06199154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.73863833e-05, 4.18705526e-05, 2.56975033e-05,-1.26180868e-05,
  1.16650615e-05,-1.75498566e-07,-4.38184507e-07, 1.57080983e-05,
  3.69200589e-06, 5.44517768e-05, 1.38815973e-05, 1.87538490e-05,
 -3.38520339e-05,-2.64257280e-05,-3.37987429e-05, 1.06832240e-04,
  3.32793574e-06,-8.73652504e-07,-1.21644305e+00,-1.77929848e-03,
 -3.17098188e-04,-2.41355455e-06]


--- Step 1375 ---
qpos:
[ 2.85075534e-03,-5.60919212e-03,-1.02264512e-02, 2.78672632e-03,
 -4.43163096e-03,-5.16968154e-03,-1.78036914e-02, 5.18485865e-03,
 -4.71935886e-03,-3.97314783e-03,-7.80400028e-03,-1.91523511e-02,
  1.32092897e+00, 1.88884840e-02, 1.30300872e+00, 2.46533274e-02,
  9.50707248e-02,-6.99624066e-02, 1.30738098e-01, 9.95055741e-01,
 -1.58673119e-04, 5.69332766e-04,-9.93162774e-02]

qacc:
[ 8.09898819e+00,-1.34757363e+00, 5.35759380e+00,-8.32350637e+00,
  7.39175679e+00,-1.81628906e-03,-1.12383090e+00, 4.74879943e+00,
  2.04741029e-01,-1.37686065e+00, 5.93111366e+00,-9.46331007e+00,
 -4.92335575e-01, 6.49521310e-01,-4.66618837e+00, 1.54136833e+01,
 -6.43440933e-01,-1.37119111e+00, 7.84878976e-03, 2.12223541e+01,
 -3.24089011e+00, 1.16987673e+00]

qfrc_actuator:
[ 1.12808312e-05,-3.99270295e-04,-1.77023417e-04,-2.33391995e-05,
  1.84401232e-05,-4.08357020e-04,-3.53284995e-04,-9.59125709e-05,
  1.01514695e-04,-2.50874032e-04,-1.73972146e-04,-5.36817742e-05,
  6.09395292e-03,-1.31202220e-03, 1.76291619e-03,-1.05128703e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46349039, -1.00074235, -4.3498576 , -1.00074235, 16.24487993,
       -2.71046471, -4.3498576 , -2.71046471,  5.08706869,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002752419836460074
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.01681264e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.01681264e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10299004, -0.04735375,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.75911907e-05, 1.01182087e-05, 2.34148665e-05,-5.80908373e-06,
  4.35968025e-05,-9.37771334e-06, 3.95963577e-06, 1.05695189e-05,
  1.14945460e-06, 3.90873867e-05, 3.60895427e-05,-4.77365940e-06,
 -4.32469726e-05, 1.32449281e-05,-2.91978441e-05, 6.62848276e-05,
  7.17780624e-07,-5.99820732e-07,-1.21644038e+00,-1.77894247e-03,
 -3.16107748e-04,-2.14753958e-06]


--- Step 1376 ---
qpos:
[ 2.85157842e-03,-5.60981918e-03,-1.02249040e-02, 2.78748554e-03,
 -4.43042592e-03,-5.16904130e-03,-1.78039282e-02, 5.18536089e-03,
 -4.71803792e-03,-3.97176323e-03,-7.80274167e-03,-1.91517794e-02,
  1.32111982e+00, 1.88894766e-02, 1.30316283e+00, 2.46564117e-02,
  9.50695777e-02,-6.99709985e-02, 1.30737233e-01, 9.95049494e-01,
 -9.06954083e-05, 5.74248970e-04,-9.93789066e-02]

qacc:
[-1.33004640e+00,-8.00430560e-01, 3.13901501e+00,-4.94381803e+00,
  7.52368923e+00, 6.55743496e-01,-6.82388263e+00, 2.16856852e+01,
  1.44990377e-02,-5.56815321e-01, 4.28080565e+00,-1.18305539e+01,
 -7.12292535e-01, 8.81014240e-01, 3.15258347e+00,-1.17039535e+01,
 -6.22296945e-01,-1.35845473e+00,-9.67413709e-02, 2.10125002e+01,
 -3.42891248e+00, 1.03509222e+00]

qfrc_actuator:
[ 2.04923644e-06,-4.09894631e-04,-1.70557020e-04,-2.85388306e-05,
  6.15048425e-05,-4.50129063e-04,-3.51070825e-04,-5.42215078e-05,
  1.01587379e-04,-2.48437286e-04,-1.79005095e-04,-7.65084368e-05,
  6.06447869e-03,-1.29518730e-03, 1.72169605e-03,-1.12129153e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46174927, -1.08407211, -4.32804739, -1.08407211, 21.62954302,
       -4.30012075, -4.32804739, -4.30012075,  5.53882642,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002746467303961636
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10299258, -0.04735386,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.86824768e-06,-3.61661423e-07, 1.12257422e-05,-4.07469683e-06,
  4.43106836e-05,-4.57638130e-05, 1.12197584e-06, 4.16295060e-05,
  1.22917871e-07, 3.14910385e-05, 7.29140189e-06,-2.00043143e-05,
 -4.82370434e-05, 1.10087256e-05,-4.98419476e-05,-7.06410479e-05,
 -1.47947543e-06, 2.57277906e-07,-1.21644059e+00,-1.77923677e-03,
 -3.15140739e-04,-1.97686519e-06]


--- Step 1377 ---
qpos:
[ 2.85194001e-03,-5.61048261e-03,-1.02232500e-02, 2.78783677e-03,
 -4.42940339e-03,-5.16886541e-03,-1.78037593e-02, 5.18565546e-03,
 -4.71672616e-03,-3.97014059e-03,-7.80180880e-03,-1.91514583e-02,
  1.32131016e+00, 1.88905140e-02, 1.30331624e+00, 2.46602904e-02,
  9.50660087e-02,-6.99849827e-02, 1.30735631e-01, 9.95043427e-01,
  1.80510109e-05, 5.67907411e-04,-9.94397099e-02]

qacc:
[ -4.03300256, -1.17920409,  5.87051585,-13.09023316, -1.57123754,
  -2.17099737,  7.73302484,-11.64125425, -0.09491016,  0.709164  ,
  -1.0151477 , -2.97361523, -0.31018309,  0.23660765, -3.3972895 ,
  10.47277927, -0.60546426, -1.34806857, -0.18434487, 20.84231761,
  -3.5753757 ,  0.92867572]

qfrc_actuator:
[-2.14798682e-05,-4.15990799e-04,-1.67416739e-04,-4.96625043e-05,
  5.08396945e-05,-4.75181940e-04,-3.32002963e-04,-6.54259476e-05,
  1.01101315e-04,-2.47687864e-04,-2.00287916e-04,-9.01785309e-05,
  6.02929996e-03,-1.30345634e-03, 1.70208980e-03,-1.07503736e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45519343, -1.18798696, -4.29388349, -1.18798696, 28.52470867,
       -6.6593028 , -4.29388349, -6.6593028 ,  6.29761997,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002723899317221834
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.03792963e-13,  2.03792963e-13,  1.00000000e+00, -4.15315717e-26,
        1.00000000e+00, -2.03792963e-13, -1.00000000e+00,  0.00000000e+00,
        2.03792963e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10299481, -0.04735335,  0.06199158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.37541470e-05,-4.15666307e-06, 4.29432786e-06,-2.08336071e-05,
 -9.41259531e-06,-4.86345029e-05, 1.11866823e-05,-1.23199715e-05,
 -4.65234981e-07, 1.89464422e-05,-1.46034913e-05,-1.24656080e-05,
 -5.78683200e-05,-1.55174966e-05,-5.26206429e-05, 3.54215871e-05,
 -3.29832496e-06, 1.67704813e-06,-1.21644362e+00,-1.78017574e-03,
 -3.14169776e-04,-1.91076208e-06]


--- Step 1378 ---
qpos:
[ 2.85270642e-03,-5.61104444e-03,-1.02216473e-02, 2.78827069e-03,
 -4.42955081e-03,-5.16917100e-03,-1.78032847e-02, 5.18513228e-03,
 -4.71543023e-03,-3.96839063e-03,-7.80108348e-03,-1.91516425e-02,
  1.32150006e+00, 1.88914895e-02, 1.30346954e+00, 2.46645779e-02,
  9.50598475e-02,-6.99917288e-02, 1.30734159e-01, 9.95037243e-01,
  7.74027294e-05, 5.30545434e-04,-9.95017450e-02]

qacc:
[  3.53775237,  0.44119335, -1.73929264,  3.19072909,-10.1856517 ,
  -3.15374053, 13.80884123,-28.13504374, -0.14744555, -0.29216418,
   3.41616455,-11.91645849, -0.287803  ,  0.15695962, -1.38205977,
   4.64896128, -0.64805725,  1.80951448,  0.03240199,-23.03225466,
 -17.88920642, -0.63249103]

qfrc_actuator:
[ 4.01906083e-08,-4.01608678e-04,-1.66258306e-04,-4.44797719e-05,
 -9.11679122e-06,-5.07758039e-04,-3.20873148e-04,-1.07647094e-04,
  1.00290491e-04,-2.48030089e-04,-2.13235316e-04,-1.16111323e-04,
  6.00669275e-03,-1.30885969e-03, 1.71679492e-03,-1.04931309e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46983668, -0.03982499, -4.46965927, -0.03982499, 30.67243063,
       -0.23346703, -4.46965927, -0.23346703,  4.47191689,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027739730770698356
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00114239e-13, -2.00114239e-13,  1.00000000e+00,  4.00457088e-26,
        1.00000000e+00,  2.00114239e-13, -1.00000000e+00,  0.00000000e+00,
        2.00114239e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10364438, -0.095352  ,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.08407149e-05, 1.20465500e-05, 9.61017431e-08, 4.74566314e-06,
 -6.02432358e-05,-5.80017843e-05, 2.03186826e-06,-4.41585920e-05,
 -8.10229406e-07, 6.63604692e-06,-1.12932701e-05,-2.58755103e-05,
 -5.58663824e-05,-2.30589404e-05,-7.03315744e-06, 2.06104678e-05,
 -4.76404622e-06, 3.64586217e-06,-1.21644940e+00,-1.78175464e-03,
 -3.13174499e-04,-1.95536058e-06]


--- Step 1379 ---
qpos:
[ 2.85372428e-03,-5.61108017e-03,-1.02205099e-02, 2.78839146e-03,
 -4.43007110e-03,-5.16976550e-03,-1.78027915e-02, 5.18479323e-03,
 -4.71484349e-03,-3.96683677e-03,-7.80066436e-03,-1.91520870e-02,
  1.32168968e+00, 1.88923086e-02, 1.30362285e+00, 2.46677985e-02,
  9.50510528e-02,-6.99913459e-02, 1.30732247e-01, 9.95030909e-01,
  8.80510600e-05, 4.63192455e-04,-9.95653910e-02]

qacc:
[  2.17576649,  1.34653083, -2.47785332, -2.57652766, -3.24600636,
  -0.04841568, -1.14759048,  4.50494217, -6.21491126,  0.07258884,
   0.48383942, -4.37546707, -0.20119047,  0.05696842,  3.25323628,
 -11.33097104, -0.65838274,  1.78224853, -0.10987291,-22.73833085,
 -17.34414092, -0.82059322]

qfrc_actuator:
[ 1.24027691e-05,-3.57310363e-04,-1.83926138e-04,-5.93459484e-05,
 -2.65771083e-05,-5.09139937e-04,-3.14568551e-04,-9.67746072e-05,
  6.37898497e-05,-2.84517066e-04,-2.38921982e-04,-1.31294147e-04,
  6.00229444e-03,-1.31245468e-03, 1.70945368e-03,-1.10684923e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4804295 ,  0.21847976,  4.47509945,  0.21847976, 12.33398815,
       -0.38342021,  4.47509945, -0.38342021,  4.49914854,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028094585807597605
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.97586651e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.97586651e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10364051, -0.09535074,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.29622912e-05, 5.12634372e-05,-1.50182321e-05,-1.42586378e-05,
 -1.92058518e-05,-3.53027287e-05,-6.95177776e-06, 7.60152577e-06,
 -3.65136786e-05,-3.62844192e-05,-2.66293706e-05,-1.57979852e-05,
 -3.75763010e-05,-2.34391404e-05,-1.21491318e-05,-5.81677201e-05,
 -2.22067898e-06, 3.38443190e-06,-1.21644431e+00,-1.78226767e-03,
 -3.13909039e-04,-2.39358072e-06]


--- Step 1380 ---
qpos:
[ 2.85419289e-03,-5.61071525e-03,-1.02198494e-02, 2.78800462e-03,
 -4.43045268e-03,-5.17020568e-03,-1.78024237e-02, 5.18419380e-03,
 -4.71469860e-03,-3.96559381e-03,-7.80050400e-03,-1.91526978e-02,
  1.32187913e+00, 1.88930005e-02, 1.30377617e+00, 2.46679790e-02,
  9.50395929e-02,-6.99839240e-02, 1.30729416e-01, 9.95024391e-01,
  5.05679620e-05, 3.66670625e-04,-9.96309376e-02]

qacc:
[-4.82660258e+00, 8.26237709e-01,-1.88172934e-02,-8.31576814e+00,
  1.20283697e+00, 1.61630847e-02, 1.33335418e+00,-5.74816517e+00,
 -3.87097851e+00,-2.26866426e-02, 1.99174396e-01,-2.44775934e+00,
 -3.19061681e-01, 2.29749711e-01, 9.28443551e+00,-3.23325356e+01,
 -6.66305499e-01, 1.75975350e+00,-2.29708962e-01,-2.24935773e+01,
 -1.69081072e+01,-9.64667454e-01]

qfrc_actuator:
[-1.62429660e-05,-3.48785380e-04,-2.12455271e-04,-8.58787069e-05,
 -1.88688386e-05,-4.74052678e-04,-3.10994285e-04,-1.07978596e-04,
  4.20802901e-05,-3.06913137e-04,-2.54317904e-04,-1.40069839e-04,
  5.99816879e-03,-1.31484549e-03, 1.69420413e-03,-1.26628746e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48325068,  0.31000498,  4.47251982,  0.31000498, 16.84179996,
       -0.85661147,  4.47251982, -0.85661147,  4.54262522,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028188086426736425
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.96931251e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.96931251e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1036377 , -0.09535053,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.82572426e-05, 3.34675611e-05,-2.02982479e-05,-2.51369662e-05,
  7.14532284e-06, 1.42458946e-05,-4.30801058e-06,-1.28073731e-05,
 -2.27579992e-05,-4.89338436e-05,-2.67365481e-05,-1.15602867e-05,
 -2.87840702e-05,-1.78960535e-05,-3.09365327e-05,-1.65068508e-04,
 -1.03870966e-07, 4.14891867e-06,-1.21644442e+00,-1.78207049e-03,
 -3.14154513e-04,-1.92893160e-06]


--- Step 1381 ---
qpos:
[ 2.85397010e-03,-5.61053785e-03,-1.02190577e-02, 2.78802758e-03,
 -4.43039434e-03,-5.17038303e-03,-1.78020706e-02, 5.18275170e-03,
 -4.71447064e-03,-3.96436718e-03,-7.80070468e-03,-1.91530948e-02,
  1.32206845e+00, 1.88933868e-02, 1.30392904e+00, 2.46672496e-02,
  9.50254431e-02,-6.99695368e-02, 1.30725263e-01, 9.95017652e-01,
 -3.45774653e-05, 2.41633220e-04,-9.96986044e-02]

qacc:
[ -6.04016284,  0.24146868, -2.92982783,  9.92794953,  3.83115045,
  -1.35412734,  8.87681254,-23.6175507 ,  0.71638816,  1.42678032,
  -6.02143386, 10.30939248,  0.04904357, -0.27766538,  2.05902228,
  -8.22555943, -0.67246413,  1.74132084, -0.3305793 ,-22.29167917,
 -16.56118139, -1.07385471]

qfrc_actuator:
[-5.10409216e-05,-3.79562005e-04,-2.11798236e-04,-6.58337980e-05,
  3.57817223e-06,-4.52916840e-04,-3.08921502e-04,-1.49810251e-04,
  4.70143425e-05,-2.85156160e-04,-2.63464351e-04,-1.27238510e-04,
  5.98888328e-03,-1.33423307e-03, 1.67953320e-03,-1.30694070e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47977047,  0.42181782,  4.45986695,  0.42181782, 22.61219797,
       -1.71497963,  4.45986695, -1.71497963,  4.64197463,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028072683551710886
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.97740808e-13, -1.97740808e-13,  1.00000000e+00,  3.91014271e-26,
        1.00000000e+00,  1.97740808e-13, -1.00000000e+00,  0.00000000e+00,
        1.97740808e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10363574, -0.09535117,  0.06199133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.55938009e-05,-1.73627077e-05, 4.18950197e-06, 2.02868979e-05,
  2.26575306e-05, 2.76790280e-05, 4.04322671e-06,-4.16184460e-05,
  4.27258530e-06,-1.16768880e-05,-2.29602816e-05, 9.58480077e-06,
 -2.91087385e-05,-3.08128625e-05,-5.03030891e-05,-5.45105859e-05,
  1.66858925e-06, 5.91832158e-06,-1.21644948e+00,-1.78116295e-03,
 -3.13947507e-04,-6.12568272e-07]


--- Step 1382 ---
qpos:
[ 2.85333184e-03,-5.61073465e-03,-1.02181209e-02, 2.78796871e-03,
 -4.43041192e-03,-5.17063830e-03,-1.78015634e-02, 5.18085186e-03,
 -4.71453043e-03,-3.96304669e-03,-7.80143006e-03,-1.91526478e-02,
  1.32225758e+00, 1.88929104e-02, 1.30408111e+00, 2.46683533e-02,
  9.50083082e-02,-6.99542701e-02, 1.30722949e-01, 9.95010865e-01,
 -1.23994552e-04, 9.67654214e-05,-9.97664964e-02]

qacc:
[ -3.62337736, -1.06141156,  3.42456157, -4.8104799 , -0.65632527,
  -1.47429565,  7.04218502,-15.1564713 , -2.53677799,  3.33422372,
 -15.25500202, 30.60543185,  0.59835225, -1.25265177, -6.82366744,
  21.94067427, -0.74626163,  0.21988295,  0.45988034, -1.13663048,
 -10.07872498, -0.11526425]

qfrc_actuator:
[-7.14157474e-05,-4.15739066e-04,-2.11799367e-04,-7.18145402e-05,
 -9.93553343e-07,-4.75827353e-04,-3.07810311e-04,-1.73826804e-04,
  3.20811056e-05,-2.72582820e-04,-2.86407953e-04,-8.40039787e-05,
  5.95520026e-03,-1.39909467e-03, 1.65992679e-03,-1.20622645e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47144166e+00,  1.05566179e-02,  4.47142920e+00,  1.05566179e-02,
        2.46193554e+01, -4.75673027e-02,  4.47142920e+00, -4.75673027e-02,
        4.47155396e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00])
  dim: 3
  dist: -0.00027793886597263825
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99724321e-13,  4.18178788e-08,  1.00000000e+00, -8.35204745e-21,
        1.00000000e+00, -4.18178788e-08, -1.00000000e+00,  0.00000000e+00,
        1.99724321e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10332162, -0.07127714,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.14005946e-05,-4.41791713e-05,-2.37921515e-06,-6.18553825e-06,
 -3.91095224e-06,-8.36716877e-06, 5.88628094e-06,-2.34988793e-05,
 -1.48111635e-05, 1.67290240e-06,-2.78626544e-05, 4.21251514e-05,
 -5.66272846e-05,-8.02736301e-05,-5.01265607e-05, 9.09192397e-05,
  3.15719058e-06, 8.67196987e-06,-1.21645930e+00,-1.77954598e-03,
 -3.13314887e-04, 1.51768256e-06]


--- Step 1383 ---
qpos:
[ 2.85279901e-03,-5.61138135e-03,-1.02174018e-02, 2.78787446e-03,
 -4.43082864e-03,-5.17105977e-03,-1.78015589e-02, 5.17908218e-03,
 -4.71511338e-03,-3.96178803e-03,-7.80289989e-03,-1.91523414e-02,
  1.32244630e+00, 1.88919438e-02, 1.30423289e+00, 2.46679599e-02,
  9.49883959e-02,-6.99446428e-02, 1.30721413e-01, 9.95004329e-01,
 -1.71335351e-04,-5.81736379e-05,-9.98316166e-02]

qacc:
[  0.92314782, -0.06111497, -0.49847576,  0.56813484, -3.49358032,
   1.45927141, -6.05990218,  9.22658731, -4.602233  ,  1.71864015,
  -5.63686226,  4.42145557, -0.12611185, -0.27316082,  4.12742652,
 -15.02671795, -0.69436995, -1.40987624,  0.19434522, 21.43545002,
  -2.9117892 ,  1.39291472]

qfrc_actuator:
[-6.53834190e-05,-4.54894693e-04,-2.30014404e-04,-7.53303514e-05,
 -2.14366266e-05,-5.07177433e-04,-3.42944156e-04,-1.69449526e-04,
  5.56510727e-06,-3.01128597e-04,-3.35074414e-04,-9.42536742e-05,
  5.93351767e-03,-1.41955085e-03, 1.63208010e-03,-1.28936035e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4860162 , -0.07345015,  4.48541485, -0.07345015, 18.58512851,
        0.23087764,  4.48541485,  0.23087764,  4.4897969 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002827933931980331
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.96295785e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.96295785e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10301474, -0.04735735,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.40528562e-06,-6.46263279e-05,-2.78546936e-05,-5.61196263e-06,
 -2.05573715e-05,-3.58137447e-05,-3.69487034e-05, 3.76896753e-06,
 -2.69354972e-05,-3.16068013e-05,-5.03025107e-05,-1.03236002e-05,
 -6.91415247e-05,-5.74514633e-05,-4.14525418e-05,-8.46596185e-05,
  3.03613682e-06, 9.93463752e-06,-1.21646430e+00,-1.77812540e-03,
 -3.11057845e-04, 2.47867764e-06]


--- Step 1384 ---
qpos:
[ 2.85303216e-03,-5.61233979e-03,-1.02169874e-02, 2.78807280e-03,
 -4.43114235e-03,-5.17162678e-03,-1.78020340e-02, 5.17806581e-03,
 -4.71600960e-03,-3.96080046e-03,-7.80455996e-03,-1.91528615e-02,
  1.32263473e+00, 1.88905849e-02, 1.30438372e+00, 2.46669936e-02,
  9.49658200e-02,-6.99405710e-02, 1.30720107e-01, 9.94998007e-01,
 -1.77143297e-04,-2.23732568e-04,-9.98943685e-02]

qacc:
[  6.6960714 ,  1.02927837, -5.52531743, 11.32995984,  0.88631352,
   2.69657715,-13.07770004, 26.99403151, -2.74426826, -1.52371585,
   8.40546141,-22.20303194,  0.03942911, -0.36488556,  0.29578272,
  -3.13782636, -0.66591166, -1.38883119,  0.05744127, 21.19287147,
  -3.21045959,  1.18674471]

qfrc_actuator:
[-2.61088925e-05,-4.60106817e-04,-2.41100518e-04,-5.96282690e-05,
 -1.55436673e-05,-5.07966549e-04,-3.63724707e-04,-1.30688117e-04,
 -9.79741988e-06,-3.18722433e-04,-3.45487052e-04,-1.35946950e-04,
  5.92971376e-03,-1.43114372e-03, 1.57264220e-03,-1.32043243e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49202106, -0.38817741, -4.47521749, -0.38817741, 14.2945487 ,
       -0.85026478, -4.47521749, -0.85026478,  4.56577247,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028476124728578356
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.74696377e-14, -1.94939275e-13,  1.00000000e+00, -1.90006606e-26,
        1.00000000e+00,  1.94939275e-13, -1.00000000e+00,  0.00000000e+00,
       -9.74696377e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10301808, -0.04735802,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.94091558e-05,-4.73265672e-05,-2.80606778e-05, 1.18598957e-05,
  5.29245785e-06,-2.82740537e-05,-3.25892985e-05, 3.60274112e-05,
 -1.61377885e-05,-4.61402564e-05,-2.34910900e-05,-4.49874535e-05,
 -5.26226431e-05,-4.43849756e-05,-9.03881835e-05,-4.16547433e-05,
  1.61129851e-06, 9.06997735e-06,-1.21646226e+00,-1.77767573e-03,
 -3.07275301e-04, 1.46381073e-06]


--- Step 1385 ---
qpos:
[ 2.85407903e-03,-5.61336924e-03,-1.02168503e-02, 2.78842424e-03,
 -4.43138347e-03,-5.17207386e-03,-1.78026330e-02, 5.17746224e-03,
 -4.71673851e-03,-3.95988196e-03,-7.80622225e-03,-1.91532259e-02,
  1.32282274e+00, 1.88890563e-02, 1.30453359e+00, 2.46672717e-02,
  9.49465549e-02,-6.99404604e-02, 1.30720481e-01, 9.94991647e-01,
 -1.60368050e-04,-3.59941069e-04,-9.99573281e-02]

qacc:
[ 7.11036381, 0.98262033,-4.31001201, 7.48133479, 0.62739146, 1.35335182,
 -6.34054095,13.59790415, 1.46594757, 0.23265163,-1.62276157, 4.37341851,
 -0.05979246,-0.15551799,-5.1874815 ,16.0837093 , 0.82772902,-0.99033021,
  0.42020678, 9.76911789,15.72979087,-0.10509151]

qfrc_actuator:
[ 1.46556117e-05,-4.44911036e-04,-2.47735092e-04,-5.04619074e-05,
 -1.19442184e-05,-4.72620617e-04,-3.57962596e-04,-1.07476712e-04,
 -7.15852045e-07,-2.94005843e-04,-3.33203830e-04,-1.24753734e-04,
  5.91001185e-03,-1.43732055e-03, 1.54757909e-03,-1.24958229e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.4960641 ,  -3.49040656,  -2.83401737,  -3.49040656,
        14.31602719, -12.09437316,  -2.83401737, -12.09437316,
        19.39162542,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00028607589790691473
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.06853030e-07,  7.06853838e-07,  1.00000000e+00,  4.99641777e-13,
        1.00000000e+00, -7.06853838e-07, -1.00000000e+00,  0.00000000e+00,
       -7.06853030e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08506641, -0.05555168,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.18775670e-05,-1.65148994e-05,-1.94521220e-05, 6.39750312e-06,
  3.74112280e-06, 1.43779296e-05,-2.83134839e-06, 2.15778162e-05,
  8.60874458e-06,-7.88697867e-06,-1.68769751e-06, 7.53172855e-06,
 -5.81376690e-05,-3.08027015e-05,-7.06884887e-05, 5.70665278e-05,
  5.97987338e-07, 8.85964880e-06,-1.21646328e+00,-1.77785933e-03,
 -3.03521702e-04, 3.81480119e-07]


--- Step 1386 ---
qpos:
[ 2.85491687e-03,-5.61437744e-03,-1.02168555e-02, 2.78851560e-03,
 -4.43157965e-03,-5.17221267e-03,-1.78035388e-02, 5.17678385e-03,
 -4.71735299e-03,-3.95915221e-03,-7.80744478e-03,-1.91531245e-02,
  1.32301016e+00, 1.88881277e-02, 1.30468306e+00, 2.46686223e-02,
  9.49307225e-02,-6.99441395e-02, 1.30721985e-01, 9.94985242e-01,
 -1.21678161e-04,-4.66587345e-04,-1.00020677e-01]

qacc:
[-1.83333012,-0.10626834, 1.52367134,-5.81954769, 0.3769521 , 1.10917674,
 -3.04952018, 2.02032941, 1.01890369,-0.52108389,-0.47146006, 7.96776593,
 -0.72497299, 1.01704119,-3.76548604,12.50074835, 0.8581686 ,-0.9474286 ,
  0.28236939, 9.42488906,15.80237094,-0.19740441]

qfrc_actuator:
[ 2.70207304e-06,-4.35339181e-04,-2.51604300e-04,-6.29471653e-05,
 -9.73165916e-06,-4.51306190e-04,-3.71943951e-04,-1.11308752e-04,
  4.92425944e-06,-2.97254477e-04,-3.07415014e-04,-1.00232769e-04,
  5.90209680e-03,-1.38705544e-03, 1.54850054e-03,-1.19017742e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50349306,  2.83251789, -3.50118439,  2.83251789, 14.35261342,
        7.96810637, -3.50118439,  7.96810637, 10.94982702,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002884703799345967
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08465739, -0.05583343,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07588167e-05,-3.36100211e-06,-9.44823084e-06,-1.37421991e-05,
  2.32404302e-06, 2.97201029e-05,-1.06002077e-05,-2.89047836e-06,
  5.88409985e-06,-7.69733820e-06, 2.42209571e-05, 2.42734247e-05,
 -4.51198481e-05, 2.81057600e-05,-2.54232856e-05, 5.34800363e-05,
  6.15813563e-08, 7.49800960e-06,-1.21645626e+00,-1.77871674e-03,
 -3.00919324e-04, 2.85717183e-07]


--- Step 1387 ---
qpos:
[ 2.85560536e-03,-5.61534445e-03,-1.02169422e-02, 2.78844961e-03,
 -4.43209245e-03,-5.17234478e-03,-1.78042371e-02, 5.17641341e-03,
 -4.71789505e-03,-3.95858662e-03,-7.80805042e-03,-1.91527460e-02,
  1.32319734e+00, 1.88872274e-02, 1.30483194e+00, 2.46720152e-02,
  9.49183051e-02,-6.99515219e-02, 1.30724140e-01, 9.94978783e-01,
 -6.10916208e-05,-5.44228121e-04,-1.00084572e-01]

qacc:
[-1.30980021e+00,-3.92668584e-02, 8.87585804e-01,-3.51541073e+00,
 -2.75458089e+00, 6.88531509e-02,-1.52323115e+00, 6.50609731e+00,
  6.56391250e-01,-1.37176588e+00, 3.40489139e+00, 5.26717421e-01,
 -2.35683126e-03,-4.88027207e-02,-7.05730582e+00, 2.34174007e+01,
  8.53733378e-01,-9.25809069e-01, 1.62910805e-01, 9.44271634e+00,
  1.55251021e+01,-2.78171094e-01]

qfrc_actuator:
[-4.67977500e-06,-4.29205539e-04,-2.53838361e-04,-7.03188131e-05,
 -2.61052398e-05,-4.56399599e-04,-3.62033851e-04,-9.55391033e-05,
  8.48547316e-06,-2.99382311e-04,-2.73963938e-04,-8.58402606e-05,
  5.89063194e-03,-1.39239024e-03, 1.52771695e-03,-1.08470766e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5034264 ,  3.2009758 , -3.16774419,  3.2009758 , 15.8666153 ,
       11.48239585, -3.16774419, 11.48239585, 16.10627975,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028844901332848727
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08465847, -0.05583197,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.68639133e-06, 1.74370480e-06,-4.55638891e-06,-8.10772611e-06,
 -1.62960363e-05, 9.23059408e-06, 1.46565492e-05, 1.66236718e-05,
  3.72565905e-06,-4.02204881e-07, 3.56888534e-05, 1.53739941e-05,
 -2.76376434e-05,-7.08617719e-06,-2.94140603e-05, 1.04548092e-04,
 -7.17190046e-07, 6.35708372e-06,-1.21645130e+00,-1.77986084e-03,
 -2.98812529e-04, 4.17114968e-07]


--- Step 1388 ---
qpos:
[ 2.85585494e-03,-5.61611061e-03,-1.02171450e-02, 2.78827733e-03,
 -4.43348734e-03,-5.17239346e-03,-1.78045469e-02, 5.17621212e-03,
 -4.71804529e-03,-3.95801756e-03,-7.80857817e-03,-1.91518368e-02,
  1.32338424e+00, 1.88861142e-02, 1.30498049e+00, 2.46782608e-02,
  9.49092868e-02,-6.99625385e-02, 1.30726548e-01, 9.94972260e-01,
  2.13721264e-05,-5.93315421e-04,-1.00149139e-01]

qacc:
[-3.84630399, 0.378301  ,-0.50206901,-1.31373971,-7.68169336,-0.61198096,
  1.65415676, 0.56233193, 3.43285621, 0.87332594,-5.3552082 ,14.41652945,
  0.16567286,-0.39550299,-9.18139946,31.30312564, 0.8497994 ,-0.90855313,
  0.0629879 , 9.45461281,15.2998396 ,-0.34202298]

qfrc_actuator:
[-2.70472970e-05,-4.07410640e-04,-2.55095213e-04,-7.46209999e-05,
 -7.10395622e-05,-4.41654190e-04,-3.38180242e-04,-8.61138958e-05,
  2.85481992e-05,-3.00786748e-04,-2.71773804e-04,-5.97698271e-05,
  5.86637609e-03,-1.41300065e-03, 1.53122154e-03,-9.35245255e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49744316,  3.10145436, -3.25698876,  3.10145436, 21.93113103,
       16.60115873, -3.25698876, 16.60115873, 20.30582937,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028652244779947544
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.68705099e-14,  1.93741020e-13,  1.00000000e+00, -1.87677914e-26,
        1.00000000e+00, -1.93741020e-13, -1.00000000e+00,  0.00000000e+00,
        9.68705099e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08465901, -0.05583043,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.25829177e-05, 2.15127493e-05,-1.72638952e-06,-4.54026268e-06,
 -4.53995614e-05, 2.36547513e-05, 2.81521905e-05, 1.06548302e-05,
  2.01681492e-05, 6.38567567e-06, 7.03342598e-06, 2.75863132e-05,
 -3.98949426e-05,-2.89616326e-05,-1.36967391e-07, 1.51105370e-04,
 -1.75004359e-06, 5.45807380e-06,-1.21644852e+00,-1.78128764e-03,
 -2.97168662e-04, 7.39311047e-07]


--- Step 1389 ---
qpos:
[ 2.85514463e-03,-5.61665586e-03,-1.02173755e-02, 2.78770045e-03,
 -4.43575498e-03,-5.17236168e-03,-1.78048026e-02, 5.17580362e-03,
 -4.71829889e-03,-3.95719102e-03,-7.80942961e-03,-1.91509723e-02,
  1.32357074e+00, 1.88852538e-02, 1.30512964e+00, 2.46831664e-02,
  9.49036542e-02,-6.99771346e-02, 1.30728874e-01, 9.94965661e-01,
  1.25696090e-04,-6.14214019e-04,-1.00214473e-01]

qacc:
[ -8.40123978, -0.44715198,  3.75411615,-10.90478557, -7.61072384,
  -0.45643129,  2.68225554, -6.44206535, -0.91955381,  1.1549456 ,
  -3.43231852,  2.98353917, -0.64166415,  0.76059538,  5.03608357,
 -16.12722642,  0.84640857, -0.89487996, -0.02040247,  9.46339047,
  15.11809916, -0.39243772]

qfrc_actuator:
[-7.58095646e-05,-3.94147734e-04,-2.55698618e-04,-9.48222524e-05,
 -1.14665573e-04,-4.50590167e-04,-3.41729926e-04,-9.82323803e-05,
  2.26581991e-05,-2.84106487e-04,-2.88047992e-04,-6.25622799e-05,
  5.85576096e-03,-1.38928862e-03, 1.55462420e-03,-1.00955132e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028310223511697485
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.96081642e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.96081642e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08465912, -0.05582884,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.93972871e-05, 2.47635718e-05, 3.48283435e-06,-1.94241758e-05,
 -4.49208574e-05, 1.05528871e-05, 5.17936291e-06,-9.92022144e-06,
 -5.31179776e-06, 2.28752953e-05,-1.31380450e-05,-1.74151581e-06,
 -3.66228088e-05, 5.55739522e-06, 3.70413291e-05,-6.66283867e-05,
 -3.03642702e-06, 4.78293842e-06,-1.21644783e+00,-1.78300190e-03,
 -2.95978377e-04, 1.24900801e-06]


--- Step 1390 ---
qpos:
[ 2.85454519e-03,-5.61719065e-03,-1.02175463e-02, 2.78725251e-03,
 -4.43783845e-03,-5.17236906e-03,-1.78052645e-02, 5.17459681e-03,
 -4.71896592e-03,-3.95599386e-03,-7.81053009e-03,-1.91505130e-02,
  1.32375676e+00, 1.88846969e-02, 1.30527957e+00, 2.46815221e-02,
  9.49013959e-02,-6.99952673e-02, 1.30730840e-01, 9.94958974e-01,
  2.51868418e-04,-6.07215672e-04,-1.00280650e-01]

qacc:
[  0.97155734,  0.11040009, -0.9210732 ,  3.05267356,  1.59979256,
  -1.12252101,  7.29213951,-20.74484802, -3.63361186,  0.35824932,
   1.15409763, -8.05073595, -1.16201698,  1.35909805, 21.13987959,
 -71.92722874,  0.84357616, -0.88415491, -0.08982613,  9.47109409,
  14.97293157, -0.43214558]

qfrc_actuator:
[-6.87016000e-05,-4.03857073e-04,-2.55951745e-04,-8.87168645e-05,
 -1.03905220e-04,-4.73765369e-04,-3.61542515e-04,-1.40721010e-04,
  1.53503366e-06,-2.56830795e-04,-2.97277714e-04,-8.23094074e-05,
  5.82672277e-03,-1.37486882e-03, 1.54728599e-03,-1.35708799e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002785305930897708
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.96500072e-14, -3.98600029e-13,  1.00000000e+00,  3.97204958e-26,
        1.00000000e+00,  3.98600029e-13, -1.00000000e+00,  0.00000000e+00,
        9.96500072e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08465891, -0.05582721,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.70750416e-06, 4.03438755e-06, 4.63191112e-06, 6.91409155e-06,
  9.47644201e-06,-1.66422610e-05,-1.73328339e-05,-4.20470504e-05,
 -2.12643601e-05, 3.72547230e-05,-6.18503689e-06,-1.92576519e-05,
 -4.55025904e-05, 7.49371339e-06,-4.16915499e-06,-3.47961532e-04,
 -4.57614655e-06, 4.31866651e-06,-1.21644915e+00,-1.78500719e-03,
 -2.95234320e-04, 1.94377799e-06]


--- Step 1391 ---
qpos:
[ 2.85403525e-03,-5.61778421e-03,-1.02177091e-02, 2.78758463e-03,
 -4.43908734e-03,-5.17245547e-03,-1.78062273e-02, 5.17291686e-03,
 -4.71953599e-03,-3.95449006e-03,-7.81174194e-03,-1.91502955e-02,
  1.32394221e+00, 1.88844193e-02, 1.30542871e+00, 2.46762254e-02,
  9.49025028e-02,-7.00169035e-02, 1.30732217e-01, 9.94952183e-01,
  3.99884172e-04,-5.72550776e-04,-1.00347727e-01]

qacc:
[  0.78456247,  1.50505315, -8.77433896, 22.30772951,  7.26350818,
   0.30701434,  0.72638734, -8.02908364,  0.83992855,  0.21685118,
   0.83107332, -5.05660483, -0.87876975,  0.99469495,  9.99258442,
 -36.41109389,  0.84129903, -0.87586142, -0.14747632,  9.47918666,
  14.8586329 , -0.46328866]

qfrc_actuator:
[-6.42635656e-05,-4.09475042e-04,-2.56071181e-04,-4.94465494e-05,
 -6.12208529e-05,-4.87644045e-04,-3.90874314e-04,-1.65252481e-04,
  7.12863125e-06,-2.41166626e-04,-3.02225921e-04,-9.40982020e-05,
  5.78665088e-03,-1.36617632e-03, 1.48418550e-03,-1.54326964e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027309096696295776
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01634909e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.01634909e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08465845, -0.05582555,  0.06199156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.60405501e-06,-2.08267811e-06, 1.53331552e-06, 3.97404798e-05,
  4.29526819e-05,-2.85547826e-05,-3.63516838e-05,-2.66593707e-05,
  5.00313282e-06, 3.43535766e-05, 1.31646665e-06,-1.07827762e-05,
 -6.23806928e-05, 1.13346186e-06,-1.09606766e-04,-2.07410778e-04,
 -6.36954699e-06, 4.05627250e-06,-1.21645245e+00,-1.78730618e-03,
 -2.94930747e-04, 2.82201260e-06]


--- Step 1392 ---
qpos:
[ 2.85323762e-03,-5.61840699e-03,-1.02178470e-02, 2.78803448e-03,
 -4.43981471e-03,-5.17281963e-03,-1.78072629e-02, 5.17198806e-03,
 -4.71968978e-03,-3.95272629e-03,-7.81296098e-03,-1.91509130e-02,
  1.32412718e+00, 1.88846882e-02, 1.30557674e+00, 2.46706681e-02,
  9.49010450e-02,-7.00310897e-02, 1.30733699e-01, 9.94945333e-01,
  4.99738123e-04,-5.69401677e-04,-1.00415187e-01]

qacc:
[ -2.51504649,  0.13927343, -1.04102471,  3.05098275,  4.55104862,
   1.37380591, -8.61763751, 21.95591997,  3.63915392, -1.36340223,
   8.86602595,-23.46940541, -0.65636064,  0.9380953 , -0.77974991,
   0.52417752, -0.6411852 ,  1.86249551,  0.02635993,-22.378175  ,
 -18.09491292, -0.17322743]

qfrc_actuator:
[-7.92030980e-05,-4.12573128e-04,-2.56082526e-04,-4.42378814e-05,
 -3.56114186e-05,-4.95889270e-04,-3.90035005e-04,-1.25757599e-04,
  2.84072756e-05,-2.32553619e-04,-3.04643291e-04,-1.36618653e-04,
  5.78259193e-03,-1.32551213e-03, 1.45697636e-03,-1.54415274e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45992898,  1.93493864, -4.01833037,  1.93493864, 21.67035586,
        8.28730267, -4.01833037,  8.28730267,  8.45049738,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027402257652843487
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.79835158e-14, -2.02578751e-13,  1.00000000e+00, -7.69465317e-27,
        1.00000000e+00,  2.02578751e-13, -1.00000000e+00,  0.00000000e+00,
       -3.79835158e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10359626, -0.09536451,  0.06199153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.48084006e-05,-2.21738483e-06, 1.13092324e-06, 5.94683187e-06,
  2.68334218e-05,-3.28302494e-05,-1.04449343e-05, 3.64988787e-05,
  2.14374736e-05, 2.75926458e-05, 4.46251029e-06,-4.12150972e-05,
 -3.77077136e-05, 2.79403235e-05,-1.00491399e-04,-2.64204302e-05,
 -8.41762618e-06, 3.99004709e-06,-1.21645769e+00,-1.78990093e-03,
 -2.95063223e-04, 3.88285959e-06]


--- Step 1393 ---
qpos:
[ 2.85123247e-03,-5.61896349e-03,-1.02182776e-02, 2.78820804e-03,
 -4.44022907e-03,-5.17360679e-03,-1.78073851e-02, 5.17148912e-03,
 -4.71958724e-03,-3.95076655e-03,-7.81361185e-03,-1.91524125e-02,
  1.32431199e+00, 1.88849067e-02, 1.30572419e+00, 2.46653284e-02,
  9.48969699e-02,-7.00379817e-02, 1.30734721e-01, 9.94938387e-01,
  5.51884304e-04,-5.96673398e-04,-1.00483560e-01]

qacc:
[-1.05728761e+01, 3.57417002e-01, 5.46714719e-02,-4.45548086e+00,
  2.76555046e+00,-2.23111178e+00, 5.32079502e+00, 9.78171876e-01,
  2.25800142e+00,-3.15032965e+00, 1.53159855e+01,-3.16065258e+01,
 -4.21175424e-02,-3.09254328e-02,-1.51928730e+00, 4.06711594e+00,
 -6.54310797e-01, 1.82356306e+00,-1.14854499e-01,-2.22061900e+01,
 -1.75290744e+01,-4.37532618e-01]

qfrc_actuator:
[-1.40933054e-04,-4.14165341e-04,-2.73801719e-04,-5.91158881e-05,
 -2.02677335e-05,-5.00524089e-04,-3.35815599e-04,-1.02139843e-04,
  4.09862087e-05,-2.10494678e-04,-2.70096524e-04,-1.79135584e-04,
  5.77352295e-03,-1.33705437e-03, 1.45668498e-03,-1.52455071e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47013139, -1.32160178,  4.27029781, -1.32160178, 10.66844533,
        1.91829777,  4.27029781,  1.91829777,  5.06381966,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002774968534576261
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.75079599e-14, -2.00042453e-13,  1.00000000e+00, -7.50318430e-27,
        1.00000000e+00,  2.00042453e-13, -1.00000000e+00,  0.00000000e+00,
       -3.75079599e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10359185, -0.09536473,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.21522407e-05,-2.32325787e-06,-1.78228245e-05,-1.48166687e-05,
  1.61003969e-05,-2.35500286e-05, 4.74322391e-05, 2.25641817e-05,
  1.32065308e-05, 3.66040100e-05, 3.93634502e-05,-4.19840917e-05,
 -2.34269249e-05,-1.08221312e-05,-4.85425871e-05, 5.47104134e-06,
 -5.10091116e-06, 3.05420641e-06,-1.21644782e+00,-1.79093091e-03,
 -2.96586746e-04, 2.47933584e-06]


--- Step 1394 ---
qpos:
[ 2.84815805e-03,-5.61951183e-03,-1.02189112e-02, 2.78820354e-03,
 -4.44080094e-03,-5.17468533e-03,-1.78071564e-02, 5.17164417e-03,
 -4.71967946e-03,-3.94843233e-03,-7.81394037e-03,-1.91540710e-02,
  1.32449649e+00, 1.88850856e-02, 1.30587105e+00, 2.46612299e-02,
  9.48902372e-02,-7.00377062e-02, 1.30734810e-01, 9.94931307e-01,
  5.56708344e-04,-6.53490287e-04,-1.00553255e-01]

qacc:
[-9.35962810e+00, 2.29345138e-01,-1.89097570e-02,-2.77822025e+00,
 -1.35728051e+00,-1.63157627e-02,-3.25658230e+00, 1.42232266e+01,
 -1.70133322e+00,-7.30561110e-01, 3.99854267e+00,-7.54533208e+00,
 -7.32231263e-02,-2.74883192e-02,-4.63406602e+00, 1.49424212e+01,
 -6.64390992e-01, 1.79184803e+00,-2.33535423e-01,-2.20572643e+01,
 -1.70757645e+01,-6.42532873e-01]

qfrc_actuator:
[-1.94197081e-04,-4.14937834e-04,-2.84085320e-04,-6.79463397e-05,
 -2.88362072e-05,-5.20488941e-04,-3.21535796e-04,-7.02749017e-05,
  3.05861234e-05,-1.80408158e-04,-2.49449014e-04,-1.85764199e-04,
  5.75078610e-03,-1.34403686e-03, 1.44058186e-03,-1.45752629e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47284988, -1.24350434,  4.29651987, -1.24350434, 14.30227937,
        2.8448462 ,  4.29651987,  2.8448462 ,  5.29620895,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002784128771426003
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12153658e-13, -3.98768561e-13,  1.00000000e+00,  4.47233528e-26,
        1.00000000e+00,  3.98768561e-13, -1.00000000e+00,  0.00000000e+00,
        1.12153658e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10358861, -0.09536567,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.50377351e-05,-6.37849260e-06,-1.34558017e-05,-9.83031669e-06,
 -8.11797506e-06,-2.23333259e-05, 1.60506816e-05, 3.29390712e-05,
 -1.00047476e-05, 5.68324773e-05, 3.15909330e-05,-4.51665403e-06,
 -3.79312275e-05,-1.51619610e-05,-3.88634445e-05, 6.08789093e-05,
 -2.29788329e-06, 3.06124715e-06,-1.21644309e+00,-1.79128433e-03,
 -2.97572775e-04, 1.98637989e-06]


--- Step 1395 ---
qpos:
[ 2.84481325e-03,-5.61989743e-03,-1.02191827e-02, 2.78768829e-03,
 -4.44147106e-03,-5.17585035e-03,-1.78068408e-02, 5.17286272e-03,
 -4.72024013e-03,-3.94582704e-03,-7.81425905e-03,-1.91554159e-02,
  1.32468065e+00, 1.88854245e-02, 1.30601777e+00, 2.46582102e-02,
  9.48808157e-02,-7.00303663e-02, 1.30733566e-01, 9.94924058e-01,
  5.14533401e-04,-7.39155029e-04,-1.00624589e-01]

qacc:
[ -2.35674392, -1.84393734,  9.05057042,-18.59716162, -0.85196279,
   1.83423686,-11.19296904, 29.52176997, -4.10519822,  0.98495436,
  -4.30004471,  9.49350358, -0.27256799,  0.30884071, -3.43468383,
  11.79838614, -0.67219947,  1.76612391, -0.33320169,-21.93049468,
 -16.71427793, -0.800564  ]

qfrc_actuator:
[-2.06531537e-04,-3.79681630e-04,-2.54375093e-04,-9.08886181e-05,
 -3.36540368e-05,-5.14108987e-04,-3.13269967e-04,-1.61050800e-05,
  6.74718012e-06,-1.81267254e-04,-2.54875144e-04,-1.71229853e-04,
  5.74116992e-03,-1.33052146e-03, 1.45229397e-03,-1.39866432e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46950556, -1.14370443,  4.32069672, -1.14370443, 19.15213275,
        3.88654583,  4.32069672,  3.88654583,  5.49828865,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027728540344544583
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12609687e-13, -2.00195000e-13,  1.00000000e+00,  2.25438963e-26,
        1.00000000e+00,  2.00195000e-13, -1.00000000e+00,  0.00000000e+00,
        1.12609687e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10358632, -0.0953672 ,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.39063989e-05, 2.85065422e-05, 2.64143164e-05,-2.38669867e-05,
 -5.06036912e-06,-1.34885867e-06, 6.78004494e-06, 5.44114187e-05,
 -2.40991768e-05, 3.71720136e-05, 1.00273280e-05, 1.79729041e-05,
 -3.25509372e-05, 4.59295950e-07,-9.03231700e-07, 5.69422663e-05,
  9.30271338e-08, 4.01677934e-06,-1.21644327e+00,-1.79095366e-03,
 -2.98068290e-04, 2.35407453e-06]


--- Step 1396 ---
qpos:
[ 2.84238050e-03,-5.61964308e-03,-1.02196317e-02, 2.78722233e-03,
 -4.44184904e-03,-5.17703612e-03,-1.78061033e-02, 5.17365280e-03,
 -4.72108188e-03,-3.94322197e-03,-7.81449052e-03,-1.91565459e-02,
  1.32486460e+00, 1.88856582e-02, 1.30616470e+00, 2.46555299e-02,
  9.48764639e-02,-7.00198913e-02, 1.30732821e-01, 9.94917125e-01,
  4.42403013e-04,-7.90224216e-04,-1.00693069e-01]

qacc:
[ 7.96135318e+00, 1.42752087e+00,-4.09780820e+00, 4.79317983e+00,
  2.56098150e+00,-2.09325560e+00, 9.22454371e+00,-1.72914055e+01,
 -2.45788755e+00, 2.03328670e-01,-1.62257588e+00, 5.18939677e+00,
 -9.61062735e-02,-1.70706799e-02,-7.28757154e-01, 2.98947010e+00,
  1.26740168e+00, 7.83751022e-01, 1.24988160e-01,-1.66413054e+01,
  1.57036990e+01, 1.43793440e+00]

qfrc_actuator:
[-1.59174170e-04,-3.22966048e-04,-2.54410136e-04,-8.63887879e-05,
 -1.84651077e-05,-5.09763111e-04,-2.90736142e-04,-3.79866070e-05,
 -7.05084407e-06,-2.00740098e-04,-2.58009253e-04,-1.62159496e-04,
  5.72878848e-03,-1.34039640e-03, 1.47002348e-03,-1.38053910e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46810175, -3.74157587,  2.44224145, -3.74157587,  9.98651927,
        8.45435567,  2.44224145,  8.45435567, 17.42038918,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002768103103138603
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00538597e-13,  2.00538597e-13,  1.00000000e+00, -4.02157288e-26,
        1.00000000e+00, -2.00538597e-13, -1.00000000e+00,  0.00000000e+00,
        2.00538597e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07878065, -0.08205442,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.69713850e-05, 7.71139920e-05, 8.29371107e-06, 6.17457787e-06,
  1.50408481e-05, 7.35740757e-06, 2.49808747e-05,-2.06462528e-05,
 -1.44667653e-05, 4.05651912e-06, 6.37700426e-06, 1.13579210e-05,
 -2.82857129e-05,-1.72921658e-05, 2.00579814e-05, 2.03865682e-05,
  2.14693466e-06, 5.91966819e-06,-1.21644819e+00,-1.78993430e-03,
 -2.98108071e-04, 3.54481360e-06]


--- Step 1397 ---
qpos:
[ 2.84122406e-03,-5.61885649e-03,-1.02203423e-02, 2.78683326e-03,
 -4.44204201e-03,-5.17823213e-03,-1.78053225e-02, 5.17350917e-03,
 -4.72139241e-03,-3.94093999e-03,-7.81485226e-03,-1.91575007e-02,
  1.32504830e+00, 1.88855859e-02, 1.30631147e+00, 2.46518424e-02,
  9.48771275e-02,-7.00062512e-02, 1.30732128e-01, 9.94910487e-01,
  3.40971480e-04,-8.07079425e-04,-1.00758895e-01]

qacc:
[ 1.11466811e+01, 1.57156461e+00,-4.94509874e+00, 6.34345318e+00,
  1.61430190e+00,-2.05954357e+00, 1.12604240e+01,-2.74769961e+01,
  4.65218961e+00, 2.88861347e-01,-2.40323493e+00, 5.89468665e+00,
 -8.12494875e-02,-1.65828608e-01, 2.82323820e+00,-1.02040272e+01,
  1.25387628e+00, 7.91289575e-01, 1.26934695e-02,-1.62976767e+01,
  1.55455292e+01, 1.33927036e+00]

qfrc_actuator:
[-9.48286187e-05,-3.07175045e-04,-2.71897806e-04,-8.35320918e-05,
 -9.37584723e-06,-5.24421464e-04,-2.95516681e-04,-8.66797376e-05,
  2.06809598e-05,-2.48970975e-04,-2.77602082e-04,-1.56394172e-04,
  5.70409757e-03,-1.36410446e-03, 1.43808062e-03,-1.43980605e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46897001,  4.4417342 , -0.49263603,  4.4417342 ,  4.68510703,
        1.94874747, -0.49263603,  1.94874747, 22.03938253,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002771042834720516
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00325850e-13,  2.00325850e-13,  1.00000000e+00, -4.01304463e-26,
        1.00000000e+00, -2.00325850e-13, -1.00000000e+00,  0.00000000e+00,
        2.00325850e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0787807 , -0.08205223,  0.06199144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.57141406e-05, 6.09121809e-05,-3.20027146e-07, 6.56793005e-06,
  9.52287452e-06,-6.23106956e-06,-8.95159066e-07,-4.79166450e-05,
  2.73271412e-05,-4.42557776e-05,-1.76021166e-05, 6.37848735e-06,
 -4.23555923e-05,-3.56173695e-05,-2.50995574e-05,-5.65991894e-05,
  3.55031109e-06, 4.28039373e-06,-1.21644666e+00,-1.78938812e-03,
 -2.98203042e-04, 3.91044842e-06]


--- Step 1398 ---
qpos:
[ 2.84050360e-03,-5.61799295e-03,-1.02204784e-02, 2.78613706e-03,
 -4.44246944e-03,-5.17920222e-03,-1.78047320e-02, 5.17311462e-03,
 -4.72171282e-03,-3.93924724e-03,-7.81531205e-03,-1.91580005e-02,
  1.32523166e+00, 1.88852628e-02, 1.30645731e+00, 2.46485782e-02,
  9.48818918e-02,-6.99933207e-02, 1.30732636e-01, 9.94903919e-01,
  2.39595634e-04,-7.90896623e-04,-1.00824145e-01]

qacc:
[ 3.83018460e+00,-2.14437783e+00, 9.07677650e+00,-1.53533713e+01,
 -2.05450074e+00, 3.17387529e-01, 3.67589787e-01,-4.57950817e+00,
 -7.93279948e-02, 4.32886999e-01,-4.59054355e+00, 1.30483640e+01,
 -7.22134142e-03,-2.38760576e-01,-2.66721659e+00, 7.31133612e+00,
  1.02515654e+00,-1.77392411e-01, 3.00530883e-01,-1.63651493e+00,
  1.64378637e+01, 2.84307582e-01]

qfrc_actuator:
[-7.42771197e-05,-3.16087051e-04,-2.46443830e-04,-9.94612050e-05,
 -2.17087333e-05,-4.97226662e-04,-2.98723232e-04,-9.75253036e-05,
  1.93728785e-05,-2.96381059e-04,-2.89134928e-04,-1.34905527e-04,
  5.68268337e-03,-1.37811669e-03, 1.38168489e-03,-1.42002903e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.46610302,   2.12048434,   3.93060076,   2.12048434,
        25.40718952, -11.29731783,   3.93060076, -11.29731783,
        10.5607911 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00027613199526983767
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08204234, -0.06703033,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.24490292e-05, 2.53728176e-05, 3.82222293e-05,-1.32042850e-05,
 -1.20600248e-05, 2.15104989e-05,-6.25725373e-06,-1.20752951e-05,
 -5.36005204e-07,-7.55878247e-05,-2.26425439e-05, 1.91052070e-05,
 -5.14739600e-05,-3.41973924e-05,-7.69801128e-05, 1.27968699e-05,
  5.19622391e-06, 3.08509527e-06,-1.21644835e+00,-1.78830934e-03,
 -2.98681800e-04, 3.62896908e-06]


--- Step 1399 ---
qpos:
[ 2.84003584e-03,-5.61725741e-03,-1.02201846e-02, 2.78563764e-03,
 -4.44304155e-03,-5.17956484e-03,-1.78046973e-02, 5.17291395e-03,
 -4.72239121e-03,-3.93795573e-03,-7.81542103e-03,-1.91582943e-02,
  1.32541460e+00, 1.88849976e-02, 1.30660251e+00, 2.46468239e-02,
  9.48898777e-02,-6.99840304e-02, 1.30733980e-01, 9.94897325e-01,
  1.60774522e-04,-7.44136605e-04,-1.00889706e-01]

qacc:
[ 2.22616844,-0.96956727, 2.37349413, 0.44685963,-1.28939687, 2.75680643,
 -9.47957663,13.27370955,-3.11593225,-1.08066477, 2.22573142, 1.05939313,
 -0.21178287, 0.1511995 ,-5.5091937 ,17.92926419, 0.80540868,-0.91005206,
  0.20868639, 9.67831616,16.34767933,-0.16853486]

qfrc_actuator:
[-6.19196320e-05,-3.39578464e-04,-2.31461799e-04,-9.08032896e-05,
 -2.87968244e-05,-4.45152032e-04,-3.18521854e-04,-8.59716420e-05,
  9.69495734e-07,-2.89645418e-04,-2.60306622e-04,-1.22085480e-04,
  5.66857756e-03,-1.36849171e-03, 1.37460208e-03,-1.33610061e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.46536676,   2.33578432,   3.80573408,   2.33578432,
        20.85328053, -10.05814678,   3.80573408, -10.05814678,
        10.63859406,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002758815687852467
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.01213700e-13, -2.01213700e-13,  1.00000000e+00,  4.04869531e-26,
        1.00000000e+00,  2.01213700e-13, -1.00000000e+00,  0.00000000e+00,
        2.01213700e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08467981, -0.05581715,  0.06199148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30045221e-05,-1.99154649e-06, 2.44669551e-05, 1.08098105e-05,
 -7.42557143e-06, 6.23183791e-05,-1.65385612e-05, 1.20259424e-05,
 -1.84401575e-05,-3.94471393e-05, 1.10748603e-05, 9.16987917e-06,
 -4.90821008e-05,-1.19099249e-05,-4.08721578e-05, 7.48226214e-05,
  5.58584668e-06, 1.28271866e-06,-1.21644792e+00,-1.78718359e-03,
 -2.98839231e-04, 2.73083553e-06]


--- Step 1400 ---
qpos:
[ 2.83972002e-03,-5.61658933e-03,-1.02199624e-02, 2.78527351e-03,
 -4.44300454e-03,-5.17939427e-03,-1.78049467e-02, 5.17318868e-03,
 -4.72259516e-03,-3.93692545e-03,-7.81497172e-03,-1.91584658e-02,
  1.32559704e+00, 1.88850602e-02, 1.30674730e+00, 2.46480146e-02,
  9.49011133e-02,-6.99783255e-02, 1.30735737e-01, 9.94890688e-01,
  1.04347791e-04,-6.67560242e-04,-1.00955746e-01]

qacc:
[ 1.32803862, 0.38685119,-2.08422693, 4.59444108, 5.29436524, 2.46658894,
 -9.79779137,18.10846269, 4.17550109,-1.66199164, 4.89402265,-3.46092679,
 -0.32224651, 0.4251122 ,-9.49753287,32.4150645 , 0.81241453,-0.89635705,
  0.10348786, 9.63579875,15.96172737,-0.25105399]

qfrc_actuator:
[-5.44696558e-05,-3.53890736e-04,-2.40600614e-04,-8.55268351e-05,
  2.77124674e-06,-4.14126691e-04,-3.30081444e-04,-6.13228714e-05,
  2.59188734e-05,-2.85879891e-04,-2.25423898e-04,-1.14399481e-04,
  5.65355190e-03,-1.34489269e-03, 1.38113727e-03,-1.17943196e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46429684,  0.53758039, -4.43181155,  0.53758039, 21.74414991,
        2.09605259, -4.43181155,  2.09605259,  4.7185488 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027551711657136657
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.01479864e-13, -2.01479864e-13,  1.00000000e+00,  4.05941357e-26,
        1.00000000e+00,  2.01479864e-13, -1.00000000e+00,  0.00000000e+00,
        2.01479864e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08468212, -0.05581656,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.81700327e-06,-9.93187950e-06,-6.17338909e-06, 6.24652894e-06,
  3.13771035e-05, 6.29832579e-05,-3.04463780e-07, 2.69820216e-05,
  2.44120944e-05,-1.56663808e-05, 2.84033421e-05, 6.55703024e-06,
 -4.26674679e-05, 8.92662253e-06,-5.50037884e-06, 1.55256174e-04,
  4.57172550e-06,-9.66707301e-07,-1.21644590e+00,-1.78635440e-03,
 -2.98860339e-04, 1.91625632e-06]


--- Step 1401 ---
qpos:
[ 2.83949581e-03,-5.61569752e-03,-1.02199555e-02, 2.78460281e-03,
 -4.44293418e-03,-5.17900244e-03,-1.78049098e-02, 5.17341171e-03,
 -4.72249857e-03,-3.93616326e-03,-7.81409590e-03,-1.91581889e-02,
  1.32577915e+00, 1.88853583e-02, 1.30689214e+00, 2.46513489e-02,
  9.49156205e-02,-6.99761616e-02, 1.30737556e-01, 9.94883991e-01,
  7.01797508e-05,-5.61770575e-04,-1.01022393e-01]

qacc:
[ 7.90465176e-01, 2.64516518e-01, 7.77206165e-01,-5.90012059e+00,
  2.95883020e-01,-6.14663314e-01, 2.83339286e+00,-4.34828715e+00,
  2.64932207e+00,-6.28176354e-01,-1.73437143e-01, 7.45230556e+00,
 -2.51476175e-01, 3.29077169e-01,-6.39189181e+00, 2.25298146e+01,
  8.17898206e-01,-8.85251787e-01, 1.53631066e-02, 9.59765753e+00,
  1.56555426e+01,-3.14053784e-01]

qfrc_actuator:
[-4.99645082e-05,-3.27199590e-04,-2.46129866e-04,-1.00049114e-04,
  3.57917034e-06,-4.13652257e-04,-3.18994284e-04,-6.46813761e-05,
  4.06854196e-05,-3.01628578e-04,-2.05008970e-04,-9.20400905e-05,
  5.64332042e-03,-1.33095510e-03, 1.39584532e-03,-1.06992141e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45828004,  0.45722705, -4.43477219,  0.45722705, 28.68294819,
        2.49757439, -4.43477219,  2.49757439,  4.7157811 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002734555460512239
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02998813e-13, -2.02998813e-13,  1.00000000e+00,  4.12085180e-26,
        1.00000000e+00,  2.02998813e-13, -1.00000000e+00,  0.00000000e+00,
        2.02998813e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08468365, -0.05581575,  0.06199155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.72282193e-06, 2.01074511e-05,-8.13460192e-06,-1.50413053e-05,
  1.72832252e-06, 3.67944823e-05, 2.49914812e-05,-1.47097365e-07,
  1.54605028e-05,-1.83962245e-05, 2.08861252e-05, 2.27948848e-05,
 -2.88409970e-05, 6.59748798e-06, 2.63500245e-05, 1.16763017e-04,
  3.30613246e-06,-2.96201979e-06,-1.21644606e+00,-1.78581402e-03,
 -2.99371472e-04, 1.32851983e-06]


--- Step 1402 ---
qpos:
[ 2.83932734e-03,-5.61459653e-03,-1.02200661e-02, 2.78410333e-03,
 -4.44354407e-03,-5.17845478e-03,-1.78046789e-02, 5.17360794e-03,
 -4.72291546e-03,-3.93541578e-03,-7.81303389e-03,-1.91580076e-02,
  1.32596097e+00, 1.88858210e-02, 1.30703782e+00, 2.46532324e-02,
  9.49334169e-02,-6.99775029e-02, 1.30739141e-01, 9.94877217e-01,
  5.81574649e-05,-4.27241644e-04,-1.01089744e-01]

qacc:
[  0.48052446,  0.95691231, -3.73517123,  6.73452327, -5.9287312 ,
  -0.37953328,  1.78531327, -2.6955961 , -4.48917075, -0.72807138,
   2.98545679, -4.94102632, -0.51113597,  0.59482776,  5.69482179,
 -17.97661344,  0.82231343, -0.87631878, -0.058301  ,  9.56437834,
  15.41467844, -0.36152498]

qfrc_actuator:
[-4.72266904e-05,-3.11675862e-04,-2.49321002e-04,-9.05576283e-05,
 -3.14894847e-05,-4.13657085e-04,-3.12528573e-04,-6.67546623e-05,
  1.38211213e-05,-2.93469177e-04,-1.93366246e-04,-9.67568435e-05,
  5.63064435e-03,-1.32285299e-03, 1.43140760e-03,-1.14885603e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44851764,  0.35739444, -4.43413784,  0.35739444, 37.48475675,
        2.66274274, -4.43413784,  2.66274274,  4.66313646,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002700661813295202
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02773237e-13, -2.05546474e-13,  1.00000000e+00,  2.11246764e-26,
        1.00000000e+00,  2.05546474e-13, -1.00000000e+00,  0.00000000e+00,
        1.02773237e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08468457, -0.05581475,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.87807431e-06, 2.44146046e-05,-5.69215309e-07, 9.77811868e-06,
 -3.50072699e-05, 2.57114603e-05, 1.71334687e-05, 3.63647961e-07,
 -2.64276288e-05, 3.12966064e-06, 1.11838770e-05,-4.34301949e-06,
 -2.45398249e-05, 3.05893144e-06, 5.59647273e-05,-7.01175774e-05,
  1.78892140e-06,-4.72563630e-06,-1.21644829e+00,-1.78556558e-03,
 -3.00358002e-04, 9.54834530e-07]


--- Step 1403 ---
qpos:
[ 2.83988317e-03,-5.61378595e-03,-1.02199939e-02, 2.78376511e-03,
 -4.44353501e-03,-5.17756868e-03,-1.78047110e-02, 5.17378627e-03,
 -4.72399572e-03,-3.93476728e-03,-7.81177385e-03,-1.91582196e-02,
  1.32614244e+00, 1.88864387e-02, 1.30718365e+00, 2.46536010e-02,
  9.49545173e-02,-6.99823212e-02, 1.30740248e-01, 9.94870349e-01,
  6.81888820e-05,-2.64341693e-04,-1.01157872e-01]

qacc:
[  6.34634566, -0.57548341,  0.79296974,  1.94175494,  5.38359746,
   1.13428336, -3.3383033 ,  3.22013941, -5.79984854, -1.48311204,
   6.77456092,-13.83788154, -0.51346811,  0.57182906,  4.85839371,
 -16.54757589,  0.82600337, -0.86921181, -0.11974226,  9.53619064,
  15.22750016, -0.39660564]

qfrc_actuator:
[-1.00448020e-05,-3.56185434e-04,-2.51120845e-04,-8.47656868e-05,
  1.37931414e-06,-3.96219912e-04,-3.26610509e-04,-6.80610546e-05,
 -1.95752506e-05,-3.06616340e-04,-1.86917126e-04,-1.17354669e-04,
  5.60585664e-03,-1.31827565e-03, 1.41550047e-03,-1.23160496e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43605343,  0.23530114, -4.42980851,  0.23530114, 48.50165836,
        2.34066264, -4.42980851,  2.34066264,  4.560384  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002656558323075875
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04479451e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.04479451e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08468501, -0.05581361,  0.06199179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.72690076e-05,-3.05914112e-05, 3.50101979e-06, 7.00746107e-06,
  3.18734599e-05, 3.53340388e-05,-6.65624552e-06, 3.94497803e-07,
 -3.41467718e-05,-9.32354151e-06, 8.30178086e-06,-2.01648287e-05,
 -3.55018415e-05,-4.75356177e-07,-5.09512179e-06,-8.10873580e-05,
  1.92152575e-08,-6.27365944e-06,-1.21645252e+00,-1.78561109e-03,
 -3.01808728e-04, 7.85644369e-07]


--- Step 1404 ---
qpos:
[ 2.84088051e-03,-5.61346924e-03,-1.02197808e-02, 2.78318374e-03,
 -4.44313219e-03,-5.17658281e-03,-1.78048184e-02, 5.17396552e-03,
 -4.72512309e-03,-3.93424017e-03,-7.81043729e-03,-1.91583198e-02,
  1.32632385e+00, 1.88865994e-02, 1.30732911e+00, 2.46510688e-02,
  9.49789347e-02,-6.99905940e-02, 1.30740671e-01, 9.94863364e-01,
  1.00201064e-04,-7.33518444e-05,-1.01226829e-01]

qacc:
[ 3.87460496e+00,-1.55469317e+00, 5.60955721e+00,-9.66537707e+00,
  3.42974991e+00, 3.37456732e-01,-1.02753931e+00, 1.10338210e+00,
 -4.07910043e-01,-1.43463963e-01,-1.90748144e-01, 2.08795177e+00,
  2.19854508e-02,-3.21544566e-01, 8.25157590e+00,-2.96472513e+01,
  8.29226044e-01,-8.63643412e-01,-1.70877347e-01, 9.51314288e+00,
  1.50846233e+01,-4.21762460e-01]

qfrc_actuator:
[ 1.16074191e-05,-4.00793788e-04,-2.52339430e-04,-9.90046096e-05,
  2.07256043e-05,-4.04067750e-04,-3.34889086e-04,-6.89054760e-05,
 -2.10303105e-05,-3.14704649e-04,-1.83670482e-04,-1.11640010e-04,
  5.59512149e-03,-1.35137459e-03, 1.36874412e-03,-1.38700859e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026047836509518474
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06556165e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.06556165e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08468508, -0.05581237,  0.06199195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.27037410e-05,-6.07099225e-05,-6.87540101e-06,-1.52949984e-05,
  2.02726337e-05, 1.05316924e-05,-1.79844538e-06, 4.43156472e-07,
 -2.42966013e-06,-1.25039526e-05, 1.62415255e-06, 5.20742273e-06,
 -2.89255654e-05,-4.12136229e-05,-6.22376033e-05,-1.61499939e-04,
 -2.00464440e-06,-7.61728073e-06,-1.21645870e+00,-1.78595183e-03,
 -3.03715169e-04, 8.13971710e-07]


--- Step 1405 ---
qpos:
[ 2.84144005e-03,-5.61350748e-03,-1.02196590e-02, 2.78312569e-03,
 -4.44318970e-03,-5.17599829e-03,-1.78045449e-02, 5.17485729e-03,
 -4.72625956e-03,-3.93364144e-03,-7.80913155e-03,-1.91587138e-02,
  1.32650503e+00, 1.88864176e-02, 1.30747396e+00, 2.46460258e-02,
  9.50008258e-02,-6.99914215e-02, 1.30740860e-01, 9.94856297e-01,
  8.45950335e-05, 8.67372685e-05,-1.01296270e-01]

qacc:
[ -3.8259481 ,  0.87146365, -5.98386927, 15.43379887, -3.99513662,
  -0.11959902, -3.33731679, 15.34024839, -0.0819122 , -0.42407137,
   2.88740134, -7.96966471, -0.13049218, -0.12692127,  6.70653362,
 -24.75573431, -0.6315416 ,  1.86130812, -0.05836537,-22.12282936,
 -17.78115287, -0.24233392]

qfrc_actuator:
[-1.15703470e-05,-4.09636535e-04,-2.53240323e-04,-7.16642643e-05,
 -3.56926351e-06,-4.44735915e-04,-3.22015444e-04,-3.39791235e-05,
 -2.14241290e-05,-3.01943014e-04,-1.82303039e-04,-1.25990766e-04,
  5.57682743e-03,-1.37102392e-03, 1.33547292e-03,-1.51300276e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.426176  ,  1.84296017, -4.02424301,  1.84296017, 20.54075174,
        7.37990255, -4.02424301,  7.37990255,  7.80590889,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002620917411972207
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -2.1180046e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  2.1180046e-13, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10355697, -0.09539246,  0.0619919 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.25502425e-05,-4.48752684e-05,-1.48239696e-05, 2.42025016e-05,
 -2.37099547e-05,-3.51592876e-05, 1.48311977e-05, 3.53207584e-05,
 -4.64835674e-07, 6.28905077e-06,-8.57577754e-07,-1.47327094e-05,
 -4.41893732e-05,-3.78941864e-05,-8.08287626e-05,-1.43197338e-04,
 -4.28512294e-06,-8.76380063e-06,-1.21646679e+00,-1.78658852e-03,
 -3.06071017e-04, 1.03490159e-06]


--- Step 1406 ---
qpos:
[ 2.84206237e-03,-5.61367114e-03,-1.02197012e-02, 2.78406127e-03,
 -4.44319290e-03,-5.17571888e-03,-1.78043778e-02, 5.17618254e-03,
 -4.72704674e-03,-3.93319089e-03,-7.80800904e-03,-1.91592376e-02,
  1.32668579e+00, 1.88858355e-02, 1.30761772e+00, 2.46421539e-02,
  9.50201448e-02,-6.99849549e-02, 1.30740310e-01, 9.94849101e-01,
  2.16776394e-05, 2.16971148e-04,-1.01366751e-01]

qacc:
[  0.54668949,  2.33778664,-12.77184748, 30.32415613,  0.47568436,
   0.78549635, -5.21755643, 13.11664251,  3.05446505,  0.04280208,
   0.10061514, -1.93402257,  0.09601317, -0.46769098, -5.19767536,
  15.76217166, -0.64304549,  1.82355106, -0.18481883,-22.02184173,
 -17.2471045 , -0.52422657]

qfrc_actuator:
[-7.68551570e-06,-3.96961276e-04,-2.53774758e-04,-2.00455692e-05,
 -9.43600294e-08,-4.69129823e-04,-3.32381793e-04,-1.38075226e-05,
 -3.44775018e-06,-3.30073751e-04,-1.99739006e-04,-1.34267406e-04,
  5.54336358e-03,-1.40028799e-03, 1.30500303e-03,-1.44305445e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43339791, -1.63792209,  4.11973643, -1.63792209, 11.44954821,
        2.78947641,  4.11973643,  2.78947641,  5.5424361 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026470376392799533
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.09710472e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.09710472e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10355286, -0.0953933 ,  0.06199182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.22424782e-06,-1.44536472e-05,-1.07927262e-05, 4.96548200e-05,
  2.78084079e-06,-3.95128131e-05,-1.45901679e-05, 1.98629994e-05,
  1.79690983e-05,-2.54618225e-05,-1.67748913e-05,-8.32739829e-06,
 -6.63904304e-05,-4.99228634e-05,-8.37675035e-05, 5.15722289e-05,
  1.20666781e-07,-7.84131922e-06,-1.21645807e+00,-1.78562944e-03,
 -3.09871569e-04,-1.43651350e-06]


--- Step 1407 ---
qpos:
[ 2.84376079e-03,-5.61383791e-03,-1.02197991e-02, 2.78523885e-03,
 -4.44349967e-03,-5.17555414e-03,-1.78043898e-02, 5.17737468e-03,
 -4.72761225e-03,-3.93289441e-03,-7.80737177e-03,-1.91598342e-02,
  1.32686617e+00, 1.88848779e-02, 1.30776083e+00, 2.46384069e-02,
  9.50368575e-02,-6.99713161e-02, 1.30738597e-01, 9.94841736e-01,
 -8.82906656e-05, 3.18191674e-04,-1.01438707e-01]

qacc:
[ 9.41137372e+00, 6.31781370e-01,-3.31189884e+00, 7.62586193e+00,
 -2.65109905e+00, 7.98647909e-02, 6.61689770e-02,-2.00879507e+00,
  1.92805015e+00, 9.99299883e-01,-3.55767009e+00, 3.19485913e+00,
 -2.00219517e-02,-3.15580866e-01,-1.33886368e+00, 3.28002719e+00,
 -6.51576649e-01, 1.79303589e+00,-2.91058697e-01,-2.19336218e+01,
 -1.68166507e+01,-7.47279184e-01]

qfrc_actuator:
[ 4.76166865e-05,-3.89215411e-04,-2.53980205e-04,-7.79739014e-06,
 -1.57933510e-05,-4.65942227e-04,-3.38604613e-04,-2.02473861e-05,
  7.44338609e-06,-3.47043510e-04,-2.28292292e-04,-1.38945930e-04,
  5.52745161e-03,-1.41737342e-03, 1.28160518e-03,-1.43574463e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43440054, -1.56292426,  4.14984047, -1.56292426, 15.0613917 ,
        4.00236645,  4.14984047,  4.00236645,  5.94178273,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002650637540998896
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.09425658e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.09425658e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10354984, -0.09539469,  0.06199181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.53880570e-05,-4.34942700e-07,-2.80256823e-06, 1.22199949e-05,
 -1.56332946e-05,-2.10843564e-05,-1.55023486e-05,-8.25518060e-06,
  1.13988962e-05,-3.50537246e-05,-3.61851554e-05,-6.51469821e-06,
 -6.18503071e-05,-4.68652769e-05,-5.55386197e-05,-3.96797786e-07,
  4.09443073e-06,-6.08393874e-06,-1.21645453e+00,-1.78401310e-03,
 -3.13183916e-04,-3.04808726e-06]


--- Step 1408 ---
qpos:
[ 2.84576405e-03,-5.61403924e-03,-1.02201469e-02, 2.78622638e-03,
 -4.44399228e-03,-5.17550370e-03,-1.78041847e-02, 5.17776181e-03,
 -4.72804272e-03,-3.93272153e-03,-7.80684661e-03,-1.91605119e-02,
  1.32704594e+00, 1.88843810e-02, 1.30790365e+00, 2.46343698e-02,
  9.50507583e-02,-6.99632406e-02, 1.30738101e-01, 9.94834659e-01,
 -1.55031853e-04, 4.09308629e-04,-1.01507682e-01]

qacc:
[ 2.65908102e+00, 2.56214460e-01,-1.86579533e-01,-2.66770829e+00,
 -1.61231400e+00,-2.41135789e+00, 1.17829961e+01,-2.59854579e+01,
  1.18081811e+00,-1.96722782e-02, 1.71655830e-01,-1.30225951e+00,
 -7.73094482e-01, 9.78113865e-01, 5.43257218e-01,-2.30319563e+00,
 -7.02967884e-01,-1.39079714e+00, 3.04711894e-01, 2.20140556e+01,
 -2.83345316e+00, 1.50402474e+00]

qfrc_actuator:
[ 6.17203386e-05,-4.02251947e-04,-2.71783479e-04,-1.88173472e-05,
 -2.49078907e-05,-4.64026772e-04,-3.24473456e-04,-6.00135616e-05,
  1.40712650e-05,-3.39498892e-04,-2.27635388e-04,-1.41470822e-04,
  5.51675762e-03,-1.37375843e-03, 1.27842650e-03,-1.44768751e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44274093, -0.16259503,  4.43976461, -0.16259503, 23.30201136,
        0.69067259,  4.43976461,  0.69067259,  4.46803504,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002680339558878142
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.07104921e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.07104921e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10309128, -0.04738866,  0.06199172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56865700e-05,-1.33165610e-05,-1.78189708e-05,-1.09024021e-05,
 -9.56910747e-06,-1.34444152e-05, 7.57702401e-06,-4.13690546e-05,
  6.94437209e-06,-1.98246909e-05,-1.12758761e-05,-5.40621551e-06,
 -5.33245113e-05, 1.56627106e-05,-2.98092372e-05,-1.93057384e-05,
  7.72160805e-06,-3.46214343e-06,-1.21645594e+00,-1.78172626e-03,
 -3.16048918e-04,-3.83824433e-06]


--- Step 1409 ---
qpos:
[ 2.84757647e-03,-5.61433868e-03,-1.02206848e-02, 2.78707866e-03,
 -4.44424539e-03,-5.17586639e-03,-1.78033656e-02, 5.17698953e-03,
 -4.72735561e-03,-3.93253158e-03,-7.80668843e-03,-1.91612156e-02,
  1.32722499e+00, 1.88848617e-02, 1.30804621e+00, 2.46318299e-02,
  9.50619751e-02,-6.99606646e-02, 1.30738217e-01, 9.94827841e-01,
 -1.79309754e-04, 4.89837876e-04,-1.01574084e-01]

qacc:
[ -1.67372321,  0.12630476, -0.06193538, -1.90869756,  2.11412143,
  -4.65220648, 20.68406794,-41.42314426,  9.77198011,  0.97598358,
  -3.37022997,  3.53046254, -1.05441507,  1.57144497, -4.81377268,
  16.55281757, -0.67101905, -1.37492129,  0.15269734, 21.65883483,
  -3.11158753,  1.30089998]

qfrc_actuator:
[ 5.14456929e-05,-4.09972607e-04,-2.82176363e-04,-2.57103055e-05,
 -1.23154423e-05,-4.98334349e-04,-2.98454381e-04,-1.19050379e-04,
  7.13970456e-05,-3.34967101e-04,-2.45136682e-04,-1.42665917e-04,
  5.49325024e-03,-1.31216189e-03, 1.28737028e-03,-1.36430119e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45607741, -1.44414   , -4.21557654, -1.44414   , 11.67751383,
       -2.4738645 , -4.21557654, -2.4738645 ,  5.30355501,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000272695679772908
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10309434, -0.04739108,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.82898119e-06,-1.93068062e-05,-1.57140927e-05,-8.29434598e-06,
  1.23148435e-05,-4.20414951e-05, 2.27404431e-05,-6.01568649e-05,
  5.75188062e-05,-9.12437410e-06,-2.31791284e-05,-2.53990102e-06,
 -4.69434534e-05, 5.43474677e-05,-9.81888856e-06, 7.78643006e-05,
  4.18771864e-06,-3.74156955e-06,-1.21644871e+00,-1.78043855e-03,
 -3.15784311e-04,-3.07529624e-06]


--- Step 1410 ---
qpos:
[ 2.84959664e-03,-5.61473939e-03,-1.02208039e-02, 2.78779945e-03,
 -4.44434589e-03,-5.17631037e-03,-1.78023987e-02, 5.17619612e-03,
 -4.72598669e-03,-3.93234256e-03,-7.80676484e-03,-1.91619350e-02,
  1.32740363e+00, 1.88860209e-02, 1.30818871e+00, 2.46299455e-02,
  9.50706105e-02,-6.99635351e-02, 1.30738433e-01, 9.94821256e-01,
 -1.61751497e-04, 5.59409118e-04,-1.01638233e-01]

qacc:
[ 1.83201046,-1.5790248 , 5.98471322,-8.8490904 , 1.33679607,-0.56596554,
  1.94690889,-2.48419218, 5.96166496, 0.6102962 ,-2.13090307, 2.25413614,
 -0.68950461, 1.07234862,-1.98882408, 7.0320378 ,-0.64532846,-1.36158108,
  0.02498935,21.36588114,-3.3261879 , 1.14163126]

qfrc_actuator:
[ 6.24230786e-05,-3.96673727e-04,-2.52577619e-04,-3.01058466e-05,
 -4.80242862e-06,-4.83020685e-04,-2.83539066e-04,-1.17962637e-04,
  1.04847132e-04,-3.32334258e-04,-2.55480532e-04,-1.43085964e-04,
  5.48339142e-03,-1.27598277e-03, 1.28761902e-03,-1.33190437e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46172556, -1.51518147, -4.19657242, -1.51518147, 15.68433817,
       -4.05194834, -4.19657242, -4.05194834,  5.92469019,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002746386126462885
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01062175e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.01062175e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10309698, -0.04739241,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06920261e-05,-1.09271963e-06, 2.33946161e-05,-5.92794824e-06,
  7.85297545e-06,-6.06651313e-06, 6.94715138e-06,-1.09723883e-06,
  3.50911581e-05,-7.35062645e-06,-1.51752194e-05,-1.66368694e-06,
 -2.03676375e-05, 4.17589174e-05, 6.94371770e-07, 3.46755915e-05,
  1.13418389e-06,-3.41719965e-06,-1.21644450e+00,-1.77981829e-03,
 -3.15578888e-04,-2.40890574e-06]


--- Step 1411 ---
qpos:
[ 2.85173228e-03,-5.61481574e-03,-1.02207798e-02, 2.78877052e-03,
 -4.44470041e-03,-5.17660660e-03,-1.78019695e-02, 5.17613011e-03,
 -4.72457197e-03,-3.93208164e-03,-7.80674497e-03,-1.91626867e-02,
  1.32758222e+00, 1.88875390e-02, 1.30833123e+00, 2.46274632e-02,
  9.50767471e-02,-6.99718075e-02, 1.30738320e-01, 9.94814877e-01,
 -1.02868723e-04, 6.17739535e-04,-1.01700380e-01]

qacc:
[  1.00920642,  0.54216745, -2.37101844,  6.23874297, -2.23407688,
   3.19887031,-14.18645804, 27.52027678,  0.40274553, -0.24116367,
   1.13177793, -1.89301584, -0.30723622,  0.55112384,  1.88460938,
  -6.44637479, -0.62469122, -1.35049065, -0.0821511 , 21.12595975,
  -3.49145043,  1.01695491]

qfrc_actuator:
[ 6.80767935e-05,-3.52968085e-04,-2.35022093e-04,-1.51999568e-05,
 -1.80986129e-05,-4.73606116e-04,-3.10570462e-04,-8.14746909e-05,
  1.06207892e-04,-3.13076965e-04,-2.43762900e-04,-1.43040727e-04,
  5.49237018e-03,-1.25514611e-03, 1.28264130e-03,-1.36536374e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46102961, -1.60277936, -4.16315787, -1.60277936, 20.81218764,
       -6.29505281, -4.16315787, -6.29505281,  6.88456988,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002744001946177882
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.0229997e-13, -2.0229997e-13,  1.0000000e+00,  4.0925278e-26,
        1.0000000e+00,  2.0229997e-13, -1.0000000e+00,  0.0000000e+00,
        2.0229997e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10309928, -0.04739287,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.95947419e-06, 4.76845632e-05, 2.00082804e-05, 1.55519389e-05,
 -1.30734046e-05, 7.41942682e-06,-2.74712633e-05, 3.64473653e-05,
  2.36137194e-06, 1.19535131e-05, 8.27310565e-06,-8.26830547e-07,
  8.64774005e-06, 2.87684894e-05,-4.64206231e-06,-3.22900373e-05,
 -1.48981967e-06,-2.51800816e-06,-1.21644320e+00,-1.77985666e-03,
 -3.15396555e-04,-1.84934774e-06]


--- Step 1412 ---
qpos:
[ 2.85391909e-03,-5.61440248e-03,-1.02208919e-02, 2.78956468e-03,
 -4.44521148e-03,-5.17672870e-03,-1.78021823e-02, 5.17650582e-03,
 -4.72349657e-03,-3.93161707e-03,-7.80693605e-03,-1.91634280e-02,
  1.32776078e+00, 1.88893428e-02, 1.30847388e+00, 2.46219425e-02,
  9.50804512e-02,-6.99854454e-02, 1.30737519e-01, 9.94808682e-01,
 -3.07519024e-06, 6.64613222e-04,-1.01760722e-01]

qacc:
[  0.4348112 ,  0.66262104, -0.67851903, -2.52371028, -1.38800694,
   2.9354975 ,-11.99360928, 20.53342703, -2.98072008,  0.88589868,
  -2.80108323,  3.15485044, -0.4687024 ,  0.6874573 ,  9.44271626,
 -32.62451186, -0.60814052, -1.34138996, -0.17190686, 20.93134442,
  -3.6184923 ,  0.91955354]

qfrc_actuator:
[ 7.05454770e-05,-3.26908774e-04,-2.42336924e-04,-2.45476504e-05,
 -2.57821060e-05,-4.67927535e-04,-3.44391034e-04,-5.99919640e-05,
  8.86783456e-05,-3.01670096e-04,-2.54550668e-04,-1.42693624e-04,
  5.48600444e-03,-1.24346666e-03, 1.26919689e-03,-1.52610874e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45530825, -1.71080614, -4.11374695, -1.71080614, 27.25762557,
       -9.4829227 , -4.11374695, -9.4829227 ,  8.39902247,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027242967283042097
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01881617e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.01881617e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10310133, -0.04739264,  0.06199158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.65422148e-06, 5.75194630e-05, 5.53346848e-06,-6.31223752e-06,
 -8.05610454e-06, 5.71626173e-06,-3.44117980e-05, 2.15597222e-05,
 -1.74575341e-05, 1.97618531e-05,-7.32878026e-06, 1.13038329e-06,
  4.17566019e-06, 2.25987646e-05,-2.23772547e-05,-1.63865869e-04,
 -3.72220219e-06,-1.06432930e-06,-1.21644472e+00,-1.78054627e-03,
 -3.15210679e-04,-1.40300123e-06]


--- Step 1413 ---
qpos:
[ 2.85542877e-03,-5.61357943e-03,-1.02210469e-02, 2.78989927e-03,
 -4.44512110e-03,-5.17677196e-03,-1.78022560e-02, 5.17743923e-03,
 -4.72298434e-03,-3.93109704e-03,-7.80749824e-03,-1.91637836e-02,
  1.32793910e+00, 1.88912122e-02, 1.30861624e+00, 2.46155254e-02,
  9.50816090e-02,-6.99918195e-02, 1.30736832e-01, 9.94802375e-01,
  4.73537647e-05, 6.80584629e-04,-1.01822240e-01]

qacc:
[ -5.93160004, -0.27328362,  3.72005782,-11.92791701,  5.24844311,
   0.85326146, -5.26337238, 14.65455382, -4.94276143,  1.91507278,
  -8.33018705, 15.53367748, -0.27594631,  0.28526352,  2.3406937 ,
  -8.70193844, -0.6365732 ,  1.81595618,  0.02828878,-22.98144535,
 -17.88257672, -0.60763339]

qfrc_actuator:
[ 3.56160004e-05,-3.11732265e-04,-2.46599249e-04,-4.81204207e-05,
  5.41142256e-06,-4.46823393e-04,-3.28707796e-04,-2.97650083e-05,
  6.01814192e-05,-3.12886625e-04,-2.78572957e-04,-1.24442373e-04,
  5.45445608e-03,-1.25510458e-03, 1.26664037e-03,-1.56526653e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46731831, -0.09283735, -4.46635356, -0.09283735, 30.69522117,
       -0.54517159, -4.46635356, -0.54517159,  4.47865021,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027654469478732846
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00731210e-13, -2.00731210e-13,  1.00000000e+00,  4.02930187e-26,
        1.00000000e+00,  2.00731210e-13, -1.00000000e+00,  0.00000000e+00,
        2.00731210e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10352694, -0.09539428,  0.06199146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.48348586e-05, 4.81926094e-05, 8.07428927e-06,-2.10426195e-05,
  3.09650598e-05, 1.81199792e-05, 1.33743276e-05, 2.97008721e-05,
 -2.89871873e-05,-1.64672676e-06,-2.08038763e-05, 1.88679808e-05,
 -2.55123008e-05,-3.24587008e-06,-3.40328698e-05,-5.18169642e-05,
 -5.59100637e-06, 9.30332752e-07,-1.21644902e+00,-1.78188097e-03,
 -3.15001642e-04,-1.07364790e-06]


--- Step 1414 ---
qpos:
[ 2.85581833e-03,-5.61247369e-03,-1.02212198e-02, 2.79030891e-03,
 -4.44431267e-03,-5.17687539e-03,-1.78017801e-02, 5.17837091e-03,
 -4.72247271e-03,-3.93076080e-03,-7.80821925e-03,-1.91642463e-02,
  1.32811715e+00, 1.88926247e-02, 1.30875779e+00, 2.46130040e-02,
  9.50801792e-02,-6.99910414e-02, 1.30735692e-01, 9.94795924e-01,
  4.90874886e-05, 6.66700685e-04,-1.01885338e-01]

qacc:
[-9.80321608e+00, 5.96951045e-01,-1.87005794e+00, 2.95360945e+00,
  6.28008643e+00,-1.63024447e+00, 5.68392836e+00,-6.52609017e+00,
 -7.06023458e-03,-1.97827467e-02, 1.70222947e-01,-1.63548288e+00,
  4.36529271e-01,-8.46901780e-01,-1.30823767e+01, 4.38371840e+01,
 -6.46902083e-01, 1.78804754e+00,-1.13063867e-01,-2.27005556e+01,
 -1.73292043e+01,-8.08686220e-01]

qfrc_actuator:
[-2.10445414e-05,-3.03201449e-04,-2.49068836e-04,-4.43695406e-05,
  4.14831447e-05,-4.51943532e-04,-3.01599253e-04,-3.00894479e-05,
  6.09689121e-05,-3.37610463e-04,-2.92538789e-04,-1.31333512e-04,
  5.41846792e-03,-1.29837967e-03, 1.25999602e-03,-1.35487237e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4777567 ,  0.09652692,  4.47671617,  0.09652692, 12.30908632,
       -0.16885908,  4.47671617, -0.16885908,  4.48139764,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002800561558884973
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.96428717e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.96428717e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10352302, -0.09539313,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.76413257e-05, 3.62007552e-05, 7.74267670e-06, 5.68452415e-06,
  3.69639838e-05, 9.05855425e-06, 3.35246075e-05, 1.48972224e-06,
 -3.98213293e-08,-2.91535052e-05,-1.62124219e-05,-7.31189212e-06,
 -5.03551568e-05,-4.97193144e-05,-3.01629186e-05, 2.02687930e-04,
 -2.57557173e-06, 6.78945208e-07,-1.21644204e+00,-1.78219524e-03,
 -3.16535616e-04,-2.19227351e-06]


--- Step 1415 ---
qpos:
[ 2.85587033e-03,-5.61124047e-03,-1.02210671e-02, 2.79075638e-03,
 -4.44342291e-03,-5.17671430e-03,-1.78013082e-02, 5.17825214e-03,
 -4.72195568e-03,-3.93096257e-03,-7.80838156e-03,-1.91647918e-02,
  1.32829488e+00, 1.88935538e-02, 1.30889880e+00, 2.46143317e-02,
  9.50761305e-02,-6.99832031e-02, 1.30733624e-01, 9.94789295e-01,
  2.67995379e-06, 6.23799770e-04,-1.01950325e-01]

qacc:
[ -2.94464843, -0.65757379,  2.43927414, -2.40945256,  0.70391492,
  -1.80365676, 11.37076127,-29.73795449,  0.07389571, -2.44344528,
   8.02766385, -9.95270311,  0.4058015 , -0.83631331,-12.52820441,
  42.501831  , -0.6547349 ,  1.76506792, -0.23206557,-22.46652784,
 -16.88541366, -0.96421209]

qfrc_actuator:
[-3.67719872e-05,-2.98694869e-04,-2.32718174e-04,-4.23278972e-05,
  4.46193419e-05,-4.37185516e-04,-3.03606774e-04,-8.39136495e-05,
  6.12371077e-05,-3.70221623e-04,-2.65029323e-04,-1.35218775e-04,
  5.40113239e-03,-1.32463563e-03, 1.24563207e-03,-1.15895411e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48050972,  0.1873593 ,  4.47659065,  0.1873593 , 16.77459404,
       -0.51454582,  4.47659065, -0.51454582,  4.50204507,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028097250225044
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.97567914e-13, -1.97567914e-13,  1.00000000e+00,  3.90330807e-26,
        1.00000000e+00,  1.97567914e-13, -1.00000000e+00,  0.00000000e+00,
        1.97567914e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10352017, -0.095393  ,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.73662454e-05, 2.65327133e-05, 2.49687210e-05, 3.97061474e-06,
  4.19763761e-06, 2.68207361e-05, 4.03692541e-06,-5.22513803e-05,
  2.58080928e-07,-5.25764471e-05, 1.92443234e-05,-5.83507130e-06,
 -5.36550413e-05,-5.30328477e-05,-6.76037934e-06, 2.03108745e-04,
  9.00265890e-09, 1.43244106e-06,-1.21644032e+00,-1.78180506e-03,
 -3.17581861e-04,-2.40577804e-06]


--- Step 1416 ---
qpos:
[ 2.85607771e-03,-5.60987395e-03,-1.02206765e-02, 2.79088479e-03,
 -4.44250207e-03,-5.17635740e-03,-1.78008689e-02, 5.17784579e-03,
 -4.72212935e-03,-3.93166060e-03,-7.80791239e-03,-1.91653901e-02,
  1.32847255e+00, 1.88933553e-02, 1.30903995e+00, 2.46162911e-02,
  9.50694388e-02,-6.99683797e-02, 1.30730227e-01, 9.94782453e-01,
 -9.14145617e-05, 5.52550462e-04,-1.02017439e-01]

qacc:
[  1.36414306, -1.14869741,  5.69344886,-11.68875344,  0.26658725,
  -0.24242616,  2.45294818, -7.52085479, -6.0184303 , -2.51832368,
   8.26950377, -9.84786547,  0.69188694, -1.47848042, -1.79018916,
   6.34582407, -0.66072828,  1.74627449, -0.33217967,-22.27352143,
 -16.53112669, -1.08368661]

qfrc_actuator:
[-2.82740871e-05,-2.96560696e-04,-2.23164138e-04,-5.90572334e-05,
  4.60963681e-05,-4.28553859e-04,-3.04997783e-04,-9.77777523e-05,
  2.56827158e-05,-3.89384798e-04,-2.31041313e-04,-1.37282120e-04,
  5.38967537e-03,-1.39372871e-03, 1.24794404e-03,-1.13300693e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47703484,  0.29849762,  4.46707289,  0.29849762, 22.50411245,
       -1.20460083,  4.46707289, -1.20460083,  4.55752838,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027981521770885365
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.98385033e-13, -1.98385033e-13,  1.00000000e+00,  3.93566214e-26,
        1.00000000e+00,  1.98385033e-13, -1.00000000e+00,  0.00000000e+00,
        1.98385033e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10351817, -0.09539369,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.00548307e-06, 2.22452709e-05, 1.82309284e-05,-1.46545910e-05,
  1.60873635e-06, 2.22150808e-05, 2.83047288e-06,-1.35935959e-05,
 -3.55668138e-05,-4.48265986e-05, 2.53029923e-05,-3.76061161e-06,
 -4.96994210e-05,-9.78441480e-05, 1.94425406e-05, 3.58623266e-05,
  2.24699019e-06, 3.17645351e-06,-1.21644359e+00,-1.78070857e-03,
 -3.18178096e-04,-1.76588449e-06]


--- Step 1417 ---
qpos:
[ 2.85638520e-03,-5.60840060e-03,-1.02206778e-02, 2.79051414e-03,
 -4.44157057e-03,-5.17588634e-03,-1.78004600e-02, 5.17797730e-03,
 -4.72272818e-03,-3.93238743e-03,-7.80723526e-03,-1.91656945e-02,
  1.32864999e+00, 1.88922944e-02, 1.30918093e+00, 2.46192734e-02,
  9.50599189e-02,-6.99592340e-02, 1.30727993e-01, 9.94775904e-01,
 -1.43012754e-04, 4.71317838e-04,-1.02081625e-01]

qacc:
[ 8.61269592e-01, 2.07047986e-01, 1.57026324e+00,-9.65594042e+00,
  9.03778755e-02, 1.34270482e+00,-6.83971629e+00, 1.61140219e+01,
 -3.71496013e+00,-6.49945915e-03,-1.25884820e+00, 6.01829436e+00,
  4.46501874e-01,-1.09015766e+00,-3.43672412e+00, 1.14644533e+01,
 -7.07062086e-01,-1.41944260e+00, 2.90602946e-01, 2.16457388e+01,
 -2.79814568e+00, 1.48288509e+00]

qfrc_actuator:
[-2.33515277e-05,-3.13659412e-04,-2.53236001e-04,-8.67073956e-05,
  4.65955945e-05,-4.23635099e-04,-3.05988462e-04,-7.02558665e-05,
  4.83396241e-06,-3.64800479e-04,-2.11215062e-04,-1.20496418e-04,
  5.37640825e-03,-1.43442856e-03, 1.23358995e-03,-1.08309606e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47534264e+00, -8.70769098e-03,  4.47533417e+00, -8.70769098e-03,
        2.46308898e+01,  3.92167980e-02,  4.47533417e+00,  3.92167980e-02,
        4.47541895e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00])
  dim: 3
  dist: -0.0002792493112879074
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.97574132e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.97574132e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10311664, -0.04739594,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.15425086e-06,-1.57347046e-06,-2.37598093e-05,-2.63559843e-05,
  5.53549699e-07, 1.73268433e-05, 3.46754346e-06, 2.83061226e-05,
 -2.18828039e-05, 4.59079721e-06, 1.35591596e-05, 1.56715090e-05,
 -6.01285515e-05,-8.20247176e-05,-5.54166949e-06, 5.34569837e-05,
  4.20050902e-06, 5.89560149e-06,-1.21645165e+00,-1.77890529e-03,
 -3.18352205e-04,-3.11063919e-07]


--- Step 1418 ---
qpos:
[ 2.85571459e-03,-5.60683737e-03,-1.02210643e-02, 2.79016280e-03,
 -4.44132994e-03,-5.17546287e-03,-1.77999624e-02, 5.17810482e-03,
 -4.72322781e-03,-3.93301340e-03,-7.80640809e-03,-1.91654634e-02,
  1.32882689e+00, 1.88913736e-02, 1.30932147e+00, 2.46232234e-02,
  9.50476960e-02,-6.99556758e-02, 1.30726314e-01, 9.94769611e-01,
 -1.52731179e-04, 3.79555614e-04,-1.02143297e-01]

qacc:
[-8.56929185, 1.25202084,-4.34429432, 5.19702921,-6.02124632,-0.30708148,
  1.0409369 ,-1.23895133, 0.87177302, 0.81515527,-4.97260869,13.92024014,
 -0.40749354, 0.39050395,-3.54002857,11.53716165,-0.67575242,-1.39686916,
  0.13885096,21.36735727,-3.09995938, 1.27213898]

qfrc_actuator:
[-7.38389484e-05,-3.06819450e-04,-2.71043448e-04,-8.50971621e-05,
  1.10108712e-05,-4.38693403e-04,-3.06728217e-04,-7.18706841e-05,
  1.05719744e-05,-3.49741870e-04,-1.99714938e-04,-9.27270182e-05,
  5.36739845e-03,-1.40464873e-03, 1.20393481e-03,-1.03720365e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48653692, -0.462518  , -4.4626327 , -0.462518  , 12.58622678,
       -0.83947136, -4.4626327 , -0.83947136,  4.57354175,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002829647716800915
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.92353797e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.92353797e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10311996, -0.04739725,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.03431931e-05,-1.28646150e-07,-2.19879783e-05, 2.04933798e-07,
 -3.55641257e-05,-3.46227858e-06, 4.23515223e-06,-2.03794835e-07,
  5.11182891e-06, 2.11069915e-05, 1.46620433e-05, 2.87418399e-05,
 -5.77419462e-05,-8.97481415e-06,-2.93109324e-05, 4.74589224e-05,
  2.21895312e-06, 5.18893380e-06,-1.21644813e+00,-1.77824053e-03,
 -3.15662509e-04,-8.14383648e-07]


--- Step 1419 ---
qpos:
[ 2.85478897e-03,-5.60533524e-03,-1.02213878e-02, 2.79051206e-03,
 -4.44151767e-03,-5.17511005e-03,-1.77994252e-02, 5.17787353e-03,
 -4.72399975e-03,-3.93369744e-03,-7.80559900e-03,-1.91655598e-02,
  1.32900331e+00, 1.88907014e-02, 1.30946224e+00, 2.46243040e-02,
  9.50328694e-02,-6.99576305e-02, 1.30724681e-01, 9.94763539e-01,
 -1.21079652e-04, 2.76835461e-04,-1.02202788e-01]

qacc:
[-2.22710726e+00, 1.19038542e+00,-7.31125215e+00, 1.93722284e+01,
 -3.73346638e+00,-9.35169660e-01, 4.72647427e+00,-1.09617830e+01,
 -2.38379264e+00,-6.96042200e-01, 3.75838516e+00,-9.35727589e+00,
 -7.96867650e-01, 9.07180506e-01, 9.13016438e+00,-3.12120226e+01,
 -6.50920208e-01,-1.37821707e+00, 1.13951750e-02, 2.11360280e+01,
 -3.33768361e+00, 1.10348366e+00]

qfrc_actuator:
[-8.55236616e-05,-3.03394691e-04,-2.63589521e-04,-4.84968021e-05,
 -1.00216988e-05,-4.47869215e-04,-3.07424317e-04,-9.06408192e-05,
 -3.59752287e-06,-3.76022096e-04,-2.10988396e-04,-1.11984323e-04,
  5.35032735e-03,-1.38649665e-03, 1.20240910e-03,-1.18935505e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48982602, -0.53107916, -4.45830602, -0.53107916, 17.18606104,
       -1.51239189, -4.45830602, -1.51239189,  4.66998409,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002840440434764835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95431492e-13, -1.95431492e-13,  1.00000000e+00,  3.81934681e-26,
        1.00000000e+00,  1.95431492e-13, -1.00000000e+00,  0.00000000e+00,
        1.95431492e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10312281, -0.04739766,  0.06199122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31272421e-05,-1.24693187e-06, 4.71582908e-06, 3.58383620e-05,
 -2.20535015e-05,-1.02797920e-05,-9.06217497e-07,-1.87767465e-05,
 -1.40190314e-05,-1.02054085e-05,-4.11729885e-06,-1.72877714e-05,
 -4.81230376e-05, 2.30450683e-06,-1.21668041e-05,-1.53817247e-04,
  6.70441716e-07, 5.12133713e-06,-1.21644767e+00,-1.77822035e-03,
 -3.13017021e-04,-1.38808408e-06]


--- Step 1420 ---
qpos:
[ 2.85476472e-03,-5.60393223e-03,-1.02218709e-02, 2.79131729e-03,
 -4.44161136e-03,-5.17501327e-03,-1.77988300e-02, 5.17778740e-03,
 -4.72459066e-03,-3.93428405e-03,-7.80524032e-03,-1.91662206e-02,
  1.32917939e+00, 1.88901979e-02, 1.30960291e+00, 2.46232226e-02,
  9.50155176e-02,-6.99650368e-02, 1.30722666e-01, 9.94757654e-01,
 -4.84761967e-05, 1.62819625e-04,-1.02260362e-01]

qacc:
[  7.88141742,  1.23854353, -6.55742433, 14.80535736,  0.82641498,
  -0.20325923, -0.38177248,  2.99253737,  1.56880957,  0.22208684,
   1.76890491,-10.87530194, -0.55014152,  0.62206004,  6.4651247 ,
 -22.67620034, -0.63131168, -1.36290647, -0.09551427, 20.94571365,
  -3.52570848,  0.96798212]

qfrc_actuator:
[-3.87533499e-05,-3.19656666e-04,-2.76778217e-04,-2.70966576e-05,
 -4.55649345e-06,-4.71226080e-04,-3.08080566e-04,-8.38424673e-05,
  6.12558131e-06,-3.73729152e-04,-2.35817878e-04,-1.41056319e-04,
  5.33908554e-03,-1.37548564e-03, 1.19641331e-03,-1.29710925e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48669085, -0.61802869, -4.44392116, -0.61802869, 23.22025641,
       -2.60532995, -4.44392116, -2.60532995,  4.84902145,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002830154033379856
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.92283604e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.92283604e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1031253 , -0.04739737,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.63885079e-05,-1.45026556e-05,-1.16383417e-05, 2.22047588e-05,
  4.83020192e-06,-3.01232292e-05,-3.54998233e-06, 5.96053101e-06,
  9.31872041e-06,-4.99643359e-06,-2.80440404e-05,-2.99877248e-05,
 -3.53878433e-05, 1.01458404e-06,-3.29867308e-05,-1.18841788e-04,
 -4.83977199e-07, 5.66014613e-06,-1.21645015e+00,-1.77884058e-03,
 -3.10381265e-04,-2.04792647e-06]


--- Step 1421 ---
qpos:
[ 2.85392142e-03,-5.60263682e-03,-1.02224535e-02, 2.79167944e-03,
 -4.44129401e-03,-5.17532137e-03,-1.77981593e-02, 5.17780168e-03,
 -4.72437071e-03,-3.93487477e-03,-7.80521487e-03,-1.91665288e-02,
  1.32935518e+00, 1.88898185e-02, 1.30974258e+00, 2.46226066e-02,
  9.49957020e-02,-6.99778448e-02, 1.30719910e-01, 9.94751920e-01,
  6.47402927e-05, 3.72395770e-05,-1.02316231e-01]

qacc:
[ -7.1660276 , -0.76222879,  4.40593018,-11.86179886,  3.59379312,
  -0.54609173,  0.7348848 ,  1.19285937,  7.08851299,  1.6384868 ,
  -7.35895382, 14.01525393, -0.19330661,  0.21152405, -2.87028565,
   7.93880621, -0.61592211, -1.350445  , -0.18506913, 20.79120863,
  -3.67529602,  0.85857656]

qfrc_actuator:
[-8.22328089e-05,-3.29915578e-04,-2.84402519e-04,-5.03575123e-05,
  1.64563083e-05,-5.02877914e-04,-3.08747235e-04,-7.98161041e-05,
  4.75924468e-05,-3.72177190e-04,-2.50588797e-04,-1.22391317e-04,
  5.32602022e-03,-1.36877885e-03, 1.14515080e-03,-1.27126876e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47854854, -0.72754056, -4.41905892, -0.72754056, 31.05072908,
       -4.3747638 , -4.41905892, -4.3747638 ,  5.19879648,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002803201310514203
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.90138507e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.90138507e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10312751, -0.04739652,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.21632400e-05,-1.98521046e-05,-1.12995245e-05,-2.38585647e-05,
  2.11406589e-05,-4.89830335e-05,-7.12770849e-06, 2.72733697e-06,
  4.17319967e-05,-8.29865184e-06,-2.02912462e-05, 1.68983561e-05,
 -3.15304265e-05,-5.91835036e-07,-8.23771029e-05, 1.43818306e-05,
 -1.27277137e-06, 6.78214392e-06,-1.21645549e+00,-1.78009741e-03,
 -3.07729199e-04,-2.80522318e-06]


--- Step 1422 ---
qpos:
[ 2.85221911e-03,-5.60159623e-03,-1.02230263e-02, 2.79108113e-03,
 -4.44072750e-03,-5.17561279e-03,-1.77979548e-02, 5.17784756e-03,
 -4.72400019e-03,-3.93565620e-03,-7.80532265e-03,-1.91662556e-02,
  1.32953057e+00, 1.88895893e-02, 1.30988164e+00, 2.46218983e-02,
  9.49732908e-02,-6.99834545e-02, 1.30717099e-01, 9.94746017e-01,
  1.28592281e-04,-1.18977321e-04,-1.02373484e-01]

qacc:
[-7.50992373e+00,-2.32789561e+00, 1.18910414e+01,-2.83688682e+01,
  2.15813671e+00, 1.38501568e+00,-5.04747653e+00, 6.33605708e+00,
  1.31752852e+00, 1.31545479e+00,-7.51011150e+00, 1.79199895e+01,
 -3.71775744e-01, 3.96547316e-01,-5.89342358e-01, 8.38081928e-01,
 -6.48910313e-01, 1.79960064e+00,-1.39645368e-02,-2.29853618e+01,
 -1.77634692e+01,-6.96576815e-01]

qfrc_actuator:
[-1.25244363e-04,-3.54277164e-04,-2.88684229e-04,-9.96982960e-05,
  2.86904338e-05,-4.85997582e-04,-3.27213434e-04,-7.74662451e-05,
  5.41454367e-05,-3.88759892e-04,-2.59261599e-04,-9.35279487e-05,
  5.30121652e-03,-1.36467751e-03, 1.12539638e-03,-1.27354995e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48840420e+00, -3.20731303e-02, -4.48828960e+00, -3.20731303e-02,
        3.22747257e+01, -1.98559895e-01, -4.48828960e+00, -1.98559895e-01,
        4.48982310e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00])
  dim: 3
  dist: -0.0002835781726515385
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95752553e-13, -3.91505106e-13,  1.00000000e+00,  7.66381239e-26,
        1.00000000e+00,  3.91505106e-13, -1.00000000e+00,  0.00000000e+00,
        1.95752553e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10349963, -0.09539275,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.42256845e-05,-3.88721313e-05,-1.06062973e-05,-5.10472295e-05,
  1.28232713e-05,-1.18553469e-05,-2.93723208e-05, 5.58753368e-08,
  7.74006212e-06,-2.46535629e-05,-1.22954507e-05, 2.81351930e-05,
 -4.22081421e-05,-2.57866687e-06,-5.53493828e-05,-1.18901279e-05,
 -1.71636586e-06, 8.47168715e-06,-1.21646363e+00,-1.78198758e-03,
 -3.05041043e-04,-3.66820141e-06]


--- Step 1423 ---
qpos:
[ 2.85070390e-03,-5.60084987e-03,-1.02236557e-02, 2.79025158e-03,
 -4.44036360e-03,-5.17564094e-03,-1.77984341e-02, 5.17824951e-03,
 -4.72389847e-03,-3.93676523e-03,-7.80544190e-03,-1.91659745e-02,
  1.32970551e+00, 1.88894801e-02, 1.31002032e+00, 2.46217599e-02,
  9.49482434e-02,-6.99819654e-02, 1.30713686e-01, 9.94739907e-01,
  1.43767810e-04,-3.04906935e-04,-1.02432431e-01]

qacc:
[  1.63980027, -0.7101985 ,  2.93861213, -6.62777773, -1.79259178,
   2.9948454 ,-11.67140083, 18.72897329, -2.34803391, -0.38014739,
   0.7019424 , -0.31491664, -0.36598001,  0.35445206, -2.25944037,
   7.16443119, -0.65906435,  1.77470284, -0.15031407,-22.68954697,
 -17.270014  , -0.84866872]

qfrc_actuator:
[-1.14349698e-04,-3.69157455e-04,-2.91030064e-04,-1.10734535e-04,
  1.79021679e-05,-4.58010190e-04,-3.55847926e-04,-5.83410058e-05,
  4.00860515e-05,-4.16035147e-04,-2.64342218e-04,-9.44206607e-05,
  5.27471562e-03,-1.36221510e-03, 1.12454804e-03,-1.23907471e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49597632,  0.46849584,  4.47150028,  0.46849584, 13.57272382,
       -0.95100484,  4.47150028, -0.95100484,  4.59561667,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028604744267277105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.94062743e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.94062743e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10349622, -0.09539177,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.61704436e-06,-4.10353699e-05,-1.34486232e-05,-1.40598825e-05,
 -1.04236005e-05, 1.53061384e-05,-3.46991592e-05, 1.76014682e-05,
 -1.38501590e-05,-4.23632153e-05,-1.07036855e-05,-1.82499513e-06,
 -4.91741748e-05,-7.50637719e-06,-2.86850614e-05, 2.64826326e-05,
 -5.18068497e-07, 8.33512260e-06,-1.21646387e+00,-1.78275439e-03,
 -3.03856586e-04,-2.44503993e-06]


--- Step 1424 ---
qpos:
[ 2.84864079e-03,-5.60038980e-03,-1.02243634e-02, 2.78998716e-03,
 -4.44013174e-03,-5.17550027e-03,-1.77989746e-02, 5.17850047e-03,
 -4.72396633e-03,-3.93791483e-03,-7.80542774e-03,-1.91664439e-02,
  1.32987957e+00, 1.88904676e-02, 1.31015867e+00, 2.46223509e-02,
  9.49207239e-02,-6.99738163e-02, 1.30709603e-01, 9.94733569e-01,
  1.13061254e-04,-5.17761454e-04,-1.02493148e-01]

qacc:
[ -4.78989832,  1.0137317 , -6.53269952, 16.63136464, -1.15634233,
   0.08503405,  0.66176079, -3.30556312, -1.48001203, -1.96968968,
  10.11258906,-23.27760037, -1.29869879,  1.87503983, -2.5431203 ,
   8.55800963, -0.61803059,  1.66500111, -0.16767153,-21.44163252,
 -15.74170786, -0.88297588]

qfrc_actuator:
[-1.42824343e-04,-3.78207638e-04,-2.92151864e-04,-8.13804452e-05,
  1.14052179e-05,-4.41364458e-04,-3.54673898e-04,-6.49929146e-05,
  3.17710199e-05,-3.96254861e-04,-2.49583384e-04,-1.30578716e-04,
  5.24189036e-03,-1.28975553e-03, 1.11374164e-03,-1.20092348e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49601323, -0.07747581,  4.49534565, -0.07747581, 21.63841488,
        0.29544366,  4.49534565,  0.29544366,  4.50110511,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002860594082094312
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.11771248e-08, -8.11768580e-08,  1.00000000e+00,  6.58970394e-15,
        1.00000000e+00,  8.11768580e-08, -1.00000000e+00, -7.88860905e-31,
        8.11771248e-08])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10274984, -0.09382167,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.82145240e-05,-3.53872424e-05,-1.17393796e-05, 2.68583262e-05,
 -6.78976702e-06, 1.87940499e-05, 6.75563831e-07,-6.85367456e-06,
 -8.72841377e-06,-6.16150958e-06, 4.64196845e-06,-3.83754309e-05,
 -5.93815944e-05, 5.90662840e-05,-2.34183907e-05, 3.54244086e-05,
  3.07938196e-07, 9.25355655e-06,-1.21646913e+00,-1.78280238e-03,
 -3.02190088e-04,-3.41412069e-07]


--- Step 1425 ---
qpos:
[ 2.84625241e-03,-5.60012815e-03,-1.02251034e-02, 2.78971638e-03,
 -4.43963466e-03,-5.17547105e-03,-1.77987933e-02, 5.17796044e-03,
 -4.72378895e-03,-3.93868782e-03,-7.80546074e-03,-1.91673851e-02,
  1.33005301e+00, 1.88922933e-02, 1.31029717e+00, 2.46203568e-02,
  9.48965982e-02,-6.99696658e-02, 1.30708193e-01, 9.94727201e-01,
  1.05019322e-04,-6.98965678e-04,-1.02553868e-01]

qacc:
[-2.84282024e+00,-1.79265940e-01, 2.95198285e-01,-2.17994780e-01,
  2.33686138e+00,-3.79620284e+00, 1.66541588e+01,-3.14094797e+01,
  2.13876897e+00,-3.46229557e-01, 3.93724514e+00,-1.22869628e+01,
 -1.24837558e+00, 1.73034221e+00, 8.21127577e+00,-2.80256161e+01,
  8.48464575e-01,-9.99668326e-01, 6.68582153e-01, 9.65066298e+00,
  1.69032821e+01,-1.04183131e-02]

qfrc_actuator:
[-1.58755145e-04,-3.83649997e-04,-2.92494904e-04,-8.17539381e-05,
  2.52461585e-05,-4.49287210e-04,-3.18211423e-04,-1.04499119e-04,
  4.46635161e-05,-3.48397246e-04,-2.40813790e-04,-1.51635472e-04,
  5.21597600e-03,-1.24733269e-03, 1.10762060e-03,-1.33848048e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52690646, -1.74169862,  4.17844086, -1.74169862, 26.52259588,
        9.16845855,  4.17844086,  9.16845855,  8.34859309,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002958448150590792
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.87636046e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.87636046e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08473028, -0.0557807 ,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.67508713e-05,-2.65161588e-05,-8.16241911e-06,-1.77046316e-06,
  1.36531065e-05, 2.43094619e-06, 4.01947808e-05,-3.88103764e-05,
  1.26387751e-05, 4.37667039e-05, 6.75555901e-06,-2.19032653e-05,
 -4.18498841e-05, 4.67508491e-05,-1.63579147e-05,-1.39324425e-04,
  8.15705182e-07, 1.10337900e-05,-1.21647837e+00,-1.78220088e-03,
 -3.00051660e-04, 2.47535098e-06]


--- Step 1426 ---
qpos:
[ 2.84438104e-03,-5.59987241e-03,-1.02259587e-02, 2.78976936e-03,
 -4.43897536e-03,-5.17581196e-03,-1.77980167e-02, 5.17699359e-03,
 -4.72345835e-03,-3.93936587e-03,-7.80532130e-03,-1.91682054e-02,
  1.33022627e+00, 1.88941263e-02, 1.31043558e+00, 2.46173645e-02,
  9.48758542e-02,-6.99693926e-02, 1.30708725e-01, 9.94720794e-01,
  1.19520597e-04,-8.49514765e-04,-1.02614841e-01]

qacc:
[  4.51907718,  0.97224754, -4.85979129, 10.66805022,  1.4393442 ,
  -3.03341361, 11.90389671,-19.96706344,  1.34517323, -0.11046257,
   0.06219163,  1.68562334, -0.22403185,  0.20416892,  2.90142591,
 -10.30369302,  0.84542956, -0.96931416,  0.4851118 ,  9.64018232,
  16.40266969, -0.13797283]

qfrc_actuator:
[-1.31657853e-04,-3.69148397e-04,-2.92385273e-04,-6.41132720e-05,
  3.31927613e-05,-4.89490944e-04,-2.96839469e-04,-1.27512236e-04,
  5.21809177e-05,-3.55104719e-04,-2.35510540e-04,-1.45857434e-04,
  5.20486898e-03,-1.25861757e-03, 1.11493078e-03,-1.38316078e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54601148, -2.44220636,  3.83429895, -2.44220636, 28.0697942 ,
       14.98316444,  3.83429895, 14.98316444, 14.08934128,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003016792002595581
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.20036104e-14,  1.84007221e-13,  1.00000000e+00, -1.69293287e-26,
        1.00000000e+00, -1.84007221e-13, -1.00000000e+00,  0.00000000e+00,
        9.20036104e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08473347, -0.0557801 ,  0.06199068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.66096739e-05,-2.08665829e-06,-6.42483952e-06, 1.61904667e-05,
  8.33885439e-06,-3.22022830e-05, 2.54806568e-05,-2.22731852e-05,
  7.89158133e-06, 1.82593758e-05, 1.44283596e-05, 7.46303758e-06,
 -2.18413250e-05,-6.38131567e-06,-1.99180321e-05,-5.54615131e-05,
  6.53147252e-07, 9.31311420e-06,-1.21646764e+00,-1.78277847e-03,
 -2.96754340e-04, 2.15022862e-06]


--- Step 1427 ---
qpos:
[ 2.84353874e-03,-5.59981014e-03,-1.02264801e-02, 2.79037115e-03,
 -4.43891567e-03,-5.17620010e-03,-1.77976337e-02, 5.17578629e-03,
 -4.72338500e-03,-3.93999898e-03,-7.80507064e-03,-1.91689392e-02,
  1.33039946e+00, 1.88958254e-02, 1.31057340e+00, 2.46148930e-02,
  9.48584788e-02,-6.99728984e-02, 1.30710580e-01, 9.94714340e-01,
  1.56453459e-04,-9.70220306e-04,-1.02676268e-01]

qacc:
[ 9.01565862,-0.07639797,-2.44560003,11.58467894,-5.24065402, 0.55216265,
 -1.02684947,-2.48925153,-2.24931845,-0.06875572,-0.02611264, 1.30440675,
  0.1115956 ,-0.22664162,-2.46085663, 7.31051327, 0.8421597 ,-0.94474608,
  0.33094055, 9.62519827,15.99385741,-0.23889637]

qfrc_actuator:
[-7.94558688e-05,-3.78298816e-04,-2.74155609e-04,-3.59916918e-05,
  2.09440548e-06,-4.95502110e-04,-3.20189359e-04,-1.40677267e-04,
  3.87145591e-05,-3.58914938e-04,-2.32487832e-04,-1.42134902e-04,
  5.20262879e-03,-1.26612599e-03, 1.08771074e-03,-1.35491512e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5546316 ,  2.37714607, -3.88507986,  2.37714607, 14.05553583,
        5.81327489, -3.88507986,  5.81327489,  8.11157355,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003042607251680651
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.64891993e-13,  3.64891993e-13,  1.00000000e+00, -1.33146167e-25,
        1.00000000e+00, -3.64891993e-13, -1.00000000e+00,  0.00000000e+00,
        3.64891993e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08473566, -0.05577922,  0.0619906 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.29614355e-05,-1.09348399e-05, 1.75752518e-05, 2.81254518e-05,
 -3.08706341e-05,-1.97014519e-05,-2.76363671e-05,-1.40956175e-05,
 -1.32376785e-05, 9.72856150e-06, 8.83744358e-06, 5.15176912e-06,
 -1.52517780e-05,-1.41704132e-05,-4.52490185e-05, 2.19984309e-05,
  2.25467997e-07, 7.91131604e-06,-1.21645952e+00,-1.78362967e-03,
 -2.93956289e-04, 2.04272177e-06]


--- Step 1428 ---
qpos:
[ 2.84401880e-03,-5.60001174e-03,-1.02266926e-02, 2.79097073e-03,
 -4.43957437e-03,-5.17612966e-03,-1.77980735e-02, 5.17439533e-03,
 -4.72347369e-03,-3.94039260e-03,-7.80515525e-03,-1.91692712e-02,
  1.33057264e+00, 1.88969570e-02, 1.31071027e+00, 2.46128453e-02,
  9.48444591e-02,-6.99801039e-02, 1.30713242e-01, 9.94707830e-01,
  2.15718951e-04,-1.06174292e-03,-1.02738303e-01]

qacc:
[11.5812657 ,-1.23910212, 3.88232389,-4.17820481,-6.29850077, 2.53895402,
 -7.37759671, 5.15585481,-1.43292787, 2.0844125 ,-8.66075521,15.96254614,
  0.46087148,-0.85989775,-2.75291454, 7.43705064, 0.83890755,-0.92494469,
  0.20164892, 9.60880568,15.66077876,-0.31877544]

qfrc_actuator:
[-1.29099355e-05,-4.01450518e-04,-2.63209655e-04,-3.74413804e-05,
 -3.39813510e-05,-4.45667317e-04,-3.51869031e-04,-1.47949102e-04,
  3.07597544e-05,-3.43222157e-04,-2.48593834e-04,-1.21907169e-04,
  5.18972815e-03,-1.30673563e-03, 1.02916821e-03,-1.33729171e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55453308,  2.28930913, -3.937364  ,  2.28930913, 19.91685329,
        8.93214342, -3.937364  ,  8.93214342,  9.74796643,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030423139537530397
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82463586e-13, -1.82463586e-13,  1.00000000e+00,  3.32929600e-26,
        1.00000000e+00,  1.82463586e-13, -1.00000000e+00,  0.00000000e+00,
        1.82463586e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08473705, -0.05577811,  0.0619906 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.80541551e-05,-2.44074513e-05, 1.18280898e-05,-7.64984619e-07,
 -3.69659340e-05, 3.25072647e-05,-3.96372084e-05,-9.34269655e-06,
 -8.33190820e-06, 2.31961206e-05,-1.28232336e-05, 2.10534843e-05,
 -2.46891510e-05,-4.80053168e-05,-7.76517810e-05, 1.28737188e-05,
 -4.63552846e-07, 6.79052389e-06,-1.21645380e+00,-1.78476242e-03,
 -2.91639797e-04, 2.14269931e-06]


--- Step 1429 ---
qpos:
[ 2.84460342e-03,-5.60036949e-03,-1.02270623e-02, 2.79156735e-03,
 -4.44066054e-03,-5.17582778e-03,-1.77989189e-02, 5.17361837e-03,
 -4.72331227e-03,-3.94057738e-03,-7.80541806e-03,-1.91697104e-02,
  1.33074577e+00, 1.88971775e-02, 1.31084677e+00, 2.46099298e-02,
  9.48347380e-02,-6.99880551e-02, 1.30717030e-01, 9.94701387e-01,
  2.75473059e-04,-1.12215451e-03,-1.02799877e-01]

qacc:
[  0.91236989,  0.22540685, -1.09370007,  1.41221015, -3.74410013,
   2.70961822,-11.79760574, 22.89014471,  2.18033813,  0.54887108,
  -1.11143341, -0.60524552,  0.47310282, -1.10018148,  2.01818385,
  -8.01149937,  1.07464366, -0.1864138 ,  0.28164501, -1.35489399,
  15.4983737 ,  0.22929079]

qfrc_actuator:
[-9.47307966e-06,-4.15102586e-04,-2.74495023e-04,-3.85496958e-05,
 -5.49322912e-05,-4.33822407e-04,-3.70207117e-04,-1.16140352e-04,
  4.38721983e-05,-3.33792739e-04,-2.58022426e-04,-1.27631507e-04,
  5.17042713e-03,-1.36671882e-03, 1.02112140e-03,-1.37941074e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5473828 , -0.41242036, -4.52864215, -0.41242036, 20.06851757,
       -1.41349919, -4.52864215, -1.41349919,  4.67610921,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003020919517491403
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.55775048e-08,  4.55766599e-08,  1.00000000e+00, -2.07727044e-15,
        1.00000000e+00, -4.55766599e-08, -1.00000000e+00,  0.00000000e+00,
        4.55775048e-08])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08209255, -0.0668372 ,  0.06199067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.37369298e-06,-2.48596837e-05,-1.48962006e-05,-1.76302822e-06,
 -2.19973550e-05, 2.14283259e-05,-1.68209868e-05, 3.16534548e-05,
  1.28808425e-05, 2.06664269e-05,-5.48193630e-06,-4.76257435e-06,
 -4.42774516e-05,-7.95227909e-05,-4.12575183e-05,-5.11307031e-05,
 -1.41068423e-06, 5.92244622e-06,-1.21645035e+00,-1.78618249e-03,
 -2.89790828e-04, 2.44222273e-06]


--- Step 1430 ---
qpos:
[ 2.84522550e-03,-5.60111928e-03,-1.02271802e-02, 2.79214834e-03,
 -4.44164455e-03,-5.17584192e-03,-1.77992121e-02, 5.17357781e-03,
 -4.72299488e-03,-3.94082667e-03,-7.80538283e-03,-1.91705578e-02,
  1.33091850e+00, 1.88969715e-02, 1.31098309e+00, 2.46058145e-02,
  9.48292753e-02,-6.99966821e-02, 1.30721531e-01, 9.94695012e-01,
  3.35600257e-04,-1.15170758e-03,-1.02861044e-01]

qacc:
[  0.3422298 , -1.25525973,  3.78875732, -4.17265336,  0.91396984,
  -0.4455809 , -2.1287246 , 14.22623401,  1.37568892, -1.76192568,
   7.87337728,-15.35394992, -0.14200081, -0.21325564,  3.36449609,
 -12.15563645,  1.06460499, -0.16894594,  0.17809996, -1.40035054,
  15.36677797,  0.20149065]

qfrc_actuator:
[-7.70755210e-06,-4.40809670e-04,-2.63271312e-04,-3.94515590e-05,
 -4.90592727e-05,-4.62480336e-04,-3.45123326e-04,-7.93600929e-05,
  5.15250319e-05,-3.45939106e-04,-2.45714905e-04,-1.48578672e-04,
  5.14729142e-03,-1.38449769e-03, 1.01672483e-03,-1.43850052e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029968220869852624
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.26166947e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.26166947e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08205905, -0.06697322,  0.06199074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.91250565e-06,-4.27451678e-05, 4.19927049e-06,-2.51683619e-06,
  5.24923235e-06,-1.88004757e-05, 2.85420378e-05, 3.77362053e-05,
  8.02737194e-06,-1.91027829e-06, 1.57419390e-05,-2.03430418e-05,
 -6.45847605e-05,-5.16381866e-05,-3.03368459e-05,-6.75198337e-05,
 -1.84757113e-06, 4.44829424e-06,-1.21644635e+00,-1.78756835e-03,
 -2.89048361e-04, 3.22876277e-06]


--- Step 1431 ---
qpos:
[ 2.84586410e-03,-5.60242457e-03,-1.02267855e-02, 2.79271704e-03,
 -4.44255084e-03,-5.17609183e-03,-1.77986001e-02, 5.17359795e-03,
 -4.72327779e-03,-3.94130658e-03,-7.80510107e-03,-1.91716243e-02,
  1.33109054e+00, 1.88970204e-02, 1.31111893e+00, 2.46033306e-02,
  9.48290125e-02,-7.00020497e-02, 1.30725892e-01, 9.94688970e-01,
  3.67348360e-04,-1.14873222e-03,-1.02919380e-01]

qacc:
[  0.17011482, -2.19229884,  6.80283901, -7.42593978,  0.7100613 ,
  -2.71676988,  8.9769298 , -9.1994465 , -5.24384874, -1.4350283 ,
   5.61476642, -9.64515139, -0.54155542,  0.56757775, -5.59790147,
  18.68068241,  1.29997455,  0.81486296, -0.03494108,-15.7856525 ,
  14.71905254,  1.43554306]

qfrc_actuator:
[-6.91954073e-06,-4.73451410e-04,-2.38888508e-04,-4.02156936e-05,
 -4.52031541e-05,-4.61727187e-04,-2.94781734e-04,-7.54701808e-05,
  2.03909283e-05,-3.70841143e-04,-2.38523305e-04,-1.60563088e-04,
  5.12188763e-03,-1.35932135e-03, 1.01451535e-03,-1.34731995e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52822421, -0.51647291, -4.49867427, -0.51647291, 15.73428407,
       -1.28651821, -4.49867427, -1.28651821,  4.67592368,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002962523744094725
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.36889558e-14,  1.87377912e-13,  1.00000000e+00, -1.75552409e-26,
        1.00000000e+00, -1.87377912e-13, -1.00000000e+00,  0.00000000e+00,
        9.36889558e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07873383, -0.08197422,  0.06199085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.30071475e-07,-5.57594454e-05, 1.59917438e-05,-2.49885750e-06,
  3.99732209e-06,-2.24198432e-06, 5.12838359e-05, 4.80719346e-06,
 -3.09062338e-05,-2.35757524e-05, 8.03641191e-06,-1.19155618e-05,
 -7.01783921e-05,-5.01501404e-06,-2.62618889e-05, 8.29662690e-05,
 -2.30331592e-06, 3.01105488e-06,-1.21644387e+00,-1.78890383e-03,
 -2.88775540e-04, 3.86455928e-06]


--- Step 1432 ---
qpos:
[ 2.84685211e-03,-5.60421615e-03,-1.02257930e-02, 2.79291194e-03,
 -4.44305919e-03,-5.17622973e-03,-1.77974728e-02, 5.17330108e-03,
 -4.72427654e-03,-3.94188217e-03,-7.80534303e-03,-1.91724441e-02,
  1.33126214e+00, 1.88970280e-02, 1.31125454e+00, 2.46022450e-02,
  9.48338644e-02,-7.00041640e-02, 1.30729757e-01, 9.94683243e-01,
  3.71100793e-04,-1.11320602e-03,-1.02975088e-01]

qacc:
[  3.08316569, -3.08945979, 11.65052824,-18.70680961,  3.48437489,
  -1.95066387,  8.49701493,-14.87804802, -6.28132621,  1.85813441,
  -7.8262964 , 12.97551814, -0.19539928,  0.0703156 , -4.56157763,
  15.49655834,  1.27868561,  0.81329434, -0.12387113,-15.59709615,
  14.74898965,  1.33377987]

qfrc_actuator:
[ 1.10405397e-05,-4.92181037e-04,-2.06971585e-04,-5.86469128e-05,
 -2.48209628e-05,-4.43281244e-04,-2.65364745e-04,-9.09333423e-05,
 -1.55688114e-05,-3.85452029e-04,-2.69974239e-04,-1.49443072e-04,
  5.10581485e-03,-1.36214075e-03, 1.01365105e-03,-1.27484422e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.51672757,   2.80555433,   3.53973062,   2.80555433,
        21.70804005, -13.62565865,   3.53973062, -13.62565865,
        15.31628544,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00029267016092099363
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0787313 , -0.08197406,  0.06199096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79674231e-05,-4.66746260e-05, 2.22913733e-05,-2.03149840e-05,
  2.04937353e-05, 2.79939999e-05, 3.54333546e-05,-1.36919201e-05,
 -3.68518455e-05,-2.66399632e-05,-3.57371701e-05, 1.01604795e-05,
 -5.20707039e-05,-2.04725317e-05,-6.28463811e-06, 7.31817489e-05,
 -1.42749100e-06, 8.36260554e-07,-1.21644078e+00,-1.78972985e-03,
 -2.89768448e-04, 4.28238677e-06]


--- Step 1433 ---
qpos:
[ 2.84839247e-03,-5.60615696e-03,-1.02245289e-02, 2.79251807e-03,
 -4.44297442e-03,-5.17610352e-03,-1.77963247e-02, 5.17283590e-03,
 -4.72535400e-03,-3.94248721e-03,-7.80605195e-03,-1.91724456e-02,
  1.33143351e+00, 1.88969048e-02, 1.31139014e+00, 2.46029848e-02,
  9.48437635e-02,-7.00030310e-02, 1.30732831e-01, 9.94677812e-01,
  3.47165179e-04,-1.04511467e-03,-1.03028329e-01]

qacc:
[  4.84226952, -2.17820963,  9.94910416,-20.44515179,  5.16844337,
  -0.06603388,  1.43493765, -4.55679401, -0.70292467,  2.95308915,
 -14.03011168, 28.93973311,  0.04671702, -0.19594942, -5.55685757,
  19.38550587,  1.26179944,  0.81185195, -0.19787862,-15.44579952,
  14.77104513,  1.25177289]

qfrc_actuator:
[ 3.89643731e-05,-4.84657777e-04,-1.88577117e-04,-8.73119494e-05,
  5.12555516e-06,-4.32225729e-04,-2.66227212e-04,-9.99022911e-05,
 -1.85630327e-05,-3.76178285e-04,-2.88433778e-04,-1.07085971e-04,
  5.10599457e-03,-1.36381064e-03, 1.02956594e-03,-1.17850568e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.50156964,   2.91934255,   3.42659719,   2.91934255,
        27.23828808, -19.37089946,   3.42659719, -19.37089946,
        21.00490748,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00028785302622726106
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.92845467e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.92845467e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0787288 , -0.08197435,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.84256397e-05,-1.47872867e-05, 1.08033934e-05,-3.02885188e-05,
  3.05429447e-05, 3.34412157e-05, 8.79897328e-06,-6.81221897e-06,
 -4.05713550e-06,-1.25598458e-05,-2.79999254e-05, 4.01825924e-05,
 -3.01628098e-05,-1.99579495e-05, 1.79806788e-05, 9.89056101e-05,
 -3.36748006e-07,-9.36961591e-07,-1.21644063e+00,-1.79005360e-03,
 -2.91127200e-04, 4.11681505e-06]


--- Step 1434 ---
qpos:
[ 2.84991069e-03,-5.60790100e-03,-1.02234963e-02, 2.79177373e-03,
 -4.44287602e-03,-5.17567878e-03,-1.77954648e-02, 5.17193887e-03,
 -4.72680443e-03,-3.94315992e-03,-7.80616104e-03,-1.91720097e-02,
  1.33160455e+00, 1.88971837e-02, 1.31152635e+00, 2.46047760e-02,
  9.48586568e-02,-6.99986555e-02, 1.30734868e-01, 9.94672656e-01,
  2.95785801e-04,-9.44445498e-04,-1.03079232e-01]

qacc:
[ -0.20450923,  0.18533634,  1.19652443, -7.03735304,  0.10454976,
   0.31054158,  1.28774045, -8.51985894, -3.2448509 , -0.85850835,
   1.09727153,  5.54938938, -0.47437052,  0.68223561, -2.23248496,
   9.24375246,  1.24855018,  0.81060506, -0.25934022,-15.32589715,
  14.78901802,  1.18516996]

qfrc_actuator:
[ 3.70184867e-05,-4.61525320e-04,-1.95961598e-04,-1.04000167e-04,
  4.95105853e-06,-4.25801360e-04,-2.84969117e-04,-1.22749233e-04,
 -3.76339736e-05,-3.52601717e-04,-2.45687867e-04,-8.21619576e-05,
  5.10527117e-03,-1.32917954e-03, 1.07683995e-03,-1.12209375e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028210409529093317
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.83877089e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.83877089e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07872632, -0.08197499,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13285666e-06, 1.58585546e-05,-1.01502257e-05,-1.75365828e-05,
  7.12712417e-07, 2.66436543e-05,-1.10016751e-05,-2.12453251e-05,
 -1.91943747e-05, 1.25161813e-05, 3.81079139e-05, 2.42026268e-05,
 -1.96059625e-05, 2.13406203e-05, 6.26235595e-05, 6.33409170e-05,
  9.78283099e-07,-2.33471832e-06,-1.21644337e+00,-1.78988232e-03,
 -2.92863341e-04, 3.37393908e-06]


--- Step 1435 ---
qpos:
[ 2.85139425e-03,-5.60954075e-03,-1.02228496e-02, 2.79120311e-03,
 -4.44277996e-03,-5.17530585e-03,-1.77944149e-02, 5.17078738e-03,
 -4.72812746e-03,-3.94384897e-03,-7.80518564e-03,-1.91716653e-02,
  1.33177523e+00, 1.88978870e-02, 1.31166316e+00, 2.46042986e-02,
  9.48776493e-02,-6.99948518e-02, 1.30736938e-01, 9.94667530e-01,
  2.45258037e-04,-8.12566171e-04,-1.03129942e-01]

qacc:
[-3.16985272e-01, 1.57500121e+00,-6.14794116e+00, 9.69375346e+00,
 -1.37272543e-02,-1.12333342e+00, 4.98052173e+00,-9.65111321e+00,
  1.14961906e+00,-3.24391451e+00, 1.19145689e+01,-1.52101262e+01,
 -7.89742916e-01, 1.03717727e+00, 7.84958837e+00,-2.59477676e+01,
  1.02478632e+00,-1.42947808e-01, 8.43575495e-03,-1.18493407e+00,
  1.55658815e+01, 9.25066876e-02]

qfrc_actuator:
[ 3.52569537e-05,-4.64818927e-04,-2.18419153e-04,-9.57524480e-05,
  4.79882068e-06,-4.40048393e-04,-2.78632597e-04,-1.35839476e-04,
 -3.05199577e-05,-3.38146090e-04,-1.84851314e-04,-8.53970691e-05,
  5.08271997e-03,-1.30875371e-03, 1.07363907e-03,-1.24936756e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46901763,  1.33683153,  4.26438742,  1.33683153, 33.41745428,
       -9.07496881,  4.26438742, -9.07496881,  7.31390559,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027712039428229307
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00157102e-13, -2.00314204e-13,  1.00000000e+00, -2.00628902e-26,
        1.00000000e+00,  2.00314204e-13, -1.00000000e+00,  0.00000000e+00,
       -1.00157102e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08205615, -0.06697077,  0.06199144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.78262909e-06, 2.77407068e-06,-2.10304523e-05, 8.23764707e-06,
 -1.21180394e-07,-2.55396921e-06, 9.73610564e-06,-1.27438347e-05,
  6.56553070e-06, 3.03753860e-05, 6.89599824e-05,-9.08105278e-07,
 -2.58933199e-05, 2.17821040e-05, 2.59833344e-05,-1.17214394e-04,
  2.52346834e-06,-3.37745997e-06,-1.21644896e+00,-1.78922166e-03,
 -2.94985635e-04, 2.05825938e-06]


--- Step 1436 ---
qpos:
[ 2.85181057e-03,-5.61115448e-03,-1.02224575e-02, 2.79073697e-03,
 -4.44303126e-03,-5.17510580e-03,-1.77929640e-02, 5.16983431e-03,
 -4.72866518e-03,-3.94455934e-03,-7.80397303e-03,-1.91713028e-02,
  1.33194577e+00, 1.88983822e-02, 1.31179903e+00, 2.46041816e-02,
  9.49003300e-02,-6.99930363e-02, 1.30738879e-01, 9.94662359e-01,
  2.06220084e-04,-6.50716007e-04,-1.03181034e-01]

qacc:
[-9.34362138, 0.97941466,-3.85161482, 6.01348808,-3.01368487,-0.93392308,
  2.17130239, 0.73750968, 6.88275686,-0.66739312, 2.23867119,-2.26294745,
  0.1160786 ,-0.29583829,-2.49852701, 6.6797614 , 0.92205264,-0.49702837,
 -0.03235323, 4.16867633,15.49791588,-0.2000685 ]

qfrc_actuator:
[-1.96304855e-05,-4.66201764e-04,-2.31920785e-04,-9.06798028e-05,
 -1.30821748e-05,-4.48714697e-04,-2.57612099e-04,-1.25327711e-04,
  9.70648393e-06,-3.64692553e-04,-1.84895500e-04,-8.74209724e-05,
  5.06306467e-03,-1.33253946e-03, 1.00285194e-03,-1.23541652e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027181614690908584
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02111578e-13,  1.36075727e-07,  1.00000000e+00,  1.38949071e-20,
        1.00000000e+00, -1.36075727e-07, -1.00000000e+00, -3.00926554e-36,
       -1.02111578e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08337098, -0.06148994,  0.0619916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.49322764e-05,-3.77485635e-06,-1.52225525e-05, 4.62738422e-06,
 -1.78852231e-05,-8.65284824e-06, 2.12372161e-05, 1.04906274e-05,
  4.04206730e-05, 4.65448281e-06, 1.46857636e-05, 1.64323527e-06,
 -2.74226140e-05,-2.31244617e-05,-7.76449570e-05, 9.46243072e-06,
  2.54182322e-06,-4.64650626e-06,-1.21645426e+00,-1.78856820e-03,
 -2.96956038e-04, 1.04415064e-06]


--- Step 1437 ---
qpos:
[ 2.85225557e-03,-5.61261624e-03,-1.02223045e-02, 2.79031790e-03,
 -4.44349497e-03,-5.17495313e-03,-1.77915928e-02, 5.16937711e-03,
 -4.72906126e-03,-3.94537530e-03,-7.80323044e-03,-1.91709060e-02,
  1.33211614e+00, 1.88988441e-02, 1.31193411e+00, 2.46048551e-02,
  9.49262561e-02,-6.99946579e-02, 1.30740293e-01, 9.94657081e-01,
  1.89569171e-04,-4.60353285e-04,-1.03232957e-01]

qacc:
[ 2.40711325e-01, 9.65699719e-01,-3.35138536e+00, 4.43772429e+00,
 -1.85376681e+00, 1.18429856e+00,-6.40084556e+00, 1.51388900e+01,
  1.22701885e+00, 1.24258862e+00,-4.78074600e+00, 6.20562107e+00,
  1.23732620e-02,-8.01742689e-02,-3.56094971e+00, 1.07576564e+01,
  8.11368333e-01,-8.59283798e-01,-1.31783208e-01, 9.66253533e+00,
  1.53350228e+01,-4.29498889e-01]

qfrc_actuator:
[-1.65838804e-05,-4.48648960e-04,-2.40025838e-04,-8.75124395e-05,
 -2.35018330e-05,-4.53890772e-04,-2.63573305e-04,-1.01005852e-04,
  1.58336199e-05,-3.98076121e-04,-2.21054644e-04,-8.87911836e-05,
  5.06111724e-03,-1.32913143e-03, 9.76842128e-04,-1.19171014e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002672002156293568
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.11626720e-13, -2.07751147e-13,  1.00000000e+00,  6.47408085e-26,
        1.00000000e+00,  2.07751147e-13, -1.00000000e+00,  0.00000000e+00,
        3.11626720e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08474447, -0.05576928,  0.06199174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48047260e-06, 1.25302275e-05,-1.05825715e-05, 2.57490654e-06,
 -1.09367073e-05,-5.20713198e-06,-4.78573968e-06, 2.48894425e-05,
  7.28148128e-06,-2.76540522e-05,-3.33410646e-05,-6.34494412e-07,
 -2.24825140e-05,-9.20834808e-06,-5.98828070e-05, 3.44421127e-05,
  1.78443954e-06,-5.99168535e-06,-1.21646003e+00,-1.78805540e-03,
 -2.99166737e-04, 3.17591463e-07]


--- Step 1438 ---
qpos:
[ 2.85342303e-03,-5.61402883e-03,-1.02219920e-02, 2.79061590e-03,
 -4.44373528e-03,-5.17484567e-03,-1.77902928e-02, 5.16921422e-03,
 -4.72972542e-03,-3.94632982e-03,-7.80261509e-03,-1.91708927e-02,
  1.33228637e+00, 1.88988844e-02, 1.31206893e+00, 2.46065994e-02,
  9.49554491e-02,-6.99997053e-02, 1.30740982e-01, 9.94651676e-01,
  1.95172914e-04,-2.41806402e-04,-1.03285755e-01]

qacc:
[ 6.324107  , 1.08338484,-6.81666247,18.95808122, 1.94701603, 0.74121557,
 -3.9787045 , 9.22693886,-2.34867377,-0.61307502, 3.54488136,-9.88116505,
  0.25809999,-0.58315398,-3.68096442,12.20305328, 0.81668935,-0.85646224,
 -0.18111443, 9.61291974,15.16538289,-0.44967168]

qfrc_actuator:
[ 2.05541461e-05,-4.37623755e-04,-2.27053946e-04,-4.99673826e-05,
 -1.16880648e-05,-4.57029049e-04,-2.67650719e-04,-8.65273759e-05,
  1.83072073e-06,-3.99963901e-04,-2.25012528e-04,-1.07545266e-04,
  5.04317279e-03,-1.36275669e-03, 9.88370215e-04,-1.13072471e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026179556038453955
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06020039e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.06020039e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08474476, -0.05576834,  0.06199191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.71895872e-05, 1.60077301e-05, 1.43614274e-05, 3.77695634e-05,
  1.14975735e-05,-5.99659753e-06,-4.89755773e-06, 1.45722668e-05,
 -1.38049857e-05,-2.42440491e-05,-1.37986804e-05,-2.11053858e-05,
 -3.23633394e-05,-4.10691636e-05,-1.22308087e-05, 5.52023266e-05,
  5.32143368e-08,-7.25958081e-06,-1.21646659e+00,-1.78785278e-03,
 -3.01592499e-04, 1.45732926e-07]


--- Step 1439 ---
qpos:
[ 2.85399189e-03,-5.61533645e-03,-1.02215369e-02, 2.79135506e-03,
 -4.44383223e-03,-5.17476245e-03,-1.77890380e-02, 5.16887631e-03,
 -4.72986256e-03,-3.94729215e-03,-7.80184127e-03,-1.91714868e-02,
  1.33245654e+00, 1.88980640e-02, 1.31220351e+00, 2.46067695e-02,
  9.49820170e-02,-6.99973677e-02, 1.30741271e-01, 9.94646103e-01,
  1.53089851e-04,-5.30062232e-05,-1.03339751e-01]

qacc:
[ -5.23317895,  0.65937799, -3.99419258, 11.30481106,  1.24899583,
  -0.26847775,  1.64545842, -4.5799848 ,  4.61851038, -1.71343236,
   8.63770941,-19.36900721,  0.37206388, -0.95611328,  4.37267386,
 -15.92272277, -0.65623827,  1.84625564, -0.10012778,-22.17980421,
 -17.25662618, -0.59568489]

qfrc_actuator:
[-1.13213967e-05,-4.30473098e-04,-2.19491606e-04,-2.79897863e-05,
 -4.63772804e-06,-4.58927877e-04,-2.70574456e-04,-9.57043521e-05,
  2.93607522e-05,-3.82878991e-04,-2.09804422e-04,-1.36325491e-04,
  5.02628524e-03,-1.41820031e-03, 9.53167611e-04,-1.21974206e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42786917,  1.74188721, -4.07085425,  1.74188721, 24.81323352,
        8.72274056, -4.07085425,  8.72274056,  8.16026274,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026270715310991455
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.11304301e-13, -4.22608601e-13,  1.00000000e+00,  8.92990148e-26,
        1.00000000e+00,  4.22608601e-13, -1.00000000e+00,  0.00000000e+00,
        2.11304301e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10345254, -0.09542598,  0.06199188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.08050840e-05, 2.07430833e-05, 1.39542834e-05, 2.38955673e-05,
  7.37744894e-06,-5.65410071e-06,-4.27795832e-06,-9.32302280e-06,
  2.71263722e-05,-2.05681459e-07, 7.77478245e-06,-3.07056525e-05,
 -4.25293219e-05,-7.53163719e-05,-3.70650439e-05,-8.80598843e-05,
 -1.93725545e-06,-8.32832914e-06,-1.21647508e+00,-1.78795015e-03,
 -3.04470314e-04, 1.70980833e-07]


--- Step 1440 ---
qpos:
[ 2.85451965e-03,-5.61650294e-03,-1.02215056e-02, 2.79169629e-03,
 -4.44418858e-03,-5.17484735e-03,-1.77877451e-02, 5.16809869e-03,
 -4.72932423e-03,-3.94788210e-03,-7.80110906e-03,-1.91721118e-02,
  1.33262655e+00, 1.88967642e-02, 1.31233794e+00, 2.46041882e-02,
  9.50059410e-02,-6.99877824e-02, 1.30740679e-01, 9.94640330e-01,
  6.36398292e-05, 1.06873705e-04,-1.03395349e-01]

qacc:
[-3.75378669e-01, 5.52017246e-01,-1.67115850e-02,-6.29734478e+00,
 -2.25829927e+00,-1.22938832e+00, 5.92522252e+00,-1.34814941e+01,
  5.90564271e+00, 5.33302700e-01,-1.07703801e+00, 3.56580471e-01,
 -4.54557737e-02,-2.85906448e-01, 8.09870512e+00,-2.86721920e+01,
 -6.60999376e-01, 1.81191601e+00,-2.20105262e-01,-2.20624022e+01,
 -1.68302801e+01,-8.03466384e-01]

qfrc_actuator:
[-1.25624689e-05,-4.43475260e-04,-2.50726949e-04,-5.08688433e-05,
 -1.82073837e-05,-4.77838553e-04,-2.72803498e-04,-1.18722994e-04,
  6.33700493e-05,-3.36733155e-04,-2.01084163e-04,-1.35238953e-04,
  5.02600724e-03,-1.43286927e-03, 9.37865062e-04,-1.36103919e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43297044, -1.87204742,  4.01829135, -1.87204742, 14.23569391,
        4.56690707,  4.01829135,  4.56690707,  6.56060775,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026455008650051737
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.09832293e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.09832293e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10344969, -0.09542687,  0.06199183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.11231497e-06, 2.53145032e-06,-2.43960340e-05,-2.10409053e-05,
 -1.33595707e-05,-2.33698770e-05,-4.26175395e-06,-2.35929445e-05,
  3.47824845e-05, 4.63578236e-05, 8.57525879e-06, 7.49472650e-07,
 -3.99305038e-05,-4.68199597e-05,-4.38114274e-05,-1.51345123e-04,
  2.00605448e-06,-7.45155239e-06,-1.21646722e+00,-1.78669480e-03,
 -3.08375484e-04,-2.45257388e-06]


--- Step 1441 ---
qpos:
[ 2.85537298e-03,-5.61735919e-03,-1.02219421e-02, 2.79174271e-03,
 -4.44470484e-03,-5.17496053e-03,-1.77865484e-02, 5.16704275e-03,
 -4.72838243e-03,-3.94782074e-03,-7.80071887e-03,-1.91727350e-02,
  1.33279596e+00, 1.88960035e-02, 1.31247197e+00, 2.46025302e-02,
  9.50272082e-02,-6.99710604e-02, 1.30738804e-01, 9.94634326e-01,
 -7.29095753e-05, 2.38502901e-04,-1.03452869e-01]

qacc:
[  2.82768029,  1.10465564, -2.10895374, -2.46309042, -1.39723829,
  -0.33885682,  2.33365489, -6.98115403,  3.51028488,  1.81393732,
  -5.23778829,  5.34934625, -0.70983522,  0.95246235, -3.30095294,
  10.89125524, -0.66417827,  1.78419489, -0.32084126,-21.96286556,
 -16.48463644, -0.96900619]

qfrc_actuator:
[ 4.25907126e-06,-4.15389389e-04,-2.69226446e-04,-6.44940231e-05,
 -2.60510030e-05,-4.71297498e-04,-2.74680968e-04,-1.31959306e-04,
  8.31550164e-05,-2.91280474e-04,-2.13872559e-04,-1.34318479e-04,
  5.00907710e-03,-1.38760514e-03, 9.50481831e-04,-1.30111309e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43226837, -1.7707361 ,  4.06318798, -1.7707361 , 19.17514376,
        6.42494067,  4.06318798,  6.42494067,  7.23225559,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002642974422836092
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.10032873e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.10032873e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10344766, -0.0954283 ,  0.06199183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67675053e-05, 2.35994422e-05,-2.16976076e-05,-1.47686758e-05,
 -8.23361261e-06,-8.43333115e-06,-8.05782005e-06,-1.48446920e-05,
  2.07928392e-05, 7.32070187e-05,-2.13255093e-06, 3.21678046e-06,
 -4.90612765e-05, 2.25507665e-05,-2.61938263e-05, 4.54664065e-05,
  5.60452747e-06,-5.69726274e-06,-1.21646442e+00,-1.78476435e-03,
 -3.11834635e-04,-4.24076749e-06]


--- Step 1442 ---
qpos:
[ 2.85607624e-03,-5.61779891e-03,-1.02221699e-02, 2.79190921e-03,
 -4.44462149e-03,-5.17510420e-03,-1.77854422e-02, 5.16652666e-03,
 -4.72721007e-03,-3.94766763e-03,-7.80026145e-03,-1.91732984e-02,
  1.33296500e+00, 1.88954736e-02, 1.31260548e+00, 2.46016195e-02,
  9.50456790e-02,-6.99599487e-02, 1.30738469e-01, 9.94628575e-01,
 -1.65960994e-04, 3.59320506e-04,-1.03507688e-01]

qacc:
[-1.31323171, 0.217253  ,-0.47836245, 1.9118014 , 5.22711002, 1.31373491,
 -7.03954914,16.56954371, 2.01906577, 0.05237284,-0.26929516, 1.13407503,
 -0.3423913 , 0.41778976,-3.00692248, 9.47454755,-0.69910902,-1.40259527,
  0.38501474,22.1912273 ,-3.12692257, 1.36064811]

qfrc_actuator:
[-3.93731179e-06,-3.62876237e-04,-2.44365644e-04,-5.47581763e-05,
  5.05053964e-06,-4.67310623e-04,-2.76228423e-04,-1.03806462e-04,
  9.44071950e-05,-3.17682092e-04,-2.21496466e-04,-1.33518065e-04,
  4.99285246e-03,-1.37821851e-03, 9.21293221e-04,-1.26504815e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43760872, -0.14251478,  4.43531968, -0.14251478, 28.50536441,
        0.77334019,  4.43531968,  0.77334019,  4.46245753,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002662113825018242
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04261416e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.04261416e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10318437, -0.04741973,  0.06199177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.70426918e-06, 6.06345637e-05, 2.65652718e-05, 9.71065611e-06,
  3.08635016e-05,-3.03977067e-06,-4.80570403e-06, 2.72240122e-05,
  1.18719528e-05, 1.42374917e-05, 7.34137666e-06, 3.92407596e-06,
 -3.55730211e-05, 5.10524596e-06,-3.87450617e-05, 3.46836383e-05,
  8.91962933e-06,-3.04968218e-06,-1.21646651e+00,-1.78215055e-03,
 -3.14877750e-04,-5.22550766e-06]


--- Step 1443 ---
qpos:
[ 2.85667614e-03,-5.61804441e-03,-1.02219956e-02, 2.79186000e-03,
 -4.44416609e-03,-5.17524760e-03,-1.77843798e-02, 5.16634436e-03,
 -4.72625625e-03,-3.94795443e-03,-7.79933550e-03,-1.91738062e-02,
  1.33313361e+00, 1.88951309e-02, 1.31273805e+00, 2.46028670e-02,
  9.50614734e-02,-6.99543736e-02, 1.30739015e-01, 9.94623058e-01,
 -2.16330417e-04, 4.68973566e-04,-1.03560155e-01]

qacc:
[ -0.89491964, -1.30966222,  5.95556109,-10.47772899,  3.24328708,
   0.80360446, -4.28506627, 10.14434184, -1.89096879, -1.77280799,
   5.24833105, -4.71637254, -0.21044211,  0.22957336, -7.90330849,
  25.68023795, -0.66912422, -1.38414328,  0.22009519, 21.80377142,
  -3.34356775,  1.18855718]

qfrc_actuator:
[-9.04639944e-06,-3.66947646e-04,-2.29483227e-04,-6.68079495e-05,
  2.33183548e-05,-4.64842735e-04,-2.77545053e-04,-8.70322200e-05,
  8.27985831e-05,-3.69144619e-04,-2.08541480e-04,-1.32848251e-04,
  4.96640087e-03,-1.37251306e-03, 8.77699022e-04,-1.15473015e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45491828, -1.54172228, -4.17963985, -1.54172228, 11.67485766,
       -2.66318195, -4.17963985, -2.66318195,  5.43727252,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002722946720180447
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01932129e-13,  2.03864258e-13,  1.00000000e+00, -2.07803178e-26,
        1.00000000e+00, -2.03864258e-13, -1.00000000e+00,  0.00000000e+00,
        1.01932129e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10318672, -0.04742251,  0.06199159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.30801280e-06, 3.57521962e-05, 3.10221713e-05,-8.34223488e-06,
  1.91506102e-05, 9.46040694e-07,-1.60574672e-06, 1.70052904e-05,
 -1.12642184e-05,-4.18184181e-05, 1.69304283e-05, 1.60957255e-06,
 -4.35325942e-05,-6.08718826e-07,-5.90762568e-05, 1.06946298e-04,
  5.47022349e-06,-3.76616620e-06,-1.21645682e+00,-1.78040832e-03,
 -3.15263862e-04,-4.20428229e-06]


--- Step 1444 ---
qpos:
[ 2.85686547e-03,-5.61838303e-03,-1.02217253e-02, 2.79138067e-03,
 -4.44383988e-03,-5.17536027e-03,-1.77833332e-02, 5.16601325e-03,
 -4.72579374e-03,-3.94861338e-03,-7.79850175e-03,-1.91742709e-02,
  1.33330119e+00, 1.88962345e-02, 1.31287033e+00, 2.46040372e-02,
  9.50746882e-02,-6.99542731e-02, 1.30739886e-01, 9.94617757e-01,
 -2.24690284e-04, 5.67197635e-04,-1.03610542e-01]

qacc:
[-3.58690137e+00,-1.27026972e+00, 6.17829413e+00,-1.37202559e+01,
 -1.12769198e+00,-2.19535234e-01, 1.47374276e+00,-4.05085746e+00,
 -4.29769585e+00,-1.36935630e-01,-3.92392714e-01, 1.54309400e+00,
 -1.71613851e+00, 2.50234842e+00,-8.52073511e-03,-1.26117470e-01,
 -6.44872615e-01,-1.36864528e+00, 8.14850521e-02, 2.14831666e+01,
 -3.50878698e+00, 1.05415990e+00]

qfrc_actuator:
[-3.00424292e-05,-4.04914087e-04,-2.38617378e-04,-9.16413372e-05,
  1.61210318e-05,-4.63304803e-04,-2.78733688e-04,-9.48476698e-05,
  5.78303816e-05,-3.99643467e-04,-2.19172616e-04,-1.32276641e-04,
  4.92317968e-03,-1.28030184e-03, 8.62797562e-04,-1.16134375e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4638661 , -1.62521848, -4.1574951 , -1.62521848, 16.16086106,
       -4.57250626, -4.1574951 , -4.57250626,  6.2513178 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002753702093291066
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00793676e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.00793676e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1031888 , -0.04742412,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.11355621e-05,-1.19200940e-05, 1.78375876e-06,-2.23900499e-05,
 -6.64862632e-06, 2.46371661e-06,-6.13695247e-07,-7.50194647e-06,
 -2.53052844e-05,-5.03179054e-05,-1.71324699e-05,-6.01806635e-07,
 -6.56552898e-05, 8.23606391e-05,-3.03412753e-05,-8.26776913e-06,
  2.50250932e-06,-3.87869854e-06,-1.21645024e+00,-1.77934178e-03,
 -3.15692551e-04,-3.29608507e-06]


--- Step 1445 ---
qpos:
[ 2.85645700e-03,-5.61903399e-03,-1.02217233e-02, 2.79100784e-03,
 -4.44360228e-03,-5.17546380e-03,-1.77823203e-02, 5.16594050e-03,
 -4.72597925e-03,-3.94942796e-03,-7.79820754e-03,-1.91740307e-02,
  1.33346863e+00, 1.88973177e-02, 1.31300249e+00, 2.46021152e-02,
  9.50854019e-02,-6.99595956e-02, 1.30740618e-01, 9.94612656e-01,
 -1.91591697e-04, 6.53795603e-04,-1.03659062e-01]

qacc:
[ -5.23214585,  0.56656029, -3.05080013,  5.53335738, -0.77374705,
   0.63954922, -3.35100284,  7.86706321, -5.68690461,  2.76547635,
 -13.10849794, 26.24867809, -0.34022547,  0.32955198,  9.25251814,
 -32.49149421, -0.625269  , -1.35574567, -0.0348524 , 21.21944301,
  -3.63426233,  0.94950614]

qfrc_actuator:
[-6.02220753e-05,-4.45255262e-04,-2.62016217e-04,-8.83389323e-05,
  1.17496651e-05,-4.62355413e-04,-2.79856065e-04,-8.15625787e-05,
  2.52066156e-05,-3.99703278e-04,-2.43582113e-04,-9.62684261e-05,
  4.91789941e-03,-1.29729482e-03, 8.38459412e-04,-1.32550730e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46578406, -1.72842499, -4.11773898, -1.72842499, 21.87430923,
       -7.30724558, -4.11773898, -7.30724558,  7.53300759,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002760235443612785
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.01110204e-13, -2.01110204e-13,  1.00000000e+00,  4.04453140e-26,
        1.00000000e+00,  2.01110204e-13, -1.00000000e+00,  0.00000000e+00,
        2.01110204e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10319066, -0.0474248 ,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.07861454e-05,-4.75956095e-05,-2.64135596e-05, 2.41967072e-06,
 -4.56077264e-06, 1.86914050e-06,-9.58669478e-07, 1.32223225e-05,
 -3.33645978e-05,-3.17538946e-05,-3.69327232e-05, 3.32506474e-05,
 -1.91465934e-05,-6.86921992e-06,-4.26847276e-05,-1.69260228e-04,
 -3.35574522e-08,-3.41692417e-06,-1.21644665e+00,-1.77894033e-03,
 -3.16132172e-04,-2.50685438e-06]


--- Step 1446 ---
qpos:
[ 2.85534484e-03,-5.61990760e-03,-1.02220351e-02, 2.79066970e-03,
 -4.44376387e-03,-5.17548170e-03,-1.77816386e-02, 5.16603832e-03,
 -4.72586497e-03,-3.95026761e-03,-7.79800664e-03,-1.91737546e-02,
  1.33363608e+00, 1.88977826e-02, 1.31313371e+00, 2.45983340e-02,
  9.50936779e-02,-6.99702986e-02, 1.30740821e-01, 9.94607735e-01,
 -1.17482868e-04, 7.28621268e-04,-1.03705879e-01]

qacc:
[ -6.1612012 ,  0.66642567, -2.92872952,  4.1723638 , -3.49304024,
   1.39654894, -5.52391901,  8.93073015,  2.6219579 ,  0.29662919,
  -1.26593293,  2.06447229,  0.31383969, -0.72220655,  4.17880634,
 -16.76816487, -0.60943978, -1.34512689, -0.13235067, 21.00426707,
  -3.72912214,  0.86831346]

qfrc_actuator:
[-9.55604177e-05,-4.51259546e-04,-2.75895359e-04,-8.62722494e-05,
 -8.66766687e-06,-4.61749851e-04,-2.98667084e-04,-7.37174387e-05,
  4.16006331e-05,-3.81567326e-04,-2.40269135e-04,-9.29350565e-05,
  4.90338479e-03,-1.34341698e-03, 7.76497884e-04,-1.42138138e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.46203544,  -1.85569911,  -4.05784932,  -1.85569911,
        28.97910552, -11.2119257 ,  -4.05784932, -11.2119257 ,
         9.58937233,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00027474468403181074
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01023158e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.01023158e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10319237, -0.04742474,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.62317705e-05,-3.79571713e-05,-2.68700564e-05,-8.35890888e-07,
 -2.05479396e-05, 2.00972070e-06,-1.80957951e-05, 8.14771907e-06,
  1.54279889e-05,-5.81159426e-06,-6.63716034e-06, 1.34504861e-06,
 -2.72000092e-05,-5.18939009e-05,-1.02306297e-04,-1.11204501e-04,
 -2.17559985e-06,-2.40222301e-06,-1.21644593e+00,-1.77919514e-03,
 -3.16559485e-04,-1.83966989e-06]


--- Step 1447 ---
qpos:
[ 2.85450714e-03,-5.62071964e-03,-1.02229312e-02, 2.78999562e-03,
 -4.44416897e-03,-5.17545188e-03,-1.77811657e-02, 5.16588063e-03,
 -4.72590033e-03,-3.95126396e-03,-7.79743750e-03,-1.91738017e-02,
  1.33380324e+00, 1.88982313e-02, 1.31326395e+00, 2.45956766e-02,
  9.50995672e-02,-6.99863476e-02, 1.30740168e-01, 9.94602975e-01,
 -2.72447753e-06, 7.91566592e-04,-1.03751122e-01]

qacc:
[  2.3811765 ,  1.0178321 , -2.10103548, -2.81524857, -2.13104641,
   0.12431902,  0.73396907, -4.86507123, -1.29585707, -1.89973874,
   7.83868832,-13.9035969 , -0.06316797, -0.02243407, -4.83875692,
  14.84474153, -0.59668085, -1.33650625, -0.213936  , 20.83065035,
  -3.80049115,  0.80561497]

qfrc_actuator:
[-8.03910876e-05,-4.36626445e-04,-3.01662430e-04,-1.02670436e-04,
 -2.06139090e-05,-4.61430734e-04,-3.10027578e-04,-8.69044549e-05,
  3.34588312e-05,-3.88087478e-04,-2.20553094e-04,-1.08819680e-04,
  4.89397275e-03,-1.33539994e-03, 7.61277685e-04,-1.35200936e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.4539023 ,  -2.01159101,  -3.97375733,  -2.01159101,
        37.539685  , -16.74864808,  -3.97375733, -16.74864808,
        12.93238429,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00027194254897826287
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10319394, -0.0474241 ,  0.0619916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.41247965e-05,-1.21517516e-05,-3.69288382e-05,-1.89654639e-05,
 -1.25342173e-05,-1.96034868e-06,-1.28997849e-05,-1.35694073e-05,
 -7.70542906e-06,-1.10500368e-05, 1.77511324e-05,-1.63367662e-05,
 -3.74772782e-05,-1.28676731e-05,-7.27814591e-05, 5.04691725e-05,
 -3.95170194e-06,-8.49345046e-07,-1.21644803e+00,-1.78009897e-03,
 -3.16957480e-04,-1.29578527e-06]


--- Step 1448 ---
qpos:
[ 2.85558199e-03,-5.62141036e-03,-1.02244989e-02, 2.78912856e-03,
 -4.44402451e-03,-5.17544382e-03,-1.77808581e-02, 5.16626281e-03,
 -4.72603305e-03,-3.95214005e-03,-7.79704336e-03,-1.91736916e-02,
  1.33397029e+00, 1.88986433e-02, 1.31339372e+00, 2.45960572e-02,
  9.51018092e-02,-6.99967111e-02, 1.30740388e-01, 9.94598058e-01,
  7.50851897e-05, 8.19181525e-04,-1.03798006e-01]

qacc:
[ 16.70592792,  1.6072851 , -4.74010155,  2.4460528 ,  4.78813102,
   1.53493113, -7.81023868, 17.4523964 , -0.85988308,  0.97383028,
  -3.90108575,  6.80786048,  0.22074508, -0.29856391, -9.94198783,
  33.67343981, -0.91181998,  1.42136656,  0.21829981,-16.54122156,
 -19.48652715, -0.83953109]

qfrc_actuator:
[ 1.76440714e-05,-4.27558721e-04,-3.34166304e-04,-1.12038149e-04,
  8.03175273e-06,-4.61279825e-04,-3.16907798e-04,-5.90950202e-05,
  2.86776699e-05,-3.73754376e-04,-2.26924704e-04,-1.00385060e-04,
  4.90362710e-03,-1.33075950e-03, 7.79463734e-04,-1.18572906e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46626158,  0.16230693, -4.46331144,  0.16230693, 42.4983481 ,
        1.38302498, -4.46331144,  1.38302498,  4.51655486,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027618588871438347
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.14841336e-06,  9.73554949e-14,  1.00000000e+00,  1.11804351e-19,
        1.00000000e+00, -9.73554949e-14, -1.00000000e+00,  0.00000000e+00,
       -1.14841336e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10645053, -0.0887612 ,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.84405320e-05,-6.11913871e-06,-4.01971129e-05,-1.15304828e-05,
  2.82867327e-05,-4.20175861e-06,-9.34884968e-06, 2.70146650e-05,
 -5.00768733e-06, 1.11474537e-05,-7.02750155e-06, 8.25885605e-06,
 -1.31464776e-05,-7.32234361e-06,-9.10017625e-06, 1.59895256e-04,
 -5.38256128e-06, 1.23240380e-06,-1.21645287e+00,-1.78164591e-03,
 -3.17313772e-04,-8.75340841e-07]


--- Step 1449 ---
qpos:
[ 2.85713396e-03,-5.62219566e-03,-1.02258518e-02, 2.78812194e-03,
 -4.44353781e-03,-5.17568459e-03,-1.77802564e-02, 5.16697240e-03,
 -4.72587727e-03,-3.95296149e-03,-7.79643722e-03,-1.91734999e-02,
  1.33413704e+00, 1.88991552e-02, 1.31352360e+00, 2.45963964e-02,
  9.51014286e-02,-6.99999070e-02, 1.30740299e-01, 9.94592961e-01,
  1.03847326e-04, 8.17399872e-04,-1.03846824e-01]

qacc:
[ 4.18175387e+00,-1.02108902e+00, 4.03431951e+00,-6.70829745e+00,
  2.99825404e+00,-4.81792133e-01,-1.51322355e-01, 5.54133786e+00,
  2.53152669e+00,-3.57469962e-01, 1.02697427e+00, 1.30419127e-02,
 -3.06675675e-01, 3.21419340e-01, 3.08984923e-01,-7.83336331e-01,
 -6.55641322e-01, 1.79192572e+00,-7.70500121e-02,-2.28648373e+01,
 -1.71644104e+01,-9.89888130e-01]

qfrc_actuator:
[ 3.93824423e-05,-4.21914582e-04,-3.17133344e-04,-1.17196167e-04,
  2.48316291e-05,-4.78932070e-04,-3.03307200e-04,-4.28861554e-05,
  4.36731171e-05,-3.64876242e-04,-2.13047687e-04,-9.54627172e-05,
  4.88210871e-03,-1.32811799e-03, 7.75077776e-04,-1.19445172e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48010826,  4.32023197,  1.18615586,  4.32023197,  5.47508783,
       -3.62392724,  1.18615586, -3.62392724, 17.67922211,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002808391239174507
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.97661745e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.97661745e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10342355, -0.09542545,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.45558921e-05,-6.49854362e-06, 1.04420176e-05,-7.03292023e-06,
  1.76085853e-05,-2.07702672e-05, 1.25102544e-05, 1.62283748e-05,
  1.48539174e-05, 1.40386364e-05, 1.56051219e-05, 5.31840599e-06,
 -2.93953712e-05,-2.73386078e-06, 7.39021810e-06,-1.40286590e-06,
 -3.22028399e-06, 8.76719173e-07,-1.21644511e+00,-1.78244881e-03,
 -3.18466258e-04,-2.28845067e-06]


--- Step 1450 ---
qpos:
[ 2.85755555e-03,-5.62285205e-03,-1.02265659e-02, 2.78734741e-03,
 -4.44319805e-03,-5.17624676e-03,-1.77793888e-02, 5.16719154e-03,
 -4.72588798e-03,-3.95374859e-03,-7.79535298e-03,-1.91736123e-02,
  1.33430346e+00, 1.88995370e-02, 1.31365348e+00, 2.45959860e-02,
  9.50984080e-02,-6.99960280e-02, 1.30739404e-01, 9.94587662e-01,
  8.41798827e-05, 7.86990160e-04,-1.03897817e-01]

qacc:
[ -9.8695627 , -1.11752348,  3.28542058, -0.42097061, -1.2679965 ,
  -2.17502873,  9.2141375 ,-17.89708804, -1.44337734, -1.91461307,
   8.17769853,-14.2279598 , -0.25359706,  0.10908078,  2.31453698,
  -8.00980974, -0.6600113 ,  1.76869844, -0.20178812,-22.59649369,
 -16.75129291, -1.11020335]

qfrc_actuator:
[-1.94921284e-05,-3.82651971e-04,-2.70996081e-04,-1.02051965e-04,
  1.67588945e-05,-5.07030448e-04,-2.95563866e-04,-6.91463773e-05,
  3.46823302e-05,-3.59253572e-04,-1.87338504e-04,-1.10387497e-04,
  4.85255847e-03,-1.34455049e-03, 7.67765287e-04,-1.23530136e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48451309,  0.50326114,  4.45618512,  0.50326114, 18.41048552,
       -1.57273555,  4.45618512, -1.57273555,  4.66213064,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028229790942811694
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10342114, -0.09542495,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.81710544e-05, 3.75343049e-05, 4.58624318e-05, 1.50958973e-05,
 -7.57636083e-06,-3.64274651e-05, 5.54947077e-06,-2.64044532e-05,
 -8.56448608e-06, 1.69517984e-05, 3.07163909e-05,-1.36806394e-05,
 -4.46308014e-05,-2.40625683e-05,-7.96132447e-06,-4.08553452e-05,
 -1.04648225e-06, 7.75971264e-07,-1.21644068e+00,-1.78256531e-03,
 -3.19417524e-04,-2.91811564e-06]


--- Step 1451 ---
qpos:
[ 2.85761327e-03,-5.62320712e-03,-1.02267872e-02, 2.78674721e-03,
 -4.44295726e-03,-5.17743157e-03,-1.77782861e-02, 5.16748141e-03,
 -4.72635108e-03,-3.95453461e-03,-7.79420265e-03,-1.91738697e-02,
  1.33446957e+00, 1.88995313e-02, 1.31378312e+00, 2.45967485e-02,
  9.50927344e-02,-6.99851506e-02, 1.30737282e-01, 9.94582135e-01,
  1.65903710e-05, 7.28567474e-04,-1.03951168e-01]

qacc:
[ -3.17242543, -0.61380873,  2.04118562, -0.0453328 , -0.84512073,
  -1.33176786,  3.25925085, -1.95684573, -3.9583837 , -0.47413692,
   2.31654473, -4.94287693,  0.09860746, -0.43428724, -3.94415045,
  13.20574809, -0.66324319,  1.74962143, -0.30668301,-22.37516832,
 -16.42018755, -1.20203694]

qfrc_actuator:
[-3.65546471e-05,-3.58909192e-04,-2.43411303e-04,-9.27948852e-05,
  1.18675183e-05,-5.58977036e-04,-2.91424577e-04,-6.69432702e-05,
  1.16394139e-05,-3.73338366e-04,-1.90386181e-04,-1.19114958e-04,
  4.82885537e-03,-1.37223720e-03, 7.69352715e-04,-1.17043416e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48227871,  0.63346089,  4.43729081,  0.63346089, 25.00979068,
       -2.9304764 ,  4.43729081, -2.9304764 ,  4.90062907,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002815592027919922
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.97156231e-13, -1.97156231e-13,  1.00000000e+00,  3.88705794e-26,
        1.00000000e+00,  1.97156231e-13, -1.00000000e+00,  0.00000000e+00,
        1.97156231e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10341949, -0.09542536,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.87115720e-05, 5.48643040e-05, 4.15289046e-05, 1.27532381e-05,
 -5.12041085e-06,-7.22945450e-05,-3.61862140e-06, 3.19631951e-07,
 -2.32836596e-05, 1.16599068e-06, 3.76048290e-06,-7.20517169e-06,
 -5.16721194e-05,-4.51375741e-05,-9.99901641e-06, 6.08146284e-05,
  8.09190922e-07, 1.70152924e-06,-1.21644130e+00,-1.78196494e-03,
 -3.19935861e-04,-2.69068071e-06]


--- Step 1452 ---
qpos:
[ 2.85746561e-03,-5.62337282e-03,-1.02265699e-02, 2.78593557e-03,
 -4.44243244e-03,-5.17880269e-03,-1.77775810e-02, 5.16778342e-03,
 -4.72708668e-03,-3.95554202e-03,-7.79299176e-03,-1.91738545e-02,
  1.33463538e+00, 1.88993723e-02, 1.31391294e+00, 2.45962450e-02,
  9.50843980e-02,-6.99673368e-02, 1.30733581e-01, 9.94576351e-01,
 -9.85087657e-05, 6.42621041e-04,-1.04007014e-01]

qacc:
[ -1.78599641, -1.40773535,  6.28094452,-10.78741602,  2.46770658,
   0.88450734, -3.57096967,  4.56357663, -2.37972421,  0.104048  ,
  -1.93574982,  6.70437606, -0.25840469,  0.11291734,  4.12829291,
 -13.99145995, -0.66569489,  1.73408443, -0.39483416,-22.19463833,
 -16.15658167, -1.27123597]

qfrc_actuator:
[-4.65969207e-05,-3.62454920e-04,-2.27067565e-04,-1.04857787e-04,
  2.66483914e-05,-5.53792212e-04,-3.07275670e-04,-6.57797810e-05,
 -1.72966445e-06,-3.99228114e-04,-1.92714580e-04,-1.06408920e-04,
  4.82464832e-03,-1.37086181e-03, 7.70977362e-04,-1.23903833e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47483589,  0.78879358,  4.4047657 ,  0.78879358, 33.17173554,
       -5.13896348,  4.4047657 , -5.13896348,  5.39510762,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002790795431002191
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.98907991e-13, -3.97815982e-13,  1.00000000e+00,  7.91287777e-26,
        1.00000000e+00,  3.97815982e-13, -1.00000000e+00,  0.00000000e+00,
        1.98907991e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10341842, -0.09542648,  0.06199138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05586770e-05, 3.62691284e-05, 3.32417714e-05,-8.02349563e-06,
  1.46089876e-05,-3.59478522e-05,-3.12175334e-05,-2.05323007e-06,
 -1.40348209e-05,-2.47636020e-05,-1.87693154e-06, 1.27464344e-05,
 -4.01660527e-05,-2.42735341e-05, 1.09256974e-06,-6.71057382e-05,
  2.40050480e-06, 3.63022074e-06,-1.21644675e+00,-1.78064992e-03,
 -3.20044848e-04,-1.64550280e-06]


--- Step 1453 ---
qpos:
[ 2.85719854e-03,-5.62326220e-03,-1.02261729e-02, 2.78533831e-03,
 -4.44173480e-03,-5.18007234e-03,-1.77775434e-02, 5.16842369e-03,
 -4.72797706e-03,-3.95669104e-03,-7.79208573e-03,-1.91740170e-02,
  1.33480104e+00, 1.88991006e-02, 1.31404272e+00, 2.45942766e-02,
  9.50732471e-02,-6.99552236e-02, 1.30731236e-01, 9.94570846e-01,
 -1.70949643e-04, 5.46215964e-04,-1.04060104e-01]

qacc:
[ -1.04351039,  0.30647403, -1.46425177,  4.67990409,  1.484854  ,
   2.69222444,-10.83840933, 17.69212968, -1.36228994,  0.30173953,
  -0.59375959, -1.89198281, -0.17142544,  0.07914067,  4.39228471,
 -15.41240582, -0.70362839, -1.42513843,  0.33915523, 21.75646233,
  -2.98280558,  1.39796544]

qfrc_actuator:
[-5.24400010e-05,-3.46877066e-04,-2.17611441e-04,-9.38913756e-05,
  3.51365725e-05,-5.32268455e-04,-3.34582507e-04,-4.74571573e-05,
 -9.29337295e-06,-4.14226170e-04,-2.12384934e-04,-1.16707458e-04,
  4.82682224e-03,-1.36988110e-03, 7.61943117e-04,-1.31474503e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46959626e+00,  2.77543620e-02,  4.46951009e+00,  2.77543620e-02,
        2.92270041e+01, -1.53736325e-01,  4.46951009e+00, -1.53736325e-01,
        4.47055092e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00])
  dim: 3
  dist: -0.00027731606177307244
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00172867e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.00172867e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10320967, -0.04742647,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.13275584e-06, 4.23842466e-05, 2.07664785e-05, 1.35166988e-05,
  8.89579160e-06,-5.06794234e-06,-3.86418955e-05, 1.56623506e-05,
 -7.97556266e-06,-2.86724678e-05,-2.45778619e-05,-1.11758585e-05,
 -2.35749295e-05,-1.55208030e-05,-1.98995538e-05,-8.01799663e-05,
  3.76735122e-06, 6.54077267e-06,-1.21645687e+00,-1.77862255e-03,
 -3.19761835e-04, 1.88343798e-07]


--- Step 1454 ---
qpos:
[ 2.85720846e-03,-5.62305495e-03,-1.02255635e-02, 2.78489814e-03,
 -4.44128548e-03,-5.18146314e-03,-1.77775137e-02, 5.16926088e-03,
 -4.72895159e-03,-3.95771170e-03,-7.79158270e-03,-1.91739841e-02,
  1.33496655e+00, 1.88983715e-02, 1.31417209e+00, 2.45917719e-02,
  9.50593993e-02,-6.99487147e-02, 1.30729610e-01, 9.94565586e-01,
 -2.01383502e-04, 4.38886606e-04,-1.04110818e-01]

qacc:
[ 2.42789281,-0.1470829 , 0.03835857, 2.27867955,-2.16367984, 0.27172892,
 -2.0252449 , 5.52755708,-0.75133973, 1.70015041,-6.63570912,10.55916994,
  0.15045753,-0.4870807 , 0.99725869,-4.4237623 ,-0.67423399,-1.40108065,
  0.17976459,21.45724121,-3.24712884, 1.20494576]

qfrc_actuator:
[-3.80147386e-05,-3.55493033e-04,-2.12204408e-04,-8.72012476e-05,
  2.20940906e-05,-5.36659851e-04,-3.32828501e-04,-3.69226358e-05,
 -1.33825737e-05,-3.87175154e-04,-2.24366653e-04,-1.04962394e-04,
  4.80619389e-03,-1.40462158e-03, 7.41201371e-04,-1.34075018e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48340886, -0.45026586, -4.4607416 , -0.45026586, 12.82895127,
       -0.84239643, -4.4607416 , -0.84239643,  4.56844009,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028193316526080314
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.96894719e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.96894719e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10321249, -0.04742802,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.42627276e-05, 1.99454048e-05, 1.71833729e-05, 9.48832906e-06,
 -1.27883191e-05,-1.44883133e-05,-3.49828336e-06, 9.28592593e-06,
 -4.32826399e-06, 5.48830034e-06,-2.13149426e-05, 9.45026247e-06,
 -3.66810786e-05,-4.45077418e-05,-4.14113208e-05,-3.36085807e-05,
  2.13805083e-06, 5.38780862e-06,-1.21645222e+00,-1.77768337e-03,
 -3.16995961e-04,-4.14538415e-07]


--- Step 1455 ---
qpos:
[ 2.85773619e-03,-5.62294673e-03,-1.02247475e-02, 2.78422249e-03,
 -4.44099611e-03,-5.18266610e-03,-1.77778284e-02, 5.16916513e-03,
 -4.72927790e-03,-3.95852295e-03,-7.79163048e-03,-1.91731209e-02,
  1.33513181e+00, 1.88970510e-02, 1.31430126e+00, 2.45876031e-02,
  9.50429478e-02,-6.99477304e-02, 1.30728168e-01, 9.94560540e-01,
 -1.90350302e-04, 3.20268051e-04,-1.04159459e-01]

qacc:
[  4.53741832, -1.20213536,  5.07500926, -9.39134004, -1.4094056 ,
  -0.7076411 ,  6.82651737,-22.56597555,  5.65423221,  3.51597173,
 -15.65180836, 30.75378398,  0.04768705, -0.48076716,  4.73369581,
 -17.01995421, -0.65091217, -1.38116303,  0.04583355, 21.20808578,
  -3.45559438,  1.04984264]

qfrc_actuator:
[-1.17771050e-05,-3.78556115e-04,-2.09331384e-04,-1.00857998e-04,
  1.42378702e-05,-5.20913048e-04,-3.49535836e-04,-8.43128533e-05,
  2.01094638e-05,-3.70613303e-04,-2.49267723e-04,-6.25404723e-05,
  4.78254077e-03,-1.44265235e-03, 7.29446769e-04,-1.42604015e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48889522, -0.52718276, -4.45783116, -0.52718276, 17.90014774,
       -1.58601367, -4.45783116, -1.58601367,  4.67645707,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002837391777525261
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -3.9128295e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  3.9128295e-13, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10321495, -0.04742863,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.66499672e-05,-7.96237072e-06, 9.42863423e-06,-1.20243133e-05,
 -8.22813688e-06, 7.36419063e-06,-1.97948371e-05,-4.79495889e-05,
  3.33680973e-05, 1.56595394e-05,-2.60605757e-05, 4.21045607e-05,
 -5.31124548e-05,-5.95435241e-05,-3.57390153e-05,-9.27421429e-05,
  9.37951723e-07, 4.87645275e-06,-1.21645068e+00,-1.77739297e-03,
 -3.14265364e-04,-1.08931340e-06]


--- Step 1456 ---
qpos:
[ 2.85857458e-03,-5.62312305e-03,-1.02237643e-02, 2.78307058e-03,
 -4.44114814e-03,-5.18378237e-03,-1.77780466e-02, 5.16813934e-03,
 -4.72920026e-03,-3.95923442e-03,-7.79221459e-03,-1.91720882e-02,
  1.33529646e+00, 1.88964485e-02, 1.31443034e+00, 2.45820541e-02,
  9.50239663e-02,-6.99522053e-02, 1.30726459e-01, 9.94555679e-01,
 -1.38294367e-04, 1.90072226e-04,-1.04206272e-01]

qacc:
[  2.72720477, -1.82950874,  7.97868593,-16.26922746, -3.84831522,
  -2.06225283, 11.45892623,-27.7884737 ,  3.51799588,  1.97320705,
  -7.56889667, 11.29267363, -1.04843214,  1.43078243,  4.17498984,
 -14.49316003, -0.63249942, -1.36477051, -0.06655892, 21.00246197,
  -3.62089811,  0.92459833]

qfrc_actuator:
[ 3.44369144e-06,-4.10130466e-04,-2.08057916e-04,-1.26393128e-04,
 -8.24826958e-06,-5.11096487e-04,-3.41475106e-04,-1.29901550e-04,
  3.99462878e-05,-3.78229974e-04,-2.81611394e-04,-5.56834525e-05,
  4.77838986e-03,-1.37582467e-03, 7.33731884e-04,-1.49230074e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48752908, -0.62526455, -4.44375534, -0.62526455, 24.56465693,
       -2.82497919, -4.44375534, -2.82497919,  4.88502156,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002832909195081834
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95951043e-13, -3.91902087e-13,  1.00000000e+00,  7.67936227e-26,
        1.00000000e+00,  3.91902087e-13, -1.00000000e+00,  0.00000000e+00,
        1.95951043e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10321714, -0.0474285 ,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.59787967e-05,-3.45988923e-05, 3.63148460e-07,-2.57858293e-05,
 -2.27166602e-05, 7.83635275e-06, 5.50229283e-06,-4.68875301e-05,
  2.07920615e-05,-2.40081178e-06,-3.08557842e-05, 7.44430364e-06,
 -4.52739994e-05, 3.69817637e-05,-2.44481417e-05,-7.64435032e-05,
  1.29558290e-07, 4.97308730e-06,-1.21645212e+00,-1.77774618e-03,
 -3.11537856e-04,-1.85058206e-06]


--- Step 1457 ---
qpos:
[ 2.85958933e-03,-5.62384291e-03,-1.02223715e-02, 2.78198409e-03,
 -4.44156819e-03,-5.18542809e-03,-1.77773467e-02, 5.16659745e-03,
 -4.72923029e-03,-3.95970185e-03,-7.79297640e-03,-1.91713701e-02,
  1.33546067e+00, 1.88967380e-02, 1.31455866e+00, 2.45774706e-02,
  9.50025126e-02,-6.99620856e-02, 1.30724108e-01, 9.94550969e-01,
 -4.55776307e-05, 4.80693441e-05,-1.04251451e-01]

qacc:
[  1.56473326, -1.73171327,  4.85079338, -3.96812781, -2.29996264,
  -4.3219295 , 16.58255421,-26.60403138, -0.95256921,  0.17323486,
   1.17922376, -6.51693731, -0.76340786,  1.27086435, -3.96041814,
  12.44052288, -0.61806169, -1.35138148, -0.16074896, 20.83475572,
  -3.7529606 ,  0.82284842]

qfrc_actuator:
[ 1.20544145e-05,-4.46586458e-04,-1.90034762e-04,-1.23215047e-04,
 -2.14143030e-05,-5.58069955e-04,-3.01104077e-04,-1.56286428e-04,
  3.38223132e-05,-3.47069989e-04,-2.82709524e-04,-6.98365798e-05,
  4.77533118e-03,-1.31816522e-03, 6.99705910e-04,-1.44024621e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48075483, -0.74928201, -4.41766232, -0.74928201, 33.21084938,
       -4.87292634, -4.41766232, -4.87292634,  5.30725441,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002810538942937951
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.87553497e-14, -1.97510699e-13,  1.00000000e+00,  1.95052382e-26,
        1.00000000e+00,  1.97510699e-13, -1.00000000e+00,  0.00000000e+00,
        9.87553497e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1032191 , -0.04742776,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.05618626e-06,-5.68332094e-05, 1.00205684e-05, 1.20626298e-06,
 -1.38128128e-05,-4.34263414e-05, 4.10636803e-05,-2.67650886e-05,
 -5.53274815e-06, 2.38010107e-05,-5.12462359e-06,-1.51788331e-05,
 -1.76118359e-05, 5.88548379e-05,-5.69899685e-05, 4.39750856e-05,
 -3.14565498e-07, 5.65340834e-06,-1.21645646e+00,-1.77873844e-03,
 -3.08789042e-04,-2.70893974e-06]


--- Step 1458 ---
qpos:
[ 2.85966468e-03,-5.62479489e-03,-1.02211735e-02, 2.78129138e-03,
 -4.44179826e-03,-5.18736934e-03,-1.77762013e-02, 5.16475429e-03,
 -4.72864380e-03,-3.95952317e-03,-7.79425419e-03,-1.91708562e-02,
  1.33562490e+00, 1.88967509e-02, 1.31468633e+00, 2.45748301e-02,
  9.49786315e-02,-6.99773282e-02, 1.30720798e-01, 9.94546380e-01,
  8.75091320e-05,-1.05926499e-04,-1.04295158e-01]

qacc:
[ -8.21884262,  1.06499594, -5.87672845, 13.14390518,  1.67559   ,
  -2.25839641,  8.7525001 ,-14.45660257,  5.36982792,  1.86511887,
  -4.56750399,  1.40281002,  0.39620254, -0.60356825, -6.91487812,
  22.6439465 , -0.60684833, -1.34055295, -0.23957998, 20.70013392,
  -3.85952495,  0.7395639 ]

qfrc_actuator:
[-3.65487572e-05,-4.50093361e-04,-1.97776449e-04,-1.03160229e-04,
 -1.12324567e-05,-5.67525444e-04,-2.77712211e-04,-1.71190934e-04,
  6.57298109e-05,-2.92828187e-04,-3.00709699e-04,-7.84270060e-05,
  4.76228196e-03,-1.35523110e-03, 6.85363349e-04,-1.33674894e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46989228, -0.9048338 , -4.37735226, -0.9048338 , 44.24828547,
       -8.22251271, -4.37735226, -8.22251271,  6.16955157,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002774160913330964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00100690e-13, -6.00302069e-13,  1.00000000e+00,  1.20120858e-25,
        1.00000000e+00,  6.00302069e-13, -1.00000000e+00,  0.00000000e+00,
        2.00100690e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1032209 , -0.04742657,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.83635531e-05,-3.31544921e-05,-1.82118575e-05, 1.79902806e-05,
  9.77016264e-06,-2.63541359e-05, 1.85696676e-05,-1.58588404e-05,
  3.17565179e-05, 6.58649097e-05,-1.42276066e-05,-8.04261549e-06,
 -9.14050878e-06,-2.27169422e-05,-3.61731982e-05, 9.85466657e-05,
 -4.14118638e-07, 6.90064801e-06,-1.21646363e+00,-1.78036585e-03,
 -3.06000308e-04,-3.67221146e-06]


--- Step 1459 ---
qpos:
[ 2.85846699e-03,-5.62565832e-03,-1.02204960e-02, 2.78048016e-03,
 -4.44156031e-03,-5.18874379e-03,-1.77757547e-02, 5.16340556e-03,
 -4.72767939e-03,-3.95891112e-03,-7.79568729e-03,-1.91707927e-02,
  1.33578868e+00, 1.88972361e-02, 1.31481385e+00, 2.45727269e-02,
  9.49520975e-02,-6.99853376e-02, 1.30717584e-01, 9.94541566e-01,
  1.70939714e-04,-2.90095692e-04,-1.04340601e-01]

qacc:
[-11.15333624,  1.34937957, -4.1035114 ,  2.77892489,  4.05015047,
   3.71056354,-14.24529878, 23.51951242,  3.29602102,  0.07274797,
   2.45870178,-10.30500981, -0.60432534,  0.83206483, -1.77834095,
   6.06800401, -0.6632209 ,  1.80830049,  0.02392033,-23.1193028 ,
 -17.59393605, -0.87168455]

qfrc_actuator:
[-1.00682429e-04,-4.33924798e-04,-2.20536334e-04,-1.08839153e-04,
  1.26073167e-05,-5.01234392e-04,-2.99907794e-04,-1.43710352e-04,
  8.42698072e-05,-2.78494876e-04,-3.10689090e-04,-1.01416887e-04,
  4.73788746e-03,-1.32405193e-03, 6.82849061e-04,-1.31026541e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4795028 , -0.05939581, -4.479109  , -0.05939581, 42.86627607,
       -0.50903284, -4.479109  , -0.50903284,  4.48625289,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028063781183275405
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.97803535e-13, -1.97803535e-13,  1.00000000e+00,  3.91262385e-26,
        1.00000000e+00,  1.97803535e-13, -1.00000000e+00,  0.00000000e+00,
        1.97803535e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10340162, -0.09542604,  0.06199133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.55256508e-05,-5.35758336e-06,-3.12283702e-05,-7.37652504e-06,
  2.41105813e-05, 5.47746865e-05,-2.58871556e-05, 2.66909011e-05,
  1.94701563e-05, 4.79018348e-05, 1.60500484e-06,-2.08179443e-05,
 -3.46624982e-05, 2.24050452e-05,-8.60824708e-06, 2.72328765e-05,
 -1.82798458e-07, 8.70426173e-06,-1.21647357e+00,-1.78262513e-03,
 -3.03157319e-04,-4.74633353e-06]


--- Step 1460 ---
qpos:
[ 2.85719928e-03,-5.62651142e-03,-1.02198351e-02, 2.77958200e-03,
 -4.44103845e-03,-5.18941555e-03,-1.77763131e-02, 5.16309035e-03,
 -4.72718940e-03,-3.95838925e-03,-7.79672483e-03,-1.91709756e-02,
  1.33595191e+00, 1.88985912e-02, 1.31494101e+00, 2.45687110e-02,
  9.49228846e-02,-6.99862176e-02, 1.30713895e-01, 9.94536499e-01,
  2.05448875e-04,-5.03613228e-04,-1.04388012e-01]

qacc:
[ -0.61309192, -0.11801722,  0.80964249, -2.29766296,  2.43321026,
   5.85907534,-23.91626082, 42.90598886, -4.13951224, -1.72447948,
   7.02733965,-11.86751903, -1.10816398,  1.608817  ,  5.40673906,
 -19.34418927, -0.66972401,  1.78233808, -0.11855924,-22.79634483,
 -17.14652293, -0.98143045]

qfrc_actuator:
[-1.02414460e-04,-4.23931423e-04,-2.16398359e-04,-1.11850913e-04,
  2.65352004e-05,-4.61250061e-04,-3.48489861e-04,-9.14739040e-05,
  5.92760155e-05,-3.05904998e-04,-2.98257667e-04,-1.14965991e-04,
  4.71737950e-03,-1.27031663e-03, 6.34151545e-04,-1.41812473e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48926896,  0.64706478,  4.44239158,  0.64706478, 14.85817622,
       -1.51030241,  4.44239158, -1.51030241,  4.70925486,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028386164177372775
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95557071e-13, -1.95557071e-13,  1.00000000e+00,  3.82425680e-26,
        1.00000000e+00,  1.95557071e-13, -1.00000000e+00,  0.00000000e+00,
        1.95557071e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10339871, -0.09542471,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.60297338e-06, 2.36960633e-07,-1.06261735e-06,-4.46031039e-06,
  1.46381388e-05, 6.64667739e-05,-3.95208593e-05, 5.42110029e-05,
 -2.44197539e-05,-1.17940604e-06, 2.18122787e-05,-1.18464235e-05,
 -3.25201003e-05, 5.26222694e-05,-5.27940753e-05,-1.08140783e-04,
  2.80368941e-07, 8.05409183e-06,-1.21647342e+00,-1.78380998e-03,
 -3.01299756e-04,-3.29106795e-06]


--- Step 1461 ---
qpos:
[ 2.85626500e-03,-5.62740655e-03,-1.02188641e-02, 2.77898357e-03,
 -4.44104310e-03,-5.18971837e-03,-1.77768206e-02, 5.16371828e-03,
 -4.72665783e-03,-3.95766210e-03,-7.79801523e-03,-1.91706215e-02,
  1.33611527e+00, 1.88993136e-02, 1.31506710e+00, 2.45641764e-02,
  9.48971136e-02,-6.99910155e-02, 1.30712397e-01, 9.94531359e-01,
  2.62741970e-04,-6.86613808e-04,-1.04435797e-01]

qacc:
[  2.92702508, -0.31036171, -0.24907421,  4.98232439, -4.59562004,
   2.29540415,-11.4432518 , 27.39740013,  0.35287639,  2.08386258,
  -9.30038654, 18.84029867,  0.54045943, -0.94770268, -0.09511605,
  -2.15313288,  0.86046477, -0.97948333,  0.54751049,  9.73683762,
  16.36424059, -0.19915001]

qfrc_actuator:
[-8.51519624e-05,-4.17600352e-04,-1.96417410e-04,-9.54939086e-05,
 -9.92428630e-07,-4.37412365e-04,-3.41307377e-04,-4.28734389e-05,
  6.21210374e-05,-2.87000445e-04,-3.08373769e-04,-8.73691720e-05,
  4.70987962e-03,-1.32790257e-03, 5.73745190e-04,-1.44458120e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50440237, -1.67336442,  4.18204402, -1.67336442, 27.91681343,
        9.36802565,  4.18204402,  9.36802565,  8.25283752,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028876161215761476
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92238680e-13,  1.92238680e-13,  1.00000000e+00, -3.69557102e-26,
        1.00000000e+00, -1.92238680e-13, -1.00000000e+00,  0.00000000e+00,
        1.92238680e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08478485, -0.05574001,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.71620357e-05, 6.08090266e-06, 1.97503576e-05, 1.62464039e-05,
 -2.70854466e-05, 5.52020069e-05, 1.79331513e-05, 5.11385533e-05,
  2.14740043e-06, 2.22295568e-05,-8.07519575e-06, 2.80730037e-05,
 -1.28555714e-05,-4.83906097e-05,-9.84450547e-05,-3.96127637e-05,
  4.17741146e-07, 8.48701184e-06,-1.21647831e+00,-1.78426666e-03,
 -2.98980045e-04,-9.62253373e-07]


--- Step 1462 ---
qpos:
[ 2.85554471e-03,-5.62805216e-03,-1.02180742e-02, 2.77892727e-03,
 -4.44137725e-03,-5.19012595e-03,-1.77764309e-02, 5.16458040e-03,
 -4.72575159e-03,-3.95681809e-03,-7.79911532e-03,-1.91699591e-02,
  1.33627874e+00, 1.88993849e-02, 1.31519225e+00, 2.45619212e-02,
  9.48752636e-02,-6.99981111e-02, 1.30712970e-01, 9.94526199e-01,
  3.31256048e-04,-8.38319228e-04,-1.04483620e-01]

qacc:
[ 1.86220722, 1.94885652,-8.76484714,18.25987455,-2.84355706,-2.15684696,
  6.51115524,-3.82700843, 3.28419607, 0.25103878,-1.98140139, 6.93366521,
  0.74590849,-1.19568507,-8.38661732,27.09231563, 0.98026237,-0.57440722,
  0.51791609, 3.94563208,16.14793415,-0.02812951]

qfrc_actuator:
[-7.46207997e-05,-3.95665812e-04,-2.02755860e-04,-6.78675483e-05,
 -1.71912430e-05,-4.58715259e-04,-3.01320266e-04,-3.22828375e-05,
  8.13431052e-05,-2.76071736e-04,-2.96022920e-04,-7.12749919e-05,
  4.71546859e-03,-1.36236351e-03, 5.64975348e-04,-1.31630886e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51765439,  0.80258177, -4.44579168,  0.80258177, 20.186392  ,
        2.82861729, -4.44579168,  2.82861729,  5.02829385,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000292961184485166
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.89482956e-13,  9.12184214e-08,  1.00000000e+00, -1.72843361e-20,
        1.00000000e+00, -9.12184214e-08, -1.00000000e+00,  3.00926554e-36,
        1.89482956e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08339948, -0.06145442,  0.06199095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10242974e-05, 3.01420298e-05,-2.08675684e-06, 2.88871819e-05,
 -1.69589001e-05, 1.54668942e-05, 5.53770107e-05, 1.45732174e-05,
  1.92913634e-05, 2.28841173e-05, 1.69251905e-05, 1.73138422e-05,
 -1.42519473e-05,-5.11326010e-05,-5.60659275e-05, 1.13968092e-04,
  2.04557476e-07, 7.78375181e-06,-1.21647028e+00,-1.78572594e-03,
 -2.95864608e-04,-7.22089138e-07]


--- Step 1463 ---
qpos:
[ 2.85495641e-03,-5.62839450e-03,-1.02176965e-02, 2.77955689e-03,
 -4.44155848e-03,-5.19042191e-03,-1.77755367e-02, 5.16487184e-03,
 -4.72496673e-03,-3.95607166e-03,-7.79966851e-03,-1.91691063e-02,
  1.33644158e+00, 1.89007508e-02, 1.31531753e+00, 2.45597387e-02,
  9.48577529e-02,-7.00059614e-02, 1.30715329e-01, 9.94521095e-01,
  3.99989536e-04,-9.57955405e-04,-1.04530924e-01]

qacc:
[  1.13686983,  2.96311298,-12.88266077, 25.19346525,  1.34714667,
  -2.43939318, 11.31702958,-22.07902547, -1.04370002, -1.26341734,
   3.51761246, -1.02916527, -1.31026706,  2.06844803,  0.13466388,
   0.19886262,  1.08481707, -0.18867897,  0.44637535, -1.56604284,
  15.95842263,  0.25597707]

qfrc_actuator:
[-6.81423840e-05,-3.82396558e-04,-2.24518848e-04,-3.38418538e-05,
 -8.82653563e-06,-4.53518468e-04,-2.78022138e-04,-6.19191055e-05,
  7.45364098e-05,-2.87674870e-04,-2.70533935e-04,-6.20683871e-05,
  4.71293135e-03,-1.25840948e-03, 5.87213183e-04,-1.31082163e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52772791,  0.93889145, -4.42931178,  0.93889145, 23.45629677,
        4.01233248, -4.42931178,  4.01233248,  5.3782313 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029609896753515774
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08207111, -0.06692799,  0.06199085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.80416196e-06, 3.09518176e-05,-1.47956253e-05, 3.58066982e-05,
  7.88107844e-06, 2.59105421e-05, 3.38178317e-05,-2.67747186e-05,
 -6.24750692e-06, 5.42121940e-06, 3.29007896e-05, 1.11077836e-05,
 -2.22444373e-05, 8.54877016e-05, 1.00555523e-05, 4.84062248e-06,
 -2.02016482e-07, 6.91839826e-06,-1.21646295e+00,-1.78730942e-03,
 -2.93495168e-04, 1.38000168e-07]


--- Step 1464 ---
qpos:
[ 2.85514056e-03,-5.62882975e-03,-1.02174101e-02, 2.78061855e-03,
 -4.44129346e-03,-5.19040087e-03,-1.77743932e-02, 5.16410669e-03,
 -4.72461425e-03,-3.95531597e-03,-7.80018667e-03,-1.91681277e-02,
  1.33660407e+00, 1.89028254e-02, 1.31544311e+00, 2.45556287e-02,
  9.48455130e-02,-7.00105173e-02, 1.30718541e-01, 9.94516308e-01,
  4.39532651e-04,-1.04354234e-03,-1.04575483e-01]

qacc:
[  6.75550846,  1.0093441 , -5.62345087, 13.3396388 ,  3.89331591,
  -2.46002379, 13.82706007,-32.7324478 , -3.78424452,  0.18073126,
  -1.14387297,  3.24178658, -0.90513779,  1.33790926,  6.39559545,
 -21.45606217,  1.31771779,  0.82359342,  0.21341893,-16.2935685 ,
  15.406398  ,  1.38859783]

qfrc_actuator:
[-2.85939506e-05,-4.09985288e-04,-2.37480482e-04,-1.40898343e-05,
  1.39256545e-05,-4.32596348e-04,-2.64703674e-04,-1.14980304e-04,
  5.24586465e-05,-2.94876771e-04,-2.73100029e-04,-5.69997995e-05,
  4.68960331e-03,-1.23286541e-03, 5.90712746e-04,-1.41321571e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53545846, -0.10803433, -4.53417159, -0.10803433, 18.25706678,
       -0.32694059, -4.53417159, -0.32694059,  4.54324837,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029847609505434525
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.29909499e-14, -3.71963800e-13,  1.00000000e+00, -3.45892671e-26,
        1.00000000e+00,  3.71963800e-13, -1.00000000e+00,  0.00000000e+00,
       -9.29909499e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07869713, -0.08191707,  0.06199078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.97533940e-05,-1.17915535e-05,-7.15319485e-06, 2.12614893e-05,
  2.29869193e-05, 4.12513131e-05, 2.19015894e-05,-5.13041985e-05,
 -2.22541090e-05, 3.07858511e-06, 2.98696968e-06, 6.65342650e-06,
 -1.43060699e-05, 4.63791903e-05, 4.10486726e-06,-1.01831939e-04,
 -6.09583173e-07, 5.72625352e-06,-1.21645591e+00,-1.78885037e-03,
 -2.91866236e-04, 1.31817134e-06]


--- Step 1465 ---
qpos:
[ 2.85545228e-03,-5.62910987e-03,-1.02173515e-02, 2.78154124e-03,
 -4.44075744e-03,-5.19033115e-03,-1.77732552e-02, 5.16276428e-03,
 -4.72556386e-03,-3.95457977e-03,-7.80070066e-03,-1.91670897e-02,
  1.33676635e+00, 1.89046613e-02, 1.31556856e+00, 2.45526437e-02,
  9.48384497e-02,-7.00117923e-02, 1.30722089e-01, 9.94511831e-01,
  4.50425270e-04,-1.09534317e-03,-1.04617475e-01]

qacc:
[  1.10607067,  0.55303338, -1.09156392, -1.05939202,  2.36199202,
  -1.11366782,  6.49331902,-16.50314256,-11.39841549,  0.10718349,
  -0.63123856,  1.62399086,  0.08416577, -0.29597642, -3.62354015,
  12.34536212,  1.29412746,  0.82023791,  0.0838594 ,-16.01202134,
  15.30307343,  1.30015723]

qfrc_actuator:
[-2.31546424e-05,-3.90803424e-04,-2.45317155e-04,-2.06751428e-05,
  2.72032133e-05,-4.55746958e-04,-2.75072108e-04,-1.45877000e-04,
 -1.39274663e-05,-2.99505742e-04,-2.74453449e-04,-5.44255286e-05,
  4.65379881e-03,-1.27205196e-03, 6.04252673e-04,-1.34758315e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.53680925,   3.85832955,   2.38661503,   3.85832955,
        11.30884608, -10.94803706,   2.38661503, -10.94803706,
        22.23599174,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002988887707361526
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.78587672e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.78587672e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07869619, -0.08191591,  0.06199077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.57170425e-06, 1.20447690e-05,-1.04201003e-05,-6.92796654e-06,
  1.39522039e-05, 2.23799730e-06,-9.38413001e-07,-2.93717664e-05,
 -6.70189138e-05,-2.03570585e-06,-1.23178619e-07, 2.93728411e-06,
 -3.25218824e-05,-2.81843990e-05,-1.67880164e-07, 5.95457319e-05,
 -4.71735419e-07, 3.67866450e-06,-1.21644765e+00,-1.78990528e-03,
 -2.91366853e-04, 2.90746481e-06]


--- Step 1466 ---
qpos:
[ 2.85513707e-03,-5.62890345e-03,-1.02175532e-02, 2.78199157e-03,
 -4.44075596e-03,-5.19012547e-03,-1.77725720e-02, 5.16142808e-03,
 -4.72695701e-03,-3.95381884e-03,-7.80153847e-03,-1.91656664e-02,
  1.33692834e+00, 1.89061539e-02, 1.31569427e+00, 2.45513768e-02,
  9.48364862e-02,-7.00097984e-02, 1.30725539e-01, 9.94507655e-01,
  4.33105326e-04,-1.11358165e-03,-1.04657042e-01]

qacc:
[ -5.50056624,  0.40876158,  1.48790636, -9.62425126, -4.67809751,
   1.47228944, -4.99972003,  5.71849049, -3.89333092,  1.73935833,
  -7.76453329, 14.91198682,  0.10037024, -0.40083727, -4.85439044,
  17.46574843,  1.27495928,  0.81721384, -0.02457388,-15.78320714,
  15.21402339,  1.2295561 ]

qfrc_actuator:
[-5.55975577e-05,-3.43770069e-04,-2.49906008e-04,-4.26646562e-05,
 -7.12526703e-07,-4.51941787e-04,-2.99497803e-04,-1.45779066e-04,
 -3.48454095e-05,-3.02565914e-04,-2.92815034e-04,-3.55791374e-05,
  4.63181091e-03,-1.29615500e-03, 6.39822321e-04,-1.25442681e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.53123119,   3.95533865,   2.21073568,   3.95533865,
        13.22308354, -15.55103125,   2.21073568, -15.55103125,
        32.35436522,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00029717948858368204
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.33966733e-14,  1.86793347e-13,  1.00000000e+00, -1.74458772e-26,
        1.00000000e+00, -1.86793347e-13, -1.00000000e+00,  0.00000000e+00,
        9.33966733e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07869493, -0.08191543,  0.06199082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.22495249e-05, 5.13283276e-05,-3.62418702e-06,-2.19707487e-05,
 -2.75137108e-05, 3.59636879e-06,-2.51072293e-05,-4.10616816e-07,
 -2.28306933e-05,-4.14753839e-06,-1.86987717e-05, 1.88119329e-05,
 -4.44011533e-05,-4.02770208e-05, 3.92202492e-05, 9.58086326e-05,
 -8.58391115e-08, 2.06862135e-06,-1.21644259e+00,-1.79043985e-03,
 -2.91248457e-04, 3.86067521e-06]


--- Step 1467 ---
qpos:
[ 2.85409068e-03,-5.62829986e-03,-1.02180787e-02, 2.78184504e-03,
 -4.44108893e-03,-5.18985887e-03,-1.77721828e-02, 5.16010203e-03,
 -4.72686592e-03,-3.95330989e-03,-7.80219523e-03,-1.91640276e-02,
  1.33709027e+00, 1.89068092e-02, 1.31582038e+00, 2.45495855e-02,
  9.48395607e-02,-7.00045462e-02, 1.30728528e-01, 9.94503769e-01,
  3.87925700e-04,-1.09844452e-03,-1.04694298e-01]

qacc:
[ -6.41289979,  0.21296497,  2.54323852,-12.67041043, -2.92684877,
   0.92828785, -3.22625528,  3.81681768, 13.00373748, -0.42066204,
   0.0643753 ,  3.60544969,  0.39220508, -0.96207008,  2.14319165,
  -6.74736757,  1.25949943,  0.81458438, -0.1151443 ,-15.59860614,
  15.1389555 ,  1.17290295]

qfrc_actuator:
[-9.23136930e-05,-3.33677172e-04,-2.70174993e-04,-7.35077067e-05,
 -1.71418357e-05,-4.49822539e-04,-3.14153561e-04,-1.45189561e-04,
  4.21903709e-05,-3.22473854e-04,-2.85549937e-04,-2.50718667e-05,
  4.62345368e-03,-1.34651319e-03, 6.45973569e-04,-1.28782017e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002938022430718501
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88940529e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.88940529e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07869341, -0.08191548,  0.06199092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.76194516e-05, 3.70894546e-05,-1.08728253e-05,-2.91964544e-05,
 -1.72157985e-05,-1.09521435e-06,-1.70263752e-05,-1.31127287e-07,
  7.63841317e-05,-2.53170071e-05, 4.75355397e-06, 1.00466461e-05,
 -3.84648561e-05,-7.33861579e-05, 2.99055837e-05,-2.41296035e-05,
  5.50620202e-07, 8.62871713e-07,-1.21644062e+00,-1.79046473e-03,
 -2.91519176e-04, 4.19713728e-06]


--- Step 1468 ---
qpos:
[ 2.85261227e-03,-5.62762532e-03,-1.02187383e-02, 2.78170471e-03,
 -4.44058197e-03,-5.18943227e-03,-1.77720616e-02, 5.15912395e-03,
 -4.72619731e-03,-3.95315560e-03,-7.80211447e-03,-1.91626465e-02,
  1.33725211e+00, 1.89065722e-02, 1.31594610e+00, 2.45475499e-02,
  9.48476238e-02,-6.99960445e-02, 1.30730754e-01, 9.94500158e-01,
  3.15168070e-04,-1.05008399e-03,-1.04729333e-01]

qacc:
[ -3.78428794,  0.4886246 , -1.6195332 ,  1.87522756,  7.31384602,
   1.66213981, -7.11378349, 13.47473692,  5.08490001, -3.07126339,
  11.33800219,-16.6909097 ,  0.4884766 , -1.11021148,  0.0855411 ,
  -1.31704159,  1.24715589,  0.81238016, -0.19063952,-15.45119787,
  15.07735015,  1.12710407]

qfrc_actuator:
[-1.13486113e-04,-3.45853808e-04,-2.81931960e-04,-7.38441820e-05,
  2.65923338e-05,-4.30941545e-04,-3.22926305e-04,-1.26558886e-04,
  6.97322239e-05,-3.34471016e-04,-2.45531544e-04,-3.73049478e-05,
  4.61261321e-03,-1.39424052e-03, 6.02495522e-04,-1.30682506e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028913456233670143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.59953573e-14, -1.91990715e-13,  1.00000000e+00,  1.84302172e-26,
        1.00000000e+00,  1.91990715e-13, -1.00000000e+00,  0.00000000e+00,
        9.59953573e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07869169, -0.08191593,  0.06199107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.22344036e-05, 5.04183029e-06,-6.44340316e-06, 3.10102517e-07,
  4.32409305e-05, 1.47288896e-05,-1.11049674e-05, 1.79941921e-05,
  2.97150458e-05,-2.47296872e-05, 3.57174887e-05,-1.29636982e-05,
 -4.63928414e-05,-7.91488732e-05,-3.70534017e-05,-1.75619114e-05,
  1.43846858e-06, 3.57668758e-08,-1.21644164e+00,-1.78998831e-03,
 -2.92184836e-04, 3.93179377e-06]


--- Step 1469 ---
qpos:
[ 2.85123636e-03,-5.62729653e-03,-1.02188017e-02, 2.78190998e-03,
 -4.43955504e-03,-5.18869106e-03,-1.77721456e-02, 5.15835192e-03,
 -4.72589286e-03,-3.95322063e-03,-7.80212724e-03,-1.91613825e-02,
  1.33741373e+00, 1.89054883e-02, 1.31607087e+00, 2.45470358e-02,
  9.48598229e-02,-6.99881405e-02, 1.30733341e-01, 9.94496591e-01,
  2.43291171e-04,-9.70367723e-04,-1.04764158e-01]

qacc:
[ 0.92129213,-1.41296026, 2.91310992, 2.37225852, 4.52284947, 1.4041575 ,
 -5.28879689, 8.96873049,-3.1873097 ,-0.26323066, 1.02204723,-2.74637471,
  0.54568989,-1.18115097,-6.09799937,19.09092847, 1.03399042,-0.14945674,
  0.09014624,-1.20388601,15.63781705, 0.10146014]

qfrc_actuator:
[-1.07586360e-04,-3.71224815e-04,-2.53136628e-04,-5.62410258e-05,
  5.21260954e-05,-4.02126961e-04,-3.28077626e-04,-1.15198038e-04,
  5.01381155e-05,-3.59270859e-04,-2.57500587e-04,-4.50425851e-05,
  4.59496173e-03,-1.43999927e-03, 5.55926664e-04,-1.22850409e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028391542797906455
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.77600119e-14, -3.91040048e-13,  1.00000000e+00,  3.82280797e-26,
        1.00000000e+00,  3.91040048e-13, -1.00000000e+00,  0.00000000e+00,
        9.77600119e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08207126, -0.06692451,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.26482719e-06,-2.38887300e-05, 2.90563753e-05, 1.76037467e-05,
  2.67782479e-05, 3.55284939e-05,-2.86036740e-06, 1.19569997e-05,
 -1.87541952e-05,-3.18036465e-05,-1.31326042e-05,-7.81803092e-06,
 -5.97377391e-05,-8.01752488e-05,-6.67128246e-05, 7.23290142e-05,
  2.57729057e-06,-4.32737887e-07,-1.21644560e+00,-1.78901715e-03,
 -2.93249669e-04, 3.07593665e-06]


--- Step 1470 ---
qpos:
[ 2.84994135e-03,-5.62698066e-03,-1.02183217e-02, 2.78193962e-03,
 -4.43891904e-03,-5.18803405e-03,-1.77723876e-02, 5.15742499e-03,
 -4.72582522e-03,-3.95366998e-03,-7.80217582e-03,-1.91605483e-02,
  1.33757475e+00, 1.89041311e-02, 1.31619451e+00, 2.45498121e-02,
  9.48761460e-02,-6.99808245e-02, 1.30736005e-01, 9.94493060e-01,
  1.72297992e-04,-8.59599461e-04,-1.04798785e-01]

qacc:
[ 7.24807896e-01,-1.89925205e+00, 7.48590119e+00,-1.13822030e+01,
 -3.41269708e+00, 1.77517211e-02, 4.40619108e-01,-2.81937077e+00,
 -2.06782729e+00,-1.28953837e+00, 5.67972418e+00,-1.27813680e+01,
  3.95848884e-02,-3.78009314e-01,-1.16723944e+01, 3.83338314e+01,
  1.03101182e+00,-1.46972692e-01, 1.93477628e-02,-1.18704843e+00,
  1.54868849e+01, 9.60885240e-02]

qfrc_actuator:
[-1.03557637e-04,-3.50866214e-04,-2.18439039e-04,-6.37212222e-05,
  3.12183351e-05,-4.38581353e-04,-3.48764345e-04,-1.25948975e-04,
  3.84783730e-05,-3.91745803e-04,-2.64620784e-04,-6.78732249e-05,
  4.56258672e-03,-1.44876026e-03, 5.12893350e-04,-1.05795026e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002794872585145658
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.93089122e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.93089122e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08207086, -0.06692428,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.16794863e-06, 1.37506299e-05, 3.39489770e-05,-7.15666614e-06,
 -2.01280560e-05,-1.66804746e-05,-1.32940351e-05,-9.09583498e-06,
 -1.22055401e-05,-5.33125234e-05,-1.55777976e-05,-2.48010342e-05,
 -8.14699523e-05,-4.64696766e-05,-6.50259041e-05, 1.66169834e-04,
  2.80885737e-06,-1.36036905e-06,-1.21644842e+00,-1.78802239e-03,
 -2.94375308e-04, 2.13897637e-06]


--- Step 1471 ---
qpos:
[ 2.84904950e-03,-5.62646759e-03,-1.02177858e-02, 2.78188578e-03,
 -4.43888281e-03,-5.18798892e-03,-1.77723326e-02, 5.15641411e-03,
 -4.72589804e-03,-3.95455699e-03,-7.80198532e-03,-1.91603515e-02,
  1.33773508e+00, 1.89028617e-02, 1.31631743e+00, 2.45562178e-02,
  9.48957557e-02,-6.99769970e-02, 1.30738501e-01, 9.94489432e-01,
  1.23885762e-04,-7.20409006e-04,-1.04834319e-01]

qacc:
[  3.52485098, -0.07434471,  0.98364119, -2.64979836, -5.2108679 ,
  -1.80033248,  5.61837254, -7.11579534, -1.21509694, -2.55740572,
  10.96880468,-22.05315384, -0.2636547 ,  0.15209092,-12.03847812,
  40.61051867,  0.82163818, -0.8721237 , -0.04206068,  9.73861139,
  15.31594631, -0.46833509]

qfrc_actuator:
[-8.29183077e-05,-3.38769648e-04,-2.15891221e-04,-6.81158226e-05,
  9.01198136e-07,-4.96171531e-04,-3.43232207e-04,-1.31935826e-04,
  3.15975502e-05,-4.10820429e-04,-2.51099356e-04,-9.93999375e-05,
  4.53739755e-03,-1.43555729e-03, 4.98661055e-04,-8.69939597e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.46503743,   1.41132516,   4.23612093,   1.41132516,
        42.11308371, -12.54299297,   4.23612093, -12.54299297,
         8.64391757,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00027576945590905566
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.01295503e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.01295503e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08479601, -0.05573329,  0.06199148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.07606910e-05, 2.64801752e-05, 9.31390602e-06,-2.77173676e-06,
 -3.08990809e-05,-7.00793394e-05, 1.32409865e-07,-7.33664095e-06,
 -7.24764386e-06,-5.31553648e-05,-2.62062760e-07,-3.48319165e-05,
 -7.66848649e-05,-1.94668745e-05,-2.53512075e-05, 1.89003696e-04,
  3.00693514e-06,-2.26617058e-06,-1.21645274e+00,-1.78698812e-03,
 -2.95973569e-04, 1.06556292e-06]


--- Step 1472 ---
qpos:
[ 2.84841212e-03,-5.62589193e-03,-1.02174723e-02, 2.78250733e-03,
 -4.43921067e-03,-5.18824226e-03,-1.77723312e-02, 5.15566906e-03,
 -4.72605289e-03,-3.95581882e-03,-7.80225566e-03,-1.91598028e-02,
  1.33789490e+00, 1.89018486e-02, 1.31644092e+00, 2.45616949e-02,
  9.49186598e-02,-6.99766373e-02, 1.30740571e-01, 9.94485697e-01,
  9.78882080e-05,-5.53132062e-04,-1.04870795e-01]

qacc:
[  2.21817486,  2.09087092,-10.1933395 , 22.19942099, -3.17143721,
   0.30845208, -2.78361833,  7.67775857, -0.72585431,  1.51927191,
  -7.61559122, 14.70923658, -0.68165604,  0.77303065,  3.72573376,
 -11.63477685,  0.82361207, -0.86697115, -0.10676121,  9.6730328 ,
  15.14067389, -0.48392899]

qfrc_actuator:
[-7.04198716e-05,-3.49587889e-04,-2.32363044e-04,-3.51756992e-05,
 -1.69437042e-05,-4.94871303e-04,-3.40113019e-04,-1.17320589e-04,
  2.75824703e-05,-4.39400438e-04,-2.78711411e-04,-8.25069857e-05,
  4.53252745e-03,-1.40942784e-03, 5.28341298e-04,-9.21646832e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027132403002128047
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08479621, -0.05573247,  0.06199162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30986368e-05, 5.77997678e-06,-9.96288089e-06, 3.43401440e-05,
 -1.87548809e-05,-3.81854785e-05,-1.15907712e-05, 1.14777963e-05,
 -4.24172536e-06,-5.98233251e-05,-3.98204183e-05, 1.39307094e-05,
 -4.68626788e-05, 2.40108745e-06, 3.72028947e-05,-4.48430847e-05,
  2.00237984e-06,-3.50956548e-06,-1.21645597e+00,-1.78627310e-03,
 -2.97723854e-04, 6.04879560e-07]


--- Step 1473 ---
qpos:
[ 2.84792972e-03,-5.62534876e-03,-1.02173207e-02, 2.78387251e-03,
 -4.43975032e-03,-5.18856453e-03,-1.77726526e-02, 5.15440303e-03,
 -4.72625495e-03,-3.95728452e-03,-7.80293164e-03,-1.91594270e-02,
  1.33805438e+00, 1.89010585e-02, 1.31656512e+00, 2.45648191e-02,
  9.49448660e-02,-6.99797292e-02, 1.30741997e-01, 9.94481837e-01,
  9.41717932e-05,-3.58024435e-04,-1.04908236e-01]

qacc:
[  1.35155986,  1.93862991,-10.1179526 , 23.27518202, -1.85627078,
  -0.25783885,  2.99263915,-11.44879221, -0.42276393,  0.50903042,
  -1.47496483, -0.71974298, -0.66261814,  0.77524883,  8.26390845,
 -27.18238586,  0.82549738, -0.86286853, -0.16058455,  9.61956341,
  15.00684779, -0.49348448]

qfrc_actuator:
[-6.28185367e-05,-3.56346656e-04,-2.42238146e-04, 1.68715282e-06,
 -2.73010575e-05,-4.93810747e-04,-3.55962637e-04,-1.43918177e-04,
  2.52845681e-05,-4.38066189e-04,-2.94894002e-04,-9.05545332e-05,
  4.52387885e-03,-1.39349877e-03, 5.57650746e-04,-1.04306795e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026605846135911715
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.08642683e-13, -2.08642683e-13,  1.00000000e+00,  4.35317692e-26,
        1.00000000e+00,  2.08642683e-13, -1.00000000e+00,  0.00000000e+00,
        2.08642683e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08479608, -0.05573147,  0.06199178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.97444482e-06,-4.13245164e-06,-8.73174817e-06, 3.74303410e-05,
 -1.09083584e-05,-2.21904805e-05,-2.47619845e-05,-2.84083480e-05,
 -2.44305610e-06,-3.97010200e-05,-3.29443770e-05,-1.17136616e-05,
 -3.06311030e-05, 5.64018904e-06, 3.54532802e-05,-1.20498045e-04,
  7.37909435e-07,-4.55454324e-06,-1.21646117e+00,-1.78586147e-03,
 -2.99924096e-04, 3.45936416e-07]


--- Step 1474 ---
qpos:
[ 2.84788741e-03,-5.62521280e-03,-1.02167879e-02, 2.78498898e-03,
 -4.44041007e-03,-5.18907520e-03,-1.77729255e-02, 5.15385372e-03,
 -4.72579375e-03,-3.95848837e-03,-7.80376598e-03,-1.91595738e-02,
  1.33821348e+00, 1.89009087e-02, 1.31668941e+00, 2.45668576e-02,
  9.49743817e-02,-6.99862597e-02, 1.30742603e-01, 9.94477837e-01,
  1.12631264e-04,-1.35275495e-04,-1.04946653e-01]

qacc:
[  3.86820116, -2.12357015,  7.82756265,-12.42788568, -1.04213225,
   1.09289645, -7.28031061, 19.74208297,  5.79673307, -0.29923365,
   3.75229503,-12.70843656, -0.79194836,  1.16396719,  3.50383419,
 -11.85160996,  0.82740928, -0.85968397, -0.20525552,  9.5766891 ,
  14.90753765, -0.49812399]

qfrc_actuator:
[-4.04051349e-05,-3.96104955e-04,-2.30374042e-04,-1.26926477e-05,
 -3.31725264e-05,-4.93004152e-04,-3.47397449e-04,-1.05799847e-04,
  5.95202523e-05,-3.83299143e-04,-2.86337154e-04,-1.13182279e-04,
  4.51829284e-03,-1.34825379e-03, 5.54749197e-04,-1.09800598e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026019413805231095
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06672563e-13,  4.26690252e-13,  1.00000000e+00,  4.55161429e-26,
        1.00000000e+00, -4.26690252e-13, -1.00000000e+00,  0.00000000e+00,
       -1.06672563e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0847957 , -0.05573034,  0.06199196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.26365379e-05,-4.22891983e-05, 1.12192068e-05,-1.41353200e-05,
 -6.18975444e-06,-1.79193473e-05,-4.08555283e-08, 3.57624506e-05,
  3.41486142e-05, 2.53190193e-05,-4.08181530e-06,-2.56918532e-05,
 -1.92044764e-05, 3.98602366e-05,-5.98292159e-06,-5.84555370e-05,
 -7.86266137e-07,-5.40719671e-06,-1.21646829e+00,-1.78575207e-03,
 -3.02569004e-04, 2.82235091e-07]


--- Step 1475 ---
qpos:
[ 2.84776909e-03,-5.62529319e-03,-1.02161409e-02, 2.78557355e-03,
 -4.44079047e-03,-5.18955832e-03,-1.77732318e-02, 5.15443317e-03,
 -4.72458099e-03,-3.95943325e-03,-7.80487657e-03,-1.91592925e-02,
  1.33837198e+00, 1.89024902e-02, 1.31681345e+00, 2.45682540e-02,
  9.50012322e-02,-6.99854490e-02, 1.30742914e-01, 9.94473619e-01,
  8.27946294e-05, 5.81477465e-05,-1.04986721e-01]

qacc:
[ -0.65781334, -1.69898359,  7.8903151 ,-17.12131121,  2.43522478,
   2.44868269,-13.45190423, 33.03091362,  6.56656281,  1.98368528,
  -8.40212786, 16.07901337, -1.5886727 ,  2.64728248,  1.78886193,
  -6.29063426, -0.6663241 ,  1.83533189, -0.07364368,-22.47598606,
 -17.11624408, -0.82766667]

qfrc_actuator:
[-4.49568500e-05,-4.02017359e-04,-2.23697467e-04,-3.93705210e-05,
 -1.86068225e-05,-4.74450246e-04,-3.42178307e-04,-4.76338823e-05,
  9.72318549e-05,-3.67867111e-04,-2.98526922e-04,-9.08813316e-05,
  4.51455951e-03,-1.23266790e-03, 5.37878217e-04,-1.13113272e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41888795,  1.75285601, -4.05636124,  1.75285601, 32.50783286,
       12.13794158, -4.05636124, 12.13794158,  9.66399866,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002594211668833085
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.13980809e-13, -4.27961619e-13,  1.00000000e+00,  9.15755735e-26,
        1.00000000e+00,  4.27961619e-13, -1.00000000e+00,  0.00000000e+00,
        2.13980809e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10337113, -0.09545184,  0.06199198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.92053589e-06,-2.78544579e-05,-1.17697937e-06,-2.83816365e-05,
  1.43805145e-05, 1.00781606e-05, 2.76120317e-06, 5.80961080e-05,
  3.86921954e-05, 2.77140076e-05,-8.32867757e-06, 2.27473342e-05,
 -4.39564876e-06, 1.23535440e-04,-2.96711489e-05,-3.79497489e-05,
 -2.57132691e-06,-6.07088694e-06,-1.21647732e+00,-1.78594373e-03,
 -3.05654780e-04, 4.09278058e-07]


--- Step 1476 ---
qpos:
[ 2.84794208e-03,-5.62531071e-03,-1.02158506e-02, 2.78617575e-03,
 -4.44099350e-03,-5.18983879e-03,-1.77738093e-02, 5.15535337e-03,
 -4.72361496e-03,-3.96055753e-03,-7.80566044e-03,-1.91587315e-02,
  1.33853041e+00, 1.89049169e-02, 1.31693706e+00, 2.45689218e-02,
  9.50254119e-02,-6.99774218e-02, 1.30742436e-01, 9.94469160e-01,
  5.09206207e-06, 2.23001809e-04,-1.05028754e-01]

qacc:
[  2.53578283,  1.11107111, -3.92402113,  4.76250579,  1.53508525,
   1.72369367, -7.20142724, 13.38977527, -2.14645933, -0.57015091,
   0.51698583,  3.9215347 , -0.59941179,  1.16098533,  1.64233176,
  -6.48589453, -0.66767601,  1.80410254, -0.19739669,-22.30094441,
 -16.71836587, -0.98941251]

qfrc_actuator:
[-2.98423218e-05,-3.87650201e-04,-2.37771360e-04,-3.75392967e-05,
 -9.88284670e-06,-4.63141192e-04,-3.56656883e-04,-3.13959808e-05,
  8.34175099e-05,-3.93890594e-04,-2.87478164e-04,-7.78701775e-05,
  4.51197195e-03,-1.20049294e-03, 5.12651457e-04,-1.16893472e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42570793, -1.4602161 ,  4.17787741, -1.4602161 , 17.6303074 ,
        4.61515907,  4.17787741,  4.61515907,  6.038759  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002619212816250549
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.11938300e-13, -4.23876601e-13,  1.00000000e+00,  8.98356862e-26,
        1.00000000e+00,  4.23876601e-13, -1.00000000e+00,  0.00000000e+00,
        2.11938300e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10336873, -0.09545195,  0.06199191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49934602e-05,-2.67523347e-06,-2.09621745e-05, 4.22420399e-08,
  9.13722842e-06, 2.00290184e-05,-1.00389210e-05, 1.78958933e-05,
 -1.27043789e-05,-1.12081153e-05, 1.65572253e-05, 1.43553292e-05,
  2.30402786e-05, 6.92106203e-05,-4.57396122e-05,-4.43041560e-05,
  9.18432860e-07,-5.80063607e-06,-1.21646837e+00,-1.78498608e-03,
 -3.09371779e-04,-2.41853071e-06]


--- Step 1477 ---
qpos:
[ 2.84863985e-03,-5.62542831e-03,-1.02157120e-02, 2.78714702e-03,
 -4.44074523e-03,-5.19011771e-03,-1.77744729e-02, 5.15647448e-03,
 -4.72282170e-03,-3.96185412e-03,-7.80624362e-03,-1.91583560e-02,
  1.33868923e+00, 1.89066505e-02, 1.31705968e+00, 2.45685511e-02,
  9.50469191e-02,-6.99622795e-02, 1.30740752e-01, 9.94464439e-01,
 -1.20119959e-04, 3.59902051e-04,-1.05072997e-01]

qacc:
[  4.58747566,  1.04305706, -5.48426419, 12.20440044,  3.93303561,
   0.64847051, -3.17075635,  6.79902875, -1.50345694, -1.16781852,
   4.61962205, -8.02472926,  0.72708637, -1.12077124,  1.61422738,
  -7.95324301, -0.66814634,  1.7787703 , -0.3013565 ,-22.15511887,
 -16.39451163, -1.11865508]

qfrc_actuator:
[-3.26494764e-06,-3.96813253e-04,-2.46117893e-04,-1.89393968e-05,
  1.30789586e-05,-4.74117795e-04,-3.64950342e-04,-2.22257666e-05,
  7.48905256e-05,-4.08947320e-04,-2.80731388e-04,-8.82082918e-05,
  4.49939345e-03,-1.27142897e-03, 4.45157024e-04,-1.22695114e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42652574, -1.32506832,  4.22354401, -1.32506832, 24.37891696,
        6.25973862,  4.22354401,  6.25973862,  6.39041704,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026221901076584064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.23395322e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.23395322e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10336705, -0.09545275,  0.0619919 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.70054653e-05,-1.49865588e-05,-1.14849822e-05, 1.77581236e-05,
  2.32304038e-05,-1.06517108e-06,-4.76623339e-06, 1.00287462e-05,
 -8.89922473e-06,-1.72424413e-05, 6.99027910e-06,-9.96202746e-06,
  1.35086050e-05,-4.39395884e-05,-9.42286583e-05,-6.65388010e-05,
  4.09269680e-06,-4.59766662e-06,-1.21646454e+00,-1.78333455e-03,
 -3.12659239e-04,-4.40031614e-06]


--- Step 1478 ---
qpos:
[ 2.84999579e-03,-5.62559536e-03,-1.02159959e-02, 2.78869128e-03,
 -4.44022366e-03,-5.19033325e-03,-1.77749355e-02, 5.15697827e-03,
 -4.72179227e-03,-3.96299611e-03,-7.80742785e-03,-1.91580932e-02,
  1.33884802e+00, 1.89077847e-02, 1.31718118e+00, 2.45691296e-02,
  9.50657101e-02,-6.99527514e-02, 1.30740497e-01, 9.94459941e-01,
 -2.02110930e-04, 4.85291131e-04,-1.05114937e-01]

qacc:
[  5.7450515 ,  2.28433258,-10.67765297, 21.32684987,  2.3881245 ,
  -1.75301415,  8.9703042 ,-20.01417568,  2.04601698,  1.64824011,
  -5.11101458,  4.01376229,  0.50883516, -0.93742755, -4.61841475,
  13.55798838, -0.6790451 , -1.40353625,  0.35721645, 22.09525413,
  -3.45321654,  1.16460479]

qfrc_actuator:
[ 2.98401321e-05,-4.02203996e-04,-2.68842819e-04, 9.36322958e-06,
  2.64859529e-05,-4.62840481e-04,-3.51856692e-04,-5.27978837e-05,
  8.73133369e-05,-3.99606716e-04,-3.12075736e-04,-9.44501086e-05,
  4.47545648e-03,-1.31426819e-03, 4.05624210e-04,-1.17222651e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44236704, -0.08991869,  4.44145692, -0.08991869, 33.17069756,
        0.58161405,  4.44145692,  0.58161405,  4.454142  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002679017285743268
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03603570e-13, -2.07207141e-13,  1.00000000e+00,  2.14673996e-26,
        1.00000000e+00,  2.07207141e-13, -1.00000000e+00,  0.00000000e+00,
        1.03603570e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10326003, -0.04744295,  0.06199172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.38714778e-05,-1.53750114e-05,-2.66248969e-05, 2.76052439e-05,
  1.40723759e-05, 1.01504258e-05, 1.26411732e-05,-3.05888674e-05,
  1.21581528e-05, 7.68226731e-07,-3.43670769e-05,-6.92845903e-06,
 -2.98538348e-05,-5.20617909e-05,-8.77077477e-05, 3.94726022e-05,
  7.00438521e-06,-2.46020081e-06,-1.21646561e+00,-1.78098531e-03,
 -3.15542570e-04,-5.57049248e-06]


--- Step 1479 ---
qpos:
[ 2.85173824e-03,-5.62582402e-03,-1.02165407e-02, 2.79020778e-03,
 -4.43989038e-03,-5.19006877e-03,-1.77757163e-02, 5.15709382e-03,
 -4.72131232e-03,-3.96350700e-03,-7.80952641e-03,-1.91579470e-02,
  1.33900687e+00, 1.89079087e-02, 1.31730269e+00, 2.45688303e-02,
  9.50818860e-02,-6.99487608e-02, 1.30741029e-01, 9.94455652e-01,
 -2.41648163e-04, 5.98960435e-04,-1.05154833e-01]

qacc:
[ 3.37363669, 0.584128  ,-2.09510871, 2.08962739,-1.6602982 , 0.72688672,
 -0.02698644,-6.54243366,-4.84979576, 3.15937138,-9.5451918 , 8.50569429,
  0.59946261,-1.26173137, 2.58633545,-9.23192611,-0.65376751,-1.38436841,
  0.19669466,21.72475775,-3.59642056, 1.03626513]

qfrc_actuator:
[ 4.87658964e-05,-4.05341955e-04,-2.82110738e-04, 7.63067733e-06,
  1.64049163e-05,-4.20520641e-04,-3.61688633e-04,-7.09722894e-05,
  5.87082797e-05,-3.40380414e-04,-3.47800649e-04,-9.82326715e-05,
  4.47135696e-03,-1.37557095e-03, 4.30849445e-04,-1.21120315e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.458247  , -1.61605054, -4.15503875, -1.61605054, 14.37131625,
       -3.85556474, -4.15503875, -3.85556474,  5.95782085,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027344416855101805
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.0150363e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.0150363e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10326169, -0.04744532,  0.06199155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.98889450e-05,-1.60390416e-05,-1.87689467e-05,-2.77945284e-06,
 -9.67329881e-06, 4.93133605e-05,-7.23047232e-06,-1.78976117e-05,
 -2.82606744e-05, 5.23230080e-05,-4.00115155e-05,-5.06932064e-06,
 -3.25673327e-05,-8.33139355e-05,-8.72992081e-06,-4.75950915e-05,
  4.04989847e-06,-3.12944911e-06,-1.21645646e+00,-1.77941498e-03,
 -3.16312570e-04,-4.50482511e-06]


--- Step 1480 ---
qpos:
[ 2.85334954e-03,-5.62639750e-03,-1.02165355e-02, 2.79098115e-03,
 -4.43933527e-03,-5.18967954e-03,-1.77764942e-02, 5.15701396e-03,
 -4.72152367e-03,-3.96370705e-03,-7.81173461e-03,-1.91575172e-02,
  1.33916576e+00, 1.89067849e-02, 1.31742370e+00, 2.45704159e-02,
  9.50955290e-02,-6.99502436e-02, 1.30741808e-01, 9.94451561e-01,
 -2.39364177e-04, 7.00759208e-04,-1.05192889e-01]

qacc:
[ -1.12447105, -3.52151535, 15.03541419,-28.52629094,  1.93237683,
  -0.24917817,  1.94612699, -5.41757204, -6.06051189,  1.31324904,
  -5.26051062, 10.08708382,  0.99110256, -1.84721008, -6.57334373,
  21.61039883, -0.63323683, -1.36835993,  0.06180248, 21.4182688 ,
  -3.70378849,  0.93646619]

qfrc_actuator:
[ 4.14398412e-05,-4.24848925e-04,-2.54191728e-04,-2.95040639e-05,
  2.80885850e-05,-4.31027809e-04,-3.67084613e-04,-8.16902061e-05,
  2.39303148e-05,-3.22771573e-04,-3.50094946e-04,-8.27381289e-05,
  4.46317532e-03,-1.44730145e-03, 4.20306980e-04,-1.10967424e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46594263, -1.72512413, -4.11929488, -1.72512413, 20.18655961,
       -6.58365484, -4.11929488, -6.58365484,  7.22311883,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002760774654882864
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00535462e-13,  2.01070925e-13,  1.00000000e+00,  2.02147583e-26,
        1.00000000e+00, -2.01070925e-13, -1.00000000e+00,  0.00000000e+00,
       -1.00535462e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10326323, -0.04744661,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.76133824e-06,-3.24593111e-05, 2.22010611e-05,-3.85283533e-05,
  1.14245946e-05, 1.48042012e-05, 3.28568114e-06,-9.20236085e-06,
 -3.55686906e-05, 3.84207517e-05, 3.44116379e-06, 1.62590081e-05,
 -4.39938216e-05,-1.04436158e-04,-2.22664773e-05, 9.71983826e-05,
  1.54412689e-06,-3.20692872e-06,-1.21645042e+00,-1.77851868e-03,
 -3.17092923e-04,-3.56686275e-06]


--- Step 1481 ---
qpos:
[ 2.85486058e-03,-5.62708882e-03,-1.02162952e-02, 2.79164126e-03,
 -4.43933388e-03,-5.18968503e-03,-1.77768393e-02, 5.15753459e-03,
 -4.72146040e-03,-3.96411737e-03,-7.81316951e-03,-1.91568996e-02,
  1.33932414e+00, 1.89053239e-02, 1.31754410e+00, 2.45735875e-02,
  9.51067057e-02,-6.99571468e-02, 1.30742381e-01, 9.94447655e-01,
 -1.95777210e-04, 7.90579878e-04,-1.05229262e-01]

qacc:
[-0.86763889,-1.04417751, 3.97816087,-6.23083931,-4.80821447,-0.48505671,
 -1.54584744,11.5189227 , 2.43209872,-2.05720666, 6.13020171,-3.95058813,
 -0.02560398,-0.31806339,-5.72333194,18.67471812,-0.61657293,-1.35510573,
 -0.05139341,21.16634489,-3.78369763, 0.85919398]

qfrc_actuator:
[ 3.64783779e-05,-4.18364196e-04,-2.37772473e-04,-3.38957530e-05,
 -7.61622494e-07,-4.73067915e-04,-3.52260101e-04,-5.24664976e-05,
  3.90681267e-05,-3.47818007e-04,-3.15017194e-04,-7.37834238e-05,
  4.43656704e-03,-1.45363627e-03, 3.83022638e-04,-1.03276949e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.46680778,  -1.86011966,  -4.06107456,  -1.86011966,
        27.44857931, -10.52648614,  -4.06107456, -10.52648614,
         9.28832079,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00027637142314786145
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.00857059e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.00857059e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10326467, -0.04744703,  0.06199146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.16367930e-06,-8.72007658e-06, 1.11194655e-05,-5.76461182e-06,
 -2.85172657e-05,-3.34781713e-05, 1.79728547e-05, 2.97931621e-05,
  1.41318142e-05,-2.13569099e-06, 4.40280702e-05, 1.10415597e-05,
 -7.26146057e-05,-4.82450713e-05,-3.77002422e-05, 7.92200416e-05,
 -5.54112003e-07,-2.71901994e-06,-1.21644736e+00,-1.77828592e-03,
 -3.17860575e-04,-2.75776675e-06]


--- Step 1482 ---
qpos:
[ 2.85595530e-03,-5.62766073e-03,-1.02159869e-02, 2.79256932e-03,
 -4.43967803e-03,-5.19025416e-03,-1.77768977e-02, 5.15912451e-03,
 -4.72121668e-03,-3.96454238e-03,-7.81419078e-03,-1.91561794e-02,
  1.33948182e+00, 1.89041953e-02, 1.31766440e+00, 2.45759530e-02,
  9.51154701e-02,-6.99694270e-02, 1.30742370e-01, 9.94443919e-01,
 -1.11308314e-04, 8.68346743e-04,-1.05264076e-01]

qacc:
[-3.64136264, 0.52653093,-2.76716072, 7.19457762,-2.99414848, 0.66153936,
 -7.9434654 ,26.39533193, 1.59300971,-0.96762029, 2.98369881,-1.85416162,
 -0.82601076, 0.9234044 , 2.36888643,-8.30507657,-0.60306456,-1.34424997,
 -0.14624009,20.96107613,-3.84267095, 0.79969219]

qfrc_actuator:
[ 1.52046053e-05,-3.96373499e-04,-2.28158027e-04,-1.89742098e-05,
 -1.77400707e-05,-5.15805579e-04,-3.43487051e-04, 4.44702938e-09,
  4.79607308e-05,-3.44802954e-04,-2.93860564e-04,-6.87704092e-05,
  4.41492795e-03,-1.42114518e-03, 3.72327961e-04,-1.07761005e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.46220489,  -2.02584854,  -3.97582824,  -2.02584854,
        36.20236802, -16.17292281,  -3.97582824, -16.17292281,
        12.70297641,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002748026653972696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02003686e-13, -4.04007371e-13,  1.00000000e+00,  8.16109780e-26,
        1.00000000e+00,  4.04007371e-13, -1.00000000e+00,  0.00000000e+00,
        2.02003686e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10326605, -0.04744676,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.14228017e-05, 1.91783919e-05, 8.98586991e-06, 1.48199441e-05,
 -1.78096410e-05,-5.64765726e-05, 5.10738985e-06, 5.22392419e-05,
  9.29055848e-06, 1.14227262e-05, 2.65398356e-05, 6.66200613e-06,
 -6.89731451e-05, 1.23712576e-06,-2.05573353e-05,-4.55610845e-05,
 -2.27581233e-06,-1.68473488e-06,-1.21644717e+00,-1.77870808e-03,
 -3.18598712e-04,-2.07722694e-06]


--- Step 1483 ---
qpos:
[ 2.85644154e-03,-5.62805281e-03,-1.02155990e-02, 2.79365983e-03,
 -4.43918899e-03,-5.19090026e-03,-1.77772735e-02, 5.16096501e-03,
 -4.72121327e-03,-3.96467828e-03,-7.81531744e-03,-1.91557531e-02,
  1.33963863e+00, 1.89043515e-02, 1.31778431e+00, 2.45774666e-02,
  9.51194783e-02,-6.99778471e-02, 1.30743263e-01, 9.94440067e-01,
 -4.96881839e-05, 9.06344701e-04,-1.05300184e-01]

qacc:
[ -5.32285205,  0.36027907, -1.60752351,  4.14014995,  7.2575013 ,
   1.28657251, -5.81765837, 10.74586161, -2.11220773,  0.07553611,
   1.53080166, -6.66425602, -1.53323838,  2.23893017,  2.20798157,
  -8.08703315, -1.18906087,  0.96504095,  0.22625116, -9.26723396,
 -20.9764294 , -0.6622229 ]

qfrc_actuator:
[-1.55003830e-05,-3.83021959e-04,-2.22553540e-04,-1.05532830e-05,
  2.56757389e-05,-5.05377075e-04,-3.56124507e-04, 1.24568373e-05,
  3.53379009e-05,-3.25062465e-04,-2.98758893e-04,-8.38648021e-05,
  4.39630580e-03,-1.33038793e-03, 3.45609243e-04,-1.12272954e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002736792993450199
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02832846e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.02832846e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10962175, -0.08174222,  0.06199154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.13102666e-05, 2.65713127e-05, 1.11863407e-05, 9.84124084e-06,
  4.28831478e-05,-1.78481244e-05,-2.18610400e-05, 1.12247560e-05,
 -1.23571171e-05, 3.19246758e-05, 9.75341583e-07,-1.35559788e-05,
 -5.28292265e-05, 7.54966889e-05,-4.45004223e-05,-5.10119442e-05,
 -3.64407280e-06,-1.17048444e-07,-1.21644980e+00,-1.77977811e-03,
 -3.19295138e-04,-1.52410382e-06]


--- Step 1484 ---
qpos:
[ 2.85621088e-03,-5.62813525e-03,-1.02157745e-02, 2.79521615e-03,
 -4.43852875e-03,-5.19120302e-03,-1.77779641e-02, 5.16184970e-03,
 -4.72136085e-03,-3.96482055e-03,-7.81666901e-03,-1.91551188e-02,
  1.33979487e+00, 1.89053217e-02, 1.31790426e+00, 2.45753767e-02,
  9.51187602e-02,-6.99824698e-02, 1.30744568e-01, 9.94436097e-01,
 -1.06997604e-05, 9.05293727e-04,-1.05337687e-01]

qacc:
[ -6.29352425,  2.95571673,-11.88981918, 20.60142886,  1.47665894,
  -0.63760063,  6.96177169,-23.24830436, -1.32864911,  1.05134059,
  -4.63239926,  8.58737845, -1.25640956,  1.7296497 , 11.10943975,
 -38.43228292, -1.18156249,  0.94933966,  0.10279779, -9.19637895,
 -20.60738409, -0.7108349 ]

qfrc_actuator:
[-5.15054196e-05,-3.74962095e-04,-2.54899010e-04, 1.17182247e-05,
  3.32770608e-05,-4.63310093e-04,-3.63366253e-04,-3.42161781e-05,
  2.79070312e-05,-3.48842548e-04,-3.18936614e-04,-7.51630030e-05,
  4.36888269e-03,-1.29451961e-03, 3.35932808e-04,-1.30966927e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46348649, -0.92688749,  4.36618727, -0.92688749, 30.0284032 ,
        5.42711522,  4.36618727,  5.42711522,  5.61559585,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002752406551620873
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.01682238e-13, -2.01682238e-13,  1.00000000e+00,  4.06757250e-26,
        1.00000000e+00,  2.01682238e-13, -1.00000000e+00,  0.00000000e+00,
        2.01682238e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10962025, -0.0817424 ,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.68908999e-05, 2.56456505e-05,-2.51401619e-05, 2.39874136e-05,
  8.82490193e-06, 2.80907440e-05,-1.32266505e-05,-4.79793955e-05,
 -7.77360286e-06,-6.29422600e-06,-1.39184815e-05, 9.84117139e-06,
 -3.69884524e-05, 4.72065301e-05,-3.81776230e-05,-1.95993057e-04,
 -2.21005894e-06, 1.29771910e-07,-1.21644385e+00,-1.78037685e-03,
 -3.20227335e-04,-2.65281422e-06]


--- Step 1485 ---
qpos:
[ 2.85589514e-03,-5.62803206e-03,-1.02163005e-02, 2.79702878e-03,
 -4.43812691e-03,-5.19137250e-03,-1.77784112e-02, 5.16181061e-03,
 -4.72228600e-03,-3.96532546e-03,-7.81835201e-03,-1.91543308e-02,
  1.33995098e+00, 1.89060451e-02, 1.31802447e+00, 2.45712515e-02,
  9.51143280e-02,-6.99817280e-02, 1.30745557e-01, 9.94431929e-01,
 -6.83436807e-06, 8.70591882e-04,-1.05377321e-01]

qacc:
[-7.58131484e-01, 1.75420782e+00,-6.97806111e+00, 1.18349375e+01,
 -2.24859333e+00,-2.40104501e+00, 1.27244833e+01,-2.92089824e+01,
 -6.81107363e+00, 7.77071670e-01,-4.09013555e+00, 7.51823086e+00,
 -1.42300621e-01,-2.91108111e-02, 6.57653163e+00,-2.23950589e+01,
 -9.28544674e-01, 1.34113872e+00,-7.89347244e-02,-1.56904894e+01,
 -1.85816089e+01,-1.08572664e+00]

qfrc_actuator:
[-5.48333978e-05,-3.70278993e-04,-2.73898004e-04, 2.41791207e-05,
  1.97184134e-05,-4.55907438e-04,-3.49493588e-04,-7.97530018e-05,
 -1.19071253e-05,-3.98555133e-04,-3.48120311e-04,-7.03204495e-05,
  4.35216046e-03,-1.32713305e-03, 3.79065456e-04,-1.40108240e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.46129808,  -3.37064588,  -2.92265751,  -3.37064588,
        15.98477062, -13.28980395,  -2.92265751, -13.28980395,
        19.7881788 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002744922000509266
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02232163e-13,  5.32912892e-07,  1.00000000e+00, -1.07772127e-19,
        1.00000000e+00, -5.32912892e-07, -1.00000000e+00, -1.20370622e-35,
        2.02232163e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1066284 , -0.08828198,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.37328637e-06, 1.48485086e-05,-1.59669959e-05, 1.31553505e-05,
 -1.32933181e-05, 1.83434136e-05, 1.63942964e-05,-4.57249850e-05,
 -4.00399133e-05,-5.56692386e-05,-3.18412553e-05, 4.28526025e-06,
 -2.55526725e-05,-2.60413712e-05, 9.25213435e-07,-1.07845343e-04,
 -1.08975228e-06, 6.90231371e-07,-1.21644121e+00,-1.78067613e-03,
 -3.20549051e-04,-3.24425985e-06]


--- Step 1486 ---
qpos:
[ 2.85554166e-03,-5.62788150e-03,-1.02167069e-02, 2.79861644e-03,
 -4.43789045e-03,-5.19167435e-03,-1.77783137e-02, 5.16158455e-03,
 -4.72368137e-03,-3.96604257e-03,-7.82068953e-03,-1.91538321e-02,
  1.34010680e+00, 1.89067200e-02, 1.31814480e+00, 2.45683139e-02,
  9.51061871e-02,-6.99756733e-02, 1.30745869e-01, 9.94427550e-01,
 -3.77889923e-05, 8.02750129e-04,-1.05419171e-01]

qacc:
[ -0.32728085, -0.73438032,  3.65996033, -7.78054414, -1.42302332,
  -2.07873512,  7.95277068,-11.96877589, -4.13345956,  0.96114922,
  -2.59927178, -1.21926475, -0.12162402,  0.0227523 , -3.40820074,
  12.20372749, -0.92717288,  1.32820044, -0.16917998,-15.56600632,
 -18.31221185, -1.12884738]

qfrc_actuator:
[-5.66528469e-05,-3.67621780e-04,-2.67124094e-04, 1.30241906e-05,
  1.15775283e-05,-4.69230644e-04,-3.23384494e-04,-8.87525620e-05,
 -3.49590229e-05,-4.10210501e-04,-3.82511107e-04,-8.55749884e-05,
  4.33651427e-03,-1.32908972e-03, 4.16580387e-04,-1.32879057e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45609477,  0.46300764,  4.43197524,  0.46300764, 40.55156057,
       -3.77088672,  4.43197524, -3.77088672,  4.85003862,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000272701677935833
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.03559991e-13, -1.25865214e-08,  1.00000000e+00, -2.56211219e-21,
        1.00000000e+00,  1.25865214e-08, -1.00000000e+00,  0.00000000e+00,
       -2.03559991e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10662763, -0.08828268,  0.06199158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93930919e-06, 8.22392789e-06, 8.33087774e-06,-1.08180436e-05,
 -8.51434187e-06,-1.63171747e-06, 3.03429314e-05,-8.53424304e-06,
 -2.42168673e-05,-4.91590803e-05,-4.96377818e-05,-1.86522151e-05,
 -3.47603141e-05,-1.55690126e-05, 2.23712387e-05, 6.56072552e-05,
  1.33192570e-08, 1.37611700e-06,-1.21644121e+00,-1.78049441e-03,
 -3.20550823e-04,-3.20732008e-06]


--- Step 1487 ---
qpos:
[ 2.85482417e-03,-5.62767181e-03,-1.02170127e-02, 2.79971245e-03,
 -4.43809851e-03,-5.19193168e-03,-1.77779644e-02, 5.16159512e-03,
 -4.72430800e-03,-3.96700184e-03,-7.82292910e-03,-1.91532233e-02,
  1.34026247e+00, 1.89068699e-02, 1.31826509e+00, 2.45672782e-02,
  9.50943420e-02,-6.99643476e-02, 1.30745202e-01, 9.94422942e-01,
 -1.03318438e-04, 7.02173529e-04,-1.05463302e-01]

qacc:
[ -3.18224179, -1.20950807,  6.51191775,-15.23654627, -3.86925812,
  -0.14979969, -0.36631236,  4.01224665,  6.73689066, -0.38027401,
   0.40464171,  1.54536894,  0.36989474, -0.76790723, -5.88874814,
  20.36050519, -0.92604341,  1.3177629 , -0.24477968,-15.46472644,
 -18.09850693, -1.16024615]

qfrc_actuator:
[-7.53331158e-05,-3.66116097e-04,-2.62968953e-04,-1.19214857e-05,
 -1.10549933e-05,-4.59271783e-04,-3.08084905e-04,-7.61970573e-05,
  5.30801101e-06,-3.99036926e-04,-3.66312594e-04,-7.70009404e-05,
  4.32153328e-03,-1.36600985e-03, 4.18773250e-04,-1.23169513e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026950820577906356
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.78083862e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.78083862e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10662734, -0.08828379,  0.06199167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.87330838e-05, 7.35801356e-06, 6.50555752e-06,-2.45184098e-05,
 -2.28780536e-05, 1.49553822e-05, 1.84083437e-05, 1.33708670e-05,
  3.95564900e-05,-2.73277326e-05,-6.79655231e-07, 4.39466740e-06,
 -3.50511646e-05,-4.99712070e-05, 1.56683263e-05, 1.02708868e-04,
  8.30309215e-07, 2.67819717e-06,-1.21644484e+00,-1.77980408e-03,
 -3.20054174e-04,-2.48577242e-06]


--- Step 1488 ---
qpos:
[ 2.85423317e-03,-5.62742562e-03,-1.02167218e-02, 2.80081448e-03,
 -4.43823147e-03,-5.19204892e-03,-1.77777768e-02, 5.16246303e-03,
 -4.72479239e-03,-3.96832773e-03,-7.82433000e-03,-1.91532437e-02,
  1.34041799e+00, 1.89063422e-02, 1.31838510e+00, 2.45681389e-02,
  9.50798631e-02,-6.99585700e-02, 1.30744701e-01, 9.94418562e-01,
 -1.27536568e-04, 5.90507275e-04,-1.05505256e-01]

qacc:
[  1.12452506, -1.60921926,  5.77850915, -6.65126333,  0.64803359,
   2.40059053,-11.91277574, 26.90998556,  1.27748874, -4.12747836,
  16.65887051,-28.60022697,  0.47265878, -0.97682937, -6.21504367,
  20.99042132, -0.65843823, -1.38702677,  0.04128586, 21.12448351,
  -3.33568105,  1.10821375]

qfrc_actuator:
[-6.82832358e-05,-3.47579412e-04,-2.24908686e-04,-9.27967759e-06,
 -6.53193713e-06,-4.53220235e-04,-3.16948565e-04,-3.33047027e-05,
  1.15050156e-05,-4.09556411e-04,-3.20251172e-04,-1.07671336e-04,
  4.30694804e-03,-1.40565943e-03, 3.99783893e-04,-1.13865945e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43884329, -0.30456395,  4.42838239, -0.30456395, 28.5050133 ,
        1.65516143,  4.42838239,  1.65516143,  4.55267775,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002666512976140373
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04089408e-13, -2.08178815e-13,  1.00000000e+00,  2.16692096e-26,
        1.00000000e+00,  2.08178815e-13, -1.00000000e+00,  0.00000000e+00,
        1.04089408e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10327874, -0.04744382,  0.06199176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.51721637e-06, 2.29338177e-05, 3.95331867e-05, 2.70366489e-06,
  3.87109529e-06, 1.87868194e-05,-3.04444356e-06, 4.44311362e-05,
  7.31177356e-06,-2.56817986e-05, 4.05192168e-05,-3.17746588e-05,
 -4.27733080e-05,-6.32590688e-05,-3.62256967e-06, 1.00031357e-04,
  1.38307805e-06, 4.58727935e-06,-1.21645200e+00,-1.77860667e-03,
 -3.19068742e-04,-1.09773016e-06]


--- Step 1489 ---
qpos:
[ 2.85338594e-03,-5.62680197e-03,-1.02163885e-02, 2.80193331e-03,
 -4.43761981e-03,-5.19171886e-03,-1.77783469e-02, 5.16314948e-03,
 -4.72519870e-03,-3.96976155e-03,-7.82495345e-03,-1.91540063e-02,
  1.34057316e+00, 1.89055699e-02, 1.31850517e+00, 2.45704065e-02,
  9.50628294e-02,-6.99582701e-02, 1.30743927e-01, 9.94414381e-01,
 -1.10853582e-04, 4.67423760e-04,-1.05545291e-01]

qacc:
[-2.24630634e+00, 4.19369782e-01,-8.34836721e-01, 7.71987937e-01,
  6.46205107e+00, 2.32132845e+00,-6.67567879e+00, 4.44255793e+00,
  7.09417708e-01,-3.84630086e+00, 1.66309996e+01,-3.06224012e+01,
 -2.88604320e-02,-2.17043477e-01,-4.19667471e+00, 1.47669511e+01,
 -6.38694269e-01,-1.36942855e+00,-6.79744159e-02, 2.09381510e+01,
 -3.51930876e+00, 9.75857945e-01]

qfrc_actuator:
[-8.16454347e-05,-3.18825149e-04,-2.20299521e-04,-8.13901271e-06,
  3.16952788e-05,-4.31873843e-04,-3.57750005e-04,-4.39361219e-05,
  1.53316278e-05,-3.97365134e-04,-2.74804517e-04,-1.43440556e-04,
  4.29260613e-03,-1.41107904e-03, 4.10713235e-04,-1.06656752e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43979736, -0.26313357, -4.43199293, -0.26313357, 23.75495229,
       -1.14676756, -4.43199293, -1.14676756,  4.50788254,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026699061249109424
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03957122e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.03957122e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10328103, -0.04744378,  0.06199175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31709198e-05, 4.98500053e-05, 1.43009659e-05, 3.54009589e-06,
  3.83430234e-05, 3.31281577e-05,-3.57614262e-05,-9.06932261e-06,
  4.02051296e-06, 4.90380826e-06, 4.40644779e-05,-3.60800710e-05,
 -4.97871887e-05,-3.46883020e-05, 1.81022861e-05, 7.66770102e-05,
  5.49632042e-07, 4.09941748e-06,-1.21645102e+00,-1.77842658e-03,
 -3.16477756e-04,-1.78723043e-06]


--- Step 1490 ---
qpos:
[ 2.85169532e-03,-5.62565891e-03,-1.02166057e-02, 2.80273472e-03,
 -4.43724460e-03,-5.19076112e-03,-1.77795227e-02, 5.16332422e-03,
 -4.72486666e-03,-3.97062297e-03,-7.82561664e-03,-1.91548780e-02,
  1.34072810e+00, 1.89043935e-02, 1.31862519e+00, 2.45735557e-02,
  9.50433030e-02,-6.99633905e-02, 1.30742515e-01, 9.94410371e-01,
 -5.36057107e-05, 3.32662159e-04,-1.05583616e-01]

qacc:
[-7.40361911, 1.58574316,-3.29320209,-1.72889091,-2.09177828, 1.47184568,
 -1.87762431,-6.47867059, 6.45250196, 0.63057594,-0.71326355,-1.50493347,
  0.14502271,-0.46801009,-2.77018137, 9.51937143,-0.62319025,-1.35505692,
 -0.15953412,20.78504588,-3.66584629, 0.86850812]

qfrc_actuator:
[-1.24675394e-04,-3.02048524e-04,-2.53198039e-04,-2.56648549e-05,
  1.84349185e-05,-3.83961145e-04,-3.81548233e-04,-6.82333103e-05,
  5.32485299e-05,-3.36154197e-04,-2.65506253e-04,-1.46399060e-04,
  4.28376042e-03,-1.43162766e-03, 4.02294187e-04,-1.02506352e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43577219, -0.37680605, -4.41973892, -0.37680605, 31.98274908,
       -2.34852507, -4.41973892, -2.34852507,  4.63599634,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002655552112127285
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.09038079e-13, -2.09038079e-13,  1.00000000e+00,  4.36969185e-26,
        1.00000000e+00,  2.09038079e-13, -1.00000000e+00,  0.00000000e+00,
        2.09038079e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10328306, -0.04744318,  0.0619918 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.33922699e-05, 4.77276230e-05,-2.07298825e-05,-1.48300910e-05,
 -1.21477414e-05, 5.86692785e-05,-2.16751824e-05,-2.42945089e-05,
  3.80278284e-05, 7.15702136e-05, 1.45150526e-05,-1.92036847e-06,
 -4.07417850e-05,-4.28781989e-05, 4.46564348e-06, 4.72029998e-05,
  8.46522019e-08, 4.19413432e-06,-1.21645293e+00,-1.77888358e-03,
 -3.13874484e-04,-2.56786347e-06]


--- Step 1491 ---
qpos:
[ 2.84984707e-03,-5.62442735e-03,-1.02167919e-02, 2.80368086e-03,
 -4.43737553e-03,-5.18961854e-03,-1.77803310e-02, 5.16388594e-03,
 -4.72442775e-03,-3.97074450e-03,-7.82685292e-03,-1.91554180e-02,
  1.34088274e+00, 1.89029463e-02, 1.31874471e+00, 2.45762968e-02,
  9.50213322e-02,-6.99738845e-02, 1.30740159e-01, 9.94406504e-01,
  4.39351476e-05, 1.86012315e-04,-1.05620398e-01]

qacc:
[ -1.37917868,  0.33115502, -1.6173182 ,  4.00245779, -4.40534702,
   0.02322458, -1.34702481,  7.30506059,  0.9050409 ,  3.2611707 ,
 -11.60804722, 17.71360211, -0.0632172 , -0.17507817,  0.5089289 ,
  -2.83660797, -0.61111813, -1.34341753, -0.23616989, 20.66123145,
  -3.78382193,  0.78081843]

qfrc_actuator:
[-1.31558445e-04,-3.10504054e-04,-2.54767366e-04,-1.85578413e-05,
 -7.28215394e-06,-3.73725860e-04,-3.59488212e-04,-4.70692260e-05,
  5.76702150e-05,-2.99426500e-04,-2.95143439e-04,-1.30007506e-04,
  4.26756142e-03,-1.44324385e-03, 3.50318419e-04,-1.05520769e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42791088, -0.52092639, -4.39716164, -0.52092639, 42.64140625,
       -4.52710634, -4.39716164, -4.52710634,  4.96423167,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026272229017043625
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05646063e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.05646063e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10328489, -0.04744215,  0.06199188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.10872377e-06, 1.32660925e-05, 5.21348644e-06, 8.14429221e-06,
 -2.60429723e-05, 3.74992723e-05, 3.06698057e-05, 2.24554089e-05,
  5.52860531e-06, 7.97203258e-05,-1.31150142e-05, 1.99252059e-05,
 -4.59633394e-05,-3.41626325e-05,-4.78160313e-05,-2.76616941e-05,
 -3.25544547e-08, 4.85392773e-06,-1.21645767e+00,-1.77997431e-03,
 -3.11238905e-04,-3.44880695e-06]


--- Step 1492 ---
qpos:
[ 2.84862019e-03,-5.62326658e-03,-1.02171839e-02, 2.80474211e-03,
 -4.43746881e-03,-5.18843836e-03,-1.77807545e-02, 5.16436898e-03,
 -4.72428348e-03,-3.97069020e-03,-7.82793066e-03,-1.91557352e-02,
  1.34103702e+00, 1.89015648e-02, 1.31886387e+00, 2.45799305e-02,
  9.49967147e-02,-6.99772591e-02, 1.30737281e-01, 9.94402388e-01,
  9.24811144e-05, 1.02950330e-05,-1.05659275e-01]

qacc:
[  5.42999263,  0.70824849, -3.1651906 ,  5.55821584,  0.33964951,
  -1.18830906,  4.64049467, -6.64502459, -2.57717171,  0.25337833,
  -1.49707139,  4.95917644, -0.24264165,  0.20379727, -3.23783481,
  10.57202249, -0.6616606 ,  1.77984814, -0.13026741,-22.82516195,
 -17.0398775 , -1.05898142]

qfrc_actuator:
[-9.93491405e-05,-3.33875722e-04,-2.73405703e-04,-1.47589292e-05,
 -4.60370669e-06,-3.85905259e-04,-3.46149262e-04,-5.25802870e-05,
  4.23309140e-05,-3.13290471e-04,-2.94334752e-04,-1.20155477e-04,
  4.25761609e-03,-1.43171957e-03, 3.52137022e-04,-1.00313524e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43585362, -0.05902216, -4.43546093, -0.05902216, 45.87497773,
       -0.5514256 , -4.43546093, -0.5514256 ,  4.44319137,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026558434857888724
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.09015145e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.09015145e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10333784, -0.09545296,  0.06199179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.19777332e-05,-1.45689025e-05,-1.49862492e-05, 4.70249520e-06,
  1.94274608e-06, 1.60444381e-05, 2.56354462e-05,-2.40688534e-06,
 -1.51556429e-05, 2.88830683e-05, 1.63657794e-05, 1.32043471e-05,
 -4.15805359e-05,-8.97264668e-06,-2.41705402e-05, 4.41826802e-05,
  1.83410379e-07, 6.06722327e-06,-1.21646519e+00,-1.78169589e-03,
 -3.08555627e-04,-4.43695048e-06]


--- Step 1493 ---
qpos:
[ 2.84813383e-03,-5.62233507e-03,-1.02179704e-02, 2.80552970e-03,
 -4.43821932e-03,-5.18710319e-03,-1.77810250e-02, 5.16478363e-03,
 -4.72397897e-03,-3.97082336e-03,-7.82852707e-03,-1.91555615e-02,
  1.34119101e+00, 1.89002522e-02, 1.31898293e+00, 2.45837768e-02,
  9.49694312e-02,-6.99735950e-02, 1.30733421e-01, 9.94397997e-01,
  9.26354939e-05,-1.93852030e-04,-1.05700409e-01]

qacc:
[  6.46879704,  0.22326022, -0.10244486, -3.8103941 , -5.72934387,
  -0.35214976,  1.86092058, -3.42403263,  1.42134686, -0.58468568,
  -0.34932503,  8.21344571, -0.23925344,  0.23074525, -0.7458403 ,
   2.48436792, -0.66649195,  1.75968408, -0.24556793,-22.55839578,
 -16.69193441, -1.13538681]

qfrc_actuator:
[-6.21529951e-05,-3.66073196e-04,-3.02061012e-04,-3.07257725e-05,
 -3.84871781e-05,-3.75954899e-04,-3.38207475e-04,-5.60329219e-05,
  5.09990369e-05,-3.39488701e-04,-2.75760937e-04,-9.64984736e-05,
  4.25144127e-03,-1.42429179e-03, 3.54284723e-04,-9.91633434e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43975147,  0.96825987,  4.33288194,  0.96825987, 21.61118125,
       -3.83726271,  4.33288194, -3.83726271,  5.29725637,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026697430424094115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10333578, -0.09545231,  0.06199175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.81019724e-05,-4.32632426e-05,-3.33592208e-05,-1.70232945e-05,
 -3.38231115e-05, 2.40757904e-05, 1.43203616e-05,-1.92776067e-06,
  8.24317553e-06,-6.09474788e-06, 2.70253452e-05, 2.57209013e-05,
 -2.90602521e-05,-4.70046327e-06,-6.00318896e-06, 1.04180760e-05,
  3.35719734e-07, 5.96141825e-06,-1.21646716e+00,-1.78238541e-03,
 -3.06640816e-04,-2.76832047e-06]


--- Step 1494 ---
qpos:
[ 2.84775238e-03,-5.62163709e-03,-1.02188287e-02, 2.80609840e-03,
 -4.43937024e-03,-5.18545217e-03,-1.77812447e-02, 5.16479457e-03,
 -4.72322817e-03,-3.97112052e-03,-7.82882432e-03,-1.91554408e-02,
  1.34134469e+00, 1.88990503e-02, 1.31910218e+00, 2.45840796e-02,
  9.49394659e-02,-6.99629586e-02, 1.30728191e-01, 9.94393303e-01,
  4.48929438e-05,-4.25926951e-04,-1.05743914e-01]

qacc:
[  0.91929439, -0.56076373,  2.47253102, -5.97107825, -3.49593016,
  -0.5486286 ,  4.27803229,-11.59165557,  3.91905126, -1.17004563,
   4.06714396, -5.32689608, -0.63417506,  0.67927519, 11.07676452,
 -38.17726215, -0.6704546 ,  1.74306181, -0.34271891,-22.33852829,
 -16.41720504, -1.18868678]

qfrc_actuator:
[-5.78377077e-05,-3.67874086e-04,-3.00950283e-04,-4.04567289e-05,
 -5.81227212e-05,-3.52859110e-04,-3.33425999e-04,-7.59819723e-05,
  7.37345931e-05,-3.55041902e-04,-2.64666875e-04,-1.00420956e-04,
  4.23155564e-03,-1.41935146e-03, 3.35314121e-04,-1.18167737e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43794964,  1.10823342,  4.29734984,  1.10823342, 28.77079741,
       -6.27514075,  4.29734984, -6.27514075,  6.05623089,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002663329571552936
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.08427646e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.08427646e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10333438, -0.09545255,  0.06199177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.38896759e-06,-3.36252351e-05,-1.25281949e-05,-1.30738874e-05,
 -2.05972973e-05, 3.93759700e-05, 1.14395899e-05,-1.84613708e-05,
  2.29656874e-05,-1.22626990e-05, 1.40617727e-05,-2.74670655e-06,
 -3.54275595e-05,-3.07996771e-06,-2.34494459e-05,-1.90893267e-04,
  2.26265417e-07, 6.90722414e-06,-1.21647400e+00,-1.78235012e-03,
 -3.04299808e-04,-2.66414895e-07]


--- Step 1495 ---
qpos:
[ 2.84777068e-03,-5.62102098e-03,-1.02194859e-02, 2.80650679e-03,
 -4.44040276e-03,-5.18383236e-03,-1.77812546e-02, 5.16460015e-03,
 -4.72186573e-03,-3.97161352e-03,-7.82864179e-03,-1.91557215e-02,
  1.34149800e+00, 1.88979526e-02, 1.31922109e+00, 2.45804955e-02,
  9.49129491e-02,-6.99562934e-02, 1.30725840e-01, 9.94388543e-01,
  2.03913671e-05,-6.26629317e-04,-1.05787680e-01]

qacc:
[  3.50422704, -1.00710202,  4.09866918, -7.12144201,  1.03956955,
  -1.05224   ,  4.55570083, -8.41931481,  5.37248584, -2.43725999,
   9.98676762,-17.52771324, -0.64951235,  0.68151205, 11.35032418,
 -40.2452893 ,  0.86213705, -0.99279013,  0.71993599,  9.89655175,
  16.82710534, -0.13900614]

qfrc_actuator:
[-3.74062721e-05,-3.51341071e-04,-2.82144874e-04,-4.63914423e-05,
 -5.14507948e-05,-3.75356818e-04,-3.30499633e-04,-8.77135482e-05,
  1.04560463e-04,-3.64156554e-04,-2.40318412e-04,-1.20543500e-04,
  4.20878368e-03,-1.41597295e-03, 2.98326010e-04,-1.38246189e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46826621, -1.70011408,  4.13219252, -1.70011408, 34.81931002,
       12.48737481,  4.13219252, 12.48737481,  9.60596528,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002768660233551795
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00498243e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.00498243e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08482545, -0.05570751,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.05733346e-05,-5.43167426e-06, 9.86507597e-06,-8.06448326e-06,
  6.09547996e-06, 1.02827986e-06, 1.18137163e-05,-1.00103260e-05,
  3.14757903e-05,-1.31607956e-05, 2.34590604e-05,-2.02144113e-05,
 -4.21919002e-05,-5.12166872e-06,-7.21148231e-05,-2.15123513e-04,
 -1.04004758e-07, 8.86924268e-06,-1.21648555e+00,-1.78159565e-03,
 -3.01549673e-04, 3.03696621e-06]


--- Step 1496 ---
qpos:
[ 2.84837853e-03,-5.62028602e-03,-1.02202770e-02, 2.80649227e-03,
 -4.44169212e-03,-5.18237666e-03,-1.77817468e-02, 5.16536873e-03,
 -4.72014437e-03,-3.97208684e-03,-7.82826085e-03,-1.91559041e-02,
  1.34165098e+00, 1.88971230e-02, 1.31933946e+00, 2.45735012e-02,
  9.48898545e-02,-6.99534892e-02, 1.30725611e-01, 9.94383715e-01,
  1.89096071e-05,-7.96899004e-04,-1.05831903e-01]

qacc:
[  5.15039403, -0.34960547,  3.24210269,-10.41548127, -2.25156985,
   3.11704985,-15.48721139, 33.03921648,  3.14801661, -0.33276958,
   0.80005787,  0.57582771, -0.67220586,  0.81439472,  9.6134547 ,
 -34.59031584,  0.85553514, -0.96523406,  0.530553  ,  9.83547715,
  16.34853484, -0.23853945]

qfrc_actuator:
[-7.64194542e-06,-3.41618585e-04,-2.88471998e-04,-6.77720752e-05,
 -6.48583092e-05,-4.07237281e-04,-3.64371024e-04,-4.12936117e-05,
  1.22144032e-04,-3.51558010e-04,-2.26070210e-04,-1.14511310e-04,
  4.20027238e-03,-1.39581656e-03, 2.71870770e-04,-1.55242474e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49127325, -2.15734961,  3.93921034, -2.15734961, 22.45061664,
        9.83562162,  3.93921034,  9.83562162,  9.87785396,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028451718335613385
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08482848, -0.05570773,  0.06199121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.03490304e-05, 8.36884196e-06,-6.51429102e-06,-2.14306380e-05,
 -1.32324681e-05,-2.93504491e-05,-3.25688242e-05, 4.66745638e-05,
  1.84763568e-05, 9.25035872e-06, 1.37241939e-05, 5.88692381e-06,
 -3.27797006e-05, 9.93634139e-06,-8.42870332e-05,-1.91344850e-04,
  2.58240866e-07, 7.41731056e-06,-1.21647344e+00,-1.78183606e-03,
 -2.98071270e-04, 2.53062838e-06]


--- Step 1497 ---
qpos:
[ 2.84864875e-03,-5.61944200e-03,-1.02211360e-02, 2.80587300e-03,
 -4.44313228e-03,-5.18088775e-03,-1.77827433e-02, 5.16700941e-03,
 -4.71857024e-03,-3.97248257e-03,-7.82828669e-03,-1.91559785e-02,
  1.34180375e+00, 1.88967016e-02, 1.31945689e+00, 2.45671252e-02,
  9.48701574e-02,-6.99544561e-02, 1.30726867e-01, 9.94378819e-01,
  4.02556453e-05,-9.37506182e-04,-1.05876738e-01]

qacc:
[ -2.95756813, -0.90622879,  6.00298899,-16.45173315, -1.33085406,
   3.25098879,-15.20576278, 31.07824973, -1.30284763,  1.46518605,
  -5.52642524,  7.98523355, -0.29615254,  0.51811166, -3.2183722 ,
   9.34017716,  0.84937868, -0.94279396,  0.37129685,  9.77993216,
  15.95587952, -0.31746472]

qfrc_actuator:
[-2.58854829e-05,-3.36150381e-04,-2.91871434e-04,-9.80935349e-05,
 -7.22329662e-05,-3.91344101e-04,-3.84207689e-04, 3.42574779e-06,
  1.14037642e-04,-3.61574003e-04,-2.53297972e-04,-1.10877764e-04,
  4.20565369e-03,-1.36579919e-03, 2.57091319e-04,-1.50753754e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50428905,  2.07702573, -3.99682174,  2.07702573, 17.15542222,
        6.57440608, -3.99682174,  6.57440608,  7.92080635,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002887253411436447
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.88394245e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.88394245e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08483056, -0.05570754,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.73735541e-05, 7.87560550e-06,-3.21591203e-06,-3.06066390e-05,
 -7.76487912e-06,-5.30010919e-06,-2.83082536e-05, 4.32398777e-05,
 -7.57743607e-06,-1.73150492e-06,-2.34206772e-05, 4.61933336e-06,
 -1.09395749e-05, 2.66435668e-05,-7.47190408e-05, 2.34693577e-05,
  3.38312833e-07, 6.26433950e-06,-1.21646397e+00,-1.78236381e-03,
 -2.95089622e-04, 2.25712744e-06]


--- Step 1498 ---
qpos:
[ 2.84869854e-03,-5.61869173e-03,-1.02214199e-02, 2.80522178e-03,
 -4.44430483e-03,-5.17961743e-03,-1.77832955e-02, 5.16844851e-03,
 -4.71710543e-03,-3.97265652e-03,-7.82897434e-03,-1.91563543e-02,
  1.34195654e+00, 1.88963514e-02, 1.31957359e+00, 2.45616085e-02,
  9.48538354e-02,-6.99591214e-02, 1.30729074e-01, 9.94373852e-01,
  8.42654677e-05,-1.04908094e-03,-1.05922308e-01]

qacc:
[ -1.90859699, -1.79298867,  6.35445861, -7.76475668,  2.35123703,
  -1.94994605,  7.37702712,-11.40804358, -0.9818101 ,  1.52406207,
  -3.73380015, -0.5900358 ,  0.09329676, -0.05649128, -3.70455474,
  11.34905379,  0.84378054, -0.92459693,  0.23761175,  9.73092171,
  15.63434773, -0.38010195]

qfrc_actuator:
[-3.67371221e-05,-3.33272507e-04,-2.58021603e-04,-9.79232160e-05,
 -5.82385885e-05,-4.00176319e-04,-3.59903118e-04,-6.42742602e-06,
  1.08632488e-04,-3.49719221e-04,-2.87132864e-04,-1.26485482e-04,
  4.20871969e-03,-1.36561777e-03, 2.33394694e-04,-1.46067324e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50876931,  1.96777644, -4.05670514,  1.96777644, 25.06603954,
        9.97166681, -4.05670514,  9.97166681,  9.34570232,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029015469634113833
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.56578541e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.56578541e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0848319 , -0.055707  ,  0.06199104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13457272e-05, 5.28021154e-06, 3.40233651e-05,-1.97145440e-07,
  1.37692654e-05,-1.58391936e-05, 2.12098635e-05,-1.02227517e-05,
 -5.62269846e-06, 6.26411996e-06,-3.69102366e-05,-1.64005275e-05,
  2.33619555e-06, 6.51484119e-06,-5.44522068e-05, 3.88321196e-05,
  1.44528390e-07, 5.37737541e-06,-1.21645692e+00,-1.78318365e-03,
 -2.92587953e-04, 2.20274930e-06]


--- Step 1499 ---
qpos:
[ 2.84861752e-03,-5.61780563e-03,-1.02213934e-02, 2.80491110e-03,
 -4.44461055e-03,-5.17885713e-03,-1.77836289e-02, 5.16912127e-03,
 -4.71606187e-03,-3.97262168e-03,-7.82983711e-03,-1.91569465e-02,
  1.34210899e+00, 1.88968199e-02, 1.31968996e+00, 2.45572779e-02,
  9.48408687e-02,-6.99674264e-02, 1.30731784e-01, 9.94368809e-01,
  1.50801607e-04,-1.13213731e-03,-1.05968709e-01]

qacc:
[-1.13661105e+00, 1.53916021e-02,-1.22800410e+00, 6.52103390e+00,
  7.57436298e+00,-2.87706446e+00, 1.24905614e+01,-2.57020728e+01,
 -3.69680660e+00, 3.27036330e-01, 1.58843842e-01,-3.78739987e+00,
 -6.51452095e-01, 1.12462323e+00,-4.00833312e+00, 1.34956688e+01,
  8.38804194e-01,-9.09926692e-01, 1.25620259e-01, 9.68899133e+00,
  1.53719153e+01,-4.29838384e-01]

qfrc_actuator:
[-4.31357575e-05,-3.14037002e-04,-2.37943098e-04,-7.97887366e-05,
 -1.40282450e-05,-4.59110517e-04,-3.63118836e-04,-4.82992921e-05,
  8.71164393e-05,-3.24917208e-04,-2.89009015e-04,-1.35518911e-04,
  4.19973260e-03,-1.31215364e-03, 2.36318432e-04,-1.39535826e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5062806 ,  1.82279875, -4.12116119,  1.82279875, 35.81604505,
       13.84837836, -4.12116119, 13.84837836, 10.63144911,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002893619042981521
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.91839874e-13,  1.91839874e-13,  1.00000000e+00, -3.68025372e-26,
        1.00000000e+00, -1.91839874e-13, -1.00000000e+00,  0.00000000e+00,
        1.91839874e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08483266, -0.05570619,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.72439616e-06, 2.91810447e-05, 2.53495713e-05, 1.95350827e-05,
  4.45991266e-05,-6.38866314e-05,-4.24044872e-06,-4.20208729e-05,
 -2.16735933e-05, 1.99968179e-05,-5.68309616e-06,-1.03582529e-05,
 -7.43438695e-06, 5.65245682e-05,-1.73415798e-05, 6.06021156e-05,
 -3.16313825e-07, 4.73166405e-06,-1.21645216e+00,-1.78429888e-03,
 -2.90552901e-04, 2.35679355e-06]


--- Step 1500 ---
qpos:
[ 2.84846034e-03,-5.61686669e-03,-1.02210488e-02, 2.80448479e-03,
 -4.44472876e-03,-5.17856887e-03,-1.77836998e-02, 5.16927997e-03,
 -4.71562903e-03,-3.97277985e-03,-7.83030920e-03,-1.91572849e-02,
  1.34226110e+00, 1.88977848e-02, 1.31980597e+00, 2.45563889e-02,
  9.48312398e-02,-6.99793241e-02, 1.30734621e-01, 9.94363685e-01,
  2.39751493e-04,-1.18709281e-03,-1.06016014e-01]

qacc:
[-6.57145274e-01,-1.05621348e+00, 4.35757225e+00,-6.90876819e+00,
  1.65128004e+00,-2.41853147e+00, 9.88338328e+00,-1.88481077e+01,
 -5.33060799e+00,-8.14125407e-01, 1.48071436e+00, 2.40581405e+00,
 -2.63522876e-01, 5.00856070e-01,-1.09261105e+01, 3.75200268e+01,
  8.34477262e-01,-8.98194117e-01, 3.20141213e-02, 9.65435190e+00,
  1.51587790e+01,-4.69327941e-01]

qfrc_actuator:
[-4.68640427e-05,-3.20684279e-04,-2.26092877e-04,-8.67407346e-05,
 -5.65247031e-06,-4.76716512e-04,-3.47293458e-04,-7.32317096e-05,
  5.62895004e-05,-3.45680477e-04,-2.71931896e-04,-1.22819662e-04,
  4.17289302e-03,-1.29850635e-03, 2.44553077e-04,-1.21312761e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002868122665556361
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.93545248e-13, -1.93545248e-13,  1.00000000e+00,  3.74597630e-26,
        1.00000000e+00,  1.93545248e-13, -1.00000000e+00,  0.00000000e+00,
        1.93545248e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08483294, -0.05570516,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.91490554e-06, 1.57101959e-05, 2.16665738e-05,-4.44533353e-06,
  9.63397780e-06,-5.60168877e-05, 6.44874431e-07,-2.86385885e-05,
 -3.14391570e-05,-1.11926680e-05, 2.01619385e-05, 1.31615860e-05,
 -1.76222226e-05, 2.93271959e-05, 4.94850735e-06, 1.82941421e-04,
 -1.03888054e-06, 4.30881783e-06,-1.21644957e+00,-1.78571180e-03,
 -2.88973829e-04, 2.71104753e-06]


--- Step 1501 ---
qpos:
[ 2.84825976e-03,-5.61620431e-03,-1.02198224e-02, 2.80398212e-03,
 -4.44509067e-03,-5.17807733e-03,-1.77836183e-02, 5.16905822e-03,
 -4.71522446e-03,-3.97295492e-03,-7.83061313e-03,-1.91574758e-02,
  1.34241310e+00, 1.88983162e-02, 1.31992221e+00, 2.45566465e-02,
  9.48258915e-02,-6.99918901e-02, 1.30738152e-01, 9.94358619e-01,
  3.29349279e-04,-1.21142252e-03,-1.06063001e-01]

qacc:
[ -0.34726082, -2.98664934, 10.44213862,-12.97146314, -2.12421165,
  -0.93610599,  5.34099178,-12.32676128, -0.2418289 , -0.18789268,
   0.01606189,  2.27928905,  0.25196416, -0.57345206, -3.17617709,
  11.50376778,  1.0701293 , -0.1670519 ,  0.17334557, -1.30110473,
  15.2609979 ,  0.15758619]

qfrc_actuator:
[-4.89924483e-05,-3.42832549e-04,-1.83806211e-04,-9.06720252e-05,
 -1.84448691e-05,-4.16101658e-04,-3.20174762e-04,-8.79462029e-05,
  5.57392648e-05,-3.40206727e-04,-2.61731194e-04,-1.15216961e-04,
  4.14600532e-03,-1.34425980e-03, 2.55988173e-04,-1.15875653e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48931296, -0.73554971, -4.42864511, -0.73554971, 28.28210922,
       -3.95172426, -4.42864511, -3.95172426,  5.14565131,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002838760546516744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95547142e-13,  3.91094284e-13,  1.00000000e+00, -7.64773697e-26,
        1.00000000e+00, -3.91094284e-13, -1.00000000e+00,  0.00000000e+00,
        1.95547142e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08208046, -0.06688685,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.23874993e-06,-9.11610779e-06, 4.80329384e-05,-2.59666410e-06,
 -1.25345912e-05, 2.81901104e-05, 1.46336143e-05,-1.76508768e-05,
 -1.45441758e-06, 3.94522882e-06, 1.08373353e-05, 8.08075837e-06,
 -2.80301309e-05,-4.11694547e-05, 3.14886062e-05, 6.46273164e-05,
 -2.01923160e-06, 4.09546374e-06,-1.21644904e+00,-1.78742405e-03,
 -2.87842282e-04, 3.25935668e-06]


--- Step 1502 ---
qpos:
[ 2.84734517e-03,-5.61556282e-03,-1.02181246e-02, 2.80308643e-03,
 -4.44560320e-03,-5.17712535e-03,-1.77836605e-02, 5.16864636e-03,
 -4.71482999e-03,-3.97308272e-03,-7.83079174e-03,-1.91579247e-02,
  1.34256478e+00, 1.88986519e-02, 1.32003888e+00, 2.45558996e-02,
  9.48257660e-02,-7.00011799e-02, 1.30741707e-01, 9.94353882e-01,
  3.90729876e-04,-1.20283386e-03,-1.06107297e-01]

qacc:
[-6.23070373e+00,-2.14236620e+00, 9.27860445e+00,-1.68414323e+01,
 -1.32533958e+00, 5.64859126e-01,-3.24279077e-01,-3.11159094e+00,
 -8.54486951e-02,-8.19296336e-01, 4.09941737e+00,-8.79647835e+00,
 -2.55886917e-01, 7.45084510e-02, 3.70596764e+00,-1.19786984e+01,
  1.30571546e+00, 8.19054215e-01, 6.08512883e-03,-1.57731380e+01,
  1.48705820e+01, 1.36713258e+00]

qfrc_actuator:
[-8.56684884e-05,-3.38467895e-04,-1.59453849e-04,-1.10536551e-04,
 -2.58293216e-05,-3.80051338e-04,-3.21780187e-04,-9.64579369e-05,
  5.52642567e-05,-3.36842311e-04,-2.55590097e-04,-1.28420179e-04,
  4.12440675e-03,-1.35391160e-03, 2.63978174e-04,-1.21568796e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4815203 , -0.60639415, -4.44030521, -0.60639415, 22.90045557,
       -2.51539796, -4.44030521, -2.51539796,  4.82503782,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028130787031750704
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.97332379e-13, -1.97332379e-13,  1.00000000e+00,  3.89400677e-26,
        1.00000000e+00,  1.97332379e-13, -1.00000000e+00,  0.00000000e+00,
        1.97332379e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07865786, -0.08186984,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.67482922e-05, 9.03987845e-06, 2.82752722e-05,-1.86465138e-05,
 -7.73381460e-06, 5.40576321e-05, 5.40329361e-06,-7.14132600e-06,
 -5.16842318e-07, 8.16609598e-06, 8.57679054e-06,-1.25003392e-05,
 -4.41210010e-05,-2.90434849e-05, 2.55007125e-05,-5.02351486e-05,
 -2.60765257e-06, 3.05782377e-06,-1.21644697e+00,-1.78910770e-03,
 -2.87679686e-04, 4.09042330e-06]


--- Step 1503 ---
qpos:
[ 2.84599807e-03,-5.61488838e-03,-1.02166988e-02, 2.80200473e-03,
 -4.44654471e-03,-5.17647167e-03,-1.77831356e-02, 5.16853091e-03,
 -4.71444407e-03,-3.97339959e-03,-7.83105731e-03,-1.91584827e-02,
  1.34271621e+00, 1.88983863e-02, 1.32015524e+00, 2.45559004e-02,
  9.48307796e-02,-7.00072091e-02, 1.30744912e-01, 9.94349458e-01,
  4.24260114e-04,-1.16135661e-03,-1.06149074e-01]

qacc:
[ -3.79243447,  0.42810858, -0.66529179, -2.15698254, -3.71806559,
  -1.36066852,  3.04132854,  1.3868621 , -0.07439222, -0.23127774,
   0.92199791, -2.52991284,  0.2568057 , -0.7170672 , -2.76406623,
   8.90263695,  1.28475845,  0.81514517, -0.08747507,-15.58996182,
  14.87456003,  1.27926579]

qfrc_actuator:
[-1.06879867e-04,-3.53845807e-04,-1.81309642e-04,-1.21861181e-04,
 -4.77172400e-05,-4.30088724e-04,-3.04899778e-04,-8.35335334e-05,
  5.48275254e-05,-3.70306170e-04,-2.69661825e-04,-1.36007695e-04,
  4.10067882e-03,-1.39522482e-03, 2.43245564e-04,-1.17793483e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.47509383,   2.57936548,   3.65695755,   2.57936548,
        26.19543753, -15.32003145,   3.65695755, -15.32003145,
        15.28078674,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00027916597522656406
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.94232037e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.94232037e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07865586, -0.08186961,  0.06199138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.22625033e-05,-5.33226279e-06,-1.71739118e-05,-1.03233176e-05,
 -2.20906904e-05,-1.90345229e-05, 2.84549157e-05, 1.52877030e-05,
 -4.49141292e-07,-2.76524917e-05,-1.17562259e-05,-7.18265599e-06,
 -5.18686801e-05,-6.04803368e-05,-1.94566991e-05, 3.71389192e-05,
 -2.15053426e-06, 1.00294271e-06,-1.21644295e+00,-1.79028911e-03,
 -2.88636346e-04, 4.64939369e-06]


--- Step 1504 ---
qpos:
[ 2.84544186e-03,-5.61455311e-03,-1.02156890e-02, 2.80154540e-03,
 -4.44739598e-03,-5.17665163e-03,-1.77820976e-02, 5.16899051e-03,
 -4.71406631e-03,-3.97407026e-03,-7.83113769e-03,-1.91587789e-02,
  1.34286718e+00, 1.88978994e-02, 1.32027096e+00, 2.45561014e-02,
  9.48408655e-02,-7.00099912e-02, 1.30747456e-01, 9.94345333e-01,
  4.30236961e-04,-1.08701855e-03,-1.06188471e-01]

qacc:
[  6.91108823,  1.98271105,-10.37011844, 22.08080885,  0.81750983,
  -1.35269287,  0.79470832,  8.95271779, -0.05945088, -0.44597727,
  -0.19155033,  4.68230358, -0.17714734, -0.06879611, -1.55278138,
   4.06763173,  1.2680871 ,  0.81178073, -0.16551454,-15.44160439,
  14.8758612 ,  1.20783106]

qfrc_actuator:
[-6.55504540e-05,-3.98867358e-04,-2.12582853e-04,-9.26064092e-05,
 -4.24633674e-05,-5.13451539e-04,-2.95321696e-04,-5.81579171e-05,
  5.44162477e-05,-3.90144298e-04,-2.60193819e-04,-1.22518962e-04,
  4.07567790e-03,-1.40179311e-03, 1.94678802e-04,-1.17348455e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002756373150441388
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.01392004e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.01392004e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0786538 , -0.08186982,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.06890002e-05,-5.20352686e-05,-3.48671102e-05, 2.82300157e-05,
  4.61214895e-06,-8.75118735e-05, 9.66821779e-06, 2.58409021e-05,
 -4.34365385e-07,-3.80201291e-05, 2.06860580e-06, 1.17605460e-05,
 -6.47773243e-05,-3.68793370e-05,-5.52757847e-05, 3.59823227e-06,
 -1.46684417e-06,-6.55895777e-07,-1.21644191e+00,-1.79096928e-03,
 -2.89966982e-04, 4.62053226e-06]


--- Step 1505 ---
qpos:
[ 2.84573002e-03,-5.61455262e-03,-1.02153106e-02, 2.80111008e-03,
 -4.44817812e-03,-5.17723481e-03,-1.77813123e-02, 5.16940413e-03,
 -4.71404155e-03,-3.97492135e-03,-7.83086911e-03,-1.91592905e-02,
  1.34301741e+00, 1.88980267e-02, 1.32038654e+00, 2.45556030e-02,
  9.48559713e-02,-7.00095375e-02, 1.30749077e-01, 9.94341488e-01,
  4.08898643e-04,-9.79841017e-04,-1.06225603e-01]

qacc:
[  7.37191592,  1.35738697, -5.60796382,  7.30625379,  0.60188144,
   0.07747389, -0.85741589,  0.76454353, -3.07627014, -1.65166758,
   6.46052572,-10.62002136, -1.01529546,  1.29216068,  2.03489422,
  -7.12824888,  1.25496695,  0.80894567, -0.23049332,-15.32276817,
  14.87725248,  1.14917599]

qfrc_actuator:
[-2.32522139e-05,-4.25810890e-04,-2.49253739e-04,-9.29958649e-05,
 -3.90246784e-05,-5.27391804e-04,-3.08050597e-04,-6.12140564e-05,
  3.62706434e-05,-3.83813992e-04,-2.36839349e-04,-1.32216930e-04,
  4.05526803e-03,-1.35214868e-03, 1.98688259e-04,-1.20652023e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002710425927350685
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02403004e-13, -4.09612015e-13,  1.00000000e+00,  4.19455006e-26,
        1.00000000e+00,  4.09612015e-13, -1.00000000e+00,  0.00000000e+00,
        1.02403004e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07865171, -0.08187036,  0.06199163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.34412618e-05,-6.20412364e-05,-5.07528346e-05,-3.27961993e-06,
  3.53890924e-06,-5.97772997e-05,-2.87302721e-05,-5.97118581e-06,
 -1.81741141e-05,-1.39725088e-05, 1.61731958e-05,-1.10232144e-05,
 -6.18624984e-05, 2.39293134e-05,-2.16319944e-05,-4.00535326e-05,
 -5.49718498e-07,-1.94266411e-06,-1.21644379e+00,-1.79115517e-03,
 -2.91681214e-04, 4.01089678e-06]


--- Step 1506 ---
qpos:
[ 2.84583338e-03,-5.61477783e-03,-1.02154799e-02, 2.80099922e-03,
 -4.44925827e-03,-5.17757498e-03,-1.77812650e-02, 5.16938278e-03,
 -4.71457969e-03,-3.97557958e-03,-7.83074820e-03,-1.91602737e-02,
  1.34316736e+00, 1.88981291e-02, 1.32050187e+00, 2.45569891e-02,
  9.48760562e-02,-7.00058573e-02, 1.30749560e-01, 9.94337899e-01,
  3.60433827e-04,-8.39835933e-04,-1.06260562e-01]

qacc:
[ -1.62960768,  1.903851  , -8.58505293, 15.23614754, -2.62642117,
   1.49236603, -3.01060169, -3.52473565, -4.93579599, -0.29410403,
   3.42267603,-11.50091663, -0.03430799, -0.05430102, -6.09800296,
  20.76220146,  1.24479735,  0.8066137 , -0.28450948,-15.22905305,
  14.88070233,  1.10040206]

qfrc_actuator:
[-3.40004279e-05,-4.24023705e-04,-2.71028767e-04,-7.53171835e-05,
 -5.44427262e-05,-4.82022857e-04,-3.33603038e-04,-8.09382249e-05,
  7.83254597e-06,-3.61814484e-04,-2.40896105e-04,-1.55454449e-04,
  4.04830491e-03,-1.35828669e-03, 2.12917557e-04,-1.10145418e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026564695226601043
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04482944e-13,  2.08965888e-13,  1.00000000e+00, -2.18333711e-26,
        1.00000000e+00, -2.08965888e-13, -1.00000000e+00,  0.00000000e+00,
        1.04482944e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07864961, -0.08187116,  0.06199179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.52637127e-06,-4.35195437e-05,-4.09605796e-05, 1.31986304e-05,
 -1.53360444e-05, 5.76415790e-06,-4.16485877e-05,-2.33973299e-05,
 -2.89647213e-05, 1.70770991e-05,-5.32342858e-06,-2.34877480e-05,
 -3.23756741e-05,-1.28303805e-05,-3.29648656e-06, 9.93862927e-05,
  6.04833772e-07,-2.87629882e-06,-1.21644855e+00,-1.79085226e-03,
 -2.93786394e-04, 2.82578822e-06]


--- Step 1507 ---
qpos:
[ 2.84511766e-03,-5.61524670e-03,-1.02156755e-02, 2.80106648e-03,
 -4.45051479e-03,-5.17778017e-03,-1.77815536e-02, 5.16876511e-03,
 -4.71476514e-03,-3.97567076e-03,-7.83118009e-03,-1.91612028e-02,
  1.34331715e+00, 1.88981274e-02, 1.32061678e+00, 2.45603246e-02,
  9.49010662e-02,-6.99990836e-02, 1.30748796e-01, 9.94334534e-01,
  2.85906317e-04,-6.67048300e-04,-1.06293496e-01]

qacc:
[ -7.16122121,  0.1322411 , -1.6663241 ,  4.9438597 , -1.55112708,
  -0.10771958,  3.16537233,-13.05354004,  3.060365  ,  2.40030099,
  -7.70827886,  9.11967701,  0.12219588, -0.24394785, -6.53415442,
  21.92391321,  1.23125131,  0.77338791, -0.31176745,-14.69849816,
  14.91420578,  1.02368437]

qfrc_actuator:
[-7.58850848e-05,-4.22725894e-04,-2.65944841e-04,-6.48603136e-05,
 -6.30826803e-05,-4.72563868e-04,-3.48510631e-04,-1.10255839e-04,
  2.68279414e-05,-3.12961941e-04,-2.61042552e-04,-1.50968106e-04,
  4.04406956e-03,-1.36199550e-03, 1.90688564e-04,-1.00459436e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002596601645773311
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.95905424e-07, -2.95905621e-07,  1.00000000e+00, -8.75600780e-14,
        1.00000000e+00,  2.95905621e-07, -1.00000000e+00,  0.00000000e+00,
       -2.95905424e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07876621, -0.08135325,  0.06199198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.21701101e-05,-3.09268906e-05,-8.48881896e-06, 7.43322276e-06,
 -9.07494159e-06, 3.08390329e-06,-1.96532095e-05,-3.09660188e-05,
  1.81731902e-05, 5.63093751e-05,-1.80784912e-05, 4.58067211e-06,
 -2.28589290e-05,-1.51946219e-05,-1.51530586e-05, 1.01416877e-04,
  1.99860462e-06,-3.47208514e-06,-1.21645616e+00,-1.79006480e-03,
 -2.96288266e-04, 1.06890123e-06]


--- Step 1508 ---
qpos:
[ 2.84459516e-03,-5.61593161e-03,-1.02155607e-02, 2.80123091e-03,
 -4.45186496e-03,-5.17829089e-03,-1.77815814e-02, 5.16781618e-03,
 -4.71472164e-03,-3.97535399e-03,-7.83213631e-03,-1.91617074e-02,
  1.34346667e+00, 1.88983122e-02, 1.32073148e+00, 2.45651183e-02,
  9.49302033e-02,-6.99928936e-02, 1.30748044e-01, 9.94331163e-01,
  2.12418288e-04,-4.63132873e-04,-1.06326289e-01]

qacc:
[ 1.70355346e+00,-9.56047460e-01, 2.57865135e+00,-1.22815896e+00,
 -8.03600501e-01,-1.81296051e+00, 7.27998901e+00,-1.32097099e+01,
  1.98105867e+00, 2.87547592e+00,-1.12648019e+01, 1.91477948e+01,
 -1.90032780e-01, 2.50301847e-01,-4.72127925e+00, 1.60914063e+01,
  1.03179464e+00,-1.45940075e-01, 3.01952020e-03,-1.13749677e+00,
  1.55309837e+01, 6.48338065e-02]

qfrc_actuator:
[-6.47328788e-05,-4.21613467e-04,-2.45047860e-04,-5.87199627e-05,
 -6.76582320e-05,-5.02392647e-04,-3.39385518e-04,-1.27241554e-04,
  3.80877530e-05,-3.01706814e-04,-2.90378616e-04,-1.30184516e-04,
  4.03614492e-03,-1.34640509e-03, 1.83887944e-04,-9.31229771e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002559140862646858
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.16913231e-13,  2.16913231e-13,  1.00000000e+00, -4.70513496e-26,
        1.00000000e+00, -2.16913231e-13, -1.00000000e+00,  0.00000000e+00,
        2.16913231e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08207601, -0.06688484,  0.06199209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.93784023e-06,-1.76102338e-05, 1.37304510e-05, 4.66940013e-06,
 -4.83255397e-06,-3.34812789e-05, 6.27697003e-06,-1.81335616e-05,
  1.17980964e-05, 3.92213821e-05,-1.97665970e-05, 2.26611948e-05,
 -2.26790710e-05, 5.69624236e-06,-4.10122250e-06, 7.66918461e-05,
  3.57937825e-06,-3.76827053e-06,-1.21646648e+00,-1.78881252e-03,
 -2.99181166e-04,-1.22048644e-06]


--- Step 1509 ---
qpos:
[ 2.84524453e-03,-5.61655717e-03,-1.02153134e-02, 2.80144391e-03,
 -4.45360440e-03,-5.17911587e-03,-1.77814913e-02, 5.16702770e-03,
 -4.71557786e-03,-3.97501323e-03,-7.83300482e-03,-1.91619517e-02,
  1.34361612e+00, 1.88981793e-02, 1.32084639e+00, 2.45703625e-02,
  9.49626382e-02,-6.99901952e-02, 1.30747151e-01, 9.94327647e-01,
  1.61661092e-04,-2.30692889e-04,-1.06360009e-01]

qacc:
[ 1.02537744e+01,-2.12139690e-01, 6.30478971e-01,-8.01429836e-03,
 -3.38568120e+00,-4.07272070e-01, 1.83764897e-01, 2.62353251e+00,
 -7.87365581e+00, 3.38010105e-01,-2.22947402e+00, 6.54319468e+00,
  1.55291294e-01,-3.85303657e-01,-1.08068001e+00, 4.16877216e+00,
  8.24417596e-01,-8.72895803e-01,-3.53655581e-02, 9.78433266e+00,
  1.53897389e+01,-4.77155864e-01]

qfrc_actuator:
[-4.69058605e-06,-4.02789788e-04,-2.32741757e-04,-5.51598226e-05,
 -8.75599329e-05,-5.19902305e-04,-3.34055920e-04,-1.19102016e-04,
 -8.56902549e-06,-3.13077842e-04,-2.89530536e-04,-1.17767229e-04,
  4.02602145e-03,-1.37274182e-03, 2.02319140e-04,-9.07756009e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025345449169573986
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.19018218e-13, -2.19018218e-13,  1.00000000e+00,  4.79689800e-26,
        1.00000000e+00,  2.19018218e-13, -1.00000000e+00,  0.00000000e+00,
        2.19018218e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08483674, -0.05569857,  0.06199217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.03214588e-05, 1.20404140e-05, 1.05278247e-05, 3.37219884e-06,
 -2.00514213e-05,-3.56932877e-05,-1.43153081e-06, 6.57284205e-06,
 -4.63063677e-05, 7.45426491e-06, 7.30669844e-06, 1.38563407e-05,
 -1.98179895e-05,-2.98627402e-05, 2.25599265e-05, 2.66381787e-05,
  3.70114535e-06,-4.62304223e-06,-1.21647531e+00,-1.78757863e-03,
 -3.02186886e-04,-2.76161921e-06]


--- Step 1510 ---
qpos:
[ 2.84591859e-03,-5.61673117e-03,-1.02156421e-02, 2.80135094e-03,
 -4.45522410e-03,-5.18019052e-03,-1.77813541e-02, 5.16633951e-03,
 -4.71733126e-03,-3.97485749e-03,-7.83373732e-03,-1.91620213e-02,
  1.34376544e+00, 1.88975508e-02, 1.32096164e+00, 2.45758190e-02,
  9.49923749e-02,-6.99802158e-02, 1.30745610e-01, 9.94323861e-01,
  6.29872824e-05,-2.67180858e-05,-1.06395748e-01]

qacc:
[ 1.90082941e-01, 1.57637238e+00,-3.46387413e+00,-1.24152875e+00,
  1.05008818e+00,-2.57218331e-01, 1.15698249e-02, 1.83590824e+00,
 -7.84644812e+00,-2.49428536e-01,-1.75585406e-01, 3.08759762e+00,
  1.87474807e-01,-5.44855322e-01,-1.50346172e-01, 1.21127125e+00,
 -6.74524099e-01, 1.82027173e+00,-1.61908547e-01,-2.23088394e+01,
 -1.67002584e+01,-1.00986688e+00]

qfrc_actuator:
[-5.13334694e-06,-3.73528330e-04,-2.61041852e-04,-7.08907182e-05,
 -8.08189751e-05,-5.29889556e-04,-3.30964850e-04,-1.13999177e-04,
 -5.34334104e-05,-3.37803788e-04,-2.88726916e-04,-1.10375279e-04,
  4.00924548e-03,-1.40605278e-03, 2.25207390e-04,-8.96039692e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.40753182,  1.62610069, -4.09660022,  1.62610069, 30.62869695,
       10.40820497, -4.09660022, 10.40820497,  8.53895505,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002551879234747728
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.17530479e-13, -2.17530479e-13,  1.00000000e+00,  4.73195093e-26,
        1.00000000e+00,  2.17530479e-13, -1.00000000e+00,  0.00000000e+00,
        2.17530479e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10330125, -0.09547597,  0.06199211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.28663486e-06, 3.83518515e-05,-2.43987550e-05,-1.47873405e-05,
  6.15345352e-06,-2.99370769e-05,-4.21897300e-06, 3.65619653e-06,
 -4.61849776e-05,-1.84755250e-05, 3.73027354e-06, 8.23724859e-06,
 -3.29863615e-05,-4.71881191e-05, 3.24135258e-05, 1.52086764e-05,
  2.26835417e-06,-5.85429480e-06,-1.21648260e+00,-1.78668026e-03,
 -3.05366296e-04,-3.18708404e-06]


--- Step 1511 ---
qpos:
[ 2.84589295e-03,-5.61657058e-03,-1.02163261e-02, 2.80141534e-03,
 -4.45640552e-03,-5.18177666e-03,-1.77810736e-02, 5.16609048e-03,
 -4.71891922e-03,-3.97506355e-03,-7.83434154e-03,-1.91619777e-02,
  1.34391441e+00, 1.88965862e-02, 1.32107698e+00, 2.45807714e-02,
  9.50194199e-02,-6.99630668e-02, 1.30742984e-01, 9.94319782e-01,
 -8.32555648e-05, 1.49386861e-04,-1.06433743e-01]

qacc:
[ -6.13722259,  1.77121489, -6.31723597,  9.34023201,  3.83557516,
  -0.17953426, -2.20743912,  9.96910437,  1.45854029, -0.60665499,
   0.98748482,  1.03500581, -0.11779145, -0.16895795,  1.64984529,
  -5.58885922, -0.672927  ,  1.79238157, -0.27130715,-22.1669185 ,
 -16.38647861, -1.13537855]

qfrc_actuator:
[-4.11887126e-05,-3.56172795e-04,-2.77544774e-04,-6.23558562e-05,
 -5.84457388e-05,-5.70807502e-04,-3.29193388e-04,-9.29697302e-05,
 -4.36071104e-05,-3.70343266e-04,-2.88033343e-04,-1.06017122e-04,
  3.98316010e-03,-1.42549059e-03, 2.13468746e-04,-9.26825190e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41071008, -1.91121714,  3.97512421, -1.91121714, 22.76147802,
        8.82294496,  3.97512421,  8.82294496,  8.65273189,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002563817316299094
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.16517577e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.16517577e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10329967, -0.0954766 ,  0.06199208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.60027048e-05, 3.31372948e-05,-1.20927020e-05, 9.04715787e-06,
  2.25392164e-05,-5.83321972e-05,-4.79286843e-06, 1.96753351e-05,
  8.50008716e-06,-4.17662611e-05,-2.37102352e-06, 3.85940030e-06,
 -5.25915306e-05,-4.17284676e-05, 3.53136601e-07,-2.68194897e-05,
  5.50892138e-06,-4.52471274e-06,-1.21647858e+00,-1.78470404e-03,
 -3.09114088e-04,-5.52479032e-06]


--- Step 1512 ---
qpos:
[ 2.84578032e-03,-5.61615045e-03,-1.02171773e-02, 2.80123263e-03,
 -4.45765442e-03,-5.18382218e-03,-1.77807617e-02, 5.16609689e-03,
 -4.72037761e-03,-3.97560471e-03,-7.83436351e-03,-1.91619172e-02,
  1.34406312e+00, 1.88953217e-02, 1.32119178e+00, 2.45841167e-02,
  9.50437416e-02,-6.99515570e-02, 1.30742179e-01, 9.94315892e-01,
 -1.85735365e-04, 3.13425515e-04,-1.06469590e-01]

qacc:
[ -0.77080302,  0.30312749,  0.46248059, -4.66517764, -0.5795474 ,
  -0.1674107 , -1.3602989 ,  6.06689433,  1.15824001, -2.03763335,
   6.54566443, -6.9283911 , -0.12436026, -0.11974144,  4.06766267,
 -15.38364814, -0.68081758, -1.40980823,  0.45518879, 22.39920978,
  -3.6700479 ,  1.08010671]

qfrc_actuator:
[-4.46392198e-05,-3.46024467e-04,-2.86959786e-04,-7.51077485e-05,
 -6.25648299e-05,-5.94416926e-04,-3.28328714e-04,-8.05159520e-05,
 -3.71754112e-05,-3.71814829e-04,-2.51947220e-04,-1.03487502e-04,
  3.97281591e-03,-1.43656579e-03, 1.54336920e-04,-1.01798556e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4245454 , -0.12558562,  4.42276274, -0.12558562, 37.85672732,
        0.94931645,  4.42276274,  0.94931645,  4.45150152,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026149729591819215
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10332428, -0.04746233,  0.06199192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.46766420e-06, 2.65581272e-05,-3.73923972e-06,-1.15719047e-05,
 -3.49391420e-06,-5.63125950e-05,-1.10782506e-05, 1.01741679e-05,
  6.65854563e-06,-2.51391023e-05, 2.73085110e-05, 7.35122790e-07,
 -4.59628139e-05,-3.58827939e-05,-6.54102085e-05,-9.33990765e-05,
  8.50080900e-06,-2.26573411e-06,-1.21647949e+00,-1.78202975e-03,
 -3.12462944e-04,-7.05226375e-06]


--- Step 1513 ---
qpos:
[ 2.84562691e-03,-5.61555171e-03,-1.02181140e-02, 2.80090344e-03,
 -4.45894336e-03,-5.18564659e-03,-1.77804339e-02, 5.16547468e-03,
 -4.72209256e-03,-3.97636356e-03,-7.83368416e-03,-1.91621962e-02,
  1.34421173e+00, 1.88935757e-02, 1.32130620e+00, 2.45839847e-02,
  9.50654384e-02,-6.99456057e-02, 1.30742491e-01, 9.94312186e-01,
 -2.45318820e-04, 4.65287196e-04,-1.06503519e-01]

qacc:
[ -0.36244501,  0.17386873,  0.34211045, -2.87333871, -0.35282175,
  -1.04578819,  6.80793423,-17.87750407, -2.2204423 , -2.94335546,
  11.51423511,-18.35186678, -0.03742997, -0.27698199,  9.98644506,
 -35.72609679, -0.65624298, -1.38961884,  0.27936454, 21.97421425,
  -3.77050778,  0.96940952]

qfrc_actuator:
[-4.66122706e-05,-3.40259238e-04,-2.92167917e-04,-8.25375353e-05,
 -6.44962349e-05,-5.36478209e-04,-3.10200800e-04,-1.08704779e-04,
 -5.05634063e-05,-3.72280233e-04,-2.12883473e-04,-1.19756829e-04,
  3.97192229e-03,-1.46027775e-03, 1.25406409e-04,-1.19732397e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.44552008,   2.08791495,   3.92469871,   2.08791495,
        24.76287625, -10.80870529,   3.92469871, -10.80870529,
        10.1956831 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002690141656427336
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.06350291e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.06350291e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10332534, -0.04746547,  0.06199169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.09126691e-06, 1.93423500e-05,-5.77605422e-07,-6.64490404e-06,
 -2.05119394e-06, 2.46662588e-05, 5.50455170e-06,-3.07828806e-05,
 -1.32094681e-05,-8.83376748e-06, 3.72649471e-05,-1.63862062e-05,
 -3.35008396e-05,-4.44837782e-05,-6.96090728e-05,-1.92989453e-04,
  5.30491814e-06,-3.22660507e-06,-1.21646800e+00,-1.78007159e-03,
 -3.13876040e-04,-5.64526086e-06]


--- Step 1514 ---
qpos:
[ 2.84545118e-03,-5.61507996e-03,-1.02187142e-02, 2.80084327e-03,
 -4.46024574e-03,-5.18700601e-03,-1.77797888e-02, 5.16446565e-03,
 -4.72361008e-03,-3.97679682e-03,-7.83301611e-03,-1.91630342e-02,
  1.34436003e+00, 1.88917839e-02, 1.32141985e+00, 2.45836654e-02,
  9.50845907e-02,-6.99451451e-02, 1.30743329e-01, 9.94308659e-01,
 -2.62721440e-04, 6.04901476e-04,-1.06535705e-01]

qacc:
[ -0.18233636, -0.55400648,  0.59683958,  3.6137223 , -0.11540579,
  -1.0683903 ,  6.33469256,-13.87998635,  1.72221227, -0.69301377,
   5.44532464,-15.3265701 , -0.17755103,  0.08273407, -0.55962894,
   0.33678957, -0.636128  , -1.37266381,  0.13149057, 21.62227119,
  -3.84292189,  0.88411417]

qfrc_actuator:
[-4.77102752e-05,-3.54899398e-04,-2.77114220e-04,-6.90232033e-05,
 -6.51154764e-05,-4.83365251e-04,-2.81712094e-04,-1.24992018e-04,
 -4.00036486e-05,-3.36620057e-04,-2.07890392e-04,-1.46955715e-04,
  3.96071545e-03,-1.45576499e-03, 1.09274799e-04,-1.19627207e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4577145 , -2.2130253 , -3.8695914 , -2.2130253 , 18.28358971,
       -7.90703938, -3.8695914 , -7.90703938,  8.97976254,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002732607128098363
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.03143550e-13, -4.06287100e-13,  1.00000000e+00,  8.25346037e-26,
        1.00000000e+00,  4.06287100e-13, -1.00000000e+00,  0.00000000e+00,
        2.03143550e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1033264 , -0.04746738,  0.06199156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.15160017e-06,-4.23813503e-06, 1.87528549e-05, 1.41953713e-05,
 -6.68379791e-07, 6.67873688e-05, 3.32153017e-05,-1.56342388e-05,
  1.01768354e-05, 3.77255657e-05, 7.19155818e-06,-2.66059049e-05,
 -4.02009569e-05,-1.57762878e-05,-6.97556162e-05,-1.86687451e-05,
  2.57567640e-06,-3.57853469e-06,-1.21645974e+00,-1.77879681e-03,
 -3.15290279e-04,-4.38692333e-06]


--- Step 1515 ---
qpos:
[ 2.84560854e-03,-5.61472114e-03,-1.02190995e-02, 2.80095225e-03,
 -4.46120038e-03,-5.18808874e-03,-1.77790333e-02, 5.16365267e-03,
 -4.72498966e-03,-3.97649730e-03,-7.83278909e-03,-1.91642147e-02,
  1.34450805e+00, 1.88897938e-02, 1.32153244e+00, 2.45850251e-02,
  9.51012643e-02,-6.99501187e-02, 1.30744196e-01, 9.94305302e-01,
 -2.38530994e-04, 7.32227065e-04,-1.06566284e-01]

qacc:
[ 2.92230369e+00,-4.07275398e-01, 5.11805059e-01, 2.16543340e+00,
  3.03139873e+00, 4.55041139e-01,-1.92985798e+00, 4.95420839e+00,
  1.18086442e+00, 1.49348296e+00,-2.47963814e+00,-3.27415090e+00,
  1.13689382e-01,-3.23715183e-01,-6.66973309e+00, 2.10097046e+01,
 -6.19663764e-01,-1.35854324e+00, 7.28804603e-03, 2.13323019e+01,
 -3.89406514e+00, 8.18885310e-01]

qfrc_actuator:
[-3.05327656e-05,-3.63796000e-04,-2.68043864e-04,-6.10519590e-05,
 -4.72053761e-05,-4.86737972e-04,-2.82820011e-04,-1.16376027e-04,
 -3.31792550e-05,-2.79740749e-04,-2.22907614e-04,-1.62604413e-04,
  3.94334344e-03,-1.47006585e-03, 6.89171224e-05,-1.10663773e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.46238593,  -2.35627056,  -3.78957481,  -2.35627056,
        24.97739661, -12.75576233,  -3.78957481, -12.75576233,
        12.39362591,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002748645927293375
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.01958174e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.01958174e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10332747, -0.04746831,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.71409005e-05,-6.79457907e-06, 1.09978813e-05, 8.71536224e-06,
  1.79135528e-05, 4.02088944e-05, 1.62481803e-05, 1.23265486e-05,
  7.12815891e-06, 7.83296896e-05,-7.26290668e-06,-1.43016658e-05,
 -4.22885983e-05,-2.76680786e-05,-7.41371229e-05, 7.97362211e-05,
  2.68533478e-07,-3.35261045e-06,-1.21645457e+00,-1.77819309e-03,
 -3.16684904e-04,-3.27367264e-06]


--- Step 1516 ---
qpos:
[ 2.84597037e-03,-5.61420308e-03,-1.02197330e-02, 2.80080785e-03,
 -4.46158795e-03,-5.18888498e-03,-1.77788621e-02, 5.16368773e-03,
 -4.72593166e-03,-3.97562744e-03,-7.83245319e-03,-1.91655915e-02,
  1.34465570e+00, 1.88876730e-02, 1.32164480e+00, 2.45850227e-02,
  9.51155131e-02,-6.99604798e-02, 1.30744676e-01, 9.94302108e-01,
 -1.73226963e-04, 8.47243329e-04,-1.06595360e-01]

qacc:
[ 1.77793797e+00, 3.79130459e-01, 1.70146938e-02,-4.11557530e+00,
  4.92257475e+00, 3.74692104e+00,-1.64080982e+01, 3.18287907e+01,
  3.82425321e+00, 3.77412286e-02, 1.77296088e+00,-5.74534098e+00,
 -3.11045032e-01, 1.61896980e-01, 3.80680965e+00,-1.37504261e+01,
 -6.06193798e-01,-1.34690280e+00,-9.68798356e-02, 2.10950762e+01,
 -3.92919142e+00, 7.69500688e-01]

qfrc_actuator:
[-2.04890530e-05,-3.51457106e-04,-2.80329134e-04,-7.41669187e-05,
 -1.85334755e-05,-4.88494517e-04,-3.19358409e-04,-7.54936037e-05,
 -1.08629088e-05,-2.46172629e-04,-2.13991500e-04,-1.71315897e-04,
  3.92228096e-03,-1.47773129e-03, 5.66832839e-05,-1.17867675e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.46088769,  -2.52882022,  -3.6748588 ,  -2.52882022,
        32.66002164, -19.40497419,  -3.6748588 , -19.40497419,
        17.81424187,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000274351540847359
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01167923e-13, -4.04671693e-13,  1.00000000e+00,  4.09397947e-26,
        1.00000000e+00,  4.04671693e-13, -1.00000000e+00,  0.00000000e+00,
        1.01167923e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10332854, -0.04746846,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05296829e-05, 1.11812244e-05,-1.20332900e-05,-1.28568170e-05,
  2.91983132e-05, 2.46507188e-05,-2.58002610e-05, 4.34091943e-05,
  2.25490890e-05, 7.52443309e-05, 2.37000074e-05,-5.88584251e-06,
 -4.94536181e-05,-2.52837392e-05,-3.62647720e-05,-7.68405834e-05,
 -1.65031503e-06,-2.57171138e-06,-1.21645237e+00,-1.77825031e-03,
 -3.18044934e-04,-2.30145656e-06]


--- Step 1517 ---
qpos:
[ 2.84610500e-03,-5.61347159e-03,-1.02208182e-02, 2.80016943e-03,
 -4.46197340e-03,-5.18957454e-03,-1.77790913e-02, 5.16491416e-03,
 -4.72694333e-03,-3.97452543e-03,-7.83215677e-03,-1.91666627e-02,
  1.34480284e+00, 1.88855200e-02, 1.32175667e+00, 2.45871143e-02,
  9.51273812e-02,-6.99761907e-02, 1.30744419e-01, 9.94299063e-01,
 -6.71967462e-05, 9.49943839e-04,-1.06623011e-01]

qacc:
[-2.00553550e+00, 5.30964075e-01, 6.08145917e-01,-8.59983985e+00,
  4.78103296e-03, 3.71199534e+00,-1.80610140e+01, 3.92437551e+01,
 -6.14998925e-01, 1.04799744e+00,-4.57718478e+00, 9.75138201e+00,
 -1.79978585e-01, 3.84731397e-02,-7.07204304e+00, 2.36894393e+01,
 -5.95184445e-01,-1.33742906e+00,-1.84111293e-01, 2.09028766e+01,
 -3.95236546e+00, 7.32616641e-01]

qfrc_actuator:
[-3.24828765e-05,-3.44356529e-04,-3.05050524e-04,-9.95787404e-05,
 -1.92681808e-05,-4.89401853e-04,-3.40999352e-04,-1.59817377e-05,
 -1.51114896e-05,-2.62227170e-04,-2.26594157e-04,-1.58121682e-04,
  3.89369639e-03,-1.48140379e-03, 6.12881370e-05,-1.06130829e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002721607929827563
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.07929082e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.07929082e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10332961, -0.04746798,  0.06199159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16889131e-05, 1.03082000e-05,-2.43380284e-05,-2.55993051e-05,
  1.10198346e-07, 9.44511757e-06,-1.82193536e-05, 6.05201785e-05,
 -3.57622445e-06, 3.06372190e-05, 5.64094362e-06, 1.71212252e-05,
 -5.97745691e-05,-2.22883689e-05,-2.23915703e-05, 1.08044771e-04,
 -3.20633285e-06,-1.25202435e-06,-1.21645302e+00,-1.77896020e-03,
 -3.19359665e-04,-1.46615817e-06]


--- Step 1518 ---
qpos:
[ 2.84609510e-03,-5.61286041e-03,-1.02218007e-02, 2.79923619e-03,
 -4.46270924e-03,-5.19027415e-03,-1.77792273e-02, 5.16647964e-03,
 -4.72834244e-03,-3.97343744e-03,-7.83214251e-03,-1.91675178e-02,
  1.34494946e+00, 1.88835549e-02, 1.32186841e+00, 2.45911986e-02,
  9.51344498e-02,-6.99880132e-02, 1.30745375e-01, 9.94295889e-01,
  1.56946834e-05, 1.01277426e-03,-1.06652049e-01]

qacc:
[ -1.25907222, -1.05086294,  4.76486586, -9.94746057, -3.05227756,
   0.43039388, -2.97495329,  8.69060681, -3.4001196 ,  1.22202876,
  -5.28281121,  9.4676395 , -0.36329841,  0.3706441 , -6.17799501,
  21.43745462, -1.19988438,  0.97209341,  0.30318599, -9.37724849,
 -21.05485268, -0.70849986]

qfrc_actuator:
[-3.95966947e-05,-3.58269476e-04,-3.01425625e-04,-1.14274053e-04,
 -3.73087193e-05,-4.89734432e-04,-3.35899361e-04, 7.67363788e-07,
 -3.49667948e-05,-2.90192630e-04,-2.52003260e-04,-1.49960041e-04,
  3.87660179e-03,-1.46497415e-03, 7.07024094e-05,-9.57475011e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002750694070029619
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.01807798e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.01807798e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10959062, -0.08178124,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.44334271e-06,-1.42895119e-05, 1.87638318e-06,-1.55913982e-05,
 -1.80358675e-05, 3.80394006e-06, 6.90888086e-06, 1.77005227e-05,
 -1.99441051e-05,-8.98040779e-06,-1.78089271e-05, 1.00014322e-05,
 -5.16157910e-05,-4.11198241e-06, 9.34145519e-06, 1.06584435e-04,
 -4.41845290e-06, 5.95816312e-07,-1.21645647e+00,-1.78031607e-03,
 -3.20621561e-04,-7.63849915e-07]


--- Step 1519 ---
qpos:
[ 2.84634484e-03,-5.61247510e-03,-1.02224216e-02, 2.79847499e-03,
 -4.46365589e-03,-5.19062180e-03,-1.77794174e-02, 5.16750638e-03,
 -4.73031356e-03,-3.97227050e-03,-7.83274006e-03,-1.91682565e-02,
  1.34509534e+00, 1.88831453e-02, 1.32198068e+00, 2.45931358e-02,
  9.51377501e-02,-6.99943553e-02, 1.30746741e-01, 9.94292510e-01,
  6.28092357e-05, 1.04144394e-03,-1.06683255e-01]

qacc:
[  2.28646041, -0.95950967,  2.2541344 ,  0.31936044, -1.84641264,
  -0.48950089,  4.70085721,-14.20447408, -5.0279195 ,  2.06404351,
  -7.67991678, 10.5901309 , -1.76651488,  2.68891462,  7.49392649,
 -24.56623568, -0.94206368,  1.37008591,  0.10256917,-15.96364507,
 -18.89069313, -1.10672476]

qfrc_actuator:
[-2.60216798e-05,-3.66789527e-04,-2.81166682e-04,-1.04788421e-04,
 -4.76284772e-05,-4.54142846e-04,-3.32840860e-04,-2.55180721e-05,
 -6.38405072e-05,-2.89646048e-04,-2.84837771e-04,-1.44850711e-04,
  3.87707225e-03,-1.34792730e-03, 7.76602515e-05,-1.07553065e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.46992254,  -3.99642579,  -2.0021959 ,  -3.99642579,
        11.08215449, -13.19815623,  -2.0021959 , -13.19815623,
        30.81372431,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002774263126364128
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00093317e-13,  9.20391843e-07,  1.00000000e+00, -1.84164257e-19,
        1.00000000e+00, -9.20391843e-07, -1.00000000e+00,  0.00000000e+00,
        2.00093317e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10658107, -0.08831145,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33571112e-05,-1.68023598e-05, 1.70056728e-05, 8.63806334e-06,
 -1.08365062e-05, 3.99213409e-05, 5.31486593e-06,-2.55397294e-05,
 -2.94428388e-05,-7.77425693e-06,-3.65483138e-05, 4.30331138e-06,
 -2.52207736e-05, 1.03675178e-04, 1.96133379e-05,-1.11704794e-04,
 -2.88911149e-06, 3.68269434e-07,-1.21644811e+00,-1.78126669e-03,
 -3.21893475e-04,-2.30783171e-06]


--- Step 1520 ---
qpos:
[ 2.84675523e-03,-5.61217657e-03,-1.02231313e-02, 2.79819196e-03,
 -4.46402947e-03,-5.19050028e-03,-1.77793403e-02, 5.16748148e-03,
 -4.73227048e-03,-3.97126342e-03,-7.83365561e-03,-1.91689176e-02,
  1.34524095e+00, 1.88837731e-02, 1.32209254e+00, 2.45940978e-02,
  9.51373020e-02,-6.99952889e-02, 1.30748038e-01, 9.94288923e-01,
  7.45627633e-05, 1.03657923e-03,-1.06716718e-01]

qacc:
[ 1.40412121e+00, 1.11572388e+00,-6.16764476e+00, 1.46540868e+01,
  4.99734345e+00,-2.30107401e+00, 1.35274166e+01,-3.24835597e+01,
  1.17025757e-01, 8.37335839e-01,-3.61910285e+00, 5.58690749e+00,
 -9.03239613e-01, 1.55146926e+00, 2.47353354e+00,-9.23749432e+00,
 -9.37104739e-01, 1.35214547e+00,-1.73759883e-02,-1.57896400e+01,
 -1.85576734e+01,-1.15083126e+00]

qfrc_actuator:
[-1.81323563e-05,-3.71920152e-04,-2.86732610e-04,-8.11431543e-05,
 -1.78099202e-05,-4.15107376e-04,-3.13144674e-04,-7.68820435e-05,
 -6.22804492e-05,-3.07584882e-04,-3.03932358e-04,-1.41559403e-04,
  3.87214266e-03,-1.29622131e-03, 4.04846501e-05,-1.12809807e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47291789,  0.29909553,  4.46290671,  0.29909553, 34.00422637,
       -1.97913219,  4.46290671, -1.97913219,  4.60555557,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002784357401442059
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99367909e-13, -3.99248392e-07,  1.00000000e+00,  7.95973171e-20,
        1.00000000e+00,  3.99248392e-07, -1.00000000e+00,  0.00000000e+00,
        1.99367909e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10657981, -0.08831134,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.26374216e-06,-1.06448984e-05,-6.63935608e-06, 2.36835437e-05,
  2.95226693e-05, 6.13715331e-05, 2.77171709e-05,-4.99673537e-05,
  7.20717055e-07,-2.97008056e-05,-2.50586366e-05, 1.77885433e-06,
  6.60429043e-06, 7.77001627e-05,-4.61987903e-05,-5.75178032e-05,
 -1.42680842e-06, 5.89569237e-08,-1.21644222e+00,-1.78173487e-03,
 -3.22774264e-04,-3.37961782e-06]


--- Step 1521 ---
qpos:
[ 2.84794701e-03,-5.61209333e-03,-1.02238169e-02, 2.79785817e-03,
 -4.46438746e-03,-5.19014918e-03,-1.77791928e-02, 5.16654036e-03,
 -4.73384864e-03,-3.97070797e-03,-7.83441510e-03,-1.91691839e-02,
  1.34538661e+00, 1.88846214e-02, 1.32220377e+00, 2.45950897e-02,
  9.51332004e-02,-6.99907513e-02, 1.30748818e-01, 9.94285117e-01,
  5.03401338e-05, 9.99075024e-04,-1.06752543e-01]

qacc:
[  6.83941542, -0.46975975,  1.45333029, -2.18722076,  0.13363465,
  -1.77975746, 10.65375199,-26.79260578,  3.32857845, -0.22638558,
  -1.73414115,  8.65604908, -0.0455182 ,  0.19725774, -1.02996802,
   2.24781394, -0.9133519 ,  1.36779755, -0.12906801,-16.14252507,
 -18.14614893, -1.20308432]

qfrc_actuator:
[ 2.18459635e-05,-3.92818511e-04,-2.89734990e-04,-8.48823211e-05,
 -1.78658356e-05,-4.27521470e-04,-3.19270705e-04,-1.24812109e-04,
 -4.28175269e-05,-3.36407730e-04,-2.97079468e-04,-1.21614151e-04,
  3.86395747e-03,-1.30157645e-03, 1.41739268e-05,-1.12393296e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027743523468496843
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.78161119e-07, -1.68823307e-13,  1.00000000e+00, -1.48254064e-19,
        1.00000000e+00,  1.68823307e-13, -1.00000000e+00,  0.00000000e+00,
       -8.78161119e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10634431, -0.08882146,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.02099106e-05,-2.72079564e-05,-5.19474816e-06,-3.96292105e-06,
  8.12830693e-07, 2.54935673e-05, 8.23185431e-06,-4.53155738e-05,
  1.94761956e-05,-5.05611187e-05,-2.30796848e-06, 1.78418035e-05,
  1.17442391e-05, 2.05523876e-05,-5.49155071e-05,-5.18330423e-06,
 -2.71877926e-07, 3.91891553e-07,-1.21644016e+00,-1.78168734e-03,
 -3.23149665e-04,-3.73601582e-06]


--- Step 1522 ---
qpos:
[ 2.84926388e-03,-5.61221379e-03,-1.02245076e-02, 2.79713780e-03,
 -4.46543243e-03,-5.18996261e-03,-1.77792007e-02, 5.16509982e-03,
 -4.73587123e-03,-3.97032117e-03,-7.83549304e-03,-1.91688673e-02,
  1.34553218e+00, 1.88857895e-02, 1.32231491e+00, 2.45930632e-02,
  9.51253799e-02,-6.99809102e-02, 1.30748794e-01, 9.94281084e-01,
 -8.62491053e-06, 9.28948998e-04,-1.06790742e-01]

qacc:
[  1.09729076, -1.05332424,  4.99307625,-11.52124819, -5.99320816,
  -0.79978337,  4.66482603,-12.96102874, -3.8973417 ,  1.87557248,
  -9.45317178, 20.14873194, -0.5112189 ,  0.73277784,  9.09087978,
 -31.81189153, -0.92974198,  1.32588317, -0.20111912,-15.52951087,
 -18.07206117, -1.20841586]

qfrc_actuator:
[ 2.71347738e-05,-4.05261650e-04,-2.91276622e-04,-1.04714471e-04,
 -5.32708007e-05,-4.70753373e-04,-3.40800191e-04,-1.52643972e-04,
 -6.62410323e-05,-3.35900004e-04,-3.10510204e-04,-9.20247429e-05,
  3.85380008e-03,-1.28750860e-03, 0.00000000e+00,-1.28162222e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002747956581703833
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.60187442e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.60187442e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10657897, -0.08831278,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.42944570e-06,-2.88846970e-05,-7.93369337e-06,-2.12546250e-05,
 -3.53712129e-05,-2.92294433e-05,-1.68217823e-05,-2.73357671e-05,
 -2.28846540e-05,-2.74872305e-05,-2.35401548e-05, 2.76915745e-05,
 -9.42805934e-07, 2.36624385e-05,-3.95980553e-05,-1.64949866e-04,
  6.24298363e-07, 1.35127740e-06,-1.21644179e+00,-1.78111322e-03,
 -3.23051984e-04,-3.39641355e-06]


--- Step 1523 ---
qpos:
[ 2.84959949e-03,-5.61244927e-03,-1.02250019e-02, 2.79650519e-03,
 -4.46620378e-03,-5.19001053e-03,-1.77796971e-02, 5.16337031e-03,
 -4.73746891e-03,-3.97009469e-03,-7.83643221e-03,-1.91689224e-02,
  1.34567754e+00, 1.88874421e-02, 1.32242607e+00, 2.45874421e-02,
  9.51138518e-02,-6.99658038e-02, 1.30747683e-01, 9.94276808e-01,
 -1.02109275e-04, 8.26519435e-04,-1.06831344e-01]

qacc:
[-8.57512168e+00,-5.03429214e-01, 1.23297668e+00, 2.50546646e-02,
  2.37464922e+00, 4.55236616e-01,-8.61121574e-01,-3.17779168e+00,
  3.72653035e+00,-1.37270647e+00, 6.14031074e+00,-1.26562793e+01,
 -7.58962008e-01, 1.07437856e+00, 1.10056418e+01,-3.82355622e+01,
 -9.26909048e-01, 1.31630264e+00,-2.71882785e-01,-1.54349787e+01,
 -1.79024472e+01,-1.22438066e+00]

qfrc_actuator:
[-2.35516390e-05,-3.94804498e-04,-2.74169640e-04,-9.83410406e-05,
 -3.81783435e-05,-4.96668423e-04,-3.71374151e-04,-1.68467228e-04,
 -4.37141817e-05,-3.35648899e-04,-3.00193765e-04,-1.10252712e-04,
  3.84247009e-03,-1.26197433e-03, 0.00000000e+00,-1.46237734e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027092522557768385
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.87205557e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.87205557e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10657914, -0.08831409,  0.06199163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.05103013e-05,-8.23256889e-06, 9.43739473e-06, 4.45049028e-06,
  1.40700358e-05,-4.69214705e-05,-3.96269036e-05,-1.81854931e-05,
  2.18636725e-05,-1.88122633e-05, 2.70419897e-06,-1.96790246e-05,
 -7.90560729e-06, 3.32714006e-05,-3.80476208e-05,-1.95359478e-04,
  1.23768725e-06, 2.94435385e-06,-1.21644700e+00,-1.78002684e-03,
 -3.22454768e-04,-2.38891736e-06]


--- Step 1524 ---
qpos:
[ 2.84898010e-03,-5.61278265e-03,-1.02250416e-02, 2.79627830e-03,
 -4.46644377e-03,-5.19021612e-03,-1.77806410e-02, 5.16179756e-03,
 -4.73809475e-03,-3.96986323e-03,-7.83702941e-03,-1.91695766e-02,
  1.34582294e+00, 1.88889388e-02, 1.32253689e+00, 2.45806534e-02,
  9.50976164e-02,-6.99470077e-02, 1.30745829e-01, 9.94272349e-01,
 -2.17751719e-04, 6.87125626e-04,-1.06873645e-01]

qacc:
[ -8.33741056, -0.54815843,  0.08237798,  6.25370429,  4.62264418,
   1.35582591, -5.81447155,  9.37717014,  8.51794342, -2.20027316,
  10.35016103,-21.22807397,  0.05032588, -0.14151745,  3.03851897,
 -11.35770866, -1.17681205,  0.9224354 , -0.18562217, -9.04046937,
 -19.55977245, -0.86520981]

qfrc_actuator:
[-7.12616033e-05,-3.88366997e-04,-2.46072929e-04,-7.65639621e-05,
 -1.12258641e-05,-4.94304964e-04,-3.89226897e-04,-1.59343351e-04,
  5.69132439e-06,-3.17740004e-04,-2.75958862e-04,-1.38697103e-04,
  3.83577586e-03,-1.28311081e-03, 0.00000000e+00,-1.51316727e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.44040483,   1.75238041,   4.07999485,   1.75238041,
        28.34841874, -10.26862455,   4.07999485, -10.26862455,
         8.85083602,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00026720636516934515
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.07746366e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.07746366e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10959025, -0.08178515,  0.06199174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.91556870e-05, 3.97091666e-06, 2.77242974e-05, 2.18426061e-05,
  2.73418297e-05,-3.28223694e-05,-3.30454466e-05, 5.39272480e-06,
  5.00237945e-05, 7.11042621e-06, 2.00074887e-05,-2.95391316e-05,
 -4.52546633e-06,-1.20445399e-05,-4.11644441e-05,-6.69707947e-05,
  1.60549733e-06, 5.14458507e-06,-1.21645570e+00,-1.77843205e-03,
 -3.21379223e-04,-7.26139538e-07]


--- Step 1525 ---
qpos:
[ 2.84779302e-03,-5.61294692e-03,-1.02248393e-02, 2.79629394e-03,
 -4.46635882e-03,-5.19056551e-03,-1.77813296e-02, 5.16098565e-03,
 -4.73881313e-03,-3.96969239e-03,-7.83730783e-03,-1.91705570e-02,
  1.34596845e+00, 1.88895477e-02, 1.32264735e+00, 2.45742485e-02,
  9.50786846e-02,-6.99338467e-02, 1.30744788e-01, 9.94268114e-01,
 -2.91492355e-04, 5.36409612e-04,-1.06913725e-01]

qacc:
[ -4.96076431,  0.05643386, -0.88390661,  4.55182724,  2.84453785,
   0.65731354, -5.84093345, 18.71678049, -0.79924596, -1.64151896,
   7.11299173,-13.21859737,  0.7035859 , -1.28028042, -1.79458149,
   5.27035543, -0.67410801, -1.40877303,  0.2032003 , 21.4351886 ,
  -3.38989751,  1.12894729]

qfrc_actuator:
[-9.90668230e-05,-3.66559770e-04,-2.29471808e-04,-6.36503903e-05,
  4.72279858e-06,-4.74957420e-04,-3.63787122e-04,-1.17828729e-04,
 -5.03407345e-07,-3.24842880e-04,-2.61384226e-04,-1.55142535e-04,
  3.82119764e-03,-1.34955569e-03, 0.00000000e+00,-1.48696735e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45186348, -0.82153828,  4.37540436, -0.82153828, 34.66351114,
        5.67262427,  4.37540436,  5.67262427,  5.51697143,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027123410235700696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02330700e-13,  2.04661400e-13,  1.00000000e+00, -2.09431444e-26,
        1.00000000e+00, -2.04661400e-13, -1.00000000e+00,  0.00000000e+00,
        1.02330700e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10334566, -0.04746728,  0.06199162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.92096604e-05, 3.06881728e-05, 2.15995876e-05, 1.44717070e-05,
  1.67221672e-05,-5.56930315e-06, 1.47921386e-05, 3.90746789e-05,
 -4.76321000e-06,-2.43842266e-07, 1.74884798e-05,-1.60237539e-05,
 -2.08245476e-05,-7.06329489e-05,-2.70006657e-05, 1.70592836e-05,
  1.39621834e-06, 7.49292322e-06,-1.21646657e+00,-1.77652087e-03,
 -3.19491988e-04, 1.24054996e-06]


--- Step 1526 ---
qpos:
[ 2.84593663e-03,-5.61304435e-03,-1.02243790e-02, 2.79647618e-03,
 -4.46642821e-03,-5.19082216e-03,-1.77815606e-02, 5.16097700e-03,
 -4.73959957e-03,-3.96966772e-03,-7.83764489e-03,-1.91713439e-02,
  1.34611342e+00, 1.88904693e-02, 1.32275761e+00, 2.45684990e-02,
  9.50571423e-02,-6.99262317e-02, 1.30744014e-01, 9.94264077e-01,
 -3.23859732e-04, 3.74058912e-04,-1.06951859e-01]

qacc:
[-5.84762327,-0.27819955, 0.43665605, 1.96344128,-1.33279683, 0.50018991,
 -4.99203656,18.08941456,-0.5950457 , 0.37045366,-2.41426679, 5.95821445,
 -0.56977659, 0.66486149,-2.20536414, 7.4536623 ,-0.65264267,-1.38649924,
  0.06680429,21.1895166 ,-3.57265034, 0.98760725]

qfrc_actuator:
[-1.32687148e-04,-3.71263829e-04,-2.19737228e-04,-5.60540217e-05,
 -3.68957936e-06,-4.45370223e-04,-3.30648410e-04,-7.52990579e-05,
 -3.87736985e-06,-3.46889191e-04,-2.70471980e-04,-1.46669332e-04,
  3.79655379e-03,-1.31812301e-03, 0.00000000e+00,-1.45116304e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45973765, -0.17752868, -4.45620281, -0.17752868, 19.68285817,
       -0.60646711, -4.45620281, -0.60646711,  4.48389843,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002739568643666951
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.02627342e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.02627342e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10334771, -0.04746797,  0.06199154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.44456314e-05, 1.75355724e-05, 1.92366644e-05, 9.94166996e-06,
 -7.93714534e-06, 3.12307461e-05, 3.51761584e-05, 4.35669431e-05,
 -3.51005536e-06,-1.92614468e-05,-7.53569332e-06, 8.75833712e-06,
 -5.18095673e-05, 5.26981909e-06,-1.12464117e-05, 3.31317355e-05,
  6.21741072e-07, 6.12418206e-06,-1.21646300e+00,-1.77568137e-03,
 -3.16194501e-04, 2.86002116e-07]


--- Step 1527 ---
qpos:
[ 2.84369157e-03,-5.61319378e-03,-1.02240126e-02, 2.79713369e-03,
 -4.46659798e-03,-5.19062921e-03,-1.77818304e-02, 5.16181118e-03,
 -4.73973076e-03,-3.96958781e-03,-7.83788989e-03,-1.91720595e-02,
  1.34625780e+00, 1.88919575e-02, 1.32286755e+00, 2.45652106e-02,
  9.50330568e-02,-6.99240893e-02, 1.30743049e-01, 9.94260213e-01,
 -3.15291898e-04, 1.99824781e-04,-1.06988269e-01]

qacc:
[ -3.40145045,  1.17909093, -6.29843919, 14.69957453, -0.88367661,
   2.43949038,-11.39156556, 25.70794484,  5.73809004, -0.04853159,
  -0.04137558,  1.10891188, -0.58883219,  0.83224434, -7.88343002,
  27.01682772, -0.63576544, -1.36814913, -0.04768005, 20.98538813,
  -3.7188973 ,  0.87214684]

qfrc_actuator:
[-1.51715193e-04,-3.91840033e-04,-2.31988020e-04,-3.39164198e-05,
 -8.61664138e-06,-4.09818262e-04,-3.28700060e-04,-3.25071229e-05,
  2.99589288e-05,-3.24533887e-04,-2.58001986e-04,-1.41386725e-04,
  3.77657863e-03,-1.28206697e-03, 0.00000000e+00,-1.32125808e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46085097, -0.28829989, -4.45152497, -0.28829989, 27.42424233,
       -1.48720794, -4.45152497, -1.48720794,  4.55716895,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000274338951061992
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01172566e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.01172566e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10334956, -0.04746793,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.00078142e-05,-6.37922785e-06,-5.91656072e-06, 2.37486760e-05,
 -5.14694335e-06, 6.21574522e-05, 1.42460115e-05, 4.61967568e-05,
  3.37288502e-05, 1.04041258e-05, 7.87133303e-06, 4.36997493e-06,
 -4.42696001e-05, 2.57651076e-05,-4.27612267e-06, 1.29719445e-04,
  2.33729483e-07, 5.37165074e-06,-1.21646247e+00,-1.77548393e-03,
 -3.12893303e-04,-7.50733297e-07]


--- Step 1528 ---
qpos:
[ 2.84227011e-03,-5.61322022e-03,-1.02235760e-02, 2.79801766e-03,
 -4.46613586e-03,-5.18989500e-03,-1.77823508e-02, 5.16246385e-03,
 -4.73945546e-03,-3.96951786e-03,-7.83741253e-03,-1.91727423e-02,
  1.34640193e+00, 1.88933591e-02, 1.32297754e+00, 2.45624792e-02,
  9.50064809e-02,-6.99273593e-02, 1.30741510e-01, 9.94256495e-01,
 -2.66148536e-04, 1.35063304e-05,-1.07023135e-01]

qacc:
[ 7.20435680e+00, 4.18954757e-01,-2.23821395e+00, 5.98119052e+00,
  5.49326857e+00, 1.03063443e+00,-1.88952817e+00,-1.22872413e+00,
  3.58129320e+00,-1.97206131e+00, 6.86102686e+00,-7.42716234e+00,
 -1.14248169e-01, 1.75396854e-03,-1.59984989e+00, 5.72962430e+00,
 -6.22611707e-01,-1.35312046e+00,-1.43649974e-01, 2.08176257e+01,
 -3.83718458e+00, 7.77029073e-01]

qfrc_actuator:
[-1.08742906e-04,-3.68589514e-04,-2.21676122e-04,-2.11820263e-05,
  2.40605142e-05,-3.88834015e-04,-3.45152390e-04,-4.31765912e-05,
  4.99200349e-05,-3.11185805e-04,-2.14971962e-04,-1.37973763e-04,
  3.75942716e-03,-1.29687393e-03, 0.00000000e+00,-1.29673437e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45653965, -0.43061032, -4.43568714, -0.43061032, 37.57098793,
       -3.21470444, -4.43568714, -3.21470444,  4.76861868,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002728553759617919
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01722664e-13, -1.01722664e-13,  1.00000000e+00, -1.03475003e-26,
        1.00000000e+00,  1.01722664e-13, -1.00000000e+00,  0.00000000e+00,
       -1.01722664e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10335126, -0.0474673 ,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.23974360e-05, 1.94784673e-05, 9.08633529e-06, 1.27178833e-05,
  3.25487916e-05, 6.06565595e-05,-2.60982258e-07,-6.61564799e-06,
  2.09273600e-05, 2.09918488e-05, 4.63016021e-05, 4.21647658e-06,
 -3.24935654e-05,-1.73145695e-05, 9.75667949e-06, 3.06245887e-05,
  2.06965368e-07, 5.20898340e-06,-1.21646487e+00,-1.77592407e-03,
 -3.09565597e-04,-1.88048175e-06]


--- Step 1529 ---
qpos:
[ 2.84137450e-03,-5.61306195e-03,-1.02230553e-02, 2.79903788e-03,
 -4.46563032e-03,-5.18899697e-03,-1.77826236e-02, 5.16299819e-03,
 -4.73997768e-03,-3.96905014e-03,-7.83714827e-03,-1.91730217e-02,
  1.34654585e+00, 1.88941695e-02, 1.32308776e+00, 2.45583981e-02,
  9.49774551e-02,-6.99359930e-02, 1.30739074e-01, 9.94252894e-01,
 -1.76721327e-04,-1.85061744e-04,-1.07056608e-01]

qacc:
[  4.59925269,  0.28053964, -1.2367598 ,  3.34115647,  0.38350335,
  -0.71949285,  3.37794157, -5.94123419, -6.99473228,  1.96638006,
  -7.924841  , 14.92380812,  0.07436979, -0.49544583,  4.40789729,
 -14.97293674, -0.61248564, -1.34090625, -0.22399782, 20.68174151,
  -3.93416855,  0.69787821]

qfrc_actuator:
[-8.28851061e-05,-3.54702420e-04,-2.15705660e-04,-1.40308560e-05,
  2.53501977e-05,-3.94614552e-04,-3.36912679e-04,-4.97304364e-05,
  8.28479128e-06,-2.85446330e-04,-2.25283576e-04,-1.17919823e-04,
  3.73331021e-03,-1.34177204e-03, 0.00000000e+00,-1.37002487e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026990244200621183
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.14177927e-14, -1.02835585e-13,  1.00000000e+00,  5.28757881e-27,
        1.00000000e+00,  1.02835585e-13, -1.00000000e+00,  0.00000000e+00,
        5.14177927e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10335283, -0.04746623,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.70749520e-05, 2.72144470e-05, 1.15461572e-05, 8.54333454e-06,
  2.24426218e-06, 2.77901831e-05, 2.05017901e-05,-4.09610601e-06,
 -4.10317194e-05, 4.72234313e-05,-1.32829285e-07, 2.26364759e-05,
 -4.58147587e-05,-5.78152477e-05, 4.55914908e-06,-7.10711297e-05,
  5.23303236e-07, 5.61727410e-06,-1.21647013e+00,-1.77699790e-03,
 -3.06193748e-04,-3.11150101e-06]


--- Step 1530 ---
qpos:
[ 2.84079626e-03,-5.61274725e-03,-1.02230212e-02, 2.80052469e-03,
 -4.46545760e-03,-5.18818449e-03,-1.77826701e-02, 5.16382919e-03,
 -4.74099461e-03,-3.96810785e-03,-7.83762749e-03,-1.91726859e-02,
  1.34668945e+00, 1.88944814e-02, 1.32319766e+00, 2.45561584e-02,
  9.49476648e-02,-6.99502725e-02, 1.30736043e-01, 9.94249274e-01,
 -4.66527413e-05,-3.83428492e-04,-1.07089833e-01]

qacc:
[  2.75848615,  2.52214373,-10.67161968, 19.41955453, -2.89363088,
  -0.12880205, -0.94721576,  5.77187425, -4.36198714,  3.98110576,
 -15.8603109 , 27.31541206,  0.21374156, -0.62960099, -6.09523624,
  20.5325201 , -0.19111767, -1.41143916, -0.14904842, 20.19314793,
   2.27552462,  0.11836872]

qfrc_actuator:
[-6.73276910e-05,-3.64296932e-04,-2.47887420e-04, 7.52263770e-06,
  8.14311086e-06,-4.16292998e-04,-3.32008262e-04,-3.60528508e-05,
 -1.60089649e-05,-2.70428398e-04,-2.66953654e-04,-8.82652094e-05,
  3.71246936e-03,-1.36868027e-03, 0.00000000e+00,-1.26953588e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026652005171587845
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.98801472e-07,  3.98801056e-07,  1.00000000e+00, -1.59042448e-13,
        1.00000000e+00, -3.98801056e-07, -1.00000000e+00,  0.00000000e+00,
        3.98801472e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09797463, -0.04691752,  0.06199176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.63387028e-05, 8.37305738e-06,-2.48529732e-05, 2.32806168e-05,
 -1.71337065e-05,-2.10911152e-06, 1.30196007e-05, 1.54953369e-05,
 -2.54483388e-05, 4.23316190e-05,-3.11563902e-05, 3.21137057e-05,
 -5.69305718e-05,-5.50842837e-05,-9.28143218e-06, 9.63466667e-05,
  1.17011932e-06, 6.58382664e-06,-1.21647819e+00,-1.77870215e-03,
 -3.02763947e-04,-4.45028183e-06]


--- Step 1531 ---
qpos:
[ 2.84075421e-03,-5.61246828e-03,-1.02229923e-02, 2.80190472e-03,
 -4.46514753e-03,-5.18748091e-03,-1.77825849e-02, 5.16448232e-03,
 -4.74160536e-03,-3.96669681e-03,-7.83861371e-03,-1.91723582e-02,
  1.34683281e+00, 1.88939361e-02, 1.32330739e+00, 2.45557835e-02,
  9.49213881e-02,-6.99683442e-02, 1.30734329e-01, 9.94245518e-01,
  1.06073743e-04,-5.53114234e-04,-1.07123917e-01]

qacc:
[ 4.69051762,-0.26147304, 1.29868574,-3.09487375, 1.20355642,-0.88059728,
  3.67799493,-6.88305534, 3.5318526 , 2.01345957,-6.2575272 , 6.59620644,
  0.50840516,-1.14314307,-5.98049634,20.36358038, 0.87839136,-0.94807571,
  0.32938926, 9.72791006,15.47124438,-0.43759276]

qfrc_actuator:
[-4.01997406e-05,-3.70273371e-04,-2.49165599e-04, 1.82742451e-06,
  1.57020881e-05,-4.29573739e-04,-3.29182773e-04,-4.61093243e-05,
  5.62365481e-06,-2.44326670e-04,-2.91317915e-04,-8.87283898e-05,
  3.69481336e-03,-1.42015625e-03, 0.00000000e+00,-1.17394625e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002704216804293169
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -4.1055252e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  4.1055252e-13, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08486411, -0.05567803,  0.06199164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.75965702e-05,-5.43786582e-06,-1.81178547e-06,-5.74799633e-06,
  7.06587280e-06,-1.11439027e-05, 4.51979369e-06,-9.39754107e-06,
  2.09230925e-05, 4.46721130e-05,-1.83533441e-05, 8.96050895e-07,
 -5.81476914e-05,-8.15541662e-05, 4.32009456e-06, 9.93018518e-05,
  1.78846913e-06, 8.03744656e-06,-1.21648508e+00,-1.78105995e-03,
 -2.99397076e-04,-5.45371010e-06]


--- Step 1532 ---
qpos:
[ 2.84103769e-03,-5.61223100e-03,-1.02224216e-02, 2.80316820e-03,
 -4.46509429e-03,-5.18689209e-03,-1.77824462e-02, 5.16501640e-03,
 -4.74195233e-03,-3.96482697e-03,-7.83960825e-03,-1.91727628e-02,
  1.34697590e+00, 1.88927074e-02, 1.32341711e+00, 2.45565537e-02,
  9.48985782e-02,-6.99901369e-02, 1.30733430e-01, 9.94241621e-01,
  2.81365685e-04,-6.94529937e-04,-1.07158934e-01]

qacc:
[  2.86508706, -1.81501845,  6.87377642, -9.7158759 , -2.23610359,
  -0.54132269,  2.2203723 , -4.2902246 ,  2.30073157, -0.88350138,
   7.10843822,-20.08742634,  0.2891342 , -0.81000114, -3.53336581,
  12.21854575,  0.86671458, -0.93023744,  0.20378931,  9.70335292,
  15.26224178, -0.47954422]

qfrc_actuator:
[-2.42278639e-05,-3.56196758e-04,-2.14435604e-04,-2.07764228e-06,
  2.27841316e-06,-4.37758265e-04,-3.27600672e-04,-5.22977418e-05,
  1.86038162e-05,-2.11758657e-04,-2.87485155e-04,-1.24637876e-04,
  3.68439661e-03,-1.45030929e-03, 0.00000000e+00,-1.11756135e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002720457697767964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02025389e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.02025389e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08486451, -0.05567735,  0.06199159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67578596e-05, 1.04114725e-05, 3.31769474e-05,-4.31753675e-06,
 -1.32247868e-05,-1.39107793e-05,-4.99082314e-07,-6.69589750e-06,
  1.35975177e-05, 5.37611103e-05, 1.08228681e-05,-3.46166133e-05,
 -5.73527891e-05,-6.87316856e-05, 1.04087476e-05, 6.18827125e-05,
  1.31401234e-06, 8.66127267e-06,-1.21648170e+00,-1.78383037e-03,
 -2.96722296e-04,-4.43428558e-06]


--- Step 1533 ---
qpos:
[ 2.84116552e-03,-5.61162965e-03,-1.02221823e-02, 2.80472809e-03,
 -4.46520215e-03,-5.18665179e-03,-1.77819178e-02, 5.16582428e-03,
 -4.74248546e-03,-3.96273562e-03,-7.84048791e-03,-1.91732275e-02,
  1.34711858e+00, 1.88916837e-02, 1.32352694e+00, 2.45573336e-02,
  9.48801915e-02,-7.00126632e-02, 1.30734245e-01, 9.94237739e-01,
  4.57199279e-04,-8.04514898e-04,-1.07193570e-01]

qacc:
[-1.37800433, 2.020263  ,-7.7516812 ,13.1383129 ,-1.38662863,-0.98302788,
  1.68588611, 2.6803148 ,-1.62992494,-0.14878809, 1.21337176,-2.6028417 ,
 -0.46501464, 0.5230912 , 0.18746635,-0.29285568, 1.10580624,-0.18339179,
  0.42832913,-1.41464594,15.65395606, 0.18588425]

qfrc_actuator:
[-3.27060787e-05,-3.30068059e-04,-2.29656213e-04, 1.28964779e-05,
 -5.64299544e-06,-4.60588294e-04,-3.08986227e-04,-3.84003565e-05,
  8.61979338e-06,-2.10993704e-04,-2.84782692e-04,-1.27829657e-04,
  3.68898773e-03,-1.41424173e-03, 0.00000000e+00,-1.12023082e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45409407, -0.26223251, -4.44636796, -0.26223251, 47.06015107,
       -2.51276845, -4.44636796, -2.51276845,  4.60228908,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002720090579849954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08208585, -0.06685493,  0.0619916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.99835926e-06, 3.86056492e-05,-9.14611650e-06, 1.64788454e-05,
 -8.30509810e-06,-3.10276550e-05, 1.54388086e-05, 1.31515053e-05,
 -9.57110108e-06, 3.15292665e-05, 1.39314925e-05,-1.19066263e-06,
 -3.90084989e-05, 1.62431743e-06, 8.42523847e-06, 1.38357122e-06,
  5.70477698e-07, 9.49629674e-06,-1.21648047e+00,-1.78690143e-03,
 -2.94493404e-04,-3.22709025e-06]


--- Step 1534 ---
qpos:
[ 2.84188063e-03,-5.61062790e-03,-1.02224242e-02, 2.80611567e-03,
 -4.46540402e-03,-5.18701330e-03,-1.77810309e-02, 5.16717275e-03,
 -4.74313355e-03,-3.96075041e-03,-7.84143768e-03,-1.91736712e-02,
  1.34726112e+00, 1.88902522e-02, 1.32363690e+00, 2.45570791e-02,
  9.48672109e-02,-7.00318302e-02, 1.30736515e-01, 9.94234153e-01,
  6.03752972e-04,-8.79988472e-04,-1.07225507e-01]

qacc:
[  5.11516461,  1.50963488, -3.90482129,  1.41658656, -0.79807248,
  -0.68215898, -1.0008076 , 10.22292745, -1.00681796,  0.10081761,
  -0.64765473,  1.19581265,  0.04502521, -0.33449322,  3.32447246,
 -11.36255628,  1.35150318,  0.83980787,  0.36392917,-16.40427285,
  15.58768953,  1.36118246]

qfrc_actuator:
[-2.24547777e-06,-3.14849817e-04,-2.56438187e-04, 3.32652061e-06,
 -1.02560373e-05,-5.09678573e-04,-2.98262807e-04,-1.27967292e-05,
  2.95433002e-06,-2.47009436e-04,-3.00630917e-04,-1.29522870e-04,
  3.67597660e-03,-1.44557266e-03, 0.00000000e+00,-1.17540810e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46737483, -0.13870657, -4.46522098, -0.13870657, 43.69504446,
       -1.21855908, -4.46522098, -1.21855908,  4.50522786,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000276563868555027
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00358647e-13,  2.00717294e-13,  1.00000000e+00, -2.01437160e-26,
        1.00000000e+00, -2.00717294e-13, -1.00000000e+00,  0.00000000e+00,
        1.00358647e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07863024, -0.08183113,  0.06199146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.02426966e-05, 3.55922132e-05,-1.93771373e-05,-7.91663623e-06,
 -4.86313308e-06,-6.27080618e-05, 6.66124065e-06, 2.50613233e-05,
 -5.92267921e-06,-1.56277101e-05,-7.67472363e-06, 1.14493959e-07,
 -3.16337728e-05,-3.98467109e-05, 3.00394329e-07,-5.48507527e-05,
 -3.83911697e-07, 8.80112937e-06,-1.21647426e+00,-1.78996061e-03,
 -2.93178069e-04,-1.26901788e-06]


--- Step 1535 ---
qpos:
[ 2.84330050e-03,-5.60987687e-03,-1.02223987e-02, 2.80671952e-03,
 -4.46565991e-03,-5.18755714e-03,-1.77806523e-02, 5.16778830e-03,
 -4.74384415e-03,-3.95929513e-03,-7.84232476e-03,-1.91744304e-02,
  1.34740336e+00, 1.88887281e-02, 1.32374649e+00, 2.45591809e-02,
  9.48595235e-02,-7.00476714e-02, 1.30739635e-01, 9.94230864e-01,
  7.21605195e-04,-9.21250918e-04,-1.07254925e-01]

qacc:
[  6.17681573, -2.70516947, 12.45182038,-26.23589433, -0.48433885,
  -0.3287959 ,  3.91827654,-15.65792181, -0.53629819, -1.52463935,
   5.75127304,-10.9191195 ,  0.03417223, -0.17779805, -7.72015377,
  26.14674091,  1.32331138,  0.83146291,  0.21244713,-16.10112486,
  15.46906233,  1.27081909]

qfrc_actuator:
[ 3.31450902e-05,-3.59617709e-04,-2.54369148e-04,-3.83723578e-05,
 -1.28867087e-05,-5.20874426e-04,-3.27903892e-04,-5.15561914e-05,
 -1.16728983e-07,-3.04854549e-04,-3.09717873e-04,-1.48126512e-04,
  3.66304568e-03,-1.44580123e-03, 0.00000000e+00,-1.04801845e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.47915081,  -3.14413492,  -3.1901736 ,  -3.14413492,
        23.33346826, -18.58222318,  -3.1901736 , -18.58222318,
        22.79320642,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00028052068965621346
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.89430607e-14, -1.97886121e-13,  1.00000000e+00,  1.95794585e-26,
        1.00000000e+00,  1.97886121e-13, -1.00000000e+00,  0.00000000e+00,
        9.89430607e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07862997, -0.08182952,  0.06199133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.62652802e-05,-2.92346023e-05, 6.74624501e-06,-4.10046635e-05,
 -2.79328277e-06,-4.38141650e-05,-4.09143963e-05,-4.07318745e-05,
 -3.24012413e-06,-6.82282086e-05,-1.32675679e-05,-1.95374080e-05,
 -3.79576128e-05,-1.95600023e-05,-9.02006895e-06, 1.23680786e-04,
 -1.03521151e-06, 6.07801645e-06,-1.21646165e+00,-1.79253404e-03,
 -2.92939978e-04, 9.86049405e-07]


--- Step 1536 ---
qpos:
[ 2.84409903e-03,-5.60936705e-03,-1.02220215e-02, 2.80646716e-03,
 -4.46525578e-03,-5.18814670e-03,-1.77807395e-02, 5.16791438e-03,
 -4.74458597e-03,-3.95839989e-03,-7.84325034e-03,-1.91757401e-02,
  1.34754515e+00, 1.88878659e-02, 1.32385595e+00, 2.45631021e-02,
  9.48570375e-02,-7.00602157e-02, 1.30743097e-01, 9.94227871e-01,
  8.11232700e-04,-9.28559290e-04,-1.07281966e-01]

qacc:
[ -5.42037252, -3.05468634, 14.0614806 ,-29.28435476,  5.74182432,
   0.22202904,  1.16735739, -8.83896538, -0.26526012, -1.76611151,
   7.54398413,-16.59001111, -0.60861099,  0.94779334, -5.61845487,
  19.5659814 ,  1.30034127,  0.82422403,  0.0854019 ,-15.85082582,
  15.36646752,  1.19758954]

qfrc_actuator:
[ 1.30737756e-07,-3.68875796e-04,-2.35545791e-04,-8.09156283e-05,
  2.11749247e-05,-5.09512369e-04,-3.45535010e-04,-7.46183359e-05,
 -1.63762346e-06,-3.39825759e-04,-3.14852827e-04,-1.76548325e-04,
  3.66083458e-03,-1.39201535e-03, 0.00000000e+00,-9.56086481e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.48307338,   3.29205791,   3.04307438,   3.29205791,
        20.29635803, -17.10712334,   3.04307438, -17.10712334,
        22.98989695,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00028182222621901676
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.96972226e-13, -1.96972226e-13,  1.00000000e+00,  3.87980578e-26,
        1.00000000e+00,  1.96972226e-13, -1.00000000e+00,  0.00000000e+00,
        1.96972226e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07862929, -0.08182864,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.19891357e-05,-2.59902426e-05, 1.21834410e-05,-4.43653891e-05,
  3.39696126e-05,-2.33214927e-05,-3.31298864e-05,-2.71489533e-05,
 -1.63233860e-06,-7.67450814e-05,-2.15425946e-05,-3.21827186e-05,
 -2.50982049e-05, 3.89762525e-05, 7.64730782e-06, 9.72205924e-05,
 -1.43479615e-06, 3.80727112e-06,-1.21645240e+00,-1.79458580e-03,
 -2.93083476e-04, 2.59052825e-06]


--- Step 1537 ---
qpos:
[ 2.84484069e-03,-5.60881522e-03,-1.02218453e-02, 2.80605391e-03,
 -4.46479142e-03,-5.18879259e-03,-1.77811348e-02, 5.16844356e-03,
 -4.74534002e-03,-3.95841130e-03,-7.84381869e-03,-1.91770173e-02,
  1.34768675e+00, 1.88873306e-02, 1.32396567e+00, 2.45660869e-02,
  9.48596784e-02,-7.00694880e-02, 1.30746474e-01, 9.94225168e-01,
  8.73027002e-04,-9.02129963e-04,-1.07306749e-01]

qacc:
[ -0.50450134,  0.28694656, -0.26177766, -2.23374314,  0.51672482,
   1.61524737, -7.57111856, 15.08455438, -0.08027353, -2.12987861,
   5.71824436, -5.059698  , -0.44986221,  0.64104461,  3.26396499,
 -10.74403457,  1.28173909,  0.81801006, -0.02097079,-15.64506608,
  15.27953114,  1.13774139]

qfrc_actuator:
[-1.87184659e-06,-3.56737212e-04,-2.42366319e-04,-8.80742769e-05,
  2.33016019e-05,-5.02431878e-04,-3.55799313e-04,-5.27071110e-05,
 -2.23469784e-06,-3.96335830e-04,-2.99787838e-04,-1.74994608e-04,
  3.65442773e-03,-1.37754869e-03, 0.00000000e+00,-1.01010321e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002810011992541578
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.95095476e-13, -1.97547738e-13,  1.00000000e+00,  7.80502174e-26,
        1.00000000e+00,  1.97547738e-13, -1.00000000e+00,  0.00000000e+00,
        3.95095476e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07862827, -0.08182832,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.92654651e-06,-1.81553355e-06,-1.22328558e-05,-8.71439646e-06,
  3.09485963e-06,-1.39328063e-05,-2.00957334e-05, 1.92369048e-05,
 -6.66635303e-07,-1.05274802e-04,-4.55030862e-06,-3.10194739e-06,
 -9.22515832e-06, 2.04608310e-05, 1.10649607e-05,-4.83563822e-05,
 -1.57953149e-06, 1.95325965e-06,-1.21644636e+00,-1.79612718e-03,
 -2.93617556e-04, 3.56609267e-06]


--- Step 1538 ---
qpos:
[ 2.84520743e-03,-5.60823120e-03,-1.02223495e-02, 2.80593797e-03,
 -4.46499491e-03,-5.18909158e-03,-1.77821656e-02, 5.16954654e-03,
 -4.74678524e-03,-3.95930591e-03,-7.84395907e-03,-1.91772380e-02,
  1.34782821e+00, 1.88870095e-02, 1.32407567e+00, 2.45664096e-02,
  9.48673865e-02,-7.00755093e-02, 1.30749413e-01, 9.94222749e-01,
  9.07307922e-04,-8.42141330e-04,-1.07329369e-01]

qacc:
[ -3.30128203,  2.56316601,-10.32108909, 16.51873607, -5.84941189,
   3.42590528,-13.95349164, 24.62547972, -6.02160995, -0.17543024,
  -5.50097415, 23.71472774, -0.48333025,  0.62400283,  8.55248978,
 -29.14905556,  1.26679893,  0.81273518, -0.10987642,-15.47696619,
  15.20763968,  1.088292  ]

qfrc_actuator:
[-2.10885768e-05,-3.67452637e-04,-2.81913794e-04,-7.43550107e-05,
 -1.11495292e-05,-4.62386171e-04,-3.79367488e-04,-2.22612773e-05,
 -3.77892542e-05,-4.29693315e-04,-2.72983206e-04,-1.20313085e-04,
  3.64549631e-03,-1.36885066e-03, 0.00000000e+00,-1.14966109e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002785024462173963
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07862699, -0.08182846,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93020025e-05,-1.46553403e-05,-4.17390444e-05, 1.30478401e-05,
 -3.43672581e-05, 2.89560642e-05,-2.82448759e-05, 2.95288782e-05,
 -3.56108900e-05,-9.32919713e-05, 4.40198898e-06, 4.99592929e-05,
 -8.81207099e-06, 1.29179881e-05,-3.99834800e-06,-1.41679506e-04,
 -1.46819934e-06, 4.88343444e-07,-1.21644341e+00,-1.79716724e-03,
 -2.94548769e-04, 3.92988991e-06]


--- Step 1539 ---
qpos:
[ 2.84499584e-03,-5.60747252e-03,-1.02231271e-02, 2.80559537e-03,
 -4.46560940e-03,-5.18957965e-03,-1.77829844e-02, 5.17067031e-03,
 -4.74830099e-03,-3.96043627e-03,-7.84431530e-03,-1.91768411e-02,
  1.34796922e+00, 1.88876096e-02, 1.32418549e+00, 2.45663996e-02,
  9.48723557e-02,-7.00744211e-02, 1.30751248e-01, 9.94220101e-01,
  8.94031177e-04,-8.09992576e-04,-1.07354249e-01]

qacc:
[ -5.07040921,  0.53785453, -0.60894102, -3.02366531, -3.5744283 ,
  -0.79208007,  2.38612459, -2.23937256, -0.61979599,  1.56513151,
  -8.63249476, 19.82581539, -0.94453075,  1.47286644,  0.85304941,
  -3.09731532, -0.68472318,  1.77736655, -0.27578211,-22.14828602,
 -16.39280917, -1.10310656]

qfrc_actuator:
[-5.02929849e-05,-3.38629545e-04,-2.87279680e-04,-8.40080916e-05,
 -3.13381093e-05,-4.91705183e-04,-3.74962229e-04,-2.25318726e-05,
 -4.03765567e-05,-4.13314780e-04,-2.74853690e-04,-8.80498434e-05,
  3.62972647e-03,-1.31037409e-03, 0.00000000e+00,-1.16091719e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002759714977549066
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01722198e-13, -5.02870330e-14,  1.00000000e+00,  1.51727141e-26,
        1.00000000e+00,  5.02870330e-14, -1.00000000e+00,  0.00000000e+00,
        3.01722198e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10324822, -0.0954759 ,  0.06199148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.97613714e-05, 1.25424352e-05,-1.30830182e-05,-1.14705590e-05,
 -2.11638205e-05,-1.76872093e-05, 7.94305418e-06, 5.69250338e-07,
 -3.64214012e-06,-3.27235866e-05,-1.88560532e-05, 2.93970051e-05,
 -1.78687564e-05, 6.07740175e-05,-2.09001941e-05,-2.04109205e-05,
 -1.10096933e-06,-6.09159995e-07,-1.21644347e+00,-1.79771323e-03,
 -2.95881967e-04, 3.69526637e-06]


--- Step 1540 ---
qpos:
[ 2.84478053e-03,-5.60666446e-03,-1.02234014e-02, 2.80510107e-03,
 -4.46680628e-03,-5.19027693e-03,-1.77836813e-02, 5.17144615e-03,
 -4.74949181e-03,-3.96137695e-03,-7.84515639e-03,-1.91767880e-02,
  1.34810993e+00, 1.88887151e-02, 1.32429494e+00, 2.45682287e-02,
  9.48745927e-02,-7.00663093e-02, 1.30751611e-01, 9.94217213e-01,
  8.33553587e-04,-8.05263369e-04,-1.07381512e-01]

qacc:
[-1.76912641e-02,-1.65370131e+00, 6.63140167e+00,-1.00979075e+01,
 -5.07152443e+00,-1.32319290e+00, 5.80302680e+00,-1.18849605e+01,
  2.82591623e+00, 8.92295649e-01,-1.37745713e+00,-3.92357197e+00,
 -3.72566502e-01, 6.33276522e-01,-6.09320074e+00, 2.05982682e+01,
 -6.83068298e-01, 1.75592393e+00,-3.67875238e-01,-2.19930696e+01,
 -1.61653007e+01,-1.16618097e+00]

qfrc_actuator:
[-4.96313697e-05,-3.21743956e-04,-2.54518924e-04,-8.95269005e-05,
 -6.07114835e-05,-5.08987909e-04,-3.72118720e-04,-4.09088552e-05,
 -2.35276910e-05,-3.85141427e-04,-2.93456617e-04,-1.04726463e-04,
  3.60988711e-03,-1.29383356e-03, 0.00000000e+00,-1.06095136e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46045219, -1.22818425,  4.28802952, -1.22818425, 42.46576658,
       10.88554269,  4.28802952, 10.88554269,  7.57830666,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002742021711853171
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02446067e-13,  1.01223034e-13,  1.00000000e+00, -2.04922051e-26,
        1.00000000e+00, -1.01223034e-13, -1.00000000e+00,  0.00000000e+00,
        2.02446067e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10324755, -0.09547731,  0.06199153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.85161594e-07, 2.06781411e-05, 3.33454801e-05,-5.65529595e-06,
 -2.99866238e-05,-2.54908449e-05, 2.02120783e-07,-1.88475393e-05,
  1.67290959e-05, 7.27698653e-06,-2.66519239e-05,-1.81557614e-05,
 -1.51185798e-05, 3.13262329e-05,-1.42762534e-05, 9.56215677e-05,
  2.66155575e-07,-5.13476166e-07,-1.21644079e+00,-1.79732418e-03,
 -2.96819585e-04, 3.00582992e-06]


--- Step 1541 ---
qpos:
[ 2.84457461e-03,-5.60596819e-03,-1.02229333e-02, 2.80489331e-03,
 -4.46800162e-03,-5.19071283e-03,-1.77845682e-02, 5.17230199e-03,
 -4.75047157e-03,-3.96212286e-03,-7.84627861e-03,-1.91769502e-02,
  1.34825055e+00, 1.88900389e-02, 1.32440439e+00, 2.45702036e-02,
  9.48741032e-02,-7.00512428e-02, 1.30750195e-01, 9.94214067e-01,
  7.26165026e-04,-8.27616716e-04,-1.07411251e-01]

qacc:
[ 1.07412485e-01,-1.63266030e+00, 4.39703007e+00,-5.42428297e-01,
  3.02696568e-03, 1.04074857e+00,-3.54762748e+00, 5.04420358e+00,
  1.83526547e+00, 5.96101074e-01,-8.50112020e-01,-2.56151849e+00,
 -1.90452859e-01, 3.18725673e-01,-4.01377571e-01, 1.48497122e+00,
 -6.81617028e-01, 1.73865183e+00,-4.45005862e-01,-2.18666542e+01,
 -1.59827919e+01,-1.21437987e+00]

qfrc_actuator:
[-4.91460465e-05,-3.29718094e-04,-2.17302066e-04,-7.47968112e-05,
 -5.97547006e-05,-4.65695213e-04,-3.70206961e-04,-3.42839882e-05,
 -1.31370104e-05,-3.67974953e-04,-3.03991013e-04,-1.14547376e-04,
  3.60891182e-03,-1.28465465e-03, 0.00000000e+00,-1.05606494e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027098522338048214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02424683e-13,  1.02424683e-13,  1.00000000e+00, -1.04908157e-26,
        1.00000000e+00, -1.02424683e-13, -1.00000000e+00,  0.00000000e+00,
        1.02424683e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10324727, -0.09547919,  0.06199163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.83955131e-07, 1.02102488e-05, 4.53948002e-05, 1.66598363e-05,
  8.89942961e-08, 2.82939248e-05,-3.96482543e-06, 5.17549569e-06,
  1.08689780e-05, 1.49992734e-05,-1.29232459e-05,-1.07819640e-05,
 -1.14813172e-06, 1.53054430e-05, 2.24220658e-06, 7.96828473e-06,
  1.40590826e-06, 5.64692113e-07,-1.21644282e+00,-1.79623087e-03,
 -2.97358370e-04, 3.11273239e-06]


--- Step 1542 ---
qpos:
[ 2.84403123e-03,-5.60545138e-03,-1.02219064e-02, 2.80453992e-03,
 -4.46848680e-03,-5.19090761e-03,-1.77852041e-02, 5.17354679e-03,
 -4.75062925e-03,-3.96272147e-03,-7.84755408e-03,-1.91768867e-02,
  1.34839109e+00, 1.88915074e-02, 1.32451362e+00, 2.45738959e-02,
  9.48786140e-02,-7.00329881e-02, 1.30748539e-01, 9.94211190e-01,
  5.90622124e-04,-8.15555736e-04,-1.07438801e-01]

qacc:
[-2.93127496e+00,-2.09335767e+00, 7.74443865e+00,-1.10371563e+01,
  6.19700523e+00, 4.05936955e-01,-2.64798822e+00, 8.82378268e+00,
  7.18942434e+00, 1.07428869e+00,-4.52366689e+00, 8.59093900e+00,
  6.54446042e-03, 5.91511060e-02,-5.52958830e+00, 1.88656292e+01,
  1.25008324e+00, 7.97046060e-01,-5.99576681e-02,-1.58431558e+01,
  1.55964635e+01, 1.10176749e+00]

qfrc_actuator:
[-6.65307436e-05,-3.52466635e-04,-1.95604585e-04,-8.38002140e-05,
 -2.31981502e-05,-4.39702068e-04,-3.50838509e-04,-1.29467673e-05,
  2.88679389e-05,-3.57493575e-04,-3.09694090e-04,-1.02493188e-04,
  3.60326886e-03,-1.27980777e-03, 0.00000000e+00,-9.65247310e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44430734, -3.75226692,  2.38167183, -3.75226692, 13.85613956,
       14.82811619,  2.38167183, 14.82811619, 27.80564917,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002685870090591569
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03339233e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.03339233e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07862407, -0.0818278 ,  0.0619917 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.73724703e-05,-6.97788055e-06, 2.99615012e-05,-6.67296700e-06,
  3.65689187e-05, 4.12421095e-05, 2.49167820e-05, 2.25140419e-05,
  4.23180124e-05, 1.57791233e-05,-4.54902047e-06, 1.20433648e-05,
 -2.73622354e-06, 9.30413566e-06,-8.13539528e-07, 9.09197754e-05,
  2.34320690e-06, 2.61048446e-06,-1.21644945e+00,-1.79443510e-03,
 -2.97509609e-04, 3.99520910e-06]


--- Step 1543 ---
qpos:
[ 2.84293891e-03,-5.60524980e-03,-1.02205041e-02, 2.80411237e-03,
 -4.46853019e-03,-5.19064902e-03,-1.77856737e-02, 5.17467007e-03,
 -4.74993729e-03,-3.96325525e-03,-7.84856730e-03,-1.91770429e-02,
  1.34853142e+00, 1.88931231e-02, 1.32462287e+00, 2.45783019e-02,
  9.48880929e-02,-7.00115422e-02, 1.30746317e-01, 9.94208562e-01,
  4.27262545e-04,-7.69399502e-04,-1.07464228e-01]

qacc:
[ -4.78470974, -1.60946605,  5.46334336, -7.13283968,  3.8500302 ,
  -0.12325658,  1.8088275 , -4.49727824,  7.4448503 , -1.11486898,
   5.0002859 , -9.24069358, -0.20285313,  0.25396648, -2.12906462,
   7.51574038,  1.24201069,  0.79782038, -0.14143783,-15.65861091,
  15.45537493,  1.06954051]

qfrc_actuator:
[-9.42943723e-05,-3.83967445e-04,-1.83332165e-04,-8.89735204e-05,
 -1.49624524e-06,-4.06420310e-04,-3.39113692e-04,-1.86283622e-05,
  7.13933608e-05,-3.51053678e-04,-2.94761162e-04,-1.13174252e-04,
  3.58417620e-03,-1.27757393e-03, 0.00000000e+00,-9.31016742e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002662160775301625
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04259577e-13, -2.08519154e-13,  1.00000000e+00,  2.17401188e-26,
        1.00000000e+00,  2.08519154e-13, -1.00000000e+00,  0.00000000e+00,
        1.04259577e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07862368, -0.08182748,  0.06199178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.82661385e-05,-2.95342608e-05, 1.42746654e-05,-4.56721823e-06,
  2.27627304e-05, 6.24797079e-05, 2.40973282e-05,-2.61653541e-06,
  4.37359729e-05, 1.48904034e-05, 1.80683131e-05,-9.92597841e-06,
 -1.80845415e-05, 4.36289924e-06, 7.61474817e-06, 3.86918790e-05,
  3.55742927e-06, 2.89525130e-06,-1.21645431e+00,-1.79254896e-03,
 -2.97775201e-04, 3.10774523e-06]


--- Step 1544 ---
qpos:
[ 2.84152210e-03,-5.60520920e-03,-1.02195633e-02, 2.80401047e-03,
 -4.46831265e-03,-5.19016061e-03,-1.77855776e-02, 5.17502682e-03,
 -4.74977516e-03,-3.96401743e-03,-7.84924654e-03,-1.91772930e-02,
  1.34867167e+00, 1.88945378e-02, 1.32473286e+00, 2.45770619e-02,
  9.49025140e-02,-6.99869024e-02, 1.30743256e-01, 9.94206159e-01,
  2.36349865e-04,-6.89402024e-04,-1.07487588e-01]

qacc:
[ -2.84987465,  1.75362736, -7.92622092, 14.40815869,  2.28887377,
  -2.85929175, 13.8646081 ,-28.19808518, -4.62388845, -1.41955645,
   5.03343904, -7.03562852, -0.46298898,  0.36562219, 18.28220406,
 -62.18472674,  1.23556499,  0.79847801, -0.20973055,-15.51437845,
  15.34266929,  1.04347785]

qfrc_actuator:
[-1.10186248e-04,-4.02759423e-04,-2.12260213e-04,-7.41093561e-05,
  1.12771852e-05,-4.04579343e-04,-3.14238115e-04,-5.79189911e-05,
  4.28641492e-05,-3.82520393e-04,-2.85553469e-04,-1.19388453e-04,
  3.57300594e-03,-1.29472078e-03, 0.00000000e+00,-1.23221638e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026263181129689006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07862292, -0.08182758,  0.06199189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.67124341e-05,-3.25838919e-05,-3.34438888e-05, 1.40025463e-05,
  1.34469434e-05, 4.16458914e-05, 4.06575884e-05,-3.58336776e-05,
 -2.72780380e-05,-1.97843050e-05, 1.41824929e-05,-5.14252403e-06,
 -1.88222368e-05,-2.00797504e-05, 4.70227705e-06,-2.98782224e-04,
  5.03513593e-06, 3.52655429e-06,-1.21646216e+00,-1.79016174e-03,
 -2.98456513e-04, 1.61446842e-06]


--- Step 1545 ---
qpos:
[ 2.84061521e-03,-5.60507124e-03,-1.02196633e-02, 2.80409496e-03,
 -4.46794325e-03,-5.18966488e-03,-1.77850618e-02, 5.17529459e-03,
 -4.75064581e-03,-3.96473659e-03,-7.85046643e-03,-1.91772436e-02,
  1.34881214e+00, 1.88949854e-02, 1.32484309e+00, 2.45705717e-02,
  9.49203450e-02,-6.99659677e-02, 1.30741804e-01, 9.94203638e-01,
  6.89560918e-05,-5.79627450e-04,-1.07511789e-01]

qacc:
[  4.42625793,  3.41305835,-12.78433275, 17.61888993,  1.33716151,
  -1.34838084,  5.19333232, -7.40568017, -9.05852158,  2.20246418,
  -9.00009619, 14.97293518,  0.31429562, -0.8735443 , 16.20815223,
 -56.29322076,  0.85246907, -0.92629848,  0.40231269, 10.09071044,
  16.06614152, -0.43644375]

qfrc_actuator:
[-8.34546953e-05,-3.96201632e-04,-2.65221671e-04,-6.53454913e-05,
  1.86976604e-05,-4.21560644e-04,-2.99690688e-04,-6.34235113e-05,
 -9.50559122e-06,-3.83205868e-04,-3.15462806e-04,-1.05208090e-04,
  3.57191052e-03,-1.35871215e-03, 0.00000000e+00,-1.49781572e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002628269366778818
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05603999e-13,  2.11207998e-13,  1.00000000e+00, -2.23044093e-26,
        1.00000000e+00, -2.11207998e-13, -1.00000000e+00,  0.00000000e+00,
        1.05603999e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0848752 , -0.0556709 ,  0.06199188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.62422216e-05,-1.79849111e-05,-6.33359384e-05, 6.48202980e-06,
  7.82036300e-06, 1.31542523e-05, 2.69095134e-05,-3.01330690e-06,
 -5.31591898e-05,-9.01259429e-06,-3.24081451e-05, 1.37286025e-05,
 -1.61633042e-05,-7.39716561e-05,-3.55292292e-05,-2.82647611e-04,
  6.77029811e-06, 4.48862308e-06,-1.21647296e+00,-1.78727921e-03,
 -2.99553467e-04,-4.72551261e-07]


--- Step 1546 ---
qpos:
[ 2.84038054e-03,-5.60500142e-03,-1.02201186e-02, 2.80425747e-03,
 -4.46783260e-03,-5.18897524e-03,-1.77846903e-02, 5.17550984e-03,
 -4.75179300e-03,-3.96517042e-03,-7.85219796e-03,-1.91767127e-02,
  1.34895261e+00, 1.88948924e-02, 1.32495268e+00, 2.45645926e-02,
  9.49415721e-02,-6.99486800e-02, 1.30741418e-01, 9.94200995e-01,
 -7.52438050e-05,-4.40645581e-04,-1.07536883e-01]

qacc:
[  5.87017851,  1.05204378, -4.23091274,  6.2207772 , -2.2642167 ,
   0.55579831, -1.38080014,  0.55234905, -2.44160935,  2.80437691,
 -11.4724874 , 20.39813246,  0.42460188, -0.7937085 , -2.54600832,
   7.40177643,  0.84903277, -0.91173646,  0.26638657,  9.95939972,
  15.76574076, -0.45767622]

qfrc_actuator:
[-4.96063312e-05,-3.92380556e-04,-2.78581373e-04,-6.02327977e-05,
  5.15844460e-06,-4.14199490e-04,-3.09172972e-04,-6.67799388e-05,
 -2.22068822e-05,-3.47850043e-04,-3.32596065e-04,-7.91465587e-05,
  3.57683655e-03,-1.37895307e-03, 0.00000000e+00,-1.45615020e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43745344, -0.14608609, -4.43504813, -0.14608609, 34.32558234,
       -0.98448537, -4.43504813, -0.98448537,  4.46988141,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002661559843884359
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04283117e-13, -4.17132467e-13,  1.00000000e+00,  4.34998738e-26,
        1.00000000e+00,  4.17132467e-13, -1.00000000e+00,  0.00000000e+00,
        1.04283117e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08487677, -0.05567139,  0.06199178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.45940593e-05,-1.90329061e-05,-2.46524617e-05, 2.27543294e-06,
 -1.33113873e-05, 2.01239717e-05,-3.56745248e-06,-1.92342852e-06,
 -1.42253869e-05, 2.42291678e-05,-2.24874101e-05, 2.48278387e-05,
 -2.20796886e-05,-4.57805249e-05,-4.94530077e-05, 2.09845821e-05,
  6.71296956e-06, 2.27484199e-06,-1.21647066e+00,-1.78473661e-03,
 -3.00786670e-04,-1.99274476e-06]


--- Step 1547 ---
qpos:
[ 2.84020887e-03,-5.60529342e-03,-1.02200783e-02, 2.80445817e-03,
 -4.46788486e-03,-5.18828978e-03,-1.77843290e-02, 5.17535441e-03,
 -4.75273918e-03,-3.96540585e-03,-7.85387842e-03,-1.91755568e-02,
  1.34909271e+00, 1.88948128e-02, 1.32506171e+00, 2.45614216e-02,
  9.49661843e-02,-6.99349909e-02, 1.30741641e-01, 9.94198224e-01,
 -1.96523339e-04,-2.72910564e-04,-1.07562902e-01]

qacc:
[ 5.72742255e-01,-1.78605858e+00, 5.51132248e+00,-5.37484564e+00,
 -1.42126075e+00,-7.37686189e-01, 4.19207416e+00,-1.05940017e+01,
  1.75827442e+00, 1.40330328e+00,-7.26233628e+00, 1.78457584e+01,
 -2.43475193e-02,-6.43507844e-02,-9.35294490e+00, 3.14821201e+01,
  8.46267079e-01,-8.99629888e-01, 1.52155567e-01, 9.84750319e+00,
  1.55256033e+01,-4.71203489e-01]

qfrc_actuator:
[-4.73594110e-05,-4.07827585e-04,-2.50696666e-04,-5.72769994e-05,
 -2.85410321e-06,-4.27927618e-04,-3.14924295e-04,-8.66010264e-05,
 -1.14502177e-05,-3.26634218e-04,-3.24123798e-04,-4.62584156e-05,
  3.55875768e-03,-1.37298345e-03, 0.00000000e+00,-1.30479741e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44016591, -0.28100236, -4.43126516, -0.28100236, 47.36821019,
       -2.72222071, -4.43126516, -2.72222071,  4.61279165,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026712153520722093
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.19530849e-14, -1.03906170e-13,  1.00000000e+00,  5.39824607e-27,
        1.00000000e+00,  1.03906170e-13, -1.00000000e+00,  0.00000000e+00,
        5.19530849e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08487774, -0.05567144,  0.06199175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.23013020e-06,-3.10696847e-05, 2.09984830e-05, 1.33063351e-06,
 -8.38691990e-06,-3.32874151e-06,-2.11319314e-06,-1.91220735e-05,
  1.03556865e-05, 3.12094537e-05, 1.15895693e-05, 3.36351418e-05,
 -4.05111291e-05,-1.26921523e-05,-2.01531304e-05, 1.46244826e-04,
  6.37660914e-06, 2.99219747e-07,-1.21647054e+00,-1.78250508e-03,
 -3.02492820e-04,-3.27233596e-06]


--- Step 1548 ---
qpos:
[ 2.84041062e-03,-5.60575844e-03,-1.02200379e-02, 2.80470260e-03,
 -4.46803257e-03,-5.18794520e-03,-1.77841916e-02, 5.17571236e-03,
 -4.75320435e-03,-3.96555232e-03,-7.85481999e-03,-1.91743955e-02,
  1.34923230e+00, 1.88948583e-02, 1.32517048e+00, 2.45610507e-02,
  9.49941733e-02,-6.99248602e-02, 1.30742088e-01, 9.94195316e-01,
 -2.95111529e-04,-7.67800943e-05,-1.07589869e-01]

qacc:
[ 3.26946287e+00,-1.44964070e-01,-1.05358818e-02, 9.06592096e-01,
 -8.33149138e-01, 1.23386120e+00,-7.21776550e+00, 1.67094540e+01,
  4.23237583e+00,-1.94492310e+00, 7.06654496e+00,-8.20050456e+00,
 -2.52552589e-01, 2.07860893e-01,-8.84952856e+00, 3.04405959e+01,
  8.44187144e-01,-8.89619669e-01, 5.63148596e-02, 9.75255529e+00,
  1.53358020e+01,-4.78520024e-01]

qfrc_actuator:
[-2.82277518e-05,-4.16761910e-04,-2.52032027e-04,-5.56067141e-05,
 -7.54297045e-06,-4.71941439e-04,-3.36266216e-04,-6.27038285e-05,
  1.30142724e-05,-3.13929583e-04,-2.82893620e-04,-4.51154211e-05,
  3.52690852e-03,-1.36937788e-03, 0.00000000e+00,-1.16114437e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026619769361950485
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.51667358e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.51667358e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08487823, -0.05567114,  0.06199177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.92130804e-05,-2.19028195e-05,-5.11798488e-06, 1.09158673e-06,
 -4.92958817e-06,-4.71627239e-05,-2.29631301e-05, 2.33076145e-05,
  2.47670198e-05, 3.40171810e-05, 5.02858411e-05, 3.53649053e-06,
 -5.45055073e-05,-9.66364289e-06, 5.66913039e-06, 1.48935056e-04,
  5.76783898e-06,-1.45451214e-06,-1.21647251e+00,-1.78058194e-03,
 -3.04662293e-04,-4.32759308e-06]


--- Step 1549 ---
qpos:
[ 2.84015020e-03,-5.60613016e-03,-1.02204104e-02, 2.80495964e-03,
 -4.46823536e-03,-5.18793383e-03,-1.77845698e-02, 5.17637393e-03,
 -4.75302750e-03,-3.96582883e-03,-7.85509191e-03,-1.91735418e-02,
  1.34937139e+00, 1.88949607e-02, 1.32527932e+00, 2.45617308e-02,
  9.50196233e-02,-6.99202146e-02, 1.30743441e-01, 9.94192538e-01,
 -3.50870781e-04, 1.06323453e-04,-1.07615344e-01]

qacc:
[ -4.05732127,  1.31122543, -4.53576742,  5.33062743, -0.49066919,
   1.62594535, -7.71693683, 14.04037157,  5.64339466, -2.68843237,
  10.61207045,-16.8819727 , -0.34511063,  0.28040554, -3.03994829,
  10.8731459 , -0.63473553, -1.37127428,  0.22620436, 21.99102381,
  -4.17188802,  0.74511629]

qfrc_actuator:
[-5.25587787e-05,-4.04080052e-04,-2.70602017e-04,-5.47285569e-05,
 -1.02399485e-05,-4.98283044e-04,-3.66744547e-04,-4.88167192e-05,
  4.53430686e-05,-3.41806865e-04,-2.58222229e-04,-6.26500388e-05,
  3.50280265e-03,-1.36730773e-03, 0.00000000e+00,-1.11198949e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002696000731541859
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02950920e-13, -2.05901840e-13,  1.00000000e+00, -2.11977839e-26,
        1.00000000e+00,  2.05901840e-13, -1.00000000e+00,  0.00000000e+00,
       -1.02950920e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10337809, -0.04747846,  0.06199167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.37879938e-05,-5.54747060e-07,-2.36833824e-05,-2.16595121e-07,
 -2.85480224e-06,-5.64757138e-05,-4.22481091e-05, 1.15237246e-05,
  3.30446119e-05, 1.70347161e-06, 3.80217457e-05,-1.42704288e-05,
 -5.23456165e-05,-1.37535876e-05, 1.61722113e-05, 5.75223222e-05,
  4.89095793e-06,-2.99831366e-06,-1.21647651e+00,-1.77896463e-03,
 -3.07287727e-04,-5.17097581e-06]


--- Step 1550 ---
qpos:
[ 2.83994528e-03,-5.60649593e-03,-1.02207233e-02, 2.80520337e-03,
 -4.46846922e-03,-5.18800291e-03,-1.77851342e-02, 5.17645064e-03,
 -4.75246418e-03,-3.96631732e-03,-7.85521439e-03,-1.91732025e-02,
  1.34950998e+00, 1.88953194e-02, 1.32538831e+00, 2.45623444e-02,
  9.50425930e-02,-6.99209984e-02, 1.30745142e-01, 9.94189895e-01,
 -3.64519934e-04, 2.76488654e-04,-1.07639418e-01]

qacc:
[  0.48731839, -0.18739762,  0.73409701, -1.06242257, -0.27571534,
  -0.78971773,  5.13158722,-14.89845552,  3.39128011, -1.76412025,
   8.03927736,-17.00273324, -0.58049213,  0.65437904,  0.47533788,
  -1.20465453, -0.6200813 , -1.35737339,  0.08705344, 21.62890488,
  -4.16600992,  0.70323493]

qfrc_actuator:
[-4.90232870e-05,-3.96378229e-04,-2.63594623e-04,-5.43120347e-05,
 -1.17439645e-05,-4.78387351e-04,-3.66818305e-04,-7.64365187e-05,
  6.42843922e-05,-3.76097229e-04,-2.61465042e-04,-9.10803660e-05,
  3.48335782e-03,-1.34838814e-03, 0.00000000e+00,-1.11890449e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.45701385,  -3.80184703,  -2.32614094,  -3.80184703,
        12.21487709, -12.67945923,  -2.32614094, -12.67945923,
        25.18033438,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00027301907633553446
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01661671e-13, -1.01661671e-13,  1.00000000e+00, -1.03350954e-26,
        1.00000000e+00,  1.01661671e-13, -1.00000000e+00,  0.00000000e+00,
       -1.01661671e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1033784 , -0.04748026,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.85788348e-06, 2.50010501e-06, 3.97747681e-06,-4.28861398e-07,
 -1.60434018e-06,-1.99161190e-05,-1.65413844e-05,-3.12778095e-05,
  1.98837133e-05,-2.60724206e-05, 1.30149889e-06,-2.73217419e-05,
 -4.77297059e-05, 2.40641695e-06, 9.88297655e-06,-2.51310902e-06,
  2.23806821e-06,-3.35083129e-06,-1.21646765e+00,-1.77770243e-03,
 -3.09372416e-04,-3.65966852e-06]


--- Step 1551 ---
qpos:
[ 2.84081907e-03,-5.60713574e-03,-1.02208257e-02, 2.80547572e-03,
 -4.46906413e-03,-5.18830674e-03,-1.77854191e-02, 5.17652793e-03,
 -4.75202288e-03,-3.96698786e-03,-7.85508152e-03,-1.91732170e-02,
  1.34964815e+00, 1.88956697e-02, 1.32549757e+00, 2.45608739e-02,
  9.50631311e-02,-6.99271653e-02, 1.30746724e-01, 9.94187386e-01,
 -3.36647295e-04, 4.33800710e-04,-1.07662160e-01]

qacc:
[  9.44701255, -0.90978812,  2.56565636, -2.17073253, -3.13591702,
  -1.08336477,  3.42108819, -3.69706061, -1.05729966, -1.68128172,
   7.13974594,-13.53516417, -0.5306864 ,  0.46094301,  6.78273734,
 -22.98884399, -0.60789484, -1.34575142, -0.02977455, 21.33186623,
  -4.15480409,  0.67288326]

qfrc_actuator:
[ 6.40456353e-06,-4.27119667e-04,-2.59300893e-04,-5.41516313e-05,
 -3.02868217e-05,-4.84126674e-04,-3.48772497e-04,-7.49355283e-05,
  5.74393377e-05,-3.78596238e-04,-2.45698776e-04,-1.07965695e-04,
  3.45607729e-03,-1.35508630e-03, 0.00000000e+00,-1.22977477e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.4597629 ,  -3.90555728,  -2.1531622 ,  -3.90555728,
        14.28088333, -17.81424014,  -2.1531622 , -17.81424014,
        36.77248668,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002739655366719024
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.01310464e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.01310464e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10337888, -0.0474811 ,  0.06199154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.55116939e-05,-2.85221663e-05, 5.29271440e-06, 3.97702816e-07,
 -1.85938312e-05,-2.16245651e-05, 1.08193998e-05,-5.32224609e-07,
 -6.28681450e-06,-1.79527230e-05, 9.60235068e-06,-1.84889263e-05,
 -4.99357225e-05,-1.70277919e-05, 2.82211946e-07,-1.10625307e-04,
 -7.01854854e-09,-3.11964308e-06,-1.21646193e+00,-1.77711007e-03,
 -3.11406545e-04,-2.31603817e-06]


--- Step 1552 ---
qpos:
[ 2.84200560e-03,-5.60797950e-03,-1.02211509e-02, 2.80576955e-03,
 -4.46987652e-03,-5.18907038e-03,-1.77853699e-02, 5.17664760e-03,
 -4.75235688e-03,-3.96769386e-03,-7.85456759e-03,-1.91731165e-02,
  1.34978607e+00, 1.88954682e-02, 1.32560682e+00, 2.45580909e-02,
  9.50812781e-02,-6.99386769e-02, 1.30747795e-01, 9.94185009e-01,
 -2.67730967e-04, 5.78339889e-04,-1.07683620e-01]

qacc:
[  2.73206558,  0.39218571, -1.8893186 ,  2.7773512 , -1.87817376,
  -1.45006024,  4.11646567, -3.58681871, -6.77435968, -0.86209114,
   2.54361829, -1.16263357,  0.03467879, -0.43955466,  3.94246839,
 -13.85291695, -0.59776474, -1.33615936, -0.12770729, 21.08988037,
  -4.14013554,  0.65163918]

qfrc_actuator:
[ 2.09119020e-05,-4.45144181e-04,-2.74562576e-04,-5.41815051e-05,
 -4.09579358e-05,-5.22813147e-04,-3.37998689e-04,-7.40662047e-05,
  1.77237387e-05,-3.61965558e-04,-2.18692738e-04,-1.00126149e-04,
  3.43475792e-03,-1.39474552e-03, 0.00000000e+00,-1.29445834e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027293744585725477
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.03384153e-13,  4.06768306e-13,  1.00000000e+00, -8.27302273e-26,
        1.00000000e+00, -4.06768306e-13, -1.00000000e+00,  0.00000000e+00,
        2.03384153e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10337949, -0.04748118,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.60858207e-05,-3.28235174e-05,-2.04825321e-05,-1.06249799e-06,
 -1.12121301e-05,-4.85591483e-05, 7.62919397e-06, 3.08800567e-07,
 -3.99030173e-05, 7.80508315e-06, 2.38480099e-05, 7.04454101e-06,
 -5.01710914e-05,-5.61883604e-05,-1.60642810e-05,-7.16686494e-05,
 -1.87386278e-06,-2.32940617e-06,-1.21645922e+00,-1.77717743e-03,
 -3.13382633e-04,-1.12991440e-06]


--- Step 1553 ---
qpos:
[ 2.84335735e-03,-5.60902137e-03,-1.02216457e-02, 2.80571132e-03,
 -4.47046603e-03,-5.18996335e-03,-1.77853415e-02, 5.17744970e-03,
 -4.75350940e-03,-3.96831432e-03,-7.85377922e-03,-1.91729318e-02,
  1.34992378e+00, 1.88947552e-02, 1.32571580e+00, 2.45558700e-02,
  9.50970678e-02,-6.99555019e-02, 1.30748027e-01, 9.94182758e-01,
 -1.58155709e-04, 7.10180536e-04,-1.07703830e-01]

qacc:
[ 1.44315677,-0.51586652, 2.94066209,-8.61148526, 1.94555001, 1.28844899,
 -7.72974262,19.67680105,-7.1581385 ,-0.46646727, 1.49572826,-0.56514817,
  0.20229871,-0.59297293,-2.1326548 , 6.80186809,-0.58935139,-1.32836853,
 -0.2096682 ,20.89461764,-4.12339813, 0.63757889]

qfrc_actuator:
[ 2.89540554e-05,-4.55499010e-04,-2.83455780e-04,-7.20824825e-05,
 -2.91525373e-05,-5.09938428e-04,-3.31754591e-04,-3.81126406e-05,
 -2.32594739e-05,-3.51683475e-04,-2.02923330e-04,-9.55315494e-05,
  3.42766570e-03,-1.41812941e-03, 0.00000000e+00,-1.26035724e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027035044574691414
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02665174e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.02665174e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1033802 , -0.04748065,  0.06199165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.49426542e-06,-3.29506068e-05,-1.82217006e-05,-2.00357486e-05,
  1.14666997e-05,-1.26672256e-05,-2.82659363e-06, 3.41448750e-05,
 -4.21230281e-05, 1.98783139e-05, 2.05656942e-05, 5.89292145e-06,
 -4.53050545e-05,-5.18944111e-05,-1.78217834e-05, 2.75051904e-05,
 -3.38484290e-06,-9.97612949e-07,-1.21645941e+00,-1.77789625e-03,
 -3.15295665e-04,-9.26662758e-08]


--- Step 1554 ---
qpos:
[ 2.84479520e-03,-5.61024406e-03,-1.02222719e-02, 2.80543422e-03,
 -4.47022016e-03,-5.19056731e-03,-1.77854601e-02, 5.17897566e-03,
 -4.75445467e-03,-3.96882001e-03,-7.85335646e-03,-1.91726526e-02,
  1.35006111e+00, 1.88941613e-02, 1.32582471e+00, 2.45537078e-02,
  9.51105279e-02,-6.99776156e-02, 1.30747146e-01, 9.94180621e-01,
 -8.22694281e-06, 8.29390507e-04,-1.07722814e-01]

qacc:
[  0.75190708, -0.32383115,  1.72923011, -5.17118328,  7.27595037,
   2.26842655,-10.61493248, 23.19321566,  1.80086991,  1.36492063,
  -5.05032223,  7.19012217, -0.36264164,  0.3682136 , -0.24830206,
   0.80303802, -0.58237403, -1.32217078, -0.27815378, 20.73914028,
  -4.105624  ,  0.62917299]

qfrc_actuator:
[ 3.31395093e-05,-4.61176298e-04,-2.88492057e-04,-8.25885408e-05,
  1.35380454e-05,-4.66273541e-04,-3.28006960e-04, 4.81835456e-07,
 -1.13920201e-05,-3.63069998e-04,-2.29446952e-04,-9.28992329e-05,
  3.42379063e-03,-1.39606232e-03, 0.00000000e+00,-1.25709803e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002665503505695638
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.08257656e-13, -4.16515312e-13,  1.00000000e+00,  8.67425026e-26,
        1.00000000e+00,  4.16515312e-13, -1.00000000e+00,  0.00000000e+00,
        2.08257656e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10338099, -0.04747965,  0.06199176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.42211358e-06,-2.86833120e-05,-1.47638657e-05,-1.29354378e-05,
  4.30135883e-05, 3.74948973e-05, 1.97256942e-06, 3.86181785e-05,
  1.06691950e-05, 4.22387185e-06,-1.96829421e-05, 4.31063385e-06,
 -3.83650340e-05,-4.14552440e-06,-6.93678121e-06, 2.10842973e-06,
 -4.55665547e-06, 8.64154216e-07,-1.21646241e+00,-1.77925991e-03,
 -3.17142442e-04, 8.02976063e-07]


--- Step 1555 ---
qpos:
[ 2.84592715e-03,-5.61147109e-03,-1.02230762e-02, 2.80535891e-03,
 -4.46911949e-03,-5.19100549e-03,-1.77851849e-02, 5.18023908e-03,
 -4.75559547e-03,-3.96948397e-03,-7.85312998e-03,-1.91723197e-02,
  1.35019813e+00, 1.88939603e-02, 1.32593361e+00, 2.45512530e-02,
  9.51201173e-02,-6.99940917e-02, 1.30747697e-01, 9.94178245e-01,
  1.04979467e-04, 9.13617920e-04,-1.07744009e-01]

qacc:
[ -2.6810648 ,  0.91264632, -4.10505316,  7.87531292,  7.46368447,
  -1.4363244 ,  6.52274865,-11.79212492, -1.71512862,  0.45336595,
  -2.13993275,  3.49082523, -0.52006436,  0.72170225,  0.9210205 ,
  -3.11243364, -0.96769283,  1.40939534,  0.35778992,-16.36920199,
 -19.3673003 , -1.12728091]

qfrc_actuator:
[ 1.72713566e-05,-4.46232466e-04,-2.91184449e-04,-7.08973803e-05,
  5.63054501e-05,-4.57759070e-04,-3.07870104e-04,-1.29114526e-05,
 -2.17704206e-05,-3.87521138e-04,-2.45310873e-04,-9.14882683e-05,
  3.42186748e-03,-1.36490341e-03, 0.00000000e+00,-1.27206554e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026989011424057783
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.82019769e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.82019769e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10654384, -0.08833376,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.57460761e-05,-4.65056647e-06,-1.08627106e-05, 9.70380736e-06,
  4.40119362e-05, 3.15783369e-05, 2.94640965e-05,-1.09704911e-05,
 -1.00727278e-05,-2.59564702e-05,-1.72676184e-05, 9.93711905e-07,
 -2.18513436e-05, 2.11523739e-05,-5.75945247e-06,-1.63545288e-05,
 -5.40145920e-06, 3.24926371e-06,-1.21646818e+00,-1.78126311e-03,
 -3.18921108e-04, 1.56308844e-06]


--- Step 1556 ---
qpos:
[ 2.84651530e-03,-5.61271919e-03,-1.02236495e-02, 2.80539741e-03,
 -4.46751421e-03,-5.19141753e-03,-1.77845602e-02, 5.18100813e-03,
 -4.75650664e-03,-3.97059209e-03,-7.85268166e-03,-1.91719642e-02,
  1.35033484e+00, 1.88943429e-02, 1.32604220e+00, 2.45506361e-02,
  9.51269737e-02,-7.00032893e-02, 1.30748423e-01, 9.94175597e-01,
  1.68382454e-04, 9.69363986e-04,-1.07767869e-01]

qacc:
[ -4.74916686, -0.4297517 ,  1.02751458,  0.5709446 ,  4.41071537,
  -1.96784691,  9.13912211,-18.25788896,  2.02480612, -1.16464067,
   3.19843264, -2.82771968, -0.42839061,  0.74046593, -5.9626311 ,
  20.33293031, -0.68322363,  1.81961655,  0.04370887,-23.22116056,
 -16.84079351, -1.36085917]

qfrc_actuator:
[-1.02714159e-05,-4.36772760e-04,-2.74618743e-04,-6.39736323e-05,
  8.10127470e-05,-4.70327214e-04,-2.96134408e-04,-3.90478892e-05,
 -9.67118823e-06,-4.19583896e-04,-2.37049410e-04,-9.08070472e-05,
  3.41579830e-03,-1.32861073e-03, 0.00000000e+00,-1.17337276e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46835896,  3.75670091,  2.4193863 ,  3.75670091,  7.7949129 ,
       -5.16530503,  2.4193863 , -5.16530503, 12.48878387,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000276897439199536
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.00475495e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.00475495e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10322772, -0.09548468,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.79896841e-05, 5.07601768e-06, 1.46262674e-05, 6.54260342e-06,
  2.59793417e-05, 1.07311841e-05, 2.15053899e-05,-2.39816346e-05,
  1.18013508e-05,-5.00879015e-05, 8.11606326e-07,-1.00803061e-06,
 -1.21450706e-05, 3.78926618e-05,-7.32781565e-06, 9.64136339e-05,
 -3.59445727e-06, 1.55957249e-06,-1.21645520e+00,-1.78275322e-03,
 -3.20547394e-04,-8.09152386e-07]


--- Step 1557 ---
qpos:
[ 2.84676862e-03,-5.61390139e-03,-1.02240348e-02, 2.80516468e-03,
 -4.46596991e-03,-5.19145624e-03,-1.77842055e-02, 5.18145660e-03,
 -4.75657617e-03,-3.97200133e-03,-7.85190117e-03,-1.91716295e-02,
  1.35047120e+00, 1.88954426e-02, 1.32615068e+00, 2.45515200e-02,
  9.51311154e-02,-7.00053175e-02, 1.30748748e-01, 9.94172681e-01,
  1.82719145e-04, 9.97248438e-04,-1.07794494e-01]

qacc:
[ -2.92413407, -0.99123077,  4.81537249, -9.86907569, -0.54674192,
   0.58845102, -0.02731663, -5.36569981,  7.38322855, -1.38374598,
   4.41829218, -5.05871832, -0.58226869,  0.98014048, -4.64290892,
  16.16803661, -0.67871333,  1.79236029, -0.10015567,-22.88760139,
 -16.49365632, -1.41022284]

qfrc_actuator:
[-2.67060496e-05,-4.30585043e-04,-2.64588589e-04,-7.76557003e-05,
  7.71396125e-05,-4.42213704e-04,-3.07305133e-04,-5.47407605e-05,
  3.33203002e-05,-4.20359180e-04,-2.14652337e-04,-9.05540573e-05,
  3.40192594e-03,-1.28958567e-03, 0.00000000e+00,-1.09726050e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4790791 ,  1.03166944,  4.35864747,  1.03166944, 26.04141556,
       -5.10369412,  4.35864747, -5.10369412,  5.68709725,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002804968202945318
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.97902961e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.97902961e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10322622, -0.09548328,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.72291770e-05, 1.23679155e-05, 1.31283642e-05,-1.28260889e-05,
 -3.12446900e-06, 3.75436960e-05,-7.14021414e-06,-1.49589175e-05,
  4.33080687e-05,-2.86243797e-05, 1.21223649e-05,-1.88357337e-06,
 -1.09300449e-05, 4.78195572e-05, 5.19420423e-06, 8.00641789e-05,
 -1.89163717e-06, 5.31281825e-08,-1.21644532e+00,-1.78352422e-03,
 -3.21857376e-04,-2.57381752e-06]


--- Step 1558 ---
qpos:
[ 2.84682271e-03,-5.61493294e-03,-1.02240722e-02, 2.80509296e-03,
 -4.46517363e-03,-5.19101641e-03,-1.77840710e-02, 5.18169617e-03,
 -4.75716496e-03,-3.97323316e-03,-7.85105165e-03,-1.91716838e-02,
  1.35060748e+00, 1.88963643e-02, 1.32625948e+00, 2.45506282e-02,
  9.51325579e-02,-7.00002663e-02, 1.30748188e-01, 9.94169491e-01,
  1.48597839e-04, 9.97774923e-04,-1.07823957e-01]

qacc:
[-1.73429142e+00,-4.38141421e-01, 1.17730191e+00, 9.35768808e-01,
 -6.53841546e+00, 8.29996158e-01,-1.13806912e+00,-2.50075694e+00,
 -4.54659537e+00,-7.50963340e-01, 4.67238997e+00,-1.16560741e+01,
 -1.36672183e-01, 1.65440661e-02, 5.86699427e+00,-1.98004828e+01,
 -6.74774646e-01, 1.76986124e+00,-2.21111622e-01,-2.26118490e+01,
 -1.62111473e+01,-1.44710868e+00]

qfrc_actuator:
[-3.64672661e-05,-4.08686449e-04,-2.40776544e-04,-6.78564809e-05,
  3.87293336e-05,-4.07801477e-04,-3.13987478e-04,-6.41435189e-05,
  5.38013202e-06,-3.84574719e-04,-2.01725591e-04,-1.08276316e-04,
  3.37806022e-03,-1.32029874e-03, 0.00000000e+00,-1.19486816e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48203931,  1.25571129,  4.30254176,  1.25571129, 36.66211599,
       -9.39186369,  4.30254176, -9.39186369,  7.22308634,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002814799001900209
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.97211777e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.97211777e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10322528, -0.09548296,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02451465e-05, 3.10179861e-05, 2.75592697e-05, 1.05384731e-05,
 -3.84858409e-05, 5.32858618e-05,-3.29638091e-07,-8.33403341e-06,
 -2.67173287e-05, 2.22570400e-05, 8.44722063e-06,-1.85665207e-05,
 -1.78451461e-05,-1.86868690e-05, 8.31519278e-06,-9.31479514e-05,
 -4.33178414e-07,-3.61837663e-07,-1.21644063e+00,-1.78355702e-03,
 -3.22777018e-04,-3.47257956e-06]


--- Step 1559 ---
qpos:
[ 2.84641426e-03,-5.61569292e-03,-1.02236292e-02, 2.80580432e-03,
 -4.46484357e-03,-5.19063416e-03,-1.77838004e-02, 5.18186556e-03,
 -4.75773915e-03,-3.97379542e-03,-7.85056998e-03,-1.91723293e-02,
  1.35074372e+00, 1.88965467e-02, 1.32636835e+00, 2.45482546e-02,
  9.51313147e-02,-6.99882094e-02, 1.30746338e-01, 9.94166016e-01,
  6.65164500e-05, 9.71350368e-04,-1.07856311e-01]

qacc:
[ -4.03507882,  0.63664018, -5.04102078, 17.61059788, -4.06049423,
  -0.59261636,  2.31274364, -3.71767493,  0.1044016 ,  0.69518358,
   1.29691392,-11.42450623,  0.3016796 , -0.78728088,  4.54637793,
 -15.86237058, -0.6714173 ,  1.75141733, -0.32272534,-22.38577848,
 -15.98264685, -1.47403244]

qfrc_actuator:
[-5.99787249e-05,-3.77472424e-04,-2.08930421e-04,-2.65395991e-05,
  1.58134741e-05,-4.40875097e-04,-3.17918601e-04,-6.97556609e-05,
  6.91572674e-06,-3.27212497e-04,-2.12103393e-04,-1.36407157e-04,
  3.35883992e-03,-1.37449368e-03, 0.00000000e+00,-1.26976331e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002803725575460103
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10322477, -0.09548351,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.37916863e-05, 5.47376704e-05, 4.20254157e-05, 4.38076188e-05,
 -2.40002389e-05,-3.73319729e-06, 6.74019398e-06,-3.50294708e-06,
  7.77724107e-07, 7.07814366e-05,-5.37769727e-06,-2.72449371e-05,
 -3.25946809e-05,-6.39096275e-05,-1.00986940e-05,-7.98228618e-05,
  8.13468459e-07, 2.77728186e-07,-1.21644089e+00,-1.78285884e-03,
 -3.23319314e-04,-3.54588077e-06]


--- Step 1560 ---
qpos:
[ 2.84538212e-03,-5.61606881e-03,-1.02227868e-02, 2.80630515e-03,
 -4.46479087e-03,-5.19065162e-03,-1.77831027e-02, 5.18199107e-03,
 -4.75725600e-03,-3.97375862e-03,-7.85026694e-03,-1.91729662e-02,
  1.35087973e+00, 1.88963514e-02, 1.32647703e+00, 2.45459930e-02,
  9.51273971e-02,-6.99692067e-02, 1.30742855e-01, 9.94162239e-01,
 -6.31219391e-05, 9.18300801e-04,-1.07891590e-01]

qacc:
[ -5.4496004 , -1.0311817 ,  5.32024513, -9.90456353, -2.39856844,
  -1.80694989,  5.87020185, -7.02833362,  9.24019498,  1.29086534,
  -3.52107328,  3.54813406,  0.06174329, -0.36249214, -0.63478422,
   1.77581943, -0.6686326 ,  1.73643041, -0.40803654,-22.20250822,
 -15.79945238, -1.49293598]

qfrc_actuator:
[-9.13973230e-05,-3.58602965e-04,-1.90288282e-04,-3.80091326e-05,
  2.21166391e-06,-4.78590248e-04,-3.02714483e-04,-7.31485921e-05,
  6.13159036e-05,-2.92971996e-04,-2.18302037e-04,-1.34920109e-04,
  3.34773018e-03,-1.38888740e-03, 0.00000000e+00,-1.25960392e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002776132144748228
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.99793027e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.99793027e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10322461, -0.09548474,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.20812011e-05, 6.00503056e-05, 3.66444837e-05,-6.81714816e-06,
 -1.42912913e-05,-3.85864658e-05, 1.51350482e-05,-3.38864770e-06,
  5.44470238e-05, 7.15582145e-05, 6.81755892e-06, 3.80323110e-06,
 -4.24558247e-05,-4.12556464e-05,-1.59151213e-05, 3.87702045e-06,
  1.87296344e-06, 1.94071968e-06,-1.21644592e+00,-1.78143575e-03,
 -3.23494043e-04,-2.82434345e-06]


--- Step 1561 ---
qpos:
[ 2.84432627e-03,-5.61623668e-03,-1.02215934e-02, 2.80634583e-03,
 -4.46490195e-03,-5.19093896e-03,-1.77819418e-02, 5.18171057e-03,
 -4.75646915e-03,-3.97348571e-03,-7.85018844e-03,-1.91731849e-02,
  1.35101537e+00, 1.88961728e-02, 1.32658557e+00, 2.45441777e-02,
  9.51186524e-02,-6.99464177e-02, 1.30739358e-01, 9.94158273e-01,
 -2.15282954e-04, 8.27990054e-04,-1.07928661e-01]

qacc:
[-2.00228801e-01,-1.65389207e+00, 8.23885764e+00,-1.69176356e+01,
 -1.40951111e+00,-2.48351177e+00, 1.00570007e+01,-1.76324763e+01,
  2.64763855e+00, 1.79601258e+00,-7.72162473e+00, 1.51459630e+01,
 -2.62873715e-01, 1.96226314e-01,-1.54125292e+00, 5.14004509e+00,
 -1.20674190e+00, 9.46593100e-01,-3.66761301e-03,-9.18467140e+00,
 -1.97366871e+01,-9.12483966e-01]

qfrc_actuator:
[-9.17087875e-05,-3.65114014e-04,-1.79679460e-04,-6.27174948e-05,
 -5.80409294e-06,-4.83219903e-04,-2.76374750e-04,-9.29608612e-05,
  7.53757056e-05,-3.08307119e-04,-2.39787897e-04,-1.16025666e-04,
  3.33618096e-03,-1.37946626e-03, 0.00000000e+00,-1.23491824e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.46482145,   1.89734565,   4.0416222 ,   1.89734565,
        30.26608307, -12.11244123,   4.0416222 , -12.11244123,
        10.15102527,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002756958958518574
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.01349211e-13, -4.02698423e-13,  1.00000000e+00,  8.10830099e-26,
        1.00000000e+00,  4.02698423e-13, -1.00000000e+00,  0.00000000e+00,
        2.01349211e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1095647 , -0.08181108,  0.06199148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20839917e-06, 3.43410391e-05, 2.72862318e-05,-2.10006912e-05,
 -8.43940128e-06,-2.32388593e-05, 2.01092912e-05,-2.10089006e-05,
  1.56396100e-05, 2.62679090e-05,-5.73901194e-06, 2.22673612e-05,
 -4.22315066e-05,-1.28587585e-05,-8.94220062e-06, 2.24072372e-05,
  2.76415223e-06, 4.60052105e-06,-1.21645557e+00,-1.77929280e-03,
 -3.23308475e-04,-1.33077771e-06]


--- Step 1562 ---
qpos:
[ 2.84361956e-03,-5.61613476e-03,-1.02208264e-02, 2.80613700e-03,
 -4.46510849e-03,-5.19122667e-03,-1.77811340e-02, 5.18121677e-03,
 -4.75620907e-03,-3.97307574e-03,-7.85057870e-03,-1.91731449e-02,
  1.35115062e+00, 1.88960748e-02, 1.32669399e+00, 2.45429893e-02,
  9.51071585e-02,-6.99293514e-02, 1.30737513e-01, 9.94154546e-01,
 -3.24545708e-04, 7.26069822e-04,-1.07963449e-01]

qacc:
[ 3.03580388, 1.02874844,-2.10784554,-1.71543255,-0.84361298, 0.54840667,
 -1.053012  ,-2.07646366,-4.6282231 , 2.03362709,-8.06212063,13.16657061,
 -0.29929588, 0.27159799,-2.03467882, 6.94804445,-0.68733292,-1.43065927,
  0.41308038,21.94940933,-3.4562011 , 1.16442937]

qfrc_actuator:
[-7.37064678e-05,-3.69078315e-04,-2.09507521e-04,-7.72826918e-05,
 -1.04708413e-05,-4.85720828e-04,-2.96818431e-04,-1.04492415e-04,
  4.78093715e-05,-3.17759020e-04,-2.70328714e-04,-1.04852406e-04,
  3.31906288e-03,-1.37375215e-03, 0.00000000e+00,-1.20189589e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47539233, -0.89311774,  4.38537082, -0.89311774, 39.96548145,
        7.22785588,  4.38537082,  7.22785588,  5.94740612,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002792659506527517
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.93876108e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.93876108e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10339417, -0.04748453,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79788452e-05, 1.99706114e-05,-2.01113327e-05,-1.25604707e-05,
 -4.91673937e-06,-1.22480450e-05,-2.35027191e-05,-1.22411985e-05,
 -2.71103021e-05, 5.00286131e-06,-2.50552204e-05, 1.25323832e-05,
 -4.08984206e-05,-7.88997315e-06,-4.20290103e-06, 3.25574573e-05,
  2.53069328e-06, 7.06362353e-06,-1.21646493e+00,-1.77679716e-03,
 -3.22106842e-04, 6.53227177e-07]


--- Step 1563 ---
qpos:
[ 2.84313404e-03,-5.61561891e-03,-1.02210591e-02, 2.80577729e-03,
 -4.46536932e-03,-5.19157711e-03,-1.77811456e-02, 5.18097496e-03,
 -4.75628113e-03,-3.97280556e-03,-7.85066048e-03,-1.91729891e-02,
  1.35128544e+00, 1.88958601e-02, 1.32680238e+00, 2.45421947e-02,
  9.50930111e-02,-6.99179031e-02, 1.30736635e-01, 9.94151038e-01,
 -3.91624492e-04, 6.12288435e-04,-1.07996231e-01]

qacc:
[  1.89636938,  3.02681735, -9.3679871 ,  8.05784278, -0.49779862,
   2.72584651,-10.90239416, 16.61982368, -2.89540798, -0.80304377,
   2.11685472, -0.51604179, -0.23482117,  0.07037537, -1.24132824,
   4.28973324, -0.66334071, -1.40453344,  0.2416693 , 21.60828548,
  -3.61915248,  1.02227722]

qfrc_actuator:
[-6.28318706e-05,-3.53906900e-04,-2.62960533e-04,-8.57885808e-05,
 -1.31309982e-05,-5.04858711e-04,-3.44701171e-04,-9.33332151e-05,
  3.14815988e-05,-3.23676384e-04,-2.52710591e-04,-9.83197562e-05,
  3.28796638e-03,-1.38808546e-03, 0.00000000e+00,-1.18198322e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49280347,  0.50219291,  4.4646484 ,  0.50219291, 31.56724515,
       -3.04538937,  4.4646484 , -3.04538937,  4.83535519,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028501629911778514
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94764831e-13, -5.84294492e-13,  1.00000000e+00,  1.13800018e-25,
        1.00000000e+00,  5.84294492e-13, -1.00000000e+00,  0.00000000e+00,
        1.94764831e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10339582, -0.04748636,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13956996e-05, 2.16430179e-05,-5.22494627e-05,-8.59269126e-06,
 -2.80392832e-06,-3.13654440e-05,-5.37362120e-05, 9.58297179e-06,
 -1.70988787e-05,-7.77707766e-06, 1.60002092e-05, 6.12507385e-06,
 -5.29404992e-05,-2.61644309e-05,-1.11292072e-06, 2.05704134e-05,
  1.34669339e-06, 5.20899640e-06,-1.21645799e+00,-1.77532242e-03,
 -3.19520443e-04, 4.46190047e-08]


--- Step 1564 ---
qpos:
[ 2.84278303e-03,-5.61510442e-03,-1.02215327e-02, 2.80531955e-03,
 -4.46566010e-03,-5.19196842e-03,-1.77818010e-02, 5.18119942e-03,
 -4.75585851e-03,-3.97300939e-03,-7.85007628e-03,-1.91727381e-02,
  1.35141981e+00, 1.88957243e-02, 1.32691085e+00, 2.45406351e-02,
  9.50762868e-02,-6.99119863e-02, 1.30736147e-01, 9.94147729e-01,
 -4.17113440e-04, 4.86450375e-04,-1.08027231e-01]

qacc:
[  1.16887739,  0.46706745, -1.25810988, -0.04816296, -0.28032532,
   2.70480069,-11.6906432 , 20.82031062,  4.3595087 , -2.30055068,
   6.87634085, -5.92712067, -0.48997109,  0.45890506,  2.51361525,
  -8.4580517 , -0.644248  , -1.38284198,  0.09757911, 21.32382068,
  -3.7477144 ,  0.90694636]

qfrc_actuator:
[-5.62456260e-05,-3.63011388e-04,-2.76586780e-04,-9.06576991e-05,
 -1.45901883e-05,-4.98410992e-04,-3.72934536e-04,-6.89395388e-05,
  5.74183059e-05,-3.62756269e-04,-2.24539450e-04,-9.45318857e-05,
  3.26980337e-03,-1.37877691e-03, 0.00000000e+00,-1.22321199e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50106074, -0.61903806, -4.45828887, -0.61903806, 21.9967317 ,
       -2.42929218, -4.45828887, -2.42929218,  4.8383705 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002876893847448825
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92955160e-13, -1.92955160e-13,  1.00000000e+00,  3.72316937e-26,
        1.00000000e+00,  1.92955160e-13, -1.00000000e+00,  0.00000000e+00,
        1.92955160e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10339736, -0.04748719,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.92064534e-06,-8.17200892e-06,-1.58913230e-05,-5.91725327e-06,
 -1.54874965e-06,-2.17676950e-05,-4.09949199e-05, 2.13781885e-05,
  2.54455649e-05,-3.98771148e-05, 2.87454505e-05, 4.12758731e-06,
 -5.00836099e-05,-1.09305229e-05,-1.32483228e-06,-4.09090334e-05,
  5.77260479e-07, 3.99411998e-06,-1.21645425e+00,-1.77450593e-03,
 -3.16940924e-04,-6.49180704e-07]


--- Step 1565 ---
qpos:
[ 2.84216889e-03,-5.61464467e-03,-1.02221395e-02, 2.80446111e-03,
 -4.46562144e-03,-5.19223306e-03,-1.77829012e-02, 5.18133319e-03,
 -4.75547342e-03,-3.97346228e-03,-7.84974821e-03,-1.91724080e-02,
  1.35155394e+00, 1.88955867e-02, 1.32701910e+00, 2.45402649e-02,
  9.50570459e-02,-6.99115291e-02, 1.30735566e-01, 9.94144598e-01,
 -4.01503624e-04, 3.48401590e-04,-1.08056630e-01]

qacc:
[-2.30499096e+00,-5.20646656e-01, 3.45056703e+00,-1.01401989e+01,
  2.85681024e+00, 1.21767428e+00,-3.72598001e+00, 2.78550546e+00,
 -3.32303719e-01, 5.50418083e-01,-2.77182837e+00, 4.72999378e+00,
 -7.31282797e-02, 1.42706186e-02,-3.95258381e+00, 1.33217807e+01,
 -6.29146659e-01,-1.36492565e+00,-2.33799779e-02, 2.10883151e+01,
 -3.85011631e+00, 8.12724754e-01]

qfrc_actuator:
[-6.99868014e-05,-3.68679051e-04,-2.84428617e-04,-1.11089883e-04,
  2.42121126e-06,-4.76608686e-04,-3.89226142e-04,-7.24255099e-05,
  5.47618400e-05,-3.85838257e-04,-2.43775308e-04,-9.24166973e-05,
  3.27007054e-03,-1.37318483e-03, 0.00000000e+00,-1.15810324e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50167909, -0.76472598, -4.43624941, -0.76472598, 31.39527691,
       -4.63595057, -4.43624941, -4.63595057,  5.3008298 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002878882051547682
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.92821902e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.92821902e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10339883, -0.04748721,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.35463919e-05,-1.37820222e-05,-1.16913709e-05,-2.14466816e-05,
  1.69601681e-05, 2.09937409e-06,-2.50860682e-05,-5.41929594e-06,
 -1.94500630e-06,-3.92569056e-05,-2.37946269e-05, 1.47997597e-06,
 -2.69808947e-05,-9.19887322e-06,-8.64394589e-06, 6.18948264e-05,
  1.89491743e-07, 3.38432511e-06,-1.21645355e+00,-1.77434022e-03,
 -3.14343791e-04,-1.43765152e-06]


--- Step 1566 ---
qpos:
[ 2.84173980e-03,-5.61426365e-03,-1.02228418e-02, 2.80336510e-03,
 -4.46503410e-03,-5.19273889e-03,-1.77837745e-02, 5.18107929e-03,
 -4.75546822e-03,-3.97370672e-03,-7.84986736e-03,-1.91721006e-02,
  1.35168795e+00, 1.88954372e-02, 1.32712750e+00, 2.45386461e-02,
  9.50353357e-02,-6.99164728e-02, 1.30734485e-01, 9.94141623e-01,
 -3.45197490e-04, 1.98018216e-04,-1.08084577e-01]

qacc:
[  1.61682818, -0.32941249,  2.0209164 , -5.91587345,  4.79574535,
  -1.7600535 ,  7.43384457,-14.31206498, -3.34319437,  1.48535675,
  -4.78842968,  4.94313122, -0.20524958,  0.18494814,  4.05569672,
 -13.76784241, -0.61730331, -1.35022544, -0.12477226, 20.89520687,
  -3.93274763,  0.73509712]

qfrc_actuator:
[-6.00753521e-05,-3.72230712e-04,-2.88811041e-04,-1.22765401e-04,
  3.01675550e-05,-4.99002705e-04,-3.80541500e-04,-9.22688109e-05,
  3.52838128e-05,-3.46098965e-04,-2.55294363e-04,-9.13270911e-05,
  3.27074065e-03,-1.36977346e-03, 0.00000000e+00,-1.22611936e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49619186, -0.95012459, -4.39465635, -0.95012459, 43.44958466,
       -8.42172256, -4.39465635, -8.42172256,  6.31696806,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028611730536615143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.85038393e-14, -1.94015357e-13,  1.00000000e+00,  9.41048972e-27,
        1.00000000e+00,  1.94015357e-13, -1.00000000e+00,  0.00000000e+00,
        4.85038393e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10340024, -0.04748659,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.52016225e-06,-1.46028774e-05,-9.40660787e-06,-1.30850922e-05,
  2.82345369e-05,-2.66055689e-05, 5.85545765e-06,-2.07249239e-05,
 -1.95474111e-05, 1.29481796e-05,-2.25054988e-05,-1.38632960e-06,
 -1.46756392e-05,-5.60706187e-06, 7.85251440e-07,-6.61524650e-05,
  1.59171493e-07, 3.35386364e-06,-1.21645578e+00,-1.77481894e-03,
 -3.11710339e-04,-2.32780768e-06]


--- Step 1567 ---
qpos:
[ 2.84177778e-03,-5.61427986e-03,-1.02229231e-02, 2.80247415e-03,
 -4.46480833e-03,-5.19353482e-03,-1.77842020e-02, 5.18023546e-03,
 -4.75535172e-03,-3.97376464e-03,-7.84990238e-03,-1.91718177e-02,
  1.35182183e+00, 1.88955225e-02, 1.32723627e+00, 2.45332139e-02,
  9.50111931e-02,-6.99267696e-02, 1.30732566e-01, 9.94138777e-01,
 -2.48521094e-04, 3.51979481e-05,-1.08111192e-01]

qacc:
[ 4.11187948e+00,-1.84656302e+00, 4.94279506e+00,-2.07985077e+00,
 -3.13448865e+00,-2.83652368e+00, 1.20592197e+01,-2.27813304e+01,
  9.73836704e-01,-4.08369517e-02, 6.02705912e-01,-1.29264889e+00,
 -5.90451420e-01, 7.53938898e-01, 1.21614049e+01,-4.15828245e+01,
 -6.08124801e-01,-1.33826658e+00,-2.09636108e-01, 2.07388882e+01,
 -4.00055852e+00, 6.70492189e-01]

qfrc_actuator:
[-3.63152417e-05,-3.92219510e-04,-2.55596939e-04,-1.11437128e-04,
  1.07459584e-05,-5.12092074e-04,-3.57364960e-04,-1.21593267e-04,
  4.15754853e-05,-3.22282679e-04,-2.44137174e-04,-9.07826478e-05,
  3.27165057e-03,-1.34990709e-03, 0.00000000e+00,-1.42530596e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028279763798731705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.96292839e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.96292839e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10340161, -0.04748547,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.40277662e-05,-3.06568753e-05, 2.85925762e-05, 1.01252567e-05,
 -1.86208112e-05,-2.76065086e-05, 1.77009421e-05,-3.06626381e-05,
  5.73806187e-06, 2.63518682e-05, 1.10161063e-05, 2.94239712e-07,
 -7.93336927e-06, 1.49423234e-05,-1.00625113e-05,-2.03460492e-04,
  4.68831136e-07, 3.88433904e-06,-1.21646087e+00,-1.77593679e-03,
 -3.09026145e-04,-3.32500620e-06]


--- Step 1568 ---
qpos:
[ 2.84175526e-03,-5.61443015e-03,-1.02227013e-02, 2.80205898e-03,
 -4.46516186e-03,-5.19450828e-03,-1.77838091e-02, 5.17866053e-03,
 -4.75585074e-03,-3.97361936e-03,-7.84984374e-03,-1.91711885e-02,
  1.35195559e+00, 1.88958405e-02, 1.32734449e+00, 2.45294504e-02,
  9.49846460e-02,-6.99423810e-02, 1.30729525e-01, 9.94136031e-01,
 -1.11734476e-04,-1.40146532e-04,-1.08136578e-01]

qacc:
[ -0.51708669, -0.04347401, -2.10865263,  9.95479947, -5.02372539,
  -4.02201579, 17.10476198,-30.96019436, -5.38865009,  0.73052367,
  -3.65603823,  9.32409161, -0.06213335,  0.17518005, -5.86954939,
  19.35458728, -0.60113069, -1.32864547, -0.28056481, 20.61455863,
  -4.05737514,  0.61608384]

qfrc_actuator:
[-4.01072374e-05,-3.86215332e-04,-2.36008602e-04,-8.66541927e-05,
 -1.85330073e-05,-5.01700632e-04,-3.08050133e-04,-1.56249086e-04,
  9.73183747e-06,-3.08081652e-04,-2.37479332e-04,-7.28018840e-05,
  3.26738386e-03,-1.33816221e-03, 0.00000000e+00,-1.32732555e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002782792310331156
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.99480037e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.99480037e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10340294, -0.04748396,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.11721124e-06,-4.78756774e-06, 1.71302864e-05, 2.46570648e-05,
 -2.98218687e-05,-2.67425758e-06, 4.47491824e-05,-3.58174569e-05,
 -3.16711969e-05, 3.12289955e-05, 1.34679311e-05, 1.94955212e-05,
 -5.83166300e-06, 1.50278017e-05,-3.04931872e-05, 8.46419601e-05,
  1.10629025e-06, 4.96350552e-06,-1.21646875e+00,-1.77768935e-03,
 -3.06279949e-04,-4.43351635e-06]


--- Step 1569 ---
qpos:
[ 2.84168758e-03,-5.61451093e-03,-1.02225768e-02, 2.80160010e-03,
 -4.46551883e-03,-5.19581973e-03,-1.77822122e-02, 5.17736654e-03,
 -4.75707239e-03,-3.97327778e-03,-7.84969259e-03,-1.91703479e-02,
  1.35208917e+00, 1.88963614e-02, 1.32745239e+00, 2.45278360e-02,
  9.49616063e-02,-6.99617488e-02, 1.30727683e-01, 9.94133146e-01,
  4.78226984e-05,-2.86825683e-04,-1.08162857e-01]

qacc:
[-3.99269387e-01, 2.74416452e-01,-6.59209707e-01, 5.36655452e-03,
  1.35905919e-02,-3.23129483e+00, 9.68828772e+00,-6.50417804e+00,
 -6.32624080e+00, 4.48648276e-01,-2.09274881e+00, 5.43237587e+00,
 -6.97514952e-02, 1.49357655e-01,-6.97905794e+00, 2.37375739e+01,
  8.76868426e-01,-9.39111567e-01, 2.99764854e-01, 9.76855925e+00,
  1.54798230e+01,-4.51823101e-01]

qfrc_actuator:
[-4.23371309e-05,-3.82472257e-04,-2.42278827e-04,-8.96564714e-05,
 -1.78587525e-05,-5.12722494e-04,-2.43605485e-04,-1.40468671e-04,
 -2.65580605e-05,-2.99741074e-04,-2.33564283e-04,-6.24728361e-05,
  3.25468950e-03,-1.33138210e-03, 0.00000000e+00,-1.21477509e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002729974898083437
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.0333942e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.0333942e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08489737, -0.05565467,  0.06199156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.32204605e-06, 5.66348065e-06,-4.29566086e-06,-2.13382996e-06,
 -1.81944404e-07,-4.78516885e-06, 6.81768581e-05, 1.65233764e-05,
 -3.71842168e-05, 2.94002860e-05, 1.26954211e-05, 1.25113538e-05,
 -1.24877344e-05, 1.02520531e-05,-5.23734496e-06, 1.13221061e-04,
  2.06355518e-06, 6.58433957e-06,-1.21647937e+00,-1.78007302e-03,
 -3.03462820e-04,-5.65691893e-06]


--- Step 1570 ---
qpos:
[ 2.84193857e-03,-5.61444976e-03,-1.02228243e-02, 2.80077361e-03,
 -4.46552045e-03,-5.19721560e-03,-1.77801791e-02, 5.17663741e-03,
 -4.75802986e-03,-3.97267712e-03,-7.85030272e-03,-1.91700290e-02,
  1.35222264e+00, 1.88967642e-02, 1.32756051e+00, 2.45252190e-02,
  9.49420296e-02,-6.99848102e-02, 1.30726555e-01, 9.94130116e-01,
  2.30035123e-04,-4.05235444e-04,-1.08190090e-01]

qacc:
[  2.77304791,  0.46513929,  0.15595173, -6.0168621 ,  3.11424257,
  -0.17337437, -1.93861265, 11.09045127,  2.28395493,  1.39138153,
  -2.27210432, -5.7161033 , -0.10739604,  0.01893469,  3.37924505,
 -11.31391726,  0.86575155, -0.92338532,  0.17860129,  9.73218509,
  15.2769539 , -0.48635694]

qfrc_actuator:
[-2.58682697e-05,-3.80235814e-04,-2.63785067e-04,-1.09000678e-04,
  4.43279116e-07,-5.18608247e-04,-2.24052409e-04,-1.12898764e-04,
 -1.19044982e-05,-3.12743770e-04,-2.84589108e-04,-9.22437040e-05,
  3.24227407e-03,-1.34539680e-03, 0.00000000e+00,-1.27215700e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027404205178226115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02564354e-13, -6.07693062e-13,  1.00000000e+00,  1.23096953e-25,
        1.00000000e+00,  6.07693062e-13, -1.00000000e+00,  0.00000000e+00,
        2.02564354e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08489767, -0.05565409,  0.06199153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.64049505e-05, 4.42663986e-06,-2.09386830e-05,-1.92906860e-05,
  1.82917069e-05, 6.25987379e-06, 2.75346309e-05, 3.00481223e-05,
  1.36022346e-05, 6.56287836e-06,-4.29633113e-05,-2.78306140e-05,
 -1.59309058e-05,-1.38320239e-05, 8.26858228e-06,-5.21736143e-05,
  1.59752736e-06, 7.44152568e-06,-1.21647733e+00,-1.78286551e-03,
 -3.01216287e-04,-4.56954764e-06]


--- Step 1571 ---
qpos:
[ 2.84238505e-03,-5.61447616e-03,-1.02226965e-02, 2.79969949e-03,
 -4.46530310e-03,-5.19802700e-03,-1.77787578e-02, 5.17657641e-03,
 -4.75845940e-03,-3.97212814e-03,-7.85168759e-03,-1.91700270e-02,
  1.35235609e+00, 1.88967761e-02, 1.32766865e+00, 2.45219474e-02,
  9.49197325e-02,-7.00005403e-02, 1.30725691e-01, 9.94126809e-01,
  3.62511351e-04,-5.53025079e-04,-1.08219454e-01]

qacc:
[  1.72323712, -1.67830138,  6.85559248,-11.67089937,  1.88089388,
   3.85290972,-15.44490376, 27.56553436,  4.59795594,  1.43563428,
  -3.89668103, -0.29170577,  0.16456676, -0.42360514,  1.98939532,
  -6.97288915, -0.6801077 ,  1.83281084,  0.06596292,-23.13321942,
 -17.29449129, -1.06025694]

qfrc_actuator:
[-1.62785400e-05,-3.79003580e-04,-2.40861257e-04,-1.20056053e-04,
  1.12119358e-05,-4.68272794e-04,-2.48900784e-04,-7.86514519e-05,
  1.48647590e-05,-3.38693728e-04,-3.32255815e-04,-1.09920788e-04,
  3.23535083e-03,-1.37164845e-03, 0.00000000e+00,-1.30493777e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46374082,  1.97213693, -4.00445478,  1.97213693, 35.8498207 ,
       15.45719724, -4.00445478, 15.45719724, 12.07619028,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027532746261506313
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.01618650e-13, -4.03237299e-13,  1.00000000e+00,  8.13001598e-26,
        1.00000000e+00,  4.03237299e-13, -1.00000000e+00,  0.00000000e+00,
        2.01618650e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10320904, -0.09548587,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00620203e-05,-1.43651564e-06, 2.05946343e-05,-1.19641952e-05,
  1.12928783e-05, 6.08454458e-05,-1.91302083e-05, 3.60526871e-05,
  2.71642447e-05,-3.23592694e-05,-5.25676879e-05,-1.94258084e-05,
 -1.80730963e-05,-3.40972936e-05,-5.33082289e-06,-3.53729560e-05,
  8.61797626e-07, 8.50327420e-06,-1.21647741e+00,-1.78596118e-03,
 -2.99416685e-04,-3.29268216e-06]


--- Step 1572 ---
qpos:
[ 2.84294338e-03,-5.61484099e-03,-1.02221652e-02, 2.79853149e-03,
 -4.46461329e-03,-5.19832850e-03,-1.77776964e-02, 5.17760874e-03,
 -4.75856421e-03,-3.97234596e-03,-7.85253236e-03,-1.91698901e-02,
  1.35248935e+00, 1.88965225e-02, 1.32777629e+00, 2.45219820e-02,
  9.48947120e-02,-7.00090597e-02, 1.30724497e-01, 9.94123217e-01,
  4.45987533e-04,-7.29510074e-04,-1.08251093e-01]

qacc:
[  0.99668059, -1.77035351,  6.0561893 , -8.07357111,  4.10077554,
   3.92162943,-17.63532733, 36.77498294,  2.87287328, -2.25111649,
   5.97705992, -3.93246851,  0.31655761, -0.56109782,-10.80908861,
  36.61194851, -0.68083926,  1.80269183, -0.08257592,-22.8040092 ,
 -16.91528415, -1.12719188]

qfrc_actuator:
[-1.08206000e-05,-4.13706409e-04,-2.27383330e-04,-1.26111044e-04,
  3.52074367e-05,-4.38097647e-04,-2.64011271e-04,-2.29742796e-05,
  3.07813677e-05,-3.89957546e-04,-3.06579160e-04,-1.02585124e-04,
  3.22106803e-03,-1.38716973e-03, 0.00000000e+00,-1.12762587e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47590534,  0.21384348,  4.47079407,  0.21384348, 19.52007644,
       -0.71958087,  4.47079407, -0.71958087,  4.51032377,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027943766050222973
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24158173e-14, -1.98653078e-13,  1.00000000e+00,  2.46644033e-27,
        1.00000000e+00,  1.98653078e-13, -1.00000000e+00,  0.00000000e+00,
        1.24158173e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10320689, -0.09548446,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.74485452e-06,-3.17608196e-05, 1.53042828e-05,-5.63509662e-06,
  2.43397560e-05, 6.18097972e-05,-3.65943896e-06, 5.83220864e-05,
  1.66843541e-05,-8.10439191e-05, 1.18548345e-05, 3.75351871e-06,
 -3.13739430e-05,-2.99912315e-05,-8.76344518e-06, 1.74123752e-04,
  1.03790484e-06, 6.51548612e-06,-1.21647151e+00,-1.78797332e-03,
 -2.97787506e-04,-2.80171676e-06]


--- Step 1573 ---
qpos:
[ 2.84252804e-03,-5.61514812e-03,-1.02224441e-02, 2.79733404e-03,
 -4.46364085e-03,-5.19848629e-03,-1.77766241e-02, 5.17863103e-03,
 -4.75847751e-03,-3.97295390e-03,-7.85289499e-03,-1.91700567e-02,
  1.35262232e+00, 1.88963060e-02, 1.32788371e+00, 2.45251156e-02,
  9.48750313e-02,-7.00142454e-02, 1.30725095e-01, 9.94119908e-01,
  4.99723803e-04,-8.70267005e-04,-1.08280199e-01]

qacc:
[-8.54326806e+00, 2.29692925e+00,-7.92593741e+00, 8.63830827e+00,
  2.46255810e+00, 1.34165411e-01,-1.68754795e-01,-1.18961506e-01,
  1.69804388e+00,-2.49189985e+00, 9.40906730e+00,-1.51322468e+01,
  1.55109654e-02,-7.38764968e-02,-9.71185275e+00, 3.34920207e+01,
  1.33493383e+00, 8.33426245e-01, 4.48226768e-01,-1.67155094e+01,
  1.61500286e+01, 1.27663224e+00]

qfrc_actuator:
[-6.10941686e-05,-4.16426479e-04,-2.73009098e-04,-1.29220512e-04,
  4.90453423e-05,-4.55683157e-04,-2.73286233e-04,-2.61421670e-05,
  4.01784137e-05,-3.84663369e-04,-2.73406683e-04,-1.16072013e-04,
  3.21303727e-03,-1.37846912e-03, 0.00000000e+00,-9.69978431e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48899226, -3.60137333,  2.67976895, -3.60137333, 17.81456659,
       17.90839766,  2.67976895, 17.90839766, 28.55630065,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028377098110704546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.95619549e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.95619549e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07861101, -0.08179174,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.01200003e-05,-1.75511728e-05,-5.04962523e-05,-4.04852160e-06,
  1.45549842e-05, 1.87257754e-05, 5.04701031e-06, 4.83852017e-07,
  9.84309210e-06,-3.73929112e-05, 1.80346992e-05,-1.64730237e-05,
 -2.98793459e-05,-7.91936718e-06, 1.39076445e-05, 1.65900457e-04,
  9.32932721e-07, 5.63096047e-06,-1.21647073e+00,-1.78925314e-03,
 -2.95722975e-04,-1.43935345e-06]


--- Step 1574 ---
qpos:
[ 2.84082342e-03,-5.61518019e-03,-1.02234208e-02, 2.79607307e-03,
 -4.46285453e-03,-5.19869617e-03,-1.77758070e-02, 5.17930696e-03,
 -4.75793413e-03,-3.97357950e-03,-7.85302569e-03,-1.91704150e-02,
  1.35275516e+00, 1.88960967e-02, 1.32799163e+00, 2.45264368e-02,
  9.48605926e-02,-7.00161229e-02, 1.30726823e-01, 9.94116888e-01,
  5.24371466e-04,-9.75850276e-04,-1.08306905e-01]

qacc:
[-11.30412456,  2.20502529, -7.02834135,  6.80136633, -1.63031839,
  -0.06583159,  1.60238962, -7.15635861,  4.00535142, -1.07442282,
   4.59095363, -8.24818239, -0.29599987,  0.29280755,  6.24221366,
 -20.71056917,  1.31049623,  0.82703541,  0.28227617,-16.36211482,
  15.90928271,  1.21278107]

qfrc_actuator:
[-1.26013234e-04,-3.82465021e-04,-2.99786828e-04,-1.30589543e-04,
  3.90369029e-05,-4.84010216e-04,-2.97039250e-04,-4.61984238e-05,
  6.34196938e-05,-3.63256984e-04,-2.53647429e-04,-1.23915411e-04,
  3.21409908e-03,-1.37318444e-03, 0.00000000e+00,-1.07378180e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50465152, -4.49890185, -0.22752451, -4.49890185,  4.57511281,
       -1.39324959, -0.22752451, -1.39324959, 32.05374177,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028884133911039056
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.88278427e-13, -3.84371236e-13,  1.00000000e+00,  1.10805935e-25,
        1.00000000e+00,  3.84371236e-13, -1.00000000e+00,  0.00000000e+00,
        2.88278427e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07861196, -0.08178968,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.63539956e-05, 1.35438245e-05,-3.67510366e-05,-3.94103585e-06,
 -9.58485558e-06,-1.67966081e-05,-1.92603898e-05,-1.90748159e-05,
  2.35069702e-05, 3.54628598e-06, 1.36986732e-05,-9.13937189e-06,
 -1.45251036e-05,-4.39438222e-06, 2.19915532e-05,-9.34274581e-05,
  3.76665148e-07, 3.80955571e-06,-1.21645845e+00,-1.79054848e-03,
 -2.94208599e-04, 1.00230377e-06]


--- Step 1575 ---
qpos:
[ 2.83973320e-03,-5.61517893e-03,-1.02243825e-02, 2.79444122e-03,
 -4.46184938e-03,-5.19887249e-03,-1.77750790e-02, 5.18040586e-03,
 -4.75711632e-03,-3.97426081e-03,-7.85290939e-03,-1.91708612e-02,
  1.35288825e+00, 1.88951340e-02, 1.32809967e+00, 2.45262043e-02,
  9.48513149e-02,-7.00147147e-02, 1.30729122e-01, 9.94114158e-01,
  5.20463025e-04,-1.04672373e-03,-1.08331315e-01]

qacc:
[  5.37398228, -0.77218573,  4.3645487 ,-10.8122051 ,  1.90528162,
   1.16024561, -5.86482007, 13.31052321,  2.41087868, -0.94974412,
   3.64100798, -5.50379864,  0.5189544 , -0.95804605,  4.83428738,
 -16.7878221 ,  1.2902628 ,  0.82143427,  0.14287484,-16.0726642 ,
  15.70713934,  1.16190884]

qfrc_actuator:
[-9.24987308e-05,-3.79992990e-04,-2.97291497e-04,-1.48621100e-04,
  5.05816126e-05,-4.65385971e-04,-2.93712166e-04,-2.27894746e-05,
  7.68730921e-05,-3.67904951e-04,-2.41878750e-04,-1.28363083e-04,
  3.22061256e-03,-1.42319202e-03, 0.00000000e+00,-1.15325745e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51123815e+00,  4.51120196e+00,  1.80697387e-02,  4.51120196e+00,
        4.51178279e+00, -1.35970964e-01,  1.80697387e-02, -1.35970964e-01,
        3.84570793e+01,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00])
  dim: 3
  dist: -0.0002909382447985748
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.90800461e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.90800461e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0786122 , -0.08178845,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.16257307e-05, 2.28332862e-06, 6.48775235e-07,-1.87915109e-05,
  1.12656338e-05, 4.42942780e-06,-3.18322008e-06, 2.16490224e-05,
  1.41236204e-05,-1.92030257e-07, 1.38813413e-05,-3.99817747e-06,
 -1.65417209e-06,-5.46657284e-05,-4.62044173e-06,-8.28459376e-05,
  1.10666255e-07, 2.43370637e-06,-1.21644968e+00,-1.79131285e-03,
 -2.93100141e-04, 2.75159197e-06]


--- Step 1576 ---
qpos:
[ 2.83974252e-03,-5.61538808e-03,-1.02249298e-02, 2.79260957e-03,
 -4.46105893e-03,-5.19869501e-03,-1.77741884e-02, 5.18137143e-03,
 -4.75614335e-03,-3.97505711e-03,-7.85288282e-03,-1.91713258e-02,
  1.35302135e+00, 1.88936217e-02, 1.32820775e+00, 2.45243453e-02,
  9.48471317e-02,-7.00100400e-02, 1.30731525e-01, 9.94111716e-01,
  4.88431757e-04,-1.08327272e-03,-1.08353511e-01]

qacc:
[  9.63424531, -1.86677203,  7.06330681,-10.99370489, -1.87343937,
  -0.25763397,  2.16633896, -5.00131077,  1.35754765,  0.05810773,
  -0.35425413,  0.2674291 ,  0.2118896 , -0.56053957,  4.96361238,
 -17.33789788,  1.27361461,  0.81661961,  0.02596998,-15.83677529,
  15.53865682,  1.12119447]

qfrc_actuator:
[-3.68173229e-05,-3.96282908e-04,-2.77665963e-04,-1.58564753e-04,
  3.92224410e-05,-4.18655775e-04,-2.74201031e-04,-2.71900806e-05,
  8.44533616e-05,-3.88140415e-04,-2.52764897e-04,-1.30800519e-04,
  3.21439062e-03,-1.45235956e-03, 0.00000000e+00,-1.23542282e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002906512171149539
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.90988883e-13, -3.81977766e-13,  1.00000000e+00,  7.29535067e-26,
        1.00000000e+00,  3.81977766e-13, -1.00000000e+00,  0.00000000e+00,
        1.90988883e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0786119 , -0.08178789,  0.06199102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.65881749e-05,-1.56548870e-05, 1.95415453e-05,-1.01844395e-05,
 -1.10354273e-05, 4.94765050e-05, 2.07736963e-05,-3.90378168e-06,
  7.98104513e-06,-1.76151520e-05,-9.34661361e-06,-2.04140245e-06,
 -2.02639648e-05,-4.60630355e-05,-1.34951038e-05,-8.78828894e-05,
  1.28005047e-07, 1.46911675e-06,-1.21644424e+00,-1.79155863e-03,
 -2.92400343e-04, 3.84126403e-06]


--- Step 1577 ---
qpos:
[ 2.83972970e-03,-5.61579622e-03,-1.02252518e-02, 2.79137547e-03,
 -4.46075565e-03,-5.19800254e-03,-1.77734238e-02, 5.18192990e-03,
 -4.75543185e-03,-3.97602759e-03,-7.85296829e-03,-1.91714610e-02,
  1.35315385e+00, 1.88930093e-02, 1.32831589e+00, 2.45204970e-02,
  9.48479885e-02,-7.00021150e-02, 1.30733641e-01, 9.94109555e-01,
  4.28627783e-04,-1.08581435e-03,-1.08373563e-01]

qacc:
[ -0.18288085,  0.33854882, -4.1102978 , 14.23714192, -4.26129522,
   0.20265044,  1.99777891, -9.23616352, -2.28936405,  0.76620705,
  -4.44646333, 10.44200008, -1.19699233,  1.693441  ,  6.26009868,
 -21.41916834,  1.26002817,  0.81256582, -0.07189285,-15.64590044,
  15.3995919 ,  1.08838377]

qfrc_actuator:
[-3.95771885e-05,-4.05846953e-04,-2.65920410e-04,-1.28173153e-04,
  1.44669561e-05,-3.90900930e-04,-2.80700787e-04,-4.78892978e-05,
  7.07665948e-05,-3.99894176e-04,-2.59253381e-04,-1.14313411e-04,
  3.20053907e-03,-1.38016221e-03, 0.00000000e+00,-1.33626057e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002884730362826965
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.88646481e-13,  1.92430987e-13,  1.00000000e+00, -5.55445274e-26,
        1.00000000e+00, -1.92430987e-13, -1.00000000e+00,  0.00000000e+00,
        2.88646481e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07861115, -0.08178786,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14673535e-06,-1.46804244e-05, 1.05771559e-05, 3.02022392e-05,
 -2.50552671e-05, 5.95223702e-05, 6.12920702e-06,-1.79405658e-05,
 -1.34671030e-05,-2.35865337e-05,-1.13378437e-05, 1.53722170e-05,
 -3.51483309e-05, 5.37328941e-05,-1.81347651e-05,-1.07955419e-04,
  4.22457402e-07, 8.89355678e-07,-1.21644198e+00,-1.79129566e-03,
 -2.92110732e-04, 4.29672765e-06]


--- Step 1578 ---
qpos:
[ 2.83933948e-03,-5.61618949e-03,-1.02260558e-02, 2.79053694e-03,
 -4.46075147e-03,-5.19685362e-03,-1.77730487e-02, 5.18295262e-03,
 -4.75523511e-03,-3.97676829e-03,-7.85359620e-03,-1.91714197e-02,
  1.35328602e+00, 1.88929520e-02, 1.32842372e+00, 2.45171205e-02,
  9.48538417e-02,-6.99909531e-02, 1.30735142e-01, 9.94107665e-01,
  3.41331319e-04,-1.05460633e-03,-1.08391523e-01]

qacc:
[ -3.31620034,  2.18780151, -9.43063691, 17.02404165, -2.62801396,
   2.65201222,-10.53231192, 18.84617145, -4.52701166,  2.19219999,
  -8.10258001, 11.83155639, -0.55125022,  0.84640172, -1.83402795,
   5.89140132,  1.24906007,  0.80923262, -0.1536634 ,-15.49298114,
  15.28629264,  1.06167257]

qfrc_actuator:
[-5.89673238e-05,-4.11302731e-04,-2.94384666e-04,-1.09803081e-04,
 -2.15347888e-07,-3.74834001e-04,-3.02583514e-04,-2.47826949e-05,
  4.46741933e-05,-3.70948470e-04,-2.80797689e-04,-1.04564787e-04,
  3.18748997e-03,-1.35489138e-03, 0.00000000e+00,-1.30526704e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028481438158604877
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.74514540e-14, -1.94902908e-13,  1.00000000e+00,  1.89935718e-26,
        1.00000000e+00,  1.94902908e-13, -1.00000000e+00,  0.00000000e+00,
        9.74514540e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07861007, -0.08178824,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.94278546e-05,-1.01653072e-05,-2.91373239e-05, 1.86993438e-05,
 -1.53793367e-05, 4.98046291e-05,-9.47168674e-06, 2.55162914e-05,
 -2.64886118e-05, 1.41068072e-05,-2.72665621e-05, 8.64890443e-06,
 -1.86497652e-05, 3.40985336e-05,-2.35548823e-05, 2.19661506e-05,
  9.88376400e-07, 6.73835945e-07,-1.21644278e+00,-1.79053176e-03,
 -2.92232073e-04, 4.13748060e-06]


--- Step 1579 ---
qpos:
[ 2.83871997e-03,-5.61669932e-03,-1.02268744e-02, 2.78991000e-03,
 -4.46092343e-03,-5.19547782e-03,-1.77725870e-02, 5.18458606e-03,
 -4.75466293e-03,-3.97735242e-03,-7.85475583e-03,-1.91715988e-02,
  1.35341799e+00, 1.88928151e-02, 1.32853119e+00, 2.45157732e-02,
  9.48646561e-02,-6.99765649e-02, 1.30735755e-01, 9.94106029e-01,
  2.26763618e-04,-9.89854437e-04,-1.08407438e-01]

qacc:
[ -2.00408337,  0.32666592, -2.27456315,  6.03818612, -1.5367965 ,
   1.31816381, -6.8381155 , 17.09749361,  3.26703932,  1.23318282,
  -3.17853942,  0.11486265,  0.08613068, -0.19601806, -6.69889384,
  22.61578286,  1.24033435,  0.80657097, -0.22186316,-15.37217372,
  15.19561216,  1.03961454]

qfrc_actuator:
[-7.02188864e-05,-4.14427808e-04,-2.93099845e-04,-9.86829670e-05,
 -8.84693959e-06,-3.65927284e-04,-2.97876850e-04, 6.14625296e-06,
  6.47541731e-05,-3.71175265e-04,-3.10900272e-04,-1.16590561e-04,
  3.16426945e-03,-1.37554430e-03, 0.00000000e+00,-1.19684025e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028001630860303994
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.91212824e-14, -3.96485130e-13,  1.00000000e+00,  3.93001145e-26,
        1.00000000e+00,  3.96485130e-13, -1.00000000e+00,  0.00000000e+00,
        9.91212824e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07860871, -0.08178893,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18077585e-05,-1.40069091e-05,-3.73976423e-06, 1.00456936e-05,
 -9.05579811e-06, 3.58402212e-05, 1.46903665e-05, 3.32266260e-05,
  1.93261667e-05, 2.42577687e-06,-3.02307188e-05,-1.21925380e-05,
 -2.49393170e-05,-1.42284905e-05,-1.01294176e-05, 1.06256409e-04,
  1.82054446e-06, 8.06277243e-07,-1.21644657e+00,-1.78927306e-03,
 -2.92764699e-04, 3.37823912e-06]


--- Step 1580 ---
qpos:
[ 2.83797038e-03,-5.61752250e-03,-1.02273055e-02, 2.78941853e-03,
 -4.46119750e-03,-5.19413083e-03,-1.77716360e-02, 5.18623695e-03,
 -4.75385463e-03,-3.97819372e-03,-7.85555821e-03,-1.91719286e-02,
  1.35354924e+00, 1.88937822e-02, 1.32863859e+00, 2.45157131e-02,
  9.48796453e-02,-6.99628354e-02, 1.30736944e-01, 9.94104423e-01,
  1.13483534e-04,-8.93799295e-04,-1.08423177e-01]

qacc:
[-1.12014838,-1.21625174, 3.16770057,-1.21660147,-0.87468946,-1.36758611,
  4.75070463,-5.21410045, 2.08264298,-1.6534043 , 6.03007037,-9.01140685,
 -1.14249141, 1.72276246,-3.86570413,13.70058766, 1.04367124,-0.1646747 ,
  0.14388858,-1.05665515,15.62920035, 0.08443036]

qfrc_actuator:
[-7.65844362e-05,-4.33781616e-04,-2.74240054e-04,-9.18870712e-05,
 -1.38514313e-05,-3.79022332e-04,-2.77536814e-04, 5.93118742e-06,
  7.63480316e-05,-3.88924266e-04,-2.92673675e-04,-1.23602272e-04,
  3.14027092e-03,-1.29907037e-03, 0.00000000e+00,-1.13246287e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002776040636845858
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.51011173e-07, -1.51010894e-07,  1.00000000e+00, -2.28043322e-14,
        1.00000000e+00,  1.51010894e-07, -1.00000000e+00,  3.15544362e-30,
       -1.51011173e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08213412, -0.0666871 ,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.70561259e-06,-2.75012816e-05, 1.58715677e-05, 6.26683755e-06,
 -5.25357889e-06, 1.13421867e-05, 3.06774189e-05, 2.46821102e-06,
  1.21453038e-05,-2.31149480e-05, 1.46030798e-05,-8.18756592e-06,
 -3.93581296e-05, 6.63155608e-05, 5.45175989e-06, 6.86166824e-05,
  2.91402110e-06, 1.27352930e-06,-1.21645327e+00,-1.78752436e-03,
 -2.93708740e-04, 2.02982947e-06]


--- Step 1581 ---
qpos:
[ 2.83714996e-03,-5.61812300e-03,-1.02282777e-02, 2.78900781e-03,
 -4.46221900e-03,-5.19304360e-03,-1.77705453e-02, 5.18758183e-03,
 -4.75325855e-03,-3.97917486e-03,-7.85591069e-03,-1.91720165e-02,
  1.35368000e+00, 1.88956324e-02, 1.32874599e+00, 2.45164262e-02,
  9.48979980e-02,-6.99526819e-02, 1.30738575e-01, 9.94102703e-01,
  2.31889186e-05,-7.69393467e-04,-1.08439949e-01]

qacc:
[ -0.64032783,  1.97437672, -6.95139449,  9.04813075, -6.5094794 ,
  -1.35051434,  5.63135267,-10.98402223, -1.84125463, -0.94032599,
   2.07014714,  1.49297114, -0.87645727,  1.35816797, -2.24153764,
   8.08894146,  0.84089835, -0.89398763,  0.11057099,  9.8875872 ,
  15.33774048, -0.53149373]

qfrc_actuator:
[-8.00258905e-05,-4.09371362e-04,-2.98489587e-04,-8.76942298e-05,
 -5.21884954e-05,-4.22906133e-04,-2.83759485e-04,-1.26213063e-05,
  6.50867103e-05,-3.81330204e-04,-2.63878483e-04,-1.09834201e-04,
  3.12118560e-03,-1.25423528e-03, 0.00000000e+00,-1.09458462e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027707409220895096
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00173839e-13,  2.00347679e-13,  1.00000000e+00, -2.00695962e-26,
        1.00000000e+00, -2.00347679e-13, -1.00000000e+00,  0.00000000e+00,
        1.00173839e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0849076 , -0.05565056,  0.06199144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.64046254e-06, 1.26143658e-05,-2.77415113e-05, 3.69001095e-06,
 -3.84850598e-05,-3.11648775e-05,-4.59278782e-08,-1.69654813e-05,
 -1.09263221e-05,-2.61878344e-06, 2.55565234e-05, 1.31280531e-05,
 -2.26432971e-05, 5.60104812e-05, 6.38523273e-06, 4.15833343e-05,
  3.41230923e-06, 7.44579782e-07,-1.21645687e+00,-1.78575320e-03,
 -2.94987153e-04, 6.88234102e-07]


--- Step 1582 ---
qpos:
[ 2.83663931e-03,-5.61822443e-03,-1.02297319e-02, 2.78895579e-03,
 -4.46334730e-03,-5.19213715e-03,-1.77695319e-02, 5.18869969e-03,
 -4.75280215e-03,-3.98014887e-03,-7.85594157e-03,-1.91722945e-02,
  1.35381082e+00, 1.88970585e-02, 1.32885354e+00, 2.45162490e-02,
  9.49197025e-02,-6.99460707e-02, 1.30740289e-01, 9.94100866e-01,
 -4.43487498e-05,-6.16961592e-04,-1.08457764e-01]

qacc:
[  2.6861913 ,  2.74035566,-10.33704166, 16.95846583, -0.93079003,
  -0.48834122,  2.35616554, -6.03229016, -1.21279385, -1.27891951,
   5.37848541, -9.18894392,  0.22781983, -0.48795561,  2.89602209,
  -9.8706383 ,  0.83794481, -0.88558273,  0.0207055 ,  9.79139991,
  15.16420814, -0.53376022]

qfrc_actuator:
[-6.39674617e-05,-3.59113352e-04,-3.12325732e-04,-6.73100549e-05,
 -5.65810428e-05,-4.31762820e-04,-2.88013155e-04,-2.41071565e-05,
  5.82188296e-05,-3.76297418e-04,-2.46730319e-04,-1.19436040e-04,
  3.11037997e-03,-1.29961471e-03, 0.00000000e+00,-1.14361741e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002749576020253802
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.01889858e-13, -2.01889858e-13,  1.00000000e+00,  4.07595148e-26,
        1.00000000e+00,  2.01889858e-13, -1.00000000e+00,  0.00000000e+00,
        2.01889858e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08490776, -0.05565013,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.59627258e-05, 5.17752244e-05,-1.44996196e-05, 2.00412618e-05,
 -5.50602333e-06,-2.70890143e-05,-1.13104879e-05,-1.31591967e-05,
 -7.18590399e-06, 9.44702787e-06, 2.02259294e-05,-8.57042191e-06,
 -8.71220267e-06,-3.34791326e-05, 4.04485721e-06,-4.66756215e-05,
  3.05496517e-06,-5.36254231e-07,-1.21645799e+00,-1.78430406e-03,
 -2.96625418e-04,-1.25237912e-07]


--- Step 1583 ---
qpos:
[ 2.83701501e-03,-5.61800364e-03,-1.02313186e-02, 2.78914630e-03,
 -4.46383019e-03,-5.19133622e-03,-1.77683831e-02, 5.19033700e-03,
 -4.75208692e-03,-3.98097893e-03,-7.85606988e-03,-1.91730191e-02,
  1.35394149e+00, 1.88982900e-02, 1.32896085e+00, 2.45175014e-02,
  9.49447503e-02,-6.99429744e-02, 1.30741786e-01, 9.94098900e-01,
 -8.93172520e-05,-4.36755750e-04,-1.08476623e-01]

qacc:
[  7.74344601,  1.28036474, -4.99717309,  9.19740838,  5.63465065,
   0.54065224, -4.341972  , 13.21389193,  2.26001852, -0.46175344,
   3.79680448,-11.46045019,  0.1397638 , -0.31001905, -4.71214557,
  15.9072259 ,  0.83580594, -0.87871101, -0.05438662,  9.71153745,
  15.02894709, -0.53269886]

qfrc_actuator:
[-1.88087457e-05,-3.46970040e-04,-3.19756518e-04,-5.52739655e-05,
 -2.31959130e-05,-4.19578309e-04,-2.73171668e-04, 4.19566802e-06,
  7.17519740e-05,-3.72892419e-04,-2.54374658e-04,-1.42724460e-04,
  3.09918340e-03,-1.30940566e-03, 0.00000000e+00,-1.06591621e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027150494890886
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02228618e-13,  2.04457235e-13,  1.00000000e+00,  2.09013805e-26,
        1.00000000e+00, -2.04457235e-13, -1.00000000e+00,  0.00000000e+00,
       -1.02228618e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0849076 , -0.05564944,  0.06199161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.56345967e-05, 3.89877954e-05, 2.18948726e-06, 1.41458374e-05,
  3.32188330e-05,-5.91271215e-06, 7.37280313e-06, 2.64880792e-05,
  1.33275875e-05, 1.25334050e-05,-3.48544655e-06,-2.23476780e-05,
 -2.34432369e-05,-2.20047882e-05,-6.08216334e-06, 7.49859388e-05,
  2.42947866e-06,-1.61413141e-06,-1.21646112e+00,-1.78316403e-03,
 -2.98710897e-04,-7.30212365e-07]


--- Step 1584 ---
qpos:
[ 2.83792957e-03,-5.61806608e-03,-1.02318529e-02, 2.78913005e-03,
 -4.46425434e-03,-5.19028518e-03,-1.77674877e-02, 5.19193562e-03,
 -4.75086998e-03,-3.98195711e-03,-7.85643914e-03,-1.91739688e-02,
  1.35407182e+00, 1.88996715e-02, 1.32906785e+00, 2.45216666e-02,
  9.49731357e-02,-6.99433707e-02, 1.30742815e-01, 9.94096796e-01,
 -1.11869253e-04,-2.28966758e-04,-1.08496525e-01]

qacc:
[ 4.75109514e+00,-3.75064838e+00, 1.36865759e+01,-1.87217624e+01,
  5.00138142e-01, 9.57538920e-01,-2.77325610e+00, 2.32727415e+00,
  4.38674823e+00, 5.49528668e-03, 6.30660942e-01,-4.01376977e+00,
 -1.12066838e-01, 1.17092420e-01,-9.27135298e+00, 3.17864561e+01,
  8.34427723e-01,-8.73163419e-01,-1.17001025e-01, 9.64581241e+00,
  1.49260394e+01,-5.28870869e-01]

qfrc_actuator:
[ 7.60439575e-06,-3.75470972e-04,-2.70242983e-04,-6.60266601e-05,
 -2.11115482e-05,-3.94772037e-04,-2.82560162e-04, 2.45814498e-06,
  9.71831010e-05,-4.06109023e-04,-2.76604119e-04,-1.56139733e-04,
  3.08244296e-03,-1.29790345e-03, 0.00000000e+00,-9.14138460e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026702504739806177
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.19718579e-14,  1.03943716e-13,  1.00000000e+00,  5.40214802e-27,
        1.00000000e+00, -1.03943716e-13, -1.00000000e+00,  0.00000000e+00,
       -5.19718579e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08490719, -0.05564853,  0.06199175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.77312706e-05,-5.61565191e-06, 5.83392713e-05,-8.73046124e-06,
  3.03323174e-06, 2.41229731e-05,-8.81273772e-06,-1.22956430e-06,
  2.58143004e-05,-2.78448441e-05,-2.08302362e-05,-1.34308942e-05,
 -3.32126442e-05,-7.12638776e-07, 3.55357188e-06, 1.54718590e-04,
  1.53937987e-06,-2.49635003e-06,-1.21646622e+00,-1.78233058e-03,
 -3.01239098e-04,-1.13507002e-06]


--- Step 1585 ---
qpos:
[ 2.83846438e-03,-5.61857250e-03,-1.02313506e-02, 2.78900722e-03,
 -4.46464994e-03,-5.18889310e-03,-1.77670205e-02, 5.19281059e-03,
 -4.74970255e-03,-3.98317829e-03,-7.85647023e-03,-1.91750994e-02,
  1.35420195e+00, 1.89007031e-02, 1.32917513e+00, 2.45252650e-02,
  9.50048562e-02,-6.99472420e-02, 1.30743167e-01, 9.94094537e-01,
 -1.12127051e-04, 6.26654077e-06,-1.08517459e-01]

qacc:
[-3.28161862e+00,-3.69698604e+00, 1.27913488e+01,-1.59789420e+01,
  2.29284142e-01, 1.56732628e-01, 3.14900871e+00,-1.52383071e+01,
 -4.18755340e-01,-1.63824263e+00, 6.13815716e+00,-9.62753398e+00,
 -1.50763938e-02,-2.50363533e-01, 2.10721694e+00,-6.80987904e+00,
  8.33754627e-01,-8.68760392e-01,-1.69101607e-01, 9.59236543e+00,
  1.48506105e+01,-5.22709918e-01]

qfrc_actuator:
[-1.27421151e-05,-4.10129251e-04,-2.23199903e-04,-7.23477290e-05,
 -1.97265201e-05,-3.80458756e-04,-3.06152059e-04,-3.47058718e-05,
  9.39013446e-05,-4.07806213e-04,-2.54144254e-04,-1.63673953e-04,
  3.06240015e-03,-1.32715004e-03, 0.00000000e+00,-9.50753941e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026177353016555716
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06028962e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.06028962e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08490659, -0.05564746,  0.06199191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.95571080e-05,-2.61068794e-05, 5.27718912e-05,-4.71283003e-06,
  1.48080988e-06, 2.58785331e-05,-1.97640725e-05,-3.64674408e-05,
 -2.55649037e-06,-2.20906804e-05, 1.36965873e-05,-9.70459751e-06,
 -3.58243178e-05,-3.74026163e-05, 1.63541100e-05,-2.81081601e-05,
  3.86273216e-07,-3.18754053e-06,-1.21647324e+00,-1.78180145e-03,
 -3.04206758e-04,-1.34594392e-06]


--- Step 1586 ---
qpos:
[ 2.83909618e-03,-5.61911902e-03,-1.02309574e-02, 2.78918297e-03,
 -4.46433589e-03,-5.18744072e-03,-1.77667515e-02, 5.19325386e-03,
 -4.74927352e-03,-3.98427263e-03,-7.85610180e-03,-1.91767096e-02,
  1.35433176e+00, 1.89018529e-02, 1.32928252e+00, 2.45280881e-02,
  9.50341235e-02,-6.99564947e-02, 1.30743551e-01, 9.94092374e-01,
 -7.05042121e-05, 2.28432580e-04,-1.08537070e-01]

qacc:
[ 8.45858710e-01, 8.64813402e-01,-4.42355362e+00, 9.79765172e+00,
  6.18126609e+00,-2.67637704e-01, 2.87142807e+00,-1.00479895e+01,
 -6.45375614e+00,-1.92444607e+00, 9.14674863e+00,-1.81924001e+01,
 -4.00687285e-01, 4.23144936e-01, 2.56331258e+00,-8.61236313e+00,
 -6.13279904e-01,-1.34534505e+00, 8.08374939e-03, 2.15256700e+01,
 -4.22272994e+00, 6.61890044e-01]

qfrc_actuator:
[-7.18346879e-06,-4.12702622e-04,-2.31302126e-04,-5.82746526e-05,
  1.67508788e-05,-3.90384868e-04,-3.20237122e-04,-5.69200823e-05,
  5.59897633e-05,-3.72684990e-04,-2.23106159e-04,-1.85386362e-04,
  3.05635225e-03,-1.30939534e-03, 0.00000000e+00,-9.91575174e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026097243715170193
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06354433e-13, -4.25417733e-13,  1.00000000e+00,  4.52450618e-26,
        1.00000000e+00,  4.25417733e-13, -1.00000000e+00,  0.00000000e+00,
        1.06354433e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10342318, -0.04748747,  0.06199194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.98973901e-06,-6.46965484e-06,-7.15716285e-06, 1.46898416e-05,
  3.65311965e-05,-1.15719113e-06,-1.24604530e-05,-2.25053842e-05,
 -3.79965685e-05, 2.52314754e-05, 2.78450175e-05,-2.23678678e-05,
 -3.20563145e-05,-2.08270715e-06, 5.67846057e-07,-4.11641328e-05,
 -1.02990146e-06,-3.69006981e-06,-1.21648217e+00,-1.78157465e-03,
 -3.07611637e-04,-1.36715720e-06]


--- Step 1587 ---
qpos:
[ 2.84013440e-03,-5.61954903e-03,-1.02312853e-02, 2.78954885e-03,
 -4.46358700e-03,-5.18598045e-03,-1.77665843e-02, 5.19239168e-03,
 -4.74930209e-03,-3.98535938e-03,-7.85614884e-03,-1.91784954e-02,
  1.35446129e+00, 1.89033633e-02, 1.32939006e+00, 2.45290612e-02,
  9.50609805e-02,-6.99710939e-02, 1.30743556e-01, 9.94090305e-01,
  1.24723145e-05, 4.37647639e-04,-1.08555399e-01]

qacc:
[  3.53049829,  2.55439841, -9.69884342, 14.0698113 ,  3.78808071,
  -2.39982924, 14.07047578,-36.49431151, -4.01899567,  0.81725965,
  -2.14449936, -0.25166349, -0.61003937,  0.80911932,  5.90330994,
 -20.14420513, -0.60259969, -1.33661776, -0.09492213, 21.25738064,
  -4.1930876 ,  0.64736169]

qfrc_actuator:
[ 1.35934327e-05,-4.14003982e-04,-2.71760664e-04,-5.00802538e-05,
  3.80859031e-05,-3.96957667e-04,-3.28676909e-04,-1.23424792e-04,
  3.35142434e-05,-4.04508522e-04,-2.58128289e-04,-1.97482018e-04,
  3.05339327e-03,-1.28152075e-03, 0.00000000e+00,-1.08774247e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002612854083716698
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.12454081e-13, -2.12454081e-13,  1.00000000e+00,  4.51367364e-26,
        1.00000000e+00,  2.12454081e-13, -1.00000000e+00,  0.00000000e+00,
        2.12454081e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10342355, -0.04748815,  0.06199193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.09182290e-05,-5.75362438e-06,-4.21676045e-05, 7.95506751e-06,
  2.23833440e-05,-1.08020016e-05,-1.10152763e-05,-6.74299084e-05,
 -2.35554734e-05,-1.28939396e-05,-2.71411351e-05,-1.04803445e-05,
 -1.93304551e-05, 1.99380504e-05,-7.61724781e-06,-9.91348241e-05,
 -3.22660005e-06,-2.58281032e-06,-1.21647898e+00,-1.78172190e-03,
 -3.10655529e-04, 2.90860728e-07]


--- Step 1588 ---
qpos:
[ 2.84106869e-03,-5.61980992e-03,-1.02321609e-02, 2.78999153e-03,
 -4.46293251e-03,-5.18482379e-03,-1.77661442e-02, 5.19109897e-03,
 -4.74994490e-03,-3.98670659e-03,-7.85678398e-03,-1.91800190e-02,
  1.35459068e+00, 1.89047278e-02, 1.32949758e+00, 2.45285310e-02,
  9.50850884e-02,-6.99783199e-02, 1.30743971e-01, 9.94087932e-01,
  4.54964195e-05, 6.18087035e-04,-1.08576238e-01]

qacc:
[ -0.92917498,  1.9143477 , -6.82242176,  8.89963561, -0.80984813,
  -2.04797689,  8.54075739,-16.20901732, -5.39086959,  1.8505892 ,
  -8.1837683 , 13.82899779, -0.14444106,  0.03207049,  4.55039942,
 -15.90809836, -0.68726109,  1.84329976,  0.10254363,-23.26618097,
 -17.01405558, -1.27562797]

qfrc_actuator:
[ 7.64780036e-06,-3.96930073e-04,-2.95471904e-04,-4.54240490e-05,
  3.25738219e-05,-4.19242825e-04,-3.15993918e-04,-1.44446845e-04,
  2.56228386e-06,-4.40925121e-04,-2.96626100e-04,-1.86167005e-04,
  3.03631836e-03,-1.30112182e-03, 0.00000000e+00,-1.16247472e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026610897202945794
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -2.0860308e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  2.0860308e-13, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10319196, -0.09549923,  0.06199178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.34676755e-06, 5.50986858e-06,-2.98122591e-05, 3.10517064e-06,
 -4.87091062e-06,-3.35350781e-05, 6.74333363e-06,-2.31811458e-05,
 -3.16315027e-05,-4.96458839e-05,-4.48481821e-05, 9.62720932e-06,
 -2.25597972e-05,-1.76473384e-05,-1.76318334e-05,-8.19301549e-05,
 -5.05289735e-06,-9.26684462e-07,-1.21647874e+00,-1.78252565e-03,
 -3.13634451e-04, 1.78574231e-06]


--- Step 1589 ---
qpos:
[ 2.84192455e-03,-5.61978540e-03,-1.02334213e-02, 2.79045981e-03,
 -4.46234889e-03,-5.18413188e-03,-1.77649704e-02, 5.19058872e-03,
 -4.75095416e-03,-3.98825801e-03,-7.85738441e-03,-1.91810999e-02,
  1.35471979e+00, 1.89061635e-02, 1.32960501e+00, 2.45270854e-02,
  9.51064715e-02,-6.99782966e-02, 1.30744185e-01, 9.94085260e-01,
  2.93021143e-05, 7.70436459e-04,-1.08599734e-01]

qacc:
[ -0.70289237,  1.50672209, -4.93060863,  5.77624701, -0.58679503,
  -1.05184829, -0.44144072, 13.14928494, -3.20303463,  0.55093972,
  -4.21013299, 11.94515712, -0.33939356,  0.33690131,  2.66227372,
  -9.43780334, -0.68119462,  1.81231638, -0.05022352,-22.93793463,
 -16.63389424, -1.35076257]

qfrc_actuator:
[ 3.76907026e-06,-3.68930205e-04,-3.09019762e-04,-4.28534801e-05,
  2.90614206e-05,-4.32894420e-04,-2.73218566e-04,-1.03026776e-04,
 -1.53832209e-05,-4.26574667e-04,-2.83612609e-04,-1.61173348e-04,
  3.02142267e-03,-1.29558805e-03, 0.00000000e+00,-1.20620007e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45190056, -0.05726324, -4.45153227, -0.05726324, 38.79954577,
       -0.44183828, -4.45153227, -0.44183828,  4.45758424,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027124700942551816
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.09303324e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.09303324e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10319019, -0.09549744,  0.06199162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.02692164e-06, 2.50699620e-05,-1.59628521e-05, 1.83706592e-06,
 -3.66305027e-06,-3.20505826e-05, 3.58615953e-05, 3.97649522e-05,
 -1.88700227e-05,-2.22155163e-05,-2.40385152e-06, 2.15123227e-05,
 -3.07808137e-05,-4.76401945e-06,-1.94184798e-05,-5.10481371e-05,
 -2.31419099e-06,-2.35519303e-06,-1.21646551e+00,-1.78271034e-03,
 -3.16794507e-04,-1.50835152e-06]


--- Step 1590 ---
qpos:
[ 2.84272733e-03,-5.61951355e-03,-1.02354177e-02, 2.79098444e-03,
 -4.46215707e-03,-5.18362726e-03,-1.77630865e-02, 5.19054369e-03,
 -4.75148153e-03,-3.98968935e-03,-7.85797659e-03,-1.91822593e-02,
  1.35484862e+00, 1.89076580e-02, 1.32971236e+00, 2.45247628e-02,
  9.51251517e-02,-6.99711261e-02, 1.30743684e-01, 9.94082285e-01,
 -3.55034487e-05, 8.95259159e-04,-1.08625997e-01]

qacc:
[ -0.49158022,  2.5007781 , -8.67856706, 10.64703181, -3.39108913,
  -1.26694877,  2.20624284,  4.83455244,  4.21655005, -0.03401505,
   0.66757573, -2.10888121, -0.32517829,  0.31555368,  2.58088155,
  -9.10376281, -0.67574564,  1.78680309, -0.17868789,-22.66609925,
 -16.32146388, -1.41076159]

qfrc_actuator:
[ 1.14654100e-06,-3.70063973e-04,-3.51918709e-04,-4.15137994e-05,
  9.01042718e-06,-4.23330658e-04,-2.30710487e-04,-7.84401086e-05,
  9.97831536e-06,-3.99468664e-04,-2.75585171e-04,-1.63762917e-04,
  3.00785255e-03,-1.29288484e-03, 0.00000000e+00,-1.24906039e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4585411 ,  0.30198222,  4.44830254,  0.30198222, 35.96870243,
       -2.13913251,  4.44830254, -2.13913251,  4.60376054,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002735454230710366
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.02932115e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.02932115e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10318902, -0.09549679,  0.06199155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.72719245e-06, 9.67555576e-06,-3.96105074e-05, 1.89894158e-06,
 -2.01702918e-05, 7.13077938e-07, 4.16613391e-05, 2.52255939e-05,
  2.48083211e-05, 1.51638019e-05, 3.91450915e-06,-3.19748103e-06,
 -3.03802960e-05,-5.57325169e-06,-1.68269502e-05,-4.86854087e-05,
  1.58718644e-07,-2.71594494e-06,-1.21645761e+00,-1.78216062e-03,
 -3.19556498e-04,-3.91373697e-06]


--- Step 1591 ---
qpos:
[ 2.84314788e-03,-5.61954675e-03,-1.02374195e-02, 2.79154219e-03,
 -4.46220728e-03,-5.18296226e-03,-1.77613551e-02, 5.19046317e-03,
 -4.75170106e-03,-3.99114152e-03,-7.85812854e-03,-1.91837982e-02,
  1.35497733e+00, 1.89089145e-02, 1.32981940e+00, 2.45235924e-02,
  9.51389737e-02,-6.99600850e-02, 1.30743917e-01, 9.94079142e-01,
 -1.23237187e-04, 9.81700386e-04,-1.08653950e-01]

qacc:
[ -3.33831911, -0.31306111,  0.40277349,  0.39143839, -2.11825043,
   0.5690759 , -1.56468897,  1.06877424,  2.70874153, -2.04534776,
   8.84222451,-16.08177787,  0.15885036, -0.35360468, -3.98451737,
  13.1959749 , -1.21453024,  0.96766831,  0.18339438, -9.31088057,
 -20.32236417, -0.85963801]

qfrc_actuator:
[-1.84688705e-05,-4.06506634e-04,-3.58665363e-04,-4.09536585e-05,
 -2.86182322e-06,-4.17681876e-04,-2.41890577e-04,-8.17018684e-05,
  2.51170514e-05,-4.00457206e-04,-2.52784147e-04,-1.82558515e-04,
  3.00041315e-03,-1.30964857e-03, 0.00000000e+00,-1.18455819e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.46189284,   1.6854394 ,   4.1313172 ,   1.6854394 ,
        33.84716859, -11.9882108 ,   4.1313172 , -11.9882108 ,
         9.35268235,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00027469588198315853
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02082211e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.02082211e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10954872, -0.08183119,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.96873885e-05,-3.91237327e-05,-9.54310737e-06,-3.56361980e-07,
 -1.24529740e-05, 1.56859811e-05,-5.05478980e-06,-1.30287849e-06,
  1.58471539e-05, 8.23087641e-06, 2.63291959e-05,-1.80670627e-05,
 -2.41793774e-05,-2.52251171e-05,-1.54764746e-05, 5.91205880e-05,
  2.40401760e-06,-2.03912164e-06,-1.21645477e+00,-1.78088194e-03,
 -3.21936852e-04,-5.47529837e-06]


--- Step 1592 ---
qpos:
[ 2.84298501e-03,-5.61977666e-03,-1.02389873e-02, 2.79240314e-03,
 -4.46205460e-03,-5.18225049e-03,-1.77599759e-02, 5.19002801e-03,
 -4.75104735e-03,-3.99280704e-03,-7.85761530e-03,-1.91855411e-02,
  1.35510589e+00, 1.89101664e-02, 1.32992624e+00, 2.45238416e-02,
  9.51479980e-02,-6.99452284e-02, 1.30744415e-01, 9.94075829e-01,
 -2.33716909e-04, 1.03022605e-03,-1.08683620e-01]

qacc:
[-5.08608900e+00,-8.38592883e-01, 1.35024433e+00, 3.32896701e+00,
  1.75739732e+00, 3.12284890e-01, 4.67167667e-01,-6.06933465e+00,
  7.66860521e+00,-2.57655488e+00, 9.60996851e+00,-1.40125237e+01,
  1.77308619e-02,-6.18678458e-02,-4.59441150e+00, 1.56382038e+01,
 -1.19944301e+00, 9.53855930e-01, 6.61984864e-02,-9.24498304e+00,
 -2.00810682e+01,-8.76352076e-01]

qfrc_actuator:
[-4.79296323e-05,-3.92670660e-04,-3.26404063e-04,-2.31079202e-05,
  7.93276325e-06,-4.32407461e-04,-2.66952292e-04,-1.01358043e-04,
  6.96086654e-05,-4.18209594e-04,-2.21554269e-04,-1.92992566e-04,
  3.00197481e-03,-1.30231403e-03, 0.00000000e+00,-1.11057477e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002753707905675251
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00793463e-13,  2.01586926e-13,  1.00000000e+00, -2.03186444e-26,
        1.00000000e+00, -2.01586926e-13, -1.00000000e+00,  0.00000000e+00,
        1.00793463e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1095486 , -0.08183152,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.00346744e-05,-1.00134094e-05, 2.30151028e-05, 1.58362928e-05,
  1.04433171e-05,-7.10261389e-06,-2.25170291e-05,-1.91890627e-05,
  4.49417112e-05,-8.42271860e-06, 3.55689017e-05,-9.51606946e-06,
 -1.62583051e-05,-5.93526565e-06,-2.07962209e-06, 7.49451826e-05,
  3.13909117e-06,-7.71314526e-07,-1.21645134e+00,-1.77920742e-03,
 -3.23407848e-04,-5.41032845e-06]


--- Step 1593 ---
qpos:
[ 2.84315970e-03,-5.61987280e-03,-1.02403013e-02, 2.79344012e-03,
 -4.46211860e-03,-5.18162320e-03,-1.77588793e-02, 5.18971865e-03,
 -4.74952052e-03,-3.99448845e-03,-7.85734365e-03,-1.91870122e-02,
  1.35523426e+00, 1.89114804e-02, 1.33003308e+00, 2.45246289e-02,
  9.51544132e-02,-6.99359570e-02, 1.30745693e-01, 9.94072737e-01,
 -3.02140300e-04, 1.06679750e-03,-1.08711378e-01]

qacc:
[ 2.95843015,-0.17609196, 0.13130758, 2.4216759 ,-1.89699005, 0.94031134,
 -4.03964204, 6.72437761, 7.63590163, 1.19944591,-5.47811469,10.60369943,
 -0.14154937, 0.14208526,-1.61578354, 5.68607518,-0.65224641,-1.39630219,
  0.19515166,21.55224465,-3.65661298, 0.98287229]

qfrc_actuator:
[-2.96856232e-05,-3.66406447e-04,-3.06680540e-04,-1.29267687e-05,
 -3.52592628e-06,-4.41555580e-04,-2.82329645e-04,-9.50122736e-05,
  1.13270835e-04,-4.28066808e-04,-2.38926006e-04,-1.80680815e-04,
  2.99296571e-03,-1.29841131e-03, 0.00000000e+00,-1.08488877e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47000754, -0.84700268,  4.38902653, -0.84700268, 36.60184121,
        6.20086229,  4.38902653,  6.20086229,  5.66666172,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002774550252641339
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00036305e-13,  2.00072611e-13,  1.00000000e+00, -2.00145248e-26,
        1.00000000e+00, -2.00072611e-13, -1.00000000e+00,  0.00000000e+00,
        1.00036305e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10342995, -0.04749493,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73826448e-05, 2.61119442e-05, 2.10585189e-05, 1.08601147e-05,
 -1.11600729e-05,-1.86302820e-05,-2.03062498e-05, 4.88458982e-06,
  4.49366307e-05,-7.55222680e-06,-1.50436658e-05, 1.30011149e-05,
 -1.81843124e-05,-1.74240011e-06, 5.19117017e-06, 2.90971478e-05,
  3.61340616e-06, 8.23784060e-07,-1.21645103e+00,-1.77722378e-03,
 -3.24295096e-04,-4.84253562e-06]


--- Step 1594 ---
qpos:
[ 2.84389636e-03,-5.61980354e-03,-1.02416181e-02, 2.79391394e-03,
 -4.46231945e-03,-5.18096930e-03,-1.77580621e-02, 5.18981832e-03,
 -4.74851673e-03,-3.99609983e-03,-7.85735943e-03,-1.91876410e-02,
  1.35536253e+00, 1.89125963e-02, 1.33013997e+00, 2.45253853e-02,
  9.51582941e-02,-6.99321921e-02, 1.30747212e-01, 9.94069856e-01,
 -3.29076148e-04, 1.09129398e-03,-1.08737399e-01]

qacc:
[  4.91235254, -0.94265937,  6.0387448 ,-15.88404878, -1.20237373,
   1.66002432, -7.59096238, 15.0937256 , -4.58827595,  2.63995014,
 -12.81149609, 27.76375362,  0.03232164, -0.18337233,  0.14436306,
  -0.43954996, -0.63361057, -1.37660364,  0.06017987, 21.27626737,
  -3.74699716,  0.89471804]

qfrc_actuator:
[-1.25899712e-06,-3.68442363e-04,-3.12225841e-04,-4.28437586e-05,
 -1.02455281e-05,-4.29492054e-04,-2.91825197e-04,-7.34039164e-05,
  8.50756405e-05,-4.15546409e-04,-2.49312762e-04,-1.37363214e-04,
  2.98294864e-03,-1.31438512e-03, 0.00000000e+00,-1.08786762e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4769677 , -0.8456534 , -4.39637466, -0.8456534 , 26.18856538,
       -4.17627882, -4.39637466, -4.17627882,  5.28028513,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000279792793515532
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1034313 , -0.04749569,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.89327110e-05, 1.74030999e-05, 2.83128940e-06,-2.78580348e-05,
 -7.04542165e-06,-2.37820310e-06,-1.56951173e-05, 2.01997829e-05,
 -2.69197106e-05, 5.82835029e-06,-1.33300986e-05, 4.27316679e-05,
 -1.91924899e-05,-2.07604517e-05, 2.73514481e-06,-1.34651054e-06,
  1.92488599e-06,-3.29391904e-08,-1.21644448e+00,-1.77606779e-03,
 -3.24077460e-04,-4.44816772e-06]


--- Step 1595 ---
qpos:
[ 2.84427847e-03,-5.61978270e-03,-1.02423168e-02, 2.79366503e-03,
 -4.46225482e-03,-5.17993814e-03,-1.77575344e-02, 5.18978559e-03,
 -4.74785852e-03,-3.99746393e-03,-7.85759770e-03,-1.91877736e-02,
  1.35549034e+00, 1.89143033e-02, 1.33024677e+00, 2.45267729e-02,
  9.51597005e-02,-6.99338687e-02, 1.30748519e-01, 9.94067175e-01,
 -3.14993538e-04, 1.10362739e-03,-1.08761824e-01]

qacc:
[ -3.08143584, -3.27433776, 14.64293829,-28.11489091,  2.29968627,
   1.03018891, -2.39897976,  0.30200998, -3.03611707,  1.97697992,
  -8.6552754 , 17.39741482, -0.67566734,  0.96975567, -1.95166168,
   6.84589232, -0.61859585, -1.36038374, -0.05301014, 21.048058  ,
  -3.8157167 ,  0.82493782]

qfrc_actuator:
[-2.03401331e-05,-3.69790857e-04,-2.79519248e-04,-7.83982130e-05,
  3.63779165e-06,-3.87026202e-04,-2.97681787e-04,-7.84768178e-05,
  6.80708262e-05,-3.89679009e-04,-2.55366044e-04,-1.11626445e-04,
  2.96700031e-03,-1.27103903e-03, 0.00000000e+00,-1.05443361e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47703406, -1.01742469, -4.35989461, -1.01742469, 36.83415663,
       -7.55085575, -4.35989461, -7.55085575,  6.23910121,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002798149565241964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.98385218e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.98385218e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1034326 , -0.04749568,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.82460325e-05, 7.79415360e-06, 3.56977056e-05,-3.52526546e-05,
  1.36803058e-05, 3.87236108e-05,-7.59940447e-06,-5.32801023e-06,
 -1.77780857e-05, 2.82570547e-05,-4.99024762e-06, 2.63635033e-05,
 -3.01837743e-05, 3.25496625e-05,-1.65373303e-06, 3.30795194e-05,
  6.22671555e-07,-3.18036025e-07,-1.21644091e+00,-1.77556843e-03,
 -3.23838579e-04,-4.17027687e-06]


--- Step 1596 ---
qpos:
[ 2.84442935e-03,-5.61994898e-03,-1.02425653e-02, 2.79371216e-03,
 -4.46202429e-03,-5.17859353e-03,-1.77573577e-02, 5.18935906e-03,
 -4.74706500e-03,-3.99815609e-03,-7.85836437e-03,-1.91883212e-02,
  1.35561781e+00, 1.89164955e-02, 1.33035366e+00, 2.45275378e-02,
  9.51586808e-02,-6.99409338e-02, 1.30749235e-01, 9.94064681e-01,
 -2.60275911e-04, 1.10373320e-03,-1.08784762e-01]

qacc:
[-2.00518364,-0.89196204, 1.57867634, 2.95515873, 1.43028995, 0.58120505,
  0.18607276,-6.66531404, 1.15624171, 1.50788789,-2.3417046 ,-4.48242373,
 -0.63327817, 0.89115026, 2.09431218,-6.95173849,-0.60654253,-1.347134  ,
 -0.14778453,20.86112574,-3.86809832, 0.76963743]

qfrc_actuator:
[-3.17289336e-05,-3.88331867e-04,-2.59986745e-04,-6.36924199e-05,
  1.17826420e-05,-3.79938140e-04,-3.18985737e-04,-9.91806606e-05,
  7.55646380e-05,-3.38256032e-04,-2.76521837e-04,-1.31934355e-04,
  2.95285516e-03,-1.24606884e-03, 0.00000000e+00,-1.08856499e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002779962771070482
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10343387, -0.04749507,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.19068640e-05,-8.31892729e-06, 2.43284577e-05, 1.55916242e-05,
  8.55107438e-06, 2.69053165e-05,-1.44449928e-05,-1.94154061e-05,
  6.99044729e-06, 6.73708449e-05,-1.50015467e-05,-1.87524150e-05,
 -2.13353786e-05, 2.80102758e-05,-1.39153838e-07,-3.31801558e-05,
 -3.18400855e-07,-5.21762946e-08,-1.21644022e+00,-1.77571836e-03,
 -3.23563862e-04,-4.01038552e-06]


--- Step 1597 ---
qpos:
[ 2.84513194e-03,-5.61976345e-03,-1.02436500e-02, 2.79464595e-03,
 -4.46204205e-03,-5.17776899e-03,-1.77567965e-02, 5.18874480e-03,
 -4.74653319e-03,-3.99794003e-03,-7.85953641e-03,-1.91894927e-02,
  1.35574540e+00, 1.89180009e-02, 1.33046056e+00, 2.45275491e-02,
  9.51552734e-02,-6.99533446e-02, 1.30749043e-01, 9.94062357e-01,
 -1.65232951e-04, 1.09156338e-03,-1.08806300e-01]

qacc:
[  4.79415055,  4.6191905 ,-19.55399049, 35.99467387, -2.14466   ,
  -2.14341332,  7.44556649,-10.93591682, -2.31959484,  1.05302218,
   0.62456162,-11.4412625 ,  0.46087438, -0.88389758,  2.23344809,
  -7.94166985, -0.59691594, -1.33642155, -0.22701241, 20.70994406,
  -3.90826658,  0.72573331]

qfrc_actuator:
[-2.97855616e-06,-3.63772423e-04,-3.01695875e-04,-1.95601611e-05,
 -1.27483533e-06,-4.47421743e-04,-3.13875548e-04,-1.11196074e-04,
  6.19096919e-05,-2.72023273e-04,-2.88591607e-04,-1.61403636e-04,
  2.94512390e-03,-1.30326528e-03, 0.00000000e+00,-1.12672865e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002747326181479631
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01027595e-13, -2.02055190e-13,  1.00000000e+00,  2.04131498e-26,
        1.00000000e+00,  2.02055190e-13, -1.00000000e+00,  0.00000000e+00,
        1.01027595e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1034351 , -0.04749398,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.84062937e-05, 2.56049507e-05,-3.98862275e-05, 4.49224236e-05,
 -1.28015583e-05,-5.63007589e-05, 8.19882912e-06,-1.17432478e-05,
 -1.34334824e-05, 1.00044824e-04,-6.32425830e-07,-2.74639174e-05,
 -1.19060658e-05,-5.34125839e-05,-7.01246347e-06,-4.07585589e-05,
 -9.16984694e-07, 7.49941642e-07,-1.21644235e+00,-1.77651158e-03,
 -3.23242468e-04,-3.96915412e-06]


--- Step 1598 ---
qpos:
[ 2.84651847e-03,-5.61929579e-03,-1.02452219e-02, 2.79574078e-03,
 -4.46256086e-03,-5.17755653e-03,-1.77561087e-02, 5.18871273e-03,
 -4.74582400e-03,-3.99712739e-03,-7.86080779e-03,-1.91902991e-02,
  1.35587292e+00, 1.89187004e-02, 1.33056708e+00, 2.45297705e-02,
  9.51471402e-02,-6.99619500e-02, 1.30749283e-01, 9.94059890e-01,
 -9.31675249e-05, 1.04066569e-03,-1.08829423e-01]

qacc:
[  5.96243167,  2.05432218, -7.48373663, 10.86418755, -4.35479336,
   0.04467879, -3.77595156, 14.08403014,  1.53963216,  1.81534637,
  -6.87231355, 12.91062741,  0.64430424, -1.21176493, -7.35299566,
  24.67807597, -1.18145227,  0.95133493,  0.10822959, -9.31277821,
 -20.49880426, -0.81157928]

qfrc_actuator:
[ 3.14122378e-05,-3.49322058e-04,-3.25785659e-04,-1.17389389e-05,
 -2.67058657e-05,-4.87929676e-04,-3.11264584e-04,-8.25417125e-05,
  7.14136637e-05,-2.50667617e-04,-2.95121433e-04,-1.42737034e-04,
  2.92523311e-03,-1.35552586e-03, 0.00000000e+00,-1.00715828e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002728207849985176
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.03471122e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.03471122e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10954619, -0.08183384,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.52117129e-05, 2.24662372e-05,-2.21528129e-05, 8.41105378e-06,
 -2.58175086e-05,-7.08402938e-05,-8.42858617e-06, 2.62961247e-05,
  9.15565284e-06, 7.59988878e-05, 1.31204974e-05, 2.23998423e-05,
 -3.84930009e-05,-7.12793585e-05,-9.75726838e-06, 1.15931437e-04,
 -1.18659141e-06, 2.07868367e-06,-1.21644722e+00,-1.77794316e-03,
 -3.22866335e-04,-4.04677543e-06]


--- Step 1599 ---
qpos:
[ 2.84865188e-03,-5.61906782e-03,-1.02462704e-02, 2.79622734e-03,
 -4.46303589e-03,-5.17771026e-03,-1.77554762e-02, 5.18900526e-03,
 -4.74500625e-03,-3.99604676e-03,-7.86201101e-03,-1.91904993e-02,
  1.35600042e+00, 1.89182672e-02, 1.33067355e+00, 2.45330443e-02,
  9.51343109e-02,-6.99667963e-02, 1.30749540e-01, 9.94057274e-01,
 -4.38498454e-05, 9.51565162e-04,-1.08854166e-01]

qacc:
[ 6.55321481e+00,-3.04520393e+00, 1.29435821e+01,-2.41074135e+01,
  3.86451824e-01, 3.37891310e-01,-3.27859047e+00, 9.25551160e+00,
  9.48160083e-01, 1.41065260e+00,-7.07379726e+00, 1.72534256e+01,
  7.53814084e-01,-1.51849213e+00,-3.36441762e+00, 1.14110523e+01,
 -1.17402199e+00, 9.39784730e-01, 3.89730095e-03,-9.22667936e+00,
 -2.02256125e+01,-8.26708483e-01]

qfrc_actuator:
[ 6.88343721e-05,-3.76513440e-04,-3.03813269e-04,-4.30860376e-05,
 -2.37037070e-05,-4.94199547e-04,-3.10049084e-04,-6.56855912e-05,
  7.67259415e-05,-2.56289849e-04,-2.98471170e-04,-1.13680952e-04,
  2.91403746e-03,-1.42218371e-03, 0.00000000e+00,-9.55383228e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002724675087203282
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10954561, -0.08183411,  0.06199158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.84368457e-05,-1.88367696e-05, 2.41829827e-05,-3.09890689e-05,
  2.23655989e-06,-4.65222837e-05,-1.35541178e-05, 1.40402325e-05,
  5.59994551e-06, 4.05378337e-05, 1.47457742e-05, 3.32034094e-05,
 -4.62752974e-05,-9.75682274e-05, 6.98548886e-06, 5.66460070e-05,
 -4.60632490e-07, 1.99287710e-06,-1.21644630e+00,-1.77893922e-03,
 -3.22333774e-04,-4.61114459e-06]


--- Step 1600 ---
qpos:
[ 2.85052769e-03,-5.61891731e-03,-1.02470851e-02, 2.79633388e-03,
 -4.46347185e-03,-5.17785257e-03,-1.77547215e-02, 5.18909047e-03,
 -4.74447585e-03,-3.99489280e-03,-7.86284106e-03,-1.91903453e-02,
  1.35612784e+00, 1.89167160e-02, 1.33078023e+00, 2.45352427e-02,
  9.51168095e-02,-6.99679213e-02, 1.30749462e-01, 9.94054498e-01,
 -1.70898741e-05, 8.24680673e-04,-1.08880551e-01]

qacc:
[ -2.24486335, -1.5340683 ,  6.93283326,-13.83449597,  0.34426653,
  -0.75356977,  3.58302038, -7.373868  , -2.50467424, -0.21167898,
  -0.58944995,  6.05538541,  0.51900855, -1.26306234,  3.50372352,
 -11.97191145, -1.16803859,  0.93034833, -0.08357242, -9.15457865,
 -20.00734882, -0.83613901]

qfrc_actuator:
[ 5.44808879e-05,-3.75023019e-04,-2.90524472e-04,-6.17239509e-05,
 -2.17386640e-05,-4.62174990e-04,-2.91787040e-04,-7.36363125e-05,
  6.17684435e-05,-2.60256237e-04,-2.82287993e-04,-9.65309663e-05,
  2.90805791e-03,-1.47907810e-03, 0.00000000e+00,-1.01502234e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002704309927151066
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10954556, -0.08183469,  0.06199165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.32608950e-05,-5.36616091e-06, 1.13090891e-05,-1.92126156e-05,
  2.01288914e-06, 3.80986989e-06, 7.46280126e-06,-1.01415765e-05,
 -1.47832351e-05, 2.31496561e-05, 2.75233915e-05, 2.00433326e-05,
 -5.08161632e-05,-9.77282102e-05, 6.97711844e-06,-5.61796655e-05,
 -1.40044794e-08, 2.24854303e-06,-1.21644850e+00,-1.77962711e-03,
 -3.21209020e-04,-4.65168569e-06]


--- Step 1601 ---
qpos:
[ 2.85152745e-03,-5.61882489e-03,-1.02477776e-02, 2.79691201e-03,
 -4.46422572e-03,-5.17794025e-03,-1.77540977e-02, 5.18943636e-03,
 -4.74412845e-03,-3.99399348e-03,-7.86327386e-03,-1.91899458e-02,
  1.35625474e+00, 1.89151493e-02, 1.33088700e+00, 2.45363894e-02,
  9.50956172e-02,-6.99637505e-02, 1.30748534e-01, 9.94051467e-01,
 -2.52270960e-05, 6.65148459e-04,-1.08909313e-01]

qacc:
[ -7.65780996,  0.56789583, -4.10087833, 12.0815231 , -2.77737861,
   0.97996562, -4.48067808,  9.15173589, -1.58504279, -0.9382836 ,
   1.82733829,  1.96503498, -0.50519543,  0.39935968,  3.35405789,
 -11.43874914, -0.92271103,  1.32393012, -0.21246969,-15.56652644,
 -18.12649621, -1.21058987]

qfrc_actuator:
[ 9.76777356e-06,-3.74142486e-04,-2.82365579e-04,-3.72160452e-05,
 -3.81613322e-05,-4.60662829e-04,-2.98957621e-04,-6.05638114e-05,
  5.27541892e-05,-2.98646916e-04,-2.72469962e-04,-8.65150838e-05,
  2.89456094e-03,-1.45866563e-03, 0.00000000e+00,-1.06879257e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026711205967799444
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.07819712e-13, -9.21248156e-08,  1.00000000e+00, -1.91453526e-20,
        1.00000000e+00,  9.21248156e-08, -1.00000000e+00, -3.00926554e-36,
       -2.07819712e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10650846, -0.08835261,  0.06199175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.50933367e-05,-6.14180306e-07, 7.78478513e-06, 2.42968039e-05,
 -1.63635133e-05, 4.74634964e-06,-5.82275956e-06, 1.32949583e-05,
 -9.42749153e-06,-1.89382958e-05, 1.86797601e-05, 1.23494442e-05,
 -6.10212559e-05,-2.13042215e-05,-6.24300256e-06,-5.67413264e-05,
  1.68962939e-07, 2.83942931e-06,-1.21645372e+00,-1.78000859e-03,
 -3.19499615e-04,-4.18306911e-06]


--- Step 1602 ---
qpos:
[ 2.85232840e-03,-5.61897819e-03,-1.02479885e-02, 2.79777831e-03,
 -4.46517035e-03,-5.17820255e-03,-1.77536973e-02, 5.18928188e-03,
 -4.74389170e-03,-3.99353458e-03,-7.86343426e-03,-1.91893958e-02,
  1.35638113e+00, 1.89137202e-02, 1.33099372e+00, 2.45368751e-02,
  9.50718103e-02,-6.99526919e-02, 1.30745786e-01, 9.94048123e-01,
 -8.09081471e-05, 4.78715514e-04,-1.08940783e-01]

qacc:
[ -1.71946595, -1.07383532,  2.14703835,  2.24458654, -1.66789308,
  -0.63336276,  4.04142249,-12.22186458, -0.95240465, -1.03163818,
   2.20216203,  0.2865496 , -0.54099095,  0.53647889,  1.995142  ,
  -6.93398948, -0.65365315,  1.72194863, -0.4550019 ,-22.16474037,
 -15.95920041, -1.37850649]

qfrc_actuator:
[ 8.18271267e-07,-3.91368919e-04,-2.59513934e-04,-2.30254986e-05,
 -4.75226356e-05,-4.95258496e-04,-3.21183552e-04,-8.85203326e-05,
  4.73164824e-05,-3.39640901e-04,-2.66644382e-04,-8.08126244e-05,
  2.87659680e-03,-1.44578216e-03, 0.00000000e+00,-1.10088237e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43204272, -1.99168923, -3.95931518, -1.99168923, 23.33574807,
       -9.50929762, -3.95931518, -9.50929762,  9.21558856,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002642161723988151
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.10097477e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.10097477e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10317699, -0.09550023,  0.06199184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02395995e-05,-1.49362816e-05, 2.45309468e-05, 1.49082428e-05,
 -9.82906720e-06,-3.25852096e-05,-2.15091902e-05,-2.76971937e-05,
 -5.71234797e-06,-4.72277195e-05, 4.63631866e-06, 5.77669247e-06,
 -5.30304163e-05,-7.53515549e-06,-1.25818859e-05,-3.68036132e-05,
  3.13078572e-08, 3.79226279e-06,-1.21646071e+00,-1.77987674e-03,
 -3.17421761e-04,-2.70770516e-06]


--- Step 1603 ---
qpos:
[ 2.85301552e-03,-5.61939218e-03,-1.02481457e-02, 2.79883994e-03,
 -4.46587516e-03,-5.17864369e-03,-1.77532657e-02, 5.18843183e-03,
 -4.74372226e-03,-3.99323733e-03,-7.86331126e-03,-1.91891635e-02,
  1.35650734e+00, 1.89114698e-02, 1.33110043e+00, 2.45362818e-02,
  9.50453826e-02,-6.99471623e-02, 1.30743266e-01, 9.94044957e-01,
 -9.51743962e-05, 2.80465169e-04,-1.08970348e-01]

qacc:
[ -0.98935903, -0.09046946, -0.99845585,  4.48115483,  2.0950448 ,
  -1.75960825,  8.86070286,-20.8107058 , -0.57776727, -1.65916206,
   6.94599895,-12.77428845,  0.25819562, -0.83121276,  3.21604913,
 -11.36772068, -0.65518954, -1.38223845,  0.0570024 , 21.22740302,
  -3.61777189,  0.96573327]

qfrc_actuator:
[-4.75252873e-06,-4.19248657e-04,-2.63760144e-04,-1.50305952e-05,
 -3.48944785e-05,-4.98053572e-04,-3.16792570e-04,-1.22684871e-04,
  4.40255456e-05,-3.28651334e-04,-2.45495679e-04,-9.54540926e-05,
  2.85064363e-03,-1.50857351e-03, 0.00000000e+00,-1.15543918e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42730501,  0.15627931,  4.4245459 ,  0.15627931, 37.12428381,
       -1.1548894 ,  4.4245459 , -1.1548894 ,  4.46809683,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002625023048124647
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05734598e-13, -4.22938391e-13,  1.00000000e+00,  4.47192207e-26,
        1.00000000e+00,  4.22938391e-13, -1.00000000e+00,  0.00000000e+00,
        1.05734598e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10344496, -0.04748925,  0.06199189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.86976115e-06,-3.05263390e-05,-3.79202970e-06, 8.49310676e-06,
  1.23370332e-05,-2.66441221e-05,-5.94845818e-06,-3.68436548e-05,
 -3.46959355e-06,-1.42321367e-05, 1.21607921e-05,-1.63927301e-05,
 -5.40017863e-05,-7.70994267e-05,-1.28011965e-05,-5.88641711e-05,
 -3.70563768e-07, 5.54062788e-06,-1.21647054e+00,-1.77903510e-03,
 -3.15118344e-04, 1.19715303e-08]


--- Step 1604 ---
qpos:
[ 2.85363036e-03,-5.61991377e-03,-1.02483960e-02, 2.79998006e-03,
 -4.46607861e-03,-5.17893104e-03,-1.77530002e-02, 5.18783992e-03,
 -4.74324891e-03,-3.99296204e-03,-7.86245091e-03,-1.91891589e-02,
  1.35663304e+00, 1.89092269e-02, 1.33120720e+00, 2.45340187e-02,
  9.50163971e-02,-6.99470920e-02, 1.30740527e-01, 9.94041939e-01,
 -6.84595073e-05, 7.01557509e-05,-1.08998226e-01]

qacc:
[ -0.63335637,  0.28089731, -1.53703864,  3.12109682,  4.36472028,
   1.1902098 , -5.05363671,  9.69035771,  2.68386271, -2.56449014,
  10.05055664,-15.13716444, -0.55952087,  0.47540324,  5.19974411,
 -17.92638545, -0.63945423, -1.36484075, -0.05488354, 21.02535816,
  -3.76086664,  0.85137029]

qfrc_actuator:
[-8.30156587e-06,-4.17901859e-04,-2.66277225e-04,-1.07755069e-05,
 -9.42691792e-06,-4.63941593e-04,-3.14349385e-04,-1.06920968e-04,
  5.97762297e-05,-3.04326878e-04,-1.97520427e-04,-1.04141273e-04,
  2.83586429e-03,-1.49159751e-03, 0.00000000e+00,-1.24054642e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4296246 , -0.45517382, -4.40617645, -0.45517382, 29.17641696,
       -2.55643234, -4.40617645, -2.55643234,  4.69371323,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002633432281321929
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.21587839e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.21587839e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10344665, -0.04748941,  0.06199186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.72639744e-06,-1.61327307e-05,-8.99187948e-06, 2.98024313e-06,
  2.58137093e-05, 1.64227260e-05,-5.06638196e-06, 1.37007762e-05,
  1.56479305e-05, 1.81622333e-05, 4.59611734e-05,-9.19637373e-06,
 -5.94810342e-05,-1.89332340e-05,-1.48381866e-05,-9.05684625e-05,
 -1.35047012e-07, 4.86280821e-06,-1.21647184e+00,-1.77920348e-03,
 -3.11489779e-04,-1.29222720e-06]


--- Step 1605 ---
qpos:
[ 2.85419757e-03,-5.62018491e-03,-1.02488536e-02, 2.80112363e-03,
 -4.46597532e-03,-5.17875922e-03,-1.77531649e-02, 5.18741949e-03,
 -4.74259066e-03,-3.99239876e-03,-7.86116330e-03,-1.91889326e-02,
  1.35675802e+00, 1.89080441e-02, 1.33131385e+00, 2.45310715e-02,
  9.49849026e-02,-6.99524240e-02, 1.30737192e-01, 9.94039040e-01,
 -1.11867804e-06,-1.52410081e-04,-1.09024598e-01]

qacc:
[-0.42741122, 0.91823175,-2.80682266, 3.01210706, 2.65387644, 2.15590605,
 -7.53998352,10.86848782, 1.62702475,-0.36016892, 0.89591232, 2.05002418,
 -1.26811502, 1.83136588, 2.04794105,-7.05243737,-0.62726898,-1.35057696,
 -0.14879469,20.85985942,-3.87767328, 0.75643735]

qfrc_actuator:
[-1.06335490e-05,-3.81315314e-04,-2.67631486e-04,-8.72559646e-06,
  5.63417683e-06,-4.25699112e-04,-3.30642605e-04,-9.73807449e-05,
  6.88549426e-05,-2.72076504e-04,-1.69521833e-04,-9.14661753e-05,
  2.82782505e-03,-1.40950864e-03, 0.00000000e+00,-1.27195099e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4268486 , -0.60447425, -4.38538475, -0.60447425, 39.6913405 ,
       -4.86079983, -4.38538475, -4.86079983,  5.09685329,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002623364324421812
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05801453e-13,  2.11602905e-13,  1.00000000e+00, -2.23878947e-26,
        1.00000000e+00, -2.11602905e-13, -1.00000000e+00,  0.00000000e+00,
        1.05801453e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10344819, -0.04748899,  0.06199189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.44219850e-06, 2.58514611e-05,-5.68504281e-06, 1.10474750e-06,
  1.58064744e-05, 4.69841880e-05,-1.30505854e-05, 1.03354932e-05,
  9.53224091e-06, 5.14926386e-05, 3.70789510e-05, 1.48609398e-05,
 -4.21106062e-05, 6.29060266e-05,-1.99873758e-05,-3.90238899e-05,
  4.57923386e-07, 4.77934208e-06,-1.21647608e+00,-1.78000953e-03,
 -3.07828005e-04,-2.68951893e-06]


--- Step 1606 ---
qpos:
[ 2.85473234e-03,-5.62016399e-03,-1.02493847e-02, 2.80226747e-03,
 -4.46534677e-03,-5.17879510e-03,-1.77527021e-02, 5.18712898e-03,
 -4.74182874e-03,-3.99109059e-03,-7.86055348e-03,-1.91888840e-02,
  1.35688265e+00, 1.89070882e-02, 1.33142021e+00, 2.45290782e-02,
  9.49569035e-02,-6.99615802e-02, 1.30735580e-01, 9.94036011e-01,
  8.92833206e-05,-3.45583329e-04,-1.09051735e-01]

qacc:
[-0.29099246, 0.59264138,-1.55327455, 1.45982419, 4.60388551,-1.76840185,
  5.34359946,-3.92948394, 0.87351324, 2.51152292,-6.77940974, 4.24341219,
 -0.32106147, 0.39146591,-3.29300029,10.96589132, 0.87385222,-0.95603845,
  0.43054427, 9.85953564,15.86579646,-0.3890464 ]

qfrc_actuator:
[-1.22310417e-05,-3.59405210e-04,-2.68136660e-04,-7.95514343e-06,
  3.21981069e-05,-4.56355743e-04,-3.04589373e-04,-9.15913190e-05,
  7.39279438e-05,-2.35371764e-04,-2.06751973e-04,-1.01837269e-04,
  2.80256332e-03,-1.41367624e-03, 0.00000000e+00,-1.21819391e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002626981454556254
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05655773e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.05655773e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0849249 , -0.05562972,  0.06199188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.65698901e-06, 3.52493065e-05, 4.17810925e-06, 1.70194513e-06,
  2.70335538e-05,-6.63397181e-06, 3.45079239e-05, 7.55226454e-06,
  5.36424743e-06, 7.37634173e-05,-2.15356489e-05,-6.59858124e-06,
 -3.18694599e-05, 5.82388442e-06,-1.64747039e-05, 4.83953458e-05,
  1.39252962e-06, 5.27235170e-06,-1.21648320e+00,-1.78144948e-03,
 -3.04116163e-04,-4.18840125e-06]


--- Step 1607 ---
qpos:
[ 2.85524380e-03,-5.61993860e-03,-1.02495952e-02, 2.80304984e-03,
 -4.46440440e-03,-5.17912130e-03,-1.77521013e-02, 5.18695538e-03,
 -4.74101138e-03,-3.98954440e-03,-7.86020455e-03,-1.91889230e-02,
  1.35700663e+00, 1.89071677e-02, 1.33152638e+00, 2.45283849e-02,
  9.49323572e-02,-6.99744857e-02, 1.30735126e-01, 9.94032852e-01,
  2.02580930e-04,-5.09912252e-04,-1.09079729e-01]

qacc:
[ -0.19752998, -1.36980379,  6.80257988,-13.72201107,  2.74620088,
  -0.53398601,  0.84461084,  1.18129038,  0.47295565,  0.86240109,
  -2.25027314,  0.97766629, -1.03098809,  1.57535406, -4.0883514 ,
  14.20048794,  0.86322084, -0.93732811,  0.28970754,  9.80662667,
  15.58449142, -0.4384305 ]

qfrc_actuator:
[-1.33839855e-05,-3.46442743e-04,-2.50430574e-04,-2.57032073e-05,
  4.75698967e-05,-4.92363383e-04,-3.07271557e-04,-8.80794169e-05,
  7.66047646e-05,-2.49824379e-04,-2.28927302e-04,-1.07972764e-04,
  2.78293863e-03,-1.34491996e-03, 0.00000000e+00,-1.15020946e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43814995,  2.99636025, -3.27398844,  2.99636025, 24.07731753,
       17.97380234, -3.27398844, 17.97380234, 20.88780695,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000266404356835781
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.08371784e-13, -4.16743569e-13,  1.00000000e+00,  8.68376011e-26,
        1.00000000e+00,  4.16743569e-13, -1.00000000e+00,  0.00000000e+00,
        2.08371784e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08492602, -0.0556296 ,  0.06199177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18799039e-06, 3.36105237e-05, 2.55635670e-05,-1.60614978e-05,
  1.61427538e-05,-3.22602540e-05, 4.54441987e-07, 4.56743254e-06,
  2.86168948e-06, 2.20145412e-05,-9.84266814e-06,-3.85459875e-06,
 -3.40461834e-05, 6.33393813e-05,-4.14771772e-06, 6.81423860e-05,
  1.48485467e-06, 5.42841150e-06,-1.21647641e+00,-1.78328087e-03,
 -3.01067911e-04,-3.69318282e-06]


--- Step 1608 ---
qpos:
[ 2.85539257e-03,-5.61958897e-03,-1.02492647e-02, 2.80360823e-03,
 -4.46397472e-03,-5.17938104e-03,-1.77524942e-02, 5.18685891e-03,
 -4.74051260e-03,-3.98842309e-03,-7.85927630e-03,-1.91886622e-02,
  1.35713016e+00, 1.89082745e-02, 1.33163263e+00, 2.45274934e-02,
  9.49112273e-02,-6.99910803e-02, 1.30735358e-01, 9.94029562e-01,
  3.38637268e-04,-6.45850562e-04,-1.09108654e-01]

qacc:
[ -3.15775822, -1.8033104 ,  7.62407844,-12.46857935, -4.50324148,
   3.03112496,-10.9915151 , 13.85152913, -2.7631764 , -1.55791393,
   3.48471445,  1.0782888 , -1.01387236,  1.60414893,  0.83215795,
  -2.45367036,  0.8541001 , -0.92228289,  0.1714974 ,  9.76281748,
  15.35173064, -0.47857418]

qfrc_actuator:
[-3.20189841e-05,-3.38878103e-04,-2.22162411e-04,-3.64481107e-05,
  2.07224608e-05,-4.95910668e-04,-3.62461938e-04,-8.59729853e-05,
  6.00980207e-05,-2.94762502e-04,-2.06710282e-04,-9.38332390e-05,
  2.77206120e-03,-1.28656665e-03, 0.00000000e+00,-1.16317931e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000267666968355354
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08492664, -0.05562917,  0.06199173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.86582404e-05, 3.09424082e-05, 3.78012815e-05,-8.73466045e-06,
 -2.63961286e-05,-2.12866305e-05,-6.16430969e-05, 8.27967231e-07,
 -1.64115239e-05,-3.48821099e-05, 2.53970081e-05, 1.46626121e-05,
 -1.27249185e-05, 6.99938229e-05, 2.59613519e-06,-1.03714132e-05,
  1.29774818e-06, 5.81014593e-06,-1.21647190e+00,-1.78541388e-03,
 -2.98478743e-04,-2.99623102e-06]


--- Step 1609 ---
qpos:
[ 2.85497214e-03,-5.61934709e-03,-1.02487505e-02, 2.80443381e-03,
 -4.46352495e-03,-5.17993630e-03,-1.77531804e-02, 5.18713230e-03,
 -4.74056043e-03,-3.98749103e-03,-7.85842358e-03,-1.91878732e-02,
  1.35725385e+00, 1.89088831e-02, 1.33173901e+00, 2.45251124e-02,
  9.48944557e-02,-7.00083917e-02, 1.30737029e-01, 9.94026292e-01,
  4.75460405e-04,-7.50259026e-04,-1.09137263e-01]

qacc:
[ -4.97105736, -0.09558276, -0.97683773,  5.36852405,  0.17122142,
   1.19019818, -6.37268971, 13.46180912, -4.78376558,  1.05837979,
  -6.34604902, 15.72083295,  0.30150005, -0.58595822,  4.68029783,
 -16.16369357,  1.08955546, -0.17917359,  0.35952751, -1.33888017,
  15.7126925 ,  0.15234685]

qfrc_actuator:
[-6.07945087e-05,-3.70058977e-04,-2.23411034e-04,-2.52313843e-05,
  2.25023713e-05,-5.15727647e-04,-3.77070208e-04,-6.69641769e-05,
  3.24329788e-05,-3.04166340e-04,-2.11851590e-04,-6.78811141e-05,
  2.76111233e-03,-1.34137691e-03, 0.00000000e+00,-1.24149623e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4442871 , -0.46821114, -4.41955498, -0.46821114, 46.68266995,
       -4.47476758, -4.41955498, -4.47476758,  4.91834751,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026857987345926815
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.13367916e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.13367916e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08210436, -0.0667968 ,  0.0619917 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.93007337e-05,-6.46867039e-06, 9.48808129e-06, 1.36785364e-05,
  1.01822329e-06,-4.44120242e-05,-2.65610437e-05, 1.59824207e-05,
 -2.81430074e-05,-2.30924020e-05,-8.73406954e-06, 2.56181062e-05,
 -1.08502623e-06,-3.61268283e-05,-3.42915420e-06,-7.93258178e-05,
  8.38456004e-07, 6.40458881e-06,-1.21646957e+00,-1.78784976e-03,
 -2.96340067e-04,-2.10389012e-06]


--- Step 1610 ---
qpos:
[ 2.85421008e-03,-5.61938079e-03,-1.02484226e-02, 2.80578110e-03,
 -4.46236798e-03,-5.18075303e-03,-1.77534952e-02, 5.18723496e-03,
 -4.74093972e-03,-3.98647917e-03,-7.85803107e-03,-1.91867873e-02,
  1.35737765e+00, 1.89089240e-02, 1.33184540e+00, 2.45214721e-02,
  9.48830029e-02,-7.00223772e-02, 1.30739700e-01, 9.94023310e-01,
  5.83523091e-04,-8.20123537e-04,-1.09163394e-01]

qacc:
[ -2.98905613,  1.23689136, -7.13058534, 16.64897873,  6.18343749,
  -1.74637787,  6.42580002, -9.76059139, -2.91720227,  2.00932441,
  -8.25184412, 14.05068647,  0.33212523, -0.67528706,  3.77916406,
 -13.31262998,  1.32970902,  0.83144894,  0.25002346,-16.17847771,
  15.60007753,  1.25061937]

qfrc_actuator:
[-7.75501310e-05,-4.06552243e-04,-2.42228686e-04,-1.23926957e-06,
  5.88836255e-05,-5.09465784e-04,-3.49879391e-04,-7.36428017e-05,
  1.61810514e-05,-2.92315283e-04,-2.32984781e-04,-5.29423473e-05,
  2.76073287e-03,-1.37420761e-03, 0.00000000e+00,-1.30439290e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45598453, -0.28396524, -4.44692724, -0.28396524, 42.88424091,
       -2.45389423, -4.44692724, -2.45389423,  4.61268164,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002726635734645738
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.03588439e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.03588439e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07859018, -0.08176049,  0.06199158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.75977582e-05,-3.75901503e-05,-1.85208611e-05, 2.43072799e-05,
  3.63953532e-05,-2.33464287e-05, 1.53126433e-05,-9.18744259e-06,
 -1.70604823e-05,-1.82439772e-06,-2.61136613e-05, 1.41418541e-05,
 -9.80492324e-06,-4.39800505e-05,-1.27007967e-05,-6.82854020e-05,
  9.52526431e-08, 5.82729159e-06,-1.21646365e+00,-1.79027397e-03,
 -2.95030987e-04,-4.82764632e-07]


--- Step 1611 ---
qpos:
[ 2.85359755e-03,-5.61955971e-03,-1.02477864e-02, 2.80700913e-03,
 -4.46078429e-03,-5.18140235e-03,-1.77533654e-02, 5.18650470e-03,
 -4.74151119e-03,-3.98530359e-03,-7.85767191e-03,-1.91859170e-02,
  1.35750138e+00, 1.89087973e-02, 1.33195141e+00, 2.45194314e-02,
  9.48767757e-02,-7.00330676e-02, 1.30742841e-01, 9.94020618e-01,
  6.63311830e-04,-8.55751323e-04,-1.09187176e-01]

qacc:
[  1.31996801, -1.30198039,  4.86269359, -7.30797149,  3.73191151,
  -2.74314782, 13.60606026,-28.843476  , -1.6862192 , -0.13130671,
   1.69668363, -5.49885453,  0.20137934, -0.34175675, -5.42571852,
  18.10923564,  1.30639207,  0.82378032,  0.11778401,-15.92030149,
  15.47361543,  1.1840804 ]

qfrc_actuator:
[-6.93410728e-05,-3.92764107e-04,-2.18033351e-04,-5.44856520e-06,
  7.98252646e-05,-4.69719834e-04,-3.15909139e-04,-1.13093863e-04,
  6.78048834e-06,-2.67904636e-04,-2.27792941e-04,-6.23442645e-05,
  2.76136795e-03,-1.37582912e-03, 0.00000000e+00,-1.21565080e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.46280518,   3.45925088,   2.81961229,   3.45925088,
        18.91408859, -17.72960597,   2.81961229, -17.72960597,
        26.21443228,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00027500793090168285
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -2.0185291e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  2.0185291e-13, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07858987, -0.08175942,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.69220799e-06,-1.00258428e-05, 1.49856587e-05,-5.99046793e-06,
  2.19766225e-05, 2.95057765e-05, 3.07280683e-05,-4.00994552e-05,
 -9.88416225e-06, 1.85516865e-05, 2.06954949e-06,-1.01131175e-05,
 -1.49805236e-05,-1.71356220e-05,-1.52853518e-05, 8.28880177e-05,
 -4.65837477e-07, 3.71214931e-06,-1.21645326e+00,-1.79221836e-03,
 -2.94671764e-04, 1.41171237e-06]


--- Step 1612 ---
qpos:
[ 2.85308800e-03,-5.61982567e-03,-1.02471704e-02, 2.80819199e-03,
 -4.45896168e-03,-5.18166474e-03,-1.77532055e-02, 5.18496184e-03,
 -4.74288097e-03,-3.98369088e-03,-7.85766468e-03,-1.91855252e-02,
  1.35762518e+00, 1.89083206e-02, 1.33205714e+00, 2.45197738e-02,
  9.48756981e-02,-7.00404891e-02, 1.30746011e-01, 9.94018214e-01,
  7.15226311e-04,-8.57401058e-04,-1.09208719e-01]

qacc:
[ 9.01590750e-01,-1.53485214e-01, 5.67940020e-01,-1.25006133e+00,
  2.07750084e+00,-1.24958980e+00, 8.62110913e+00,-2.30107194e+01,
 -7.00715052e+00, 5.89471492e-01, 7.77307723e-01,-8.83710979e+00,
  4.84881627e-01,-7.22769355e-01,-7.70790916e+00, 2.61913624e+01,
  1.28741447e+00, 8.17225000e-01, 6.97102274e-03,-1.57079141e+01,
  1.53665524e+01, 1.12994072e+00]

qfrc_actuator:
[-6.42603390e-05,-4.02085160e-04,-2.21708288e-04,-8.39380525e-06,
  9.15007413e-05,-4.45712973e-04,-3.13598414e-04,-1.53725282e-04,
 -3.40212229e-05,-2.36074092e-04,-2.42554123e-04,-8.59567689e-05,
  2.76795041e-03,-1.39440347e-03, 0.00000000e+00,-1.09153852e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002750882315193659
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00896994e-13, -2.01793988e-13,  1.00000000e+00, -2.03604068e-26,
        1.00000000e+00,  2.01793988e-13, -1.00000000e+00,  0.00000000e+00,
       -1.00896994e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07858917, -0.08175895,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.29641708e-06,-1.20878675e-05,-4.11506155e-06,-2.97681294e-06,
  1.23162193e-05, 4.51664242e-05, 1.08095282e-05,-3.90824522e-05,
 -4.10729300e-05, 4.21449337e-05,-1.10445398e-05,-2.29483860e-05,
 -4.78843424e-06,-2.72479917e-05, 9.04906028e-07, 1.26479819e-04,
 -7.61112794e-07, 2.01319186e-06,-1.21644612e+00,-1.79364970e-03,
 -2.94708776e-04, 2.66557799e-06]


--- Step 1613 ---
qpos:
[ 2.85229863e-03,-5.62042723e-03,-1.02462229e-02, 2.80968349e-03,
 -4.45770263e-03,-5.18171217e-03,-1.77532726e-02, 5.18367503e-03,
 -4.74472899e-03,-3.98180255e-03,-7.85808225e-03,-1.91853936e-02,
  1.35774903e+00, 1.89075785e-02, 1.33216313e+00, 2.45192448e-02,
  9.48797089e-02,-7.00446639e-02, 1.30748838e-01, 9.94016093e-01,
  7.39593165e-04,-8.25287079e-04,-1.09228107e-01]

qacc:
[ -2.43125914, -0.72945103,  0.66289183,  4.38624288, -4.92541584,
   1.45496835, -5.84025027, 10.45947872, -4.2045767 ,  1.02400857,
  -2.01120789, -2.02796633,  0.11596781, -0.27154831,  3.00163362,
  -9.98912083,  1.27208383,  0.81168222, -0.08573218,-15.53424577,
  15.27754408,  1.08543586]

qfrc_actuator:
[-7.88224965e-05,-4.25271805e-04,-2.06394942e-04, 7.14563614e-06,
  6.21283636e-05,-4.49188700e-04,-3.30046600e-04,-1.41494158e-04,
 -5.74753435e-05,-2.35635753e-04,-2.68955194e-04,-9.99938657e-05,
  2.77276547e-03,-1.40514731e-03, 0.00000000e+00,-1.14290638e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027336914048219085
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07858815, -0.08175894,  0.06199156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44147202e-05,-3.09204986e-05, 1.22001996e-05, 1.48176422e-05,
 -2.90023487e-05, 2.23546502e-05,-7.13592106e-06, 1.37828432e-05,
 -2.46058571e-05, 2.06635869e-05,-1.98701454e-05,-1.30642077e-05,
 -3.44972905e-06,-2.03906390e-05, 1.28529904e-05,-4.45893465e-05,
 -7.91287279e-07, 7.03224513e-07,-1.21644212e+00,-1.79457724e-03,
 -2.95147209e-04, 3.29838026e-06]


--- Step 1614 ---
qpos:
[ 2.85168566e-03,-5.62119809e-03,-1.02448424e-02, 2.81097547e-03,
 -4.45715008e-03,-5.18174966e-03,-1.77531818e-02, 5.18289005e-03,
 -4.74580878e-03,-3.98041114e-03,-7.85792348e-03,-1.91854008e-02,
  1.35787281e+00, 1.89067166e-02, 1.33226916e+00, 2.45181245e-02,
  9.48887589e-02,-7.00456105e-02, 1.30751012e-01, 9.94014245e-01,
  7.36677337e-04,-7.59583342e-04,-1.09245415e-01]

qacc:
[  1.55936666, -1.8480289 ,  7.10144624,-11.11649637, -6.15617742,
   0.61715311, -4.2791889 , 12.68250867,  6.75144334, -2.56689575,
   8.76027331,-11.68850542, -0.03969494, -0.04945015,  1.8682956 ,
  -6.42061943,  1.25982516,  0.80705329, -0.1631523 ,-15.39342756,
  15.20524438,  1.04836363]

qfrc_actuator:
[-6.93235211e-05,-4.20989181e-04,-1.80032144e-04,-2.06510344e-06,
  2.65868282e-05,-4.51384134e-04,-3.21999800e-04,-1.16041757e-04,
 -1.72637727e-05,-2.89551344e-04,-2.48868668e-04,-1.08312664e-04,
  2.76586696e-03,-1.41113758e-03, 0.00000000e+00,-1.17299261e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027023795132796735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02707912e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.02707912e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07858688, -0.08175931,  0.06199165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.07572325e-06,-9.84840459e-06, 2.19854425e-05,-9.82835035e-06,
 -3.63654495e-05, 9.41703709e-06, 1.22674133e-05, 2.64358478e-05,
  3.95229651e-05,-4.71023693e-05, 2.14367975e-05,-8.37862676e-06,
 -1.33655551e-05,-1.30163930e-05,-2.22819099e-06,-3.16497777e-05,
 -5.57950826e-07,-2.39031884e-07,-1.21644116e+00,-1.79500840e-03,
 -2.95990789e-04, 3.32538519e-06]


--- Step 1615 ---
qpos:
[ 2.85119117e-03,-5.62193447e-03,-1.02440440e-02, 2.81184604e-03,
 -4.45633839e-03,-5.18174141e-03,-1.77529504e-02, 5.18172212e-03,
 -4.74605365e-03,-3.97926141e-03,-7.85728207e-03,-1.91858792e-02,
  1.35799663e+00, 1.89055078e-02, 1.33237487e+00, 2.45189895e-02,
  9.48950946e-02,-7.00395005e-02, 1.30751821e-01, 9.94012141e-01,
  6.86318664e-04,-7.21253278e-04,-1.09265150e-01]

qacc:
[  1.01724933,  0.80267696, -1.02051845, -5.36334075,  2.26328859,
  -1.12535857,  5.7094601 ,-12.58811434,  7.32791056, -2.65361994,
  10.95804298,-19.67053783,  0.43498404, -0.6725466 , -6.55982449,
  22.09834029, -0.67859644,  1.76414799, -0.34114756,-22.08503488,
 -16.19735874, -1.19260683]

qfrc_actuator:
[-6.34847923e-05,-4.35762325e-04,-2.18284391e-04,-2.57412663e-05,
  4.09700450e-05,-4.52692368e-04,-3.17302764e-04,-1.36262690e-04,
  2.45867859e-05,-2.86653852e-04,-2.19473427e-04,-1.30970447e-04,
  2.76792741e-03,-1.43206781e-03, 0.00000000e+00,-1.06597309e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026795557104775103
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.14331010e-13, -5.17913763e-14,  1.00000000e+00,  2.14587733e-26,
        1.00000000e+00,  5.17913763e-14, -1.00000000e+00,  0.00000000e+00,
        4.14331010e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10315857, -0.0955033 ,  0.06199172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.09499608e-06,-1.61462415e-05,-3.79283095e-05,-2.35331549e-05,
  1.33423951e-05, 7.61352837e-06, 9.07074720e-06,-1.88752363e-05,
  4.29669324e-05,-1.94149387e-05, 2.19960913e-05,-2.41016967e-05,
 -7.76455598e-06,-2.78626874e-05,-7.12107168e-06, 1.04387383e-04,
 -6.33466859e-08,-8.30480650e-07,-1.21644316e+00,-1.79494908e-03,
 -2.97242268e-04, 2.75828615e-06]


--- Step 1616 ---
qpos:
[ 2.85111550e-03,-5.62261731e-03,-1.02437671e-02, 2.81276540e-03,
 -4.45536095e-03,-5.18167279e-03,-1.77526232e-02, 5.17963193e-03,
 -4.74648469e-03,-3.97793151e-03,-7.85651593e-03,-1.91859649e-02,
  1.35812033e+00, 1.89043005e-02, 1.33248059e+00, 2.45204379e-02,
  9.48987245e-02,-7.00264056e-02, 1.30750943e-01, 9.94009765e-01,
  5.88832758e-04,-7.09945909e-04,-1.09287405e-01]

qacc:
[ 3.64614352e+00, 1.62159330e+00,-5.89743706e+00, 7.54960957e+00,
  1.44687558e+00,-2.08895140e+00, 1.14529333e+01,-2.76078095e+01,
 -1.62869895e+00, 7.01580875e-01,-3.80539377e+00, 1.02572766e+01,
 -5.21125552e-02, 2.45167427e-02,-1.74500637e+00, 6.13993720e+00,
 -6.76447280e-01, 1.74620019e+00,-4.21817329e-01,-2.19470178e+01,
 -1.60060881e+01,-1.24135277e+00]

qfrc_actuator:
[-4.21022152e-05,-4.26599706e-04,-2.41205810e-04,-2.22897132e-05,
  4.91198173e-05,-4.53508047e-04,-3.14661540e-04,-1.83203575e-04,
  1.37888461e-05,-2.49724974e-04,-2.02382442e-04,-1.08585782e-04,
  2.76470376e-03,-1.42618155e-03, 0.00000000e+00,-1.03880377e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026552489133165047
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04530974e-13, -5.22654872e-14,  1.00000000e+00,  5.46336230e-27,
        1.00000000e+00,  5.22654872e-14, -1.00000000e+00,  0.00000000e+00,
        1.04530974e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1031582 , -0.09550483,  0.0619918 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.15550077e-05,-8.69001491e-06,-3.17450896e-05, 9.87016434e-07,
  8.53534419e-06, 4.51084253e-06, 4.67724089e-06,-4.66666347e-05,
 -9.57327702e-06, 2.95492854e-05, 1.49343154e-05, 2.18402260e-05,
 -1.33234795e-05,-4.51545421e-06, 6.96127439e-06, 3.17446180e-05,
  1.10200518e-06,-1.91713679e-07,-1.21644297e+00,-1.79402229e-03,
 -2.98151544e-04, 2.31261987e-06]


--- Step 1617 ---
qpos:
[ 2.85164158e-03,-5.62318744e-03,-1.02435662e-02, 2.81367972e-03,
 -4.45463810e-03,-5.18160815e-03,-1.77522830e-02, 5.17770046e-03,
 -4.74704115e-03,-3.97657601e-03,-7.85578566e-03,-1.91854060e-02,
  1.35824361e+00, 1.89032749e-02, 1.33258633e+00, 2.45222085e-02,
  9.48996559e-02,-7.00063835e-02, 1.30748108e-01, 9.94007097e-01,
  4.44472352e-04,-7.25380340e-04,-1.09312251e-01]

qacc:
[  5.25919896,  0.34080158, -0.9954797 ,  0.96603443, -2.21966418,
   0.2893267 , -1.70182223,  4.42284779, -1.0990966 ,  1.46424054,
  -7.88457674, 19.06563423, -0.42232683,  0.45647914, -0.89911641,
   3.29907588, -0.67462879,  1.73182676, -0.48939021,-21.83641759,
 -15.85306789, -1.27868896]

qfrc_actuator:
[-1.17410564e-05,-4.03108486e-04,-2.37003917e-04,-2.06158001e-05,
  3.57666266e-05,-4.54061128e-04,-3.13265081e-04,-1.74473409e-04,
  7.59420211e-06,-2.63712981e-04,-2.10261764e-04,-7.76036513e-05,
  2.73169399e-03,-1.42216782e-03, 0.00000000e+00,-1.02343164e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026187204841487954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.11978146e-13,  2.11978146e-13,  1.00000000e+00, -4.49347343e-26,
        1.00000000e+00, -2.11978146e-13, -1.00000000e+00,  0.00000000e+00,
        2.11978146e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10315814, -0.09550678,  0.06199191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.09771516e-05, 1.21440388e-05,-1.46722776e-06, 2.20268061e-07,
 -1.31051745e-05, 9.37316280e-07, 1.28906163e-06, 8.18042875e-06,
 -6.45427285e-06, 6.49405482e-06, 7.94495224e-07, 3.31853586e-05,
 -4.04115551e-05,-4.73038565e-07, 3.91070569e-06, 1.73884769e-05,
  2.06833342e-06, 1.42357056e-06,-1.21644742e+00,-1.79238992e-03,
 -2.98675507e-04, 2.64924058e-06]


--- Step 1618 ---
qpos:
[ 2.85183793e-03,-5.62372123e-03,-1.02432694e-02, 2.81391363e-03,
 -4.45442557e-03,-5.18167604e-03,-1.77522018e-02, 5.17696018e-03,
 -4.74801228e-03,-3.97531274e-03,-7.85530897e-03,-1.91851398e-02,
  1.35836647e+00, 1.89023603e-02, 1.33269202e+00, 2.45244868e-02,
  9.49055996e-02,-6.99831696e-02, 1.30744985e-01, 9.94004677e-01,
  2.72079381e-04,-7.06339291e-04,-1.09334943e-01]

qacc:
[-2.88211725e+00,-1.61560318e+00, 8.71188492e+00,-2.06776861e+01,
 -4.45551629e+00, 3.00938190e+00,-1.59984699e+01, 3.71113818e+01,
 -3.63665050e+00,-9.00574957e-03, 1.10168353e+00,-5.70451858e+00,
 -3.64626862e-01, 3.48861392e-01,-1.56342633e+00, 5.46772199e+00,
  1.25308428e+00, 7.97947211e-01,-7.20485661e-02,-1.58158545e+01,
  1.56028531e+01, 1.08650816e+00]

qfrc_actuator:
[-2.96011050e-05,-4.06605966e-04,-2.34517521e-04,-5.54794146e-05,
  9.86569419e-06,-4.72169077e-04,-3.30323759e-04,-1.15300057e-04,
 -1.35773844e-05,-2.90415972e-04,-2.33012581e-04,-9.51300144e-05,
  2.70747246e-03,-1.41945838e-03, 0.00000000e+00,-9.97357179e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42046313, -3.72754082,  2.37611737, -3.72754082, 15.41780233,
       17.25210687,  2.37611737, 17.25210687, 31.4847544 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026000136504467086
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06751653e-13,  2.13503307e-13,  1.00000000e+00, -2.27918310e-26,
        1.00000000e+00, -2.13503307e-13, -1.00000000e+00,  0.00000000e+00,
        1.06751653e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07858415, -0.08175918,  0.06199197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.69689515e-05, 3.02526141e-06, 4.82222825e-06,-3.43923762e-05,
 -2.62766927e-05,-1.69736545e-05,-1.64230821e-05, 5.94213064e-05,
 -2.13499158e-05,-2.15491633e-05,-2.01894350e-05,-1.65803775e-05,
 -4.39455535e-05,-6.74946322e-06, 4.18877689e-07, 2.68041744e-05,
  2.85450213e-06, 4.00061989e-06,-1.21645644e+00,-1.79005382e-03,
 -2.98822682e-04, 3.75118077e-06]


--- Step 1619 ---
qpos:
[ 2.85181894e-03,-5.62418061e-03,-1.02427060e-02, 2.81405648e-03,
 -4.45487024e-03,-5.18176227e-03,-1.77523815e-02, 5.17726566e-03,
 -4.74957430e-03,-3.97440252e-03,-7.85498431e-03,-1.91850581e-02,
  1.35848895e+00, 1.89014971e-02, 1.33279775e+00, 2.45267214e-02,
  9.49157629e-02,-6.99606902e-02, 1.30743285e-01, 9.94002284e-01,
  1.00760388e-04,-6.54865561e-04,-1.09357308e-01]

qacc:
[ -1.87650908, -0.83081205,  3.49567492, -5.55957493, -5.73863675,
   2.86847047,-14.65882014, 33.16905168, -5.17136725, -0.41173593,
   1.58651805, -4.29420183, -0.34626458,  0.30377019,  0.19936463,
  -0.56711878,  1.05489784, -0.18363935,  0.3560114 , -1.23913152,
  16.17788387,  0.15952301]

qfrc_actuator:
[-4.01978399e-05,-3.90760109e-04,-2.15449263e-04,-5.83302742e-05,
 -2.32063228e-05,-4.65174538e-04,-3.40436019e-04,-6.24620108e-05,
 -4.33957028e-05,-3.24640368e-04,-2.46701595e-04,-1.05576669e-04,
  2.68853950e-03,-1.41753344e-03, 0.00000000e+00,-1.00068119e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000260772712346509
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.39559398e-07, -3.39559854e-07,  1.00000000e+00, -1.15300740e-13,
        1.00000000e+00,  3.39559854e-07, -1.00000000e+00, -2.52435490e-29,
       -3.39559398e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08213967, -0.0666594 ,  0.06199194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10781077e-05, 1.70688547e-05, 1.90997638e-05,-3.22309093e-06,
 -3.38330421e-05,-3.34925418e-06,-1.35823207e-05, 5.27017441e-05,
 -3.04295385e-05,-5.12170493e-05,-2.12211509e-05,-1.23946256e-05,
 -4.18543115e-05,-1.02751327e-05, 7.94754750e-08,-2.46984538e-06,
  4.22131895e-06, 4.77096021e-06,-1.21646329e+00,-1.78756829e-03,
 -2.99030015e-04, 2.51312833e-06]


--- Step 1620 ---
qpos:
[ 2.85167291e-03,-5.62450629e-03,-1.02419424e-02, 2.81416045e-03,
 -4.45570841e-03,-5.18159322e-03,-1.77525376e-02, 5.17814639e-03,
 -4.75113676e-03,-3.97388772e-03,-7.85482503e-03,-1.91847502e-02,
  1.35861094e+00, 1.89009245e-02, 1.33290354e+00, 2.45282280e-02,
  9.49293196e-02,-6.99419167e-02, 1.30742986e-01, 9.93999786e-01,
 -4.71935343e-05,-5.73916839e-04,-1.09380502e-01]

qacc:
[-1.10731674e+00,-4.60809839e-01, 2.06723582e+00,-3.16265193e+00,
 -3.43487665e+00, 1.46226303e+00,-7.14138987e+00, 1.68600223e+01,
 -2.11632472e-03, 4.05612867e-01,-3.15740832e+00, 7.62325090e+00,
 -6.27877725e-01, 7.29653235e-01, 2.37848487e+00,-8.00020114e+00,
  8.48364382e-01,-9.26446272e-01, 3.49965943e-01, 1.00005480e+01,
  1.59265995e+01,-4.27355672e-01]

qfrc_actuator:
[-4.64190856e-05,-3.81113493e-04,-2.04393656e-04,-6.00432930e-05,
 -4.24773405e-05,-4.25427051e-04,-3.28522365e-04,-3.15088309e-05,
 -4.25547269e-05,-3.45327268e-04,-2.54953651e-04,-9.40139710e-05,
  2.66746552e-03,-1.39831142e-03, 0.00000000e+00,-1.03904838e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002655403515509358
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.084936  , -0.05562544,  0.0619918 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.53170929e-06, 2.30045831e-05, 1.68213181e-05,-3.83576849e-07,
 -2.02437464e-05, 3.73199724e-05, 1.13763257e-05, 3.13667350e-05,
 -4.13491103e-08,-5.42935798e-05,-2.18880557e-05, 8.39179273e-06,
 -4.39180934e-05, 6.47108919e-06,-3.39040112e-06,-3.92024186e-05,
  5.07021629e-06, 3.97184155e-06,-1.21646465e+00,-1.78503948e-03,
 -2.99527990e-04, 8.78629531e-07]


--- Step 1621 ---
qpos:
[ 2.85179834e-03,-5.62474365e-03,-1.02412559e-02, 2.81357771e-03,
 -4.45677148e-03,-5.18100019e-03,-1.77529009e-02, 5.17903949e-03,
 -4.75233235e-03,-3.97380194e-03,-7.85450065e-03,-1.91839798e-02,
  1.35873269e+00, 1.89002994e-02, 1.33300941e+00, 2.45282529e-02,
  9.49462551e-02,-6.99267918e-02, 1.30743576e-01, 9.93997180e-01,
 -1.72071793e-04,-4.64022504e-04,-1.09404578e-01]

qacc:
[  2.37010079, -1.08673035,  6.93471857,-18.75206689, -1.97512127,
   1.16847602, -3.39916981,  3.6263151 ,  3.22427983, -0.08191146,
  -2.49114309, 10.55345514, -0.30125046,  0.22733687,  4.64907988,
 -15.99872052,  0.84468089, -0.91217812,  0.22249978,  9.88530395,
  15.64797025, -0.45011387]

qfrc_actuator:
[-3.22645598e-05,-3.93028096e-04,-2.15938493e-04,-9.65946256e-05,
 -5.34685891e-05,-4.01799350e-04,-3.39078541e-04,-3.13869996e-05,
 -2.36722671e-05,-3.57708068e-04,-2.42116743e-04,-6.95826028e-05,
  2.65578082e-03,-1.40447618e-03, 0.00000000e+00,-1.11549253e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44229448,  0.14065768, -4.44006708,  0.14065768, 39.41370764,
        1.10786568, -4.44006708,  1.10786568,  4.47739075,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026787605462010033
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.62647250e-13, -1.03613500e-13,  1.00000000e+00,  3.75751509e-26,
        1.00000000e+00,  1.03613500e-13, -1.00000000e+00,  0.00000000e+00,
        3.62647250e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0849373 , -0.05562566,  0.06199172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.39754322e-05, 4.40856337e-06,-4.73931568e-06,-3.49919628e-05,
 -1.15603325e-05, 4.81771012e-05,-3.62220503e-07, 2.72385603e-06,
  1.88647141e-05,-4.69290688e-05,-7.92656086e-07, 2.15098323e-05,
 -3.18725531e-05,-1.41375699e-05,-9.26659760e-06,-7.98068016e-05,
  5.07364334e-06, 1.98344860e-06,-1.21646176e+00,-1.78282353e-03,
 -3.00353780e-04,-4.86450985e-07]


--- Step 1622 ---
qpos:
[ 2.85243728e-03,-5.62492391e-03,-1.02404402e-02, 2.81289700e-03,
 -4.45726834e-03,-5.18013480e-03,-1.77535901e-02, 5.17960995e-03,
 -4.75294763e-03,-3.97379411e-03,-7.85447448e-03,-1.91825908e-02,
  1.35885411e+00, 1.88998547e-02, 1.33311507e+00, 2.45286901e-02,
  9.49665574e-02,-6.99152684e-02, 1.30744628e-01, 9.93994461e-01,
 -2.74117841e-04,-3.25604923e-04,-1.09429572e-01]

qacc:
[ 4.49478544,-0.49628887, 2.2773591 ,-4.20514194, 4.9229251 , 0.59631692,
 -0.25874625,-4.98636166, 5.07229422, 1.99477231,-9.88486627,21.13064225,
 -0.32146859, 0.37056179,-1.54492338, 5.00765812, 0.84170483,-0.90037724,
  0.11549625, 9.78706652,15.42503991,-0.46527527]

qfrc_actuator:
[-6.23225561e-06,-3.82382284e-04,-2.05341111e-04,-1.00127676e-04,
 -2.39978958e-05,-4.05866960e-04,-3.62895188e-04,-4.94311998e-05,
  5.66795818e-06,-3.47160823e-04,-2.52396033e-04,-3.77568819e-05,
  2.64440085e-03,-1.39014079e-03, 0.00000000e+00,-1.08946937e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002680373499599209
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.07102298e-13, -2.07102298e-13,  1.00000000e+00,  4.28913620e-26,
        1.00000000e+00,  2.07102298e-13, -1.00000000e+00,  0.00000000e+00,
        2.07102298e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08493806, -0.0556255 ,  0.06199172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.64351000e-05, 1.06392079e-05, 9.70875472e-06,-4.18952823e-06,
  2.91559968e-05, 2.28912795e-05,-1.38203734e-05,-1.59416023e-05,
  2.98624986e-05,-1.49436050e-05,-1.93340692e-05, 3.02036969e-05,
 -3.07693123e-05, 2.91499307e-06,-1.59470003e-05, 1.97588012e-05,
  4.80307960e-06, 2.25869455e-07,-1.21646102e+00,-1.78091643e-03,
 -3.01648659e-04,-1.61794952e-06]


--- Step 1623 ---
qpos:
[ 2.85303849e-03,-5.62503119e-03,-1.02395334e-02, 2.81252472e-03,
 -4.45706331e-03,-5.17907494e-03,-1.77542589e-02, 5.17994611e-03,
 -4.75320638e-03,-3.97372620e-03,-7.85493522e-03,-1.91808362e-02,
  1.35897487e+00, 1.89005698e-02, 1.33322075e+00, 2.45284046e-02,
  9.49902175e-02,-6.99073078e-02, 1.30745784e-01, 9.93991620e-01,
 -3.53535178e-04,-1.58997077e-04,-1.09455507e-01]

qacc:
[-0.32823947, 0.47791905,-2.86487686, 8.00225013, 6.11829344,-0.29416981,
  2.39024322,-6.59857622, 3.10497836, 2.18755052,-9.23469144,16.29954284,
 -1.29566559, 1.93465192, 2.39315187,-7.92369656, 0.83943667,-0.89067449,
  0.02583014, 9.70381288,15.24871868,-0.47431328]

qfrc_actuator:
[-8.92919523e-06,-3.75956948e-04,-1.99386513e-04,-8.41638061e-05,
  1.12961640e-05,-3.91064466e-04,-3.58961350e-04,-6.02923101e-05,
  2.31700224e-05,-3.40788832e-04,-2.76147785e-04,-1.95881487e-05,
  2.62789358e-03,-1.31045941e-03, 0.00000000e+00,-1.12753566e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002664682221268644
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.17181037e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.17181037e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08493838, -0.05562502,  0.06199177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93800755e-06, 1.42064235e-05, 9.19547726e-06, 1.66730134e-05,
  3.61391032e-05, 2.40511001e-05, 6.40327258e-06,-1.06717752e-05,
  1.83495449e-05,-4.67943949e-06,-2.81797999e-05, 1.74433721e-05,
 -3.11581990e-05, 7.36603230e-05,-7.20951913e-06,-3.94730184e-05,
  4.26459712e-06,-1.31566967e-06,-1.21646236e+00,-1.77931599e-03,
 -3.03403656e-04,-2.53024829e-06]


--- Step 1624 ---
qpos:
[ 2.85394782e-03,-5.62490635e-03,-1.02391796e-02, 2.81237094e-03,
 -4.45678154e-03,-5.17761403e-03,-1.77552619e-02, 5.18014716e-03,
 -4.75290828e-03,-3.97352981e-03,-7.85544457e-03,-1.91792624e-02,
  1.35909538e+00, 1.89017150e-02, 1.33332638e+00, 2.45276534e-02,
  9.50129055e-02,-6.99050511e-02, 1.30747233e-01, 9.93988806e-01,
 -3.90129239e-04, 6.46557238e-06,-1.09481054e-01]

qacc:
[ 2.67386117, 2.29714432,-8.67677354,13.18153867, 0.65187447, 1.18389017,
 -2.88442533, 0.78841363, 4.87082746,-0.0762745 , 1.26390753,-4.38942071,
 -0.49650713, 0.73288888, 1.37918326,-4.81205874,-0.24300139,-1.42599795,
  0.07335538,21.34569824, 1.77439653, 0.19085727]

qfrc_actuator:
[ 6.98742512e-06,-3.72102623e-04,-2.31736340e-04,-7.46216305e-05,
  1.42168216e-05,-3.64970972e-04,-3.74098352e-04,-6.68028651e-05,
  5.13134715e-05,-3.19276220e-04,-2.72169765e-04,-2.73607286e-05,
  2.61367715e-03,-1.29913784e-03, 0.00000000e+00,-1.14982759e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002681910290067679
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.17281027e-07,  7.17280535e-07,  1.00000000e+00,  5.14491718e-13,
        1.00000000e+00, -7.17280535e-07, -1.00000000e+00,  0.00000000e+00,
       -7.17281027e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09865881, -0.04665519,  0.06199171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.58646035e-05, 1.44038974e-05,-2.77148405e-05, 1.07925926e-05,
  3.96525909e-06, 4.03892473e-05,-9.75661618e-06,-5.46933452e-06,
  2.86663619e-05, 1.38271723e-05, 1.44014741e-07,-8.61218648e-06,
 -1.27594326e-05, 2.70440672e-05,-1.11940563e-05,-2.61750766e-05,
  3.46217053e-06,-2.65197583e-06,-1.21646570e+00,-1.77802012e-03,
 -3.05611906e-04,-3.23435809e-06]


--- Step 1625 ---
qpos:
[ 2.85469583e-03,-5.62441814e-03,-1.02395607e-02, 2.81198353e-03,
 -4.45646643e-03,-5.17600659e-03,-1.77563741e-02, 5.18063113e-03,
 -4.75227494e-03,-3.97329936e-03,-7.85584485e-03,-1.91784839e-02,
  1.35921595e+00, 1.89027630e-02, 1.33343179e+00, 2.45276246e-02,
  9.50331112e-02,-6.99081774e-02, 1.30748769e-01, 9.93986131e-01,
 -3.84924714e-04, 1.58921598e-04,-1.09505243e-01]

qacc:
[-1.44039768e+00, 2.05557654e+00,-5.64141473e+00, 2.50054884e+00,
  2.85046579e-01, 1.08042242e+00,-4.76689163e+00, 9.73178460e+00,
  2.93706704e+00,-1.90380500e+00, 1.01943972e+01,-2.41328570e+01,
  1.81056593e-01,-2.40353563e-01,-2.52609608e+00, 8.32455110e+00,
 -6.20586082e-01,-1.34573448e+00, 2.16012702e-02, 2.14856760e+01,
 -4.17640789e+00, 6.80260238e-01]

qfrc_actuator:
[-1.76382961e-06,-3.52226604e-04,-2.68708591e-04,-8.67185462e-05,
  1.58104662e-05,-3.67892495e-04,-3.82578866e-04,-5.29559197e-05,
  6.77461905e-05,-3.24276932e-04,-2.69550049e-04,-6.80505604e-05,
  2.61679968e-03,-1.31081358e-03, 0.00000000e+00,-1.10936494e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000269864389228755
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54275129e-13, -1.02850086e-13,  1.00000000e+00,  1.58672103e-26,
        1.00000000e+00,  1.02850086e-13, -1.00000000e+00,  0.00000000e+00,
        1.54275129e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10346941, -0.04750251,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.29284712e-06, 2.26627596e-05,-3.70441397e-05,-1.22302890e-05,
  1.72203411e-06, 1.73739529e-05,-1.53536675e-06, 1.51316879e-05,
  1.72569973e-05, 2.39857721e-06, 5.19468837e-06,-4.02643230e-05,
  2.69709765e-06,-6.07881638e-06,-1.04711183e-05, 3.70306934e-05,
  1.18871491e-06,-3.16962151e-06,-1.21646157e+00,-1.77718333e-03,
 -3.07538868e-04,-2.20110509e-06]


--- Step 1626 ---
qpos:
[ 2.85498831e-03,-5.62360872e-03,-1.02401485e-02, 2.81142275e-03,
 -4.45647942e-03,-5.17446913e-03,-1.77569002e-02, 5.18091147e-03,
 -4.75213897e-03,-3.97314266e-03,-7.85641902e-03,-1.91785104e-02,
  1.35933632e+00, 1.89042201e-02, 1.33353725e+00, 2.45270548e-02,
  9.50508786e-02,-6.99166469e-02, 1.30749968e-01, 9.93983593e-01,
 -3.38457255e-04, 2.98447687e-04,-1.09528137e-01]

qacc:
[ -3.99659244,  0.65349489, -0.96886352, -1.95144862, -2.84197335,
  -2.14327624,  8.37759734,-12.79892985, -4.35861695, -1.26112243,
   7.76238605,-21.36520886, -0.46237426,  0.69512652,  1.76881589,
  -5.9437472 , -0.60958601, -1.33580829, -0.08410224, 21.21526345,
  -4.167095  ,  0.65196429]

qfrc_actuator:
[-2.49696291e-05,-3.22961664e-04,-2.72546032e-04,-9.36815491e-05,
 -1.13202974e-06,-3.70376306e-04,-3.51651545e-04,-6.27637241e-05,
  4.16460807e-05,-3.45142602e-04,-2.85636178e-04,-1.10051355e-04,
  2.60900379e-03,-1.28267473e-03, 0.00000000e+00,-1.13876719e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002699062190054946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10346995, -0.04750305,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.34339976e-05, 3.37445988e-05,-4.14319721e-06,-7.51105590e-06,
 -1.68876347e-05, 7.51692761e-06, 3.48434187e-05,-8.82429593e-06,
 -2.56044846e-05,-2.01731730e-05,-1.63438190e-05,-4.25042490e-05,
 -8.11875302e-06, 2.69736977e-05,-2.21133026e-06,-2.90380691e-05,
 -8.18985727e-07,-2.69923790e-06,-1.21645744e+00,-1.77690984e-03,
 -3.09354112e-04,-1.01473540e-06]


--- Step 1627 ---
qpos:
[ 2.85534520e-03,-5.62259721e-03,-1.02405043e-02, 2.81111236e-03,
 -4.45704028e-03,-5.17293281e-03,-1.77570278e-02, 5.18073080e-03,
 -4.75231701e-03,-3.97269423e-03,-7.85738441e-03,-1.91787264e-02,
  1.35945667e+00, 1.89055328e-02, 1.33364247e+00, 2.45278058e-02,
  9.50662441e-02,-6.99304270e-02, 1.30750476e-01, 9.93981188e-01,
 -2.51160045e-04, 4.25115747e-04,-1.09549781e-01]

qacc:
[  0.56735353,  0.13281338, -1.14485321,  4.96041026, -4.76571185,
  -2.05443171,  9.28585949,-17.91963637, -2.76615495,  1.09392237,
  -2.53174026, -0.34800402,  0.20289541, -0.31257078, -4.39073689,
  14.76626955, -0.60046411, -1.32765737, -0.17266019, 20.99604487,
  -4.15456337,  0.6321107 ]

qfrc_actuator:
[-2.09841515e-05,-3.05919190e-04,-2.56736579e-04,-7.97783872e-05,
 -2.88481021e-05,-3.72439584e-04,-3.33236354e-04,-8.63910040e-05,
  2.62300520e-05,-3.04422537e-04,-2.94953849e-04,-1.17005642e-04,
  2.60000418e-03,-1.30212493e-03, 0.00000000e+00,-1.06709287e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002682028971361383
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55230849e-13, -1.03487233e-13,  1.00000000e+00,  1.60644110e-26,
        1.00000000e+00,  1.03487233e-13, -1.00000000e+00,  0.00000000e+00,
        1.55230849e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1034706 , -0.04750291,  0.06199171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.32608780e-06, 3.47046037e-05, 2.20087249e-05, 1.50611182e-05,
 -2.81986153e-05, 8.90265756e-06, 2.39428791e-05,-2.22733505e-05,
 -1.61519830e-05, 2.42359752e-05,-1.69617229e-05,-9.20916416e-06,
 -7.02113567e-06,-1.28819154e-05,-7.05405095e-06, 6.91430619e-05,
 -2.45808460e-06,-1.67991725e-06,-1.21645626e+00,-1.77729205e-03,
 -3.11107681e-04, 1.93055938e-08]


--- Step 1628 ---
qpos:
[ 2.85643660e-03,-5.62136009e-03,-1.02406481e-02, 2.81062364e-03,
 -4.45758439e-03,-5.17116989e-03,-1.77573118e-02, 5.18062304e-03,
 -4.75233367e-03,-3.97216547e-03,-7.85814334e-03,-1.91790394e-02,
  1.35957700e+00, 1.89064362e-02, 1.33374733e+00, 2.45317331e-02,
  9.50792379e-02,-6.99494915e-02, 1.30749998e-01, 9.93978905e-01,
 -1.23379452e-04, 5.38991980e-04,-1.09570208e-01]

qacc:
[  6.42749272, -0.67392582,  3.56648158, -7.13398337,  0.13732273,
   0.88608798, -3.0334086 ,  4.37973066,  1.41773354, -0.67319892,
   2.95724263, -5.01481594,  0.52430351, -0.82311515,-10.22762249,
  34.8288409 , -0.59291186, -1.32109008, -0.24673899, 20.82028874,
  -4.14012325,  0.61890342]

qfrc_actuator:
[ 1.67309983e-05,-2.96219575e-04,-2.47247916e-04,-8.92152012e-05,
 -2.71720519e-05,-3.56538764e-04,-3.40127917e-04,-8.24658588e-05,
  3.49926847e-05,-2.98097542e-04,-2.82170940e-04,-1.20978004e-04,
  2.59027266e-03,-1.33198608e-03, 0.00000000e+00,-9.00912682e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002651295682322419
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04686836e-13, -2.09373672e-13,  1.00000000e+00,  2.19186672e-26,
        1.00000000e+00,  2.09373672e-13, -1.00000000e+00,  0.00000000e+00,
        1.04686836e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10347134, -0.04750222,  0.06199181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.78180309e-05, 3.42661483e-05, 1.98817764e-05,-6.89609904e-06,
  8.70733629e-07, 2.48063918e-05,-2.88906770e-06, 4.70006170e-06,
  8.31125906e-06, 1.59692405e-05, 1.53880012e-05,-3.69833595e-06,
 -1.61412680e-05,-3.54666276e-05, 2.78270284e-06, 1.68739299e-04,
 -3.74818937e-06,-1.26238876e-07,-1.21645794e+00,-1.77832250e-03,
 -3.12795091e-04, 9.08533444e-07]


--- Step 1629 ---
qpos:
[ 2.85797146e-03,-5.61979252e-03,-1.02407302e-02, 2.81036794e-03,
 -4.45775965e-03,-5.16915117e-03,-1.77574465e-02, 5.18088310e-03,
 -4.75258996e-03,-3.97199711e-03,-7.85795735e-03,-1.91797375e-02,
  1.35969698e+00, 1.89071091e-02, 1.33385209e+00, 2.45382817e-02,
  9.50898851e-02,-6.99738197e-02, 1.30748285e-01, 9.93976732e-01,
  4.46119720e-05, 6.40136360e-04,-1.09589438e-01]

qacc:
[  3.87536305,  0.73651465, -2.98911013,  6.69418841,  3.21725065,
   0.6718555 , -3.46870558,  9.41965206, -2.06206204, -3.9071921 ,
  14.86838318,-22.77765849,  0.08092048, -0.32307622, -8.10782733,
  28.09697928, -0.58667404, -1.31592995, -0.30861627, 20.68155889,
  -4.12474572,  0.61091493]

qfrc_actuator:
[ 3.84828193e-05,-2.73277381e-04,-2.41624330e-04,-7.68221729e-05,
 -8.20619146e-06,-3.30086765e-04,-3.26302790e-04,-6.23587860e-05,
  2.24074721e-05,-3.30067511e-04,-2.38816232e-04,-1.40930777e-04,
  2.55879951e-03,-1.35001862e-03, 0.00000000e+00,-7.69176107e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026099784939952186
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.12688156e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.12688156e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10347215, -0.04750112,  0.06199194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.28404990e-05, 4.58828725e-05, 1.48974913e-05, 1.44118363e-05,
  1.89993988e-05, 3.98680221e-05, 1.87384329e-05, 2.11582974e-05,
 -1.23419047e-05,-2.00268831e-05, 4.84233457e-05,-1.88076274e-05,
 -4.69299540e-05,-3.29731232e-05, 1.83869671e-05, 1.41095100e-04,
 -4.70373721e-06, 1.95265984e-06,-1.21646241e+00,-1.77999523e-03,
 -3.14413496e-04, 1.65924801e-06]


--- Step 1630 ---
qpos:
[ 2.85906571e-03,-5.61809547e-03,-1.02406669e-02, 2.81062806e-03,
 -4.45770595e-03,-5.16719946e-03,-1.77573002e-02, 5.18210485e-03,
 -4.75368508e-03,-3.97174308e-03,-7.85768157e-03,-1.91803219e-02,
  1.35981664e+00, 1.89073387e-02, 1.33395704e+00, 2.45453699e-02,
  9.50977759e-02,-6.99906791e-02, 1.30747661e-01, 9.93974270e-01,
  1.61607502e-04, 7.11974433e-04,-1.09611214e-01]

qacc:
[ -3.85133454,  0.83467447, -4.89202113, 13.47714565,  2.0072515 ,
   1.10211698, -8.12489186, 24.37677238, -7.34170975,  0.11092298,
  -0.68597971,  2.41992553,  0.03774337, -0.39769861, -1.37378856,
   5.16831438, -0.68908727,  1.86720447,  0.27221195,-23.7377139 ,
 -17.35916361, -1.29736925]

qfrc_actuator:
[ 1.51486303e-05,-2.78089992e-04,-2.38254393e-04,-5.16712539e-05,
  3.02212027e-06,-3.50681807e-04,-3.18043393e-04,-1.51139886e-05,
 -2.04026286e-05,-3.13595338e-04,-2.31197389e-04,-1.34639446e-04,
  2.53561512e-03,-1.37872165e-03, 0.00000000e+00,-7.47584193e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002673379745185972
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.15288186e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.15288186e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10314039, -0.09551093,  0.06199174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.26713883e-05, 2.44877548e-05, 1.51618026e-05, 2.79088587e-05,
  1.17852497e-05, 6.41006092e-06, 1.95111378e-05, 5.00076435e-05,
 -4.31701492e-05, 1.44574763e-05, 8.79330089e-06, 6.74410085e-06,
 -5.27825809e-05,-5.00817454e-05, 2.08680908e-05, 3.10564854e-05,
 -5.33502377e-06, 4.55222915e-06,-1.21646961e+00,-1.78230551e-03,
 -3.15961248e-04, 2.27668049e-06]


--- Step 1631 ---
qpos:
[ 2.85952714e-03,-5.61645296e-03,-1.02404049e-02, 2.81051732e-03,
 -4.45717290e-03,-5.16539774e-03,-1.77571952e-02, 5.18322630e-03,
 -4.75494029e-03,-3.97096753e-03,-7.85779675e-03,-1.91808494e-02,
  1.35993630e+00, 1.89068337e-02, 1.33406219e+00, 2.45516832e-02,
  9.51029336e-02,-7.00002095e-02, 1.30747405e-01, 9.93971528e-01,
  2.28537393e-04, 7.55276459e-04,-1.09635660e-01]

qacc:
[ -5.5284426 , -1.38038672,  6.40126646,-13.11712415,  4.18165231,
  -0.29729373,  1.18179557, -2.72627451, -1.42255602,  1.90196369,
  -6.01519693,  7.23186499,  0.36349067, -0.84106409,  2.59493796,
  -8.7677453 , -0.68326587,  1.83225397,  0.09204697,-23.31707022,
 -16.92604249, -1.35748719]

qfrc_actuator:
[-1.67778553e-05,-2.99486706e-04,-2.36344989e-04,-7.24995026e-05,
  2.73528836e-05,-3.81531933e-04,-3.31067569e-04,-2.33380950e-05,
 -2.73947089e-05,-2.68359778e-04,-2.44542893e-04,-1.30699154e-04,
  2.54404314e-03,-1.41352189e-03, 0.00000000e+00,-7.91046012e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46358801, -0.75743715, -4.39885291, -0.75743715, 20.94575915,
       -2.83806004, -4.39885291, -2.83806004,  4.95227271,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002752753098790306
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10313812, -0.09550776,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.25732010e-05,-3.44966984e-06, 9.77946532e-06,-1.87149551e-05,
  2.46679829e-05,-2.11643830e-05,-7.59390514e-06,-6.30884452e-06,
 -8.21960954e-06, 5.53954591e-05,-9.04734387e-06, 4.99668665e-06,
 -2.83466061e-05,-6.26368837e-05, 9.10617216e-06,-3.99617902e-05,
 -3.43599242e-06, 1.87274415e-06,-1.21645441e+00,-1.78388743e-03,
 -3.17507737e-04,-2.77238047e-07]


--- Step 1632 ---
qpos:
[ 2.85960204e-03,-5.61478169e-03,-1.02406850e-02, 2.81019953e-03,
 -4.45635216e-03,-5.16388312e-03,-1.77568608e-02, 5.18389488e-03,
 -4.75523491e-03,-3.97004399e-03,-7.85796279e-03,-1.91809560e-02,
  1.36005592e+00, 1.89060111e-02, 1.33416757e+00, 2.45557658e-02,
  9.51053788e-02,-7.00025270e-02, 1.30746910e-01, 9.93968511e-01,
  2.46174959e-04, 7.70671363e-04,-1.09662867e-01]

qacc:
[ -3.39857706,  1.13347251, -3.10082124,  0.35088311,  2.52072621,
  -1.95710681,  8.33139563,-16.31651799,  8.40509624,  1.18861691,
  -5.75666209, 13.03891306, -0.03654314, -0.1615518 ,  7.11396292,
 -24.364633  , -0.67813204,  1.80322273, -0.05963738,-22.96670179,
 -16.57175226, -1.40254574]

qfrc_actuator:
[-3.57386213e-05,-3.12949008e-04,-2.70928609e-04,-8.47296452e-05,
  4.14505096e-05,-4.00672708e-04,-3.21146629e-04,-4.64135837e-05,
  2.22660740e-05,-2.77346839e-04,-2.52269549e-04,-1.10405396e-04,
  2.55544407e-03,-1.41600668e-03, 0.00000000e+00,-9.07946593e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47686935, -0.95926651, -4.37289   , -0.95926651, 39.84051468,
       -7.75760664, -4.37289   , -7.75760664,  6.17863002,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002797599423721153
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.9842423e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.9842423e-13, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10313656, -0.09550601,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.98980402e-05,-1.42483305e-05,-3.47603752e-05,-1.24065390e-05,
  1.47979731e-05,-3.28751863e-05, 4.36980494e-06,-2.43756764e-05,
  4.94477573e-05, 2.03026910e-05, 2.76597549e-06, 2.24501426e-05,
 -1.69508978e-05,-2.83041487e-05,-3.33818930e-06,-1.18686229e-04,
 -1.82170479e-06, 3.44510597e-07,-1.21644477e+00,-1.78471934e-03,
 -3.18644258e-04,-1.90431393e-06]


--- Step 1633 ---
qpos:
[ 2.85979381e-03,-5.61330147e-03,-1.02415986e-02, 2.81011845e-03,
 -4.45571309e-03,-5.16310276e-03,-1.77562073e-02, 5.18467884e-03,
 -4.75527687e-03,-3.96901511e-03,-7.85847733e-03,-1.91804466e-02,
  1.36017525e+00, 1.89053745e-02, 1.33427315e+00, 2.45567434e-02,
  9.51051293e-02,-6.99977276e-02, 1.30745667e-01, 9.93965213e-01,
  2.15159437e-04, 7.58670609e-04,-1.09692901e-01]

qacc:
[  1.00575523,  2.00338503, -8.51195788, 13.76548686, -1.56176111,
  -1.62138288,  3.89180914, -1.87181793,  2.19937754,  2.37806983,
 -10.87959959, 22.01666696, -0.62465961,  0.71097856,  9.76567014,
 -33.56613178, -0.67369457,  1.77923065, -0.18724415,-22.67655208,
 -16.2831689 , -1.43565951]

qfrc_actuator:
[-2.91604951e-05,-3.39464783e-04,-3.08994063e-04,-7.40637526e-05,
  3.16555452e-05,-4.65848657e-04,-3.15465383e-04,-4.25019572e-05,
  3.38514046e-05,-2.83197287e-04,-2.74561246e-04,-8.06864813e-05,
  2.54200260e-03,-1.39922528e-03, 0.00000000e+00,-1.06714477e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48196132,  1.20048435,  4.31819576,  1.20048435, 36.33174455,
       -8.85443097,  4.31819576, -8.85443097,  6.9435463 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002814540590536929
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.97229883e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.97229883e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10313556, -0.09550542,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.00140442e-06,-4.22587857e-05,-4.57342912e-05, 8.60951583e-06,
 -9.38138191e-06,-8.37566539e-05,-1.43808469e-06, 2.17361788e-06,
  1.30062962e-05, 7.02049477e-06,-1.69918217e-05, 3.11176233e-05,
 -2.88992495e-05, 4.45348997e-06,-1.76380799e-05,-1.66915765e-04,
 -4.49367462e-07,-8.06334018e-08,-1.21644035e+00,-1.78481039e-03,
 -3.19387607e-04,-2.65899706e-06]


--- Step 1634 ---
qpos:
[ 2.86006275e-03,-5.61225435e-03,-1.02423228e-02, 2.81014000e-03,
 -4.45554114e-03,-5.16293124e-03,-1.77557497e-02, 5.18517859e-03,
 -4.75483418e-03,-3.96793923e-03,-7.85918990e-03,-1.91802782e-02,
  1.36029413e+00, 1.89054186e-02, 1.33437856e+00, 2.45564588e-02,
  9.51021999e-02,-6.99858900e-02, 1.30743245e-01, 9.93961624e-01,
  1.36015197e-04, 7.19687678e-04,-1.09725808e-01]

qacc:
[  0.68846051, -0.89150572,  1.91265569, -0.11814495, -4.0697848 ,
  -0.83381927,  3.01926249, -7.19203127,  4.23538299, -0.09510418,
   1.85236008, -7.45211106, -0.86335846,  1.22992205,  3.67860781,
 -12.97775119, -0.66994121,  1.75953052, -0.29451453,-22.43813743,
 -16.04956016, -1.45923609]

qfrc_actuator:
[-2.53604432e-05,-3.55851718e-04,-2.95582612e-04,-6.77738097e-05,
  7.87930307e-06,-5.04825811e-04,-3.30262257e-04,-5.82904299e-05,
  5.84204218e-05,-2.87182312e-04,-2.87521344e-04,-9.89337588e-05,
  2.52965812e-03,-1.35350818e-03, 0.00000000e+00,-1.12568647e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002809116902598302
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.97610684e-13, -3.95221368e-13,  1.00000000e+00,  7.80999648e-26,
        1.00000000e+00,  3.95221368e-13, -1.00000000e+00,  0.00000000e+00,
        1.97610684e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10313501, -0.09550576,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.95458284e-06,-4.91372701e-05,-6.59696537e-07, 3.06293321e-06,
 -2.40744384e-05,-8.60583009e-05,-3.22167401e-05,-1.93890657e-05,
  2.49451399e-05,-2.26409366e-06,-1.25339070e-05,-1.79314848e-05,
 -2.65011006e-05, 4.09502722e-05,-2.95925506e-05,-7.07576511e-05,
  7.13226386e-07, 5.57323665e-07,-1.21644092e+00,-1.78416848e-03,
 -3.19750475e-04,-2.58295850e-06]


--- Step 1635 ---
qpos:
[ 2.86037496e-03,-5.61144824e-03,-1.02426887e-02, 2.81019956e-03,
 -4.45565591e-03,-5.16299843e-03,-1.77556536e-02, 5.18544912e-03,
 -4.75410000e-03,-3.96717596e-03,-7.85987999e-03,-1.91806434e-02,
  1.36041262e+00, 1.89062470e-02, 1.33448377e+00, 2.45557663e-02,
  9.50966032e-02,-6.99670785e-02, 1.30739285e-01, 9.93957725e-01,
  9.16795141e-06, 6.54054001e-04,-1.09761618e-01]

qacc:
[  0.39386307, -1.24258316,  3.80659656, -3.54319055, -2.5078059 ,
   0.22712262, -0.29157654, -2.9311779 ,  2.55745796, -1.58043335,
   7.2758813 ,-16.30018765, -0.81120574,  1.24986367,  1.02899881,
  -3.80304817, -0.66684543,  1.74348667, -0.38463525,-22.24427604,
 -15.86212155, -1.47513111]

qfrc_actuator:
[-2.32342943e-05,-3.48090220e-04,-2.69606997e-04,-6.40700453e-05,
 -6.17494466e-06,-4.92410149e-04,-3.39205756e-04,-6.77928872e-05,
  7.26939698e-05,-3.25537144e-04,-2.94893563e-04,-1.27497511e-04,
  2.51799579e-03,-1.30875134e-03, 0.00000000e+00,-1.14218763e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002785951728929148
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99253816e-13, -1.99253816e-13,  1.00000000e+00,  3.97020831e-26,
        1.00000000e+00,  1.99253816e-13, -1.00000000e+00,  0.00000000e+00,
        1.99253816e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10313481, -0.09550682,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.21934794e-06,-1.97501621e-05, 1.58464020e-05, 1.63420197e-06,
 -1.47723128e-05,-4.32137218e-05,-3.13658470e-05,-1.46834458e-05,
  1.49891368e-05,-4.29985035e-05,-1.00091402e-05,-2.94456350e-05,
 -1.60813159e-05, 5.17424989e-05,-2.35403604e-05,-2.46888846e-05,
  1.69047318e-06, 2.22481979e-06,-1.21644627e+00,-1.78280022e-03,
 -3.19742385e-04,-1.70776459e-06]


--- Step 1636 ---
qpos:
[ 2.86036520e-03,-5.61072780e-03,-1.02428069e-02, 2.81029001e-03,
 -4.45559371e-03,-5.16320549e-03,-1.77557900e-02, 5.18592643e-03,
 -4.75354516e-03,-3.96662165e-03,-7.86068949e-03,-1.91813512e-02,
  1.36053113e+00, 1.89066816e-02, 1.33458907e+00, 2.45528327e-02,
  9.50883490e-02,-6.99413448e-02, 1.30733484e-01, 9.93953490e-01,
 -1.65041550e-04, 5.62032023e-04,-1.09800347e-01]

qacc:
[ -2.8070949 , -0.73662937,  2.34129601, -2.15014089,  1.53857536,
   0.88757894, -4.31126049,  8.3708795 , -1.57027141, -0.6447638 ,
   3.34691146, -8.92983688,  0.07072792, -0.30709564,  6.92169999,
 -24.02953385, -0.6643716 ,  1.73055766, -0.46032519,-22.08887252,
 -15.71360978, -1.48476988]

qfrc_actuator:
[-3.98620837e-05,-3.43611170e-04,-2.54090282e-04,-6.18944153e-05,
  3.36307224e-06,-4.84790640e-04,-3.44393489e-04,-5.57124044e-05,
  6.30369030e-05,-3.30915146e-04,-2.99054348e-04,-1.44169446e-04,
  2.50142834e-03,-1.35370975e-03, 0.00000000e+00,-1.25808244e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002748891354534544
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.01940143e-13, -2.01940143e-13,  1.00000000e+00,  4.07798212e-26,
        1.00000000e+00,  2.01940143e-13, -1.00000000e+00,  0.00000000e+00,
        2.01940143e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10313489, -0.09550845,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.65741484e-05,-3.24732134e-06, 1.34398993e-05, 1.90828234e-06,
  9.10133714e-06,-2.36574234e-05,-1.84857957e-05, 8.85767676e-06,
 -9.24072364e-06,-3.27620613e-05,-1.52932500e-05,-1.94327990e-05,
 -1.31377859e-05,-3.23792322e-05,-1.56004627e-05,-1.20733786e-04,
  2.50101137e-06, 4.89324522e-06,-1.21645626e+00,-1.78071113e-03,
 -3.19370390e-04,-5.69433006e-08]


--- Step 1637 ---
qpos:
[ 2.85981122e-03,-5.60994703e-03,-1.02430719e-02, 2.81041429e-03,
 -4.45541800e-03,-5.16326732e-03,-1.77564493e-02, 5.18687284e-03,
 -4.75276534e-03,-3.96630955e-03,-7.86127378e-03,-1.91822731e-02,
  1.36064957e+00, 1.89068952e-02, 1.33469416e+00, 2.45495194e-02,
  9.50772341e-02,-6.99214000e-02, 1.30729981e-01, 9.93949506e-01,
 -2.95623586e-04, 4.58333872e-04,-1.09836619e-01]

qacc:
[ -4.76593792,  0.56945428, -2.04143843,  2.80016172,  0.97132181,
   2.61627981,-11.03436893, 19.88750175,  1.98060605, -1.39492122,
   5.40490799, -9.28324632,  0.05624199, -0.21610956,  0.82515219,
  -3.36800616, -0.71517505, -1.44723571,  0.57449172, 22.32218991,
  -3.40790477,  1.24614015]

qfrc_actuator:
[-6.73943004e-05,-3.41160515e-04,-2.62634297e-04,-6.06437519e-05,
  8.95482236e-06,-4.62299567e-04,-3.65064652e-04,-3.10264731e-05,
  7.48809603e-05,-3.34238302e-04,-2.83402735e-04,-1.53684045e-04,
  2.49787123e-03,-1.36286970e-03, 0.00000000e+00,-1.27184328e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47678665,  0.09111017,  4.47585943,  0.09111017, 42.51412585,
       -0.77428444,  4.47585943, -0.77428444,  4.49254791,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002797323115067557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.92219149e-14, -3.96887660e-13,  1.00000000e+00,  3.93799536e-26,
        1.00000000e+00,  3.96887660e-13, -1.00000000e+00,  0.00000000e+00,
        9.92219149e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10348546, -0.04750831,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.80098674e-05, 3.46196508e-06,-7.49985333e-06, 1.61288212e-06,
  5.84478001e-06, 5.83453945e-06,-2.75256382e-05, 2.32043239e-05,
  1.15709329e-05,-2.56449448e-05, 6.33443734e-06,-1.18224879e-05,
 -1.83593029e-05,-2.17810701e-05,-2.27139320e-05,-2.29653733e-05,
  3.15924507e-06, 8.53769744e-06,-1.21647080e+00,-1.77790569e-03,
 -3.18639580e-04, 2.35241000e-06]


--- Step 1638 ---
qpos:
[ 2.85996608e-03,-5.60913240e-03,-1.02434330e-02, 2.81055258e-03,
 -4.45483159e-03,-5.16335248e-03,-1.77573383e-02, 5.18845406e-03,
 -4.75253959e-03,-3.96614743e-03,-7.86170953e-03,-1.91833089e-02,
  1.36076779e+00, 1.89072289e-02, 1.33479890e+00, 2.45477042e-02,
  9.50633697e-02,-6.99071270e-02, 1.30727983e-01, 9.93945749e-01,
 -3.83424386e-04, 3.42679481e-04,-1.09870755e-01]

qacc:
[ 6.19670894, 0.32988396,-1.19131485, 1.58493522, 3.57548869, 1.91065346,
 -9.54963138,20.93468224,-4.84323172,-0.83846104, 3.197615  ,-5.30966684,
 -0.10443116, 0.12498485,-5.03899864,16.90735562,-0.68737174,-1.41794377,
  0.3764673 ,21.917355  ,-3.5928437 , 1.08264897]

qfrc_actuator:
[-3.01076154e-05,-3.40038616e-04,-2.67566495e-04,-5.99633644e-05,
  2.99241230e-05,-4.66619954e-04,-3.76889928e-04, 8.77684936e-07,
  4.60352111e-05,-3.36211711e-04,-2.73913177e-04,-1.58895459e-04,
  2.49147737e-03,-1.35056582e-03, 0.00000000e+00,-1.18978352e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50232498,  0.64103231,  4.45645686,  0.64103231, 20.8441536 ,
       -2.35066568,  4.45645686, -2.35066568,  4.84045294,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002880956797609441
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92683039e-13, -1.92683039e-13,  1.00000000e+00,  3.71267537e-26,
        1.00000000e+00,  1.92683039e-13, -1.00000000e+00,  0.00000000e+00,
        1.92683039e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1034871, -0.0475111,  0.0619911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.64853360e-05, 1.54432150e-06,-5.08969179e-06, 6.00438705e-07,
  2.11390334e-05,-5.73900781e-06,-1.32018555e-05, 3.16524671e-05,
 -2.85237928e-05,-1.55077945e-05, 4.56946638e-06,-6.31835467e-06,
 -2.10314024e-05, 1.64645205e-06,-1.44267945e-05, 7.75505042e-05,
  1.77605020e-06, 6.31789764e-06,-1.21646229e+00,-1.77611862e-03,
 -3.15907313e-04, 1.71744896e-06]


--- Step 1639 ---
qpos:
[ 2.86022134e-03,-5.60822090e-03,-1.02436105e-02, 2.81067013e-03,
 -4.45399829e-03,-5.16362819e-03,-1.77577335e-02, 5.19037634e-03,
 -4.75300628e-03,-3.96600718e-03,-7.86182815e-03,-1.91840824e-02,
  1.36088586e+00, 1.89072412e-02, 1.33490387e+00, 2.45441757e-02,
  9.50468447e-02,-6.98984280e-02, 1.30726825e-01, 9.93942201e-01,
 -4.29149209e-04, 2.14853122e-04,-1.09903010e-01]

qacc:
[  0.88228973, -0.42977515,  1.80266823, -2.52331111,  2.17191756,
  -0.93321275,  1.51530029,  3.74541594, -6.05112226, -0.36315514,
   0.16720066,  3.85715509, -0.0752411 , -0.15024349,  5.52369631,
 -18.83359542, -0.66517204, -1.39351066,  0.20982183, 21.57900912,
  -3.73807479,  0.95035124]

qfrc_actuator:
[-2.59754818e-05,-3.21959022e-04,-2.52571126e-04,-5.96188489e-05,
  4.20247061e-05,-4.69164123e-04,-3.47986425e-04, 1.90068127e-05,
  1.12172770e-05,-3.19617982e-04,-2.50381636e-04,-1.43787074e-04,
  2.47274591e-03,-1.37889429e-03, 0.00000000e+00,-1.28274151e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51717611,  0.73974416,  4.45619328,  0.73974416, 32.19256142,
       -4.59421378,  4.45619328, -4.59421378,  5.27983217,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029281105266483476
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42185082e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.42185082e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10348864, -0.04751268,  0.06199095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.17342410e-06, 1.79042520e-05, 1.47009756e-05, 2.43380723e-07,
  1.27037878e-05,-7.10668138e-06, 2.71942387e-05, 1.80402046e-05,
 -3.56380163e-05, 8.58735594e-06, 2.06795842e-05, 1.44834886e-05,
 -2.86832201e-05,-3.26175929e-05, 3.73172411e-07,-9.08449331e-05,
  8.38736312e-07, 4.77193346e-06,-1.21645711e+00,-1.77499768e-03,
 -3.13197507e-04, 1.00361806e-06]


--- Step 1640 ---
qpos:
[ 2.85948979e-03,-5.60724645e-03,-1.02438701e-02, 2.81081346e-03,
 -4.45337154e-03,-5.16357322e-03,-1.77576916e-02, 5.19209145e-03,
 -4.75354220e-03,-3.96563962e-03,-7.86179095e-03,-1.91843451e-02,
  1.36100372e+00, 1.89069596e-02, 1.33500899e+00, 2.45382262e-02,
  9.50277294e-02,-6.98952219e-02, 1.30725946e-01, 9.93938837e-01,
 -4.33382904e-04, 7.46866264e-05,-1.09933595e-01]

qacc:
[-8.63543270e+00, 3.83019995e-01,-1.32464985e+00, 1.82470607e+00,
 -1.79341188e+00,-1.20710025e+00, 5.81899349e+00,-1.03536802e+01,
 -6.04796516e-01, 9.18173889e-01,-4.98838305e+00, 1.34013947e+01,
 -2.08776428e-01,-9.91158468e-03, 7.58764094e+00,-2.61537741e+01,
 -6.47537260e-01,-1.37322397e+00, 6.97615258e-02, 2.12978602e+01,
 -3.85306943e+00, 8.42610135e-01]

qfrc_actuator:
[-7.69164393e-05,-3.29286616e-04,-2.61365768e-04,-5.94467141e-05,
  3.10509780e-05,-4.17208124e-04,-3.13029871e-04, 1.11581111e-05,
  8.68128521e-06,-2.91952087e-04,-2.36405540e-04,-1.16817430e-04,
  2.45726375e-03,-1.39570353e-03, 0.00000000e+00,-1.40708742e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52282418, -0.8695549 , -4.43844712, -0.8695549 , 24.03243385,
       -3.82220994, -4.43844712, -3.82220994,  5.27164946,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029457727635105735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.88443426e-13,  9.42217131e-14,  1.00000000e+00,  1.77554624e-26,
        1.00000000e+00, -9.42217131e-14, -1.00000000e+00,  0.00000000e+00,
       -1.88443426e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10349011, -0.04751328,  0.0619909 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.07901778e-05, 5.70133347e-06,-3.28648620e-06, 1.45054767e-06,
 -1.06138767e-05, 5.43866104e-05, 3.74660449e-05,-6.86429156e-06,
 -3.55205251e-06, 3.73434965e-05, 1.88002432e-05, 2.83379489e-05,
 -3.74259407e-05,-3.32866947e-05,-1.30384038e-05,-1.30048606e-04,
  3.06686793e-07, 3.85671788e-06,-1.21645510e+00,-1.77453411e-03,
 -3.10480904e-04, 1.99507109e-07]


--- Step 1641 ---
qpos:
[ 2.85849856e-03,-5.60666091e-03,-1.02437380e-02, 2.81098360e-03,
 -4.45322622e-03,-5.16279970e-03,-1.77576562e-02, 5.19298833e-03,
 -4.75375981e-03,-3.96492184e-03,-7.86191457e-03,-1.91842768e-02,
  1.36112106e+00, 1.89072038e-02, 1.33511392e+00, 2.45318250e-02,
  9.50060797e-02,-6.98974418e-02, 1.30724875e-01, 9.93935635e-01,
 -3.96607191e-04,-7.79534877e-05,-1.09962677e-01]

qacc:
[ -2.25243841, -1.54958962,  4.67387094, -4.55888629, -4.21153177,
  -0.70877664,  7.37359837,-22.06895783,  2.77563931,  1.58901595,
  -6.39827992, 12.13155576, -0.76058468,  1.00350295,  1.17196023,
  -4.30013068, -0.6336286 , -1.35647803, -0.04778553, 21.06603586,
  -3.9451828 ,  0.75418171]

qfrc_actuator:
[-8.88436735e-05,-3.69615988e-04,-2.48736717e-04,-5.94162445e-05,
  6.58733773e-06,-3.68502277e-04,-3.10087578e-04,-2.96181263e-05,
  2.51682314e-05,-2.75635964e-04,-2.45880889e-04,-1.00836989e-04,
  2.44374322e-03,-1.35224219e-03, 0.00000000e+00,-1.42460472e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52090941, -1.03007074, -4.40199684, -1.03007074, 34.09485362,
       -6.92032631, -4.40199684, -6.92032631,  6.14027124,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000293980141852751
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.72065484e-14, -9.44130969e-14,  1.00000000e+00,  4.45691643e-27,
        1.00000000e+00,  9.44130969e-14, -1.00000000e+00,  0.00000000e+00,
        4.72065484e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10349154, -0.04751309,  0.06199092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.33796825e-05,-3.78058469e-05, 1.34462084e-05, 1.89604036e-07,
 -2.47501560e-05, 8.65528749e-05, 1.85489679e-05,-3.72866914e-05,
  1.63977471e-05, 4.22789425e-05, 1.52907685e-06, 1.87816191e-05,
 -4.02788662e-05, 2.49492164e-05,-2.32161272e-05,-2.70323567e-05,
  1.49844349e-07, 3.53984531e-06,-1.21645610e+00,-1.77472039e-03,
 -3.07735273e-04,-7.03241666e-07]


--- Step 1642 ---
qpos:
[ 2.85771641e-03,-5.60638652e-03,-1.02431834e-02, 2.81148621e-03,
 -4.45337507e-03,-5.16163602e-03,-1.77577362e-02, 5.19343970e-03,
 -4.75412287e-03,-3.96407180e-03,-7.86203063e-03,-1.91843460e-02,
  1.36123791e+00, 1.89079566e-02, 1.33521859e+00, 2.45262309e-02,
  9.49819389e-02,-6.99050326e-02, 1.30723220e-01, 9.93932569e-01,
 -3.19215224e-04,-2.43175875e-04,-1.09990396e-01]

qacc:
[  1.84747807, -0.91057696,  1.24048508,  4.07347741, -2.5759576 ,
  -0.07411114,  2.90174873,-10.72394191, -1.2753154 , -0.12727175,
   1.29155882, -3.78475174, -0.6216392 ,  0.84841497, -2.76783596,
   9.28165938, -0.62276753, -1.34275684, -0.14628753, 20.87684162,
  -4.02011393,  0.68092023]

qfrc_actuator:
[-7.76950903e-05,-3.76061847e-04,-2.23694628e-04,-4.17294648e-05,
 -7.86011342e-06,-3.75524578e-04,-3.26085108e-04,-5.39516709e-05,
  1.72038258e-05,-2.84096166e-04,-2.51420162e-04,-1.09227327e-04,
  2.42078313e-03,-1.32657852e-03, 0.00000000e+00,-1.37902561e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029150940252507807
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42819968e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.42819968e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10349293, -0.04751229,  0.06199099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.07504085e-05,-2.48260805e-05, 1.88885710e-05, 1.65346737e-05,
 -1.51259586e-05, 4.35720306e-05, 2.86388937e-06,-2.07117938e-05,
 -7.48002818e-06, 1.62824347e-05, 4.02330657e-06,-6.16334949e-06,
 -3.74407804e-05, 2.43888254e-05,-1.59493031e-05, 4.06257172e-05,
  3.46295645e-07, 3.79759761e-06,-1.21646003e+00,-1.77555022e-03,
 -3.04943576e-04,-1.71092212e-06]


--- Step 1643 ---
qpos:
[ 2.85707355e-03,-5.60598378e-03,-1.02430620e-02, 2.81219932e-03,
 -4.45335096e-03,-5.16053428e-03,-1.77575292e-02, 5.19397235e-03,
 -4.75492306e-03,-3.96333945e-03,-7.86208135e-03,-1.91844865e-02,
  1.36135437e+00, 1.89090419e-02, 1.33532318e+00, 2.45208609e-02,
  9.49568696e-02,-6.99183212e-02, 1.30721062e-01, 9.93929510e-01,
 -2.00380225e-04,-4.09341011e-04,-1.10017821e-01]

qacc:
[ 1.20284477, 1.81128209,-7.10471086,11.35040229, 1.51842531,-0.71938231,
  2.09821034,-1.09980791,-3.82267555,-0.47728527, 1.78869007,-3.0503754 ,
 -0.48455232, 0.62427411,-0.72984861, 2.53126001,-0.23211341,-1.42441277,
 -0.12570502,20.64767346, 1.81060703, 0.14160449]

qfrc_actuator:
[-7.08185158e-05,-3.62099804e-04,-2.44649874e-04,-3.15179199e-05,
  1.46008683e-06,-3.98190159e-04,-3.17829709e-04,-5.07124102e-05,
 -5.09496102e-06,-3.07344290e-04,-2.54701834e-04,-1.14151261e-04,
  2.40282746e-03,-1.31178660e-03, 0.00000000e+00,-1.36767752e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002889755178085984
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.88144572e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.88144572e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09856463, -0.04663891,  0.06199107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.17219188e-06, 4.67797125e-06,-2.31949644e-05, 1.01199987e-05,
  8.90253485e-06, 1.35610638e-06, 1.68780106e-05, 4.79928017e-06,
 -2.25040741e-05,-1.36090652e-05, 3.55130473e-07,-4.20867600e-06,
 -3.07745525e-05, 1.38073586e-05,-5.05667130e-06, 1.10975069e-05,
  8.80463521e-07, 4.61343151e-06,-1.21646679e+00,-1.77701832e-03,
 -3.02092608e-04,-2.82845963e-06]


--- Step 1644 ---
qpos:
[ 2.85617338e-03,-5.60568638e-03,-1.02428176e-02, 2.81267545e-03,
 -4.45287053e-03,-5.15954911e-03,-1.77571578e-02, 5.19455556e-03,
 -4.75529441e-03,-3.96286579e-03,-7.86182609e-03,-1.91843376e-02,
  1.36147075e+00, 1.89102307e-02, 1.33542755e+00, 2.45169947e-02,
  9.49352828e-02,-6.99353781e-02, 1.30720154e-01, 9.93926328e-01,
 -5.87165256e-05,-5.46907564e-04,-1.10046140e-01]

qacc:
[-2.24518375e+00,-9.66598735e-01, 4.25238443e+00,-8.48119572e+00,
  3.98687503e+00,-5.16831706e-01, 1.39246400e+00,-6.80049037e-01,
  3.76825674e+00,-6.08753341e-01, 4.42213320e-01, 4.27518201e+00,
  8.11855554e-03, 2.99813228e-02,-4.89485246e+00, 1.66265282e+01,
  8.70602014e-01,-9.42113343e-01, 3.12700619e-01, 9.77168703e+00,
  1.54683343e+01,-4.53305376e-01]

qfrc_actuator:
[-8.42716404e-05,-3.71713310e-04,-2.39259124e-04,-4.35551773e-05,
  2.46914237e-05,-4.12193039e-04,-3.13131512e-04,-4.90306821e-05,
  1.76133886e-05,-3.21515496e-04,-2.38937120e-04,-9.92541385e-05,
  2.40918503e-03,-1.30354506e-03, 0.00000000e+00,-1.28784454e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029002868950607497
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.56994140e-14, -1.91398828e-13,  1.00000000e+00, -1.83167557e-26,
        1.00000000e+00,  1.91398828e-13, -1.00000000e+00,  0.00000000e+00,
       -9.56994140e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08496188, -0.05561207,  0.06199104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.32475227e-05,-1.13681215e-05, 3.84282709e-06,-1.24454117e-05,
  2.34861380e-05,-9.59337690e-06, 7.20663467e-06, 2.41283783e-06,
  2.20633025e-05,-2.19242090e-05, 1.28444136e-05, 1.42442281e-05,
 -5.57363903e-06, 5.47548086e-06,-3.83065404e-06, 7.92152635e-05,
  1.44831603e-06, 5.96253229e-06,-1.21647337e+00,-1.77914681e-03,
 -2.99294044e-04,-3.70767824e-06]


--- Step 1645 ---
qpos:
[ 2.85546394e-03,-5.60556399e-03,-1.02421939e-02, 2.81299469e-03,
 -4.45177054e-03,-5.15843651e-03,-1.77570804e-02, 5.19480968e-03,
 -4.75504617e-03,-3.96226366e-03,-7.86207023e-03,-1.91843508e-02,
  1.36158759e+00, 1.89102230e-02, 1.33553168e+00, 2.45154340e-02,
  9.49171340e-02,-6.99561387e-02, 1.30719996e-01, 9.93923016e-01,
  1.05646133e-04,-6.56284632e-04,-1.10075415e-01]

qacc:
[ 1.68302257,-1.61770715, 6.08889571,-9.27546276, 5.39163022, 0.30146684,
  0.54040782,-5.84009869, 5.40597477, 1.22155927,-3.44386932, 1.36482661,
  1.31213656,-2.02215136,-7.51005431,25.34784728, 0.85951604,-0.92590418,
  0.18745812, 9.72920972,15.25809484,-0.48728586]

qfrc_actuator:
[-7.40764345e-05,-3.77537169e-04,-2.18443581e-04,-5.08257855e-05,
  5.59168833e-05,-4.03166254e-04,-3.28312390e-04,-6.60379065e-05,
  4.88822676e-05,-3.12299832e-04,-2.65269243e-04,-1.08301579e-04,
  2.41946632e-03,-1.38790093e-03, 0.00000000e+00,-1.16828999e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002903788338527724
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.91168036e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.91168036e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0849621 , -0.05561135,  0.06199103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.81168633e-06,-1.19368743e-05, 1.85041108e-05,-7.86849273e-06,
  3.18949961e-05, 5.22084597e-06,-1.62092702e-05,-1.71272146e-05,
  3.18920146e-05, 2.04760488e-07,-2.87957561e-05,-9.26755988e-06,
  8.92498388e-06,-8.40032060e-05, 5.17261732e-06, 1.23061342e-04,
  9.81436728e-07, 6.61495291e-06,-1.21647112e+00,-1.78167139e-03,
 -2.97147935e-04,-2.76190450e-06]


--- Step 1646 ---
qpos:
[ 2.85522692e-03,-5.60554416e-03,-1.02413373e-02, 2.81322492e-03,
 -4.45064933e-03,-5.15739522e-03,-1.77571214e-02, 5.19487162e-03,
 -4.75477003e-03,-3.96111068e-03,-7.86339993e-03,-1.91848311e-02,
  1.36170447e+00, 1.89093312e-02, 1.33563580e+00, 2.45153136e-02,
  9.49023861e-02,-6.99805514e-02, 1.30720169e-01, 9.93919567e-01,
  2.92604003e-04,-7.37810212e-04,-1.10105693e-01]

qacc:
[ 4.14144422,-0.97804998, 3.65234844,-5.47488922, 0.18251055,-0.15929422,
  1.24187604,-4.32538466, 0.20049747, 2.79980413,-6.95623096, 0.2047328 ,
  0.6817523 ,-1.26641968,-4.46425398,15.37924423, 0.8502278 ,-0.91301985,
  0.08257205, 9.69574592,15.08460813,-0.51506629]

qfrc_actuator:
[-5.00373305e-05,-3.80975440e-04,-2.06431285e-04,-5.52217240e-05,
  5.60878026e-05,-4.16024320e-04,-3.37275529e-04,-7.61464234e-05,
  4.94199123e-05,-2.71583103e-04,-3.16176491e-04,-1.31380243e-04,
  2.40542601e-03,-1.43779341e-03, 0.00000000e+00,-1.09731631e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002887184562197359
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08496197, -0.05561039,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.43138664e-05,-6.63513052e-06, 1.15444948e-05,-4.42288097e-06,
  1.08843772e-06,-1.40511912e-05,-1.04901021e-05,-1.07836958e-05,
  1.45172536e-06, 3.44797810e-05,-5.47373464e-05,-2.42486786e-05,
 -2.86899452e-05,-7.39811133e-05, 1.50330771e-05, 7.82287119e-05,
  2.47702551e-07, 7.47227250e-06,-1.21647099e+00,-1.78449908e-03,
 -2.95449026e-04,-1.62528131e-06]


--- Step 1647 ---
qpos:
[ 2.85493477e-03,-5.60520931e-03,-1.02408186e-02, 2.81373162e-03,
 -4.44987914e-03,-5.15673125e-03,-1.77568936e-02, 5.19551528e-03,
 -4.75414400e-03,-3.96002799e-03,-7.86461181e-03,-1.91852426e-02,
  1.36182095e+00, 1.89083435e-02, 1.33574019e+00, 2.45143867e-02,
  9.48920045e-02,-7.00056804e-02, 1.30721660e-01, 9.93916135e-01,
  4.80379006e-04,-7.88131386e-04,-1.10135664e-01]

qacc:
[-0.49807695, 1.93124087,-7.447126  ,12.53863929,-3.04623157,-0.04597043,
 -3.00493601,12.90930962, 3.06794043,-0.28659198, 0.58670286, 0.47726367,
 -0.34804268, 0.21255043, 2.87027572,-9.38754523, 1.09156303,-0.17908885,
  0.32948428,-1.31169801,15.55237179, 0.14842367]

qfrc_actuator:
[-5.35551519e-05,-3.47479530e-04,-2.17458952e-04,-4.01453347e-05,
  3.79765020e-05,-4.41865524e-04,-3.24813308e-04,-4.66157411e-05,
  6.73679348e-05,-2.83450030e-04,-3.10032356e-04,-1.27002373e-04,
  2.38746658e-03,-1.43133648e-03, 0.00000000e+00,-1.14431126e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002863366668881401
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.93866723e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.93866723e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08211733, -0.06676864,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.82647610e-06, 3.19786196e-05,-1.11407634e-05, 1.51020568e-05,
 -1.80841297e-05,-3.63643958e-05, 7.88262471e-06, 2.83533182e-05,
  1.80069311e-05,-4.95384089e-06, 5.68849291e-06, 3.48996862e-06,
 -4.84865268e-05,-2.32216389e-05, 1.29747193e-05,-4.13151809e-05,
 -7.48310095e-07, 8.52813692e-06,-1.21647290e+00,-1.78763041e-03,
 -2.94191192e-04,-3.01596535e-07]


--- Step 1648 ---
qpos:
[ 2.85460276e-03,-5.60433227e-03,-1.02408554e-02, 2.81440034e-03,
 -4.44933217e-03,-5.15629645e-03,-1.77562735e-02, 5.19647976e-03,
 -4.75399731e-03,-3.95921447e-03,-7.86565913e-03,-1.91852309e-02,
  1.36193712e+00, 1.89073332e-02, 1.33584499e+00, 2.45099102e-02,
  9.48869914e-02,-7.00274773e-02, 1.30724313e-01, 9.93912994e-01,
  6.39346157e-04,-8.03930771e-04,-1.10163086e-01]

qacc:
[ -0.3752911 ,  2.60380897, -8.9269919 , 12.21941578, -1.9303001 ,
  -0.7343621 ,  0.83142489,  4.25495473, -4.18622421,  0.06435767,
  -2.51552077,  9.75464983, -0.56762801,  0.51662318, 11.4430598 ,
 -38.96271613,  1.34214176,  0.83302267,  0.29080356,-16.21639994,
  15.57022254,  1.28639878]

qfrc_actuator:
[-5.55159049e-05,-3.09952308e-04,-2.41832900e-04,-3.14680591e-05,
  2.70122672e-05,-4.39656806e-04,-2.99835752e-04,-2.95038265e-05,
  4.21711332e-05,-3.08713721e-04,-3.05931815e-04,-1.06499654e-04,
  2.37784463e-03,-1.42700974e-03, 0.00000000e+00,-1.33142726e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002893078519819181
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.87813574e-13, -3.83751432e-13,  1.00000000e+00,  1.10448871e-25,
        1.00000000e+00,  3.83751432e-13, -1.00000000e+00,  0.00000000e+00,
        2.87813574e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07857359, -0.08172138,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.03224682e-06, 5.37362121e-05,-1.86288869e-05, 9.95301982e-06,
 -1.14968362e-05,-1.53176395e-05, 1.94076552e-05, 1.63758458e-05,
 -2.46825323e-05,-2.67253248e-05, 3.90105945e-06, 2.05559119e-05,
 -3.85250098e-05,-1.40067264e-05,-2.63126342e-06,-1.88639972e-04,
 -1.80841979e-06, 8.01411338e-06,-1.21646976e+00,-1.79074108e-03,
 -2.93796579e-04, 1.44056866e-06]


--- Step 1649 ---
qpos:
[ 2.85459509e-03,-5.60362906e-03,-1.02403445e-02, 2.81518339e-03,
 -4.44857630e-03,-5.15586364e-03,-1.77556982e-02, 5.19729722e-03,
 -4.75484366e-03,-3.95825464e-03,-7.86706901e-03,-1.91853357e-02,
  1.36205326e+00, 1.89055954e-02, 1.33594973e+00, 2.45035653e-02,
  9.48872458e-02,-7.00459787e-02, 1.30727565e-01, 9.93910142e-01,
  7.70022995e-04,-7.85493420e-04,-1.10188110e-01]

qacc:
[  2.85730976, -1.53104653,  4.63347281, -3.39271698,  1.82041004,
  -0.18381833,  1.26613735, -3.73117378, -8.70707824,  0.98391107,
  -2.70658109,  1.13115362,  0.26839354, -0.73938536,  5.52050365,
 -19.5507849 ,  1.31686272,  0.82388585,  0.1494574 ,-15.94399644,
  15.45677659,  1.20735148]

qfrc_actuator:
[-3.87830000e-05,-3.41369992e-04,-2.20603911e-04,-2.66264001e-05,
  3.81014943e-05,-4.38367996e-04,-3.03085241e-04,-3.75675987e-05,
 -8.22327986e-06,-2.88530587e-04,-3.20903936e-04,-1.12209317e-04,
  2.36790656e-03,-1.47725390e-03, 0.00000000e+00,-1.42202388e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.51275851,  -3.05324261,  -3.32305566,  -3.05324261,
        28.80717898, -22.32185293,  -3.32305566, -22.32185293,
        25.02220506,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002914193327297476
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.90485479e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.90485479e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07857303, -0.08172037,  0.061991  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.66910396e-05,-4.82224521e-06, 3.03675322e-05, 6.68995192e-06,
  1.07528406e-05,-2.59573964e-06,-3.46989080e-06,-7.73373429e-06,
 -5.11081531e-05, 6.89914062e-06,-1.92965248e-05,-6.31743282e-06,
 -3.27887198e-05,-6.30297272e-05,-2.59960648e-05,-1.02276523e-04,
 -2.36350811e-06, 5.42279567e-06,-1.21645999e+00,-1.79334965e-03,
 -2.94416642e-04, 3.03699418e-06]


--- Step 1650 ---
qpos:
[ 2.85478801e-03,-5.60305214e-03,-1.02398186e-02, 2.81604974e-03,
 -4.44769323e-03,-5.15575731e-03,-1.77550364e-02, 5.19839010e-03,
 -4.75594286e-03,-3.95707084e-03,-7.86844879e-03,-1.91855457e-02,
  1.36216926e+00, 1.89034758e-02, 1.33605407e+00, 2.44981557e-02,
  9.48847841e-02,-7.00572076e-02, 1.30730532e-01, 9.93907054e-01,
  8.51980859e-04,-7.95618839e-04,-1.10215281e-01]

qacc:
[ 1.75729254e+00,-4.05674835e-02,-4.55121563e-01, 1.97227354e+00,
  1.11771986e+00,-1.08163488e-01,-1.40678366e+00, 6.27945809e+00,
 -2.21645266e+00,-6.07213361e-04, 8.82586420e-01,-2.92321599e+00,
  2.26565869e-01,-5.14848660e-01,-3.45737041e+00, 1.11535141e+01,
 -6.79044988e-01, 1.81813576e+00,-7.11705929e-02,-2.26382545e+01,
 -1.68794578e+01,-1.04929023e+00]

qfrc_actuator:
[-2.89347947e-05,-3.60397600e-04,-2.26152243e-04,-2.41032186e-05,
  4.43273406e-05,-4.73271896e-04,-3.05238199e-04,-2.48919946e-05,
 -1.97729317e-05,-2.59139788e-04,-3.11353083e-04,-1.15523320e-04,
  2.36841585e-03,-1.48851614e-03, 0.00000000e+00,-1.36620711e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029251673493729813
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.84656284e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.84656284e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10310961, -0.09550476,  0.06199096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03191690e-05,-1.51922612e-05,-2.58900993e-06, 3.49244736e-06,
  6.53365095e-06,-3.74240304e-05,-3.39828110e-06, 1.22892466e-05,
 -1.30042263e-05, 2.89540988e-05, 8.38732898e-06,-3.80598248e-06,
 -3.10146064e-05,-3.78085522e-05,-2.48811129e-05, 4.64489405e-05,
 -2.66371364e-06, 3.25749712e-06,-1.21645351e+00,-1.79544528e-03,
 -2.95425608e-04, 3.99825763e-06]


--- Step 1651 ---
qpos:
[ 2.85509747e-03,-5.60245596e-03,-1.02393904e-02, 2.81658370e-03,
 -4.44708702e-03,-5.15614295e-03,-1.77542958e-02, 5.19964874e-03,
 -4.75682775e-03,-3.95533691e-03,-7.86990023e-03,-1.91854843e-02,
  1.36228475e+00, 1.89021307e-02, 1.33615830e+00, 2.44930785e-02,
  9.48796126e-02,-7.00612778e-02, 1.30732704e-01, 9.93903726e-01,
  8.85785246e-04,-8.33733226e-04,-1.10244741e-01]

qacc:
[  1.01580882, -0.38789943,  2.8196404 , -8.42637668, -2.40361317,
  -0.52406493,  0.23374658,  2.86196576,  1.8646772 ,  1.48280191,
  -5.38167964,  9.78993853, -0.8405762 ,  1.24410179, -1.06465025,
   3.73715341, -0.67741656,  1.78965157, -0.19864727,-22.38844263,
 -16.56391182, -1.11990986]

qfrc_actuator:
[-2.32233946e-05,-3.54216516e-04,-2.29700579e-04,-4.07384693e-05,
  2.98806713e-05,-5.11813516e-04,-3.06846600e-04,-1.78890413e-05,
 -8.35869547e-06,-2.06607943e-04,-3.05088723e-04,-9.96119350e-05,
  2.36455297e-03,-1.42318602e-03, 0.00000000e+00,-1.34886691e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51888041, -0.81072641,  4.4455599 , -0.81072641, 27.38556516,
        4.17014407,  4.4455599 ,  4.17014407,  5.27937988,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029334555293088205
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.4617339e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        9.4617339e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10310828, -0.09550505,  0.06199094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.99845823e-06,-2.72558285e-06,-6.89990589e-06,-1.73126611e-05,
 -1.42728049e-05,-5.96560689e-05,-9.34330502e-06, 5.51667153e-06,
  1.10550671e-05, 7.02578848e-05, 1.31481074e-05, 1.73686699e-05,
 -2.80878743e-05, 4.67307944e-05,-7.31283639e-06, 1.65188472e-05,
 -1.41091752e-06, 1.75628012e-06,-1.21644538e+00,-1.79654189e-03,
 -2.95827937e-04, 3.01704061e-06]


--- Step 1652 ---
qpos:
[ 2.85512811e-03,-5.60183517e-03,-1.02390286e-02, 2.81691115e-03,
 -4.44665889e-03,-5.15666487e-03,-1.77537200e-02, 5.20095268e-03,
 -4.75722371e-03,-3.95354103e-03,-7.87108522e-03,-1.91848484e-02,
  1.36239977e+00, 1.89015567e-02, 1.33626252e+00, 2.44878993e-02,
  9.48717373e-02,-7.00582826e-02, 1.30733654e-01, 9.93900147e-01,
  8.71904528e-04,-8.99375154e-04,-1.10276597e-01]

qacc:
[ -2.4414924 , -0.20251411,  1.64916786, -5.14390335, -1.5558692 ,
   0.37642909, -1.78960299,  2.93178975,  4.28764187,  0.5122874 ,
  -4.14400122, 13.62363495, -0.8610518 ,  1.27080598,  0.38355325,
  -1.13352289, -0.6759585 ,  1.76637061, -0.30557116,-22.18070597,
 -16.30954435, -1.17230338]

qfrc_actuator:
[-3.77428939e-05,-3.50757901e-04,-2.31942192e-04,-5.07337641e-05,
  2.11363016e-05,-4.98983789e-04,-3.08155125e-04,-1.42901823e-05,
  1.64678388e-05,-2.29370385e-04,-3.00706535e-04,-7.24998136e-05,
  2.34212726e-03,-1.38391466e-03, 0.00000000e+00,-1.35438404e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5145685 , -0.56170353,  4.47948858, -0.56170353, 39.45628203,
        4.38150105,  4.47948858,  4.38150105,  5.06398493,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029199065491565535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.85169150e-13,  2.37640958e-13,  1.00000000e+00, -6.77678701e-26,
        1.00000000e+00, -2.37640958e-13, -1.00000000e+00,  0.00000000e+00,
        2.85169150e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10310749, -0.09550613,  0.06199098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43504392e-05,-2.59226485e-07,-4.26730145e-06,-1.06915881e-05,
 -9.17419282e-06,-2.22255113e-05,-1.45968122e-05, 8.23908605e-07,
  2.51695387e-05, 1.99399522e-05, 2.11089560e-05, 3.09126098e-05,
 -2.54716857e-05, 4.73729483e-05,-4.35664349e-06,-6.13700828e-06,
 -4.24353525e-07, 1.29618369e-06,-1.21644224e+00,-1.79692277e-03,
 -2.95808750e-04, 2.88046975e-06]


--- Step 1653 ---
qpos:
[ 2.85498459e-03,-5.60126425e-03,-1.02389316e-02, 2.81679438e-03,
 -4.44633898e-03,-5.15752536e-03,-1.77525454e-02, 5.20226191e-03,
 -4.75731847e-03,-3.95217025e-03,-7.87164637e-03,-1.91838538e-02,
  1.36251438e+00, 1.89015434e-02, 1.33636648e+00, 2.44843594e-02,
  9.48689571e-02,-7.00521034e-02, 1.30734885e-01, 9.93896873e-01,
  8.29580227e-04,-9.30205654e-04,-1.10306178e-01]

qacc:
[ -1.53114183, -0.23777725,  2.63242815, -9.86580999, -0.9193865 ,
  -2.10739422,  6.84623274, -7.4676654 ,  2.66382695, -1.57193047,
   3.26760976,  2.26294124, -0.51328824,  0.78569059, -5.28286729,
  18.07573414,  1.27376056,  0.79596702,  0.07001911,-16.05359351,
  15.73233952,  1.14484978]

qfrc_actuator:
[-4.62995611e-05,-3.66698444e-04,-2.51144681e-04,-7.44906497e-05,
  1.58252758e-05,-5.08748045e-04,-2.73566467e-04,-1.26796216e-05,
  3.12287949e-05,-2.79288629e-04,-2.80010459e-04,-5.68316254e-05,
  2.31923139e-03,-1.36058487e-03, 0.00000000e+00,-1.26679834e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51207849, -3.75442056,  2.50263431, -3.75442056, 14.21191154,
       14.5515677 ,  2.50263431, 14.5515677 , 26.34215757,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002912042869207404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.90626147e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.90626147e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0785716 , -0.08171717,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.96869556e-06,-1.74575884e-05,-2.01632951e-05,-2.41260823e-05,
 -5.58121988e-06,-2.51661619e-05, 2.82252187e-05, 1.66540746e-07,
  1.54891933e-05,-3.31292460e-05, 2.84739213e-05, 1.78504322e-05,
 -2.45568337e-05, 3.22329617e-05,-5.74161956e-06, 8.60314017e-05,
  3.32095388e-07, 1.85084087e-06,-1.21644389e+00,-1.79659225e-03,
 -2.95383663e-04, 3.55526371e-06]


--- Step 1654 ---
qpos:
[ 2.85473966e-03,-5.60105199e-03,-1.02386582e-02, 2.81640346e-03,
 -4.44608554e-03,-5.15840891e-03,-1.77510569e-02, 5.20321341e-03,
 -4.75758028e-03,-3.95103106e-03,-7.87192087e-03,-1.91833706e-02,
  1.36262869e+00, 1.89016652e-02, 1.33647022e+00, 2.44832169e-02,
  9.48712224e-02,-7.00427449e-02, 1.30735975e-01, 9.93893892e-01,
  7.59252096e-04,-9.26616415e-04,-1.10333572e-01]

qacc:
[ -0.87562043, -1.52989938,  5.92733005,-10.69333416, -0.56962389,
  -1.64246275,  7.32461007,-14.00374473, -1.44968301, -2.15806797,
   9.41002244,-18.54483508, -0.10615274,  0.11616532, -7.60066963,
  26.10204126,  1.26139336,  0.79484552, -0.03497758,-15.81391899,
  15.56138124,  1.10155881]

qfrc_actuator:
[-5.12716572e-05,-3.94213846e-04,-2.44793474e-04,-8.84315387e-05,
  1.25756343e-05,-4.96306628e-04,-2.53642409e-04,-2.99927838e-05,
  2.21899173e-05,-2.91780203e-04,-2.67742667e-04,-8.35490732e-05,
  2.29606413e-03,-1.36467069e-03, 0.00000000e+00,-1.14280397e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50752551,  4.26761501, -1.45094739,  4.26761501,  8.46146183,
       11.62955881, -1.45094739, 11.62955881, 38.7130936 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028975884631206317
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07857132, -0.08171656,  0.06199105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.23459167e-06,-4.25005494e-05,-5.80284726e-07,-1.58570122e-05,
 -3.41956363e-06, 4.21825687e-06, 1.82024167e-05,-1.74147924e-05,
 -8.60601313e-06,-2.44119156e-05, 9.53729455e-06,-2.68081900e-05,
 -2.75433597e-05, 1.86967152e-07, 4.57316710e-06, 1.27544548e-04,
  8.53192601e-07, 1.13689852e-06,-1.21644229e+00,-1.79621229e-03,
 -2.95264435e-04, 3.87515518e-06]


--- Step 1655 ---
qpos:
[ 2.85443694e-03,-5.60124139e-03,-1.02379992e-02, 2.81583947e-03,
 -4.44587340e-03,-5.15883742e-03,-1.77498343e-02, 5.20392820e-03,
 -4.75829287e-03,-3.95038268e-03,-7.87190770e-03,-1.91831775e-02,
  1.36274289e+00, 1.89013141e-02, 1.33657426e+00, 2.44808838e-02,
  9.48784931e-02,-7.00302113e-02, 1.30736574e-01, 9.93891189e-01,
  6.61271817e-04,-8.88925230e-04,-1.10358851e-01]

qacc:
[ -0.48661404, -1.96441656,  6.96620306,-10.28462884, -0.37637722,
   0.85724477, -1.18373602, -2.8235717 , -3.92891298, -2.04276083,
   7.57746064,-12.70515985,  0.07241831, -0.39546141,  4.05364113,
 -13.54554284,  1.25134185,  0.79379927, -0.12287381,-15.62207118,
  15.42230968,  1.06651111]

qfrc_actuator:
[-5.40960909e-05,-4.10592794e-04,-2.23445288e-04,-9.64752132e-05,
  1.05643477e-05,-4.52969260e-04,-2.60224289e-04,-4.05466408e-05,
 -7.81087996e-07,-3.35097130e-04,-2.60444174e-04,-9.94659710e-05,
  2.27806460e-03,-1.40275728e-03, 0.00000000e+00,-1.21140981e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028666753239098286
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.93642966e-13, -1.93642966e-13,  1.00000000e+00,  3.74975983e-26,
        1.00000000e+00,  1.93642966e-13, -1.00000000e+00,  0.00000000e+00,
        1.93642966e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0785706 , -0.08171648,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.98906743e-06,-4.09556858e-05, 1.19448376e-05,-1.01933360e-05,
 -2.10785154e-06, 4.87210393e-05,-4.08005325e-06,-1.00855022e-05,
 -2.32211508e-05,-5.61890910e-05, 2.49238519e-06,-1.71570229e-05,
 -3.08480675e-05,-4.45836107e-05, 1.38239859e-05,-6.14593781e-05,
  1.64893776e-06, 7.99561532e-07,-1.21644382e+00,-1.79532480e-03,
 -2.95557480e-04, 3.56839690e-06]


--- Step 1656 ---
qpos:
[ 2.85444763e-03,-5.60194394e-03,-1.02367386e-02, 2.81518264e-03,
 -4.44534194e-03,-5.15913806e-03,-1.77485896e-02, 5.20453282e-03,
 -4.75927514e-03,-3.95037181e-03,-7.87172207e-03,-1.91828038e-02,
  1.36285680e+00, 1.89007898e-02, 1.33667865e+00, 2.44754267e-02,
  9.48907370e-02,-7.00145059e-02, 1.30736387e-01, 9.93888748e-01,
  5.35917576e-04,-8.17386297e-04,-1.10382073e-01]

qacc:
[  2.76911315, -2.55600432,  8.5120425 ,-10.69308731,  2.7832726 ,
  -0.12473966,  1.14564903, -3.1714348 , -2.3443583 , -0.94820824,
   1.40506652,  1.90227419, -0.4085776 ,  0.26168543, 10.02858166,
 -34.21643279,  1.24330417,  0.79292023, -0.19632672,-15.47024068,
  15.31080628,  1.03781653]

qfrc_actuator:
[-3.78823596e-05,-4.37856044e-04,-1.93378811e-04,-1.00971978e-04,
  2.70501303e-05,-4.62573725e-04,-2.64502968e-04,-4.70228432e-05,
 -1.40081878e-05,-3.78804787e-04,-2.56242948e-04,-9.11666832e-05,
  2.26315985e-03,-1.40743240e-03, 0.00000000e+00,-1.37519414e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002822991820683324
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.83197167e-14, -3.93278867e-13,  1.00000000e+00,  3.86670668e-26,
        1.00000000e+00,  3.93278867e-13, -1.00000000e+00,  0.00000000e+00,
        9.83197167e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07856953, -0.08171682,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.61139873e-05,-4.81348797e-05, 2.27215331e-05,-6.03624689e-06,
  1.64429428e-05, 1.63640793e-05, 4.92206061e-06,-4.72953512e-06,
 -1.39071622e-05,-7.53826788e-05,-7.69883476e-06, 5.64408276e-06,
 -4.02547348e-05,-2.55297735e-05,-4.06475633e-06,-1.66238217e-04,
  2.71326005e-06, 8.17672375e-07,-1.21644837e+00,-1.79393764e-03,
 -2.96263731e-04, 2.65319562e-06]


--- Step 1657 ---
qpos:
[ 2.85499753e-03,-5.60311946e-03,-1.02353955e-02, 2.81485343e-03,
 -4.44461696e-03,-5.15931298e-03,-1.77476465e-02, 5.20473300e-03,
 -4.76040909e-03,-3.95020118e-03,-7.87208845e-03,-1.91827315e-02,
  1.36297033e+00, 1.89004229e-02, 1.33678269e+00, 2.44707310e-02,
  9.49079290e-02,-6.99956314e-02, 1.30735170e-01, 9.93886543e-01,
  3.83406019e-04,-7.12198885e-04,-1.10403284e-01]

qacc:
[  4.72734817, -0.19001506, -1.62827353,  7.53151733,  1.67587411,
   0.17237753,  1.32795164, -7.93172441, -1.34809938,  1.13596667,
  -2.46818312, -1.9854841 , -0.32194209,  0.33799789, -2.80021818,
   9.10961817,  1.23701847,  0.79226553, -0.25761055,-15.35201257,
  15.22321773,  1.01396197]

qfrc_actuator:
[-1.05938187e-05,-4.71377707e-04,-1.93956692e-04,-8.55989688e-05,
  3.65374249e-05,-4.68292874e-04,-2.85333862e-04,-6.88369464e-05,
 -2.13897370e-05,-3.33640690e-04,-2.71652577e-04,-1.04197559e-04,
  2.25013131e-03,-1.39217117e-03, 0.00000000e+00,-1.32738647e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027695941298196136
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00430636e-13, -4.00861272e-13,  1.00000000e+00,  8.03448795e-26,
        1.00000000e+00,  4.00861272e-13, -1.00000000e+00,  0.00000000e+00,
        2.00430636e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07856819, -0.08171748,  0.06199144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.77327000e-05,-5.59863556e-05,-7.93639580e-06, 1.39788984e-05,
  9.96436727e-06, 4.24624565e-06,-1.70213644e-05,-2.10388540e-05,
 -7.80465876e-06, 1.65072439e-06,-3.17358950e-05,-1.64165187e-05,
 -3.93073068e-05,-1.52707696e-06,-2.38865051e-05, 3.72559986e-05,
  4.04056874e-06, 1.17445471e-06,-1.21645587e+00,-1.79205693e-03,
 -2.97383716e-04, 1.14290084e-06]


--- Step 1658 ---
qpos:
[ 2.85587026e-03,-5.60454623e-03,-1.02341449e-02, 2.81469481e-03,
 -4.44378368e-03,-5.15939063e-03,-1.77472394e-02, 5.20469077e-03,
 -4.76127814e-03,-3.94970492e-03,-7.87252191e-03,-1.91828721e-02,
  1.36308363e+00, 1.89001546e-02, 1.33688636e+00, 2.44682739e-02,
  9.49300297e-02,-6.99737132e-02, 1.30732810e-01, 9.93884541e-01,
  2.04803942e-04,-5.73554230e-04,-1.10422585e-01]

qacc:
[  2.82543657,  0.27203413, -2.18125457,  5.4761497 ,  0.92599225,
   1.12529113, -2.80591329, -0.59993333,  2.31114092,  0.174775  ,
   0.89091125, -4.69683736, -0.02701102,  0.02820526, -7.32620759,
  24.83390132,  1.2271721 ,  0.76095466, -0.28582102,-14.81176188,
  15.18655073,  0.96366224]

qfrc_actuator:
[ 5.23582972e-06,-4.72984090e-04,-1.94890116e-04,-7.64400593e-05,
  4.18237037e-05,-4.71729819e-04,-3.15781421e-04,-8.17628206e-05,
 -7.52144294e-06,-2.88953711e-04,-2.62667966e-04,-1.11864165e-04,
  2.24890009e-03,-1.38296220e-03, 0.00000000e+00,-1.20851727e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000270880790726039
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.91222413e-07, -6.91223076e-07,  1.00000000e+00, -4.77788882e-13,
        1.00000000e+00,  6.91223076e-07, -1.00000000e+00, -1.00974196e-28,
       -6.91222413e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07868936, -0.08120189,  0.06199163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.66048960e-05,-3.39189150e-05,-1.29945913e-05, 6.75663446e-06,
  5.57496793e-06,-5.48128463e-06,-3.24052749e-05,-1.37450705e-05,
  1.36481175e-05, 3.83438162e-05, 4.85017649e-06,-9.01318640e-06,
 -2.10996919e-05,-1.15049285e-07,-8.46694307e-06, 1.17542183e-04,
  5.62555484e-06, 1.85627412e-06,-1.21646627e+00,-1.78968740e-03,
 -2.98917783e-04,-9.53037479e-07]


--- Step 1659 ---
qpos:
[ 2.85658126e-03,-5.60611225e-03,-1.02329599e-02, 2.81428526e-03,
 -4.44289336e-03,-5.15947208e-03,-1.77471904e-02, 5.20449484e-03,
 -4.76128415e-03,-3.94923254e-03,-7.87300280e-03,-1.91830605e-02,
  1.36319659e+00, 1.89004599e-02, 1.33698984e+00, 2.44682409e-02,
  9.49555231e-02,-6.99554628e-02, 1.30731678e-01, 9.93882393e-01,
  4.97060192e-05,-4.05665340e-04,-1.10442844e-01]

qacc:
[-1.41454822e+00,-5.14650653e-01, 2.63188906e+00,-6.77216329e+00,
  4.86275030e-01, 6.77945580e-01,-1.77761890e+00,-3.04844485e-01,
  7.55408872e+00,-1.20002207e-02, 1.72517637e-01,-8.76335999e-01,
 -4.01290299e-01, 6.91435111e-01,-7.59514904e+00, 2.62470362e+01,
  8.48191208e-01,-9.16957713e-01, 3.07052866e-01, 1.00653362e+01,
  1.58302516e+01,-4.93772143e-01]

qfrc_actuator:
[-3.56180893e-06,-4.73226463e-04,-1.95894971e-04,-8.87362400e-05,
  4.45971773e-05,-4.73819296e-04,-3.33891118e-04,-8.93559988e-05,
  3.64934816e-05,-3.15793304e-04,-2.74816192e-04,-1.16280107e-04,
  2.24409460e-03,-1.34188334e-03, 0.00000000e+00,-1.08429811e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002713683728928773
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.04560136e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.04560136e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08497239, -0.05560272,  0.06199161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.33137573e-06,-2.15641131e-05,-9.37702139e-06,-1.40677559e-05,
  2.93325603e-06,-1.24366290e-05,-2.37134357e-05,-9.21786239e-06,
  4.44193575e-05,-4.79274068e-06,-3.94492493e-06,-2.78210124e-06,
 -1.49061630e-05, 3.61193472e-05, 7.49667706e-06, 1.29312334e-04,
  7.42649904e-06, 2.79187977e-06,-1.21647926e+00,-1.78684782e-03,
 -3.00863743e-04,-3.60334656e-06]


--- Step 1660 ---
qpos:
[ 2.85718145e-03,-5.60774960e-03,-1.02318239e-02, 2.81337616e-03,
 -4.44266656e-03,-5.15939669e-03,-1.77474072e-02, 5.20314613e-03,
 -4.76076247e-03,-3.94859429e-03,-7.87424700e-03,-1.91832741e-02,
  1.36330929e+00, 1.89012561e-02, 1.33709340e+00, 2.44690263e-02,
  9.49843962e-02,-6.99408324e-02, 1.30731286e-01, 9.93880092e-01,
 -8.22038790e-05,-2.08994974e-04,-1.10464080e-01]

qacc:
[ -0.96983319, -0.98436347,  5.48490441,-14.00307605, -5.79835129,
  -1.41214381, 10.22206364,-29.88550734,  4.59271112,  2.29182265,
  -7.7607813 ,  8.43485775, -0.45064707,  0.71354597, -2.30114493,
   8.3599143 ,  0.84490133, -0.90501257,  0.18515034,  9.93353617,
  15.58312146, -0.49996932]

qfrc_actuator:
[-9.02775128e-06,-4.72661923e-04,-1.96932511e-04,-1.13552212e-04,
  1.03656431e-05,-4.57285486e-04,-3.44561674e-04,-1.46999210e-04,
  6.23870142e-05,-3.14319048e-04,-3.17389583e-04,-1.18825727e-04,
  2.23183677e-03,-1.31770226e-03, 0.00000000e+00,-1.04671320e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45616429, -0.8667143 , -4.37106469, -0.8667143 , 44.46006933,
       -7.93215362, -4.37106469, -7.93215362,  6.02898727,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027272570513041383
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.03542058e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.03542058e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08497338, -0.05560298,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.70679881e-06,-1.39952056e-05,-7.12860092e-06,-2.63362335e-05,
 -3.41504471e-05, 4.29028232e-06,-1.64788093e-05,-5.91757232e-05,
  2.71616662e-05,-2.13533781e-06,-4.41466994e-05,-2.94293843e-06,
 -1.06258353e-05, 3.16911122e-05, 1.51483646e-05, 4.51540817e-05,
  7.09108870e-06, 7.84659015e-07,-1.21648001e+00,-1.78437374e-03,
 -3.03035624e-04,-4.95993090e-06]


--- Step 1661 ---
qpos:
[ 2.85736644e-03,-5.60923279e-03,-1.02311480e-02, 2.81286681e-03,
 -4.44285177e-03,-5.15928613e-03,-1.77474905e-02, 5.20145018e-03,
 -4.76027897e-03,-3.94793503e-03,-7.87545933e-03,-1.91828624e-02,
  1.36342216e+00, 1.89016020e-02, 1.33719703e+00, 2.44699356e-02,
  9.50166389e-02,-6.99297823e-02, 1.30731226e-01, 9.93877628e-01,
 -1.91189786e-04, 1.60927580e-05,-1.10486305e-01]

qacc:
[ -3.64875818,  2.32029856, -9.65245183, 17.179555  , -3.58985508,
  -1.03437774,  5.233785  ,-11.49642775, -0.33331237,  1.22750592,
  -6.97038091, 17.71478572,  0.40800072, -0.6707367 , -0.31087782,
   1.13085406,  0.84243476, -0.89507727,  0.08280391,  9.8221904 ,
  15.38788967, -0.50113253]

qfrc_actuator:
[-3.02335442e-05,-4.53872833e-04,-2.15732695e-04,-9.22731623e-05,
 -9.86588423e-06,-4.47489463e-04,-3.32965197e-04,-1.62601355e-04,
  5.96452102e-05,-2.96036684e-04,-3.06472689e-04,-8.47471908e-05,
  2.23109078e-03,-1.35706464e-03, 0.00000000e+00,-1.04272013e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002720499994403741
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08497389, -0.05560282,  0.06199159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.13682005e-05, 8.40619470e-06,-2.34728847e-05, 1.99234012e-05,
 -2.12058805e-05, 6.24698440e-06, 8.41083184e-06,-1.71356211e-05,
 -1.96423331e-06, 7.84711749e-06, 4.94381475e-06, 3.24031718e-05,
  1.75447098e-06,-3.21647044e-05, 8.58993626e-06, 7.68745591e-06,
  6.47776879e-06,-9.94215874e-07,-1.21648286e+00,-1.78221151e-03,
 -3.05670238e-04,-6.08910340e-06]


--- Step 1662 ---
qpos:
[ 2.85660598e-03,-5.61042101e-03,-1.02313610e-02, 2.81262785e-03,
 -4.44293360e-03,-5.15906071e-03,-1.77472455e-02, 5.20024653e-03,
 -4.75983175e-03,-3.94741236e-03,-7.87619188e-03,-1.91820573e-02,
  1.36353525e+00, 1.89012505e-02, 1.33730056e+00, 2.44718971e-02,
  9.50463023e-02,-6.99242641e-02, 1.30732407e-01, 9.93875278e-01,
 -2.57060740e-04, 2.27861379e-04,-1.10507075e-01]

qacc:
[ -8.30273649,  3.44727715,-12.83905569, 18.69284383,  0.91023276,
   0.24651337, -2.73990662, 10.65404076, -0.3000011 , -0.71053746,
   0.61336572,  5.52472801,  0.69894983, -1.11852686, -3.44154322,
  11.58470907, -0.64486652, -1.38295791,  0.31042757, 22.16128228,
  -4.23711744,  0.7281955 ]

qfrc_actuator:
[-7.82871512e-05,-4.42098595e-04,-2.62512317e-04,-7.95418302e-05,
 -3.93087813e-06,-4.23924535e-04,-3.08301494e-04,-1.35570660e-04,
  5.78296401e-05,-3.03096215e-04,-2.81704101e-04,-6.48399134e-05,
  2.23722291e-03,-1.39830278e-03, 0.00000000e+00,-9.87504327e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002767153407589318
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00303711e-13,  2.00607422e-13,  1.00000000e+00, -2.01216689e-26,
        1.00000000e+00, -2.00607422e-13, -1.00000000e+00,  0.00000000e+00,
        1.00303711e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1035193 , -0.0475193 ,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.86571816e-05, 1.25190384e-05,-4.72338514e-05, 1.26708348e-05,
  5.32965863e-06, 2.80546182e-05, 2.64014418e-05, 2.72605133e-05,
 -1.86954486e-06,-2.72452039e-07, 2.81254770e-05, 2.10457671e-05,
 -4.02852079e-07,-5.08102999e-05, 2.38845375e-06, 5.61785243e-05,
  5.59173536e-06,-2.55724260e-06,-1.21648774e+00,-1.78035773e-03,
 -3.08760561e-04,-7.00434119e-06]


--- Step 1663 ---
qpos:
[ 2.85562014e-03,-5.61124222e-03,-1.02321665e-02, 2.81147764e-03,
 -4.44294391e-03,-5.15857481e-03,-1.77470577e-02, 5.19972889e-03,
 -4.75837510e-03,-3.94685648e-03,-7.87689573e-03,-1.91817010e-02,
  1.36364823e+00, 1.89008920e-02, 1.33740428e+00, 2.44728272e-02,
  9.50734483e-02,-6.99242115e-02, 1.30734214e-01, 9.93873050e-01,
 -2.80589512e-04, 4.26446909e-04,-1.10526468e-01]

qacc:
[ -1.99680205,  0.26830916,  3.60023491,-18.70042401,  0.61781268,
   1.91493369, -9.22687174, 21.00292695,  8.83677938, -0.97814435,
   5.41268213,-13.21091375, -0.17944545,  0.16223259,  3.43686863,
 -11.54914353, -0.62931598, -1.36639609,  0.1563885 , 21.76969572,
  -4.21180944,  0.69408072]

qfrc_actuator:
[-8.84952326e-05,-4.16983123e-04,-2.89961593e-04,-1.25227587e-04,
 -3.99175900e-07,-4.09944673e-04,-3.11550825e-04,-1.01413523e-04,
  1.09841075e-04,-3.07459044e-04,-2.84590435e-04,-8.89589637e-05,
  2.23681886e-03,-1.38698142e-03, 0.00000000e+00,-1.04455404e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.4810116 ,   3.88976213,   2.22468325,   3.88976213,
        14.19449085, -16.98359701,   2.22468325, -16.98359701,
        34.17609409,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002811391228220994
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.96176235e-13, -1.97450823e-13,  1.00000000e+00,  5.84802414e-26,
        1.00000000e+00,  1.97450823e-13, -1.00000000e+00,  0.00000000e+00,
        2.96176235e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10351939, -0.04752135,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.15889922e-05, 2.29340025e-05,-3.02232683e-05,-4.65313628e-05,
  3.69207498e-06, 3.62824432e-05, 6.73796198e-06, 3.68048105e-05,
  5.19570031e-05, 2.18383506e-06, 1.25074476e-06,-2.27490116e-05,
 -1.22203373e-05,-4.53619029e-06, 5.63051477e-06,-5.40308029e-05,
  2.79695502e-06,-3.06285668e-06,-1.21647747e+00,-1.77888226e-03,
 -3.11338443e-04,-5.24893750e-06]


--- Step 1664 ---
qpos:
[ 2.85555389e-03,-5.61173015e-03,-1.02330962e-02, 2.81010578e-03,
 -4.44256689e-03,-5.15779090e-03,-1.77471930e-02, 5.19963849e-03,
 -4.75699642e-03,-3.94593073e-03,-7.87807896e-03,-1.91812988e-02,
  1.36376103e+00, 1.89006473e-02, 1.33750806e+00, 2.44727416e-02,
  9.50981291e-02,-6.99295691e-02, 1.30736129e-01, 9.93870948e-01,
 -2.62410658e-04, 6.11974399e-04,-1.10544541e-01]

qacc:
[  8.03410055,  0.31524542,  0.42347012, -4.27658817,  3.3632108 ,
   2.16896262, -8.97760591, 16.68248515, -0.70383682,  1.92461315,
  -6.34268553,  7.62439229, -0.30274604,  0.34817746,  3.19735681,
 -10.975719  , -0.61630998, -1.35256421,  0.02700711, 21.44740848,
  -4.18433129,  0.67029075]

qfrc_actuator:
[-4.08326235e-05,-3.84052920e-04,-2.88000775e-04,-1.33879568e-04,
  1.94336997e-05,-4.01907398e-04,-3.31293849e-04,-8.11237969e-05,
  1.04354355e-04,-2.74813753e-04,-3.03810544e-04,-8.55510069e-05,
  2.22718875e-03,-1.38004092e-03, 0.00000000e+00,-1.09628966e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.48602129,  -3.99930792,  -2.03222125,  -3.99930792,
        13.02783717, -16.80985865,  -2.03222125, -16.80985865,
        37.56696709,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00028279507060355313
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.81473105e-14, -1.96294621e-13,  1.00000000e+00,  1.92657891e-26,
        1.00000000e+00,  1.96294621e-13, -1.00000000e+00,  0.00000000e+00,
        9.81473105e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10351971, -0.04752236,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.73461925e-05, 3.75591811e-05, 1.38819285e-06,-9.61395774e-06,
  1.99495716e-05, 3.12773813e-05,-1.01521504e-05, 2.27932810e-05,
 -4.00011843e-06, 3.31606324e-05,-1.94017647e-05, 3.09948531e-06,
 -1.68519907e-05, 2.83942585e-06,-6.53027441e-06,-5.47320917e-05,
  4.23450790e-07,-2.97321657e-06,-1.21647042e+00,-1.77808095e-03,
 -3.13862862e-04,-3.67336938e-06]


--- Step 1665 ---
qpos:
[ 2.85571476e-03,-5.61236998e-03,-1.02332728e-02, 2.80898715e-03,
 -4.44195498e-03,-5.15678263e-03,-1.77474966e-02, 5.19910044e-03,
 -4.75672865e-03,-3.94432869e-03,-7.87999436e-03,-1.91801908e-02,
  1.36387368e+00, 1.89002826e-02, 1.33761166e+00, 2.44730311e-02,
  9.51203882e-02,-6.99402912e-02, 1.30737718e-01, 9.93868973e-01,
 -2.03041914e-04, 7.84557813e-04,-1.10561332e-01]

qacc:
[ 2.01294183e+00,-1.78795580e+00, 5.00799238e+00,-1.71057343e+00,
  2.03901905e+00,-1.58534578e-01, 2.87827297e+00,-1.05139691e+01,
 -9.75932739e+00, 4.41371700e+00,-1.73804324e+01, 3.02195785e+01,
 -1.26503580e-02,-1.02501087e-01,-1.40006310e+00, 4.51203383e+00,
 -6.05431946e-01,-1.34113908e+00,-8.14879654e-02, 2.11837908e+01,
 -4.15591918e+00, 6.54678555e-01]

qfrc_actuator:
[-3.05129447e-05,-3.99804868e-04,-2.50872679e-04,-1.20636395e-04,
  3.09502058e-05,-3.97577406e-04,-3.42891776e-04,-1.04675405e-04,
  4.72997300e-05,-2.20313534e-04,-3.32334327e-04,-4.81893053e-05,
  2.21203365e-03,-1.39359976e-03, 0.00000000e+00,-1.07342942e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028223470604681056
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.96684355e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.96684355e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10352021, -0.04752254,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16891176e-05, 5.17437125e-06, 4.47423451e-05, 1.47176363e-05,
  1.20987681e-05, 2.06800401e-05,-5.60769884e-06,-2.21212962e-05,
 -5.71548316e-05, 6.91512900e-05,-2.39533345e-05, 3.81709978e-05,
 -2.31627892e-05,-1.63392390e-05,-1.17145436e-05, 1.83820897e-05,
 -1.56043716e-06,-2.31620477e-06,-1.21646644e+00,-1.77794284e-03,
 -3.16327637e-04,-2.26465029e-06]


--- Step 1666 ---
qpos:
[ 2.85496395e-03,-5.61324684e-03,-1.02328777e-02, 2.80771435e-03,
 -4.44120940e-03,-5.15587525e-03,-1.77475227e-02, 5.19829568e-03,
 -4.75645656e-03,-3.94267153e-03,-7.88171666e-03,-1.91789737e-02,
  1.36398611e+00, 1.88997978e-02, 1.33771518e+00, 2.44735696e-02,
  9.51402620e-02,-6.99563407e-02, 1.30738618e-01, 9.93867121e-01,
 -1.02901962e-04, 9.44300200e-04,-1.10576867e-01]

qacc:
[ -7.95266761, -2.21313464,  8.11416348,-11.55132001,  1.17615239,
  -1.46002288,  6.13469975,-11.11691265,  0.04301711, -0.24223981,
   0.50901716,  1.02951403, -0.06914578, -0.05433693, -0.87491957,
   2.88748268, -0.59633649, -1.33183045, -0.17231215, 20.96999986,
  -4.12746512,  0.64553544]

qfrc_actuator:
[-7.77796463e-05,-4.26661586e-04,-2.28977027e-04,-1.30147614e-04,
  3.74744265e-05,-4.13269961e-04,-3.31875365e-04,-1.18322565e-04,
  4.91316657e-05,-2.41917894e-04,-3.30490498e-04,-4.43916259e-05,
  2.19889406e-03,-1.40151713e-03, 0.00000000e+00,-1.06005426e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000279918822747513
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.97467409e-13, -1.98311606e-13,  1.00000000e+00,  5.89912395e-26,
        1.00000000e+00,  1.98311606e-13, -1.00000000e+00,  0.00000000e+00,
        2.97467409e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10352085, -0.04752207,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.69307959e-05,-1.40594192e-05, 2.89962636e-05,-7.45101970e-06,
  6.87941462e-06,-6.26211006e-06, 1.38239308e-05,-1.33866240e-05,
  2.26508479e-07, 1.36947689e-05, 1.45008275e-05, 6.67419860e-06,
 -2.84406900e-05,-1.81720363e-05,-5.26704357e-06, 1.24600088e-05,
 -3.17886105e-06,-1.11195207e-06,-1.21646541e+00,-1.77845900e-03,
 -3.18728815e-04,-1.01186515e-06]


--- Step 1667 ---
qpos:
[ 2.85296244e-03,-5.61380230e-03,-1.02327204e-02, 2.80666752e-03,
 -4.44073626e-03,-5.15485437e-03,-1.77477708e-02, 5.19734083e-03,
 -4.75616475e-03,-3.94136600e-03,-7.88315623e-03,-1.91780188e-02,
  1.36409816e+00, 1.88997112e-02, 1.33781878e+00, 2.44732492e-02,
  9.51553009e-02,-6.99684613e-02, 1.30740888e-01, 9.93865104e-01,
 -2.62481857e-05, 1.06445562e-03,-1.10593951e-01]

qacc:
[-10.95285146,  1.57629462, -5.92085569,  9.93557157, -2.3850906 ,
   0.46556306, -0.8008526 , -1.53382385,  0.18741789, -1.79553089,
   6.83139796,-11.55624916, -0.63559335,  0.82281126,  2.7977789 ,
  -9.43056575, -1.20870195,  0.98221365,  0.34249335, -9.4816455 ,
 -20.97044729, -0.79165705]

qfrc_actuator:
[-1.40797603e-04,-3.89024763e-04,-2.34093324e-04,-1.17500085e-04,
  2.32578792e-05,-4.05235279e-04,-3.43174241e-04,-1.26028925e-04,
  5.01193989e-05,-2.91081707e-04,-3.28811147e-04,-6.04179681e-05,
  2.18697390e-03,-1.37049636e-03, 0.00000000e+00,-1.10565179e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002798710596084303
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.91727249e-14, -1.98345450e-13,  1.00000000e+00,  1.96704587e-26,
        1.00000000e+00,  1.98345450e-13, -1.00000000e+00,  0.00000000e+00,
        9.91727249e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10950827, -0.08188055,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.43624519e-05, 3.54608907e-05,-4.69547550e-06, 1.29094935e-05,
 -1.40215238e-05, 6.78622857e-06,-1.13614451e-05,-7.75727333e-06,
  1.00184510e-06,-3.82665456e-05, 6.52310288e-06,-1.48107280e-05,
 -3.00893665e-05, 1.89343481e-05,-3.42210416e-06,-4.61175520e-05,
 -4.45001819e-06, 6.25780192e-07,-1.21646723e+00,-1.77962221e-03,
 -3.21064088e-04, 9.41238089e-08]


--- Step 1668 ---
qpos:
[ 2.85056560e-03,-5.61393928e-03,-1.02329807e-02, 2.80578006e-03,
 -4.44078204e-03,-5.15372312e-03,-1.77481332e-02, 5.19560337e-03,
 -4.75620802e-03,-3.94068494e-03,-7.88409089e-03,-1.91775879e-02,
  1.36420973e+00, 1.89004547e-02, 1.33792232e+00, 2.44727164e-02,
  9.51655614e-02,-6.99767196e-02, 1.30743955e-01, 9.93862934e-01,
  2.72249860e-05, 1.14574298e-03,-1.10612635e-01]

qacc:
[ -3.47816032,  2.05531209, -7.18680556, 10.29221016, -4.53142668,
  -1.13684755,  7.58438579,-21.04432203, -2.90706932, -3.31067921,
  12.82402476,-22.2415764 , -0.88927361,  1.33950002,  0.64797548,
  -2.15617585, -1.19459898,  0.96558773,  0.1993327 , -9.36906074,
 -20.59652105, -0.81670095]

qfrc_actuator:
[-1.59304724e-04,-3.66413332e-04,-2.54835952e-04,-1.09628420e-04,
 -3.05046182e-06,-4.00890926e-04,-3.49721210e-04,-1.65686010e-04,
  3.28308474e-05,-3.38643861e-04,-3.09644704e-04,-8.80110657e-05,
  2.17580951e-03,-1.31658283e-03, 0.00000000e+00,-1.11461418e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48647389, -0.57257399,  4.4497873 , -0.57257399, 40.34626566,
        4.61423942,  4.4497873 ,  4.61423942,  5.08020867,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028294403592059314
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.80956376e-14, -5.88573826e-13,  1.00000000e+00,  5.77365247e-26,
        1.00000000e+00,  5.88573826e-13, -1.00000000e+00,  0.00000000e+00,
        9.80956376e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10950697, -0.08188024,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.03328636e-05, 4.20289622e-05,-1.35379205e-05, 9.48612052e-06,
 -2.67071403e-05, 5.42318061e-06,-6.81969673e-06,-3.99095028e-05,
 -1.72700912e-05,-6.82788625e-05, 1.15534240e-05,-2.92963619e-05,
 -2.17599929e-05, 5.30134294e-05,-9.85407497e-06,-1.26678557e-05,
 -2.93537494e-06,-4.00294073e-08,-1.21645545e+00,-1.78049939e-03,
 -3.23102416e-04,-1.80841805e-06]


--- Step 1669 ---
qpos:
[ 2.84865497e-03,-5.61391485e-03,-1.02333978e-02, 2.80500909e-03,
 -4.44079799e-03,-5.15268131e-03,-1.77479494e-02, 5.19338397e-03,
 -4.75611320e-03,-3.94064450e-03,-7.88447959e-03,-1.91771462e-02,
  1.36432096e+00, 1.89018600e-02, 1.33802574e+00, 2.44723978e-02,
  9.51710908e-02,-6.99811702e-02, 1.30747339e-01, 9.93860620e-01,
  5.77725340e-05, 1.18875145e-03,-1.10632959e-01]

qacc:
[  4.2453029 ,  0.88306931, -3.34515665,  5.50865772,  0.27838291,
  -2.6366968 , 11.26408863,-20.4131429 ,  1.23687048, -2.35293952,
   7.1099656 , -7.31696328, -0.65501272,  1.01538905, -0.73815048,
   2.5291007 , -1.18279314,  0.95191802,  0.07925287, -9.27445788,
 -20.28985825, -0.83545627]

qfrc_actuator:
[-1.33707799e-04,-3.70795389e-04,-2.66926822e-04,-1.04646055e-04,
 -7.53180627e-07,-3.98803035e-04,-3.17930525e-04,-1.88315717e-04,
  4.04286996e-05,-3.67078898e-04,-2.80321294e-04,-8.66722167e-05,
  2.15979337e-03,-1.28503019e-03, 0.00000000e+00,-1.10189840e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028352131528913693
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78959045e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.78959045e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10950636, -0.08188038,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.50314782e-05, 1.67411907e-05,-4.73883830e-06, 6.50351663e-06,
  1.53550924e-06, 1.95969026e-06, 3.06855454e-05,-2.34068619e-05,
  7.08285114e-06,-6.55054037e-05, 1.56328820e-05,-1.75556445e-06,
 -1.47135724e-05, 4.31125375e-05,-8.71692861e-06, 1.01376099e-05,
 -1.72457439e-06,-3.58271994e-07,-1.21644710e+00,-1.78106538e-03,
 -3.24536836e-04,-3.15919529e-06]


--- Step 1670 ---
qpos:
[ 2.84706593e-03,-5.61398730e-03,-1.02333000e-02, 2.80463597e-03,
 -4.44044179e-03,-5.15153032e-03,-1.77474990e-02, 5.19159456e-03,
 -4.75558352e-03,-3.94094273e-03,-7.88465678e-03,-1.91760173e-02,
  1.36443196e+00, 1.89037002e-02, 1.33812925e+00, 2.44708771e-02,
  9.51719281e-02,-6.99818578e-02, 1.30750638e-01, 9.93858165e-01,
  6.56054298e-05, 1.19396077e-03,-1.10654951e-01]

qacc:
[  2.83100237, -0.75336731,  0.81148114,  5.33203532,  3.25237402,
   0.27834818, -2.60923174,  9.55629549,  3.81970115,  0.36919407,
  -4.87477671, 16.6817434 , -0.5603205 ,  0.80577961,  3.85248502,
 -13.10284898, -1.17302604,  0.94075246, -0.02128653, -9.1956881 ,
 -20.03999795, -0.84917945]

qfrc_actuator:
[-1.17877115e-04,-3.73531247e-04,-2.38415201e-04,-8.36655120e-05,
  1.83663080e-05,-3.80160732e-04,-2.99257362e-04,-1.65211353e-04,
  6.26192687e-05,-3.66019088e-04,-2.62899348e-04,-5.05468625e-05,
  2.14619825e-03,-1.26705789e-03, 0.00000000e+00,-1.16528052e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028211053199589387
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.83854641e-14, -1.96770928e-13,  1.00000000e+00,  1.93593991e-26,
        1.00000000e+00,  1.96770928e-13, -1.00000000e+00,  0.00000000e+00,
        9.83854641e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1095063 , -0.08188089,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.65523928e-05, 5.94616193e-06, 3.16182407e-05, 2.16623735e-05,
  1.91639262e-05, 2.50387873e-05, 2.20385051e-05, 2.37968238e-05,
  2.23692447e-05,-3.24119041e-05, 5.75980982e-06, 3.38262825e-05,
 -1.10563833e-05, 2.80311628e-05,-5.36741558e-06,-6.44859147e-05,
 -7.99699621e-07,-3.33833017e-07,-1.21644201e+00,-1.78132209e-03,
 -3.25377956e-04,-3.97942261e-06]


--- Step 1671 ---
qpos:
[ 2.84602408e-03,-5.61414231e-03,-1.02325296e-02, 2.80415870e-03,
 -4.43985924e-03,-5.15011968e-03,-1.77471409e-02, 5.18975578e-03,
 -4.75513702e-03,-3.94137887e-03,-7.88466555e-03,-1.91751784e-02,
  1.36454277e+00, 1.89058123e-02, 1.33823272e+00, 2.44686021e-02,
  9.51681051e-02,-6.99788186e-02, 1.30753516e-01, 9.93855567e-01,
  5.08962898e-05, 1.16175806e-03,-1.10678632e-01]

qacc:
[  4.80888136, -2.21253374,  8.15388005,-10.9533409 ,  1.96669622,
   0.49538196, -1.06688251,  0.17673772, -0.72069177, -1.24911189,
   5.413634  ,-10.5983366 , -0.37299135,  0.51821405,  2.26592574,
  -7.91065509, -1.16506531,  0.931711  , -0.10530669, -9.13086743,
 -19.83829295, -0.8588393 ]

qfrc_actuator:
[-9.01834073e-05,-3.75085656e-04,-2.03903694e-04,-8.89192811e-05,
  2.94722280e-05,-3.69501256e-04,-3.06146200e-04,-1.68643586e-04,
  5.77081849e-05,-3.65060709e-04,-2.52502211e-04,-6.52407601e-05,
  2.13405819e-03,-1.25727141e-03, 0.00000000e+00,-1.20198032e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027913513158694947
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.98868379e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.98868379e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10950668, -0.08188168,  0.06199138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.81669064e-05, 9.24297212e-06, 4.03853829e-05,-3.48287412e-06,
  1.16621392e-05, 3.01961555e-05, 1.80569878e-06,-1.13397247e-06,
 -4.28610384e-06,-1.45080749e-05, 5.58510615e-06,-1.52263444e-05,
 -1.15423900e-05, 1.61111221e-05,-1.24730367e-05,-4.16106920e-05,
 -1.46440643e-07, 2.85648970e-08,-1.21644005e+00,-1.78127122e-03,
 -3.25634253e-04,-4.28562911e-06]


--- Step 1672 ---
qpos:
[ 2.84566742e-03,-5.61445294e-03,-1.02312679e-02, 2.80364437e-03,
 -4.43983749e-03,-5.14867305e-03,-1.77467656e-02, 5.18791190e-03,
 -4.75475274e-03,-3.94184957e-03,-7.88455707e-03,-1.91752226e-02,
  1.36465360e+00, 1.89073749e-02, 1.33833619e+00, 2.44652136e-02,
  9.51596472e-02,-6.99720815e-02, 1.30755692e-01, 9.93852820e-01,
  1.37842382e-05, 1.09245166e-03,-1.10704012e-01]

qacc:
[ 6.01137328e+00,-1.66737354e+00, 5.78278371e+00,-7.07364543e+00,
 -4.89096530e+00,-1.48820056e-03, 1.12441602e-01,-2.72803296e-01,
 -5.40980274e-01,-2.19152688e+00, 1.14704907e+01,-2.69026667e+01,
  2.60833909e-01,-6.07990526e-01, 3.32442069e+00,-1.17339700e+01,
 -1.15870305e+00, 9.24473652e-01,-1.75388940e-01,-9.07834463e+00,
 -1.96775758e+01,-8.65180401e-01]

qfrc_actuator:
[-5.57261355e-05,-3.93659391e-04,-1.83908396e-04,-9.18181466e-05,
  2.61689235e-07,-3.81578243e-04,-3.10367376e-04,-1.69937806e-04,
  5.46328423e-05,-3.64228484e-04,-2.46361462e-04,-1.09723881e-04,
  2.11746930e-03,-1.30566545e-03, 0.00000000e+00,-1.25814282e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002749471683996113
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.01897519e-13, -6.05692558e-13,  1.00000000e+00,  1.22287825e-25,
        1.00000000e+00,  6.05692558e-13, -1.00000000e+00,  0.00000000e+00,
        2.01897519e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10950739, -0.0818827 ,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.52638682e-05,-5.20155700e-06, 2.67522383e-05,-1.17442728e-06,
 -2.88657158e-05, 5.08560015e-06, 2.18185280e-06, 3.96251216e-08,
 -3.20362827e-06,-6.76517474e-06, 3.30923356e-06,-4.52082664e-05,
 -1.90297444e-05,-4.58552987e-05,-1.25985986e-05,-6.05760902e-05,
  2.46830210e-07, 7.24359468e-07,-1.21644111e+00,-1.78091428e-03,
 -3.25312447e-04,-4.09052311e-06]


--- Step 1673 ---
qpos:
[ 2.84538189e-03,-5.61489170e-03,-1.02297366e-02, 2.80311160e-03,
 -4.44085560e-03,-5.14727642e-03,-1.77464081e-02, 5.18642611e-03,
 -4.75440825e-03,-3.94256904e-03,-7.88400939e-03,-1.91757943e-02,
  1.36476457e+00, 1.89081080e-02, 1.33844006e+00, 2.44571399e-02,
  9.51465744e-02,-6.99616692e-02, 1.30756933e-01, 9.93849913e-01,
 -4.56209056e-05, 9.86282647e-04,-1.10731099e-01]

qacc:
[  0.63289727, -0.96173984,  3.25912637, -3.91268203, -9.06839927,
   0.7385783 , -4.21053967, 10.44073905, -0.33049513, -2.64240044,
  11.16740095,-20.80567546,  0.1938688 , -0.6741673 , 14.77298589,
 -50.8589072 , -1.15375421,  0.91877081, -0.23374007, -9.0366742 ,
 -19.55189235, -0.86877277]

qfrc_actuator:
[-5.30728438e-05,-4.04586013e-04,-1.72710813e-04,-9.33294998e-05,
 -5.24421184e-05,-3.89424681e-04,-3.13060525e-04,-1.52221082e-04,
  5.26712665e-05,-3.81272757e-04,-2.25038129e-04,-1.35866236e-04,
  2.11950200e-03,-1.35274985e-03, 0.00000000e+00,-1.50284846e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026983821750095616
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.05720123e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.05720123e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10950836, -0.08188388,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.65813950e-06,-8.34870208e-06, 1.33666847e-05,-8.33733348e-07,
 -5.35295979e-05,-4.61317448e-06,-1.38866948e-06, 1.80121446e-05,
 -2.05506805e-06,-2.20639040e-05, 1.87743161e-05,-2.71966770e-05,
 -1.84071686e-05,-6.54245400e-05,-1.44394545e-05,-2.50125910e-04,
  3.89779653e-07, 1.74909454e-06,-1.21644513e+00,-1.78025255e-03,
 -3.24417788e-04,-3.40368138e-06]


--- Step 1674 ---
qpos:
[ 2.84478567e-03,-5.61519675e-03,-1.02284534e-02, 2.80256725e-03,
 -4.44215292e-03,-5.14587178e-03,-1.77463787e-02, 5.18517850e-03,
 -4.75443519e-03,-3.94311224e-03,-7.88368074e-03,-1.91763387e-02,
  1.36487539e+00, 1.89087121e-02, 1.33854357e+00, 2.44485335e-02,
  9.51289014e-02,-6.99475995e-02, 1.30757046e-01, 9.93846829e-01,
 -1.27235024e-04, 8.43434456e-04,-1.10759893e-01]

qacc:
[ -2.72778836,  0.85141196, -2.72124463,  2.80912507, -2.44541094,
   1.42234459, -6.05368974, 10.68651549, -3.26142118,  0.90774586,
  -3.00191943,  3.68063494, -0.05438599, -0.05792458,  1.08829773,
  -4.56619172, -1.15005495,  0.91437517, -0.28224686, -9.00459291,
 -19.45628695, -0.8700508 ]

qfrc_actuator:
[-6.91619743e-05,-3.93136971e-04,-1.84519085e-04,-9.40121377e-05,
 -6.52806149e-05,-3.94661199e-04,-3.32561363e-04,-1.41211595e-04,
  3.36277617e-05,-3.55557012e-04,-2.30479355e-04,-1.33253897e-04,
  2.12204507e-03,-1.34529077e-03, 0.00000000e+00,-1.51936275e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002640486852601709
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.10230743e-13, -4.20461486e-13,  1.00000000e+00,  8.83939304e-26,
        1.00000000e+00,  4.20461486e-13, -1.00000000e+00,  0.00000000e+00,
        2.10230743e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10950953, -0.08188519,  0.06199184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.59880644e-05, 9.50705303e-06,-1.19266162e-05,-5.95390204e-07,
 -1.43752961e-05,-7.40158079e-06,-2.00165061e-05, 1.11159893e-05,
 -1.91113497e-05, 1.61120265e-05,-8.62332857e-06, 1.78930083e-06,
 -2.29017052e-05,-1.64370646e-05,-3.70395056e-05,-3.28701860e-05,
  2.90680058e-07, 3.09833598e-06,-1.21645204e+00,-1.77928705e-03,
 -3.22954293e-04,-2.23210046e-06]


--- Step 1675 ---
qpos:
[ 2.84434616e-03,-5.61531369e-03,-1.02276440e-02, 2.80202772e-03,
 -4.44290454e-03,-5.14482501e-03,-1.77464247e-02, 5.18410270e-03,
 -4.75469026e-03,-3.94333563e-03,-7.88411162e-03,-1.91761381e-02,
  1.36498602e+00, 1.89091327e-02, 1.33864625e+00, 2.44447586e-02,
  9.51074808e-02,-6.99343525e-02, 1.30757623e-01, 9.93843812e-01,
 -2.00240242e-04, 6.75398897e-04,-1.10787998e-01]

qacc:
[  1.35271797,  1.5803214 , -5.29891925,  6.00674902,  4.76317983,
   0.08191679, -1.71968082,  5.09414065, -2.02601369,  4.08450008,
 -17.08122794, 30.9312585 ,  0.41001899, -0.61013158,-15.93863882,
  53.8045684 , -0.9368724 , -0.20567446,  0.11618283,  5.67255343,
 -12.03950515,  0.34822517]

qfrc_actuator:
[-6.06379121e-05,-3.86225749e-04,-2.09721156e-04,-9.41970302e-05,
 -3.67919871e-05,-4.33875036e-04,-3.44076722e-04,-1.34249765e-04,
  2.24352916e-05,-3.40016046e-04,-2.69249391e-04,-9.59798137e-05,
  2.10893729e-03,-1.35873222e-03, 0.00000000e+00,-1.25921974e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41442306, -0.62046836,  4.37060064, -0.62046836, 46.25096417,
        5.93928665,  4.37060064,  5.93928665,  5.25758851,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000257767426520194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.02171835e-08,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.02171835e-08, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10656067, -0.0649196 ,  0.06199204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.07068325e-06, 9.73210523e-06,-2.47369416e-05,-2.02024194e-07,
  2.80743044e-05,-4.70644681e-05,-1.51386914e-05, 6.16854676e-06,
 -1.17338597e-05, 2.28565471e-05,-3.64379095e-05, 3.77030484e-05,
 -2.90116167e-05,-2.33741321e-05,-2.14791384e-05, 2.53410940e-04,
 -4.31423729e-08, 4.76757222e-06,-1.21646181e+00,-1.77801861e-03,
 -3.20924930e-04,-5.80639009e-07]


--- Step 1676 ---
qpos:
[ 2.84435699e-03,-5.61523615e-03,-1.02274359e-02, 2.80115311e-03,
 -4.44296390e-03,-5.14435861e-03,-1.77465243e-02, 5.18383724e-03,
 -4.75404279e-03,-3.94344776e-03,-7.88524449e-03,-1.91751238e-02,
  1.36509640e+00, 1.89093983e-02, 1.33874872e+00, 2.44444098e-02,
  9.50835094e-02,-6.99265636e-02, 1.30757938e-01, 9.93840966e-01,
 -2.32434309e-04, 4.95277034e-04,-1.10814421e-01]

qacc:
[  3.91687207,  1.23974939, -2.64624867, -2.32019814,  6.04603741,
   1.03942779, -8.26056588, 22.82070796,  7.87747401,  3.7700244 ,
 -16.68254177, 31.81651231,  0.20002213, -0.37479506,-10.7175488 ,
  36.96531567, -0.63772047, -1.36453096, -0.06546894, 20.94891222,
  -3.74548177,  0.85767063]

qfrc_actuator:
[-3.76890654e-05,-3.82145102e-04,-2.42634466e-04,-1.11847681e-04,
 -1.97296012e-06,-4.75359955e-04,-3.50922378e-04,-9.42401601e-05,
  6.92166132e-05,-3.48546632e-04,-3.09635985e-04,-5.63899780e-05,
  2.09710116e-03,-1.36685516e-03, 0.00000000e+00,-1.08677023e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002586016371340927
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.14658932e-13, -2.14658932e-13,  1.00000000e+00,  4.60784571e-26,
        1.00000000e+00,  2.14658932e-13, -1.00000000e+00,  0.00000000e+00,
        2.14658932e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10353589, -0.04751435,  0.06199201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.31835718e-05, 4.40478006e-06,-3.39637883e-05,-1.80941710e-05,
  3.56077426e-05,-7.06909362e-05,-1.82286014e-05, 3.75882901e-05,
  4.64529849e-05,-1.65290761e-06,-3.88416298e-05, 4.00435018e-05,
 -3.08403992e-05,-2.22502477e-05, 1.80943225e-05, 1.83777047e-04,
 -4.46777273e-07, 5.04170120e-06,-1.21646698e+00,-1.77708578e-03,
 -3.18085268e-04,-6.54776618e-08]


--- Step 1677 ---
qpos:
[ 2.84464307e-03,-5.61530889e-03,-1.02272326e-02, 2.80007706e-03,
 -4.44260511e-03,-5.14449790e-03,-1.77469452e-02, 5.18407564e-03,
 -4.75318463e-03,-3.94363402e-03,-7.88649316e-03,-1.91740049e-02,
  1.36520666e+00, 1.89094967e-02, 1.33885120e+00, 2.44464771e-02,
  9.50570349e-02,-6.99241730e-02, 1.30757628e-01, 9.93838267e-01,
 -2.24159426e-04, 3.02892275e-04,-1.10839327e-01]

qacc:
[ 2.40996217,-0.60463809, 2.70976535,-6.06862022, 3.64742012, 1.127709  ,
 -7.32196046,17.01552946, 1.84215665, 0.43782819,-2.15050339, 4.20698075,
  0.19203531,-0.34517406,-7.3389839 ,25.61381966,-0.6257726 ,-1.34957051,
 -0.15628192,20.78894506,-3.85162564, 0.77050809]

qfrc_actuator:
[-2.41942983e-05,-3.97597053e-04,-2.44352308e-04,-1.21887171e-04,
  1.85268517e-05,-5.17841870e-04,-3.72710397e-04,-7.06144292e-05,
  7.87322623e-05,-3.53686886e-04,-3.15240961e-04,-5.12825592e-05,
  2.09669001e-03,-1.37174219e-03, 0.00000000e+00,-9.67464013e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41411125, -0.32219491, -4.40233671, -0.32219491, 43.53718991,
       -2.86331044, -4.40233671, -2.86331044,  4.62366906,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025765142492982507
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.30901178e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.30901178e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10353736, -0.04751384,  0.06199204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.41607634e-05,-2.07747815e-05,-5.61993061e-06,-1.13778533e-05,
  2.14950527e-05,-8.41691969e-05,-3.73389430e-05, 2.06960445e-05,
  1.08402955e-05,-1.23388366e-05,-9.33366893e-06, 4.47112370e-06,
 -1.95160365e-05,-1.93173550e-05, 2.60306819e-05, 1.31254001e-04,
 -3.31318329e-07, 4.16963098e-06,-1.21646694e+00,-1.77694383e-03,
 -3.14752681e-04,-1.20285084e-06]


--- Step 1678 ---
qpos:
[ 2.84508881e-03,-5.61540537e-03,-1.02271314e-02, 2.79922475e-03,
 -4.44200322e-03,-5.14510250e-03,-1.77473920e-02, 5.18421160e-03,
 -4.75290863e-03,-3.94385729e-03,-7.88723227e-03,-1.91735727e-02,
  1.36531691e+00, 1.89092253e-02, 1.33895356e+00, 2.44516585e-02,
  9.50280939e-02,-6.99271319e-02, 1.30756389e-01, 9.93835694e-01,
 -1.75694595e-04, 9.80977981e-05,-1.10862854e-01]

qacc:
[  1.39385098,  0.712037  , -3.53335923,  7.59104736,  2.12724353,
  -0.75765395,  2.234665  , -3.61667187, -5.08013012, -2.87794534,
  13.10024935,-25.77715014,  0.48917622, -0.75312095, -9.67158425,
  33.4218845 , -0.61661583, -1.33738263, -0.23229872, 20.65870177,
  -3.93948679,  0.69733391]

qfrc_actuator:
[-1.63770231e-05,-3.88996327e-04,-2.45461413e-04,-1.09606962e-04,
  3.04323324e-05,-5.25159259e-04,-3.67669354e-04,-7.45892917e-05,
  4.84667039e-05,-3.38899424e-04,-2.82529738e-04,-8.42337744e-05,
  2.09780723e-03,-1.39236610e-03, 0.00000000e+00,-8.09393694e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002552846618477933
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.17448047e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.17448047e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10353874, -0.04751291,  0.06199211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.21569456e-06,-4.65822452e-06,-6.48623411e-06, 1.09756231e-05,
  1.24929349e-05,-6.11928386e-05,-1.62222001e-05,-8.47061815e-06,
 -2.99617356e-05, 6.17667547e-06, 2.91825835e-05,-3.37150872e-05,
 -1.18857772e-05,-3.15065101e-05, 2.33373089e-05, 1.67982809e-04,
  1.28142190e-07, 3.86547843e-06,-1.21646976e+00,-1.77743540e-03,
 -3.11376166e-04,-2.43969380e-06]


--- Step 1679 ---
qpos:
[ 2.84527999e-03,-5.61549953e-03,-1.02270904e-02, 2.79886492e-03,
 -4.44160822e-03,-5.14593885e-03,-1.77476295e-02, 5.18425168e-03,
 -4.75230758e-03,-3.94416724e-03,-7.88754612e-03,-1.91735268e-02,
  1.36542678e+00, 1.89092497e-02, 1.33905618e+00, 2.44573769e-02,
  9.49967140e-02,-6.99354010e-02, 1.30753966e-01, 9.93833220e-01,
 -8.72636995e-05,-1.19231626e-04,-1.10885115e-01]

qacc:
[ -2.22833219,  1.1897381 , -6.30887305, 14.91830463, -1.79389034,
  -1.08476487,  3.83447721, -5.66515059,  2.86020142, -2.10484099,
   8.95629562,-16.24078045, -0.46574377,  0.57831861, -1.19313608,
   4.85214386, -0.6097372 , -1.32754199, -0.29586334, 20.55462778,
  -4.01357921,  0.63510607]

qfrc_actuator:
[-2.97133778e-05,-3.83783061e-04,-2.46106093e-04,-8.42795158e-05,
  1.94363707e-05,-5.11276044e-04,-3.46697891e-04,-7.69671276e-05,
  6.60515352e-05,-3.47668066e-04,-2.62913094e-04,-1.03765394e-04,
  2.07853112e-03,-1.36890474e-03, 0.00000000e+00,-7.89503072e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002518144619978041
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.20444651e-13, -6.61333953e-13,  1.00000000e+00,  1.45787533e-25,
        1.00000000e+00,  6.61333953e-13, -1.00000000e+00,  0.00000000e+00,
        2.20444651e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10354004, -0.04751165,  0.06199222])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31029911e-05, 1.74452944e-06,-2.02495748e-06, 2.51184966e-05,
 -1.06581842e-05,-2.40177359e-05, 6.05225078e-06,-5.72437928e-06,
  1.67301657e-05,-7.24898246e-07, 2.33318733e-05,-1.89113781e-05,
 -3.13128998e-05, 1.05305223e-05, 2.67666507e-05, 3.16160898e-05,
  9.19596479e-07, 4.11573674e-06,-1.21647539e+00,-1.77855723e-03,
 -3.07942770e-04,-3.78234258e-06]


--- Step 1680 ---
qpos:
[ 2.84496500e-03,-5.61564042e-03,-1.02267578e-02, 2.79879300e-03,
 -4.44134824e-03,-5.14660868e-03,-1.77480922e-02, 5.18424089e-03,
 -4.75150024e-03,-3.94510521e-03,-7.88763597e-03,-1.91732855e-02,
  1.36553607e+00, 1.89098522e-02, 1.33915926e+00, 2.44606493e-02,
  9.49688145e-02,-6.99474486e-02, 1.30752795e-01, 9.93830602e-01,
  2.40762755e-05,-3.07811167e-04,-1.10908246e-01]

qacc:
[ -4.41741235, -0.27492144, -0.30969127,  4.84437768, -1.18757663,
   0.74688595, -2.12524989,  1.47874922,  1.82375602, -1.05725543,
   1.73543284,  1.75440746, -1.049015  ,  1.32935358,  8.21252066,
 -27.44181692,  0.87011748, -0.94464563,  0.31301732,  9.78987685,
  15.55646203, -0.43995962]

qfrc_actuator:
[-5.53915556e-05,-3.80618823e-04,-2.28720628e-04,-6.92346100e-05,
  1.28049226e-05,-4.84719881e-04,-3.51898234e-04,-7.83523357e-05,
  7.61669797e-05,-4.23763781e-04,-2.69025355e-04,-9.75182601e-05,
  2.04705370e-03,-1.33726255e-03, 0.00000000e+00,-9.22199250e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024742293903869117
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.24357335e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.24357335e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08498217, -0.05558331,  0.06199235])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.60527115e-05, 4.79630757e-06, 1.83673319e-05, 1.55399046e-05,
 -6.94536355e-06, 1.41597912e-05,-9.60074341e-06,-2.31346106e-06,
  1.05915384e-05,-7.24693911e-05,-4.03554912e-06, 6.65584467e-06,
 -4.36764521e-05, 2.74547040e-05, 1.15159445e-05,-1.28481789e-04,
  2.03508957e-06, 4.91189421e-06,-1.21648378e+00,-1.78030663e-03,
 -3.04442092e-04,-5.23602744e-06]


--- Step 1681 ---
qpos:
[ 2.84468928e-03,-5.61546383e-03,-1.02269218e-02, 2.79890965e-03,
 -4.44082530e-03,-5.14682494e-03,-1.77484881e-02, 5.18381016e-03,
 -4.75092277e-03,-3.94663947e-03,-7.88746615e-03,-1.91729767e-02,
  1.36564504e+00, 1.89105896e-02, 1.33926239e+00, 2.44623304e-02,
  9.49443530e-02,-6.99632113e-02, 1.30752398e-01, 9.93827841e-01,
  1.58195137e-04,-4.68068114e-04,-1.10932314e-01]

qacc:
[  0.32258699,  2.1952824 , -8.01558394, 11.84068778,  2.28753963,
  -0.45654076,  4.26273385,-11.96326616, -1.99395392, -1.37106715,
   3.46678449, -2.28196784, -0.47708245,  0.5105477 ,  4.95094782,
 -17.07693306,  0.85946842, -0.9287611 ,  0.1933487 ,  9.74842977,
  15.33708027, -0.47801097]

qfrc_actuator:
[-5.26161336e-05,-3.60883254e-04,-2.54102547e-04,-6.03516416e-05,
  2.65557171e-05,-4.33112903e-04,-3.36945556e-04,-9.69012616e-05,
  6.40369043e-05,-4.50916592e-04,-2.55038533e-04,-9.39837267e-05,
  2.02958938e-03,-1.33661766e-03, 0.00000000e+00,-1.00165841e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002500183909369402
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11014136e-13, -2.22028272e-13,  1.00000000e+00,  2.46482767e-26,
        1.00000000e+00,  2.22028272e-13, -1.00000000e+00,  0.00000000e+00,
        1.11014136e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08498281, -0.05558307,  0.06199227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.03120080e-06, 2.68707012e-05,-2.15917898e-05, 1.00273863e-05,
  1.35571224e-05, 5.74702890e-05, 1.66281896e-05,-1.83166767e-05,
 -1.18560135e-05,-6.81850424e-05,-1.23608649e-06, 4.22451501e-07,
 -3.26778603e-05,-7.47933087e-07,-1.37140590e-05,-8.61927866e-05,
  2.07906705e-06, 5.37653856e-06,-1.21647817e+00,-1.78242060e-03,
 -3.01528626e-04,-4.56676002e-06]


--- Step 1682 ---
qpos:
[ 2.84410382e-03,-5.61502982e-03,-1.02273747e-02, 2.79877997e-03,
 -4.44083135e-03,-5.14676303e-03,-1.77483599e-02, 5.18280519e-03,
 -4.75015075e-03,-3.94813614e-03,-7.88738763e-03,-1.91730310e-02,
  1.36575392e+00, 1.89110719e-02, 1.33936523e+00, 2.44647007e-02,
  9.49232931e-02,-6.99826383e-02, 1.30752373e-01, 9.93824935e-01,
  3.14987484e-04,-6.00357566e-04,-1.10957377e-01]

qacc:
[ -2.72287055,  0.64565203, -0.75958651, -3.24054845, -4.60210764,
  -2.2695957 , 11.06611512,-22.06529548,  1.69943218, -0.44646219,
   3.18869738, -9.34353053,  0.16042444, -0.35238996, -2.55138949,
   8.22805256,  0.85043178, -0.91607446,  0.09298632,  9.71530057,
  15.15493653, -0.50940614]

qfrc_actuator:
[-6.86167823e-05,-3.49303039e-04,-2.68968139e-04,-7.29342867e-05,
 -1.06602551e-06,-4.20086991e-04,-3.10103099e-04,-1.25358989e-04,
  7.44184274e-05,-4.12978898e-04,-2.46870181e-04,-1.09779678e-04,
  2.02585677e-03,-1.35435933e-03, 0.00000000e+00,-9.60288387e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025057053832341913
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.21539019e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.21539019e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08498308, -0.05558257,  0.06199226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.59331765e-05, 2.25728996e-05,-1.16280224e-05,-1.19836295e-05,
 -2.72129662e-05, 4.78308617e-05, 4.01349144e-05,-2.57747064e-05,
  1.00145413e-05,-3.77648030e-07,-6.03607732e-06,-1.87475733e-05,
 -2.04795856e-05,-2.51879866e-05,-1.85723675e-05, 3.42069013e-05,
  1.84846761e-06, 6.05253664e-06,-1.21647475e+00,-1.78483728e-03,
 -2.99065138e-04,-3.70179858e-06]


--- Step 1683 ---
qpos:
[ 2.84333118e-03,-5.61448029e-03,-1.02276673e-02, 2.79814224e-03,
 -4.44116813e-03,-5.14654423e-03,-1.77481240e-02, 5.18185714e-03,
 -4.74926077e-03,-3.94923779e-03,-7.88772570e-03,-1.91729533e-02,
  1.36586282e+00, 1.89110677e-02, 1.33946802e+00, 2.44668429e-02,
  9.49065008e-02,-7.00026849e-02, 1.30753658e-01, 9.93822043e-01,
  4.72012997e-04,-7.02018254e-04,-1.10982124e-01]

qacc:
[ -1.63451123, -1.33845275,  7.14380261,-16.28349921, -2.88376364,
   0.02922966, -0.03393262,  0.72106311,  1.01287169,  1.95662345,
  -6.77794327,  9.43847099,  0.29139542, -0.60472371,  0.58825572,
  -2.24551572,  1.06689712, -0.15489375,  0.32758436, -1.58328851,
  15.23280439,  0.15270839]

qfrc_actuator:
[-7.77971492e-05,-3.42682966e-04,-2.59780369e-04,-9.80368454e-05,
 -1.73192663e-05,-4.30215738e-04,-3.12115957e-04,-1.23934453e-04,
  8.02218010e-05,-3.71887538e-04,-2.59698419e-04,-1.01264996e-04,
  2.02502815e-03,-1.38279677e-03, 0.00000000e+00,-9.72333264e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025042328391737447
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20997445e-06, -1.20997465e-06,  1.00000000e+00, -1.46403841e-12,
        1.00000000e+00,  1.20997465e-06, -1.00000000e+00,  0.00000000e+00,
       -1.20997445e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08237379, -0.06709374,  0.06199226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.62780174e-06, 1.63137335e-05, 1.20051784e-05,-2.47698907e-05,
 -1.70171898e-05, 2.37924139e-05, 1.19197565e-05, 4.36406618e-06,
  6.08559964e-06, 3.88899388e-05,-1.42812123e-05, 7.92766755e-06,
 -1.69385100e-05,-4.08051801e-05,-6.07006011e-06,-1.28366257e-05,
  1.34933923e-06, 6.93129790e-06,-1.21647342e+00,-1.78755750e-03,
 -2.97045008e-04,-2.64574067e-06]


--- Step 1684 ---
qpos:
[ 2.84279929e-03,-5.61384827e-03,-1.02278543e-02, 2.79756194e-03,
 -4.44135254e-03,-5.14603395e-03,-1.77482241e-02, 5.18094761e-03,
 -4.74899772e-03,-3.95028147e-03,-7.88812881e-03,-1.91724102e-02,
  1.36597157e+00, 1.89109474e-02, 1.33957110e+00, 2.44661349e-02,
  9.48911505e-02,-7.00174367e-02, 1.30756048e-01, 9.93819195e-01,
  5.89629074e-04,-7.99560146e-04,-1.11006402e-01]

qacc:
[  2.10769332, -0.07210544,  0.16575559,  0.60615598,  1.31344427,
   1.40029571, -4.60140613,  5.59647565, -5.49101765,  1.22790675,
  -6.20949853, 14.29756636, -0.30483176,  0.22011277,  9.09422826,
 -31.10957909,  0.36048814,  1.32370033,  0.27613988,-19.81138547,
  -0.14007021,  0.24818548]

qfrc_actuator:
[-6.51313774e-05,-3.39000045e-04,-2.54246815e-04,-9.47858269e-05,
 -8.98542207e-06,-4.18722014e-04,-3.31235285e-04,-1.22734671e-04,
  4.77717932e-05,-3.82534337e-04,-2.67010192e-04,-7.85138634e-05,
  2.02060975e-03,-1.38181311e-03, 0.00000000e+00,-1.12230126e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.40467582,  2.0145159 , -3.91700073,  2.0145159 , 37.99697173,
       17.27653854, -3.91700073, 17.27653854, 13.29001026,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025410903395752486
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.59414201e-13,  1.01731327e-06,  1.00000000e+00,  2.63905510e-19,
        1.00000000e+00, -1.01731327e-06, -1.00000000e+00, -4.81482486e-35,
       -2.59414201e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09024889, -0.08829615,  0.06199215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23955191e-05, 1.42080862e-05, 9.52448854e-06, 3.88472055e-06,
  7.85366502e-06, 2.74327279e-05,-1.25881992e-05, 2.71842382e-06,
 -3.22662090e-05, 8.53867198e-06,-7.46630169e-07, 2.40798010e-05,
 -2.23537327e-05,-1.54284781e-05,-6.24364986e-06,-1.51937152e-04,
  5.23559510e-07, 6.46128351e-06,-1.21646774e+00,-1.79025591e-03,
 -2.95819302e-04,-9.03466177e-07]


--- Step 1685 ---
qpos:
[ 2.84173351e-03,-5.61315431e-03,-1.02285095e-02, 2.79706791e-03,
 -4.44109085e-03,-5.14532572e-03,-1.77485285e-02, 5.18006274e-03,
 -4.74912544e-03,-3.95170946e-03,-7.88756216e-03,-1.91716135e-02,
  1.36608007e+00, 1.89110475e-02, 1.33967386e+00, 2.44659787e-02,
  9.48810418e-02,-7.00289096e-02, 1.30759003e-01, 9.93816634e-01,
  6.78936450e-04,-8.62646609e-04,-1.11028346e-01]

qacc:
[ -4.68561954,  1.57735176, -5.85365437,  8.03280383,  3.88083231,
   0.87572859, -2.86029199,  3.48276844, -3.38368472, -2.6896195 ,
   7.79356117, -4.68366175, -0.27238291,  0.35751771, -2.11888882,
   6.79118547,  1.3103921 ,  0.81972245,  0.14137131,-15.97840361,
  15.55081296,  1.17705629]

qfrc_actuator:
[-9.29688607e-05,-3.54845232e-04,-2.86420545e-04,-9.26375505e-05,
  1.37498577e-05,-4.12204769e-04,-3.42465290e-04,-1.21674106e-04,
  2.85727307e-05,-4.06292351e-04,-2.17939082e-04,-6.53596614e-05,
  2.01405147e-03,-1.36335243e-03, 0.00000000e+00,-1.08602032e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.41563082, -2.65915933,  3.52514783, -2.65915933, 24.6751495 ,
       15.28256138,  3.52514783, 15.28256138, 15.9438752 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000258216111435422
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07489713e-13,  4.29958851e-13,  1.00000000e+00,  4.62161533e-26,
        1.00000000e+00, -4.29958851e-13, -1.00000000e+00,  0.00000000e+00,
       -1.07489713e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07854749, -0.08169603,  0.06199202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.74804834e-05,-5.77958412e-06,-2.79352047e-05, 3.16212426e-06,
  2.29703818e-05, 1.93612651e-05,-7.02357196e-06, 1.85399015e-06,
 -2.01221536e-05,-1.80753580e-05, 5.15931605e-05, 1.39662857e-05,
 -2.18112439e-05, 8.91186528e-06,-2.28302322e-05, 2.63268856e-05,
  2.79645927e-07, 4.40686094e-06,-1.21645864e+00,-1.79220233e-03,
 -2.94981175e-04, 3.23179640e-07]


--- Step 1686 ---
qpos:
[ 2.84034266e-03,-5.61268575e-03,-1.02294226e-02, 2.79662681e-03,
 -4.44055831e-03,-5.14486229e-03,-1.77484752e-02, 5.17887039e-03,
 -4.74948272e-03,-3.95338414e-03,-7.88639412e-03,-1.91706575e-02,
  1.36618861e+00, 1.89103946e-02, 1.33977625e+00, 2.44678892e-02,
  9.48760987e-02,-7.00371291e-02, 1.30762074e-01, 9.93814362e-01,
  7.40348331e-04,-8.91567112e-04,-1.11048058e-01]

qacc:
[ -2.84761921,  0.53744509, -2.56223831,  4.04590574,  2.37735646,
  -1.96058382,  7.81162816,-13.51744354, -1.98636347, -1.67523886,
   4.83445531, -2.86557693,  0.6954889 , -1.19296764, -6.89065739,
  23.09910988,  1.29142441,  0.81334012,  0.02898994,-15.75733383,
  15.42963663,  1.12549931]

qfrc_actuator:
[-1.08924711e-04,-3.82419720e-04,-3.05181771e-04,-9.12027387e-05,
  2.70186909e-05,-4.44201751e-04,-3.31206226e-04,-1.38451236e-04,
  1.73388449e-05,-4.19745384e-04,-1.89304932e-04,-5.79380313e-05,
  2.00089897e-03,-1.42345886e-03, 0.00000000e+00,-9.75757164e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002595605179681465
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06932964e-13,  4.27731857e-13,  1.00000000e+00, -4.57386355e-26,
        1.00000000e+00, -4.27731857e-13, -1.00000000e+00,  0.00000000e+00,
        1.06932964e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07854718, -0.08169527,  0.06199198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.67437352e-05,-3.64637704e-05,-2.32836818e-05, 2.84435077e-07,
  1.39342692e-05,-2.25537254e-05, 1.44533449e-05,-1.61544506e-05,
 -1.18213117e-05,-1.22704834e-05, 3.17473469e-05, 8.70548679e-06,
 -2.21536121e-05,-6.21501286e-05,-9.04111855e-06, 1.08474069e-04,
 -2.42299660e-07, 2.63870924e-06,-1.21644958e+00,-1.79382316e-03,
 -2.94604699e-04, 1.98511902e-06]


--- Step 1687 ---
qpos:
[ 2.83946099e-03,-5.61264408e-03,-1.02299098e-02, 2.79618504e-03,
 -4.44021542e-03,-5.14476719e-03,-1.77479520e-02, 5.17818552e-03,
 -4.74997212e-03,-3.95512162e-03,-7.88573193e-03,-1.91699114e-02,
  1.36629689e+00, 1.89095766e-02, 1.33987882e+00, 2.44690738e-02,
  9.48762598e-02,-7.00421170e-02, 1.30764884e-01, 9.93812378e-01,
  7.74202958e-04,-8.86562453e-04,-1.11065621e-01]

qacc:
[  4.47448611, -1.76469974,  5.461266  , -5.82372774, -1.63280057,
  -0.75144262, -0.16340473,  8.45930285, -1.17150365,  0.90084338,
  -2.44267367, -0.33899824, -0.19066373,  0.03378205,  2.4802448 ,
  -8.25164521,  1.27602115,  0.807914  , -0.06511696,-15.57620795,
  15.32849045,  1.08332146]

qfrc_actuator:
[-8.22415787e-05,-3.99016595e-04,-2.80413275e-04,-9.01971657e-05,
  1.68518314e-05,-4.63438435e-04,-3.06934186e-04,-1.12350833e-04,
  1.08791586e-05,-4.44751946e-04,-2.26210396e-04,-7.17156370e-05,
  1.98909696e-03,-1.42330447e-03, 0.00000000e+00,-1.01811928e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002590104499065049
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07160061e-13, -2.14320122e-13,  1.00000000e+00, -2.29665574e-26,
        1.00000000e+00,  2.14320122e-13, -1.00000000e+00,  0.00000000e+00,
       -1.07160061e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07854653, -0.081695  ,  0.061992  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.61923146e-05,-4.17914740e-05, 1.43867853e-05,-1.35399086e-06,
 -9.77519778e-06,-2.95653560e-05, 2.08310902e-05, 2.53207743e-05,
 -6.80714045e-06,-2.48985497e-05,-3.52246599e-05,-1.30357576e-05,
 -3.67553705e-05,-2.42551374e-05, 6.76059888e-06,-3.77579841e-05,
 -4.92830870e-07, 1.26265270e-06,-1.21644370e+00,-1.79493823e-03,
 -2.94631555e-04, 3.01731726e-06]


--- Step 1688 ---
qpos:
[ 2.83890575e-03,-5.61282723e-03,-1.02304448e-02, 2.79576539e-03,
 -4.44034212e-03,-5.14455974e-03,-1.77476168e-02, 5.17814751e-03,
 -4.75122521e-03,-3.95687780e-03,-7.88554852e-03,-1.91693429e-02,
  1.36640464e+00, 1.89094402e-02, 1.33998131e+00, 2.44707596e-02,
  9.48814753e-02,-7.00438914e-02, 1.30767120e-01, 9.93810676e-01,
  7.80775371e-04,-8.47829610e-04,-1.11081105e-01]

qacc:
[  2.85763505, -0.12347619, -0.09390439,  0.72917116, -4.10279672,
   2.01357719, -9.68143466, 21.0810395 , -6.70017905,  0.96098902,
  -2.69059845,  0.37373054, -0.79230044,  1.12457362, -1.56397451,
   5.49371601,  1.26362734,  0.80335804, -0.14380037,-15.42890935,
  15.2456161 ,  1.04837794]

qfrc_actuator:
[-6.61845371e-05,-4.08735254e-04,-2.83365473e-04,-8.94167060e-05,
 -7.02427697e-06,-4.39292221e-04,-3.10614833e-04,-7.89684897e-05,
 -2.82268849e-05,-4.41270590e-04,-2.48315034e-04,-8.01546571e-05,
  1.97813221e-03,-1.36952766e-03, 0.00000000e+00,-9.90316955e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025696089675598943
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.16029567e-13, -2.16029567e-13,  1.00000000e+00,  4.66687738e-26,
        1.00000000e+00,  2.16029567e-13, -1.00000000e+00,  0.00000000e+00,
        2.16029567e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07854558, -0.08169512,  0.06199206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67910068e-05,-3.01577428e-05,-9.85327925e-06,-5.37621745e-07,
 -2.41685370e-05, 1.29894621e-05,-6.35023045e-06, 3.33298976e-05,
 -3.93118578e-05,-1.82258604e-05,-3.20259539e-05,-1.09769196e-05,
 -3.44909831e-05, 3.78646652e-05,-4.46353411e-06, 2.58066257e-05,
 -4.74115001e-07, 2.57137238e-07,-1.21644090e+00,-1.79555524e-03,
 -2.95064983e-04, 3.43688389e-06]


--- Step 1689 ---
qpos:
[ 2.83820247e-03,-5.61297393e-03,-1.02314323e-02, 2.79569821e-03,
 -4.44075423e-03,-5.14407820e-03,-1.77476580e-02, 5.17781114e-03,
 -4.75362741e-03,-3.95851080e-03,-7.88574422e-03,-1.91689055e-02,
  1.36651214e+00, 1.89094144e-02, 1.34008394e+00, 2.44710782e-02,
  9.48917060e-02,-7.00424675e-02, 1.30768517e-01, 9.93809246e-01,
  7.60287137e-04,-7.75526110e-04,-1.11094565e-01]

qacc:
[ -1.30941252,  2.04117889, -8.6912802 , 15.48294338, -2.50577812,
   0.8039916 , -1.07340515, -3.69900111,-10.07337286,  0.97212398,
  -2.64266727,  0.85292469, -0.38627392,  0.41913533,  4.41417759,
 -15.00236899,  1.25378047,  0.79958797, -0.20949002,-15.31036076,
  15.17938033,  1.01895774]

qfrc_actuator:
[-7.42767000e-05,-3.96605665e-04,-3.02646727e-04,-7.10412206e-05,
 -2.10175137e-05,-4.24954889e-04,-3.30597045e-04,-9.48172648e-05,
 -8.62363241e-05,-4.20715446e-04,-2.61363913e-04,-8.53389676e-05,
  1.96237741e-03,-1.37312127e-03, 0.00000000e+00,-1.06337379e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025374053655539963
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09385658e-13, -6.56313949e-13,  1.00000000e+00,  7.17913334e-26,
        1.00000000e+00,  6.56313949e-13, -1.00000000e+00,  0.00000000e+00,
        1.09385658e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07854442, -0.08169556,  0.06199216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.62114252e-06,-6.77154830e-06,-2.67336243e-05, 1.67338553e-05,
 -1.46826545e-05, 2.16975306e-05,-1.69334165e-05,-1.48634011e-05,
 -5.91420291e-05, 3.32100558e-06,-2.11200632e-05,-7.28298533e-06,
 -2.38310466e-05, 2.58175590e-07,-2.15044602e-06,-7.28475186e-05,
 -1.88761844e-07,-3.94852269e-07,-1.21644109e+00,-1.79568032e-03,
 -2.95907302e-04, 3.25703757e-06]


--- Step 1690 ---
qpos:
[ 2.83740782e-03,-5.61307826e-03,-1.02326844e-02, 2.79583769e-03,
 -4.44133080e-03,-5.14371800e-03,-1.77477862e-02, 5.17731885e-03,
 -4.75567212e-03,-3.95985483e-03,-7.88622194e-03,-1.91685623e-02,
  1.36661949e+00, 1.89093719e-02, 1.34018671e+00, 2.44691786e-02,
  9.48992396e-02,-7.00340218e-02, 1.30768396e-01, 9.93807542e-01,
  6.92404379e-04,-7.30280505e-04,-1.11110562e-01]

qacc:
[ -0.80818242,  1.22315347, -5.14957988,  9.11548922, -1.43507122,
  -0.2351471 ,  1.26883266, -3.74405882,  3.11562137,  0.97000249,
  -2.51707562,  1.13536587, -0.31136895,  0.28381085,  6.96499064,
 -23.9725765 , -0.67426423,  1.75544159, -0.37959971,-22.04844515,
 -16.07890117, -1.24749727]

qfrc_actuator:
[-7.87618727e-05,-3.89291108e-04,-3.13549049e-04,-6.02005328e-05,
 -2.90773642e-05,-4.52214814e-04,-3.42344125e-04,-1.04012960e-04,
 -6.61337500e-05,-3.90050429e-04,-2.68887500e-04,-8.85458643e-05,
  1.95439314e-03,-1.37533346e-03, 0.00000000e+00,-1.17752556e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002513569447308017
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10422951e-13, -2.20845902e-13,  1.00000000e+00,  2.43864563e-26,
        1.00000000e+00,  2.20845902e-13, -1.00000000e+00,  0.00000000e+00,
        1.10422951e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10307119, -0.0955345 ,  0.06199224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.70348736e-06,-1.26058130e-06,-1.50004532e-05, 9.95430726e-06,
 -8.47187273e-06,-1.92825726e-05,-9.86968768e-06,-9.14098838e-06,
  1.84105499e-05, 2.78801978e-05,-9.67050796e-06,-3.93210773e-06,
 -1.99311897e-05,-7.41437737e-06,-1.21290143e-05,-1.19168259e-04,
  3.60254406e-07,-7.07007823e-07,-1.21644421e+00,-1.79531838e-03,
 -2.97160251e-04, 2.48775964e-06]


--- Step 1691 ---
qpos:
[ 2.83656563e-03,-5.61327301e-03,-1.02339809e-02, 2.79541714e-03,
 -4.44199941e-03,-5.14380715e-03,-1.77476336e-02, 5.17708278e-03,
 -4.75746080e-03,-3.96068504e-03,-7.88721146e-03,-1.91682738e-02,
  1.36672660e+00, 1.89093428e-02, 1.34028896e+00, 2.44695961e-02,
  9.49040863e-02,-7.00186158e-02, 1.30766468e-01, 9.93805548e-01,
  5.77417481e-04,-7.11790599e-04,-1.11129168e-01]

qacc:
[ -0.41603658, -1.14827528,  6.28618109,-15.84257106, -0.78611533,
  -0.84933447,  1.08801515,  3.22448393,  2.21636004,  1.99291444,
  -5.89666737,  5.39797811,  0.03318356, -0.09155923, -7.80840817,
  26.15832893, -0.67172602,  1.74007598, -0.45191666,-21.92065712,
 -15.91289999, -1.28564993]

qfrc_actuator:
[-8.10802912e-05,-4.02638686e-04,-3.19430726e-04,-8.93811794e-05,
 -3.35839692e-05,-4.86394681e-04,-3.31536173e-04,-9.14872809e-05,
 -5.34688166e-05,-3.53534565e-04,-2.90793983e-04,-9.05506912e-05,
  1.94042077e-03,-1.37663375e-03, 0.00000000e+00,-1.04864683e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024914368155234956
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.22807783e-13,  1.11403891e-13,  1.00000000e+00, -2.48216540e-26,
        1.00000000e+00, -1.11403891e-13, -1.00000000e+00,  0.00000000e+00,
        2.22807783e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10307095, -0.09553582,  0.0619923 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.45151357e-06,-1.67054668e-05,-7.62872877e-06,-2.95569148e-05,
 -4.75541046e-06,-4.74062035e-05, 5.29174514e-06, 1.11809790e-05,
  1.31963197e-05, 4.99939822e-05,-1.74574147e-05,-1.21986517e-06,
 -2.61908119e-05,-7.81223666e-06,-2.14216311e-05, 1.20106113e-04,
  1.42175276e-06, 1.46197273e-07,-1.21644503e+00,-1.79414118e-03,
 -2.98092230e-04, 2.10160911e-06]


--- Step 1692 ---
qpos:
[ 2.83570223e-03,-5.61365200e-03,-1.02350051e-02, 2.79429525e-03,
 -4.44168243e-03,-5.14426423e-03,-1.77467807e-02, 5.17661349e-03,
 -4.75908366e-03,-3.96107464e-03,-7.88845522e-03,-1.91683656e-02,
  1.36683335e+00, 1.89097841e-02, 1.34039074e+00, 2.44741886e-02,
  9.49099787e-02,-6.99980342e-02, 1.30764007e-01, 9.93803547e-01,
  4.23936859e-04,-6.90193475e-04,-1.11147889e-01]

qacc:
[-1.74293296e-01,-2.44868682e+00, 1.13384996e+01,-2.37765493e+01,
  8.62366410e+00,-2.93923314e+00, 1.07307171e+01,-1.55862926e+01,
  1.43586811e+00, 5.06835600e-01, 6.35916581e-01,-7.12464055e+00,
 -1.94862383e-01, 3.96750091e-01,-1.33323242e+01, 4.56595573e+01,
  2.61415755e-01, 1.29390747e+00,-1.32993902e-01,-1.93003280e+01,
 -5.94938765e-01,-4.49619596e-02]

qfrc_actuator:
[-8.21059397e-05,-4.10515084e-04,-3.04661915e-04,-1.24137954e-04,
  1.72926292e-05,-4.88844702e-04,-2.89775721e-04,-1.01783813e-04,
 -4.53079987e-05,-3.31601256e-04,-3.03234976e-04,-1.09588827e-04,
  1.93351984e-03,-1.34190513e-03, 0.00000000e+00,-8.30855841e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024533865041196105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.21703110e-06, -2.73327926e-13,  1.00000000e+00,  3.32648586e-19,
        1.00000000e+00,  2.73327926e-13, -1.00000000e+00,  0.00000000e+00,
        1.21703110e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09093176, -0.08868759,  0.06199242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09797962e-06,-2.00353554e-05, 9.37506467e-06,-3.63072755e-05,
  5.07230587e-05,-2.73869015e-05, 3.30076064e-05,-1.19263160e-05,
  8.55230361e-06, 4.62716478e-05,-4.28912318e-06,-1.75223708e-05,
 -2.14694768e-05, 2.63140721e-05, 2.51628598e-06, 2.21511316e-04,
  2.30112718e-06, 1.97498235e-06,-1.21645047e+00,-1.79225763e-03,
 -2.98646224e-04, 2.49075284e-06]


--- Step 1693 ---
qpos:
[ 2.83448903e-03,-5.61508410e-03,-1.02352370e-02, 2.79422326e-03,
 -4.44041270e-03,-5.14579859e-03,-1.77448501e-02, 5.17712571e-03,
 -4.75990563e-03,-3.96176002e-03,-7.88952456e-03,-1.91686191e-02,
  1.36693989e+00, 1.89108033e-02, 1.34049253e+00, 2.44810058e-02,
  9.49208478e-02,-6.99742821e-02, 1.30760750e-01, 9.93801780e-01,
  2.43043701e-04,-6.34584762e-04,-1.11164566e-01]

qacc:
[ -3.01624826, -1.43796758, -1.31359489, 18.97993094,  8.36182907,
  -2.42972901,  2.42688685, 13.65816209,  7.02144029, -1.22533785,
   4.45925661, -7.29055442, -0.34069365,  0.65857842, -6.68570028,
  23.50327093,  1.24419364,  0.79262136, -0.19916128,-15.51084062,
  15.37751007,  1.03084322]

qfrc_actuator:
[-1.00115869e-04,-5.03741942e-04,-2.77801701e-04,-7.31119375e-05,
  6.48530751e-05,-5.78674281e-04,-2.47728125e-04,-5.43761908e-05,
 -4.35659167e-06,-3.89560317e-04,-3.10049534e-04,-1.20746825e-04,
  1.93620740e-03,-1.30377403e-03, 0.00000000e+00,-7.22275960e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002425024446671975
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.28909656e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.28909656e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0785415 , -0.08169614,  0.06199251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80446994e-05,-1.04019268e-04, 2.26400041e-05, 4.97911619e-05,
  4.90040869e-05,-9.88121483e-05, 4.00386578e-05, 4.71424302e-05,
  4.12101743e-05,-3.36938015e-05, 1.62531034e-06,-9.66279232e-06,
 -8.41359443e-07, 4.09936430e-05, 2.38283134e-05, 1.20792325e-04,
  3.29898672e-06, 3.72155490e-06,-1.21645859e+00,-1.78988540e-03,
 -2.99065743e-04, 2.33938324e-06]


--- Step 1694 ---
qpos:
[ 2.83410501e-03,-5.61867437e-03,-1.02337340e-02, 2.79587753e-03,
 -4.43927168e-03,-5.14862461e-03,-1.77427992e-02, 5.17933357e-03,
 -4.76023024e-03,-3.96273138e-03,-7.89119361e-03,-1.91686051e-02,
  1.36704664e+00, 1.89110836e-02, 1.34059489e+00, 2.44850761e-02,
  9.49351299e-02,-6.99542566e-02, 1.30759015e-01, 9.93799889e-01,
  8.57323974e-05,-5.49599715e-04,-1.11182155e-01]

qacc:
[  7.34518376, -4.16041885,  3.38447609, 25.33030204, -1.09576498,
   1.45025047,-14.80240435, 44.90359638,  4.34004633,  1.84103584,
  -8.25360169, 14.06215192,  0.35446078, -0.76910005,  9.12894246,
 -30.80281144,  0.85324151, -0.93164747,  0.38048616, 10.08476636,
  15.90771015, -0.47113797]

qfrc_actuator:
[-5.69687755e-05,-6.64989151e-04,-2.08810273e-04, 1.01604273e-05,
  5.68045393e-05,-6.84569815e-04,-2.59423711e-04, 2.65324936e-05,
  2.00625040e-05,-4.23884138e-04,-3.49320438e-04,-1.09490554e-04,
  1.92334490e-03,-1.37041293e-03, 0.00000000e+00,-8.74221179e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024380614487749808
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.27685612e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.27685612e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0849893 , -0.05557857,  0.06199247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.25968550e-05,-2.12552876e-04, 5.20386435e-05, 8.05728867e-05,
 -6.68183785e-06,-1.50811886e-04,-2.55490640e-05, 7.89741648e-05,
  2.55812891e-05,-5.31936608e-05,-4.63456844e-05, 9.68402651e-06,
 -3.01429825e-06,-5.44868046e-05, 2.10502489e-05,-1.42935675e-04,
  4.75535998e-06, 4.75650457e-06,-1.21646767e+00,-1.78715939e-03,
 -2.99716631e-04, 6.18611557e-07]


--- Step 1695 ---
qpos:
[ 2.83458527e-03,-5.62334833e-03,-1.02313944e-02, 2.79809597e-03,
 -4.43858111e-03,-5.15188568e-03,-1.77408890e-02, 5.18171151e-03,
 -4.76026006e-03,-3.96306665e-03,-7.89406663e-03,-1.91681876e-02,
  1.36715365e+00, 1.89103747e-02, 1.34069714e+00, 2.44890069e-02,
  9.49528054e-02,-6.99379011e-02, 1.30758282e-01, 9.93797874e-01,
 -4.83076087e-05,-4.35740499e-04,-1.11200692e-01]

qacc:
[  7.60504869, -2.62340965,  4.86882679,  4.38179507, -3.92534649,
   0.17608624, -2.16683311,  5.64111959,  2.53215947,  5.03229023,
 -18.42900883, 26.8648373 ,  0.79289762, -1.38727325,  0.16242498,
  -1.04387853,  0.84832789, -0.91750589,  0.25068089,  9.9581051 ,
  15.64117505, -0.48573242]

qfrc_actuator:
[-1.36717873e-05,-6.70243301e-04,-1.51304955e-04, 4.06737533e-05,
  3.38436033e-05,-6.57438573e-04,-2.49580969e-04, 3.76719062e-05,
  3.45453928e-05,-3.37402502e-04,-3.89608175e-04,-8.51503169e-05,
  1.92774950e-03,-1.42781767e-03, 0.00000000e+00,-8.76605179e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.38814797, -0.13267733, -4.38614174, -0.13267733, 45.5544281 ,
       -1.24524755, -4.38614174, -1.24524755,  4.42581573,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002477475221383252
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12031698e-13, -4.48126793e-13,  1.00000000e+00, -5.02044056e-26,
        1.00000000e+00,  4.48126793e-13, -1.00000000e+00,  0.00000000e+00,
       -1.12031698e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08499068, -0.05557917,  0.06199235])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.44443645e-05,-1.09788078e-04, 2.28181972e-05, 2.47743752e-05,
 -2.32073616e-05,-5.90238687e-05,-2.17169646e-05, 5.32790794e-06,
  1.51915918e-05, 4.76409335e-05,-5.66180342e-05, 2.06519832e-05,
 -9.92337348e-06,-7.48801165e-05,-9.94265991e-06,-8.52284175e-06,
  4.90123203e-06, 2.77689730e-06,-1.21646458e+00,-1.78475831e-03,
 -3.00643322e-04,-8.22068627e-07]


--- Step 1696 ---
qpos:
[ 2.83385511e-03,-5.62655076e-03,-1.02311624e-02, 2.79984564e-03,
 -4.43817160e-03,-5.15505036e-03,-1.77394510e-02, 5.18415770e-03,
 -4.75942637e-03,-3.96279600e-03,-7.89614640e-03,-1.91676189e-02,
  1.36726040e+00, 1.89099187e-02, 1.34079917e+00, 2.44942005e-02,
  9.49738583e-02,-6.99251687e-02, 1.30758116e-01, 9.93795731e-01,
 -1.59337463e-04,-2.93408494e-04,-1.11220202e-01]

qacc:
[-10.67913126,  6.89098431,-19.73360838, 13.87012237, -2.46763183,
   1.5915256 , -5.77015596,  7.62746311,  7.57368292, -1.11964918,
   4.48937825, -3.55652359, -0.23127558,  0.33537811, -4.13568016,
  14.04000682,  0.84436771, -0.90575791,  0.14156257,  9.85040846,
  15.42746605, -0.49435366]

qfrc_actuator:
[-7.71674321e-05,-4.93349672e-04,-2.24755356e-04, 2.22506089e-05,
  2.00610771e-05,-6.21841734e-04,-2.62107602e-04, 4.33023354e-05,
  7.85754411e-05,-2.50255805e-04,-3.23146067e-04,-7.09551793e-05,
  1.93185255e-03,-1.39037300e-03, 0.00000000e+00,-8.08513688e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002493966207379461
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08499154, -0.05557935,  0.06199229])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.22536355e-05, 1.21425608e-04,-9.24400202e-05,-2.18570892e-05,
 -1.44677338e-05,-1.58355247e-06,-2.71972815e-05, 2.45236844e-06,
  4.44780404e-05, 1.03027620e-04, 7.00792531e-05, 1.46841420e-05,
 -1.83563899e-05, 1.21079801e-05,-6.86236968e-06, 6.60002037e-05,
  4.76730173e-06, 1.03017161e-06,-1.21646366e+00,-1.78266978e-03,
 -3.02035980e-04,-2.02705722e-06]


--- Step 1697 ---
qpos:
[ 2.83167787e-03,-5.62457120e-03,-1.02376919e-02, 2.80120303e-03,
 -4.43793162e-03,-5.15690969e-03,-1.77393187e-02, 5.18586225e-03,
 -4.75807132e-03,-3.96191934e-03,-7.89746321e-03,-1.91661938e-02,
  1.36736685e+00, 1.89096514e-02, 1.34090147e+00, 2.44974735e-02,
  9.49982764e-02,-6.99160204e-02, 1.30758149e-01, 9.93793455e-01,
 -2.47575605e-04,-1.22920603e-04,-1.11240696e-01]

qacc:
[-1.29583508e+01, 2.49642444e+01,-7.73747207e+01, 7.75397764e+01,
 -1.54193729e+00, 3.84875393e+00,-8.08506281e+00,-3.62633640e+00,
  4.57807022e+00, 4.23517508e-01,-3.97397326e+00, 1.71363975e+01,
 -5.44458628e-01, 6.18134202e-01, 6.28809481e+00,-2.12522263e+01,
  8.41310209e-01,-8.96052138e-01, 4.99661584e-02, 9.75924628e+00,
  1.52581088e+01,-4.98131923e-01]

qfrc_actuator:
[-1.49751763e-04,-8.50206995e-05,-5.16190660e-04, 1.07781117e-05,
  1.17963997e-05,-4.92759800e-04,-3.05420816e-04, 1.01558933e-05,
  1.04141893e-04,-2.16192238e-04,-2.82912840e-04,-2.72510724e-05,
  1.90918144e-03,-1.38562809e-03, 0.00000000e+00,-9.12514966e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024920597400515665
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.56880222e-14, -1.11376044e-13,  1.00000000e+00, -6.20231163e-27,
        1.00000000e+00,  1.11376044e-13, -1.00000000e+00,  0.00000000e+00,
       -5.56880222e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08499198, -0.05557919,  0.0619923 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.43070707e-05, 4.56289643e-04,-2.78462405e-04,-9.88852750e-06,
 -8.67896987e-06, 1.22771583e-04,-4.68904230e-05,-3.41087691e-05,
  2.68680807e-05, 1.06810682e-04, 7.06709887e-05, 5.08279176e-05,
 -2.87818284e-05, 4.29342433e-06, 2.10224265e-06,-1.01689815e-04,
  4.36078896e-06,-4.98231243e-07,-1.21646483e+00,-1.78089094e-03,
 -3.03886556e-04,-3.01096061e-06]


--- Step 1698 ---
qpos:
[ 2.82691404e-03,-5.60640656e-03,-1.02582289e-02, 2.80183222e-03,
 -4.43710407e-03,-5.15636294e-03,-1.77395904e-02, 5.18729392e-03,
 -4.75676636e-03,-3.95746115e-03,-7.90465282e-03,-1.91631421e-02,
  1.36747301e+00, 1.89096902e-02, 1.34100353e+00, 2.45014932e-02,
  9.50217161e-02,-6.99126111e-02, 1.30758608e-01, 9.93791190e-01,
 -2.92887216e-04, 4.62108703e-05,-1.11260878e-01]

qacc:
[-2.33409201e+01, 5.90872431e+01,-1.76490130e+02, 1.74298945e+02,
  5.07061005e+00, 3.73571717e+00,-7.57244113e+00, 1.74645094e+00,
 -6.83179147e-01, 2.45024781e+01,-8.73367703e+01, 1.22188860e+02,
 -3.28741410e-01, 4.64728929e-01,-2.58401411e+00, 8.60709169e+00,
 -2.44606421e-01,-1.43472256e+00, 1.06154372e-01, 2.14055176e+01,
  1.71355054e+00, 1.53281087e-01]

qfrc_actuator:
[-2.80326375e-04, 1.36325463e-03,-9.86177900e-04, 2.13396532e-05,
  4.23485805e-05,-2.55576440e-04,-2.77420236e-04, 7.78383467e-06,
  1.00874289e-04,-1.18941211e-06,-5.78251336e-04, 5.11454050e-05,
  1.90241509e-03,-1.36503487e-03, 0.00000000e+00,-8.68556783e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002508898772904851
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.88156044e-07,  1.88156474e-07,  1.00000000e+00,  3.54027778e-14,
        1.00000000e+00, -1.88156474e-07, -1.00000000e+00,  0.00000000e+00,
       -1.88156044e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09874755, -0.04665623,  0.06199225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.32527432e-04, 1.64547377e-03,-4.10323325e-04, 2.02944057e-05,
  3.03495389e-05, 2.94749129e-04, 4.64188442e-05, 6.01910334e-07,
 -2.46624089e-06, 2.91498226e-04,-2.62812634e-04, 8.64023700e-05,
 -2.01976542e-05, 1.55191825e-05,-1.38973387e-05, 3.77574488e-05,
  3.68656458e-06,-1.81902099e-06,-1.21646803e+00,-1.77941915e-03,
 -3.06188885e-04,-3.78499669e-06]


--- Step 1699 ---
qpos:
[ 2.81612562e-03,-5.55876807e-03,-1.02943788e-02, 2.79922617e-03,
 -4.43592177e-03,-5.14723326e-03,-1.77428871e-02, 5.18840816e-03,
 -4.75482569e-03,-3.94183390e-03,-7.92643719e-03,-1.91609299e-02,
  1.36757889e+00, 1.89102129e-02, 1.34110542e+00, 2.45066508e-02,
  9.50426582e-02,-6.99146153e-02, 1.30759281e-01, 9.93789055e-01,
 -2.96344489e-04, 2.02119982e-04,-1.11279766e-01]

qacc:
[-5.36925465e+01, 7.60332306e+01,-2.00746147e+02, 1.47851682e+02,
  2.85303267e+00, 1.91307218e+01,-5.04285206e+01, 4.34787551e+01,
  4.91537661e+00, 5.38211484e+01,-1.66933284e+02, 1.67493549e+02,
 -4.18851562e-01, 6.66009055e-01,-3.66052236e+00, 1.25421960e+01,
 -6.24398039e-01,-1.35338828e+00, 5.37617642e-02, 2.15327913e+01,
 -4.24195049e+00, 6.49107313e-01]

qfrc_actuator:
[-5.85997869e-04, 3.81297979e-03,-1.39357200e-03,-6.09013305e-05,
  5.99963252e-05, 5.77423881e-04,-2.78021442e-04, 2.37042834e-05,
  1.33927059e-04, 8.69490621e-04,-1.21062333e-03, 2.49761331e-05,
  1.89454828e-03,-1.33512544e-03, 0.00000000e+00,-8.08732508e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002544327498172766
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.18176124e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.18176124e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10355658, -0.04752162,  0.06199214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.08906200e-04, 3.28554149e-03,-1.17311192e-04,-2.55313059e-05,
  1.86187123e-05, 1.00742634e-03, 6.60098993e-05, 3.01620135e-05,
  3.30984382e-05, 9.83021446e-04,-6.01517789e-04,-2.10968595e-05,
 -1.43335833e-05, 3.01941625e-05,-4.10748048e-06, 5.97034178e-05,
  1.53726758e-06,-2.49854123e-06,-1.21646323e+00,-1.77843626e-03,
 -3.08256954e-04,-2.73736900e-06]


--- Step 1700 ---
qpos:
[ 2.79588344e-03,-5.47446815e-03,-1.03423873e-02, 2.79132352e-03,
 -4.43454534e-03,-5.11925477e-03,-1.77521210e-02, 5.18718214e-03,
 -4.75251065e-03,-3.90664232e-03,-7.96369248e-03,-1.91621550e-02,
  1.36768449e+00, 1.89113422e-02, 1.34120747e+00, 2.45107985e-02,
  9.50611456e-02,-6.99219877e-02, 1.30759733e-01, 9.93787050e-01,
 -2.58482094e-04, 3.44912761e-04,-1.11297408e-01]

qacc:
[-8.36973172e+01, 7.08526126e+01,-1.59690521e+02, 5.97234766e+01,
  1.18527148e+00, 3.66683773e+01,-8.47349995e+01, 3.98849490e+01,
  2.45536349e+00, 6.20198915e+01,-1.69109946e+02, 1.19964584e+02,
 -6.83620016e-01, 1.03027614e+00, 3.38643512e+00,-1.12890982e+01,
 -6.13681461e-01,-1.34204438e+00,-5.53045567e-02, 2.12612021e+01,
 -4.21861010e+00, 6.28709435e-01]

qfrc_actuator:
[-1.06326539e-03, 6.31123308e-03,-1.72069657e-03,-2.67036041e-04,
  6.98992038e-05, 2.22234351e-03,-3.10753811e-04,-3.80092068e-05,
  1.52601036e-04, 2.46185686e-03,-1.75010224e-03,-9.76224762e-05,
  1.88603235e-03,-1.29992656e-03, 0.00000000e+00,-8.64346910e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025579277045205406
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08508053e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.08508053e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10355683, -0.04752247,  0.0619921 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.85058162e-04, 4.30883969e-03, 3.36091747e-04,-6.99215167e-05,
  1.07842420e-05, 2.22290334e-03, 1.84452803e-04,-1.56951451e-05,
  2.00151208e-05, 2.01662534e-03,-4.11189403e-04,-1.01715169e-04,
 -8.48197013e-06, 4.12567999e-05, 2.41199569e-06,-5.33556324e-05,
 -3.76623790e-07,-2.22212015e-06,-1.21645839e+00,-1.77802968e-03,
 -3.10204957e-04,-1.51204354e-06]


--- Step 1701 ---
qpos:
[ 2.76765155e-03,-5.34810016e-03,-1.04007716e-02, 2.77880358e-03,
 -4.43306891e-03,-5.06315615e-03,-1.77672912e-02, 5.18400196e-03,
 -4.75034103e-03,-3.84351759e-03,-8.01190741e-03,-1.91669501e-02,
  1.36779017e+00, 1.89125940e-02, 1.34130983e+00, 2.45115721e-02,
  9.50772140e-02,-6.99346909e-02, 1.30759598e-01, 9.93785174e-01,
 -1.79733998e-04, 4.74684774e-04,-1.11313838e-01]

qacc:
[-7.09413341e+01, 7.52280821e+01,-1.67834977e+02, 7.33240860e+01,
  2.06866750e-01, 4.97116168e+01,-1.15093129e+02, 7.01071797e+01,
 -2.09660533e+00, 6.02068838e+01,-1.46033472e+02, 8.12334692e+01,
 -3.11688722e-01, 4.32462513e-01, 1.07412692e+01,-3.67757221e+01,
 -6.04752606e-01,-1.33272112e+00,-1.46799434e-01, 2.10402361e+01,
 -4.19487738e+00, 6.15086483e-01]

qfrc_actuator:
[-1.46012519e-03, 8.89063668e-03,-2.05042643e-03,-4.55388378e-04,
  7.51738865e-05, 4.35846830e-03,-3.23137346e-04,-7.31427379e-05,
  1.44902146e-04, 4.65189822e-03,-1.97859439e-03,-2.04134420e-04,
  1.89311334e-03,-1.29737554e-03, 0.00000000e+00,-1.04078974e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002552862747990242
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08723337e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.08723337e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10355725, -0.04752262,  0.06199211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.09448032e-04, 5.05276403e-03, 5.98907400e-04, 6.49684261e-06,
  6.35274620e-06, 3.41568204e-03, 4.68713426e-04, 6.61450498e-05,
 -6.32948717e-06, 3.22762151e-03, 1.33893841e-04,-3.63495078e-05,
  1.21726186e-05, 1.35202931e-05,-8.07117184e-06,-1.79847201e-04,
 -1.92159378e-06,-1.39099157e-06,-1.21645653e+00,-1.77827975e-03,
 -3.12086620e-04,-4.42142654e-07]


--- Step 1702 ---
qpos:
[ 2.73588673e-03,-5.15643378e-03,-1.04765218e-02, 2.76226718e-03,
 -4.43225292e-03,-4.95153641e-03,-1.77967240e-02, 5.17846026e-03,
 -4.74898589e-03,-3.73026257e-03,-8.07569003e-03,-1.91745342e-02,
  1.36789604e+00, 1.89134464e-02, 1.34141232e+00, 2.45088818e-02,
  9.50908931e-02,-6.99526949e-02, 1.30758569e-01, 9.93783419e-01,
 -6.04486620e-05, 5.91521361e-04,-1.11329076e-01]

qacc:
[-3.25725756e+01, 1.26629467e+02,-3.09231018e+02, 2.19353537e+02,
 -7.15289753e+00, 1.08348351e+02,-2.69895077e+02, 2.11021500e+02,
 -8.47773228e+00, 1.04048503e+02,-2.63048517e+02, 2.02754026e+02,
  9.26414178e-02,-2.91951924e-01, 1.06585760e+01,-3.70523521e+01,
 -5.97324502e-01,-1.32517929e+00,-2.23454550e-01, 2.08623284e+01,
 -4.17147464e+00, 6.06796707e-01]

qfrc_actuator:
[-1.62889660e-03, 1.37709961e-02,-2.30744829e-03,-5.25116171e-04,
  4.21828541e-05, 9.02708959e-03,-3.20937599e-04,-3.85203988e-05,
  1.03996957e-04, 8.76433435e-03,-2.14308583e-03,-2.10723681e-04,
  1.88822719e-03,-1.33192441e-03, 0.00000000e+00,-1.21595095e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025330082949330535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09575542e-13,  2.19151083e-13,  1.00000000e+00, -2.40135987e-26,
        1.00000000e+00, -2.19151083e-13, -1.00000000e+00,  0.00000000e+00,
        1.09575542e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10355779, -0.04752222,  0.06199217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.79074720e-04, 7.82594496e-03, 8.59940906e-04, 1.67515948e-04,
 -3.16386423e-05, 6.67644318e-03, 7.67256595e-04, 1.98390813e-04,
 -3.98136321e-05, 5.94169634e-03, 5.17223442e-04, 1.35537527e-04,
  3.06394974e-06,-2.71126267e-05,-2.63764765e-05,-1.86832797e-04,
 -3.11647859e-06,-2.10018648e-08,-1.21645756e+00,-1.77917909e-03,
 -3.13898795e-04, 4.80628893e-07]


--- Step 1703 ---
qpos:
[ 2.70334651e-03,-4.87702686e-03,-1.05691171e-02, 2.74167767e-03,
 -4.43220686e-03,-4.75768453e-03,-1.78416427e-02, 5.16993725e-03,
 -4.74883502e-03,-3.54488259e-03,-8.15548746e-03,-1.91846644e-02,
  1.36800197e+00, 1.89135259e-02, 1.34151445e+00, 2.45057557e-02,
  9.51018451e-02,-6.99697439e-02, 1.30759299e-01, 9.93781641e-01,
  5.44825868e-05, 6.87084538e-04,-1.11344401e-01]

qacc:
[-8.81526457e+00, 1.54712432e+02,-3.66255967e+02, 2.58496098e+02,
 -8.60237782e+00, 1.45782343e+02,-3.49537156e+02, 2.62259265e+02,
 -1.22813244e+01, 1.34877992e+02,-3.31806948e+02, 2.60240778e+02,
  5.08053240e-01,-9.97919047e-01, 7.38684925e-01,-3.49310154e+00,
 -6.81775529e-01, 2.38738530e-01, 4.39885340e-01,-9.79310474e-01,
 -1.08129402e+01,-4.60092934e-02]

qfrc_actuator:
[-1.66207586e-03, 1.99386136e-02,-2.45644706e-03,-5.75681038e-04,
  4.70547461e-06, 1.51943124e-02,-2.99287085e-04,-1.41133968e-05,
  4.38952089e-05, 1.40856001e-02,-2.27793755e-03,-1.92217528e-04,
  1.87082295e-03,-1.38826036e-03, 0.00000000e+00,-1.22912996e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002504652269693914
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.24639671e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.24639671e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10330961, -0.07144381,  0.06199226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.61369831e-05, 1.07227294e-02, 1.57795578e-03, 3.17560706e-04,
 -3.60937606e-05, 1.00639133e-02, 1.50108796e-03, 3.40703623e-04,
 -5.88995256e-05, 8.75311625e-03, 1.16019894e-03, 2.93404143e-04,
 -2.36171887e-05,-6.34331340e-05,-3.44368500e-05,-2.73255003e-05,
 -3.97521027e-06, 1.87758147e-06,-1.21646139e+00,-1.78072174e-03,
 -3.15639639e-04, 1.26315516e-06]


--- Step 1704 ---
qpos:
[ 2.67098648e-03,-4.50940380e-03,-1.06662555e-02, 2.71966299e-03,
 -4.43261655e-03,-4.47721203e-03,-1.78915880e-02, 5.16006304e-03,
 -4.74905935e-03,-3.28027243e-03,-8.24120686e-03,-1.91972109e-02,
  1.36810772e+00, 1.89127933e-02, 1.34161652e+00, 2.45014368e-02,
  9.51101001e-02,-6.99795155e-02, 1.30760043e-01, 9.93779565e-01,
  1.19703461e-04, 7.54532965e-04,-1.11362437e-01]

qacc:
[-7.41477618e-02, 1.26352123e+02,-2.75347017e+02, 1.93077541e+02,
 -5.60996347e+00, 1.25711692e+02,-2.76443499e+02, 1.97424086e+02,
 -4.82786840e+00, 1.16309664e+02,-2.52569939e+02, 1.61961164e+02,
  2.54813080e-01,-8.12798128e-01, 3.46977944e+00,-1.23866292e+01,
 -6.74239965e-01, 1.81936229e+00, 3.43367069e-03,-2.31344797e+01,
 -1.67374191e+01,-1.37988428e+00]

qfrc_actuator:
[-1.65074945e-03, 2.47884717e-02,-2.48094844e-03,-5.95352290e-04,
 -1.73374218e-05, 2.02057292e-02,-2.59037760e-04,-1.20238421e-05,
  2.62490040e-05, 1.89184431e-02,-2.21080494e-03,-2.28791981e-04,
  1.84591191e-03,-1.43938264e-03, 0.00000000e+00,-1.28878345e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002577698771368264
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.15351584e-13, -4.30703167e-13,  1.00000000e+00,  9.27526091e-26,
        1.00000000e+00,  4.30703167e-13, -1.00000000e+00,  0.00000000e+00,
        2.15351584e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10305699, -0.09553722,  0.06199204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31684128e-05, 1.11766804e-02, 2.39361908e-03, 5.00184290e-04,
 -1.96404923e-05, 1.09572269e-02, 2.31391317e-03, 4.91546705e-04,
 -1.58287875e-05, 9.97395838e-03, 2.02686662e-03, 3.83925618e-04,
 -5.19020539e-05,-7.58435493e-05,-1.93558796e-05,-6.57043740e-05,
 -3.33747139e-06, 1.83737761e-06,-1.21645714e+00,-1.78224277e-03,
 -3.17295938e-04, 3.08568748e-07]


--- Step 1705 ---
qpos:
[ 2.63967862e-03,-4.04995111e-03,-1.07653331e-02, 2.69863102e-03,
 -4.43259973e-03,-4.10880221e-03,-1.79426421e-02, 5.14981331e-03,
 -4.74879622e-03,-2.92994008e-03,-8.32661763e-03,-1.92110670e-02,
  1.36821267e+00, 1.89122813e-02, 1.34171829e+00, 2.44980877e-02,
  9.51156773e-02,-6.99821133e-02, 1.30760261e-01, 9.93777197e-01,
  1.35906748e-04, 7.94433426e-04,-1.11383270e-01]

qacc:
[ 7.58224269e+00, 1.28794683e+02,-2.87317265e+02, 2.39927588e+02,
  2.18936899e+00, 1.18499881e+02,-2.52347321e+02, 1.83005475e+02,
  2.81207015e+00, 1.09738590e+02,-2.21393961e+02, 1.35240150e+02,
 -6.80845309e-01, 6.50179445e-01,-3.31188101e+00, 1.11078694e+01,
 -6.69447047e-01, 1.79343491e+00,-1.31615542e-01,-2.28213607e+01,
 -1.64177191e+01,-1.42297988e+00]

qfrc_actuator:
[-1.59561245e-03, 2.97707446e-02,-2.41856290e-03,-5.08730902e-04,
  5.37942730e-06, 2.48414337e-02,-2.11894082e-04,-6.00970163e-06,
  5.14813962e-05, 2.39193510e-02,-1.90190021e-03,-2.26515693e-04,
  1.80586437e-03,-1.41601776e-03, 0.00000000e+00,-1.23336909e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.42508018,  1.10412538,  4.28511864,  1.10412538, 31.82467266,
       -7.0599178 ,  4.28511864, -7.0599178 ,  6.24417437,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026169244616218446
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.12123629e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.12123629e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10305562, -0.0955357 ,  0.06199192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.82313345e-05, 1.17361286e-02, 2.68008751e-03, 6.57522146e-04,
  2.58635155e-05, 1.12523183e-02, 2.60971950e-03, 5.64631631e-04,
  2.89116134e-05, 1.10048109e-02, 2.62981739e-03, 5.06649351e-04,
 -8.33953451e-05,-1.17879745e-05,-1.81370321e-05, 4.88519185e-05,
 -1.78823940e-06, 1.42085253e-07,-1.21644664e+00,-1.78306709e-03,
 -3.18664749e-04,-1.63160374e-06]


--- Step 1706 ---
qpos:
[ 2.61096882e-03,-3.49402581e-03,-1.08659066e-02, 2.67883038e-03,
 -4.43231462e-03,-3.64819814e-03,-1.79952503e-02, 5.13917198e-03,
 -4.74856146e-03,-2.49088313e-03,-8.40542237e-03,-1.92246158e-02,
  1.36831640e+00, 1.89124197e-02, 1.34181992e+00, 2.44957344e-02,
  9.51185934e-02,-6.99776230e-02, 1.30759498e-01, 9.93774535e-01,
  1.03663873e-04, 8.07247286e-04,-1.11406963e-01]

qacc:
[ 2.10618584e+01, 1.34176881e+02,-2.98700382e+02, 2.51540016e+02,
  7.22376862e-01, 1.25337358e+02,-2.68493058e+02, 1.96452144e+02,
 -1.55915735e+00, 9.94435220e+01,-1.85741713e+02, 1.15283614e+02,
 -1.28534299e+00, 1.44989232e+00,-3.08546112e+00, 1.08251377e+01,
 -6.65298760e-01, 1.77204697e+00,-2.45173565e-01,-2.25626926e+01,
 -1.61571465e+01,-1.45528932e+00]

qfrc_actuator:
[-1.46187524e-03, 3.49888453e-02,-2.34033695e-03,-4.13429650e-04,
  1.87469111e-05, 2.97838301e-02,-1.62520945e-04, 1.92398070e-06,
  4.84704738e-05, 2.88053874e-02,-1.38078351e-03,-1.65563794e-04,
  1.73549485e-03,-1.38417372e-03, 0.00000000e+00,-1.18161016e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.42904147,   1.35209735,   4.21761082,   1.35209735,
        43.34049697, -12.47437901,   4.21761082, -12.47437901,
         8.42812424,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002631321511060436
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.10963012e-13, -2.10963012e-13,  1.00000000e+00,  4.45053926e-26,
        1.00000000e+00,  2.10963012e-13, -1.00000000e+00,  0.00000000e+00,
        2.10963012e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10305474, -0.09553521,  0.06199187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38006952e-04, 1.23474205e-02, 2.85116409e-03, 7.02944234e-04,
  1.79061935e-05, 1.17850850e-02, 2.71085353e-03, 5.90659869e-04,
  2.54775248e-06, 1.15930878e-02, 3.13245136e-03, 6.32534220e-04,
 -1.13663985e-04, 9.10153628e-06,-5.52430311e-06, 5.16108621e-05,
 -4.62741733e-07,-4.65714420e-07,-1.21644129e+00,-1.78315404e-03,
 -3.19648792e-04,-2.71241774e-06]


--- Step 1707 ---
qpos:
[ 2.58509280e-03,-2.84907578e-03,-1.09595362e-02, 2.66067384e-03,
 -4.43187209e-03,-3.09490436e-03,-1.80474356e-02, 5.12813439e-03,
 -4.74868504e-03,-1.96234521e-03,-8.47274827e-03,-1.92360709e-02,
  1.36841886e+00, 1.89130704e-02, 1.34192164e+00, 2.44930054e-02,
  9.51188623e-02,-6.99661145e-02, 1.30757373e-01, 9.93771569e-01,
  2.34421963e-05, 7.93347883e-04,-1.11433563e-01]

qacc:
[ 2.35310592e+01, 1.01590260e+02,-1.98543288e+02, 1.50516096e+02,
 -1.92594330e-01, 1.20460883e+02,-2.50131484e+02, 1.74478390e+02,
 -4.31091787e+00, 9.05072726e+01,-1.59956833e+02, 1.12048974e+02,
 -1.37590790e+00, 1.44951082e+00, 1.41314199e+00,-4.40206317e+00,
 -6.61781191e-01, 1.75452558e+00,-3.40606404e-01,-2.23508453e+01,
 -1.59460943e+01,-1.47895102e+00]

qfrc_actuator:
[-1.31844995e-03, 3.91353941e-02,-2.09250075e-03,-3.49067442e-04,
  2.64923753e-05, 3.45335099e-02,-9.31686514e-05,-6.57694536e-06,
  2.88344032e-05, 3.35141991e-02,-7.03255202e-04,-3.49944109e-05,
  1.66297584e-03,-1.36551300e-03, 0.00000000e+00,-1.20346879e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002625828771306987
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.11404307e-13, -4.22808614e-13,  1.00000000e+00,  8.93835622e-26,
        1.00000000e+00,  4.22808614e-13, -1.00000000e+00,  0.00000000e+00,
        2.11404307e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10305426, -0.09553554,  0.06199189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49873179e-04, 1.16515270e-02, 3.16857091e-03, 7.04784117e-04,
  1.22368291e-05, 1.19089566e-02, 2.85317738e-03, 6.00858362e-04,
 -1.43623962e-05, 1.18507276e-02, 3.47551836e-03, 7.46977193e-04,
 -1.25334233e-04,-4.70747751e-06,-8.71454555e-07,-2.05428911e-05,
  6.67222759e-07,-2.09066848e-08,-1.21644087e+00,-1.78251062e-03,
 -3.20259449e-04,-2.97162220e-06]


--- Step 1708 ---
qpos:
[ 2.56179622e-03,-2.12336910e-03,-1.10414008e-02, 2.64449546e-03,
 -4.43168348e-03,-2.45097054e-03,-1.80971340e-02, 5.11683265e-03,
 -4.74832593e-03,-1.33895119e-03,-8.53075899e-03,-1.92454104e-02,
  1.36852006e+00, 1.89144656e-02, 1.34202331e+00, 2.44903730e-02,
  9.51164957e-02,-6.99476449e-02, 1.30753565e-01, 9.93768283e-01,
 -1.04380395e-04, 7.53034757e-04,-1.11463099e-01]

qacc:
[ 2.16071868e+01, 7.78801394e+01,-1.31261332e+02, 8.73791876e+01,
 -3.68934737e+00, 1.12265768e+02,-2.25385164e+02, 1.50208676e+02,
  2.90212544e+00, 1.03691195e+02,-1.96771091e+02, 1.48770646e+02,
 -1.44973503e+00, 1.67476965e+00,-2.07362192e-01, 1.00213216e+00,
 -6.58868306e-01, 1.74029849e+00,-4.20779704e-01,-2.21793612e+01,
 -1.57766812e+01,-1.49561252e+00]

qfrc_actuator:
[-1.18823937e-03, 4.26966339e-02,-1.67972932e-03,-2.86421322e-04,
  1.31155555e-05, 3.89881653e-02, 4.56834858e-06,-2.47773432e-05,
  5.28224689e-05, 3.86307614e-02,-9.91688409e-05, 9.99310186e-05,
  1.61051905e-03,-1.31937895e-03, 0.00000000e+00,-1.19751431e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026045642869342023
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.13130279e-13, -2.13130279e-13,  1.00000000e+00,  4.54245157e-26,
        1.00000000e+00,  2.13130279e-13, -1.00000000e+00,  0.00000000e+00,
        2.13130279e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10305409, -0.09553652,  0.06199195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.36451353e-04, 1.07393967e-02, 3.22779705e-03, 6.84052823e-04,
 -9.01086093e-06, 1.17096572e-02, 2.92394712e-03, 6.01384459e-04,
  2.91461347e-05, 1.24749176e-02, 3.50032181e-03, 7.76238717e-04,
 -1.14276394e-04, 1.58590506e-05,-7.48179725e-06, 3.68882364e-06,
  1.62309605e-06, 1.44709351e-06,-1.21644521e+00,-1.78114268e-03,
 -3.20505315e-04,-2.43788450e-06]


--- Step 1709 ---
qpos:
[ 2.54192329e-03,-1.31590721e-03,-1.11131152e-02, 2.63019765e-03,
 -4.43200068e-03,-1.71729661e-03,-1.81445184e-02, 5.10585158e-03,
 -4.74764836e-03,-6.15832811e-04,-8.58255618e-03,-1.92541988e-02,
  1.36862036e+00, 1.89161159e-02, 1.34212476e+00, 2.44891590e-02,
  9.51113990e-02,-6.99348270e-02, 1.30751145e-01, 9.93765230e-01,
 -1.89473682e-04, 7.00677942e-04,-1.11490541e-01]

qacc:
[  28.9594235 ,  83.49742496,-148.98832069, 105.2923167 ,  -5.88534515,
  112.76753048,-231.36160243, 167.23777487,   1.28087672, 115.5755169 ,
 -223.20515904, 149.51172876,  -0.74651061,   0.71615679,  -4.55601679,
   15.63183169,  -0.68254324,  -1.41294606,   0.34713876,  21.90195015,
   -3.60314494,   1.06932005]

qfrc_actuator:
[-1.01357889e-03, 4.68379885e-02,-1.15784279e-03,-1.90291307e-04,
 -1.25862524e-05, 4.34260590e-02, 9.93504006e-05,-1.32657606e-05,
  6.67820484e-05, 4.39153012e-02, 3.16403414e-04, 1.47847367e-04,
  1.57014360e-03,-1.31045588e-03, 0.00000000e+00,-1.12193611e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4181039 ,  0.11832417,  4.41651916,  0.11832417, 44.14487478,
       -1.0643308 ,  4.41651916, -1.0643308 ,  4.44661868,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025913174774039316
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.000000e+00, -2.142198e-13,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  2.142198e-13, -1.000000e+00,  0.000000e+00,
        0.000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10356616, -0.04752506,  0.06199199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79929156e-04, 1.08177088e-02, 3.15399499e-03, 6.79890861e-04,
 -2.20164150e-05, 1.15927555e-02, 2.88747690e-03, 6.24811282e-04,
  2.08849843e-05, 1.29947808e-02, 3.44357840e-03, 7.17153817e-04,
 -9.21529188e-05,-1.24110862e-05,-7.31207399e-06, 7.39287473e-05,
  2.42133673e-06, 3.91304193e-06,-1.21645416e+00,-1.77905504e-03,
 -3.20392799e-04,-1.13261991e-06]


--- Step 1710 ---
qpos:
[ 2.52597394e-03,-4.25316674e-04,-1.11740033e-02, 2.61794161e-03,
 -4.43296846e-03,-8.93739650e-04,-1.81907133e-02, 5.09547180e-03,
 -4.74676573e-03, 2.08671984e-04,-8.62943871e-03,-1.92628494e-02,
  1.36872022e+00, 1.89175116e-02, 1.34222617e+00, 2.44885052e-02,
  9.51036576e-02,-6.99275699e-02, 1.30749482e-01, 9.93762394e-01,
 -2.32515126e-04, 6.36098353e-04,-1.11516120e-01]

qacc:
[ 3.33640421e+01, 8.37460877e+01,-1.47936939e+02, 1.04956026e+02,
 -7.19499128e+00, 1.16677726e+02,-2.46211203e+02, 1.88634981e+02,
  2.16465706e-01, 1.20553589e+02,-2.36020428e+02, 1.56028159e+02,
 -1.52476456e-01,-1.07875701e-01,-1.73995374e+00, 6.03041302e+00,
 -6.61168862e-01,-1.39018146e+00, 1.89199145e-01, 2.15755598e+01,
 -3.72934470e+00, 9.51398903e-01]

qfrc_actuator:
[-8.14124457e-04, 5.11520897e-02,-5.55825758e-04,-7.47646195e-05,
 -4.53296034e-05, 4.79250552e-02, 1.56032304e-04, 1.55938447e-05,
  7.46956899e-05, 4.90980431e-02, 6.00490167e-04, 1.62029292e-04,
  1.55833341e-03,-1.32366789e-03, 0.00000000e+00,-1.09470725e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43393977,  0.87677699,  4.34638747,  0.87677699, 41.15873394,
       -7.40832583,  4.34638747, -7.40832583,  5.92838767,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002648983961744261
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.19112777e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.19112777e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1035674 , -0.04752701,  0.06199182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.05721945e-04, 1.10157440e-02, 3.23998582e-03, 6.99797631e-04,
 -2.94699487e-05, 1.15786625e-02, 2.82047347e-03, 6.36139757e-04,
  1.51117837e-05, 1.31657494e-02, 3.40920107e-03, 7.02336279e-04,
 -5.91449564e-05,-3.83532083e-05, 1.63051859e-06, 2.97260841e-05,
  1.25334360e-06, 2.52268061e-06,-1.21644801e+00,-1.77784486e-03,
 -3.18774769e-04,-1.38121844e-06]


--- Step 1711 ---
qpos:
[ 2.51282411e-03, 5.57561180e-04,-1.12285114e-02, 2.60624694e-03,
 -4.43467615e-03, 3.21621143e-05,-1.82420843e-02, 5.08431167e-03,
 -4.74609839e-03, 1.14612085e-03,-8.67787480e-03,-1.92726920e-02,
  1.36882005e+00, 1.89187337e-02, 1.34232764e+00, 2.44875090e-02,
  9.50933399e-02,-6.99257978e-02, 1.30748044e-01, 9.93759758e-01,
 -2.34066104e-04, 5.59159344e-04,-1.11540021e-01]

qacc:
[ 2.32113503e+01, 1.05247931e+02,-2.00758657e+02, 1.32497060e+02,
 -8.39728930e+00, 1.48081344e+02,-3.28460089e+02, 2.47998358e+02,
 -3.87824508e+00, 1.51178595e+02,-3.17422727e+02, 2.16239410e+02,
  4.29073752e-02,-1.60855320e-01, 1.11249403e+00,-3.78975623e+00,
 -6.44071897e-01,-1.37127897e+00, 5.63860891e-02, 2.13044596e+01,
 -3.82799411e+00, 8.56235676e-01]

qfrc_actuator:
[-6.72673577e-04, 5.63701370e-02,-1.69824298e-05,-1.77125191e-06,
 -8.19507850e-05, 5.38448846e-02, 1.90053097e-04, 3.67007517e-05,
  6.12151557e-05, 5.54740967e-02, 7.86746426e-04, 1.56163366e-04,
  1.58495642e-03,-1.31424797e-03, 0.00000000e+00,-1.11394984e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44208299, -1.01685739, -4.32413024, -1.01685739, 27.20469122,
       -5.35282824, -4.32413024, -5.35282824,  5.7008478 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002678012124402579
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03642457e-13,  2.07284914e-13,  1.00000000e+00,  2.14835177e-26,
        1.00000000e+00, -2.07284914e-13, -1.00000000e+00,  0.00000000e+00,
       -1.03642457e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1035686 , -0.047528  ,  0.06199173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48240825e-04, 1.20458991e-02, 3.22789375e-03, 6.68897930e-04,
 -3.35629162e-05, 1.29749751e-02, 2.78597503e-03, 6.25481650e-04,
 -6.05922768e-06, 1.44431992e-02, 3.34069938e-03, 6.87899401e-04,
 -1.07604715e-05,-1.61643113e-05, 1.02336630e-06,-1.80440130e-05,
  4.90610900e-07, 1.74299526e-06,-1.21644498e+00,-1.77729628e-03,
 -3.17146807e-04,-1.73160855e-06]


--- Step 1712 ---
qpos:
[ 2.49967976e-03, 1.64343595e-03,-1.12795785e-02, 2.59462319e-03,
 -4.43647652e-03, 1.07398030e-03,-1.83004649e-02, 5.07145350e-03,
 -4.74623749e-03, 2.20503159e-03,-8.72855085e-03,-1.92832964e-02,
  1.36892038e+00, 1.89190804e-02, 1.34242887e+00, 2.44879591e-02,
  9.50805003e-02,-6.99294485e-02, 1.30746386e-01, 9.93757301e-01,
 -1.94588671e-04, 4.69755111e-04,-1.11562395e-01]

qacc:
[-1.61162597e+00, 1.26653643e+02,-2.54392858e+02, 1.74378378e+02,
 -3.01874698e+00, 1.69232179e+02,-3.74001063e+02, 2.70637050e+02,
 -9.24340387e+00, 1.65252219e+02,-3.53063733e+02, 2.54133550e+02,
  1.07371152e+00,-1.54989349e+00,-4.87493580e+00, 1.62096486e+01,
 -6.30468891e-01,-1.35567894e+00,-5.51696293e-02, 2.10809713e+01,
 -3.90579304e+00, 7.78988768e-01]

qfrc_actuator:
[-6.72985986e-04, 6.23011736e-02, 4.48567287e-04, 6.41184479e-05,
 -8.50438472e-05, 6.06753148e-02, 2.34119729e-04, 3.65445212e-05,
  1.74838100e-05, 6.22299829e-02, 9.36559392e-04, 1.75048706e-04,
  1.61864152e-03,-1.36223852e-03, 0.00000000e+00,-1.03612829e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44376825, -1.18945474, -4.28162045, -1.18945474, 37.82589285,
       -9.27371468, -4.28162045, -9.27371468,  7.02005076,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026839683998940156
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.06824906e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.06824906e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10356977, -0.04752823,  0.06199171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.89988152e-06, 1.33276843e-02, 3.36367923e-03, 7.04695984e-04,
  3.38241305e-07, 1.46551462e-02, 3.07868166e-03, 6.62430302e-04,
 -3.61079452e-05, 1.55185324e-02, 3.55787950e-03, 7.64468372e-04,
  2.45555075e-05,-5.54294547e-05,-4.00757573e-06, 7.63862651e-05,
  1.03814606e-07, 1.54545413e-06,-1.21644495e+00,-1.77740141e-03,
 -3.15489204e-04,-2.18937891e-06]


--- Step 1713 ---
qpos:
[ 2.48484472e-03, 2.83014185e-03,-1.13233507e-02, 2.58382758e-03,
 -4.43830321e-03, 2.23391112e-03,-1.83608493e-02, 5.05798849e-03,
 -4.74648602e-03, 3.37995396e-03,-8.77568491e-03,-1.92930036e-02,
  1.36902153e+00, 1.89179706e-02, 1.34253022e+00, 2.44876426e-02,
  9.50651818e-02,-6.99384708e-02, 1.30744133e-01, 9.93755002e-01,
 -1.14459656e-04, 3.67801827e-04,-1.11583363e-01]

qacc:
[-1.63705660e+01, 1.14608712e+02,-2.18745240e+02, 1.47211252e+02,
 -2.31840016e+00, 1.60395506e+02,-3.42887689e+02, 2.48786965e+02,
 -2.84263672e+00, 1.45291273e+02,-2.99367305e+02, 2.23933090e+02,
  1.46076716e+00,-2.23472548e+00, 2.34295738e+00,-8.33479755e+00,
 -6.19725865e-01,-1.34290438e+00,-1.48757584e-01, 2.08985896e+01,
 -3.96793556e+00, 7.15828655e-01]

qfrc_actuator:
[-7.56682136e-04, 6.73341895e-02, 8.17269868e-04, 1.08259216e-04,
 -8.61239239e-05, 6.69501905e-02, 2.88117574e-04, 4.26128740e-05,
  9.53713898e-06, 6.78286258e-02, 1.04806156e-03, 2.08831356e-04,
  1.65651646e-03,-1.44390423e-03, 0.00000000e+00,-1.07924629e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002671510520559778
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.07789379e-13, -2.07789379e-13,  1.00000000e+00,  4.31764261e-26,
        1.00000000e+00,  2.07789379e-13, -1.00000000e+00,  0.00000000e+00,
        2.07789379e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10357092, -0.04752784,  0.06199175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.24544372e-05, 1.31722006e-02, 3.54832872e-03, 7.43034232e-04,
  3.89243876e-06, 1.50970582e-02, 3.47172542e-03, 7.51254043e-04,
 -4.32578902e-07, 1.50063606e-02, 3.76968824e-03, 8.34166692e-04,
  3.70044728e-05,-9.32611435e-05, 5.99728354e-06,-3.95649235e-05,
  7.14163559e-08, 1.90924469e-06,-1.21644782e+00,-1.77815365e-03,
 -3.13787029e-04,-2.75849520e-06]


--- Step 1714 ---
qpos:
[ 2.46939936e-03, 4.11098123e-03,-1.13591346e-02, 2.57338213e-03,
 -4.44012361e-03, 3.50496684e-03,-1.84174818e-02, 5.04549331e-03,
 -4.74675040e-03, 4.66450649e-03,-8.81818096e-03,-1.93018668e-02,
  1.36912288e+00, 1.89170161e-02, 1.34263226e+00, 2.44814636e-02,
  9.50474180e-02,-6.99528233e-02, 1.30740971e-01, 9.93752837e-01,
  6.01745220e-06, 2.53230890e-04,-1.11603024e-01]

qacc:
[-6.73559895e+00, 1.02815511e+02,-1.87553504e+02, 1.11598499e+02,
 -1.73176721e+00, 1.38329686e+02,-2.84260792e+02, 2.13373456e+02,
 -1.87653424e+00, 1.33681192e+02,-2.69988919e+02, 1.96582117e+02,
 -4.70738266e-01, 6.54698134e-01, 1.88435329e+01,-6.42756214e+01,
 -6.11328994e-01,-1.33254830e+00,-2.27179800e-01, 2.07517872e+01,
 -4.01843902e+00, 6.63724532e-01]

qfrc_actuator:
[-7.82198774e-04, 7.15763286e-02, 1.03387076e-03, 8.53071421e-05,
 -8.60254977e-05, 7.21863234e-02, 3.63625000e-04, 6.97566254e-05,
  4.93420458e-06, 7.28850673e-02, 1.11393866e-03, 2.14692862e-04,
  1.68620775e-03,-1.40282269e-03, 0.00000000e+00,-1.38857275e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002644525147720289
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10357206, -0.04752697,  0.06199183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.71487711e-05, 1.23303925e-02, 3.38692459e-03, 6.76177964e-04,
  5.30718306e-06, 1.43861449e-02, 3.63465237e-03, 8.06338672e-04,
  4.10784596e-06, 1.42202501e-02, 3.64537946e-03, 7.92731300e-04,
  2.58461976e-05, 2.07432963e-05,-2.83164648e-06,-3.11083626e-04,
  3.77955117e-07, 2.81997127e-06,-1.21645351e+00,-1.77954753e-03,
 -3.12028878e-04,-3.44189085e-06]


--- Step 1715 ---
qpos:
[ 2.45403389e-03, 5.48604717e-03,-1.13914792e-02, 2.56266410e-03,
 -4.44191896e-03, 4.87540628e-03,-1.84669106e-02, 5.03397001e-03,
 -4.74732781e-03, 6.05230563e-03,-8.85654498e-03,-1.93101117e-02,
  1.36922428e+00, 1.89164798e-02, 1.34273446e+00, 2.44703005e-02,
  9.50269575e-02,-6.99599166e-02, 1.30737804e-01, 9.93750354e-01,
  7.66862748e-05, 1.10327524e-04,-1.11625334e-01]

qacc:
[-8.08299948e-01, 1.14358000e+02,-2.25922026e+02, 1.46418300e+02,
 -1.25822902e+00, 1.13178672e+02,-2.17100535e+02, 1.49353384e+02,
 -4.39901858e+00, 1.26197994e+02,-2.54587430e+02, 1.82769866e+02,
 -6.25874344e-01, 9.43966441e-01, 1.54234027e+01,-5.33959729e+01,
 -6.74194444e-01, 1.81481675e+00,-1.20535296e-03,-2.31672338e+01,
 -1.68570620e+01,-1.34071581e+00]

qfrc_actuator:
[-7.73211786e-04, 7.61979384e-02, 1.15559921e-03, 5.77513521e-05,
 -8.52420689e-05, 7.63861480e-02, 4.29331340e-04, 5.49537871e-05,
 -1.54649280e-05, 7.75761647e-02, 1.13217527e-03, 2.03496042e-04,
  1.68971185e-03,-1.37788512e-03, 0.00000000e+00,-1.63918998e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002643141720336528
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.10019579e-13, -2.10019579e-13,  1.00000000e+00,  4.41082237e-26,
        1.00000000e+00,  2.10019579e-13, -1.00000000e+00,  0.00000000e+00,
        2.10019579e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10304699, -0.09553498,  0.06199183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.33832352e-06, 1.21994357e-02, 3.09478040e-03, 6.28389076e-04,
  5.77569163e-06, 1.29842184e-02, 3.49864378e-03, 7.40385403e-04,
 -1.14745564e-05, 1.33838416e-02, 3.41729459e-03, 7.36645645e-04,
  1.92921453e-05, 3.79994840e-05,-3.92586811e-05,-2.69064955e-04,
  1.01275993e-06, 4.26865489e-06,-1.21646196e+00,-1.78157860e-03,
 -3.10205949e-04,-4.24187685e-06]


--- Step 1716 ---
qpos:
[ 2.43915214e-03, 6.95940569e-03,-1.14242017e-02, 2.55173047e-03,
 -4.44403203e-03, 6.34160322e-03,-1.85129123e-02, 5.02271357e-03,
 -4.74701657e-03, 7.53428993e-03,-8.88986351e-03,-1.93173565e-02,
  1.36932600e+00, 1.89155563e-02, 1.34283574e+00, 2.44618635e-02,
  9.50038084e-02,-6.99598502e-02, 1.30734087e-01, 9.93747547e-01,
  9.82624688e-05,-6.03712859e-05,-1.11650348e-01]

qacc:
[ 2.55622074e+00, 1.30510285e+02,-2.75969574e+02, 2.00579429e+02,
 -4.33072582e+00, 1.17491955e+02,-2.36448831e+02, 1.65198473e+02,
  6.36286254e+00, 1.12433073e+02,-2.24530626e+02, 1.64559416e+02,
  7.81302970e-01,-9.91696462e-01,-9.71846044e+00, 3.17843837e+01,
 -6.72136156e-01, 1.78989728e+00,-1.37396663e-01,-2.28414092e+01,
 -1.65509421e+01,-1.36309643e+00]

qfrc_actuator:
[-7.43968706e-04, 8.13645367e-02, 1.22175793e-03, 6.34212679e-05,
 -1.01821518e-04, 8.08191105e-02, 4.48699165e-04, 3.23456413e-05,
  2.59722736e-05, 8.16555344e-02, 1.13823100e-03, 1.99704943e-04,
  1.69348612e-03,-1.41621692e-03, 0.00000000e+00,-1.48030984e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44224511,  1.4871193 ,  4.18593094,  1.4871193 , 27.48072314,
       -8.18478994,  4.18593094, -8.18478994,  7.35002341,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002678585879304918
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.07240513e-13, -2.07240513e-13,  1.00000000e+00,  4.29486303e-26,
        1.00000000e+00,  2.07240513e-13, -1.00000000e+00,  0.00000000e+00,
        2.07240513e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10304555, -0.09553348,  0.06199172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.92700896e-05, 1.26053638e-02, 2.97338333e-03, 6.44746998e-04,
 -1.20547670e-05, 1.23987860e-02, 3.14244803e-03, 6.66282619e-04,
  4.99701424e-05, 1.22510929e-02, 3.20107280e-03, 6.99009783e-04,
  1.98079582e-05,-2.11753919e-05,-4.94550079e-05, 1.38549578e-04,
  7.69866121e-07, 3.33551353e-06,-1.21646039e+00,-1.78268825e-03,
 -3.08442427e-04,-3.22439824e-06]


--- Step 1717 ---
qpos:
[ 2.42499340e-03, 8.52692175e-03,-1.14550939e-02, 2.54161158e-03,
 -4.44598345e-03, 7.90553194e-03,-1.85591753e-02, 5.01157148e-03,
 -4.74542375e-03, 9.10418668e-03,-8.91860542e-03,-1.93230960e-02,
  1.36942749e+00, 1.89150769e-02, 1.34293652e+00, 2.44569798e-02,
  9.49779771e-02,-6.99527068e-02, 1.30729362e-01, 9.93744399e-01,
  7.13360338e-05,-2.58438032e-04,-1.11678096e-01]

qacc:
[ 4.80398305e+00, 1.20991707e+02,-2.54315889e+02, 1.96274422e+02,
 -2.64757318e-01, 1.30080803e+02,-2.76923830e+02, 2.07502643e+02,
  9.91497135e+00, 1.06486696e+02,-2.17496906e+02, 1.71634985e+02,
 -1.20971564e-01, 3.36468463e-01,-1.14875406e+01, 3.91441888e+01,
 -6.70536968e-01, 1.76927830e+00,-2.52145680e-01,-2.25719303e+01,
 -1.63062225e+01,-1.37431700e+00]

qfrc_actuator:
[-7.03007756e-04, 8.58754821e-02, 1.23926357e-03, 8.90786558e-05,
 -9.29807063e-05, 8.57996443e-02, 4.58911680e-04, 4.08758502e-05,
  8.56821660e-05, 8.56019199e-02, 1.18766982e-03, 2.35233421e-04,
  1.68142041e-03,-1.38535640e-03, 0.00000000e+00,-1.29447951e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.4452617 ,   1.69773096,   4.10829176,   1.69773096,
        37.32951798, -13.58925389,   4.10829176, -13.58925389,
        10.06095268,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00026892323395648343
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.06420064e-13, -4.12840128e-13,  1.00000000e+00,  8.52184858e-26,
        1.00000000e+00,  4.12840128e-13, -1.00000000e+00,  0.00000000e+00,
        2.06420064e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10304464, -0.09553304,  0.06199169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.14182041e-05, 1.21487852e-02, 2.99305195e-03, 6.78028204e-04,
  1.26717601e-05, 1.25387159e-02, 2.96476851e-03, 6.58347781e-04,
  6.99067514e-05, 1.14349626e-02, 2.98139675e-03, 6.81379062e-04,
 -8.00356533e-06, 2.91336435e-05,-5.62425585e-06, 1.87591688e-04,
  3.27050578e-07, 3.49528740e-06,-1.21646384e+00,-1.78305895e-03,
 -3.06285299e-04,-1.37008536e-06]


--- Step 1718 ---
qpos:
[ 2.41169285e-03, 1.01772503e-02,-1.14804557e-02, 2.53303418e-03,
 -4.44746349e-03, 9.56026330e-03,-1.86021580e-02, 5.00155062e-03,
 -4.74371736e-03, 1.07598136e-02,-8.94493727e-03,-1.93279823e-02,
  1.36952858e+00, 1.89148647e-02, 1.34303748e+00, 2.44523283e-02,
  9.49555879e-02,-6.99494642e-02, 1.30727085e-01, 9.93741160e-01,
  6.80051010e-05,-4.25989162e-04,-1.11706405e-01]

qacc:
[   6.30448835,  97.15077441,-194.13604138, 151.10226792,   2.69270345,
  113.10017933,-233.92051588, 181.36029232,  -0.39753871, 108.33462287,
 -225.48268838, 173.36466345,  -0.47696205,   0.56800093,  -0.38166217,
    1.85300998,   0.86051149,  -0.97523178,   0.61175651,  10.01991679,
   16.47988056,  -0.28836972]

qfrc_actuator:
[-6.55448863e-04, 8.93010062e-02, 1.24327305e-03, 1.08031811e-04,
 -6.92400070e-05, 8.99677803e-02, 4.83701153e-04, 6.81348374e-05,
  8.45967688e-05, 8.97034030e-02, 1.22608390e-03, 2.57943054e-04,
  1.64391085e-03,-1.38466738e-03, 0.00000000e+00,-1.28967556e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45134453, -1.6529798 ,  4.13305286, -1.6529798 , 42.1351686 ,
       15.07132918,  4.13305286, 15.07132918, 10.47899616,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002710533897793965
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02398925e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.02398925e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0850115 , -0.05556983,  0.06199162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.78998463e-05, 1.08101000e-02, 2.88769665e-03, 6.52873843e-04,
  2.83311507e-05, 1.17639886e-02, 2.98494789e-03, 6.76551207e-04,
  9.68502351e-06, 1.10843279e-02, 2.77305533e-03, 6.25455083e-04,
 -3.41813246e-05, 7.69975863e-06, 1.68882765e-05, 1.42397118e-05,
 -2.90944148e-07, 4.70420548e-06,-1.21647212e+00,-1.78269946e-03,
 -3.03743373e-04, 1.28882268e-06]


--- Step 1719 ---
qpos:
[ 2.39897450e-03, 1.18977142e-02,-1.14998460e-02, 2.52631727e-03,
 -4.44898294e-03, 1.12944033e-02,-1.86385830e-02, 4.99312644e-03,
 -4.74261764e-03, 1.24944384e-02,-8.96926414e-03,-1.93320632e-02,
  1.36962921e+00, 1.89147949e-02, 1.34313839e+00, 2.44487990e-02,
  9.49366085e-02,-6.99500353e-02, 1.30726570e-01, 9.93737829e-01,
  8.80048828e-05,-5.63801893e-04,-1.11735405e-01]

qacc:
[   4.10539098,  79.82535028,-158.00798728, 129.10275021,  -1.50359197,
   89.87980319,-174.9609924 , 133.74120206,  -6.629845  , 100.48242867,
 -210.17181459, 162.80200439,  -0.3591689 ,   0.34919765,  -3.44907052,
   12.02633306,   0.85244596,  -0.95340648,   0.44074426,   9.93121693,
   16.07918758,  -0.35427235]

qfrc_actuator:
[-6.22108224e-04, 9.18891861e-02, 1.18149470e-03, 1.21909765e-04,
 -7.24390295e-05, 9.32080036e-02, 5.31552303e-04, 8.78258296e-05,
  4.76895632e-05, 9.31726092e-02, 1.13395063e-03, 2.55258857e-04,
  1.61246152e-03,-1.38432943e-03, 0.00000000e+00,-1.23181408e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46951463, -1.67936508,  4.14201568, -1.67936508, 30.55328438,
       10.57556889,  4.14201568, 10.57556889,  8.75734029,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002772884681816329
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00096393e-13, -4.00385574e-13,  1.00000000e+00,  4.00771519e-26,
        1.00000000e+00,  4.00385574e-13, -1.00000000e+00,  0.00000000e+00,
        1.00096393e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08501374, -0.05557029,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.31359103e-05, 9.19825072e-03, 2.53050363e-03, 5.86103104e-04,
  1.56415790e-06, 1.04044599e-02, 2.84999854e-03, 6.36628638e-04,
 -2.76846021e-05, 1.02073992e-02, 2.54146437e-03, 5.76553231e-04,
 -4.59179771e-05,-5.25408967e-06, 5.53816553e-06, 5.99915527e-05,
  1.11929188e-07, 3.88761031e-06,-1.21646274e+00,-1.78310270e-03,
 -3.00939662e-04, 9.89397182e-07]


--- Step 1720 ---
qpos:
[ 2.38491549e-03, 1.36994253e-02,-1.15244106e-02, 2.51910722e-03,
 -4.45053849e-03, 1.31215456e-02,-1.86797730e-02, 4.98293997e-03,
 -4.74152092e-03, 1.43165914e-02,-9.00530056e-03,-1.93370421e-02,
  1.36972944e+00, 1.89149697e-02, 1.34323905e+00, 2.44480002e-02,
  9.49210102e-02,-6.99543488e-02, 1.30727243e-01, 9.93734407e-01,
  1.31112083e-04,-6.72513728e-04,-1.11765197e-01]

qacc:
[-1.33389126e+01, 1.20846797e+02,-2.72972520e+02, 2.12925548e+02,
 -2.06626631e+00, 1.32552213e+02,-2.86879141e+02, 1.95656362e+02,
 -1.89794429e+00, 1.46573797e+02,-3.50966238e+02, 2.89759049e+02,
 -2.27096017e-01, 2.83758529e-01,-8.62495675e+00, 2.96759405e+01,
  8.45286314e-01,-9.35604706e-01, 2.96984759e-01, 9.85533829e+00,
  1.57502281e+01,-4.06548745e-01]

qfrc_actuator:
[-6.86128983e-04, 9.65286430e-02, 1.11309572e-03, 1.31807005e-04,
 -7.37270198e-05, 9.86182101e-02, 5.53145826e-04, 4.87941915e-05,
  4.32219935e-05, 9.78503792e-02, 6.25629997e-04, 2.19292172e-04,
  1.60064547e-03,-1.36643156e-03, 0.00000000e+00,-1.08984299e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47893974,  1.55482168, -4.2004084 ,  1.55482168, 28.34021833,
        8.8324824 , -4.2004084 ,  8.8324824 ,  7.74836829,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028045042365303086
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89678506e-14, -1.97935701e-13,  1.00000000e+00, -1.95892709e-26,
        1.00000000e+00,  1.97935701e-13, -1.00000000e+00,  0.00000000e+00,
       -9.89678506e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08501523, -0.0555703 ,  0.06199133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.54181579e-05, 1.02689176e-02, 2.14373436e-03, 4.99224448e-04,
  2.24752497e-06, 1.17816390e-02, 2.52390829e-03, 5.14012617e-04,
  3.65155773e-06, 1.08727624e-02, 1.91298811e-03, 4.96568646e-04,
 -3.49762692e-05, 5.59148896e-06, 6.12203256e-06, 1.45354059e-04,
  2.28904745e-07, 3.33039293e-06,-1.21645584e+00,-1.78380696e-03,
 -2.98618245e-04, 9.19227189e-07]


--- Step 1721 ---
qpos:
[ 2.36869573e-03, 1.55957545e-02,-1.15565989e-02, 2.51007241e-03,
 -4.45211127e-03, 1.50582553e-02,-1.87296852e-02, 4.97074138e-03,
 -4.74003547e-03, 1.62356475e-02,-9.06020037e-03,-1.93445907e-02,
  1.36982944e+00, 1.89152934e-02, 1.34334007e+00, 2.44458901e-02,
  9.49087680e-02,-6.99623470e-02, 1.30728621e-01, 9.93730889e-01,
  1.97140841e-04,-7.52646166e-04,-1.11795861e-01]

qacc:
[-2.08267849e+01, 1.42635738e+02,-3.19378710e+02, 2.30345612e+02,
 -2.30779253e+00, 1.64976365e+02,-3.69680001e+02, 2.68295404e+02,
  1.15618284e+00, 1.75511701e+02,-4.29121491e+02, 3.43539029e+02,
 -4.12302394e-01, 4.71832485e-01, 4.55568126e+00,-1.50430710e+01,
  8.39030776e-01,-9.21168335e-01, 1.76346276e-01, 9.79159252e+00,
  1.54809925e+01,-4.48029515e-01]

qfrc_actuator:
[-7.89123954e-04, 1.02288690e-01, 1.12049189e-03, 1.23172618e-04,
 -7.38559297e-05, 1.05338307e-01, 5.85436887e-04, 4.82598047e-05,
  5.78571834e-05, 1.03266416e-01,-1.19490504e-04, 1.29232045e-04,
  1.59529504e-03,-1.35590944e-03, 0.00000000e+00,-1.16575281e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48100788,  1.39309243, -4.25895822,  1.39309243, 41.10785136,
       11.98053035, -4.25895822, 11.98053035,  8.39980333,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028113788709911713
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.97451691e-13, -1.97451691e-13,  1.00000000e+00,  3.89871703e-26,
        1.00000000e+00,  1.97451691e-13, -1.00000000e+00,  0.00000000e+00,
        1.97451691e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08501611, -0.05556993,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07050142e-04, 1.19017145e-02, 2.38916595e-03, 5.11331691e-04,
  3.92512533e-06, 1.37857274e-02, 2.77363417e-03, 5.97655413e-04,
  2.41702614e-05, 1.18468612e-02, 1.73256821e-03, 4.47503464e-04,
 -2.03833383e-05, 3.95162558e-06, 1.64068457e-05,-6.75922605e-05,
  6.97734960e-08, 3.00999390e-06,-1.21645126e+00,-1.78481365e-03,
 -2.96766018e-04, 1.06529269e-06]


--- Step 1722 ---
qpos:
[ 2.35090851e-03, 1.75802655e-02,-1.15875396e-02, 2.50111374e-03,
 -4.45401296e-03, 1.70959965e-02,-1.87767604e-02, 4.95950929e-03,
 -4.73861158e-03, 1.82493163e-02,-9.12641666e-03,-1.93538278e-02,
  1.36992936e+00, 1.89154752e-02, 1.34344145e+00, 2.44405695e-02,
  9.48998605e-02,-6.99739834e-02, 1.30730301e-01, 9.93727272e-01,
  2.85939010e-04,-8.04624014e-04,-1.11827459e-01]

qacc:
[-1.52040385e+01, 1.13239726e+02,-2.34949299e+02, 1.69379080e+02,
 -4.53121980e+00, 1.27546187e+02,-2.65141553e+02, 2.03071114e+02,
 -2.51487095e+00, 1.53211329e+02,-3.57717188e+02, 2.77008808e+02,
 -2.71477186e-01, 1.85386600e-01, 1.02854338e+01,-3.51336708e+01,
  8.33654668e-01,-9.09552868e-01, 7.53096664e-02, 9.73920876e+00,
  1.52616763e+01,-4.80928730e-01]

qfrc_actuator:
[-8.60889226e-04, 1.06544905e-01, 1.14237922e-03, 1.22700770e-04,
 -9.10464633e-05, 1.10163184e-01, 6.65515052e-04, 8.95311409e-05,
  4.80582569e-05, 1.08122384e-01,-6.22048017e-04, 6.20045881e-05,
  1.58849724e-03,-1.36756768e-03, 0.00000000e+00,-1.33393622e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002798521243538993
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.91794351e-14,  1.98358870e-13,  1.00000000e+00, -1.96731207e-26,
        1.00000000e+00, -1.98358870e-13, -1.00000000e+00,  0.00000000e+00,
        9.91794351e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08501652, -0.05556927,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.67356321e-05, 1.13588220e-02, 2.77058020e-03, 5.98000136e-04,
 -1.24027262e-05, 1.30624723e-02, 3.26786730e-03, 7.35383229e-04,
  9.55734029e-07, 1.17888745e-02, 2.15151355e-03, 5.04692506e-04,
 -1.58124012e-05,-1.50973596e-05,-3.87816477e-06,-1.70713305e-04,
 -3.57826805e-07, 2.90977816e-06,-1.21644887e+00,-1.78612360e-03,
 -2.95372517e-04, 1.41762931e-06]


--- Step 1723 ---
qpos:
[ 2.33227560e-03, 1.96529786e-02,-1.16187710e-02, 2.49293267e-03,
 -4.45644436e-03, 1.92270714e-02,-1.88189232e-02, 4.94963178e-03,
 -4.73719240e-03, 2.03578447e-02,-9.19927067e-03,-1.93642467e-02,
  1.37002903e+00, 1.89158045e-02, 1.34354272e+00, 2.44339477e-02,
  9.48952278e-02,-6.99863244e-02, 1.30732815e-01, 9.93723700e-01,
  3.75677155e-04,-8.25510213e-04,-1.11858777e-01]

qacc:
[-8.90872570e+00, 1.18998154e+02,-2.58424397e+02, 2.07462376e+02,
 -6.08770214e+00, 1.12381520e+02,-2.27460221e+02, 1.74436065e+02,
 -1.86954866e+00, 1.41501562e+02,-3.17637820e+02, 2.38047485e+02,
 -3.95824929e-01, 4.46001350e-01, 3.83282683e+00,-1.35214317e+01,
  1.06871140e+00,-1.76156430e-01, 2.08682576e-01,-1.27130422e+00,
  1.55009255e+01, 1.36767791e-01]

qfrc_actuator:
[-8.95893020e-04, 1.10985826e-01, 1.13163405e-03, 1.61460711e-04,
 -1.18155384e-04, 1.14365968e-01, 7.30689766e-04, 1.18206887e-04,
  4.16462776e-05, 1.13102914e-01,-8.54800846e-04, 2.63759709e-05,
  1.57549990e-03,-1.35679760e-03, 0.00000000e+00,-1.39528657e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47151467, -0.77408946, -4.40400147, -0.77408946, 36.55603513,
       -5.63948249, -4.40400147, -5.63948249,  5.4627641 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002779634672447767
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98533221e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.98533221e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08213331, -0.06671932,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.96013006e-05, 1.13192376e-02, 2.67474214e-03, 6.28655840e-04,
 -2.30629956e-05, 1.21401923e-02, 3.16800310e-03, 7.11350100e-04,
  3.93042224e-06, 1.19666843e-02, 2.46195314e-03, 5.49239137e-04,
 -2.50190107e-05, 2.82546847e-06,-2.38551234e-05,-7.20389376e-05,
 -1.04817672e-06, 3.01779357e-06,-1.21644858e+00,-1.78773727e-03,
 -2.94429401e-04, 1.96875737e-06]


--- Step 1724 ---
qpos:
[ 2.31323747e-03, 2.18154581e-02,-1.16515881e-02, 2.48473454e-03,
 -4.45883453e-03, 2.14493267e-02,-1.88587498e-02, 4.94021286e-03,
 -4.73607455e-03, 2.25591758e-02,-9.27465464e-03,-1.93758164e-02,
  1.37012861e+00, 1.89161921e-02, 1.34364359e+00, 2.44286139e-02,
  9.48958185e-02,-6.99954216e-02, 1.30735464e-01, 9.93720432e-01,
  4.37420601e-04,-8.12559691e-04,-1.11887675e-01]

qacc:
[-5.11135615e+00, 1.23040804e+02,-2.66498077e+02, 2.02718557e+02,
 -1.12295956e+00, 1.14878176e+02,-2.36727352e+02, 1.73919889e+02,
 -4.28831630e+00, 1.27369626e+02,-2.71325504e+02, 1.87227865e+02,
  3.32579607e-02,-2.35100662e-02,-4.49598187e+00, 1.48580649e+01,
  1.30585458e+00, 8.10955776e-01, 3.36598144e-02,-1.58010231e+01,
  1.52470295e+01, 1.22471996e+00]

qfrc_actuator:
[-9.08934717e-04, 1.15626545e-01, 1.10234863e-03, 1.69769910e-04,
 -1.15377730e-04, 1.18748618e-01, 7.65959685e-04, 1.20797951e-04,
  1.94816113e-05, 1.17782789e-01,-9.61328317e-04,-2.56297362e-05,
  1.58010482e-03,-1.35055572e-03, 0.00000000e+00,-1.32215152e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46707568, -0.58264212, -4.42891559, -0.58264212, 30.79069871,
       -3.46298122, -4.42891559, -3.46298122,  4.92264515,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002764623657244003
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.01581974e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.01581974e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07853641, -0.08166267,  0.06199146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.68719204e-05, 1.14752447e-02, 2.63625513e-03, 5.93591446e-04,
  6.20345115e-06, 1.17792103e-02, 2.93330974e-03, 6.41602816e-04,
 -1.13967338e-05, 1.18281282e-02, 2.66365674e-03, 5.51895249e-04,
 -7.73613782e-06, 1.75068529e-06,-2.08392399e-05, 6.56716561e-05,
 -1.61177697e-06, 2.35867306e-06,-1.21644676e+00,-1.78932476e-03,
 -2.94307852e-04, 2.79214003e-06]


--- Step 1725 ---
qpos:
[ 2.29371754e-03, 2.40598998e-02,-1.16812463e-02, 2.47694273e-03,
 -4.46082001e-03, 2.37529093e-02,-1.88935380e-02, 4.93190287e-03,
 -4.73474605e-03, 2.48478675e-02,-9.34813224e-03,-1.93876147e-02,
  1.37022833e+00, 1.89161276e-02, 1.34374390e+00, 2.44275031e-02,
  9.49015607e-02,-7.00012958e-02, 1.30737857e-01, 9.93717458e-01,
  4.71526382e-04,-7.65932275e-04,-1.11914275e-01]

qacc:
[-5.48014581e+00, 1.00339006e+02,-2.02303437e+02, 1.43999906e+02,
  2.30549519e+00, 9.56452254e+01,-1.89795649e+02, 1.41171476e+02,
  4.08185753e-01, 1.09666274e+02,-2.22549420e+02, 1.51339723e+02,
  7.81579708e-01,-1.07549000e+00,-1.37321507e+01, 4.65749004e+01,
  1.28787131e+00, 8.05752300e-01,-6.39225108e-02,-1.56152017e+01,
  1.51871739e+01, 1.16211048e+00]

qfrc_actuator:
[-9.26653985e-04, 1.19338399e-01, 1.11660834e-03, 1.60292288e-04,
 -9.50271693e-05, 1.22209862e-01, 7.83897922e-04, 1.25845004e-04,
  2.36691022e-05, 1.21944589e-01,-9.40315336e-04,-5.15148533e-05,
  1.58461332e-03,-1.38250592e-03, 0.00000000e+00,-1.09938337e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027509091731570123
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.01792018e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.01792018e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07853515, -0.08166246,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.11254892e-05, 1.06209473e-02, 2.70504522e-03, 5.80279152e-04,
  2.44958109e-05, 1.06011541e-02, 2.80899576e-03, 6.18901845e-04,
  1.47518465e-05, 1.12710099e-02, 2.78646443e-03, 5.78916998e-04,
  8.61707402e-07,-3.30589599e-05,-3.22934981e-06, 2.23552870e-04,
 -1.47900376e-06, 7.45320390e-07,-1.21644305e+00,-1.79041408e-03,
 -2.95108088e-04, 3.31296903e-06]


--- Step 1726 ---
qpos:
[ 2.27469374e-03, 2.63782782e-02,-1.17057198e-02, 2.47025946e-03,
 -4.46219426e-03, 2.61298084e-02,-1.89229063e-02, 4.92430605e-03,
 -4.73288415e-03, 2.72143404e-02,-9.41317726e-03,-1.93982423e-02,
  1.37032790e+00, 1.89159965e-02, 1.34384419e+00, 2.44287115e-02,
  9.49123969e-02,-7.00039646e-02, 1.30739669e-01, 9.93714765e-01,
  4.78284569e-04,-6.85759045e-04,-1.11938676e-01]

qacc:
[ 3.20839594e+00, 8.55002449e+01,-1.67776919e+02, 1.24319020e+02,
  4.24293180e+00, 8.31778902e+01,-1.59035932e+02, 1.08844637e+02,
  3.56773203e+00, 8.16391927e+01,-1.46905670e+02, 9.65354165e+01,
  1.08860787e-01,-1.98810486e-01,-7.07140872e+00, 2.46508071e+01,
  1.27351010e+00, 8.01345243e-01,-1.45463903e-01,-1.54642426e+01,
  1.51378632e+01, 1.11044944e+00]

qfrc_actuator:
[-8.93683235e-04, 1.22553594e-01, 1.18838995e-03, 1.75231272e-04,
 -6.45128214e-05, 1.25340178e-01, 8.41058375e-04, 1.13779243e-04,
  4.32764455e-05, 1.25373308e-01,-6.86428749e-04,-2.66841879e-05,
  1.57306896e-03,-1.38362627e-03, 0.00000000e+00,-9.85564649e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002722170632661336
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.07844759e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.07844759e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07853369, -0.08166266,  0.06199159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.88798817e-05, 9.65719448e-03, 2.59311861e-03, 5.70021786e-04,
  3.47766958e-05, 9.58180345e-03, 2.58776689e-03, 5.46371797e-04,
  3.09973043e-05, 1.02497336e-02, 2.91928393e-03, 6.10349368e-04,
 -1.80807418e-05,-1.14955233e-05, 2.27830673e-05, 1.25709143e-04,
 -1.09310642e-06,-4.88262150e-07,-1.21644238e+00,-1.79100307e-03,
 -2.96302871e-04, 3.23095956e-06]


--- Step 1727 ---
qpos:
[ 2.25641683e-03, 2.87669810e-02,-1.17266889e-02, 2.46465444e-03,
 -4.46353628e-03, 2.85803447e-02,-1.89506464e-02, 4.91641647e-03,
 -4.73099399e-03, 2.96514957e-02,-9.46690629e-03,-1.94064749e-02,
  1.37042733e+00, 1.89154100e-02, 1.34394452e+00, 2.44316329e-02,
  9.49208775e-02,-6.99996221e-02, 1.30740473e-01, 9.93711840e-01,
  4.37995621e-04,-6.30845496e-04,-1.11965124e-01]

qacc:
[   5.3652622 ,  85.35572919,-174.06735616, 135.4365699 ,  -0.91513608,
   92.13202986,-186.08746121, 124.30153642,  -0.59477182,  66.72727142,
 -112.49972809,  83.90582506,   0.29794027,  -0.63376845,  -5.17401446,
   18.07638703,  -0.58892305,   1.75281209,  -0.25183508, -21.96259501,
  -15.1842245 ,  -1.0073313 ]

qfrc_actuator:
[-8.48836305e-04, 1.25818840e-01, 1.25589013e-03, 2.03955484e-04,
 -6.37738878e-05, 1.29010782e-01, 9.01602621e-04, 9.13979871e-05,
  3.62234112e-05, 1.28532092e-01,-2.64601485e-04, 6.27734304e-05,
  1.55191452e-03,-1.41971140e-03, 0.00000000e+00,-9.01395695e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026836577471210014
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.33036946e-07, -2.33036991e-07,  1.00000000e+00,  5.43062287e-14,
        1.00000000e+00,  2.33036991e-07, -1.00000000e+00,  0.00000000e+00,
        2.33036946e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204493, -0.09498192,  0.06199171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.16213606e-05, 9.14203110e-03, 2.37468966e-03, 5.38257772e-04,
  4.95288020e-06, 9.50055143e-03, 2.34990873e-03, 4.83133488e-04,
  4.69605881e-06, 9.43456808e-03, 2.89271448e-03, 6.36248435e-04,
 -3.17158284e-05,-4.41812592e-05, 2.13920774e-05, 9.33976700e-05,
 -4.53483695e-07,-1.36260504e-06,-1.21644468e+00,-1.79109834e-03,
 -2.97897616e-04, 2.55661470e-06]


--- Step 1728 ---
qpos:
[ 2.23867627e-03, 3.12199366e-02,-1.17434016e-02, 2.45973515e-03,
 -4.46554834e-03, 3.11049583e-02,-1.89782853e-02, 4.90930382e-03,
 -4.72973953e-03, 3.21581364e-02,-9.51107247e-03,-1.94120035e-02,
  1.37052642e+00, 1.89142662e-02, 1.34404465e+00, 2.44379084e-02,
  9.49267122e-02,-6.99882143e-02, 1.30739762e-01, 9.93708645e-01,
  3.50376332e-04,-6.03126708e-04,-1.11993938e-01]

qacc:
[   3.65673112,  74.42510566,-145.07288709, 102.90440485,  -7.02292593,
   99.19262048,-214.91596159, 173.74364023,  -6.32076811,  70.69324933,
 -130.21481033, 110.61818199,   0.35695702,  -0.81107632, -10.52319184,
   36.22692858,  -0.66146052,   1.76633557,  -0.3786972 , -21.99461551,
  -16.16215573,  -1.17047796]

qfrc_actuator:
[-8.15065515e-04, 1.28662091e-01, 1.32042785e-03, 2.05032436e-04,
 -9.83183144e-05, 1.32798384e-01, 9.30295632e-04, 1.34558612e-04,
 -4.28669040e-06, 1.31948718e-01, 1.80723204e-04, 1.89314535e-04,
  1.51967266e-03,-1.45860726e-03, 0.00000000e+00,-7.28822188e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43924622, -0.27326952,  4.43082733, -0.27326952, 46.5310948 ,
        2.59599806,  4.43082733,  2.59599806,  4.59935337,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002667946692495732
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.08066943e-13, -4.16133886e-13,  1.00000000e+00,  8.65837055e-26,
        1.00000000e+00,  4.16133886e-13, -1.00000000e+00,  0.00000000e+00,
        2.08066943e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10302894, -0.09554117,  0.06199176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.05202905e-05, 8.38289588e-03, 2.23644414e-03, 4.80192292e-04,
 -3.12003241e-05, 9.51758212e-03, 2.26890815e-03, 5.35565935e-04,
 -2.95659142e-05, 9.22948695e-03, 2.74449960e-03, 6.37816860e-04,
 -5.70622329e-05,-6.02241256e-05, 1.70788093e-05, 1.79798935e-04,
  1.11697573e-06,-8.59449005e-07,-1.21644333e+00,-1.79026421e-03,
 -2.99195012e-04, 1.80057619e-06]


--- Step 1729 ---
qpos:
[ 2.22132431e-03, 3.37400146e-02,-1.17602170e-02, 2.45401454e-03,
 -4.46761755e-03, 3.37082162e-02,-1.90080197e-02, 4.90186964e-03,
 -4.72883313e-03, 3.47454485e-02,-9.55218344e-03,-1.94170726e-02,
  1.37062476e+00, 1.89134436e-02, 1.34414530e+00, 2.44425337e-02,
  9.49301382e-02,-6.99700676e-02, 1.30737519e-01, 9.93705181e-01,
  2.17212720e-04,-6.00151046e-04,-1.12025023e-01]

qacc:
[   2.19405477,  87.33978568,-179.33728814, 116.28975695,  -1.87051534,
  109.09023647,-236.83282575, 176.82771028,  -4.21614013,  99.03968651,
 -200.37325578, 144.13217582,  -0.98710772,   1.05044459,   5.88330179,
  -19.19069205,  -0.60218944,   1.68472957,  -0.38303308, -21.24399081,
  -14.84455152,  -1.12463502]

qfrc_actuator:
[-7.88028637e-04, 1.32188729e-01, 1.36328178e-03, 1.71729624e-04,
 -1.00085499e-04, 1.37105612e-01, 9.58506353e-04, 1.45081257e-04,
 -2.87131139e-05, 1.36735656e-01, 6.01867836e-04, 2.65828234e-04,
  1.48612667e-03,-1.42789495e-03, 0.00000000e+00,-8.25079730e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026377276474694986
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.72307072e-07, -9.72307414e-07,  1.00000000e+00,  9.45381374e-13,
        1.00000000e+00,  9.72307414e-07, -1.00000000e+00,  0.00000000e+00,
        9.72307072e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10219974, -0.09439976,  0.06199185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.30054922e-05, 8.60835125e-03, 2.03811076e-03, 4.07216555e-04,
  5.42543856e-07, 1.00295457e-02, 2.26291363e-03, 5.01709829e-04,
 -1.43101332e-05, 1.04519329e-02, 2.65883254e-03, 5.73728055e-04,
 -7.40204164e-05,-1.55061202e-06, 2.49999703e-05,-8.47073051e-05,
  2.50042314e-06, 6.45558091e-07,-1.21644640e+00,-1.78871747e-03,
 -3.00099748e-04, 1.83140553e-06]


--- Step 1730 ---
qpos:
[ 2.20357916e-03, 3.63353472e-02,-1.17816824e-02, 2.44743602e-03,
 -4.46969255e-03, 3.63902392e-02,-1.90382537e-02, 4.89368202e-03,
 -4.72807287e-03, 3.74216628e-02,-9.59249555e-03,-1.94225676e-02,
  1.37072229e+00, 1.89131972e-02, 1.34424634e+00, 2.44440069e-02,
  9.49368854e-02,-6.99557029e-02, 1.30736816e-01, 9.93701647e-01,
  1.07369687e-04,-5.67178314e-04,-1.12056695e-01]

qacc:
[  -4.71509682, 110.69292609,-246.74920914, 183.99072957,  -1.37410754,
  103.90229472,-216.27994137, 146.157715  ,  -2.68196137, 114.39827316,
 -235.62277081, 161.62745291,  -1.28344564,   1.5131362 ,  10.26368647,
  -34.72153403,   0.83031222,  -0.94549811,   0.38501749,   9.90651008,
   16.21028083,  -0.30623585]

qfrc_actuator:
[-8.00604144e-04, 1.36540643e-01, 1.34252395e-03, 1.72269601e-04,
 -1.00283828e-04, 1.41193343e-01, 9.88583784e-04, 1.19056168e-04,
 -4.35226942e-05, 1.41844233e-01, 8.86918505e-04, 2.95735759e-04,
  1.45184880e-03,-1.39157867e-03, 0.00000000e+00,-9.90210091e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43957083, -1.7452391 ,  4.08214767, -1.7452391 , 38.36633222,
       14.50469589,  4.08214767, 14.50469589, 10.64075815,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026691009641621743
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03988481e-13, -2.07976963e-13,  1.00000000e+00,  2.16272086e-26,
        1.00000000e+00,  2.07976963e-13, -1.00000000e+00,  0.00000000e+00,
        1.03988481e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08502199, -0.05556473,  0.06199175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.69430672e-05, 9.51319123e-03, 1.99333845e-03, 4.42290046e-04,
  3.20668770e-06, 1.00908350e-02, 2.36772905e-03, 4.86062214e-04,
 -3.56306193e-06, 1.14337814e-02, 2.76149602e-03, 5.75082606e-04,
 -7.03005730e-05, 1.87796084e-05,-3.42848037e-06,-1.67866010e-04,
  3.67050155e-06, 2.98083654e-06,-1.21645375e+00,-1.78650305e-03,
 -3.00623514e-04, 2.55089277e-06]


--- Step 1731 ---
qpos:
[ 2.18531859e-03, 3.90014960e-02,-1.18040041e-02, 2.44110218e-03,
 -4.47209481e-03, 3.91465619e-02,-1.90668119e-02, 4.88555647e-03,
 -4.72664111e-03, 4.01868120e-02,-9.63080643e-03,-1.94278781e-02,
  1.37081929e+00, 1.89131110e-02, 1.34434718e+00, 2.44448336e-02,
  9.49469491e-02,-6.99450533e-02, 1.30737121e-01, 9.93698036e-01,
  2.06012933e-05,-5.04866152e-04,-1.12089063e-01]

qacc:
[  -5.52057514,  96.49690908,-209.29428058, 162.81105543,  -3.94704928,
   93.6097734 ,-191.57452663, 135.35673634,   4.24836455, 112.32418642,
 -230.76253649, 165.40397005,  -0.55854864,   0.55663993,   1.74293572,
   -6.35197267,   0.82913364,  -0.92876958,   0.25182999,   9.8206205 ,
   15.8700948 ,  -0.35796736]

qfrc_actuator:
[-8.18568106e-04, 1.39950285e-01, 1.25268230e-03, 1.75739745e-04,
 -1.17321993e-04, 1.44727239e-01, 1.00127105e-03, 1.07168234e-04,
 -1.71195972e-05, 1.46430695e-01, 1.03808918e-03, 3.16133792e-04,
  1.42781421e-03,-1.38778867e-03, 0.00000000e+00,-1.01697574e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44765282,  0.78935545, -4.37704622,  0.78935545, 26.04779246,
        3.89536393, -4.37704622,  3.89536393,  5.15014181,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026976322133909214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.05777314e-13, -2.05777314e-13,  1.00000000e+00,  4.23443032e-26,
        1.00000000e+00,  2.05777314e-13, -1.00000000e+00,  0.00000000e+00,
        2.05777314e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0850239 , -0.05556479,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.34134140e-05, 9.06649302e-03, 2.10604778e-03, 4.82973367e-04,
 -1.35381295e-05, 9.58940144e-03, 2.37445736e-03, 5.05976115e-04,
  3.85811104e-05, 1.14787581e-02, 2.84206972e-03, 6.11009204e-04,
 -5.44874978e-05,-6.17738215e-06,-2.47681820e-05,-3.75459226e-05,
  3.52897080e-06, 1.16606442e-06,-1.21645001e+00,-1.78499448e-03,
 -3.00678062e-04, 1.45988841e-06]


--- Step 1732 ---
qpos:
[ 2.16682337e-03, 4.17327959e-02,-1.18261069e-02, 2.43506445e-03,
 -4.47398984e-03, 4.19729361e-02,-1.90935279e-02, 4.87847026e-03,
 -4.72404009e-03, 4.30371126e-02,-9.66657423e-03,-1.94329139e-02,
  1.37091589e+00, 1.89130667e-02, 1.34444814e+00, 2.44432855e-02,
  9.49603249e-02,-6.99380639e-02, 1.30737985e-01, 9.93694338e-01,
 -4.33007221e-05,-4.13741512e-04,-1.12122207e-01]

qacc:
[-3.00913521e+00, 8.61060038e+01,-1.83332588e+02, 1.40193761e+02,
  3.17210808e+00, 8.95306956e+01,-1.89324678e+02, 1.52902972e+02,
  8.43979968e+00, 1.05986910e+02,-2.15817419e+02, 1.53953780e+02,
 -5.59928288e-01, 5.17581564e-01, 7.41232612e+00,-2.55511925e+01,
  8.28008524e-01,-9.15048550e-01, 1.39983029e-01, 9.74616085e+00,
  1.55969573e+01,-3.96637439e-01]

qfrc_actuator:
[-8.21733006e-04, 1.42893169e-01, 1.13720927e-03, 1.62455919e-04,
 -9.08823638e-05, 1.48008310e-01, 1.00154852e-03, 1.38753707e-04,
  3.32519240e-05, 1.50508519e-01, 1.08965729e-03, 3.12633542e-04,
  1.40992946e-03,-1.38557632e-03, 0.00000000e+00,-1.13949372e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44924164,  0.67164393, -4.39825483,  0.67164393, 36.13631853,
        4.83883577, -4.39825483,  4.83883577,  5.18816532,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002703194684305493
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02676939e-13, -2.05353878e-13,  1.00000000e+00,  2.10851077e-26,
        1.00000000e+00,  2.05353878e-13, -1.00000000e+00,  0.00000000e+00,
        1.02676939e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08502514, -0.0555645 ,  0.06199165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.19184027e-06, 8.37241164e-03, 2.00261957e-03, 4.51615385e-04,
  2.92736682e-05, 9.05569808e-03, 2.25910155e-03, 5.28415594e-04,
  6.40837530e-05, 1.10102312e-02, 2.76186506e-03, 5.92322935e-04,
 -4.63780503e-05,-1.19146136e-05,-1.77329008e-05,-1.28259120e-04,
  3.12219136e-06,-4.07491356e-07,-1.21644848e+00,-1.78378842e-03,
 -3.01214446e-04, 6.03979581e-07]


--- Step 1733 ---
qpos:
[ 2.14826554e-03, 4.45275114e-02,-1.18490526e-02, 2.42945233e-03,
 -4.47520203e-03, 4.48611122e-02,-1.91166066e-02, 4.87334103e-03,
 -4.72101167e-03, 4.59602514e-02,-9.69797725e-03,-1.94376299e-02,
  1.37101201e+00, 1.89132971e-02, 1.34454892e+00, 2.44409324e-02,
  9.49770090e-02,-6.99346898e-02, 1.30739035e-01, 9.93690543e-01,
 -8.45110301e-05,-2.94223171e-04,-1.12156187e-01]

qacc:
[-1.56289505e+00, 8.70437391e+01,-1.90555791e+02, 1.52638253e+02,
  4.79579748e+00, 7.55036079e+01,-1.59003717e+02, 1.41658407e+02,
  2.48701657e+00, 8.47245065e+01,-1.63788740e+02, 1.08826730e+02,
 -6.08685858e-01, 6.90500756e-01, 2.25080334e+00,-8.08053435e+00,
  8.27079412e-01,-9.03858331e-01, 4.62252035e-02, 9.68235327e+00,
  1.53794504e+01,-4.24885852e-01]

qfrc_actuator:
[-8.16093066e-04, 1.45994904e-01, 1.05888257e-03, 1.74475690e-04,
 -5.68122750e-05, 1.50615141e-01, 9.93543476e-04, 1.95421135e-04,
  4.39802353e-05, 1.53343987e-01, 9.91358386e-04, 2.59124928e-04,
  1.39041733e-03,-1.36650368e-03, 0.00000000e+00,-1.17545514e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002690440583034276
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.09491045e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.09491045e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08502584, -0.05556392,  0.06199169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.11167841e-07, 8.11807707e-03, 1.88180503e-03, 4.42842108e-04,
  3.79805561e-05, 8.05760319e-03, 2.12629898e-03, 5.26909353e-04,
  2.53160589e-05, 9.48542035e-03, 2.50367751e-03, 5.18913264e-04,
 -4.56363520e-05, 5.12403109e-06,-2.52006710e-05,-4.59892729e-05,
  2.45444877e-06,-1.75745216e-06,-1.21644906e+00,-1.78288483e-03,
 -3.02220519e-04,-3.12036639e-08]


--- Step 1734 ---
qpos:
[ 2.12975148e-03, 4.73783113e-02,-1.18698336e-02, 2.42499951e-03,
 -4.47633602e-03, 4.78064081e-02,-1.91370831e-02, 4.86915635e-03,
 -4.71803187e-03, 4.89477818e-02,-9.72761439e-03,-1.94421174e-02,
  1.37110774e+00, 1.89141470e-02, 1.34464939e+00, 2.44394676e-02,
  9.49969988e-02,-6.99348950e-02, 1.30739955e-01, 9.93686639e-01,
 -1.03174364e-04,-1.46640005e-04,-1.12191045e-01]

qacc:
[-4.71210647e-01, 7.04583878e+01,-1.48576829e+02, 1.23940425e+02,
 -1.94602931e-01, 7.01357939e+01,-1.44550523e+02, 1.14761494e+02,
 -1.36982994e+00, 8.06445453e+01,-1.65034913e+02, 1.18835270e+02,
 -5.87837829e-01, 9.01785140e-01,-3.08432725e+00, 1.02851312e+01,
  8.26440946e-01,-8.94801977e-01,-3.22194022e-02, 9.62840205e+00,
  1.52082878e+01,-4.44783285e-01]

qfrc_actuator:
[-8.05248403e-04, 1.48422015e-01, 1.02157061e-03, 2.01429664e-04,
 -5.40476886e-05, 1.53170462e-01, 9.95789459e-04, 2.12546466e-04,
  3.11967801e-05, 1.55927120e-01, 8.18052958e-04, 2.10961667e-04,
  1.39125332e-03,-1.31981183e-03, 0.00000000e+00,-1.12459719e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002663253773277363
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.12650367e-13, -2.08433578e-13,  1.00000000e+00,  6.51668345e-26,
        1.00000000e+00,  2.08433578e-13, -1.00000000e+00,  0.00000000e+00,
        3.12650367e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08502613, -0.05556311,  0.06199177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.77234914e-06, 7.27362657e-03, 1.85436952e-03, 4.42386719e-04,
  6.59643313e-06, 7.41818800e-03, 1.91319969e-03, 4.39823730e-04,
  3.72982820e-07, 8.32126008e-03, 2.07847893e-03, 4.48415188e-04,
 -2.08279249e-05, 3.81338136e-05,-1.87971077e-05, 4.46169499e-05,
  1.52852517e-06,-2.89661868e-06,-1.21645168e+00,-1.78228325e-03,
 -3.03686908e-04,-4.56636396e-07]


--- Step 1735 ---
qpos:
[ 2.11168755e-03, 5.02737135e-02,-1.18854412e-02, 2.42172940e-03,
 -4.47743066e-03, 5.08130858e-02,-1.91584965e-02, 4.86444112e-03,
 -4.71572859e-03, 5.19984112e-02,-9.75902996e-03,-1.94468385e-02,
  1.37120343e+00, 1.89154183e-02, 1.34474981e+00, 2.44379169e-02,
  9.50202933e-02,-6.99386504e-02, 1.30740485e-01, 9.93682611e-01,
 -9.94087650e-05, 2.87541394e-05,-1.12226811e-01]

qacc:
[ 3.09276849e+00, 4.69167721e+01,-8.67651140e+01, 6.61775768e+01,
 -6.80905718e-01, 8.26152373e+01,-1.74650720e+02, 1.21863154e+02,
 -6.50923774e+00, 8.79005933e+01,-1.91413749e+02, 1.43806986e+02,
 -2.86779104e-01, 5.52668030e-01, 2.23448393e-01,-7.97840288e-01,
  8.26152397e-01,-8.87548450e-01,-9.77233089e-02, 9.58352080e+00,
  1.50758993e+01,-4.57952976e-01]

qfrc_actuator:
[-7.73609612e-04, 1.49946995e-01, 1.00619696e-03, 2.00934968e-04,
 -5.19822573e-05, 1.56562469e-01, 1.05702433e-03, 2.06176183e-04,
 -1.31412968e-05, 1.58977258e-01, 6.71607125e-04, 1.83721570e-04,
  1.40430699e-03,-1.29250832e-03, 0.00000000e+00,-1.12953478e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026248663407588135
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.22963641e-13, -2.11481820e-13,  1.00000000e+00,  8.94491208e-26,
        1.00000000e+00,  2.11481820e-13, -1.00000000e+00,  0.00000000e+00,
        4.22963641e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08502608, -0.05556212,  0.06199189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.52508610e-05, 5.89154229e-03, 1.69779543e-03, 3.77662903e-04,
  4.75447902e-06, 7.84746889e-03, 1.81014719e-03, 3.79726046e-04,
 -3.21110048e-05, 8.04409286e-03, 1.80930082e-03, 4.03243556e-04,
  1.14372722e-05, 3.45086276e-05,-5.44545146e-06,-5.24415081e-06,
  3.45814139e-07,-3.83394246e-06,-1.21645627e+00,-1.78198300e-03,
 -3.05606463e-04,-6.80567795e-07]


--- Step 1736 ---
qpos:
[ 2.09431085e-03, 5.32099846e-02,-1.18984122e-02, 2.41869152e-03,
 -4.47849056e-03, 5.38790956e-02,-1.91786883e-02, 4.85897551e-03,
 -4.71378271e-03, 5.51093216e-02,-9.79119334e-03,-1.94520249e-02,
  1.37129939e+00, 1.89164936e-02, 1.34485024e+00, 2.44356357e-02,
  9.50410637e-02,-6.99476996e-02, 1.30740862e-01, 9.93678735e-01,
 -5.37892667e-05, 1.91384791e-04,-1.12261004e-01]

qacc:
[ 4.94104169e+00, 4.71113946e+01,-9.06118913e+01, 6.03836218e+01,
 -6.15631739e-01, 7.34262117e+01,-1.44885672e+02, 8.63436732e+01,
 -3.80948152e+00, 8.08127396e+01,-1.70580201e+02, 1.19406037e+02,
  2.75647818e-01,-3.41480079e-01, 2.21387141e+00,-7.77086299e+00,
 -6.31004788e-01,-1.32343791e+00,-3.82266797e-02, 2.15109342e+01,
 -3.99294599e+00, 7.89954768e-01]

qfrc_actuator:
[-7.29918205e-04, 1.51718614e-01, 1.01786441e-03, 1.83483927e-04,
 -5.03287472e-05, 1.59541747e-01, 1.12064531e-03, 1.69053158e-04,
 -4.02595529e-05, 1.61910330e-01, 5.97372922e-04, 1.51653537e-04,
  1.41402218e-03,-1.31239290e-03, 0.00000000e+00,-1.16733074e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.42958565,   4.20869272,   1.38135246,   4.20869272,
         7.84118506, -10.39443152,   1.38135246, -10.39443152,
        36.09924958,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002633291364790291
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.10805200e-13, -2.10805200e-13,  1.00000000e+00,  4.44388323e-26,
        1.00000000e+00,  2.10805200e-13, -1.00000000e+00,  0.00000000e+00,
        2.10805200e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1036029 , -0.04754103,  0.06199186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.73106378e-05, 5.32854031e-03, 1.41723267e-03, 2.94691707e-04,
  4.44388166e-06, 7.64873391e-03, 1.88573144e-03, 3.62499002e-04,
 -1.57713339e-05, 7.71225252e-03, 1.78883814e-03, 3.76216688e-04,
  2.28798637e-05,-6.41166726e-06,-5.13062290e-06,-3.92494519e-05,
 -1.09357467e-06,-4.57524365e-06,-1.21646280e+00,-1.78198327e-03,
 -3.07973834e-04,-7.09048187e-07]


--- Step 1737 ---
qpos:
[ 2.07775329e-03, 5.61889202e-02,-1.19114463e-02, 2.41565219e-03,
 -4.47951198e-03, 5.69915881e-02,-1.91927442e-02, 4.85464753e-03,
 -4.71163584e-03, 5.82752009e-02,-9.82237460e-03,-1.94567698e-02,
  1.37139573e+00, 1.89168806e-02, 1.34495050e+00, 2.44339125e-02,
  9.50593576e-02,-6.99620210e-02, 1.30740704e-01, 9.93674998e-01,
  3.31450948e-05, 3.41261263e-04,-1.12293725e-01]

qacc:
[ 5.81983825e+00, 5.65460007e+01,-1.19825310e+02, 8.85536146e+01,
 -2.38151414e-01, 4.66100063e+01,-8.18723742e+01, 5.75839235e+01,
  7.69727066e-01, 7.08154857e+01,-1.48960235e+02, 1.14627800e+02,
  7.80140233e-01,-1.15206080e+00,-2.05219441e+00, 6.56157857e+00,
 -6.19128853e-01,-1.31807256e+00,-1.33676748e-01, 2.12426120e+01,
 -4.01780723e+00, 7.42934109e-01]

qfrc_actuator:
[-6.79412400e-04, 1.54014666e-01, 1.06397663e-03, 1.91841755e-04,
 -4.89335296e-05, 1.61132468e-01, 1.14840907e-03, 1.67168454e-04,
 -3.93417812e-05, 1.64413440e-01, 5.48393802e-04, 1.52519100e-04,
  1.42170775e-03,-1.36014139e-03, 0.00000000e+00,-1.13539968e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.42808824,  -3.88038776,  -2.13320329,  -3.88038776,
        12.39101372, -14.48490101,  -2.13320329, -14.48490101,
        30.77674085,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00026278664060375156
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05620193e-13, -4.22480771e-13,  1.00000000e+00,  4.46225004e-26,
        1.00000000e+00,  4.22480771e-13, -1.00000000e+00,  0.00000000e+00,
        1.05620193e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10360377, -0.04754175,  0.06199188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.41918012e-05, 5.47514653e-03, 1.29744403e-03, 2.84954519e-04,
  4.10505855e-06, 6.16176159e-03, 1.81683341e-03, 3.91369307e-04,
  1.28330797e-05, 7.08919249e-03, 1.74140456e-03, 3.93571408e-04,
  1.68083746e-05,-4.43140345e-05,-8.35561132e-06, 2.87019110e-05,
 -3.28702820e-06,-3.32856389e-06,-1.21646120e+00,-1.78227392e-03,
 -3.09846870e-04, 5.14789148e-07]


--- Step 1738 ---
qpos:
[ 2.06173599e-03, 5.92216702e-02,-1.19283984e-02, 2.41211689e-03,
 -4.48085732e-03, 6.01581451e-02,-1.92098010e-02, 4.85056026e-03,
 -4.70896006e-03, 6.15038211e-02,-9.85749833e-03,-1.94626055e-02,
  1.37149215e+00, 1.89165780e-02, 1.34505057e+00, 2.44335705e-02,
  9.50750649e-02,-6.99689540e-02, 1.30740785e-01, 9.93671030e-01,
  7.04146033e-05, 4.61928534e-04,-1.12328388e-01]

qacc:
[ 3.29167411e+00, 8.10416693e+01,-1.83691120e+02, 1.41819779e+02,
 -3.45749900e+00, 8.03065414e+01,-1.83696323e+02, 1.52928986e+02,
  3.05188393e+00, 9.16915054e+01,-2.02033854e+02, 1.43358079e+02,
  6.03185155e-01,-1.04465974e+00,-4.54855419e+00, 1.53047832e+01,
 -6.46659402e-01, 1.84711326e+00, 5.97174268e-02,-2.30350213e+01,
 -1.73007448e+01,-9.86085656e-01]

qfrc_actuator:
[-6.42977366e-04, 1.57565876e-01, 1.18565855e-03, 2.33578318e-04,
 -6.54635515e-05, 1.64258025e-01, 1.13150292e-03, 2.02591514e-04,
 -2.20178262e-05, 1.68113242e-01, 5.48642191e-04, 1.36918861e-04,
  1.40685291e-03,-1.40628495e-03, 0.00000000e+00,-1.06262862e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026781552608759474
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.07273835e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.07273835e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10301132, -0.09554877,  0.06199173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.02704829e-05, 6.78560446e-03, 1.38771258e-03, 3.20186102e-04,
 -1.43459422e-05, 6.85034073e-03, 1.45690188e-03, 3.63018259e-04,
  3.00847896e-05, 7.92644217e-03, 1.65604291e-03, 3.48988970e-04,
 -1.71806688e-05,-5.59821422e-05,-1.54060046e-06, 7.30722524e-05,
 -5.09998700e-06,-1.54483927e-06,-1.21646249e+00,-1.78322222e-03,
 -3.11671378e-04, 1.59004338e-06]


--- Step 1739 ---
qpos:
[ 2.04573855e-03, 6.23196568e-02,-1.19500687e-02, 2.40787441e-03,
 -4.48240049e-03, 6.33911815e-02,-1.92341944e-02, 4.84513001e-03,
 -4.70624461e-03, 6.48005770e-02,-9.89612564e-03,-1.94691183e-02,
  1.37158849e+00, 1.89157380e-02, 1.34515064e+00, 2.44337573e-02,
  9.50881838e-02,-6.99686229e-02, 1.30740521e-01, 9.93666816e-01,
  5.86828085e-05, 5.54184591e-04,-1.12365244e-01]

qacc:
[-9.51076104e-01, 9.79458187e+01,-2.21157181e+02, 1.68496703e+02,
 -2.73749701e+00, 1.05556945e+02,-2.43247943e+02, 1.82891781e+02,
 -8.03446744e-01, 9.84544541e+01,-2.17533797e+02, 1.61330009e+02,
  3.07185864e-01,-6.74150164e-01,-1.63940435e+00, 5.63609289e+00,
 -6.47114044e-01, 1.81602160e+00,-8.61266473e-02,-2.27493798e+01,
 -1.68678402e+01,-1.11334328e+00]

qfrc_actuator:
[-6.32786222e-04, 1.61806462e-01, 1.32105729e-03, 2.78084585e-04,
 -7.46490807e-05, 1.68526845e-01, 1.11222976e-03, 2.07583191e-04,
 -3.07637434e-05, 1.72075235e-01, 5.82958834e-04, 1.48300068e-04,
  1.39979078e-03,-1.43343630e-03, 0.00000000e+00,-1.03741063e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45458607, -0.31937854,  4.44312215, -0.31937854, 17.33687685,
        0.92599913,  4.44312215,  0.92599913,  4.52114833,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002721796012709471
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.03950447e-13, -2.03950447e-13,  1.00000000e+00,  4.15957847e-26,
        1.00000000e+00,  2.03950447e-13, -1.00000000e+00,  0.00000000e+00,
        2.03950447e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1030088 , -0.09554748,  0.06199159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.88988344e-06, 8.22605976e-03, 1.68389278e-03, 3.82810865e-04,
 -7.32333694e-06, 8.30120062e-03, 1.55086196e-03, 3.48971801e-04,
  5.05337149e-06, 8.63509656e-03, 1.85031965e-03, 4.07883333e-04,
 -2.81313592e-05,-4.85797020e-05, 5.81079432e-06, 2.87156187e-05,
 -2.31651890e-06,-2.50266084e-06,-1.21645166e+00,-1.78341161e-03,
 -3.14220780e-04,-8.73769239e-07]


--- Step 1740 ---
qpos:
[ 2.02944717e-03, 6.54879314e-02,-1.19748528e-02, 2.40292613e-03,
 -4.48369491e-03, 6.66846543e-02,-1.92574129e-02, 4.83948442e-03,
 -4.70310211e-03, 6.81590640e-02,-9.93289401e-03,-1.94741050e-02,
  1.37168483e+00, 1.89144647e-02, 1.34525050e+00, 2.44359220e-02,
  9.50987148e-02,-6.99611298e-02, 1.30739422e-01, 9.93662341e-01,
 -1.50036117e-06, 6.18677149e-04,-1.12404486e-01]

qacc:
[-3.34629648e+00, 1.00145611e+02,-2.19312653e+02, 1.60388008e+02,
  1.03704278e+00, 7.61130826e+01,-1.54613630e+02, 1.04602024e+02,
  2.36424941e+00, 7.95336374e+01,-1.71656761e+02, 1.49717084e+02,
  4.32914688e-01,-7.29045271e-01,-6.35583709e+00, 2.16472015e+01,
 -6.46959117e-01, 1.79048744e+00,-2.08790078e-01,-2.25117666e+01,
 -1.65159563e+01,-1.21315025e+00]

qfrc_actuator:
[-6.38037098e-04, 1.65877392e-01, 1.37829025e-03, 2.89157022e-04,
 -6.16717927e-05, 1.71459288e-01, 1.15033052e-03, 1.95803453e-04,
 -1.93686485e-05, 1.74956874e-01, 6.03349257e-04, 2.11398143e-04,
  1.40806641e-03,-1.44906868e-03, 0.00000000e+00,-9.33908572e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45944479, -0.16662644,  4.45633072, -0.16662644, 24.82055958,
        0.76132145,  4.45633072,  0.76132145,  4.48791132,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027385623648093493
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02701797e-13, -2.02701797e-13,  1.00000000e+00,  4.10880185e-26,
        1.00000000e+00,  2.02701797e-13, -1.00000000e+00,  0.00000000e+00,
        2.02701797e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10300703, -0.09554721,  0.06199154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20963983e-05, 8.92347724e-03, 1.94123313e-03, 4.22439152e-04,
  1.55566889e-05, 7.79264667e-03, 1.91834074e-03, 3.97220509e-04,
  2.48466469e-05, 7.99125377e-03, 2.00799162e-03, 4.97684011e-04,
 -1.63903469e-05,-3.72579694e-05, 3.34942461e-06, 1.05273521e-04,
  1.52259947e-07,-2.42987586e-06,-1.21644610e+00,-1.78288299e-03,
 -3.16337549e-04,-2.45144649e-06]


--- Step 1741 ---
qpos:
[ 2.01302295e-03, 6.87252992e-02,-1.20004652e-02, 2.39764920e-03,
 -4.48516131e-03, 7.00317528e-02,-1.92769505e-02, 4.83327476e-03,
 -4.69894800e-03, 7.15742197e-02,-9.96727094e-03,-1.94785044e-02,
  1.37178067e+00, 1.89135429e-02, 1.34535037e+00, 2.44393070e-02,
  9.51066600e-02,-6.99465582e-02, 1.30737076e-01, 9.93657584e-01,
 -1.09683453e-04, 6.55930254e-04,-1.12446265e-01]

qacc:
[  -2.01258515,  92.95315509,-197.55479989, 142.38491054,  -1.97531221,
   59.40366113,-106.60719013,  51.54105951,   6.73674061,  69.41126057,
 -141.33138773, 106.04478647,  -0.50662692,   0.62457129,  -3.64323707,
   12.87402421,  -0.64645232,   1.7696439 ,  -0.31188573, -22.31615482,
  -16.23102311,  -1.29119808]

qfrc_actuator:
[-6.34494713e-04, 1.69424826e-01, 1.37115409e-03, 2.80450634e-04,
 -7.12695383e-05, 1.73800139e-01, 1.19952610e-03, 1.37865159e-04,
  2.14604443e-05, 1.77524503e-01, 6.11422871e-04, 2.14830670e-04,
  1.38293517e-03,-1.42217355e-03, 0.00000000e+00,-8.73859965e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45805735e+00,  2.01217785e-02,  4.45801194e+00,  2.01217785e-02,
        3.43689583e+01, -1.35006485e-01,  4.45801194e+00, -1.35006485e-01,
        4.45866672e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00])
  dim: 3
  dist: -0.00027337885052255984
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.03055764e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.03055764e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10300586, -0.09554777,  0.06199155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.80605237e-06, 8.84233890e-03, 2.05322400e-03, 4.42076171e-04,
 -6.48019131e-06, 6.99244449e-03, 1.87060517e-03, 3.42789856e-04,
  5.48882961e-05, 7.35138307e-03, 1.88446946e-03, 4.17500466e-04,
 -4.12796369e-05, 1.13966056e-05, 1.13850167e-05, 6.59051763e-05,
  2.36101626e-06,-1.34678123e-06,-1.21644556e+00,-1.78163799e-03,
 -3.18046126e-04,-3.18778520e-06]


--- Step 1742 ---
qpos:
[ 1.99692020e-03, 7.20194856e-02,-1.20223625e-02, 2.39310098e-03,
 -4.48741272e-03, 7.34273769e-02,-1.92936312e-02, 4.82735089e-03,
 -4.69412266e-03, 7.50457315e-02,-1.00020576e-02,-1.94837640e-02,
  1.37187595e+00, 1.89129945e-02, 1.34545073e+00, 2.44397142e-02,
  9.51118177e-02,-6.99375902e-02, 1.30735991e-01, 9.93653091e-01,
 -1.75185388e-04, 6.81530251e-04,-1.12485735e-01]

qacc:
[   1.64905909,  66.20462541,-130.19191909,  95.09267627,  -6.41868711,
   56.72603302,-110.41163496,  75.10593758,   4.07480779,  73.85080432,
 -151.64676846,  96.02063543,  -0.97063145,   1.11460674,   9.86927175,
  -33.18183291,  -0.69686272,  -1.40090364,   0.3153181 ,  21.85965877,
   -3.39014446,   1.1759217 ]

qfrc_actuator:
[-6.07967257e-04, 1.71566083e-01, 1.28885118e-03, 2.59782139e-04,
 -1.11843698e-04, 1.75928446e-01, 1.21689723e-03, 1.23677121e-04,
  4.36892935e-05, 1.80345664e-01, 5.75325041e-04, 1.65039675e-04,
  1.34845511e-03,-1.40587864e-03, 0.00000000e+00,-1.03519596e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46203733,  0.06642179,  4.46154293,  0.06642179, 33.76297106,
       -0.4362214 ,  4.46154293, -0.4362214 ,  4.46853163,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027474533172271165
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01022920e-13, -2.02045840e-13,  1.00000000e+00,  2.04112607e-26,
        1.00000000e+00,  2.02045840e-13, -1.00000000e+00,  0.00000000e+00,
        1.01022920e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10361182, -0.04754813,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.91971225e-05, 7.41229743e-03, 1.97498149e-03, 4.30744968e-04,
 -3.84442126e-05, 6.31826325e-03, 1.66505869e-03, 3.49415098e-04,
  3.72594191e-05, 7.21612045e-03, 1.68945789e-03, 3.30901201e-04,
 -5.14045212e-05, 1.01997488e-05, 9.12564598e-06,-1.56974088e-04,
  4.35060355e-06, 7.27848414e-07,-1.21644986e+00,-1.77967850e-03,
 -3.19364950e-04,-3.11682257e-06]


--- Step 1743 ---
qpos:
[ 1.98072354e-03, 7.53588131e-02,-1.20405192e-02, 2.38904391e-03,
 -4.49012827e-03, 7.68651651e-02,-1.93071256e-02, 4.82335137e-03,
 -4.68884805e-03, 7.85695248e-02,-1.00363483e-02,-1.94889130e-02,
  1.37197087e+00, 1.89122000e-02, 1.34555184e+00, 2.44325159e-02,
  9.51142866e-02,-6.99341428e-02, 1.30735548e-01, 9.93648839e-01,
 -1.98686261e-04, 6.95228934e-04,-1.12523162e-01]

qacc:
[  -1.21072867,  50.2167461 , -94.5649852 ,  63.88906657,  -3.87653385,
   50.76986237,-108.29651858, 105.50740243,   2.49575377,  67.93685032,
 -142.45973118, 105.16253213,  -0.81969782,   0.63889069,  24.24591349,
  -82.96791226,  -0.67219957,  -1.38015672,   0.16071009,  21.53593234,
   -3.55089016,   1.04124574]

qfrc_actuator:
[-6.03555198e-04, 1.73025798e-01, 1.15723613e-03, 2.13257837e-04,
 -1.34816624e-04, 1.77682091e-01, 1.23227808e-03, 1.88372897e-04,
  5.46937254e-05, 1.82799516e-01, 5.32321591e-04, 1.55537661e-04,
  1.31904226e-03,-1.43161161e-03, 0.00000000e+00,-1.43216855e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4751627 , -1.05333345, -4.34943328, -1.05333345, 16.08820358,
       -2.81241339, -4.34943328, -2.81241339,  5.15626502,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027918904484450224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.94149883e-14,  1.98829977e-13,  1.00000000e+00, -1.97666798e-26,
        1.00000000e+00, -1.98829977e-13, -1.00000000e+00,  0.00000000e+00,
        9.94149883e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10361367, -0.04754983,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.82689918e-06, 5.91235187e-03, 1.61953206e-03, 3.40546195e-04,
 -2.21341524e-05, 5.52265589e-03, 1.49811974e-03, 3.92312593e-04,
  2.56072350e-05, 6.72718979e-03, 1.62695953e-03, 3.56842308e-04,
 -5.24221385e-05,-3.41326907e-05,-1.79142876e-05,-4.05573837e-04,
  2.32216602e-06, 6.91060665e-09,-1.21644364e+00,-1.77857700e-03,
 -3.18728488e-04,-2.81551986e-06]


--- Step 1744 ---
qpos:
[ 1.96381533e-03, 7.87418346e-02,-1.20599756e-02, 2.38488165e-03,
 -4.49240781e-03, 8.03380578e-02,-1.93169668e-02, 4.82090551e-03,
 -4.68325163e-03, 8.21317214e-02,-1.00648741e-02,-1.94921554e-02,
  1.37206520e+00, 1.89116586e-02, 1.34565252e+00, 2.44236313e-02,
  9.51141461e-02,-6.99361472e-02, 1.30735230e-01, 9.93644809e-01,
 -1.80747479e-04, 6.96838858e-04,-1.12558760e-01]

qacc:
[-5.66675907e+00, 6.11710034e+01,-1.33865969e+02, 1.01978798e+02,
  2.71499657e+00, 3.93635099e+01,-7.96175230e+01, 7.48761915e+01,
  1.87515332e+00, 3.85681410e+01,-7.19317279e+01, 6.74852890e+01,
 -7.45344555e-01, 7.91437150e-01, 4.55219448e+00,-1.66511381e+01,
 -6.52368419e-01,-1.36294575e+00, 3.08219724e-02, 2.12677515e+01,
 -3.67478882e+00, 9.34542130e-01]

qfrc_actuator:
[-6.29878218e-04, 1.75059685e-01, 1.01227486e-03, 1.86671390e-04,
 -1.11730422e-04, 1.79020364e-01, 1.24499258e-03, 2.27635567e-04,
  5.89169798e-05, 1.83931604e-01, 5.19938230e-04, 1.87335035e-04,
  1.29267012e-03,-1.41108069e-03, 0.00000000e+00,-1.50313577e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48026263, -1.1636696 , -4.32650278, -1.1636696 , 22.72800154,
       -4.90796843, -4.32650278, -4.90796843,  5.80032503,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028089042001476494
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.88128239e-14, -1.97625648e-13,  1.00000000e+00,  1.95279483e-26,
        1.00000000e+00,  1.97625648e-13, -1.00000000e+00,  0.00000000e+00,
        9.88128239e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10361537, -0.04755058,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.49488136e-05, 5.56881265e-03, 1.24887462e-03, 2.82046120e-04,
  2.41830244e-05, 4.62820457e-03, 1.31149777e-03, 3.27739689e-04,
  1.84405130e-05, 5.11835140e-03, 1.54918052e-03, 3.75425653e-04,
 -6.16170613e-05,-1.22950929e-06,-5.74364981e-05,-9.67439920e-05,
  7.20559266e-07,-1.24833337e-07,-1.21644047e+00,-1.77813872e-03,
 -3.18098217e-04,-2.62102903e-06]


--- Step 1745 ---
qpos:
[ 1.94685440e-03, 8.21682731e-02,-1.20820165e-02, 2.38145691e-03,
 -4.49473240e-03, 8.38435374e-02,-1.93252232e-02, 4.81893849e-03,
 -4.67707864e-03, 8.57267574e-02,-1.00900672e-02,-1.94942297e-02,
  1.37215881e+00, 1.89120400e-02, 1.34575235e+00, 2.44182335e-02,
  9.51114597e-02,-6.99435467e-02, 1.30734598e-01, 9.93640981e-01,
 -1.21829120e-04, 6.86217980e-04,-1.12592697e-01]

qacc:
[-1.01116506e+00, 6.61220532e+01,-1.55623003e+02, 1.40595538e+02,
 -7.14268376e-01, 3.96094759e+01,-8.07738352e+01, 6.25780049e+01,
  3.59644347e+00, 3.64877245e+01,-7.20714502e+01, 6.28306668e+01,
 -7.74079255e-01, 1.19741357e+00,-1.17268334e+01, 3.94142124e+01,
 -6.36469430e-01,-1.34877577e+00,-7.81475441e-02, 2.10473530e+01,
 -3.77045184e+00, 8.49890370e-01]

qfrc_actuator:
[-6.20729183e-04, 1.77297197e-01, 8.98355239e-04, 2.25705437e-04,
 -1.14981115e-04, 1.80507919e-01, 1.25436581e-03, 2.33486678e-04,
  7.67719098e-05, 1.85186736e-01, 5.20459612e-04, 2.06566422e-04,
  1.27880946e-03,-1.34543960e-03, 0.00000000e+00,-1.31036623e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47876995, -1.30249401, -4.28519424, -1.30249401, 31.21987414,
       -8.12801615, -4.28519424, -8.12801615,  6.94929795,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002803938844417736
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.89878066e-14, -1.97975613e-13,  1.00000000e+00,  1.95971717e-26,
        1.00000000e+00,  1.97975613e-13, -1.00000000e+00,  0.00000000e+00,
        9.89878066e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10361695, -0.04755056,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.26448500e-07, 5.49972994e-03, 1.16078921e-03, 3.18889322e-04,
 -8.75560313e-07, 4.23472964e-03, 1.09771653e-03, 2.48194204e-04,
  3.14062831e-05, 4.32503489e-03, 1.22031682e-03, 2.91515533e-04,
 -4.55244593e-05, 5.18179223e-05,-3.80451813e-05, 1.79871412e-04,
 -4.88778738e-07, 3.07574208e-07,-1.21644025e+00,-1.77835543e-03,
 -3.17451349e-04,-2.53871175e-06]


--- Step 1746 ---
qpos:
[ 1.93027127e-03, 8.56278961e-02,-1.21010355e-02, 2.37897171e-03,
 -4.49742048e-03, 8.73830247e-02,-1.93343381e-02, 4.81793349e-03,
 -4.67120231e-03, 8.93598131e-02,-1.01174121e-02,-1.94964875e-02,
  1.37225204e+00, 1.89126964e-02, 1.34585207e+00, 2.44141078e-02,
  9.51062782e-02,-6.99562951e-02, 1.30733289e-01, 9.93637331e-01,
 -2.23045080e-05, 6.63257806e-04,-1.12625106e-01]

qacc:
[   2.20894456,  37.3409069 , -73.48523853,  60.52203138,  -2.95576251,
   49.30984892,-114.67248506, 107.69956141,  -2.53133578,  55.89153308,
 -125.59723275,  97.90269785,  -0.36128207,   0.45063707,  -3.99476729,
   13.80516698,  -0.62377621,  -1.33722111,  -0.16943477,  20.8681622 ,
   -3.84458529,   0.78260902]

qfrc_actuator:
[-5.90671121e-04, 1.78450258e-01, 8.58123176e-04, 2.32300619e-04,
 -1.33727291e-04, 1.82375314e-01, 1.26234143e-03, 2.90754750e-04,
  4.91644706e-05, 1.87446787e-01, 5.28849965e-04, 2.18234054e-04,
  1.25650968e-03,-1.34226639e-03, 0.00000000e+00,-1.24789537e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.47208177,  -1.47564093,  -4.22161098,  -1.47564093,
        41.7962677 , -13.04646416,  -4.22161098, -13.04646416,
         9.03240166,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002781544633905647
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97847573e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.97847573e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10361845, -0.04754994,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.11094464e-05, 4.35853604e-03, 1.21016162e-03, 2.81066798e-04,
 -1.73593737e-05, 4.34580660e-03, 9.85561283e-04, 2.73728927e-04,
 -1.37362515e-05, 4.81364100e-03, 1.02049886e-03, 2.36874739e-04,
 -3.25026620e-05, 8.90606367e-06, 1.87437175e-06, 6.75160884e-05,
 -1.33145214e-06, 1.28626862e-06,-1.21644288e+00,-1.77922029e-03,
 -3.16770929e-04,-2.57190717e-06]


--- Step 1747 ---
qpos:
[ 1.92530456e-03, 8.88754158e-02,-1.22824801e-02, 2.33447775e-03,
 -4.49963828e-03, 9.09678848e-02,-1.93497051e-02, 4.81602173e-03,
 -4.66650614e-03, 9.30359936e-02,-1.01474637e-02,-1.94993743e-02,
  1.37234497e+00, 1.89134479e-02, 1.34595180e+00, 2.44104245e-02,
  9.50912362e-02,-6.99635998e-02, 1.30731691e-01, 9.93641132e-01,
  3.58229838e-05, 5.84835229e-04,-1.12591991e-01]

qacc:
[ 7.63215782e+01, 8.69571049e+01,-5.39692485e+02, 2.28674193e+02,
  2.41741054e+00, 7.55316121e+01,-1.78513488e+02, 1.39499266e+02,
 -8.34781963e+00, 6.32834929e+01,-1.40267726e+02, 1.01985073e+02,
 -2.66327343e-01, 2.62189442e-01,-1.27997317e+00, 4.59106424e+00,
 -2.46511656e+00, 1.36091770e+00,-7.20827374e-02,-1.74652785e+01,
 -2.98891365e+01, 3.29581726e+01]

qfrc_actuator:
[-5.83982349e-04, 1.80703024e-01, 8.57531054e-04, 2.18935453e-04,
 -1.08176417e-04, 1.85485808e-01, 1.25353525e-03, 3.07187748e-04,
 -2.28304288e-05, 1.90113947e-01, 5.81618534e-04, 2.26247934e-04,
  1.23979426e-03,-1.34079007e-03, 0.00000000e+00,-1.22727844e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.47924993, -0.47729284,  0.04326708, -0.47729284,  0.49640905,
        0.1892877 ,  0.04326708,  0.1892877 ,  2.56734249,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010259166920235199
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99991891e-01,  1.61487255e-03,  3.68914741e-03,  1.61486156e-03,
        9.99998696e-01, -5.95751067e-06, -3.68915222e-03,  0.00000000e+00,
       -9.99993195e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12158676, -0.03496167,  0.12751513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.47591254,  4.34243731, -1.08491073,  4.34243731,  4.79853117,
        1.29130547, -1.08491073,  1.29130547,  9.64446042,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027944006955424316
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.98651365e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.98651365e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10299491, -0.09554607,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.97450908e-06, 4.82745524e-03, 1.01841779e-03, 2.13094836e-04,
  2.63891199e-05, 5.62775961e-03, 9.78412487e-04, 2.34195276e-04,
 -5.94538280e-05, 5.44905304e-03, 1.13889960e-03, 2.46095969e-04,
 -3.01658725e-05,-3.32170171e-06, 5.68745627e-06, 2.40403823e-05,
 -1.82610573e-06, 2.79932120e-06,-1.21644829e+00,-1.78072766e-03,
 -3.16044330e-04,-2.72266845e-06]


--- Step 1748 ---
qpos:
[ 1.93475674e-03, 9.19181157e-02,-1.25950327e-02, 2.25631913e-03,
 -4.50119753e-03, 9.46060180e-02,-1.93707222e-02, 4.81204241e-03,
 -4.66214691e-03, 9.67597752e-02,-1.01804723e-02,-1.95028759e-02,
  1.37243785e+00, 1.89137192e-02, 1.34605129e+00, 2.44090284e-02,
  9.50640336e-02,-6.99667562e-02, 1.30729434e-01, 9.93654294e-01,
  6.10384321e-05, 4.42174102e-04,-1.12476418e-01]

qacc:
[ 9.38178830e+01, 2.62106400e+01,-3.44408231e+02, 1.22416288e+02,
  3.51427675e+00, 8.18953856e+01,-1.81160126e+02, 1.15289854e+02,
 -2.81409587e+00, 6.99178633e+01,-1.55417267e+02, 1.14507952e+02,
  4.53067786e-01,-7.90908788e-01,-7.36776561e+00, 2.50732865e+01,
 -3.04014183e+00, 1.03707309e+00,-1.64769850e-01,-1.27592870e+01,
 -3.37691095e+01, 4.14856565e+01]

qfrc_actuator:
[-5.84952250e-04, 1.84273691e-01, 9.91703623e-04, 2.71671830e-04,
 -7.44883026e-05, 1.88908885e-01, 1.25814961e-03, 2.65098408e-04,
 -4.94451094e-05, 1.92969554e-01, 6.09171701e-04, 2.32588341e-04,
  1.23176166e-03,-1.37576718e-03, 0.00000000e+00,-1.10718471e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.58893835, -0.58377584, -0.07780835, -0.58377584,  0.58754453,
        0.01045741, -0.07780835,  0.01045741,  0.51047911,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00042390482776524845
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99992490e-01,  1.62482037e-03,  3.51847022e-03,  1.62481032e-03,
        9.99998680e-01, -5.71688964e-06, -3.51847486e-03,  0.00000000e+00,
       -9.99993810e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12133912, -0.03525752,  0.12760989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.48425982, -1.5756077 , -4.19833854, -1.5756077 , 14.73731542,
       -3.84790153, -4.19833854, -3.84790153,  5.92835091,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028221430812983006
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.96698571e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.96698571e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10299285, -0.09554495,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.94330080e-04, 1.88886453e-02, 9.23782686e-03, 2.35935050e-03,
  3.65522065e-05, 6.65252761e-03, 1.25395054e-03, 2.29503983e-04,
 -1.54423255e-05, 6.01616587e-03, 1.25937899e-03, 2.75831701e-04,
 -2.32687131e-05,-4.30056868e-05, 2.33565461e-06, 1.21517494e-04,
  2.10640999e-06,-1.50583380e-06,-1.21644692e+00,-1.78228850e-03,
 -3.17405695e-04,-3.27731748e-06]


--- Step 1749 ---
qpos:
[ 1.96103685e-03, 9.47719638e-02,-1.30138179e-02, 2.15118219e-03,
 -4.50267505e-03, 9.82897051e-02,-1.93896381e-02, 4.80856497e-03,
 -4.65791233e-03, 1.00531346e-01,-1.02146855e-02,-1.95069369e-02,
  1.37253070e+00, 1.89135355e-02, 1.34615054e+00, 2.44107463e-02,
  9.50228758e-02,-6.99669747e-02, 1.30726267e-01, 9.93678110e-01,
  6.15785040e-05, 2.28125358e-04,-1.12266457e-01]

qacc:
[ 1.07974835e+02,-8.46385446e+00,-2.18425568e+02, 6.06752236e+01,
  1.08496899e-02, 5.53428653e+01,-1.12111693e+02, 8.39628745e+01,
 -1.38203436e+00, 6.53792175e+01,-1.39116370e+02, 9.62388226e+01,
  5.28615561e-01,-8.48830694e-01,-9.85653300e+00, 3.37944135e+01,
 -3.48880784e+00, 7.34490228e-01,-2.27715220e-01,-8.26587824e+00,
 -3.68544815e+01, 4.74907847e+01]

qfrc_actuator:
[-5.97966406e-04, 1.86600092e-01, 1.29364574e-03, 3.54775895e-04,
 -7.17994983e-05, 1.90966735e-01, 1.29046780e-03, 2.78182331e-04,
 -6.69554408e-05, 1.95561449e-01, 6.22928654e-04, 2.20409511e-04,
  1.23425310e-03,-1.39657380e-03, 0.00000000e+00,-9.47179071e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.83759451, -0.56736319, -0.61616847, -0.56736319,  1.88633341,
       -0.96567071, -0.61616847, -0.96567071,  1.72677668,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006980431956266966
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99993429e-01,  1.66018624e-03,  3.22270877e-03,  1.66017762e-03,
        9.99998622e-01, -5.35030414e-06, -3.22271321e-03,  0.00000000e+00,
       -9.99994807e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.121108  , -0.03550227,  0.12769428])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.4855436 , -2.14307359, -3.94047421, -2.14307359, 13.35358361,
       -4.82298863, -3.94047421, -4.82298863,  7.10858311,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028263773307729556
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.96403894e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.96403894e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10299143, -0.09554484,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.33812797e-03, 3.13502574e-02, 1.60631721e-02, 4.11962014e-03,
  6.29126083e-06, 5.91523537e-03, 1.52657831e-03, 3.37934221e-04,
 -4.38100396e-06, 6.09411336e-03, 1.37808464e-03, 2.86254854e-04,
 -1.82394436e-05,-3.97387974e-05, 1.28061726e-05, 1.66670877e-04,
  1.38491217e-06,-1.05728873e-05,-1.21645325e+00,-1.78565805e-03,
 -3.16350437e-04,-2.91068500e-06]


--- Step 1750 ---
qpos:
[ 2.00596813e-03, 9.74571748e-02,-1.35149270e-02, 2.02536064e-03,
 -4.50444186e-03, 1.02010427e-01,-1.94043396e-02, 4.80607659e-03,
 -4.65368188e-03, 1.04342866e-01,-1.02452373e-02,-1.95112900e-02,
  1.37262317e+00, 1.89138041e-02, 1.34624987e+00, 2.44140399e-02,
  9.49664470e-02,-6.99653724e-02, 1.30722033e-01, 9.93713303e-01,
  4.53097030e-05,-6.28430205e-05,-1.11954744e-01]

qacc:
[ 117.96919496, -35.62281469,-109.42517712,   7.52939157,  -2.16339466,
   39.19292859, -72.90838131,  56.060494  ,  -0.41489966,  41.96520411,
  -71.80295018,  31.54820659,  -0.45417548,   0.65839262,  -4.60651775,
   16.40448755,  -3.8177746 ,   0.45518431,  -0.26651164,  -4.04551337,
  -39.15838233,  51.19277337]

qfrc_actuator:
[-6.44136320e-04, 1.87837583e-01, 1.72381722e-03, 4.62880104e-04,
 -8.73968815e-05, 1.92351633e-01, 1.31616428e-03, 2.87122531e-04,
 -7.90806850e-05, 1.97230280e-01, 6.81096073e-04, 1.79556929e-04,
  1.22708089e-03,-1.35545342e-03, 0.00000000e+00,-8.71483959e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 9.88409770e-01, -9.88301427e-01,  1.46342884e-02, -9.88301427e-01,
        9.88396334e-01, -9.07342762e-04,  1.46342884e-02, -9.07342762e-04,
        9.27133941e-01,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00])
  dim: 3
  dist: -0.0009256098129851927
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99994634e-01,  1.72485393e-03,  2.78511052e-03,  1.72484724e-03,
        9.99998512e-01, -4.80391598e-06, -2.78511466e-03, -8.47032947e-22,
       -9.99996122e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1208903 , -0.0356973 ,  0.12776903])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028120351752680683
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.97405608e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.97405608e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1029905 , -0.09554552,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.23485106e-03, 4.19325819e-02, 2.17765101e-02, 5.57131737e-03,
 -1.33891940e-05, 4.88928230e-03, 1.40444236e-03, 3.13637799e-04,
  1.58601583e-06, 5.23793612e-03, 1.45304776e-03, 2.65129993e-04,
 -2.43373675e-05, 2.42011521e-05, 2.23807657e-05, 8.61467780e-05,
 -3.90925824e-06,-2.67222372e-05,-1.21646734e+00,-1.79176194e-03,
 -3.13122310e-04,-1.86814343e-06]


--- Step 1751 ---
qpos:
[ 2.07073793e-03, 1.00010993e-01,-1.40808868e-02, 1.88303208e-03,
 -4.50603786e-03, 1.05763873e-01,-1.94169348e-02, 4.80358492e-03,
 -4.64904858e-03, 1.08188419e-01,-1.02724754e-02,-1.95151144e-02,
  1.37271545e+00, 1.89138372e-02, 1.34634915e+00, 2.44192448e-02,
  9.48939402e-02,-6.99629767e-02, 1.30716670e-01, 9.93759989e-01,
  1.97616367e-05,-4.34499882e-04,-1.11538759e-01]

qacc:
[ 1.23440766e+02,-2.66416541e+01,-8.76851070e+01, 2.77844289e+00,
  7.06572574e-01, 3.73389620e+01,-7.03838878e+01, 4.29130969e+01,
  2.08400233e+00, 3.68051861e+01,-6.82141990e+01, 4.70657738e+01,
  1.48149964e-01,-3.52570405e-01,-5.87821286e+00, 2.04085340e+01,
 -4.01947818e+00, 1.98354319e-01,-2.82390604e-01,-9.07191669e-02,
 -4.06073202e+01, 5.24543862e+01]

qfrc_actuator:
[-7.01001487e-04, 1.89471202e-01, 2.19625290e-03, 5.72729382e-04,
 -7.81223738e-05, 1.93713614e-01, 1.29942885e-03, 2.57383311e-04,
 -7.02929017e-05, 1.98600285e-01, 7.08267773e-04, 1.74714587e-04,
  1.20349177e-03,-1.38441795e-03, 0.00000000e+00,-7.75071838e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.99993177, -0.77252911,  0.63487189, -0.77252911,  4.3821174 ,
        4.11553405,  0.63487189,  4.11553405,  6.0078238 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011083762855177593
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99995937e-01,  1.82181211e-03,  2.19243173e-03,  1.82180773e-03,
        9.99998340e-01, -3.99420529e-06, -2.19243536e-03,  8.47032947e-22,
       -9.99997597e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12068286, -0.03584512,  0.12783504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.20424445,  0.00927293, -0.20403384,  0.00927293,  0.0124309 ,
       -0.00871754, -0.20403384, -0.00871754,  0.20384825,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.2608698558393175e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.74385456, -0.66831667,  0.00576453,  0.00428804,  0.0038526 ,
        0.99998338, -0.66832777,  0.74386691,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12066383, -0.03308248,  0.12117649])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002783164447801856
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10298997, -0.0955468 ,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.23281377e-03, 5.19073029e-02, 2.63396932e-02, 6.71070249e-03,
  1.03730556e-05, 4.26503407e-03, 1.13372151e-03, 2.26203996e-04,
  2.25595908e-05, 4.47347754e-03, 1.25320648e-03, 2.66554173e-04,
 -2.90970387e-05,-2.73218057e-05, 1.61966538e-05, 1.03253097e-04,
 -1.26839705e-05,-5.17492895e-05,-1.21648937e+00,-1.80123747e-03,
 -3.08400150e-04,-4.85936659e-07]


--- Step 1752 ---
qpos:
[ 2.13144154e-03, 1.02394335e-01,-1.47373860e-02, 1.73778885e-03,
 -4.50716624e-03, 1.09545792e-01,-1.94272730e-02, 4.80114581e-03,
 -4.64444665e-03, 1.12068824e-01,-1.02999421e-02,-1.95182886e-02,
  1.37280755e+00, 1.89139816e-02, 1.34644882e+00, 2.44229001e-02,
  9.48187495e-02,-6.99683648e-02, 1.30714933e-01, 9.93805647e-01,
  8.02747964e-05,-8.67068996e-04,-1.11128651e-01]

qacc:
[-2.48454804e+01, 2.17686715e+01,-3.92120191e+02, 6.11742486e+02,
  2.51323035e+00, 3.14141236e+01,-5.76489197e+01, 3.40329324e+01,
 -5.74280369e-01, 4.80410930e+01,-1.07206711e+02, 9.31990550e+01,
 -3.68302149e-01, 4.14799871e-01, 5.30700501e+00,-1.76322492e+01,
 -6.70966378e-01,-1.94594121e+00, 9.06434558e-01, 4.61578759e+01,
 -2.54667831e+01,-2.99624356e+00]

qfrc_actuator:
[-7.55178989e-04, 1.91923040e-01, 2.72725593e-03, 7.05474575e-04,
 -5.42691253e-05, 1.94944827e-01, 1.32866720e-03, 2.40538419e-04,
 -8.48678994e-05, 2.00437778e-01, 7.15725191e-04, 2.08526936e-04,
  1.20732970e-03,-1.36616326e-03, 0.00000000e+00,-8.62474352e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.99993177, -0.82330889,  0.56747336, -0.82330889,  4.16224713,
        4.58799044,  0.56747336,  4.58799044,  7.6563382 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012503836299957495
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99997063e-01,  1.95307654e-03,  1.43524966e-03,  1.95307453e-03,
        9.99998093e-01, -2.80315778e-06, -1.43525239e-03,  0.00000000e+00,
       -9.99998970e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12048176, -0.03595039,  0.12789368])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.21044007, -0.20926572,  0.02220095, -0.20926572,  0.22525354,
        0.13963146,  0.02220095,  0.13963146,  1.52660344,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016617311533749727
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.73409471, -0.67902606,  0.00534528,  0.003924  ,  0.00362964,
        0.99998571, -0.67903576,  0.73410519,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12050435, -0.03314884,  0.12070517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.50570202,  1.86430647, -4.10191566,  1.86430647,  7.62021244,
        1.4155342 , -4.10191566,  1.4155342 ,  5.14905742,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002891771688795647
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.91962427e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.91962427e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08494952, -0.05559627,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.28696876e-03, 6.08434872e-02, 3.00901563e-02, 7.66460545e-03,
  2.56841077e-05, 3.72438324e-03, 1.01397609e-03, 2.01201512e-04,
 -9.67883553e-08, 4.47106548e-03, 1.05059966e-03, 2.65492777e-04,
 -1.58788435e-05, 2.77780624e-06, 1.60332498e-05,-8.02442813e-05,
 -2.31476214e-05,-8.66063721e-05,-1.21651953e+00,-1.81432218e-03,
 -3.03079863e-04, 8.47251769e-07]


--- Step 1753 ---
qpos:
[ 2.18709700e-03, 1.04619493e-01,-1.54683752e-02, 1.59483337e-03,
 -4.50799313e-03, 1.13349960e-01,-1.94340110e-02, 4.79942740e-03,
 -4.63947332e-03, 1.15981276e-01,-1.03271141e-02,-1.95212165e-02,
  1.37289943e+00, 1.89145261e-02, 1.34654956e+00, 2.44174720e-02,
  9.47404345e-02,-6.99809273e-02, 1.30715917e-01, 9.93851353e-01,
  2.18415840e-04,-1.35589913e-03,-1.10714059e-01]

qacc:
[ -30.2372604 ,   3.88567894,-326.72664261, 601.65514014,   1.58159743,
   20.81541868, -34.60986129,  24.97845983,   1.76470326,  42.03707492,
  -89.47933416,  69.72038234,  -1.25036453,   1.52468887,  29.2638837 ,
  -99.67480854,  -0.78110137,  -1.79359951,   0.68044083,  41.70156669,
  -23.64272233,   2.19996205]

qfrc_actuator:
[-8.45032485e-04, 1.94478129e-01, 3.36278114e-03, 8.44967792e-04,
 -3.97864019e-05, 1.95751440e-01, 1.38449654e-03, 2.49128220e-04,
 -7.76822113e-05, 2.01973249e-01, 6.95818303e-04, 2.11941258e-04,
  1.20100060e-03,-1.33758245e-03, 0.00000000e+00,-1.34151141e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.99993177,  0.40969092,  0.9121496 ,  0.40969092,  3.66226269,
       -1.19578282,  0.9121496 , -1.19578282,  1.53701622,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013672136383697593
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99997666e-01,  2.09250076e-03,  5.38135665e-04,  2.09250046e-03,
        9.99997811e-01, -1.12605175e-06, -5.38136844e-04,  0.00000000e+00,
       -9.99999855e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12029682, -0.03604111,  0.12794447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.22272509, -0.22064045,  0.03040156, -0.22064045,  0.25066337,
        0.20276315,  0.03040156,  0.20276315,  1.69428646,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002762134767607065
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72694594, -0.686675  ,  0.00520014,  0.00378027,  0.00357086,
        0.99998648, -0.68668429,  0.72695577,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1203563 , -0.03320493,  0.12049887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.53808794, -1.87847341,  4.1310507 , -1.87847341,  6.04337302,
        0.68448397,  4.1310507 ,  0.68448397,  4.84933683,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029927868719969997
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.27415710e-14,  1.85483142e-13,  1.00000000e+00,  1.72019980e-26,
        1.00000000e+00, -1.85483142e-13, -1.00000000e+00,  0.00000000e+00,
       -9.27415710e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08492405, -0.05561024,  0.06199075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.18006258e-03, 7.18443296e-02, 3.52325761e-02, 7.94620619e-03,
  1.67657015e-05, 2.97065013e-03, 9.12922542e-04, 1.98771002e-04,
  2.08488144e-05, 4.12460439e-03, 9.97360271e-04, 2.27884619e-04,
 -1.34903421e-05, 2.58464107e-05,-5.38888209e-06,-4.82328127e-04,
  8.64240231e-06,-1.08837899e-04,-1.21655540e+00,-1.81970682e-03,
 -3.13611833e-04,-7.36291552e-06]


--- Step 1754 ---
qpos:
[ 2.25085733e-03, 1.06701698e-01,-1.62619792e-02, 1.45739953e-03,
 -4.50863402e-03, 1.17171435e-01,-1.94377990e-02, 4.79904819e-03,
 -4.63386340e-03, 1.19916753e-01,-1.03501244e-02,-1.95236884e-02,
  1.37299104e+00, 1.89150430e-02, 1.34665002e+00, 2.44087142e-02,
  9.46586765e-02,-6.99950309e-02, 1.30721458e-01, 9.93901660e-01,
  3.98879270e-04,-1.88546975e-03,-1.10253235e-01]

qacc:
[ 4.86629988e+01,-2.66355679e+00,-2.88080499e+02, 5.89065611e+02,
  9.27693562e-01, 1.73791753e+01,-3.44394226e+01, 4.01822748e+01,
  3.35384407e+00, 1.97332817e+01,-2.81507708e+01, 1.24870844e+01,
 -4.63248843e-01, 4.05461177e-01, 9.72235434e+00,-3.44854268e+01,
 -8.60709284e-01,-3.85292212e-01, 1.13918436e+00, 2.33171951e+01,
 -1.78939859e+01, 2.32036918e+01]

qfrc_actuator:
[-9.35930512e-04, 1.96973540e-01, 4.11669117e-03, 9.84473259e-04,
 -3.09469029e-05, 1.96351386e-01, 1.41852922e-03, 2.90042314e-04,
 -5.78303397e-05, 2.02677275e-01, 7.30071275e-04, 1.97260609e-04,
  1.16727818e-03,-1.35639697e-03, 0.00000000e+00,-1.49704387e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.99993177,  0.20567221,  0.97855122,  0.20567221,  4.05705899,
       -0.64254798,  0.97855122, -0.64254798,  1.13498271,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014599465709313586
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99997376e-01,  2.23814637e-03, -4.88031632e-04,  2.23814610e-03,
        9.99997495e-01,  1.09228896e-06,  4.88032855e-04,  0.00000000e+00,
       -9.99999881e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12012606, -0.03611707,  0.12798808])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.23869208, -0.23465536, -0.04371233, -0.23465536,  0.297683  ,
       -0.31667348, -0.04371233, -0.31667348,  1.9386502 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003643145427249324
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7197266 , -0.69424055,  0.00486587,  0.00350214,  0.00337812,
        0.99998816, -0.69424877,  0.71973512,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12021699, -0.03325292,  0.12017451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.56392792,  0.06786677,  4.5634233 ,  0.06786677, 38.95726412,
       -0.51149425,  4.5634233 , -0.51149425,  4.57153482,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030701062381027766
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.80811825e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.80811825e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08204671, -0.06677339,  0.06199052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.02452236e-03, 8.21774367e-02, 3.96936441e-02, 7.96822602e-03,
  1.05186851e-05, 2.32072367e-03, 7.22605041e-04, 1.95195776e-04,
  3.43918403e-05, 3.08572170e-03, 9.71736246e-04, 1.92303661e-04,
 -3.64617845e-05,-1.29266301e-05,-6.10244216e-05,-1.84174432e-04,
  3.93598138e-05,-1.28960110e-04,-1.21660271e+00,-1.82692976e-03,
 -3.22199920e-04,-1.64933747e-05]


--- Step 1755 ---
qpos:
[ 2.34137743e-03, 1.08670085e-01,-1.71070274e-02, 1.32405282e-03,
 -4.50916114e-03, 1.21008589e-01,-1.94405575e-02, 4.80038753e-03,
 -4.62848310e-03, 1.23866980e-01,-1.03677903e-02,-1.95247902e-02,
  1.37308221e+00, 1.89154812e-02, 1.34674929e+00, 2.44051069e-02,
  9.45715808e-02,-7.00034370e-02, 1.30732036e-01, 9.93960413e-01,
  5.78043637e-04,-2.43304506e-03,-1.09710726e-01]

qacc:
[ 1.57984781e+02, 1.45692439e+00,-2.41216573e+02, 4.78482559e+02,
  4.85197758e-01, 2.13729884e+01,-5.34049660e+01, 6.99835184e+01,
 -1.28507216e+00, 7.38062798e+00,-3.81414482e+00, 8.13463708e+00,
  2.17035809e-01,-3.95999450e-01,-1.74026474e+01, 5.82221991e+01,
 -1.33446255e+00, 1.42438974e+00, 1.25910010e+00, 4.22293986e-01,
 -8.99481633e+00, 4.10641502e+01]

qfrc_actuator:
[-1.03858901e-03, 1.99853992e-01, 4.90629501e-03, 1.11983710e-03,
 -2.54984408e-05, 1.97089664e-01, 1.43869403e-03, 3.67196818e-04,
 -8.40504016e-05, 2.02949647e-01, 8.10588176e-04, 2.24672632e-04,
  1.13843629e-03,-1.36787595e-03, 0.00000000e+00,-1.21205724e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.99993177,  0.42147417,  0.90676516,  0.42147417,  3.68069981,
       -1.24604974,  0.90676516, -1.24604974,  1.57910905,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015276556601357902
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99995829e-01,  2.40002899e-03, -1.60682848e-03,  2.40002589e-03,
        9.99997120e-01,  3.85644604e-06,  1.60683311e-03, -8.47032947e-22,
       -9.99998709e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11996677, -0.03616987,  0.12802553])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.2571153 , -0.17938121, -0.18420277, -0.17938121,  1.10141299,
       -0.82219798, -0.18420277, -0.82219798,  1.05779205,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043569917858928106
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.70262653, -0.71155408,  0.00259841,  0.00182572,  0.00184892,
        0.99999662, -0.71155648,  0.70262891,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12008229, -0.03329595,  0.11842363])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.60966269,  0.52455242,  4.57971995,  0.52455242,  8.56838888,
       -0.45342497,  4.57971995, -0.45342497,  4.66159712,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032005512531212144
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.67212346e-14,  1.73442469e-13,  1.00000000e+00,  1.50411451e-26,
        1.00000000e+00, -1.73442469e-13, -1.00000000e+00,  0.00000000e+00,
       -8.67212346e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07849391, -0.08172833,  0.06199012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.53826035e-03, 9.21398740e-02, 4.35990556e-02, 7.82486883e-03,
  6.66085943e-06, 2.05555107e-03, 5.50689360e-04, 1.96884544e-04,
 -1.13448174e-05, 2.06549677e-03, 7.98719291e-04, 1.88256487e-04,
 -5.14985980e-05,-2.29883156e-05,-4.90556729e-05, 2.66821220e-04,
  6.17208103e-05,-1.54081166e-04,-1.21663753e+00,-1.83817037e-03,
 -3.27963974e-04,-2.19866205e-05]


--- Step 1756 ---
qpos:
[ 2.46248155e-03, 1.10559059e-01,-1.80004177e-02, 1.19405681e-03,
 -4.50962340e-03, 1.24868598e-01,-1.94471960e-02, 4.80223408e-03,
 -4.62254327e-03, 1.27838736e-01,-1.03878437e-02,-1.95260508e-02,
  1.37317318e+00, 1.89152881e-02, 1.34684833e+00, 2.44041730e-02,
  9.44794781e-02,-7.00061887e-02, 1.30746565e-01, 9.94027276e-01,
  7.51561202e-04,-2.99837810e-03,-1.09088126e-01]

qacc:
[ 1.78280124e+02, 3.66914455e+01,-2.97842252e+02, 4.92192293e+02,
  4.31239092e-02, 4.20732972e+01,-1.08345460e+02, 1.06544057e+02,
  2.67247767e+00, 3.47958197e+01,-8.21199011e+01, 6.73681497e+01,
  4.53223036e-01,-9.21667003e-01,-8.50723780e+00, 2.90994564e+01,
 -1.25173003e+00, 1.41358585e+00, 9.87892940e-01,-1.73715214e+00,
 -9.10198597e+00, 4.02606043e+01]

qfrc_actuator:
[-1.15244801e-03, 2.04111931e-01, 5.74894311e-03, 1.25194180e-03,
 -2.20867862e-05, 1.98775525e-01, 1.43352600e-03, 4.29675295e-04,
 -6.62915205e-05, 2.04453315e-01, 8.27252712e-04, 2.40738495e-04,
  1.12319790e-03,-1.41039665e-03, 0.00000000e+00,-1.07821783e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -5.163789838101151e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99898428e-01,  3.55754839e-03, -1.38013433e-02,  3.55720955e-03,
        9.99993672e-01,  4.90992572e-05,  1.38014306e-02,  6.77626358e-21,
       -9.99904756e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 8, 43], dtype=int32)
  geom1: 8
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12085752, -0.03449385,  0.14388511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.99993177, -0.67454449,  0.73814177, -0.67454449,  0.84783142,
       -0.13899559,  0.73814177, -0.13899559,  0.87291184,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015696456131973219
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99992816e-01,  2.59226632e-03, -2.76558876e-03,  2.59225641e-03,
        9.99996640e-01,  7.16916668e-06,  2.76559805e-03,  0.00000000e+00,
       -9.99996176e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11981491, -0.03618998,  0.12805823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.27757395, -0.20300696, -0.1893026 , -0.20300696,  1.24598581,
       -1.03851904, -0.1893026 , -1.03851904,  1.39127552,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004950142697683124
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69477535, -0.71922433,  0.00188813,  0.00131183,  0.00135799,
        0.99999822, -0.71922562,  0.69477659,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11994375, -0.03331535,  0.11771552])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.64832164, -4.04333172, -2.29311201, -4.04333172,  6.56904105,
       -3.38671015, -2.29311201, -3.38671015, 10.61994123,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033050744208858174
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04973338e-14, -3.35914682e-13,  1.00000000e+00,  3.52620856e-27,
        1.00000000e+00,  3.35914682e-13, -1.00000000e+00,  0.00000000e+00,
        1.04973338e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07849977, -0.08173617,  0.0619898 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.99599824e-03, 1.02027714e-01, 4.70009290e-02, 7.75035172e-03,
  4.38064585e-06, 2.81889652e-03, 4.49278342e-04, 1.64890572e-04,
  3.03125776e-05, 2.68982909e-03, 5.02460462e-04, 1.27099077e-04,
 -4.54026265e-05,-6.15202214e-05, 8.07452916e-06, 1.42652452e-04,
  6.96542143e-05,-1.81287145e-04,-1.21664225e+00,-1.85194003e-03,
 -3.28574851e-04,-2.09818385e-05]


--- Step 1757 ---
qpos:
[ 2.61778385e-03, 1.12386038e-01,-1.89358159e-02, 1.06777524e-03,
 -4.51004371e-03, 1.28754728e-01,-1.94570930e-02, 4.80278685e-03,
 -4.61551991e-03, 1.31839309e-01,-1.04127745e-02,-1.95287502e-02,
  1.37326403e+00, 1.89142970e-02, 1.34694733e+00, 2.44051860e-02,
  9.43827188e-02,-7.00033230e-02, 1.30764115e-01, 9.94101841e-01,
  9.15699178e-04,-3.58078077e-03,-1.08387590e-01]

qacc:
[ 1.97283090e+02, 4.27159197e+01,-2.87526176e+02, 4.65307266e+02,
 -9.98352889e-02, 4.09465088e+01,-9.04588740e+01, 5.40890147e+01,
  5.15775357e+00, 4.87453957e+01,-1.12495361e+02, 7.42392176e+01,
  5.43240469e-01,-1.09711516e+00,-6.02933297e+00, 2.08233787e+01,
 -1.16417136e+00, 1.40435390e+00, 7.55220448e-01,-3.61678715e+00,
 -8.95461212e+00, 3.91761693e+01]

qfrc_actuator:
[-1.30530810e-03, 2.08319852e-01, 6.62314081e-03, 1.38119261e-03,
 -1.98938049e-05, 2.00483909e-01, 1.41765599e-03, 3.95108910e-04,
 -2.28425844e-05, 2.06523306e-01, 8.11200051e-04, 2.15472352e-04,
  1.11611662e-03,-1.45320569e-03, 0.00000000e+00,-9.81392088e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.99993177, -0.07129786,  0.99738666, -0.07129786,  8.72899761,
        0.55250971,  0.99738666,  0.55250971,  1.03942774,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015902353564013357
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99988176e-01,  2.81856719e-03, -3.96283810e-03,  2.81854506e-03,
        9.99996028e-01,  1.11695698e-05,  3.96285385e-03,  1.69406589e-21,
       -9.99992148e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1196678 , -0.03618141,  0.12808736])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.29833284, -0.22938469, -0.1907489 , -0.22938469,  1.37759837,
       -1.29786848, -0.1907489 , -1.29786848,  1.85908184,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005459757999237408
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.88760359e-01, -7.24987702e-01,  1.41411205e-03,  9.73985296e-04,
        1.02521487e-03,  9.99999000e-01, -7.24988427e-01,  6.88761048e-01,
        1.08420217e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1198001 , -0.03331922,  0.1170837 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.67432501, -3.91428727, -2.55493044, -3.91428727,  8.5135677 ,
       -5.88192091, -2.55493044, -5.88192091, 13.68573596,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033727043565098813
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02868398e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.02868398e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07850394, -0.08174265,  0.06198959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.68370898e-03, 1.10148610e-01, 5.02807600e-02, 7.71009307e-03,
  3.33110576e-06, 3.24525434e-03, 5.82458091e-04, 9.63837797e-05,
  5.82047408e-05, 3.54082509e-03, 5.59901907e-04, 1.01027368e-04,
 -4.25150068e-05,-7.26955554e-05, 1.73291434e-05, 1.05306146e-04,
  7.46810151e-05,-2.07740117e-04,-1.21664576e+00,-1.86607947e-03,
 -3.27542018e-04,-1.93370360e-05]


--- Step 1758 ---
qpos:
[ 2.81148352e-03, 1.14151915e-01,-1.99044256e-02, 9.45865302e-04,
 -4.51043027e-03, 1.32661474e-01,-1.94658880e-02, 4.80246364e-03,
 -4.60777269e-03, 1.35861802e-01,-1.04362888e-02,-1.95311163e-02,
  1.37335473e+00, 1.89131168e-02, 1.34704615e+00, 2.44093767e-02,
  9.42820715e-02,-6.99944987e-02, 1.30783707e-01, 9.94183796e-01,
  1.06446854e-03,-4.17633776e-03,-1.07610434e-01]

qacc:
[ 2.19562289e+02, 2.06298468e+01,-2.09908195e+02, 3.84408876e+02,
 -7.77520598e-03, 2.23527519e+01,-3.64783417e+01, 4.40529318e+00,
  3.40953795e+00, 2.56913957e+01,-5.09929516e+01, 3.83991297e+01,
  2.65048405e-01,-4.40208689e-01,-9.95112241e+00, 3.42985066e+01,
 -9.71989756e-01, 1.48965586e+00, 5.10590897e-01,-6.79230452e+00,
 -7.32295025e+00, 3.85173711e+01]

qfrc_actuator:
[-1.46191135e-03, 2.11287179e-01, 7.49376547e-03, 1.48927443e-03,
 -1.84350566e-05, 2.01359025e-01, 1.41404779e-03, 3.39418972e-04,
 -2.32673936e-07, 2.07425971e-01, 8.14467223e-04, 2.20008298e-04,
  1.12990702e-03,-1.44251059e-03, 0.00000000e+00,-8.18354155e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.99993177, -0.39051595,  0.92052204, -0.39051595,  5.47617856,
        1.89897222,  0.92052204,  1.89897222,  1.80553871,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015921581954563967
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99981748e-01,  3.08236380e-03, -5.19635502e-03,  3.08232218e-03,
        9.99995250e-01,  1.60171327e-05,  5.19637971e-03,  0.00000000e+00,
       -9.99986499e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11952396, -0.0361467 ,  0.12811363])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.31708535, -0.31116572, -0.06098372, -0.31116572,  0.42606678,
       -0.55607107, -0.06098372, -0.55607107,  3.15440387,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005911443539430833
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.79543183e-01, -7.33635450e-01,  2.99994497e-04,  2.03859224e-04,
        2.20086608e-04,  9.99999955e-01, -7.33635483e-01,  6.79543213e-01,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1196533 , -0.03331236,  0.11592761])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.68957441, -3.68319008, -2.90279504, -3.68319008, 12.29526026,
       -9.65041838, -2.90279504, -9.65041838, 16.9344366 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034114303727098005
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01700653e-14, -1.62721044e-13,  1.00000000e+00,  1.65488364e-27,
        1.00000000e+00,  1.62721044e-13, -1.00000000e+00,  0.00000000e+00,
        1.01700653e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07850678, -0.08174805,  0.06198948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.55568450e-03, 1.16160677e-01, 5.32415001e-02, 7.63070621e-03,
  2.69459421e-06, 2.67413437e-03, 6.96582519e-04, 9.67613644e-05,
  3.90946351e-05, 2.85923163e-03, 7.60924574e-04, 1.68714877e-04,
 -2.27863498e-05,-2.20120796e-05, 1.68989695e-05, 1.70493661e-04,
  7.63567092e-05,-2.33012938e-04,-1.21664805e+00,-1.88038966e-03,
 -3.24535275e-04,-1.70493748e-05]


--- Step 1759 ---
qpos:
[ 3.04670825e-03, 1.15862241e-01,-2.08985634e-02, 8.28758357e-04,
 -4.51045736e-03, 1.36587418e-01,-1.94747545e-02, 4.80157705e-03,
 -4.59955933e-03, 1.39904363e-01,-1.04586256e-02,-1.95329753e-02,
  1.37344539e+00, 1.89123012e-02, 1.34714538e+00, 2.44124841e-02,
  9.41780764e-02,-6.99797476e-02, 1.30804634e-01, 9.94272455e-01,
  1.19455103e-03,-4.78289896e-03,-1.06761334e-01]

qacc:
[ 235.36145576,   7.35951086,-153.81346022, 319.45734631,   1.6088519 ,
   24.39893172, -47.81653735,  24.07936475,   2.0867674 ,  24.27498491,
  -50.21795207,  42.36665511,  -0.36265083,   0.60136807,   3.94497224,
  -12.78996797,  -0.83693788,   1.48170492,   0.33357015,  -8.5503459 ,
   -6.42326719,  36.1686904 ]

qfrc_actuator:
[-1.58538107e-03, 2.13906860e-01, 8.44126367e-03, 1.60026451e-03,
  3.27199329e-07, 2.02315075e-01, 1.39698712e-03, 3.06659884e-04,
  9.80006075e-06, 2.08422479e-01, 8.60488596e-04, 2.41228970e-04,
  1.15622783e-03,-1.40000279e-03, 0.00000000e+00,-8.83887957e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.99993177, -0.46391471,  0.88580285, -0.46391471,  7.6763329 ,
        3.49658021,  0.88580285,  3.49658021,  2.83116882,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015768479345978105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99973416e-01,  3.38707944e-03, -6.45710862e-03,  3.38700883e-03,
        9.99994264e-01,  2.18708653e-05,  6.45714566e-03,  0.00000000e+00,
       -9.99979152e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11938317, -0.03608679,  0.12813736])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.33370213, -0.32449905, -0.07782983, -0.32449905,  0.51493456,
       -0.75561969, -0.07782983, -0.75561969,  3.48413797,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006311443980683459
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.73385473e-01, -7.39291480e-01, -3.36626312e-04, -2.26679281e-04,
       -2.48864979e-04,  9.99999943e-01, -7.39291521e-01,  6.73385511e-01,
       -2.71050543e-20])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11950089, -0.03329163,  0.11502416])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  4.69625206,  -3.27290255,  -3.36792106,  -3.27290255,
        20.13467428, -15.00286099,  -3.36792106, -15.00286099,
        19.27584022,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003428179167480755
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.04815126e-14, -1.61926050e-13,  1.00000000e+00,  6.55501144e-27,
        1.00000000e+00,  1.61926050e-13, -1.00000000e+00,  0.00000000e+00,
        4.04815126e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07850861, -0.08175257,  0.06198943])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16042960e-02, 1.21782968e-01, 5.58403620e-02, 7.52156470e-03,
  1.97714820e-05, 2.45858822e-03, 5.78990623e-04, 9.91326533e-05,
  2.54760603e-05, 2.61559534e-03, 6.89735659e-04, 1.64428576e-04,
  1.11523440e-05, 3.00374193e-05, 2.42380963e-05,-5.44471433e-05,
  7.26288461e-05,-2.55123186e-04,-1.21664617e+00,-1.89437075e-03,
 -3.18408458e-04,-1.35665533e-05]


--- Step 1760 ---
qpos:
[ 3.32471053e-03, 1.17532602e-01,-2.19127483e-02, 7.16832968e-04,
 -4.51025205e-03, 1.40526036e-01,-1.94815946e-02, 4.79945710e-03,
 -4.59137378e-03, 1.43968788e-01,-1.04820047e-02,-1.95341241e-02,
  1.37353624e+00, 1.89116371e-02, 1.34724500e+00, 2.44124752e-02,
  9.40708440e-02,-6.99597913e-02, 1.30826545e-01, 9.94366683e-01,
  1.30750131e-03,-5.40148269e-03,-1.05849014e-01]

qacc:
[ 2.40272783e+02, 1.34049889e+01,-1.47102593e+02, 2.99094774e+02,
  1.04471841e+00, 8.54080918e+00,-9.51162787e-01,-3.29481214e+01,
 -3.40450541e-01, 3.32727733e+01,-7.97042998e+01, 7.75781455e+01,
 -2.32985479e-01, 3.89772814e-01, 1.00596540e+01,-3.42546458e+01,
 -8.09331078e-01, 1.30128693e+00, 2.46194243e-01,-7.72741187e+00,
 -6.84029390e+00, 3.17746594e+01]

qfrc_actuator:
[-1.81397309e-03, 2.17011441e-01, 9.45823988e-03, 1.72857218e-03,
  1.13796974e-05, 2.02638255e-01, 1.37258755e-03, 2.16686566e-04,
 -5.49795640e-06, 2.09734665e-01, 8.78577039e-04, 2.89905939e-04,
  1.16875786e-03,-1.39214320e-03, 0.00000000e+00,-1.04806968e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.99993177, -0.47455401,  0.88014887, -0.47455401,  6.6084052 ,
        3.02394703,  0.88014887,  3.02394703,  2.63036753,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015461788462582473
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99963069e-01,  3.73540670e-03, -7.74001581e-03,  3.73529480e-03,
        9.99993023e-01,  2.89123086e-05,  7.74006981e-03,  6.77626358e-21,
       -9.99970045e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11924492, -0.03600357,  0.12815895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34807235, -0.06834166, -0.3412972 , -0.06834166,  0.82586536,
       -0.09567371, -0.3412972 , -0.09567371,  0.36723014,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006662330573607078
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.75948926e-01, -7.36948297e-01,  5.06992558e-04,  3.42701119e-04,
        3.73627350e-04,  9.99999871e-01, -7.36948392e-01,  6.75949013e-01,
       -5.42101086e-20])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11933794, -0.03325482,  0.11503467])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  4.69635259,  -2.6404154 ,  -3.88380408,  -2.6404154 ,
        33.70848645, -19.72398284,  -3.88380408, -19.72398284,
        18.10575918,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003428430356317985
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72033823e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.72033823e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07850967, -0.08175636,  0.06198943])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.39142354e-02, 1.27614724e-01, 5.81254483e-02, 7.40834085e-03,
  1.28269105e-05, 1.68038919e-03, 5.12520257e-04, 2.86200898e-05,
 -5.11856804e-07, 2.77948438e-03, 6.02335780e-04, 1.78857236e-04,
  2.49193426e-05, 1.97508523e-05, 1.26312263e-06,-1.64987316e-04,
  6.42956625e-05,-2.73984218e-04,-1.21664277e+00,-1.90766565e-03,
 -3.09367551e-04,-9.34968299e-06]


--- Step 1761 ---
qpos:
[ 3.64614446e-03, 1.19175855e-01,-2.29421467e-02, 6.10250039e-04,
 -4.51091041e-03, 1.44462226e-01,-1.94823295e-02, 4.79675584e-03,
 -4.58385286e-03, 1.48051516e-01,-1.05051259e-02,-1.95351773e-02,
  1.37362730e+00, 1.89108708e-02, 1.34734425e+00, 2.44135209e-02,
  9.39604956e-02,-6.99353058e-02, 1.30849160e-01, 9.94465354e-01,
  1.40484544e-03,-6.03292019e-03,-1.04882271e-01]

qacc:
[ 2.41836106e+02, 1.72170685e+01,-1.36723926e+02, 2.74324045e+02,
 -3.95752281e+00,-2.14474230e+01, 7.42940386e+01,-9.23613636e+01,
 -3.18823626e+00, 2.36723471e+01,-4.97030301e+01, 3.74810216e+01,
  3.50858660e-01,-3.80340899e-01,-3.79316779e+00, 1.23612038e+01,
 -7.79011510e-01, 1.13231666e+00, 1.75769370e-01,-6.93475408e+00,
 -7.16906136e+00, 2.73436758e+01]

qfrc_actuator:
[-2.07024311e-03, 2.20200567e-01, 1.05038805e-02, 1.86497063e-03,
 -3.54682540e-05, 2.01604165e-01, 1.32396278e-03, 1.11032672e-04,
 -5.34395669e-05, 2.10551836e-01, 8.46149169e-04, 2.83640246e-04,
  1.17299567e-03,-1.40500535e-03, 0.00000000e+00,-9.84931658e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.99993177, -0.47885103,  0.87781845, -0.47885103,  5.06194099,
        2.21583096,  0.87781845,  2.21583096,  2.20867024,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015028412248971007
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99950550e-01,  4.12877828e-03, -9.04711746e-03,  4.12860930e-03,
        9.99991477e-01,  3.73538604e-05,  9.04719457e-03,  0.00000000e+00,
       -9.99959073e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11910799, -0.03590052,  0.12817898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36036228, -0.29332203, -0.20933982, -0.29332203,  1.36171118,
       -1.40306653, -0.20933982, -1.40306653,  2.32630611,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006970430924772273
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.79394875e-01, -7.33771380e-01,  1.47188696e-03,  9.99993538e-04,
        1.08002969e-03,  9.99998917e-01, -7.33772174e-01,  6.79395611e-01,
        3.25260652e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11916948, -0.03320759,  0.11504023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003416312608253286
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.13997814e-14,  1.62488500e-13,  1.00000000e+00, -1.48514134e-26,
        1.00000000e+00, -1.62488500e-13, -1.00000000e+00,  0.00000000e+00,
        9.13997814e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07851014, -0.08175956,  0.06198947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.63143631e-02, 1.32753403e-01, 6.01658241e-02, 7.28440320e-03,
 -4.56555055e-05,-1.29206815e-04, 3.16764957e-04,-2.41063838e-05,
 -3.43464332e-05, 2.35798273e-03, 5.75188966e-04, 1.28148111e-04,
  1.99747338e-05,-6.13200706e-07,-2.05661981e-05, 5.34590543e-05,
  5.46595594e-05,-2.91319221e-04,-1.21664192e+00,-1.92018010e-03,
 -2.98990352e-04,-5.27116598e-06]


--- Step 1762 ---
qpos:
[ 4.01117366e-03, 1.20794914e-01,-2.39800619e-02, 5.09723691e-04,
 -4.51346870e-03, 1.48391856e-01,-1.94815161e-02, 4.79352011e-03,
 -4.57738388e-03, 1.52146585e-01,-1.05259575e-02,-1.95365266e-02,
  1.37371830e+00, 1.89105158e-02, 1.34744345e+00, 2.44146054e-02,
  9.38471097e-02,-6.99068642e-02, 1.30872252e-01, 9.94567417e-01,
  1.48777992e-03,-6.67819789e-03,-1.03869351e-01]

qacc:
[ 2.40835543e+02, 3.83352529e+00,-8.64232327e+01, 2.23514194e+02,
 -8.65248291e+00,-1.40759248e+01, 3.98968683e+01,-4.68364489e+01,
 -4.74056723e+00, 9.30997693e+00,-8.27445343e+00,-9.58213451e+00,
 -2.89970026e-01, 5.42305793e-01,-1.50388273e-01, 5.15221240e-01,
 -7.59343139e-01, 9.89015139e-01, 1.19432828e-01,-6.30224845e+00,
 -7.59479370e+00, 2.31918019e+01]

qfrc_actuator:
[-2.34313242e-03, 2.22804453e-01, 1.16231628e-02, 2.00399003e-03,
 -1.33806006e-04, 2.00955170e-01, 1.25591348e-03, 4.90696289e-05,
 -1.20319389e-04, 2.10907039e-01, 8.53538799e-04, 2.44739560e-04,
  1.17224861e-03,-1.37684952e-03, 0.00000000e+00,-9.83605173e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.99993177, -0.46692135,  0.88422169, -0.46692135,  3.58222772,
        1.36360499,  0.88422169,  1.36360499,  1.71999585,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014492040304017377
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99935692e-01,  4.56799176e-03, -1.03800681e-02,  4.56774565e-03,
        9.99989567e-01,  4.74165604e-05,  1.03801764e-02, -6.77626358e-21,
       -9.99946125e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1189714 , -0.0357808 ,  0.12819793])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.37090729, -0.29081452, -0.23021542, -0.29081452,  1.14312203,
       -0.97548312, -0.23021542, -0.97548312,  1.60316469,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007244509335559959
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68361525, -0.72983811,  0.00255396,  0.00174593,  0.00186399,
        0.99999674, -0.72984049,  0.68361748,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11899581, -0.03315158,  0.11504976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003395205116417943
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55466668e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.55466668e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07851018, -0.08176227,  0.06198954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.87637553e-02, 1.36664969e-01, 6.20386321e-02, 7.15512409e-03,
 -1.00737203e-04,-7.98654083e-04,-1.02428481e-04,-6.57615146e-05,
 -5.51714848e-05, 1.65194323e-03, 5.22651732e-04, 7.54946175e-05,
  8.35296737e-06, 3.27328173e-05,-3.94254738e-06, 1.54309190e-06,
  4.42497292e-05,-3.07598738e-04,-1.21664343e+00,-1.93185291e-03,
 -2.87566682e-04,-1.31949915e-06]


--- Step 1763 ---
qpos:
[ 4.42071955e-03, 1.22407453e-01,-2.50205984e-02, 4.15037734e-04,
 -4.50307636e-03, 1.52078234e-01,-1.96510925e-02, 4.72652969e-03,
 -4.57118808e-03, 1.56252415e-01,-1.05450945e-02,-1.95361806e-02,
  1.37380925e+00, 1.89105215e-02, 1.34754281e+00, 2.44140140e-02,
  9.37289819e-02,-6.98744292e-02, 1.30895652e-01, 9.94672004e-01,
  1.55512552e-03,-7.35089845e-03,-1.02816100e-01]

qacc:
[ 2.43855253e+02, 1.02650702e+01,-7.45608678e+01, 1.85499545e+02,
  5.73566164e+01, 2.32358044e+01,-2.80402617e+02,-3.71346859e+02,
 -1.24152426e+00, 1.29808970e+01,-3.27925628e+01, 5.14886826e+01,
 -4.04683383e-01, 6.39041872e-01, 5.37600242e+00,-1.83191571e+01,
 -1.18550631e+00, 9.98341169e-01, 7.69863383e-02,-6.19510949e+00,
 -1.44081272e+01, 2.02593948e+01]

qfrc_actuator:
[-2.69678749e-03, 2.25899500e-01, 1.28037715e-02, 2.15948352e-03,
 -2.26150650e-04, 2.00808626e-01, 1.21382948e-03,-4.24585764e-06,
 -1.44651077e-04, 2.11463024e-01, 9.35942083e-04, 3.28632269e-04,
  1.16852782e-03,-1.36006086e-03, 0.00000000e+00,-1.07202950e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.99993177, -0.4502925 ,  0.89280469, -0.4502925 ,  2.35503184,
        0.68345452,  0.89280469,  0.68345452,  1.34463699,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013865963323037786
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99918305e-01,  5.05337461e-03, -1.17407866e-02,  5.05302630e-03,
        9.99987232e-01,  5.93313504e-05,  1.17409365e-02,  0.00000000e+00,
       -9.99931073e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11883487, -0.03564651,  0.12821603])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.37941367, -0.28946256, -0.2452879 , -0.28946256,  0.87601468,
       -0.58603543, -0.2452879 , -0.58603543,  1.07099003,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000747526169273847
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68843903, -0.72528461,  0.00373247,  0.0025696 ,  0.00270712,
        0.99999303, -0.72528966,  0.68844383,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11881753, -0.03308802,  0.11505765])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.2330356 , -0.04587054,  0.22847644, -0.04587054,  0.05527327,
       -0.03568882,  0.22847644, -0.03568882,  0.22587046,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003369567210449158
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97847115,  0.2062655 ,  0.00698173,  0.20626024,  0.97849606,
       -0.00147174, -0.00713516,  0.        , -0.99997454])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11160664, -0.07762888,  0.11275372])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033678698606236235
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.06032127e-13, -4.94477104e-13,  1.00000000e+00,  1.01878170e-25,
        1.00000000e+00,  4.94477104e-13, -1.00000000e+00,  0.00000000e+00,
        2.06032127e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07850991, -0.08176457,  0.06198963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.13020146e-02, 1.40922947e-01, 6.36382703e-02, 7.00666809e-03,
 -9.79224610e-05,-7.58626407e-04,-2.67746017e-04,-1.01100250e-04,
 -1.40100082e-05, 1.44440986e-03, 4.43387418e-04, 1.65173696e-04,
  7.59248386e-06, 2.90218003e-05,-3.75636985e-06,-8.93311418e-05,
  3.32693573e-05,-3.23460863e-04,-1.21664728e+00,-1.94275672e-03,
 -2.75261015e-04, 2.54356618e-06]


--- Step 1764 ---
qpos:
[ 4.87412984e-03, 1.24028116e-01,-2.60616772e-02, 3.25150953e-04,
 -4.47721640e-03, 1.55480422e-01,-1.99688838e-02, 4.61104112e-03,
 -4.56508572e-03, 1.60371013e-01,-1.05643951e-02,-1.95341023e-02,
  1.37390054e+00, 1.89097891e-02, 1.34764213e+00, 2.44123619e-02,
  9.36055152e-02,-6.98383932e-02, 1.30919289e-01, 9.94777769e-01,
  1.60706770e-03,-8.05733185e-03,-1.01733412e-01]

qacc:
[ 2.38226637e+02, 2.16662410e+01,-8.27256403e+01, 1.61544567e+02,
  6.76269895e+01,-6.13983043e+01,-1.21538842e+02,-2.71534376e+02,
 -4.94585530e-01, 2.09032808e+01,-5.73469240e+01, 7.81775982e+01,
  6.32966286e-01,-1.03241525e+00, 3.06801301e+00,-1.10167573e+01,
 -1.33470589e+00, 9.00256233e-01, 5.91802007e-02,-5.81925367e+00,
 -1.75412067e+01, 1.47836775e+01]

qfrc_actuator:
[-3.13501415e-03, 2.29156976e-01, 1.39121715e-02, 2.32265503e-03,
 -3.11237380e-04, 2.00510515e-01, 1.30538574e-03, 1.10612026e-05,
 -1.61564502e-04, 2.12349153e-01, 1.00977466e-03, 4.31070244e-04,
  1.16834936e-03,-1.42121684e-03, 0.00000000e+00,-1.12384202e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.99993177, -0.43311109,  0.90126484, -0.43311109,  1.75612071,
        0.36339354,  0.90126484,  0.36339354,  1.17456387,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001315989065394481
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99897841e-01,  5.58818196e-03, -1.31559881e-02,  5.58769833e-03,
        9.99984386e-01,  7.35192032e-05,  1.31561935e-02,  1.35525272e-20,
       -9.99913454e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11869645, -0.0354987 ,  0.1282338 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.38809489, -0.29325933, -0.25419797, -0.29325933,  0.74073405,
       -0.4068275 , -0.25419797, -0.4068275 ,  0.85743758,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007723409424895526
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.93769459e-01, -7.20179735e-01,  5.00870836e-03,  3.47493248e-03,
        3.60721550e-03,  9.99987456e-01, -7.20188768e-01,  6.93778162e-01,
       -4.33680869e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11863393, -0.03301702,  0.11506438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34875272, -0.08076793,  0.33927128, -0.08076793,  0.10197887,
       -0.05874771,  0.33927128, -0.05874771,  0.33476707,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006679150698159605
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97874768,  0.20455943,  0.01443678,  0.20453718,  0.97885415,
       -0.00301698, -0.01474866,  0.        , -0.99989123])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11130498, -0.07767835,  0.11290112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003339385187774435
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24673738e-13,  1.66231651e-13,  1.00000000e+00, -2.07247213e-26,
        1.00000000e+00, -1.66231651e-13, -1.00000000e+00,  0.00000000e+00,
        1.24673738e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07850948, -0.08176646,  0.06198972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.39710263e-02, 1.44459748e-01, 6.48710169e-02, 6.87670992e-03,
 -8.31587699e-04, 1.09758838e-02, 8.30180440e-03, 3.09401335e-03,
 -4.40698653e-06, 1.64566200e-03, 3.85162891e-04, 1.73802798e-04,
  9.55609864e-06,-5.01055052e-05,-1.42311212e-05,-5.78545603e-05,
  1.90040418e-05,-3.49688023e-04,-1.21666358e+00,-1.95585999e-03,
 -2.61692494e-04, 6.15977601e-06]


--- Step 1765 ---
qpos:
[ 5.36978371e-03, 1.25675650e-01,-2.71048717e-02, 2.37900168e-04,
 -4.43790267e-03, 1.58606587e-01,-2.04191167e-02, 4.45376700e-03,
 -4.55898798e-03, 1.64510111e-01,-1.05899337e-02,-1.95329540e-02,
  1.37399194e+00, 1.89075994e-02, 1.34774127e+00, 2.44107493e-02,
  9.34763201e-02,-6.97992881e-02, 1.30943156e-01, 9.94883225e-01,
  1.64442418e-03,-8.80251881e-03,-1.00633887e-01]

qacc:
[ 2.27326491e+02, 4.63783483e+01,-1.25744407e+02, 1.55852887e+02,
  5.77107316e+01,-8.08325152e+01,-6.48809809e+01,-2.43297444e+02,
 -2.61994317e-01, 4.26133350e+01,-1.08701518e+02, 8.75030142e+01,
  9.79557189e-01,-1.89890218e+00,-5.05355987e-01, 1.08002861e+00,
 -1.43213361e+00, 7.67282350e-01, 5.76899329e-02,-5.21542229e+00,
 -2.00052405e+01, 8.44880592e+00]

qfrc_actuator:
[-3.72990133e-03, 2.33263238e-01, 1.48874526e-02, 2.38262262e-03,
 -6.30450828e-04, 2.00206445e-01, 1.55861230e-03, 1.13292392e-04,
 -1.74097428e-04, 2.13924130e-01, 8.84366324e-04, 4.19651692e-04,
  1.13298266e-03,-1.52818512e-03, 0.00000000e+00,-1.11812701e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.99993177, -0.41282574,  0.91073511, -0.41282574,  1.36261394,
        0.16439966,  0.91073511,  0.16439966,  1.07445224,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012392321875414618
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99873806e-01,  6.17282120e-03, -1.46379079e-02,  6.17215982e-03,
        9.99980948e-01,  9.03589097e-05,  1.46381868e-02,  0.00000000e+00,
       -9.99892856e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11855505, -0.03533992,  0.1282517 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.39446441, -0.29497988, -0.26189509, -0.29497988,  0.64539456,
       -0.28262976, -0.26189509, -0.28262976,  0.71279833,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000791667748050547
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69966728, -0.71444009,  0.00640791,  0.0044835 ,  0.00457816,
        0.99997947, -0.71445475,  0.69968164,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11844405, -0.0329409 ,  0.11509648])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.4284491 , -0.11337028,  0.4131777 , -0.11337028,  0.13496441,
       -0.08052817,  0.4131777 , -0.08052817,  0.40635328,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009503484593642067
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97900937,  0.20276338,  0.02067995,  0.20271816,  0.97922776,
       -0.00428209, -0.02111863,  0.        , -0.99977698])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1110297 , -0.07772388,  0.11302784])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033120792667132304
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.19005304e-14, -3.35204243e-13,  1.00000000e+00,  1.40452356e-26,
        1.00000000e+00,  3.35204243e-13, -1.00000000e+00,  0.00000000e+00,
        4.19005304e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07850895, -0.08176798,  0.06198981])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.67642253e-02, 1.48112767e-01, 6.58665920e-02, 6.69558208e-03,
 -1.92526366e-03, 2.47632683e-02, 1.59293788e-02, 5.61429143e-03,
  6.06370526e-07, 2.43503237e-03, 2.20497308e-04, 6.66920424e-05,
 -4.29819171e-05,-1.20090016e-04,-1.40696928e-05, 3.97722183e-07,
  3.25709948e-06,-3.80646675e-04,-1.21668814e+00,-1.96909377e-03,
 -2.46898016e-04, 9.77199857e-06]


--- Step 1766 ---
qpos:
[ 5.90585367e-03, 1.27362592e-01,-2.81518333e-02, 1.51135075e-04,
 -4.38849741e-03, 1.61476451e-01,-2.09840812e-02, 4.25959413e-03,
 -4.55283817e-03, 1.68673683e-01,-1.06228335e-02,-1.95343038e-02,
  1.37408235e+00, 1.89051930e-02, 1.34784027e+00, 2.44098692e-02,
  9.33411245e-02,-6.97575279e-02, 1.30967247e-01, 9.94987019e-01,
  1.66737102e-03,-9.59051874e-03,-9.95292610e-02]

qacc:
[ 2.15504302e+02, 6.31362563e+01,-1.52354506e+02, 1.38657088e+02,
  4.25988776e+01,-9.41574513e+01,-1.23823119e-01,-2.66371850e+02,
 -7.38635806e-02, 4.77756273e+01,-1.12879768e+02, 6.34449965e+01,
 -6.07272580e-01, 2.51744060e-01,-2.37563802e+00, 8.13152709e+00,
 -1.50009775e+00, 6.63760559e-01, 5.58296348e-02,-4.98992155e+00,
 -2.20251368e+01, 2.55237039e+00]

qfrc_actuator:
[-4.36369923e-03, 2.37839022e-01, 1.57491473e-02, 2.30990083e-03,
 -1.30734507e-03, 1.99649256e-01, 1.98785894e-03, 2.62612084e-04,
 -1.84053514e-04, 2.15562277e-01, 6.63305813e-04, 3.24136227e-04,
  1.06053392e-03,-1.53735802e-03, 0.00000000e+00,-1.07857134e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.99993177, -0.39178975,  0.91998062, -0.39178975,  1.10403706,
        0.04433505,  0.91998062,  0.04433505,  1.01881262,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011587219878893193
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99845665e-01,  6.80650355e-03, -1.61962414e-02,  6.80561072e-03,
        9.99976835e-01,  1.10242328e-04,  1.61966165e-02, -1.35525272e-20,
       -9.99868826e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11840946, -0.03517349,  0.12827024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.4002088 , -0.29878413, -0.26626138, -0.29878413,  0.58088652,
       -0.20274678, -0.26626138, -0.20274678,  0.62772027,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008102088211152981
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.70560616, -0.70859165,  0.00422149,  0.00297873,  0.00299134,
        0.99999109, -0.70859797,  0.70561244,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11824949, -0.03286148,  0.11507343])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.12961758,  0.41070527, -0.12961758,  0.15326818,
       -0.08754839,  0.41070527, -0.08754839,  0.4030433 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011862766297279477
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97927449,  0.20090123,  0.02569367,  0.20083211,  0.9796115 ,
       -0.00526932, -0.02622843,  0.        , -0.99965598])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11077924, -0.07776551,  0.11313433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003287384830428508
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.58307308e-13, -1.68861129e-13,  1.00000000e+00, -2.67319507e-26,
        1.00000000e+00,  1.68861129e-13, -1.00000000e+00,  0.00000000e+00,
       -1.58307308e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07850838, -0.08176916,  0.06198988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.95155315e-02, 1.51296999e-01, 6.68269534e-02, 6.48986633e-03,
 -3.27560030e-03, 3.79007383e-02, 2.29492549e-02, 7.84706589e-03,
  3.79541116e-06, 2.90047357e-03, 2.63782286e-04, 8.60004957e-06,
 -1.21197920e-04,-5.62935113e-05,-7.65293328e-06, 3.74861347e-05,
 -1.28171606e-05,-4.14975634e-04,-1.21672107e+00,-1.98181089e-03,
 -2.31160059e-04, 1.33799573e-05]


--- Step 1767 ---
qpos:
[ 6.48053221e-03, 1.29079062e-01,-2.91984886e-02, 6.46403920e-05,
 -4.33183747e-03, 1.64112343e-01,-2.16487018e-02, 4.03325873e-03,
 -4.54692709e-03, 1.72853238e-01,-1.06554255e-02,-1.95364081e-02,
  1.37417143e+00, 1.89036240e-02, 1.34793916e+00, 2.44101285e-02,
  9.31996467e-02,-6.97133631e-02, 1.30991557e-01, 9.95088054e-01,
  1.67547304e-03,-1.04251164e-02,-9.84290303e-02]

qacc:
[ 2.04245321e+02, 3.82978900e+01,-8.17735757e+01, 6.50298061e+01,
  3.02221012e+01,-9.69938494e+01, 3.28597048e+01,-2.57968887e+02,
 -1.03389477e+00, 1.87114919e+01,-3.28877542e+01, 7.59994237e+00,
 -1.47154265e+00, 1.72572592e+00,-3.47348013e+00, 1.22724229e+01,
 -1.57054272e+00, 6.01171542e-01, 5.48181594e-02,-5.08506008e+00,
 -2.39377163e+01,-2.21392490e+00]

qfrc_actuator:
[-4.94715035e-03, 2.41182014e-01, 1.66339512e-02, 2.19416659e-03,
 -2.37839338e-03, 1.98942120e-01, 2.54023172e-03, 5.05270184e-04,
 -2.10270968e-04, 2.16089983e-01, 5.83751463e-04, 2.68865637e-04,
  1.01386405e-03,-1.47075858e-03, 0.00000000e+00,-1.01942018e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.99993177, -0.36469063,  0.93105547, -0.36469063,  0.90387519,
       -0.03762497,  0.93105547, -0.03762497,  0.98519422,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010762417956404785
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99812838e-01,  7.48805620e-03, -1.78386880e-02,  7.48686462e-03,
        9.99971964e-01,  1.33580843e-04,  1.78391881e-02,  0.00000000e+00,
       -9.99840869e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11825902, -0.03500202,  0.12828978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.40478427, -0.30356421, -0.26776684, -0.30356421,  0.5282998 ,
       -0.14002814, -0.26776684, -0.14002814,  0.56353259,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008259796620423631
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71170224, -0.70247396,  0.00320245,  0.0022792 ,  0.00224965,
        0.99999487, -0.70247756,  0.71170589,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11804983, -0.03277946,  0.11507751])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.14794553,  0.40446466, -0.14794553,  0.17286749,
       -0.09430051,  0.40446466, -0.09430051,  0.39618001,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001379193637017307
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97955555,  0.19899702,  0.0295146 ,  0.19890675,  0.98000009,
       -0.00599318, -0.03011693,  0.        , -0.99954638])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11055121, -0.0778034 ,  0.11322179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032662600306442025
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06220782e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.06220782e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07850783, -0.08177005,  0.06198995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.21253735e-02, 1.52620092e-01, 6.78925800e-02, 6.34857420e-03,
 -4.85162030e-03, 4.99127432e-02, 2.92112700e-02, 9.92978424e-03,
 -1.20571508e-05, 2.05607702e-03, 5.04591808e-04, 6.91220936e-05,
 -1.18074881e-04, 2.12514994e-05,-2.88386768e-06, 5.95108784e-05,
 -2.92509542e-05,-4.51316593e-04,-1.21676230e+00,-1.99370382e-03,
 -2.14293470e-04, 1.71681372e-05]


--- Step 1768 ---
qpos:
[ 7.09199938e-03, 1.30820575e-01,-3.02422282e-02,-2.21739889e-05,
 -4.27122018e-03, 1.66535753e-01,-2.23988964e-02, 3.77871690e-03,
 -4.54111619e-03, 1.77039745e-01,-1.06844710e-02,-1.95380387e-02,
  1.37425974e+00, 1.89024136e-02, 1.34803804e+00, 2.44107495e-02,
  9.30517010e-02,-6.96670362e-02, 1.31016097e-01, 9.95185312e-01,
  1.66835975e-03,-1.13093056e-02,-9.73422323e-02]

qacc:
[ 1.92976901e+02, 2.38995098e+01,-3.64976671e+01, 8.60685104e+00,
  1.64307720e+01,-9.97667852e+01, 6.73043268e+01,-2.62327389e+02,
 -3.79879090e-01, 2.51761286e-01, 1.04292645e+01,-1.30039279e+01,
 -8.00578299e-01, 8.69677554e-01,-1.01584666e+00, 3.75157342e+00,
 -1.61697714e+00, 5.40503030e-01, 5.74596726e-02,-5.19651791e+00,
 -2.54537514e+01,-6.74840699e+00]

qfrc_actuator:
[-5.51475232e-03, 2.44045735e-01, 1.75833120e-02, 2.17691430e-03,
 -3.61612338e-03, 1.98136444e-01, 3.21504992e-03, 7.78449361e-04,
 -2.28222625e-04, 2.15985632e-01, 5.84376209e-04, 2.54750397e-04,
  9.93378607e-04,-1.44842643e-03, 0.00000000e+00,-1.00246946e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.99977444, -0.3405345 ,  0.93999212, -0.3405345 ,  0.7693309 ,
       -0.08348365,  0.93999212, -0.08348365,  0.9695305 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009913543199651254
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99774682e-01,  8.21627651e-03, -1.95724046e-02,  8.21470251e-03,
        9.99966246e-01,  1.60817716e-04,  1.95730653e-02,  0.00000000e+00,
       -9.99808429e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11810446, -0.03482578,  0.12831004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.4107816 , -0.31161436, -0.26765279, -0.31161436,  0.50099558,
       -0.10503149, -0.26765279, -0.10503149,  0.53306436,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008485208927657712
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.17826177e-01, -6.96218055e-01,  2.44937651e-03,  1.75823185e-03,
        1.70530527e-03,  9.99997000e-01, -6.96220143e-01,  7.17828330e-01,
       -2.16840434e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11784605, -0.03269549,  0.11508538])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.16419064,  0.39814692, -0.16419064,  0.18742377,
       -0.10031298,  0.39814692, -0.10031298,  0.38930558,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015326797489235565
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79860456e-01,  1.97070986e-01,  3.21949355e-02,  1.96964697e-01,
        9.80389222e-01, -6.47160081e-03, -3.28389325e-02,  8.67361738e-19,
       -9.99460657e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11034315, -0.0778378 ,  0.11329154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003249337130048907
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.60965924e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.60965924e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0785073 , -0.08177067,  0.06199001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.46290407e-02, 1.53956738e-01, 6.88186981e-02, 6.31645156e-03,
 -6.45222108e-03, 6.07193205e-02, 3.48460008e-02, 1.18070604e-02,
 -5.03150383e-06, 1.00366606e-03, 4.41943268e-04, 8.35892241e-05,
 -7.23593762e-05, 1.79463429e-06, 9.80593827e-07, 1.89880196e-05,
 -4.62002855e-05,-4.88894567e-04,-1.21681225e+00,-2.00479388e-03,
 -1.96176365e-04, 2.13051096e-05]


--- Step 1769 ---
qpos:
[ 7.73790745e-03, 1.32591243e-01,-3.12825737e-02,-1.10487815e-04,
 -4.20842661e-03, 1.68768561e-01,-2.32222758e-02, 3.50013391e-03,
 -4.53531020e-03, 1.81231697e-01,-1.07123038e-02,-1.95396329e-02,
  1.37434752e+00, 1.89012049e-02, 1.34813691e+00, 2.44115676e-02,
  9.28971192e-02,-6.96189023e-02, 1.31040928e-01, 9.95277869e-01,
  1.64670006e-03,-1.22457226e-02,-9.62771749e-02]

qacc:
[ 1.78987634e+02, 2.55912124e+01,-2.96208708e+01,-2.25209250e+01,
  9.09744628e+00,-9.68766546e+01, 8.14006586e+01,-2.40272438e+02,
 -3.96529641e-02, 3.88121169e+00,-3.55355033e+00,-1.75600963e+00,
 -4.17397691e-01, 3.04250474e-01,-5.80623438e-01, 2.09328376e+00,
 -1.65904028e+00, 4.51761583e-01, 7.25835877e-02,-4.81521391e+00,
 -2.67408817e+01,-1.09209556e+01]

qfrc_actuator:
[-6.10422091e-03, 2.46951869e-01, 1.85331695e-02, 2.29024366e-03,
 -4.65167218e-03, 1.97432506e-01, 3.97136310e-03, 1.04334482e-03,
 -2.41257874e-04, 2.16214790e-01, 6.11994033e-04, 2.46649169e-04,
  9.67297513e-04,-1.45251077e-03, 0.00000000e+00,-9.92764451e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.98095174, -0.324075  ,  0.92587349, -0.324075  ,  0.66500705,
       -0.11058722,  0.92587349, -0.11058722,  0.94224391,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009041788471379451
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99730511e-01,  8.98981262e-03, -2.14030149e-02,  8.98775315e-03,
        9.99959591e-01,  1.92416869e-04,  2.14038798e-02, -2.71050543e-20,
       -9.99770911e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1179462 , -0.03464554,  0.12833094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.41253597, -0.31746105, -0.26344717, -0.31746105,  0.48007333,
       -0.08138437, -0.26344717, -0.08138437,  0.51060636,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008556468120271735
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.23941588e-01, -6.89859890e-01,  1.38180485e-03,  1.00034695e-03,
        9.53252653e-04,  9.99999045e-01, -6.89860548e-01,  7.23942279e-01,
       -1.08420217e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11763932, -0.03260967,  0.11509015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.17424845,  0.39384898, -0.17424845,  0.20264328,
       -0.1008861 ,  0.39384898, -0.1008861 ,  0.38603887,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016501849876758826
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98019244,  0.19514254,  0.03379597,  0.19502665,  0.98077489,
       -0.00672431, -0.03445843,  0.        , -0.99940613])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11015279, -0.07786893,  0.11334489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032368569440373307
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.67964187e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.67964187e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07850683, -0.08177106,  0.06199005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.70636448e-02, 1.55559052e-01, 6.96144797e-02, 6.44434729e-03,
 -7.68555093e-03, 7.05618056e-02, 3.98617294e-02, 1.34789994e-02,
 -1.44313468e-08, 7.36161362e-04, 2.44238478e-04, 4.26160020e-05,
 -6.05294581e-05,-2.01378549e-05,-1.06294265e-06, 1.01022788e-05,
 -6.31208705e-05,-5.26084156e-04,-1.21687103e+00,-2.01470157e-03,
 -1.76900563e-04, 2.58567927e-05]


--- Step 1770 ---
qpos:
[ 8.41654488e-03, 1.34395469e-01,-3.23186627e-02,-2.01368784e-04,
 -4.14192027e-03, 1.70831740e-01,-2.41081510e-02, 3.20269745e-03,
 -4.52912017e-03, 1.85428943e-01,-1.07398544e-02,-1.95410577e-02,
  1.37443495e+00, 1.88996842e-02, 1.34823612e+00, 2.44094771e-02,
  9.27358615e-02,-6.95690879e-02, 1.31066045e-01, 9.95365060e-01,
  1.60997779e-03,-1.32357620e-02,-9.52397977e-02]

qacc:
[ 1.68482683e+02, 2.68201023e+01,-2.10194258e+01,-5.42506180e+01,
  1.50301255e+01,-8.83583859e+01, 6.93255500e+01,-1.70912450e+02,
  1.33663203e+00, 6.55601633e+00,-1.39422587e+01, 1.25369196e+01,
 -3.63965535e-01, 1.07792403e-01, 9.35946989e+00,-3.19086037e+01,
 -1.66898251e+00, 4.20132518e-01, 7.16758857e-02,-5.07948269e+00,
 -2.74653338e+01,-1.38966399e+01]

qfrc_actuator:
[-6.70142458e-03, 2.49975836e-01, 1.95526910e-02, 2.46547700e-03,
 -5.35268255e-03, 1.96941485e-01, 4.81616618e-03, 1.38139789e-03,
 -2.33645849e-04, 2.16589521e-01, 6.56722848e-04, 2.60157041e-04,
  9.48517749e-04,-1.47223152e-03, 0.00000000e+00,-1.14716067e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.93290534, -0.29942325,  0.88354858, -0.29942325,  0.58754493,
       -0.1170382 ,  0.88354858, -0.1170382 ,  0.8932426 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008155951359791504
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99679587e-01,  9.80673605e-03, -2.33356380e-02,  9.80406529e-03,
        9.99951913e-01,  2.28857448e-04,  2.33367602e-02,  2.71050543e-20,
       -9.99727661e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11778407, -0.03446286,  0.12835259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.41740275, -0.32800659, -0.25814092, -0.32800659,  0.4739195 ,
       -0.07181297, -0.25814092, -0.07181297,  0.50865186,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008772081304305342
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.29970558e-01, -6.83478543e-01,  2.55014448e-04,  1.86153045e-04,
        1.74296909e-04,  9.99999967e-01, -6.83478565e-01,  7.29970582e-01,
        2.71050543e-20])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11742983, -0.03252316,  0.11509491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.17974818,  0.39136956, -0.17974818,  0.22709936,
       -0.09349745,  0.39136956, -0.09349745,  0.38773185,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017351271757383773
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98055073,  0.19322968,  0.03438824,  0.19311096,  0.98115355,
       -0.00677247, -0.03504879,  0.        , -0.9993856 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10997789, -0.077897  ,  0.11338319])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003228701195142347
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.29825709e-14, -1.71930284e-13,  1.00000000e+00, -7.39000561e-27,
        1.00000000e+00,  1.71930284e-13, -1.00000000e+00,  0.00000000e+00,
       -4.29825709e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0785064 , -0.08177125,  0.06199008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.93887487e-02, 1.57072412e-01, 7.04556087e-02, 6.69306244e-03,
 -8.49519309e-03, 7.95309092e-02, 4.43496701e-02, 1.50164958e-02,
  2.08854352e-05, 6.89468612e-04, 1.80281324e-04, 4.51170869e-05,
 -5.26609984e-05,-3.98598044e-05,-2.49061449e-06,-1.54656723e-04,
 -7.85388831e-05,-5.61690461e-04,-1.21693898e+00,-2.02317200e-03,
 -1.57056210e-04, 3.06419512e-05]


--- Step 1771 ---
qpos:
[ 9.12630643e-03, 1.36234759e-01,-3.33488861e-02,-2.95935782e-04,
 -4.07080954e-03, 1.72744978e-01,-2.50456047e-02, 2.89052629e-03,
 -4.52163460e-03, 1.89625628e-01,-1.07646927e-02,-1.95429350e-02,
  1.37452224e+00, 1.88980240e-02, 1.34833518e+00, 2.44065613e-02,
  9.25678676e-02,-6.95176188e-02, 1.31091439e-01, 9.95446417e-01,
  1.55741891e-03,-1.42806474e-02,-9.42341104e-02]

qacc:
[ 1.58701448e+02, 2.20343501e+01, 3.69076950e+00,-1.02047442e+02,
  1.83389962e+01,-8.43668538e+01, 7.54540557e+01,-1.37691814e+02,
  4.52610210e+00,-9.26362224e+00, 3.38404115e+01,-4.55637311e+01,
 -9.24283131e-02,-2.45528343e-02, 2.29266086e+00,-8.31320221e+00,
 -1.68402038e+00, 4.13659381e-01, 6.92270442e-02,-5.47486713e+00,
 -2.81141894e+01,-1.59004065e+01]

qfrc_actuator:
[-7.27982883e-03, 2.52752644e-01, 2.05052752e-02, 2.53749915e-03,
 -5.76661370e-03, 1.96580227e-01, 5.75040089e-03, 1.73226902e-03,
 -1.78527167e-04, 2.16321711e-01, 6.94410966e-04, 2.15472040e-04,
  9.60750287e-04,-1.46551590e-03, 0.00000000e+00,-1.18395910e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.86294682, -0.26737833,  0.82047916, -0.26737833,  0.51270322,
       -0.11413763,  0.82047916, -0.11413763,  0.82575157,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007264891857125855
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99621161e-01,  1.06655298e-02, -2.53728322e-02,  1.06620957e-02,
        9.99943122e-01,  2.70630090e-04,  2.53742754e-02,  0.00000000e+00,
       -9.99678021e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11761785, -0.03427901,  0.12837517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.41967992, -0.33427437, -0.25375555, -0.33427437,  0.46239629,
       -0.05627063, -0.25375555, -0.05627063,  0.49380571,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008885268938835754
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.35851499e-01, -6.77142531e-01, -7.50971211e-04, -5.52603448e-04,
       -5.08514690e-04,  9.99999718e-01, -6.77142722e-01,  7.35851707e-01,
       -1.08420217e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11721771, -0.03243681,  0.11510185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.18159695,  0.39051516, -0.18159695,  0.24444101,
       -0.08660157,  0.39051516, -0.08660157,  0.39040198,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017908059950060855
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80931907e-01,  1.91345910e-01,  3.40490334e-02,  1.91230743e-01,
        9.81522665e-01, -6.63779197e-03, -3.46900124e-02,  8.67361738e-19,
       -9.99398120e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10981642, -0.07792217,  0.11340779])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032246967589835696
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.68308802e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.68308802e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07850603, -0.08177126,  0.0619901 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.16096670e-02, 1.58117114e-01, 7.11862395e-02, 6.89187131e-03,
 -9.09465170e-03, 8.75880461e-02, 4.83953999e-02, 1.63080026e-02,
  6.98087131e-05, 7.64249239e-06, 1.55772750e-04,-1.72487106e-05,
 -2.30872515e-05,-1.74599144e-05,-2.18970067e-05,-4.65156923e-05,
 -9.33058745e-05,-5.94173002e-04,-1.21701496e+00,-2.03013098e-03,
 -1.36169000e-04, 3.59857644e-05]


--- Step 1772 ---
qpos:
[ 9.86512037e-03, 1.38109010e-01,-3.43720073e-02,-3.95481372e-04,
 -3.99594163e-03, 1.74529162e-01,-2.60247542e-02, 2.56617578e-03,
 -4.51326881e-03, 1.93814518e-01,-1.07857805e-02,-1.95449834e-02,
  1.37460969e+00, 1.88958059e-02, 1.34843365e+00, 2.44068733e-02,
  9.23932134e-02,-6.94646039e-02, 1.31117092e-01, 9.95521364e-01,
  1.48855175e-03,-1.53808088e-02,-9.32653674e-02]

qacc:
[ 1.46701136e+02, 1.58135308e+01, 3.11749718e+01,-1.53856279e+02,
  1.48660911e+01,-7.91068175e+01, 8.59792807e+01,-1.35175064e+02,
  3.06085613e+00,-2.11432220e+01, 6.11462969e+01,-6.43507014e+01,
  7.86070697e-01,-1.13239874e+00,-1.07684582e+01, 3.61331114e+01,
 -1.66510651e+00, 3.86459466e-01, 6.48496235e-02,-5.77137478e+00,
 -2.83551121e+01,-1.85305691e+01]

qfrc_actuator:
[-8.16023469e-03, 2.54993421e-01, 2.12901167e-02, 2.51423507e-03,
 -6.09943722e-03, 1.96344989e-01, 6.68136504e-03, 2.02324310e-03,
 -1.49227508e-04, 2.15547846e-01, 7.25331891e-04, 1.71930850e-04,
  9.75607146e-04,-1.49624399e-03, 0.00000000e+00,-1.00909776e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.78070245, -0.23317096,  0.74506886, -0.23317096,  0.44409713,
       -0.10534138,  0.74506886, -0.10534138,  0.74773563,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006373182510764201
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99554440e-01,  1.15647554e-02, -2.75168714e-02,  1.15603757e-02,
        9.99933126e-01,  3.18247170e-04,  2.75187117e-02,  5.42101086e-20,
       -9.99621289e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11744748, -0.03409466,  0.12839878])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.42130117, -0.33906707, -0.25005639, -0.33906707,  0.4517894 ,
       -0.04134089, -0.25005639, -0.04134089,  0.47735786,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008972624030151189
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.41549154e-01, -6.70896038e-01, -1.83244180e-03, -1.35884795e-03,
       -1.22938001e-03,  9.99998321e-01, -6.70897164e-01,  7.41550399e-01,
        1.08420217e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11700312, -0.03235112,  0.1151087 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.18235493,  0.39016178, -0.18235493,  0.25062488,
       -0.08415157,  0.39016178, -0.08415157,  0.39134235,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018203266543065579
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.81330637e-01,  1.89500996e-01,  3.28565466e-02,  1.89394868e-01,
        9.81880529e-01, -6.34124836e-03, -3.34628762e-02, -8.67361738e-19,
       -9.99439961e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10966642, -0.07794465,  0.11341997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032245777244263585
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82909526e-13, -3.44300283e-13,  1.00000000e+00,  6.29758015e-26,
        1.00000000e+00,  3.44300283e-13, -1.00000000e+00,  0.00000000e+00,
        1.82909526e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07850571, -0.08177113,  0.0619901 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.40525013e-02, 1.58549114e-01, 7.16681780e-02, 7.05125242e-03,
 -9.65761720e-03, 9.47927894e-02, 5.18944148e-02, 1.73341706e-02,
  4.72216696e-05,-8.87298446e-04, 2.99826358e-06,-4.73740147e-05,
 -1.05234581e-06,-4.11195467e-05,-1.68059186e-05, 1.69117886e-04,
 -1.07493379e-04,-6.23209538e-04,-1.21709893e+00,-2.03571722e-03,
 -1.14241167e-04, 4.19971079e-05]


--- Step 1773 ---
qpos:
[ 1.06309245e-02, 1.40018868e-01,-3.53870527e-02,-5.01212028e-04,
 -3.91717217e-03, 1.76203233e-01,-2.70369184e-02, 2.23238565e-03,
 -4.50500510e-03, 1.98000113e-01,-1.08090790e-02,-1.95471823e-02,
  1.37469727e+00, 1.88933858e-02, 1.34853227e+00, 2.44068912e-02,
  9.22121274e-02,-6.94101269e-02, 1.31142950e-01, 9.95589338e-01,
  1.40265069e-03,-1.65356080e-02,-9.23389242e-02]

qacc:
[ 1.34920258e+02, 1.14931635e+01, 5.29549899e+01,-1.98598413e+02,
  1.52615555e+01,-7.26894665e+01, 8.78547592e+01,-1.17450029e+02,
 -3.40042474e-01, 1.51438601e+00,-1.10794934e+01, 1.44254820e+01,
  1.83913085e-01,-2.85701511e-01, 1.10478332e+00,-3.57536311e+00,
 -1.60793249e+00, 3.65527432e-01, 5.10971428e-02,-6.25100963e+00,
 -2.80759769e+01,-2.12086580e+01]

qfrc_actuator:
[-9.26772470e-03, 2.57111690e-01, 2.21127508e-02, 2.52532937e-03,
 -6.27807490e-03, 1.96295462e-01, 7.65662083e-03, 2.29937009e-03,
 -1.71027435e-04, 2.15702737e-01, 7.14563910e-04, 1.82233467e-04,
  9.92015218e-04,-1.49570621e-03, 0.00000000e+00,-1.03051084e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.69515074, -0.20274543,  0.6649277 , -0.20274543,  0.38962827,
       -0.09315793,  0.6649277 , -0.09315793,  0.66674564,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005485679290961595
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99478630e-01,  1.25023628e-02, -2.97684261e-02,  1.24968211e-02,
        9.99921842e-01,  3.72204753e-04,  2.97707529e-02, -5.42101086e-20,
       -9.99556753e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11727309, -0.03391063,  0.12842345])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.42440943, -0.34649087, -0.24508659, -0.34649087,  0.44929453,
       -0.03518129, -0.24508659, -0.03518129,  0.47414693,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009163015319842033
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.47025823e-01, -6.64785507e-01, -3.55670420e-03, -2.65696669e-03,
       -2.36446036e-03,  9.99993675e-01, -6.64789711e-01,  7.47030548e-01,
       -2.16840434e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11678697, -0.03226621,  0.1151088 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.18148526,  0.39056707, -0.18148526,  0.26134525,
       -0.07868189,  0.39056707, -0.07868189,  0.39411215,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018269219214236802
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98175385,  0.18763059,  0.03088907,  0.18753778,  0.98223967,
       -0.00590053, -0.03144759,  0.        , -0.9995054 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10952582, -0.07796547,  0.11342101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000322800499047704
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.67316428e-14, -3.43934730e-13,  1.00000000e+00,  3.32693714e-26,
        1.00000000e+00,  3.43934730e-13, -1.00000000e+00,  0.00000000e+00,
        9.67316428e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07850544, -0.08177088,  0.06199009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.66189728e-02, 1.58862367e-01, 7.21255801e-02, 7.30953357e-03,
 -1.00240102e-02, 1.01144021e-01, 5.49456431e-02, 1.82181442e-02,
 -5.68666722e-06,-4.91486717e-04,-2.43327865e-04,-3.77233001e-05,
  6.61418018e-06,-1.25745407e-05, 1.10097813e-05,-1.41850125e-05,
 -1.20344431e-04,-6.46892190e-04,-1.21719043e+00,-2.03933001e-03,
 -9.14309334e-05, 4.86654975e-05]


--- Step 1774 ---
qpos:
[ 1.14214123e-02, 1.41969128e-01,-3.63957877e-02,-6.15592240e-04,
 -3.83329784e-03, 1.77794070e-01,-2.80775288e-02, 1.89157888e-03,
 -4.49649221e-03, 2.02194369e-01,-1.08389358e-02,-1.95496386e-02,
  1.37478478e+00, 1.88916058e-02, 1.34863081e+00, 2.44076732e-02,
  9.20246945e-02,-6.93545332e-02, 1.31169052e-01, 9.95649755e-01,
  1.30101265e-03,-1.77452900e-02,-9.14602530e-02]

qacc:
[ 1.22031506e+02, 1.76992957e+01, 5.04544386e+01,-2.39479159e+02,
  1.95683227e+01,-4.49724623e+01, 3.03143065e+01,-4.50099867e+01,
  6.77472972e-01, 2.92464792e+01,-8.65782511e+01, 8.62290722e+01,
 -3.62726883e-01, 7.58012973e-01,-2.38792071e+00, 8.29431131e+00,
 -1.58670940e+00, 2.79160046e-01, 6.10094899e-02,-5.68954980e+00,
 -2.81429381e+01,-2.39609642e+01]

qfrc_actuator:
[-1.04500134e-02, 2.59692154e-01, 2.29719987e-02, 2.54248400e-03,
 -6.25933254e-03, 1.97384191e-01, 8.66644885e-03, 2.58647347e-03,
 -1.69598989e-04, 2.17088101e-01, 7.36501693e-04, 2.42642777e-04,
  1.00935220e-03,-1.44103644e-03, 0.00000000e+00,-9.89931443e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.61572814, -0.17086751,  0.59154495, -0.17086751,  0.33238005,
       -0.08184498,  0.59154495, -0.08184498,  0.59208725,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004610592842044214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99712360e-01, -6.85429730e-03, -2.29829613e-02, -6.85248670e-03,
        9.99976509e-01, -1.57535751e-04,  2.29835013e-02,  0.00000000e+00,
       -9.99735844e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11709483, -0.03372799,  0.12844928])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.42561988, -0.35114651, -0.24051697, -0.35114651,  0.43794463,
       -0.01799371, -0.24051697, -0.01799371,  0.45189008,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009249238262020373
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.52243116e-01, -6.58864292e-01, -5.30455922e-03, -3.99037430e-03,
       -3.49503383e-03,  9.99985931e-01, -6.58873562e-01,  7.52253700e-01,
        4.33680869e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1165693 , -0.03218299,  0.11510947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.17954554,  0.39146256, -0.17954554,  0.28341205,
       -0.06754186,  0.39146256, -0.06754186,  0.39969507,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018136328033797687
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82161978e-01,  1.85902026e-01,  2.82539417e-02,  1.85825152e-01,
        9.82568286e-01, -5.34564882e-03, -2.87551940e-02, -8.67361738e-19,
       -9.99586484e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10939327, -0.07798305,  0.11341244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032346539359404125
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.2871041e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.2871041e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07850521, -0.08177053,  0.06199008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.91572817e-02, 1.59604066e-01, 7.25703999e-02, 7.63411190e-03,
 -1.02002581e-02, 1.07690817e-01, 5.75991123e-02, 1.89764583e-02,
  1.38405240e-05, 9.10117548e-04,-1.58763434e-04, 2.10225907e-05,
  1.76282564e-05, 5.23051327e-05, 8.91565051e-07, 4.06004484e-05,
 -1.31682566e-04,-6.63454777e-04,-1.21728807e+00,-2.04055034e-03,
 -6.77082815e-05, 5.61204116e-05]


--- Step 1775 ---
qpos:
[ 1.22360551e-02, 1.43951735e-01,-3.74068924e-02,-7.47434880e-04,
 -3.74601036e-03, 1.79323181e-01,-2.91413469e-02, 1.54629515e-03,
 -4.48777418e-03, 2.06400450e-01,-1.08718177e-02,-1.95515212e-02,
  1.37487250e+00, 1.88899485e-02, 1.34872924e+00, 2.44095972e-02,
  9.18299387e-02,-6.92993857e-02, 1.31195929e-01, 9.95701855e-01,
  1.19442004e-03,-1.90169990e-02,-9.06352225e-02]

qacc:
[ 1.18074568e+02, 1.31663193e+01, 8.83757850e+01,-4.10119818e+02,
  1.29726443e+01,-2.59589950e+01,-6.94628431e+00, 1.20046391e+01,
  5.41962127e-01, 2.52645378e+01,-6.98221022e+01, 7.58790370e+01,
  1.91615184e-01,-7.75604657e-02,-3.65182052e+00, 1.24762995e+01,
 -1.83075096e+00,-1.11527299e-01, 1.93905125e-01,-1.00526871e-01,
 -3.12138748e+01,-2.69997225e+01]

qfrc_actuator:
[-1.13838762e-02, 2.62069330e-01, 2.37629869e-02, 2.62147122e-03,
 -6.12492609e-03, 1.98977760e-01, 9.67015216e-03, 2.88151557e-03,
 -1.72296582e-04, 2.18189209e-01, 7.83294625e-04, 3.15530507e-04,
  1.01660710e-03,-1.44341183e-03, 0.00000000e+00,-9.30849874e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.56308544, -0.11304673,  0.55162093, -0.11304673,  0.2261692 ,
       -0.06904611,  0.55162093, -0.06904611,  0.54893543,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038111927854720415
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98883835, -0.14426631,  0.03722828, -0.14416418,  0.9895389 ,
        0.00542757, -0.03762185,  0.        , -0.99929205])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11691257, -0.03354821,  0.12847637])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.4278165 , -0.35299342, -0.24170768, -0.35299342,  0.38806864,
        0.05804834, -0.24170768,  0.05804834,  0.34304185,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009436894187239399
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75716738, -0.65319106, -0.00624453, -0.00472825, -0.00407895,
        0.9999805 , -0.6532038 ,  0.75718215,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11635026, -0.03210203,  0.1151206 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.17501116,  0.39351065, -0.17501116,  0.29986414,
       -0.0581765 ,  0.39351065, -0.0581765 ,  0.40479976,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017840859518624417
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98256025,  0.18424999,  0.02504602,  0.18419016,  0.98287941,
       -0.00469511, -0.02548229,  0.        , -0.99967527])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10926652, -0.07799842,  0.11339578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000324401815943301
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28338873e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.28338873e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07850501, -0.08177012,  0.06199005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.13320441e-02, 1.59901190e-01, 7.30347007e-02, 8.14366203e-03,
 -1.03210753e-02, 1.13401873e-01, 6.00193852e-02, 1.96218400e-02,
  1.16438449e-05, 1.42951650e-03, 1.68071889e-04, 9.76113700e-05,
  2.77770999e-05, 1.80257637e-05, 2.78533057e-06, 6.09660529e-05,
 -1.39353918e-04,-6.72815684e-04,-1.21739308e+00,-2.03931765e-03,
 -4.40385469e-05, 6.37699708e-05]


--- Step 1776 ---
qpos:
[ 1.30764706e-02, 1.45949579e-01,-3.84242312e-02,-9.07000643e-04,
 -3.65843233e-03, 1.80800665e-01,-3.02213022e-02, 1.20015891e-03,
 -4.47889761e-03, 2.10618410e-01,-1.09062071e-02,-1.95545477e-02,
  1.37496034e+00, 1.88885764e-02, 1.34882790e+00, 2.44102007e-02,
  9.16266941e-02,-6.92469344e-02, 1.31224277e-01, 9.95744796e-01,
  1.09873540e-03,-2.03588385e-02,-8.98699708e-02]

qacc:
[ 1.24737183e+02,-1.97313430e+01, 2.16180184e+02,-6.96774938e+02,
  1.23693855e+00,-2.48779934e+01,-6.68843675e+00, 5.56902422e+01,
  4.01279132e-01, 1.75561108e+01,-3.49986041e+01, 8.89623238e+00,
 -2.00079220e-01, 4.18583682e-01, 4.37638455e+00,-1.47325938e+01,
 -2.12218288e+00,-6.74060324e-01, 3.67493066e-01, 8.04575260e+00,
 -3.45430123e+01,-3.02378217e+01]

qfrc_actuator:
[-1.18939861e-02, 2.63233515e-01, 2.45369276e-02, 2.73207807e-03,
 -5.93922405e-03, 2.00264678e-01, 1.06940735e-02, 3.23484576e-03,
 -1.77525443e-04, 2.18971115e-01, 7.73080313e-04, 2.70908851e-04,
  1.02311727e-03,-1.42649520e-03, 0.00000000e+00,-1.00337147e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.53067189, -0.10019938,  0.52112641, -0.10019938,  0.16128363,
       -0.07102398,  0.52112641, -0.07102398,  0.51701578,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031265664045864073
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93724404, -0.32758147,  0.11943198, -0.32495377,  0.94482294,
        0.0414085 , -0.12640673,  0.        , -0.9919785 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11672724, -0.03337137,  0.12850397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.4280845 , -0.36275444, -0.22730058, -0.36275444,  0.3641116 ,
        0.10209589, -0.22730058,  0.10209589,  0.26514723,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000946411697409433
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.59377104e-01, -6.50607983e-01, -7.46099857e-03, -5.66586919e-03,
       -4.85432034e-03,  9.99972166e-01, -6.50626092e-01,  7.59398241e-01,
        4.33680869e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11615941, -0.03205751,  0.11512918])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.16795424,  0.39657397, -0.16795424,  0.32030173,
       -0.04674382,  0.39657397, -0.04674382,  0.41087674,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017407179549340677
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82939941e-01,  1.82686468e-01,  2.13243348e-02,  1.82643493e-01,
        9.83171223e-01, -3.96234889e-03, -2.16893398e-02,  4.33680869e-19,
       -9.99764759e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10914358, -0.07801169,  0.11337204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003254942714430581
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.59310971e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.59310971e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07850482, -0.08176967,  0.06199002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.30565737e-02, 1.59386855e-01, 7.39156084e-02, 9.12543961e-03,
 -1.03059916e-02, 1.17733422e-01, 6.21989959e-02, 2.01987339e-02,
  9.14346109e-06, 1.47126676e-03, 2.61189539e-04, 1.51374833e-05,
  2.41446388e-05, 2.89002357e-05, 6.43657290e-06,-6.91623835e-05,
 -1.35137789e-04,-6.79247479e-04,-1.21751648e+00,-2.03647538e-03,
 -2.40645251e-05, 6.84455685e-05]


--- Step 1777 ---
qpos:
[ 1.39470542e-02, 1.47969999e-01,-3.94430166e-02,-1.10320821e-03,
 -3.57487618e-03, 1.82236402e-01,-3.13116811e-02, 8.56065450e-04,
 -4.46956855e-03, 2.14847656e-01,-1.09407180e-02,-1.95586335e-02,
  1.37504780e+00, 1.88887064e-02, 1.34892671e+00, 2.44089406e-02,
  9.14148417e-02,-6.91994892e-02, 1.31254563e-01, 9.95777451e-01,
  1.02875738e-03,-2.17722243e-02,-8.91749966e-02]

qacc:
[ 1.44479005e+02,-4.17503976e+01, 3.46380183e+02,-9.94367522e+02,
 -1.47651060e+01,-2.17958355e+01,-1.09032547e+01, 9.35517716e+01,
  1.27867096e+00, 1.30712190e+01,-2.05065049e+01,-5.90432299e+00,
 -1.36809903e+00, 2.26987252e+00, 6.05789167e+00,-2.04216792e+01,
 -2.15197336e+00,-1.25152779e+00, 4.84770980e-01, 1.53038198e+01,
 -3.46091239e+01,-3.56738220e+01]

qfrc_actuator:
[-1.23208976e-02, 2.63904863e-01, 2.53232049e-02, 2.87890236e-03,
 -5.63222415e-03, 2.01577473e-01, 1.17323381e-02, 3.58580987e-03,
 -1.66555873e-04, 2.19680984e-01, 8.17117274e-04, 2.28280197e-04,
  1.01852894e-03,-1.32720434e-03, 0.00000000e+00,-1.09959144e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.51099445, -0.50818307, -0.05352845, -0.50818307,  0.50664615,
        0.04128146, -0.05352845,  0.04128146,  0.1190806 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002573996229721194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.02828357e-01, -5.52741906e-01,  2.23479336e-01,  1.84070948e-01,
        1.26731606e-01,  9.74708667e-01, -5.67084222e-01,  8.23659811e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1165402 , -0.0331974 ,  0.12853099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.42883729, -0.38494201, -0.18900019, -0.38494201,  0.37612313,
        0.10736441, -0.18900019,  0.10736441,  0.21016519,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009549081403195196
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.61844611e-01, -6.47681107e-01, -1.00981988e-02, -7.69365065e-03,
       -6.54074610e-03,  9.99949012e-01, -6.47714132e-01,  7.61883458e-01,
       -8.67361738e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11596467, -0.03200857,  0.11512146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.15758442,  0.40080755, -0.15758442,  0.34277005,
       -0.03456071,  0.40080755, -0.03456071,  0.41708522,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016847269394618773
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98329327,  0.1812223 ,  0.01711195,  0.18119486,  0.98344216,
       -0.00315328, -0.01740006,  0.        , -0.99984861])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10902322, -0.07802291,  0.11334166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032661711354391165
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.12447346e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.12447346e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07850461, -0.08176922,  0.06198999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.47786234e-02, 1.59234852e-01, 7.50019927e-02, 1.06564982e-02,
 -1.00134134e-02, 1.21587860e-01, 6.40402225e-02, 2.05921960e-02,
  2.52011763e-05, 1.43800069e-03, 3.32602476e-04, 2.05216932e-05,
  1.33553704e-05, 1.14021281e-04,-7.38917451e-06,-9.98644348e-05,
 -1.15321527e-04,-6.81479020e-04,-1.21766156e+00,-2.03183807e-03,
 -8.63908929e-06, 6.79569930e-05]


--- Step 1778 ---
qpos:
[ 1.48284595e-02, 1.50035124e-01,-4.04452817e-02,-1.29983149e-03,
 -3.48404803e-03, 1.83639685e-01,-3.24061847e-02, 5.13952923e-04,
 -4.46023804e-03, 2.19084012e-01,-1.09737588e-02,-1.95622588e-02,
  1.37513515e+00, 1.88896129e-02, 1.34902556e+00, 2.44058587e-02,
  9.11986585e-02,-6.91503190e-02, 1.31284419e-01, 9.95802261e-01,
  9.37142104e-04,-2.32267527e-02,-8.85296383e-02]

qacc:
[ 5.12167383e+01, 1.19718652e+01, 4.46297700e+01,-1.10932741e+02,
  2.69730585e+01,-2.73036869e+01, 2.66942442e+01, 3.81031793e+01,
 -1.85336675e-02, 6.23718128e+00,-1.05480403e+01, 1.09387980e+01,
 -7.06591533e-01, 1.19490351e+00, 5.65183844e+00,-1.94867770e+01,
 -1.08268212e+00, 4.31236833e-01,-1.07747967e-01,-9.47458947e+00,
 -2.15601393e+01,-2.47962736e+01]

qfrc_actuator:
[-1.28013577e-02, 2.65065942e-01, 2.61500955e-02, 3.12072293e-03,
 -5.01746513e-03, 2.02721288e-01, 1.27977025e-02, 3.89729479e-03,
 -1.81729878e-04, 2.19917410e-01, 8.39664069e-04, 2.40478139e-04,
  1.00199599e-03,-1.30408836e-03, 0.00000000e+00,-1.19120652e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.48045832, -0.22970409,  0.4219908 , -0.22970409,  0.25601872,
       -0.12217019,  0.4219908 , -0.12217019,  0.4139569 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001129954848223938
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98927412e-01,  1.77285722e-02, -4.27752599e-02,  1.77123405e-02,
        9.99842837e-01,  7.58463487e-04,  4.27819836e-02, -1.08420217e-19,
       -9.99084432e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.116351  , -0.03303083,  0.12855753])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.42915358, -0.39638544, -0.16447302, -0.39638544,  0.49077447,
       -0.1485084 , -0.16447302, -0.1485084 ,  0.78706375,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009589897890381677
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76153502, -0.64801823, -0.01169567, -0.00890727, -0.00757953,
        0.9999316 , -0.64806255,  0.76158711,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11580004, -0.03199832,  0.11512653])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.15193811,  0.40298182, -0.15193811,  0.36211504,
       -0.02584886,  0.40298182, -0.02584886,  0.42092744,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001617908476677856
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.83610110e-01,  1.79877314e-01,  1.24620475e-02,  1.79862878e-01,
        9.83689053e-01, -2.27880916e-03, -1.26686858e-02,  4.33680869e-19,
       -9.99919749e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10890456, -0.07803209,  0.11330539])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032767334212456534
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79998159e-13, -3.38820063e-13,  1.00000000e+00,  6.09869874e-26,
        1.00000000e+00,  3.38820063e-13, -1.00000000e+00,  0.00000000e+00,
        1.79998159e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07850437, -0.0817688 ,  0.06198997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.67743690e-02, 1.59204854e-01, 7.58894719e-02, 1.27285314e-02,
 -9.19737112e-03, 1.24781035e-01, 6.56234767e-02, 2.08015287e-02,
  4.01235787e-07, 9.60671068e-04, 3.13134912e-04, 7.64830604e-05,
  1.53991906e-05, 6.20819183e-05,-1.75651361e-05,-9.87998189e-05,
 -8.12818018e-05,-6.69122271e-04,-1.21781968e+00,-2.02298851e-03,
  4.34737115e-06, 6.20568358e-05]


--- Step 1779 ---
qpos:
[ 1.57198812e-02, 1.52139227e-01,-4.14299770e-02,-1.49665199e-03,
 -3.38407865e-03, 1.85017298e-01,-3.34990515e-02, 1.75793533e-04,
 -4.45089747e-03, 2.23319962e-01,-1.10035531e-02,-1.95650331e-02,
  1.37522214e+00, 1.88911041e-02, 1.34912406e+00, 2.44036902e-02,
  9.09782281e-02,-6.90991782e-02, 1.31313782e-01, 9.95819384e-01,
  8.22677117e-04,-2.47214944e-02,-8.79313726e-02]

qacc:
[ 4.69265826e+01, 1.95678696e+00, 6.84701120e+01,-1.28505333e+02,
  3.36776188e+01,-3.03737194e+01, 4.23173328e+01, 4.24142420e+01,
  6.04108014e-02,-7.85805143e+00, 2.36466514e+01,-1.38116280e+01,
 -5.37925627e-01, 8.32076865e-01,-3.21092416e+00, 1.06483536e+01,
 -1.06179087e+00, 4.92680075e-01,-1.23093325e-01,-1.01401700e+01,
 -2.11450406e+01,-2.35035449e+01]

qfrc_actuator:
[-1.33776785e-02, 2.66205659e-01, 2.69839658e-02, 3.43347718e-03,
 -4.29874626e-03, 2.03629100e-01, 1.38771975e-02, 4.21984220e-03,
 -1.94567360e-04, 2.19514377e-01, 8.47773764e-04, 2.48970788e-04,
  9.62308608e-04,-1.29104725e-03, 0.00000000e+00,-1.13733395e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.47410466, -0.24155163,  0.40795593, -0.24155163,  0.25327251,
       -0.13075521,  0.40795593, -0.13075521,  0.3966842 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.931860724405488e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98775860e-01,  1.88683823e-02, -4.57248963e-02,  1.88486403e-02,
        9.99821976e-01,  8.62908441e-04,  4.57330378e-02,  0.00000000e+00,
       -9.98953697e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11615775, -0.03286979,  0.12858617])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.4297182 , -0.39945728, -0.15840333, -0.39945728,  0.49317103,
       -0.16001364, -0.15840333, -0.16001364,  0.83323631,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009675086881243216
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.61315602e-01, -6.48245401e-01, -1.32836059e-02, -1.01139088e-02,
       -8.61179629e-03,  9.99911769e-01, -6.48302601e-01,  7.61382780e-01,
       -8.67361738e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1156287 , -0.03198565,  0.11513286])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.14634257,  0.4050474 , -0.14634257,  0.38549777,
       -0.01632182,  0.4050474 , -0.01632182,  0.42477632,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015440231673968052
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98388929,  0.1786197 ,  0.00754166,  0.17861445,  0.98391819,
       -0.00136911, -0.00766493,  0.        , -0.99997062])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10878753, -0.07803964,  0.11326525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003289356056777881
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79307430e-13,  1.68759934e-13,  1.00000000e+00, -3.02599102e-26,
        1.00000000e+00, -1.68759934e-13, -1.00000000e+00,  0.00000000e+00,
        1.79307430e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07850414, -0.08176838,  0.06198993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.78988171e-02, 1.58044994e-01, 7.58848235e-02, 1.30600516e-02,
 -8.84236972e-03, 1.27274800e-01, 6.69063736e-02, 2.10250994e-02,
  5.59909632e-07, 5.25185961e-05, 1.99577562e-04, 5.27342575e-05,
 -1.89214030e-05, 3.63372018e-05,-2.10616941e-05, 4.56733549e-05,
 -8.62358462e-05,-6.46186448e-04,-1.21792279e+00,-2.01481197e-03,
  3.34721849e-05, 7.36467619e-05]


--- Step 1780 ---
qpos:
[ 1.66433842e-02, 1.54387819e-01,-4.23636633e-02,-1.74302340e-03,
 -3.27528011e-03, 1.86371728e-01,-3.45892580e-02,-1.58273872e-04,
 -4.44087941e-03, 2.27553451e-01,-1.10312712e-02,-1.95681945e-02,
  1.37530836e+00, 1.88937268e-02, 1.34922220e+00, 2.44041576e-02,
  9.07583867e-02,-6.90455744e-02, 1.31341698e-01, 9.95826479e-01,
  6.72476376e-04,-2.62288546e-02,-8.74140657e-02]

qacc:
[ 1.48277412e+02,-5.36291763e+01, 6.77084359e+02,-1.72213881e+03,
  3.23331613e+01,-2.96568313e+01, 4.39485482e+01, 3.97119968e+01,
  1.89078165e+00,-9.85605099e+00, 3.20459754e+01,-4.02375528e+01,
 -1.05763560e+00, 1.60619666e+00,-8.40696932e+00, 2.89132377e+01,
  1.47222979e-01, 6.15732181e-01,-3.61772061e-01,-1.82349873e+01,
 -8.01131564e+00,-4.03041505e+01]

qfrc_actuator:
[-1.40327915e-02, 2.66716813e-01, 2.77788610e-02, 3.73548152e-03,
 -3.64669796e-03, 2.04472517e-01, 1.49610591e-02, 4.54626251e-03,
 -1.70506845e-04, 2.19335932e-01, 9.15867304e-04, 2.19160196e-04,
  9.19406469e-04,-1.23091196e-03, 0.00000000e+00,-9.98175188e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43031639, -0.41058878, -0.12879849, -0.41058878,  0.41367908,
        0.05303705, -0.12879849,  0.05303705,  0.26124283,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009801500933271053
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.61166759e-01, -6.48385924e-01, -1.48613450e-02, -1.13132112e-02,
       -9.63695118e-03,  9.99889564e-01, -6.48457537e-01,  7.61250828e-01,
       -8.67361738e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11545144, -0.03197089,  0.11514041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.14120895,  0.40686554, -0.14120895,  0.43259462,
        0.0006668 ,  0.40686554,  0.0006668 ,  0.43090478,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014643553907693395
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84127701e-01,  1.77445613e-01,  2.39197814e-03,  1.77445089e-01,
        9.84130608e-01, -4.31290344e-04, -2.43054948e-03,  0.00000000e+00,
       -9.99997046e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10867141, -0.07804567,  0.11322184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033036034805043746
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05020078e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.05020078e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07850391, -0.08176796,  0.06198989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.90618608e-02, 1.56541203e-01, 7.57880425e-02, 1.33697669e-02,
 -8.64755717e-03, 1.29365796e-01, 6.79058341e-02, 2.11539805e-02,
  3.71772421e-05,-2.55089190e-04, 5.71688301e-05,-2.88640972e-05,
 -4.40446582e-05, 6.72640105e-05,-6.13232529e-06, 1.38675230e-04,
 -9.01438701e-05,-6.21081538e-04,-1.21802750e+00,-2.00611409e-03,
  6.27330260e-05, 8.62799459e-05]


--- Step 1781 ---
qpos:
[ 1.75639490e-02, 1.56685311e-01,-4.32812512e-02,-1.98973280e-03,
 -3.15480712e-03, 1.87711018e-01,-3.56712945e-02,-4.87920748e-04,
 -4.43006372e-03, 2.31788151e-01,-1.10604635e-02,-1.95724386e-02,
  1.37539446e+00, 1.88958861e-02, 1.34932025e+00, 2.44062644e-02,
  9.05385025e-02,-6.89882693e-02, 1.31368011e-01, 9.95825274e-01,
  4.81928949e-04,-2.77502732e-02,-8.69581204e-02]

qacc:
[-1.36172824e+01, 1.89602121e+01, 2.76299733e+01,-9.52046645e+01,
  4.24531789e+01,-3.37472764e+01, 7.25493135e+01, 2.08642683e+00,
  2.11798045e+00, 3.48642961e+00,-5.55163261e+00,-1.16986959e+01,
  3.29910908e-01,-6.62079206e-01,-5.13851980e+00, 1.76776158e+01,
 -1.06908931e-02, 9.25307484e-01,-4.00792410e-01,-2.02766416e+01,
 -8.89274764e+00,-3.03816994e+01]

qfrc_actuator:
[-1.47612514e-02, 2.67013771e-01, 2.85809147e-02, 3.99170534e-03,
 -3.09125431e-03, 2.05285079e-01, 1.60636150e-02, 4.83778121e-03,
 -1.42731622e-04, 2.19720519e-01, 9.48812256e-04, 1.85018035e-04,
  8.95929067e-04,-1.28532199e-03, 0.00000000e+00,-9.16448442e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336, -0.41350693, -0.1203809 , -0.41350693,  0.58759106,
       -0.5390104 , -0.1203809 , -0.5390104 ,  2.28216747,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010121378536944235
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76094109, -0.6486189 , -0.01619227, -0.01232298, -0.01050399,
        0.9998689 , -0.64870394,  0.76104086,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11525886, -0.03195368,  0.11515383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.13968009,  0.40739294, -0.13968009,  0.42219187,
       -0.00290799,  0.40739294, -0.00290799,  0.42967631,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013825056742722776
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84310305e-01,  1.76423344e-01, -2.83337711e-03,  1.76422613e-01,
        9.84314382e-01,  5.07839644e-04,  2.87852861e-03,  1.08420217e-19,
       -9.99995857e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1085574 , -0.07804966,  0.11317693])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000331905371165217
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.56796813e-13,  3.34499867e-13,  1.00000000e+00,  5.24485129e-26,
        1.00000000e+00, -3.34499867e-13, -1.00000000e+00,  0.00000000e+00,
       -1.56796813e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07850367, -0.08176758,  0.06198985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.14050739e-02, 1.49542563e-01, 7.40248135e-02, 1.61011955e-02,
 -8.53373606e-03, 1.31302459e-01, 6.88730455e-02, 2.12410548e-02,
  4.40273741e-05, 1.03247634e-04,-6.18352059e-05,-5.28816425e-05,
 -2.89050692e-05,-4.37235345e-05, 9.97084445e-06, 8.81038479e-05,
 -9.41166008e-05,-5.46390201e-04,-1.21808608e+00,-1.98299252e-03,
  9.50540533e-05, 1.05140727e-04]


--- Step 1782 ---
qpos:
[ 1.84807570e-02, 1.59006586e-01,-4.41808209e-02,-2.23347967e-03,
 -3.02137522e-03, 1.89040683e-01,-3.67407316e-02,-8.12678739e-04,
 -4.41968797e-03, 2.36022601e-01,-1.10896481e-02,-1.95757772e-02,
  1.37548028e+00, 1.88975420e-02, 1.34941862e+00, 2.44069982e-02,
  9.03181761e-02,-6.89268868e-02, 1.31392743e-01, 9.95816413e-01,
  2.50311951e-04,-2.92873010e-02,-8.65555492e-02]

qacc:
[-1.68960712e+01,-1.27064647e+01, 7.85195296e+01,-7.36945749e+01,
  4.68445139e+01,-3.78587854e+01, 9.58106839e+01,-2.42164250e+01,
 -1.14873382e+00, 1.51575393e+00,-9.69523248e+00, 2.55182833e+01,
 -6.86820218e-02,-3.06675773e-01, 4.63112210e+00,-1.55164533e+01,
 -1.10525391e-01, 1.01938370e+00,-3.95020815e-01,-2.05091238e+01,
 -9.67675081e+00,-2.63348766e+01]

qfrc_actuator:
[-1.54405220e-02, 2.67504046e-01, 2.94727809e-02, 4.24432619e-03,
 -2.56464514e-03, 2.05885079e-01, 1.71708139e-02, 5.10639360e-03,
 -1.84129240e-04, 2.19801144e-01, 9.81140689e-04, 2.37890469e-04,
  8.68097175e-04,-1.31855361e-03, 0.00000000e+00,-9.93507207e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336, -0.4294873 ,  0.03194059, -0.4294873 ,  0.44728069,
        0.22330955,  0.03194059,  0.22330955,  3.43339266,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010536260816311003
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76071022, -0.6488588 , -0.01738484, -0.01322683, -0.01128201,
        0.99984887, -0.64895687,  0.7608252 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11506094, -0.03193497,  0.11517025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.13927889,  0.40753028, -0.13927889,  0.41726646,
       -0.00458198,  0.40753028, -0.00458198,  0.4291074 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012992422116551697
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98444304,  0.17551655, -0.00811418,  0.17551059,  0.98447648,
        0.00144663,  0.00824212,  0.        , -0.99996603])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10844441, -0.07805201,  0.11313093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003336043561622676
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.35989653e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.35989653e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07850343, -0.08176725,  0.0619898 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.19451044e-02, 1.47514001e-01, 7.40956096e-02, 1.63680938e-02,
 -8.59110297e-03, 1.32624902e-01, 6.95695135e-02, 2.12888056e-02,
 -2.43334490e-05,-2.58090191e-05,-3.87017173e-06, 4.49070386e-05,
 -5.13828770e-05,-5.37628057e-05, 1.19386256e-05,-7.14340148e-05,
 -1.00600047e-04,-4.87532370e-04,-1.21814648e+00,-1.96491508e-03,
  1.26365321e-04, 1.25970778e-04]


--- Step 1783 ---
qpos:
[ 1.93943722e-02, 1.61352767e-01,-4.50651799e-02,-2.47574510e-03,
 -2.87162789e-03, 1.90373773e-01,-3.77972862e-02,-1.13062840e-03,
 -4.41059617e-03, 2.40255249e-01,-1.11178293e-02,-1.95778151e-02,
  1.37556558e+00, 1.88992723e-02, 1.34951714e+00, 2.44061567e-02,
  9.00969843e-02,-6.88616057e-02, 1.31416052e-01, 9.95800015e-01,
 -2.00745354e-05,-3.08423751e-02,-8.62037019e-02]

qacc:
[-1.42106875e+01,-6.45559698e+00, 6.46079982e+01,-8.17147185e+01,
  5.84996147e+01,-1.75052125e+01, 4.01021327e+01, 5.47409298e+01,
 -3.26011102e+00,-2.50080166e+00,-1.12298476e-02, 2.22142856e+01,
 -6.08396853e-01, 5.55877788e-01, 5.05131335e+00,-1.72011805e+01,
 -2.16381395e-01, 9.74629996e-01,-3.56047203e-01,-1.92644887e+01,
 -1.07800257e+01,-2.50121008e+01]

qfrc_actuator:
[-1.61415429e-02, 2.68595188e-01, 3.03036597e-02, 4.50937256e-03,
 -1.99028036e-03, 2.07174704e-01, 1.82553484e-02, 5.46554142e-03,
 -2.66112046e-04, 2.19771378e-01, 1.04771228e-03, 3.05911393e-04,
  8.48323937e-04,-1.30334763e-03, 0.00000000e+00,-1.07471744e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011014541313468114
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7604873 , -0.64909012, -0.01846819, -0.01404722, -0.01198956,
        0.99982945, -0.64920085,  0.76061703,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11485989, -0.03191494,  0.11518895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.14050311,  0.40710983, -0.14050311,  0.51062635,
        0.02759365,  0.40710983,  0.02759365,  0.44019657,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012152100485362716
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9845282 ,  0.17471045, -0.01343463,  0.17469419,  0.98461985,
        0.00238383,  0.01364449,  0.        , -0.99990691])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1083317 , -0.07805289,  0.11308416])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033542332575726974
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.55152311e-13,  3.30991598e-13,  1.00000000e+00,  5.13541114e-26,
        1.00000000e+00, -3.30991598e-13, -1.00000000e+00,  0.00000000e+00,
       -1.55152311e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07850317, -0.08176698,  0.06198975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.24655597e-02, 1.47340986e-01, 7.40088469e-02, 1.64822681e-02,
 -8.66498774e-03, 1.34361337e-01, 7.00218056e-02, 2.14036596e-02,
 -7.12394766e-05,-1.92087819e-04, 1.42812631e-05, 5.84451183e-05,
 -5.70292184e-05,-1.33627956e-05,-6.18716412e-06,-8.44951798e-05,
 -1.05387199e-04,-4.34576847e-04,-1.21821166e+00,-1.94838933e-03,
  1.56213019e-04, 1.47443062e-04]


--- Step 1784 ---
qpos:
[ 2.03045618e-02, 1.63722462e-01,-4.59373101e-02,-2.71777061e-03,
 -2.70423932e-03, 1.91720455e-01,-3.88404647e-02,-1.44090886e-03,
 -4.40232755e-03, 2.44484126e-01,-1.11455817e-02,-1.95795962e-02,
  1.37565083e+00, 1.89000935e-02, 1.34961531e+00, 2.44066835e-02,
  8.98746477e-02,-6.87927386e-02, 1.31438062e-01, 9.95775960e-01,
 -3.26554201e-04,-3.24173286e-02,-8.59025452e-02]

qacc:
[-15.07738661, -2.53086936, 53.18009503,-85.965864  , 62.81365191,
  -3.70861319,  6.74136945, 94.77775954, -2.0314147 , -5.65097559,
  11.84015181, -5.31924016,  0.63837379, -1.24590947, -4.74821019,
  15.64752476, -0.28618924,  0.89650857, -0.32454912,-17.89575145,
 -11.57118261,-25.01243675]

qfrc_actuator:
[-0.01701445, 0.26969892, 0.03107579, 0.00476442,-0.00159108, 0.2088689 ,
  0.01933871, 0.00585738,-0.00031817, 0.21955276, 0.00104507, 0.00031125,
  0.00083874,-0.00136597, 0.        ,-0.00099789, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001150266258945958
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.57926454e-01, -6.52015299e-01, -2.05800952e-02, -1.56015029e-02,
       -1.34213795e-02,  9.99788207e-01, -6.52153420e-01,  7.58087011e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11468351, -0.03192516,  0.1151966 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.14341178,  0.40609433, -0.14341178,  0.58043687,
        0.05288882,  0.40609433,  0.05288882,  0.44935099,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011319306216054184
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98466557,  0.17317492, -0.02107523,  0.17313527,  0.98489108,
        0.00370569,  0.02139854,  0.        , -0.99977102])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1082177 , -0.07806203,  0.11301063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033729737487379896
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74862310e-13, -1.64576292e-13,  1.00000000e+00,  2.87781906e-26,
        1.00000000e+00,  1.64576292e-13, -1.00000000e+00,  0.00000000e+00,
        1.74862310e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07850289, -0.08176679,  0.0619897 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.31862289e-02, 1.47123508e-01, 7.40032659e-02, 1.66604070e-02,
 -9.08199546e-03, 1.35849648e-01, 7.04586083e-02, 2.14551909e-02,
 -4.59087718e-05,-4.69417676e-04,-8.65279369e-05,-1.04571641e-05,
 -4.06781794e-05,-7.96928231e-05,-1.55532064e-05, 7.06002730e-05,
 -1.05843689e-04,-3.83004928e-04,-1.21828413e+00,-1.93184964e-03,
  1.84220782e-04, 1.68478771e-04]


--- Step 1785 ---
qpos:
[ 2.12117060e-02, 1.66101323e-01,-4.67959101e-02,-2.95912130e-03,
 -2.52169803e-03, 1.93082182e-01,-3.98669553e-02,-1.74471573e-03,
 -4.39419445e-03, 2.48703825e-01,-1.11723594e-02,-1.95815023e-02,
  1.37573611e+00, 1.88994357e-02, 1.34971366e+00, 2.44057487e-02,
  8.96507411e-02,-6.87204373e-02, 1.31458882e-01, 9.95744303e-01,
 -6.67066640e-04,-3.40146395e-02,-8.56495265e-02]

qacc:
[ -13.0883068 , -24.16922527, 101.02170342,-117.88635995,  53.67119746,
  -13.45561646,  49.37978605,  25.01815172,  -0.28329251, -15.10994723,
   36.80474023, -33.77780726,   0.77980958,  -1.71566323,   4.57971518,
  -15.90369569,  -0.392486  ,   0.85854288,  -0.2976619 , -16.7657314 ,
  -12.7086231 , -23.74589291]

qfrc_actuator:
[-0.01807774, 0.27000276, 0.03193385, 0.00497861,-0.00144685, 0.2100487 ,
  0.02039798, 0.006212  ,-0.00033446, 0.21883297, 0.00098331, 0.00027951,
  0.0008246 ,-0.00145659, 0.        ,-0.0010771 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012075575410563733
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.58335674e-01, -6.51501048e-01, -2.17575538e-02, -1.65034359e-02,
       -1.41784254e-02,  9.99763276e-01, -6.51655310e-01,  7.58515232e-01,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1144694 , -0.03189403,  0.11521621])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.14792377,  0.40447262, -0.14792377,  0.48294692,
        0.0191175 ,  0.40447262,  0.0191175 ,  0.43766501,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010501381803325672
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84648264e-01,  1.72536359e-01, -2.64386182e-02,  1.72474196e-01,
        9.85003150e-01,  4.63107446e-03,  2.68411509e-02,  8.67361738e-19,
       -9.99639711e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1081026 , -0.07806049,  0.11296347])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033918687301842665
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02287182e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.02287182e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07850258, -0.08176668,  0.06198964])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.40856828e-02, 1.46174677e-01, 7.42322897e-02, 1.68596855e-02,
 -9.82035676e-03, 1.36314641e-01, 7.08463147e-02, 2.14263824e-02,
 -7.94098159e-06,-1.14916079e-03,-2.17640793e-04,-6.42372493e-05,
 -5.22037492e-05,-1.24806666e-04,-3.87755930e-07,-7.75218099e-05,
 -1.01360357e-04,-3.29891285e-04,-1.21836285e+00,-1.91443163e-03,
  2.10474273e-04, 1.88972015e-04]


--- Step 1786 ---
qpos:
[ 2.21160648e-02, 1.68481939e-01,-4.76407115e-02,-3.19985348e-03,
 -2.32599041e-03, 1.94460194e-01,-4.08741955e-02,-2.04274955e-03,
 -4.38575483e-03, 2.52911324e-01,-1.11986686e-02,-1.95831709e-02,
  1.37582123e+00, 1.88978368e-02, 1.34981232e+00, 2.44011966e-02,
  8.94249390e-02,-6.86448731e-02, 1.31478597e-01, 9.95704982e-01,
 -1.03970489e-03,-3.56363092e-02,-8.54433259e-02]

qacc:
[-1.17340617e+01,-3.47931357e+01, 1.24949579e+02,-1.37808823e+02,
  4.63865893e+01,-2.03837043e+01, 7.94535096e+01,-2.22399866e+01,
  7.83083509e-01,-1.69455772e+01, 3.60247008e+01,-2.36995357e+01,
  1.11112789e-01,-7.28232447e-01, 1.14148278e+01,-3.92880653e+01,
 -4.73889865e-01, 8.15722534e-01,-2.76266786e-01,-1.57502034e+01,
 -1.36181266e+01,-2.30994529e+01]

qfrc_actuator:
[-0.01921877, 0.27011565, 0.03280175, 0.00511449,-0.00151344, 0.21093072,
  0.02141637, 0.0065069 ,-0.00032966, 0.21812118, 0.00095639, 0.00027906,
  0.0008237 ,-0.00149205, 0.        ,-0.00126539, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001267665380643043
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.58530764e-01, -6.51238547e-01, -2.27911069e-02, -1.72922474e-02,
       -1.48463037e-02,  9.99740249e-01, -6.51407751e-01,  7.58727844e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11425643, -0.03186505,  0.11523829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.42986287, -0.15346679,  0.40153459, -0.15346679,  0.43525153,
        0.00205955,  0.40153459,  0.00205955,  0.43065003,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009700749713331562
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84585841e-01,  1.71989089e-01, -3.17879689e-02,  1.71899522e-01,
        9.85098855e-01,  5.54988345e-03,  3.22688112e-02, -8.67361738e-19,
       -9.99479226e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10798552, -0.0780577 ,  0.11291675])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003410606268947486
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.22070272e-13, -4.88281087e-13,  1.00000000e+00,  5.96046050e-26,
        1.00000000e+00,  4.88281087e-13, -1.00000000e+00,  0.00000000e+00,
        1.22070272e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07850222, -0.08176667,  0.06198959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.50816678e-02, 1.45751896e-01, 7.44057774e-02, 1.69588500e-02,
 -1.06450752e-02, 1.36408368e-01, 7.10271820e-02, 2.13975572e-02,
  1.66025233e-05,-1.55017249e-03,-3.41092761e-04,-6.76275108e-05,
 -5.51603052e-05,-8.62489686e-05,-1.12765281e-05,-1.93228015e-04,
 -9.33481547e-05,-2.77993458e-04,-1.21844878e+00,-1.89697858e-03,
  2.35483374e-04, 2.09171085e-04]


--- Step 1787 ---
qpos:
[ 0.02301753, 0.17086691,-0.04847472,-0.00344096,-0.0021185 , 0.19585572,
 -0.04185916,-0.00233477,-0.00437644, 0.25711121,-0.01122809,-0.0195857 ,
  1.37590612, 0.01889606, 1.34991089, 0.02439475, 0.0891969 ,-0.06856641,
  0.13149734, 0.99565775,-0.00144146,-0.0372847 ,-0.08528428]

qacc:
[-1.20955126e+01,-2.50228304e+01, 9.92573480e+01,-1.26332020e+02,
  4.12764186e+01,-2.66768130e+01, 1.03256295e+02,-4.76349289e+01,
  2.05333941e+00,-3.11823796e+00, 1.33911286e-01,-4.38048824e+00,
 -2.36550378e-01, 8.54903100e-02, 5.61164038e+00,-1.97822602e+01,
 -5.60259709e-01, 7.24909911e-01,-2.43143661e-01,-1.41990127e+01,
 -1.46611543e+01,-2.33111939e+01]

qfrc_actuator:
[-2.03344635e-02, 2.70614788e-01, 3.35811277e-02, 5.25643836e-03,
 -1.67507502e-03, 2.11573554e-01, 2.24365017e-02, 6.78183973e-03,
 -2.94830717e-04, 2.18130984e-01, 9.32722739e-04, 2.61556110e-04,
  8.36077325e-04,-1.47662255e-03, 0.00000000e+00,-1.35662499e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013295850923618078
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75856428, -0.65116642, -0.02371739, -0.01799623, -0.01544832,
        0.9997187 , -0.65134965,  0.75877773,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11404468, -0.03183765,  0.11526227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.42030526, -0.15623971,  0.3901867 , -0.15623971,  0.41830923,
       -0.00079925,  0.3901867 , -0.00079925,  0.41998522,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008918201765055963
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98447908,  0.17153023, -0.03712562,  0.1714084 ,  0.98517886,
        0.00646397,  0.03768414,  0.        , -0.9992897 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10786619, -0.07805373,  0.1128705 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003428918630520167
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.08273694e-14,  1.61891130e-13,  1.00000000e+00,  1.14663229e-26,
        1.00000000e+00, -1.61891130e-13, -1.00000000e+00,  0.00000000e+00,
       -7.08273694e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07850182, -0.08176677,  0.06198954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.60652131e-02, 1.46085709e-01, 7.44771090e-02, 1.70668502e-02,
 -1.14655123e-02, 1.36200176e-01, 7.10812500e-02, 2.13837047e-02,
  4.89513520e-05,-1.07787081e-03,-4.35809241e-04,-1.06156672e-04,
 -3.51127908e-05,-2.36735792e-05,-2.95656495e-05,-1.04078117e-04,
 -8.17526900e-05,-2.25823706e-04,-1.21854117e+00,-1.87907087e-03,
  2.59422265e-04, 2.29158601e-04]


--- Step 1788 ---
qpos:
[ 0.02391579, 0.17326089,-0.04930212,-0.0036836 ,-0.00189977, 0.19727142,
 -0.0428184 ,-0.00261977,-0.00436619, 0.26131221,-0.01126277,-0.01958993,
  1.37599084, 0.01889431, 1.35000921, 0.02438789, 0.08896624,-0.06848547,
  0.13151525, 0.99560234,-0.00186887,-0.03896231,-0.08517289]

qacc:
[ -13.33804556,  -9.65132283,  58.24182489,-102.06052601,  39.20838482,
  -30.72503044, 118.60121907, -53.17614952,   2.06354526,  12.64218392,
  -35.7492178 ,  13.83320211,  -0.1563529 ,   0.13265887,   0.90488985,
   -3.66673263,  -0.65233966,   0.61806552,  -0.20654421, -12.41961003,
  -15.76234092, -23.61201273]

qfrc_actuator:
[-2.14514954e-02, 2.71644172e-01, 3.43048743e-02, 5.42052008e-03,
 -1.87987113e-03, 2.11976376e-01, 2.34292035e-02, 7.06000118e-03,
 -2.60437235e-04, 2.18946850e-01, 9.49916392e-04, 2.34827584e-04,
  8.40461253e-04,-1.46655201e-03, 0.00000000e+00,-1.37214593e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001392919633793311
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75843286, -0.65128873, -0.02454763, -0.01862334, -0.01599241,
        0.99969866, -0.65148505,  0.75866148,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11383406, -0.03181189,  0.11528804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.4017817 , -0.15589971,  0.37030233, -0.15589971,  0.42161524,
        0.00835005,  0.37030233,  0.00835005,  0.40529712,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008155160380389827
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84328175e-01,  1.71160141e-01, -4.24529113e-02,  1.71001176e-01,
        9.85243222e-01,  7.37507868e-03,  4.30887626e-02,  8.67361738e-19,
       -9.99071248e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10774433, -0.0780486 ,  0.11282478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034464263787586935
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20801546e-13, -3.22137456e-13,  1.00000000e+00,  3.89147026e-26,
        1.00000000e+00,  3.22137456e-13, -1.00000000e+00,  0.00000000e+00,
        1.20801546e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07850137, -0.08176697,  0.06198949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.70447120e-02, 1.46819603e-01, 7.46431705e-02, 1.72465283e-02,
 -1.22596813e-02, 1.35689744e-01, 7.09562402e-02, 2.13608627e-02,
  5.20584555e-05,-2.84338543e-05,-3.10215601e-04,-9.91484293e-05,
 -1.91033665e-05,-4.86287059e-06,-2.67801881e-05,-2.54470084e-05,
 -6.56299177e-05,-1.71592767e-04,-1.21864068e+00,-1.86016975e-03,
  2.82218026e-04, 2.48516057e-04]


--- Step 1789 ---
qpos:
[ 0.0248104 , 0.17566096,-0.05012529,-0.00392804,-0.00167015, 0.19871232,
 -0.04374842,-0.00289681,-0.00435502, 0.26551794,-0.01130044,-0.01959458,
  1.37607575, 0.01889186, 1.35010735, 0.02438085, 0.08873264,-0.06840244,
  0.13153246, 0.99553851,-0.00231877,-0.04067141,-0.085109  ]

qacc:
[-14.94497299, -7.4251841 , 45.85662542,-88.52486169, 37.69332785,
 -31.85480129,128.29169456,-55.78421109,  2.011846  , 13.72717   ,
 -38.12009114, 32.16659695,  0.55897901, -0.96507919,  0.21276398,
  -1.28972357, -0.73894546,  0.5247575 , -0.17665792,-10.78714515,
 -16.75168772,-23.59792999]

qfrc_actuator:
[-2.27098755e-02, 2.72594742e-01, 3.50128520e-02, 5.59919012e-03,
 -2.15025191e-03, 2.12190014e-01, 2.43575748e-02, 7.33668897e-03,
 -2.26702913e-04, 2.19690336e-01, 9.95009607e-04, 2.57011291e-04,
  8.45376120e-04,-1.51307410e-03, 0.00000000e+00,-1.37846439e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001457380288347149
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7581237 , -0.65162022, -0.02528921, -0.01917848, -0.01648423,
        0.99968018, -0.65182869,  0.75836624,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11362443, -0.03178799,  0.11531556])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.37723578, -0.15360078,  0.34454845, -0.15360078,  0.42454305,
        0.02108973,  0.34454845,  0.02108973,  0.38663765,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007415175042778632
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9841334 ,  0.17087966, -0.04776607,  0.17067874,  0.98529191,
        0.00828409,  0.04847911,  0.        , -0.9988242 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10761951, -0.07804232,  0.11277976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003462732062826934
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.70329662e-13, -3.20620540e-13,  1.00000000e+00,  5.46111882e-26,
        1.00000000e+00,  3.20620540e-13, -1.00000000e+00,  0.00000000e+00,
        1.70329662e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07850086, -0.0817673 ,  0.06198944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.81498674e-02, 1.47241238e-01, 7.50018430e-02, 1.74987004e-02,
 -1.30931287e-02, 1.34855786e-01, 7.05934881e-02, 2.12863707e-02,
  5.21530581e-05, 5.12455077e-04,-4.97300684e-05,-7.79077429e-07,
 -6.18553704e-06,-5.20580970e-05,-1.63368705e-05,-1.14155940e-05,
 -4.49055711e-05,-1.14987833e-04,-1.21874740e+00,-1.84021285e-03,
  3.04035482e-04, 2.67047995e-04]


--- Step 1790 ---
qpos:
[ 0.02570067, 0.17806009,-0.0509456 ,-0.00417397,-0.00142853, 0.2001918 ,
 -0.04464764,-0.00316485,-0.00434356, 0.26972292,-0.01133603,-0.01959842,
  1.37616076, 0.01888885, 1.35020539, 0.02437376, 0.08849575,-0.06831769,
  0.13154908, 0.99546598,-0.00278796,-0.04241411,-0.0850926 ]

qacc:
[-1.75241515e+01,-1.22070654e+01, 4.80640501e+01,-7.76733404e+01,
  4.11857522e+01,-1.64907288e+01, 9.47408869e+01,-1.65874591e+01,
  6.40206674e-01,-5.12398866e+00, 1.34115740e+01,-2.12477968e+00,
  4.18643656e-01,-7.57697318e-01,-6.67473477e-02,-1.35887528e-01,
 -8.19687983e-01, 4.29047424e-01,-1.48968347e-01,-9.14782654e+00,
 -1.76656593e+01,-2.36526758e+01]

qfrc_actuator:
[-2.41401105e-02, 2.73337577e-01, 3.57643733e-02, 5.82301094e-03,
 -2.44636394e-03, 2.13004902e-01, 2.52690740e-02, 7.66199746e-03,
 -2.29235994e-04, 2.19534213e-01, 1.05667848e-03, 2.90186236e-04,
  8.50584288e-04,-1.53959402e-03, 0.00000000e+00,-1.37933251e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015222575028841102
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75766152, -0.65213088, -0.02596798, -0.01968158, -0.01694024,
        0.99966278, -0.65235087,  0.75791711,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11341588, -0.0317657 ,  0.11534446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34978239, -0.15069902,  0.31565413, -0.15069902,  0.46155181,
        0.05336075,  0.31565413,  0.05336075,  0.37525779,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000670465149573525
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.83895639e-01,  1.70688799e-01, -5.30537965e-02,  1.70441191e-01,
        9.85324989e-01,  9.19056035e-03,  5.38439571e-02,  1.73472348e-18,
       -9.98549362e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10749114, -0.07803494,  0.11273576])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034775311940353493
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.99070117e-14, -4.78884141e-13,  1.00000000e+00, -1.91108350e-26,
        1.00000000e+00,  4.78884141e-13, -1.00000000e+00,  0.00000000e+00,
       -3.99070117e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07850029, -0.08176776,  0.0619894 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.94051292e-02, 1.47601567e-01, 7.55236354e-02, 1.78099957e-02,
 -1.39339965e-02, 1.34370515e-01, 7.00389096e-02, 2.12130450e-02,
  1.61709856e-05,-2.66576627e-05, 1.14087366e-04, 4.43162762e-05,
 -1.02692247e-05,-4.39331392e-05,-9.76529423e-06,-3.81560085e-06,
 -2.01702033e-05,-5.64898671e-05,-1.21886070e+00,-1.81939614e-03,
  3.25208355e-04, 2.84833212e-04]


--- Step 1791 ---
qpos:
[ 2.65859749e-02, 1.80454637e-01,-5.17647730e-02,-4.42116573e-03,
 -1.17549929e-03, 2.01726204e-01,-4.55156946e-02,-3.42439761e-03,
 -4.33289670e-03, 2.73919250e-01,-1.13665112e-02,-1.96018747e-02,
  1.37624566e+00, 1.88857508e-02, 1.35030306e+00, 2.43690435e-02,
  8.82552429e-02,-6.82315711e-02, 1.31565200e-01, 9.95384526e-01,
 -3.27335412e-03,-4.41925388e-02,-8.51231415e-02]

qacc:
[-19.81115507,-11.73758142, 38.50304157,-59.00575942, 38.81134974,
   2.97604304, 58.8127084 , -2.05178953, -1.60949124,-24.93077045,
  70.69738145,-65.94243275,  0.19413999, -0.29590679, -7.74673819,
  26.24797973, -0.90451416,  0.34111069, -0.12286573, -7.55538145,
 -18.60107135,-23.45490812]

qfrc_actuator:
[-0.02547603, 0.27403136, 0.03647068, 0.00607431,-0.00274563, 0.2146009 ,
  0.02615719, 0.007959  ,-0.00028877, 0.21871764, 0.00115992, 0.00027563,
  0.00085064,-0.00153622, 0.        ,-0.00125272, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001586619005647485
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75708678, -0.65277183, -0.02661856, -0.0201597 , -0.01738201,
        0.99964566, -0.65300322,  0.75735513,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11320867, -0.03174464,  0.11537419])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.32238234, -0.1468158 ,  0.28701132, -0.1468158 ,  0.45675213,
        0.0687346 ,  0.28701132,  0.0687346 ,  0.35754237,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006038673896884603
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98361708,  0.17058881, -0.05828297,  0.17029013,  0.9853423 ,
        0.01009032,  0.05914997,  0.        , -0.99824911])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10735809, -0.07802651,  0.11269353])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003490555019315944
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.68971977e-13, -1.59032449e-13,  1.00000000e+00,  2.68720272e-26,
        1.00000000e+00,  1.59032449e-13, -1.00000000e+00,  0.00000000e+00,
        1.68971977e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07849965, -0.08176836,  0.06198936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.05310657e-02, 1.48263720e-01, 7.60679417e-02, 1.81321259e-02,
 -1.48338666e-02, 1.33996145e-01, 6.93813644e-02, 2.10593970e-02,
 -4.49217597e-05,-9.52677574e-04, 6.60718485e-05,-1.99531737e-05,
 -1.53468915e-05,-1.24969446e-05,-6.36182969e-06, 1.24832613e-04,
  8.44968192e-06, 4.23754710e-06,-1.21898024e+00,-1.79766999e-03,
  3.45951967e-04, 3.01812724e-04]


--- Step 1792 ---
qpos:
[ 2.74661066e-02, 1.82842745e-01,-5.25842337e-02,-4.66937903e-03,
 -9.13146738e-04, 2.03327555e-01,-4.63522187e-02,-3.67677501e-03,
 -4.32216627e-03, 2.78110948e-01,-1.13978574e-02,-1.96064420e-02,
  1.37633023e+00, 1.88829494e-02, 1.35040054e+00, 2.43668610e-02,
  8.80107159e-02,-6.81443273e-02, 1.31580915e-01, 9.95294014e-01,
 -3.77236982e-03,-4.60090316e-02,-8.51983760e-02]

qacc:
[-20.32356819, -9.73593738, 26.75504279,-39.29858867, 31.39137077,
  15.11902854, 44.13498108,-19.59379801,  0.1401487 , -5.98288913,
  17.12605512,-31.50683765, -0.21795413,  0.32864884, -7.94590317,
  27.43497831, -1.00549212,  0.28200763, -0.10151272, -6.16030038,
 -19.64853138,-22.38823399]

qfrc_actuator:
[-2.65044448e-02, 2.74664245e-01, 3.71149368e-02, 6.36024033e-03,
 -3.08650728e-03, 2.16598290e-01, 2.70008232e-02, 8.18266645e-03,
 -2.92776630e-04, 2.18755677e-01, 1.19549491e-03, 2.32552417e-04,
  8.36977122e-04,-1.51513564e-03, 0.00000000e+00,-1.12302785e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001649789949017082
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.56427317e-01, -6.53509130e-01, -2.72677784e-02, -2.06337648e-02,
       -1.78263706e-02,  9.99628165e-01, -6.53752218e-01,  7.56708688e-01,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11300289, -0.03172454,  0.11540435])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.29728387, -0.14237519,  0.26097318, -0.14237519,  0.41264992,
        0.06293851,  0.26097318,  0.06293851,  0.33162028,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005434333903128466
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.83300921e-01,  1.70580351e-01, -6.34164175e-02,  1.70226698e-01,
        9.85343769e-01,  1.09784981e-02,  6.43596879e-02, -1.73472348e-18,
       -9.97926766e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10721909, -0.07801715,  0.11265396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003501529689338423
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.47709377e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.47709377e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07849894, -0.0817691 ,  0.06198933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.13176690e-02, 1.49047733e-01, 7.66372772e-02, 1.84783676e-02,
 -1.57462871e-02, 1.33203275e-01, 6.86595996e-02, 2.08577075e-02,
  3.32805152e-06,-6.28169146e-04,-2.00933285e-04,-9.10431492e-05,
 -2.37007764e-05, 1.36069436e-05, 9.60082247e-06, 1.35536890e-04,
  4.05017213e-05, 6.66988284e-05,-1.21910613e+00,-1.77521640e-03,
  3.66577757e-04, 3.17984097e-04]


--- Step 1793 ---
qpos:
[ 2.83415269e-02, 1.85219600e-01,-5.34029272e-02,-4.91778702e-03,
 -6.41863514e-04, 2.04999046e-01,-4.71556779e-02,-3.92200221e-03,
 -4.31101529e-03, 2.82303444e-01,-1.14321994e-02,-1.96115356e-02,
  1.37641414e+00, 1.88812103e-02, 1.35049829e+00, 2.43642456e-02,
  8.77617365e-02,-6.80559421e-02, 1.31596247e-01, 9.95194495e-01,
 -4.28381873e-03,-4.78657811e-02,-8.53137316e-02]

qacc:
[-18.21760303,-17.31044706, 41.07013001,-37.53910088, 29.83086575,
  15.01903181, 50.7164229 ,-31.35906636,  0.83601785,  8.34299217,
 -25.99484501, 21.08911455, -1.23268268,  1.7786771 ,  1.86657824,
  -5.58081325, -1.11307575,  0.28537044, -0.09605951, -5.41240585,
 -20.69483697,-20.1397402 ]

qfrc_actuator:
[-2.73284254e-02, 2.75051234e-01, 3.78116950e-02, 6.63169222e-03,
 -3.47257828e-03, 2.18429707e-01, 2.78582011e-02, 8.44902055e-03,
 -2.81758809e-04, 2.19305927e-01, 1.22989499e-03, 2.44701103e-04,
  8.09772707e-04,-1.44829067e-03, 0.00000000e+00,-1.15237778e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017112605037345214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.55714637e-01, -6.54304710e-01, -2.79416315e-02, -2.11241477e-02,
       -1.82894821e-02,  9.99609556e-01, -6.54560278e-01,  7.56009816e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11279838, -0.03170506,  0.11543458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.27571434, -0.13911527,  0.23804482, -0.13911527,  0.39571873,
        0.07013151,  0.23804482,  0.07013151,  0.31669974,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004902386634212329
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98282971,  0.17152852, -0.067998  ,  0.17111946,  0.98517915,
        0.01183906,  0.06902095,  0.        , -0.99761521])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10707451, -0.07799675,  0.11262277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003510199234836725
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.68026355e-13, -3.16284903e-13,  1.00000000e+00,  5.31441993e-26,
        1.00000000e+00,  3.16284903e-13, -1.00000000e+00,  0.00000000e+00,
        1.68026355e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07849816, -0.08177   ,  0.06198931])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.18898664e-02, 1.49678659e-01, 7.73297322e-02, 1.87976330e-02,
 -1.65993588e-02, 1.31640599e-01, 6.79323482e-02, 2.07644039e-02,
  2.39749577e-05, 7.68775923e-06,-1.70299757e-04,-3.25153784e-05,
 -3.48822625e-05, 6.54406272e-05, 1.69271592e-05,-2.11289443e-05,
  7.48298894e-05, 1.28671960e-04,-1.21923889e+00,-1.75267605e-03,
  3.87592013e-04, 3.33501419e-04]


--- Step 1794 ---
qpos:
[ 2.91667409e-02, 1.87495478e-01,-5.42698525e-02,-5.15820275e-03,
 -3.85261265e-04, 2.06759144e-01,-4.79057654e-02,-4.14935470e-03,
 -4.29986794e-03, 2.86494882e-01,-1.14657553e-02,-1.96156192e-02,
  1.37649778e+00, 1.88795771e-02, 1.35059644e+00, 2.43586441e-02,
  8.75039223e-02,-6.79816559e-02, 1.31612960e-01, 9.95072708e-01,
 -4.71529655e-03,-4.97668686e-02,-8.56231950e-02]

qacc:
[-1.92365859e+02, 1.78605741e+01,-2.90601334e+02, 5.79858141e+02,
 -4.86566858e+01, 4.99845544e+00, 7.69161943e+01, 8.16103898e+01,
  1.34751303e-03,-1.51457475e+00,-8.85472505e-01, 1.78722328e+01,
 -5.48995469e-01, 5.81517757e-01, 9.69096430e+00,-3.28997613e+01,
 -2.20870689e+00,-3.52478711e+00, 3.45178267e-01, 3.69914691e+01,
 -1.87683470e+01,-9.95464165e+01]

qfrc_actuator:
[-0.02808139, 0.27494303, 0.03855677, 0.00685854,-0.00380034, 0.21975877,
  0.02870968, 0.00872039,-0.00029761, 0.21937881, 0.00131933, 0.0003076 ,
  0.00078514,-0.00146138, 0.        ,-0.0013107 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001770482693263154
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.55007902e-01, -6.55088395e-01, -2.86751378e-02, -2.16588621e-02,
       -1.87924777e-02,  9.99588784e-01, -6.55357889e-01,  7.55318501e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11259481, -0.03168549,  0.11546439])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25983018, -0.13938485,  0.2192797 , -0.13938485,  0.4839289 ,
        0.14244806,  0.2192797 ,  0.14244806,  0.35037711,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004445443741530654
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98245058,  0.17168582, -0.07290296,  0.17121507,  0.98515176,
        0.01270505,  0.07400176,  0.        , -0.99725811])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10692121, -0.07798594,  0.11258983])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.73893232,  1.61205906,  4.45631519,  1.61205906, 18.60213101,
       -5.01497181,  4.45631519, -5.01497181,  6.55308379,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035323696758585155
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.85749459e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.85749459e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08129255, -0.06667388,  0.06198924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.24138573e-02, 1.50055603e-01, 7.80180679e-02, 1.90311452e-02,
 -1.73746628e-02, 1.29412980e-01, 6.71213096e-02, 2.06769484e-02,
 -2.45632511e-07,-1.05091848e-04, 2.19518966e-05, 4.76872720e-05,
 -2.62411066e-05,-6.83870789e-07, 9.82936206e-07,-1.58296011e-04,
  1.09735677e-04, 1.86916230e-04,-1.21937877e+00,-1.73095423e-03,
  4.09554305e-04, 3.48929265e-04]


--- Step 1795 ---
qpos:
[ 2.99606497e-02, 1.89692315e-01,-5.51580501e-02,-5.40675324e-03,
 -1.47897100e-04, 2.08612315e-01,-4.86029463e-02,-4.35982095e-03,
 -4.28843100e-03, 2.90682123e-01,-1.14976144e-02,-1.96187520e-02,
  1.37658118e+00, 1.88779029e-02, 1.35069438e+00, 2.43528728e-02,
  8.72371520e-02,-6.79203130e-02, 1.31630818e-01, 9.94929833e-01,
 -5.07172362e-03,-5.17156205e-02,-8.61069081e-02]

qacc:
[-1.18214567e+02,-6.13734996e+01, 1.02076939e+02,-1.51352639e+02,
 -6.32258396e+01, 1.01759253e+01, 7.12247055e+01, 6.76257046e+01,
  5.90865009e-01,-8.33249810e+00, 1.76502302e+01,-8.31058877e-01,
 -1.80490570e-01, 9.96596448e-02, 2.22868621e-01,-1.18681452e+00,
 -2.23902323e+00,-3.23579531e+00, 2.86563643e-01, 3.49954434e+01,
 -2.06157306e+01,-8.95782463e+01]

qfrc_actuator:
[-0.02876212, 0.27486271, 0.03941502, 0.00710377,-0.00405532, 0.22093517,
  0.02948858, 0.00892792,-0.00029383, 0.2190958 , 0.00136818, 0.00034637,
  0.00076736,-0.00146865, 0.        ,-0.0013129 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.42476474, -0.07109471, -0.42476474,  0.43627135,
       -0.03344595, -0.07109471, -0.03344595,  0.6305006 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018096150010153593
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.53887637e-01, -6.56332682e-01, -2.96789594e-02, -2.23844613e-02,
       -1.94878558e-02,  9.99559483e-01, -6.56621936e-01,  7.54219884e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11240783, -0.03167497,  0.11548901])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.2487666 ,  0.23655136,  0.07699528,  0.23655136,  0.41614547,
       -0.51423541,  0.07699528, -0.51423541,  1.82864378,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040609708116006344
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.81996832e-01,  1.72180379e-01, -7.76925972e-02,  1.71644015e-01,
        9.85065438e-01,  1.35799515e-02,  7.88704935e-02,  1.73472348e-18,
       -9.96884871e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10675714, -0.07797191,  0.11256106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.7756366 ,  2.14318334, -4.26772423,  2.14318334, 38.68223031,
       17.02735296, -4.26772423, 17.02735296, 13.32650288,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003618265947528537
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08129581, -0.06667577,  0.06198899])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.05859378e-02, 1.54950048e-01, 8.12705098e-02, 1.88738224e-02,
 -1.68959149e-02, 1.26105340e-01, 6.52206746e-02, 1.99890834e-02,
  1.64326942e-05,-4.80732536e-04,-1.54145180e-05, 2.69459642e-05,
 -3.13075398e-05,-1.31565152e-05,-2.06841472e-05,-1.16616809e-05,
  2.40155232e-04, 4.72231394e-04,-1.21951692e+00,-1.64914058e-03,
  4.16466495e-04, 3.23140494e-04]


--- Step 1796 ---
qpos:
[ 3.07229274e-02, 1.91822802e-01,-5.60666423e-02,-5.66339964e-03,
  6.71396827e-05, 2.10557720e-01,-4.92482631e-02,-4.55416648e-03,
 -4.27677835e-03, 2.94862292e-01,-1.15277700e-02,-1.96218856e-02,
  1.37666391e+00, 1.88775936e-02, 1.35079187e+00, 2.43497662e-02,
  8.69611729e-02,-6.78705466e-02, 1.31649607e-01, 9.94767193e-01,
 -5.35891161e-03,-5.37161234e-02,-8.67415228e-02]

qacc:
[-118.08649834, -47.02946366,  75.06592047,-134.33858754, -72.66673297,
   10.42225913,  72.00071675,  55.8538318 ,   0.44638661, -14.10981355,
   36.74952498, -34.28470789,  -1.08870861,   1.81077336,  -8.60555146,
   29.45436723,  -2.30219952,  -2.89413343,   0.23266581,  32.71997822,
  -22.89178874, -77.840971  ]

qfrc_actuator:
[-0.02938058, 0.27515489, 0.04033353, 0.00742622,-0.00429172, 0.22194456,
  0.03020304, 0.00910874,-0.00029631, 0.21865607, 0.00140922, 0.00033481,
  0.00076436,-0.0013658 , 0.        ,-0.00116979, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.42587949, -0.06407965, -0.42587949,  0.43429228,
       -0.02405172, -0.06407965, -0.02405172,  0.59052335,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018486985867650128
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.53717106e-01, -6.56450072e-01, -3.13660090e-02, -2.36527355e-02,
       -2.06003550e-02,  9.99507966e-01, -6.56773227e-01,  7.54088144e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11221846, -0.0316541 ,  0.11550427])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24118635,  0.22612903,  0.08388397,  0.22612903,  0.48955354,
       -0.66953232,  0.08388397, -0.66953232,  2.04606862,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037539801573234564
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98146157,  0.17305086, -0.08238071,  0.17244446,  0.98491289,
        0.01447443,  0.08364264,  0.        , -0.99649582])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10658216, -0.0779543 ,  0.11253648])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.80593663,  2.50364486, -4.10229074,  2.50364486, 37.9713824 ,
       20.24100756, -4.10229074, 20.24100756, 17.15910655,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036867917873920075
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08129813, -0.06667769,  0.06198878])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.96421741e-02, 1.59123654e-01, 8.32367097e-02, 1.96003820e-02,
 -1.61704641e-02, 1.22403487e-01, 6.32771640e-02, 1.93235804e-02,
  1.21141162e-05,-8.55805144e-04,-1.06066370e-04,-4.11595348e-05,
 -2.16868226e-05, 9.18347237e-05,-1.24209442e-05, 1.39471016e-04,
  3.46841540e-04, 7.57496993e-04,-1.21967766e+00,-1.57321085e-03,
  4.38356773e-04, 2.98400369e-04]


--- Step 1797 ---
qpos:
[ 3.14536473e-02, 1.93895612e-01,-5.69919660e-02,-5.92717258e-03,
  2.57920528e-04, 2.12591389e-01,-4.98433026e-02,-4.73303318e-03,
 -4.26498607e-03, 2.99033192e-01,-1.15566004e-02,-1.96263736e-02,
  1.37674635e+00, 1.88782033e-02, 1.35088938e+00, 2.43473608e-02,
  8.66757123e-02,-6.78308919e-02, 1.31669125e-01, 9.94586088e-01,
 -5.58326830e-03,-5.57723884e-02,-8.75030317e-02]

qacc:
[-116.47000749, -43.80425061,  76.10630492,-130.83557291, -78.10865356,
    8.30341994,  74.67113366,  47.50740335,   0.29886132, -18.74502091,
   54.76766851, -73.48999113,  -0.73915032,   1.26166239,  -2.00986521,
    7.28566064,  -2.37037134,  -2.52792108,   0.18211879,  30.21212118,
  -25.16611043, -65.75287604]

qfrc_actuator:
[-3.00020797e-02, 2.75494200e-01, 4.12603020e-02, 7.72720569e-03,
 -4.39965568e-03, 2.22746343e-01, 3.08764841e-02, 9.30304783e-03,
 -3.02586776e-04, 2.18144623e-01, 1.44488861e-03, 2.58113282e-04,
  7.54288752e-04,-1.32253627e-03, 0.00000000e+00,-1.13753800e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336, -0.4268103 , -0.05755442, -0.4268103 ,  0.43305813,
       -0.01768496, -0.05755442, -0.01768496,  0.56182096,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018532259602364138
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75416054, -0.65582909, -0.03361669, -0.02536672, -0.02205927,
        0.9994348 , -0.65619997,  0.75458704,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11202921, -0.03162726,  0.11551173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003522669354057608
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80859024e-01,  1.74215735e-01, -8.69738662e-02,  1.73534856e-01,
        9.84707509e-01,  1.53875297e-02,  8.83245689e-02,  1.73472348e-18,
       -9.96091748e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10639623, -0.07793415,  0.1125161 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.83014234,  2.80370084, -3.93313317,  2.80370084, 36.78934274,
       22.78184674, -3.93313317, 22.78184674, 21.06998984,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003740081597700534
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.17437718e-14,  3.24673781e-14,  1.00000000e+00, -1.35531082e-27,
        1.00000000e+00, -3.24673781e-14, -1.00000000e+00,  0.00000000e+00,
        4.17437718e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08129968, -0.06667972,  0.06198862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.86852284e-02, 1.62712671e-01, 8.51684122e-02, 2.03037686e-02,
 -1.51618157e-02, 1.18531962e-01, 6.13430452e-02, 1.87094928e-02,
  7.66672600e-06,-1.15850045e-03,-2.02324222e-04,-1.26799574e-04,
  7.69795414e-07, 6.69138267e-05, 7.77052026e-06, 3.80098382e-05,
  4.33841411e-04, 1.03141991e-03,-1.21986128e+00,-1.50447833e-03,
  4.72499422e-04, 2.74994062e-04]


--- Step 1798 ---
qpos:
[ 3.21533863e-02, 1.95914581e-01,-5.79284282e-02,-6.19625175e-03,
  4.23489760e-04, 2.14708383e-01,-5.03903951e-02,-4.89708455e-03,
 -4.25340979e-03, 3.03190837e-01,-1.15837919e-02,-1.96314216e-02,
  1.37682864e+00, 1.88798309e-02, 1.35098698e+00, 2.43446971e-02,
  8.63805055e-02,-6.77998580e-02, 1.31689179e-01, 9.94387755e-01,
 -5.75147839e-03,-5.78881536e-02,-8.83678349e-02]

qacc:
[-1.13031016e+02,-5.05630387e+01, 9.99074311e+01,-1.34954231e+02,
 -8.02780774e+01, 6.92629829e+00, 7.29189366e+01, 4.51257967e+01,
 -3.48650522e-01,-2.32502447e+01, 5.98450844e+01,-6.24052209e+01,
 -7.48100400e-01, 1.37551982e+00, 1.01913612e+00,-3.12545205e+00,
 -2.43655434e+00,-2.15518650e+00, 1.33967491e-01, 2.75959730e+01,
 -2.73247189e+01,-5.38532249e+01]

qfrc_actuator:
[-3.06483334e-02, 2.75400344e-01, 4.21787829e-02, 8.01758253e-03,
 -4.41966173e-03, 2.23319631e-01, 3.14706457e-02, 9.51739886e-03,
 -3.28906717e-04, 2.17328876e-01, 1.45927151e-03, 2.14704871e-04,
  7.61272557e-04,-1.26186880e-03, 0.00000000e+00,-1.15315001e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336, -0.42758148, -0.05151323, -0.42758148,  0.43229361,
       -0.01344878, -0.05151323, -0.01344878,  0.54230386,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018447190284881848
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75472893, -0.65503422, -0.0362547 , -0.02738047, -0.02376369,
        0.99934258, -0.65546514,  0.75522543,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11184451, -0.03160089,  0.1155136 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003361238960619671
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98019528,  0.17562926, -0.09149631,  0.17486907,  0.98445638,
        0.01632315,  0.09294095,  0.        , -0.99567162])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10619968, -0.077912  ,  0.11249961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003779942549338583
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.67142824e-14, -1.46857129e-13,  1.00000000e+00,  5.39175412e-27,
        1.00000000e+00,  1.46857129e-13, -1.00000000e+00,  0.00000000e+00,
        3.67142824e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08130063, -0.06668189,  0.06198851])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.77567425e-02, 1.65437234e-01, 8.69096264e-02, 2.09482770e-02,
 -1.39685355e-02, 1.14626716e-01, 5.94073695e-02, 1.81472019e-02,
 -1.30467767e-05,-1.65511880e-03,-3.00801094e-04,-1.11448735e-04,
  2.28827240e-05, 8.16727747e-05, 4.85487393e-06,-1.31452556e-05,
  5.06315306e-04, 1.28661448e-03,-1.22006614e+00,-1.44333846e-03,
  5.15774995e-04, 2.53116892e-04]


--- Step 1799 ---
qpos:
[ 3.28224246e-02, 1.97885910e-01,-5.88709784e-02,-6.46840935e-03,
  5.63615357e-04, 2.16903350e-01,-5.08920662e-02,-5.04696383e-03,
 -4.24321705e-03, 3.07332334e-01,-1.16094972e-02,-1.96353513e-02,
  1.37691080e+00, 1.88835388e-02, 1.35108463e+00, 2.43415370e-02,
  8.60753414e-02,-6.77760191e-02, 1.31709572e-01, 9.94173328e-01,
 -5.87003529e-03,-6.00665382e-02,-8.93137536e-02]

qacc:
[-1.10794384e+02,-5.18616129e+01, 1.07045785e+02,-1.16205345e+02,
 -8.00622364e+01, 5.58627560e+00, 7.01482504e+01, 4.47391763e+01,
 -2.44516309e+00,-2.31885086e+01, 4.70085875e+01,-1.81860940e+01,
 -1.39633453e+00, 2.70864673e+00, 1.75719583e+00,-5.59638102e+00,
 -2.48934596e+00,-1.79877674e+00, 8.49845847e-02, 2.50599647e+01,
 -2.91727868e+01,-4.26585211e+01]

qfrc_actuator:
[-3.13151454e-02, 2.75261100e-01, 4.31288919e-02, 8.32037669e-03,
 -4.44726082e-03, 2.23672195e-01, 3.19462008e-02, 9.66723556e-03,
 -4.20210116e-04, 2.16444759e-01, 1.49554711e-03, 2.62025513e-04,
  7.94462478e-04,-1.12021430e-03, 0.00000000e+00,-1.17904946e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336, -0.4282027 , -0.04606504, -0.4282027 ,  0.43191801,
       -0.01156984, -0.04606504, -0.01156984,  0.5382221 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018250565297600351
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75539724, -0.65408985, -0.03926153, -0.02968093, -0.02570038,
        0.99922897, -0.65459457,  0.75598013,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11166389, -0.03157517,  0.11551017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003262568657285472
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97954251,  0.17691494, -0.09590397,  0.17607306,  0.98422614,
        0.01723877,  0.09744099,  0.        , -0.9952413 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10599212, -0.0778923 ,  0.11248747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003807880655367496
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.28898254e-14, -5.83118603e-13,  1.00000000e+00,  4.25034132e-26,
        1.00000000e+00,  5.83118603e-13, -1.00000000e+00,  0.00000000e+00,
        7.28898254e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08130112, -0.06668426,  0.06198843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.68776560e-02, 1.67926840e-01, 8.84036334e-02, 2.15143567e-02,
 -1.27348236e-02, 1.10744113e-01, 5.74680405e-02, 1.75532496e-02,
 -8.09518360e-05,-2.02026180e-03,-3.92901832e-04,-4.50648095e-05,
  6.28324929e-05, 1.72454929e-04,-1.96876362e-06,-2.66182978e-05,
  5.69145227e-04, 1.51758544e-03,-1.22029011e+00,-1.38992156e-03,
  5.65275746e-04, 2.32881473e-04]


--- Step 1800 ---
qpos:
[ 3.34607311e-02, 1.99827126e-01,-5.98171578e-02,-6.74218865e-03,
  6.78664923e-04, 2.19169650e-01,-5.13503066e-02,-5.18311700e-03,
 -4.23399351e-03, 3.11458673e-01,-1.16355361e-02,-1.96388549e-02,
  1.37699379e+00, 1.88871861e-02, 1.35118221e+00, 2.43380785e-02,
  8.57600731e-02,-6.77580479e-02, 1.31730104e-01, 9.93943811e-01,
 -5.94510937e-03,-6.23099782e-02,-9.03206698e-02]

qacc:
[-1.09849977e+02,-3.26501334e+01, 6.59554766e+01,-6.66290635e+01,
 -7.79198976e+01, 1.46003959e+00, 7.40077635e+01, 4.12209450e+01,
 -1.67697716e+00,-1.82206653e+01, 3.41123206e+01,-1.50799868e+01,
  6.94364860e-01,-5.54092536e-01, 7.33764853e-01,-2.87859853e+00,
 -2.52601609e+00,-1.46691802e+00, 3.43670906e-02, 2.26436768e+01,
 -3.06706430e+01,-3.24918710e+01]

qfrc_actuator:
[-0.03201769, 0.27597984, 0.04406188, 0.00859501,-0.00445135, 0.2239176 ,
  0.0324227 , 0.00977308,-0.00047824, 0.21584736, 0.0015267 , 0.00029132,
  0.00081675,-0.00116222, 0.        ,-0.00119303, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.42867702, -0.0414192 , -0.42867702,  0.43174973,
       -0.01114022, -0.0414192 , -0.01114022,  0.54597152,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017961163148114802
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75614056, -0.65302027, -0.0426143 , -0.0322517 , -0.0278533 ,
        0.9990916 , -0.65361401,  0.75682807,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11148667, -0.03155021,  0.11550183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003218378735833733
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97877293,  0.17869024, -0.10036604,  0.17775812,  0.98390538,
        0.0182278 ,  0.10200782,  0.        , -0.9947836 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10577559, -0.0778677 ,  0.1124776 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003825208183662193
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.25596472e-14,  1.45119294e-13,  1.00000000e+00, -1.05298048e-26,
        1.00000000e+00, -1.45119294e-13, -1.00000000e+00,  0.00000000e+00,
        7.25596472e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08130123, -0.06668683,  0.06198838])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.60483484e-02, 1.70966263e-01, 8.96286983e-02, 2.19410263e-02,
 -1.14657931e-02, 1.07018616e-01, 5.56544903e-02, 1.69471640e-02,
 -5.70564208e-05,-1.95320970e-03,-4.82275592e-04,-8.05869487e-05,
  9.17805799e-05, 2.64072246e-05,-6.31957819e-06,-1.62565662e-05,
  6.26458474e-04, 1.72098476e-03,-1.22053012e+00,-1.34411492e-03,
  6.18590671e-04, 2.14246098e-04]


--- Step 1801 ---
qpos:
[ 3.40826871e-02, 2.01776195e-01,-6.07516552e-02,-7.00822402e-03,
  7.96176720e-04, 2.21483229e-01,-5.17847821e-02,-5.30754939e-03,
 -4.22473625e-03, 3.15577071e-01,-1.16658129e-02,-1.96431648e-02,
  1.37707802e+00, 1.88888655e-02, 1.35127945e+00, 2.43364683e-02,
  8.54381391e-02,-6.77349534e-02, 1.31750987e-01, 9.93709415e-01,
 -6.04337858e-03,-6.46195537e-02,-9.12654836e-02]

qacc:
[-5.78470019e+01,-6.12908296e+00, 4.48415599e+00, 1.04773368e+02,
  7.54046317e+00, 2.02034471e+01,-3.08448527e+01, 1.60940481e+02,
  5.91307634e-02,-3.10538463e-01,-1.07119232e+01, 9.36528744e+00,
  2.35110727e+00,-3.36646250e+00,-6.37697166e+00, 2.09042631e+01,
 -1.66643708e+00, 1.28084777e+00, 8.80034481e-02,-6.62033138e+00,
 -3.42516515e+01, 3.11689099e+01]

qfrc_actuator:
[-0.03264059, 0.27767646, 0.04496681, 0.00888803,-0.00446702, 0.22469551,
  0.03290135, 0.00986506,-0.00048066, 0.21603106, 0.00152051, 0.00029229,
  0.00083242,-0.00131312, 0.        ,-0.00109334, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.42874109, -0.04075068, -0.42874109,  0.43575432,
       -0.05345721, -0.04075068, -0.05345721,  0.9931008 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017602688844696984
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.56930678e-01, -6.51854724e-01, -4.62749042e-02, -3.50644576e-02,
       -3.01968635e-02,  9.98928743e-01, -6.52553777e-01,  7.57742415e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11131117, -0.03152605,  0.11548936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003220288023936176
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77955635e-01,  1.80587333e-01, -1.04837931e-01,  1.79558530e-01,
        9.83558954e-01,  1.92488740e-02,  1.06590389e-01,  3.46944695e-18,
       -9.94303017e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10554987, -0.07784251,  0.11247042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.87536165, -0.59521411, -4.83889155, -0.59521411, 11.2669142 ,
       -0.78620118, -4.83889155, -0.78620118,  4.97206935,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003836396826643937
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.23480309e-14, -8.18467196e-07,  1.00000000e+00, -5.92144900e-20,
        1.00000000e+00,  8.18467196e-07, -1.00000000e+00,  0.00000000e+00,
       -7.23480309e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07984257, -0.07414153,  0.06198835])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.51381014e-02, 1.74108531e-01, 9.07032674e-02, 2.23133498e-02,
 -1.02265648e-02, 1.04154644e-01, 5.39412419e-02, 1.63492261e-02,
  1.59853662e-06,-1.15388265e-03,-5.17785517e-04,-1.09782058e-04,
  6.54378337e-05,-1.21464274e-04,-4.97976859e-06, 9.78711184e-05,
  6.81535883e-04, 1.89538636e-03,-1.22078318e+00,-1.30562104e-03,
  6.73827217e-04, 1.97171204e-04]


--- Step 1802 ---
qpos:
[ 3.47049120e-02, 2.03787561e-01,-6.16422833e-02,-7.25925821e-03,
  9.45072948e-04, 2.23836088e-01,-5.21999739e-02,-5.42193003e-03,
 -4.21535370e-03, 3.19691092e-01,-1.16995297e-02,-1.96484783e-02,
  1.37716277e+00, 1.88891957e-02, 1.35137647e+00, 2.43373843e-02,
  8.51112613e-02,-6.76972204e-02, 1.31770408e-01, 9.93479580e-01,
 -6.22081403e-03,-6.69808684e-02,-9.20499303e-02]

qacc:
[  1.0602527 , -9.09758731, 88.79269551, 54.57943546, 95.06211026,
  18.55192165,-33.53049028,148.09361508,  0.20870875,  1.76160162,
 -10.44008466,  1.79392534,  1.4574644 , -2.22827752, -8.16409877,
  27.63934893, -1.23596684,  3.65959909, -0.36545197,-31.77795222,
 -29.65665546, 82.28883844]

qfrc_actuator:
[-3.32533009e-02, 2.79419072e-01, 4.58943167e-02, 9.14785419e-03,
 -4.50715257e-03, 2.25717436e-01, 3.33658162e-02, 1.00162473e-02,
 -4.85834331e-04, 2.16256192e-01, 1.51369006e-03, 2.77324550e-04,
  8.38719453e-04,-1.38539208e-03, 0.00000000e+00,-9.62975129e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336, -0.41932006, -0.09823556, -0.41932006,  0.46366261,
       -0.14081518, -0.09823556, -0.14081518,  1.03174523,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017247554954951045
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75766096, -0.65072996, -0.05000391, -0.03793347, -0.0325798 ,
        0.99874902, -0.65154503,  0.75860996,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11113439, -0.03150251,  0.11547659])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.23100838, -0.18403881,  0.13962301, -0.18403881,  0.8467863 ,
        0.81166447,  0.13962301,  0.81166447,  1.30087333,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003262755964799336
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97713149,  0.18236835, -0.10934273,  0.18123715,  0.98323028,
        0.02028076,  0.11120765,  0.        , -0.99379719])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1053185 , -0.07781889,  0.11246493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.90526785, -0.06948068, -4.90477575, -0.06948068, 17.78425892,
       -0.18244281, -4.90477575, -0.18244281,  4.90785232,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038979211993071805
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.23053351e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.23053351e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07832729, -0.08174669,  0.06198817])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.49381152e-02, 1.75398402e-01, 9.10348865e-02, 2.21842055e-02,
 -1.03902359e-02, 1.02735528e-01, 5.31962242e-02, 1.59105573e-02,
  7.12552632e-06,-6.73515854e-04,-3.58484521e-04,-9.32365662e-05,
  9.92540308e-06,-9.53115161e-05, 9.63971113e-06, 1.35335849e-04,
  7.22108364e-04, 1.80795139e-03,-1.22100670e+00,-1.32197784e-03,
  7.01508345e-04, 2.13098586e-04]


--- Step 1803 ---
qpos:
[ 3.53315728e-02, 2.05884290e-01,-6.24873206e-02,-7.49800661e-03,
  1.12831251e-03, 2.26222284e-01,-5.25948215e-02,-5.52633908e-03,
 -4.20525299e-03, 3.23794824e-01,-1.17315077e-02,-1.96540513e-02,
  1.37724750e+00, 1.88887131e-02, 1.35147330e+00, 2.43415322e-02,
  8.47790233e-02,-6.76463842e-02, 1.31788267e-01, 9.93252695e-01,
 -6.46824706e-03,-6.93915193e-02,-9.26933821e-02]

qacc:
[ 15.38455218, 10.86782227, 73.18489508,  3.65433822,102.68887999,
   7.60012121, -5.5355537 ,121.35738635,  1.2421086 ,-18.99573075,
  49.08740687,-48.7844717 ,  0.74355784, -1.29133994,-10.16574456,
  34.91609791, -1.34003637,  3.27579806, -0.39063834,-27.7687538 ,
 -28.06870405, 72.36445021]

qfrc_actuator:
[-3.39587434e-02, 2.81273707e-01, 4.67807485e-02, 9.41291527e-03,
 -4.66287953e-03, 2.26360023e-01, 3.38167574e-02, 1.01466804e-02,
 -4.57262359e-04, 2.15582663e-01, 1.54290328e-03, 2.53321404e-04,
  8.23443121e-04,-1.42808000e-03, 0.00000000e+00,-7.97877756e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43067336, -0.1011671 , -0.41862245, -0.1011671 ,  3.66842265,
       -0.78245617, -0.41862245, -0.78245617,  0.61976695,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016980738229531917
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.58113157e-01, -6.49921935e-01, -5.35342947e-02, -4.06433352e-02,
       -3.48430769e-02,  9.98566011e-01, -6.50855254e-01,  7.59201843e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11095166, -0.03148087,  0.1154682 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.23247738, -0.10829509,  0.20571317, -0.10829509,  1.73826202,
        0.79270127,  0.20571317,  0.79270127,  0.64978493,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000334066452477083
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76337717e-01,  1.83841699e-01, -1.13872260e-01,  1.82603911e-01,
        9.82955864e-01,  2.12974668e-02,  1.15846769e-01,  6.93889390e-18,
       -9.93267097e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10508214, -0.07779843,  0.11246103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  4.92426779,   2.47284378,   4.25833969,   2.47284378,
        38.53203866, -19.51623714,   4.25833969, -19.51623714,
        16.2574655 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00039361600883502934
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49842986e-13, -1.41028693e-13,  1.00000000e+00,  2.11321605e-26,
        1.00000000e+00,  1.41028693e-13, -1.00000000e+00,  0.00000000e+00,
        1.49842986e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07830638, -0.08174479,  0.06198806])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.56638843e-02, 1.74075617e-01, 8.97151431e-02, 2.16972550e-02,
 -1.21175096e-02, 1.01335501e-01, 5.26610481e-02, 1.55344365e-02,
  4.17698161e-05,-1.26957382e-03,-2.02890249e-04,-7.58362473e-05,
 -3.18396763e-05,-7.04808957e-05, 1.85773131e-05, 1.73625876e-04,
  7.29213271e-04, 1.49344276e-03,-1.22115259e+00,-1.38838198e-03,
  7.11493689e-04, 2.59812605e-04]


--- Step 1804 ---
qpos:
[ 3.59662730e-02, 2.08076839e-01,-6.32856477e-02,-7.72627508e-03,
  1.32862473e-03, 2.28636014e-01,-5.29762145e-02,-5.63046986e-03,
 -4.19431831e-03, 3.27881822e-01,-1.17603481e-02,-1.96589506e-02,
  1.37733182e+00, 1.88875616e-02, 1.35157025e+00, 2.43473066e-02,
  8.44407736e-02,-6.75839022e-02, 1.31804549e-01, 9.93027046e-01,
 -6.77681924e-03,-7.18520779e-02,-9.32128699e-02]

qacc:
[ 27.52464215, 17.79585472, 76.10179838,-39.91159092, 50.33494177,
  -0.66907573, 53.89086336,-90.71293536,  1.43492014,-29.49845164,
  70.24689694,-51.30739908,  0.19602228, -0.72109963, -4.80425481,
  16.94455226, -1.50292551,  2.91146127, -0.39405314,-23.74525584,
 -27.97716912, 63.58096692]

qfrc_actuator:
[-3.46708401e-02, 2.83129821e-01, 4.76055154e-02, 9.66007980e-03,
 -4.92122806e-03, 2.26836254e-01, 3.41797967e-02, 1.02429683e-02,
 -4.26837728e-04, 2.14430859e-01, 1.57217915e-03, 2.59057014e-04,
  7.84599783e-04,-1.47076460e-03, 0.00000000e+00,-7.20170248e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016816941630302931
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75852646, -0.64915415, -0.05689023, -0.04322275, -0.03699044,
        0.99838044, -0.6502072 ,  0.75975694,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11075764, -0.03145759,  0.1154645 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.23446411, -0.11537681,  0.20411176, -0.11537681,  0.30207739,
        0.03821928,  0.20411176,  0.03821928,  0.25606805,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034418689034203996
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75565867e-01,  1.85042027e-01, -1.18451204e-01,  1.83692951e-01,
        9.82730608e-01,  2.23036209e-02,  1.20532731e-01,  3.46944695e-18,
       -9.92709354e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484101, -0.07778051,  0.1124583 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  4.93473541,   2.74401103,   4.10146523,   2.74401103,
        22.77321557, -11.93451211,   4.10146523, -11.93451211,
        12.91930461,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00039569551178955664
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.76797145e-15,  1.40287543e-13,  1.00000000e+00, -1.23003717e-27,
        1.00000000e+00, -1.40287543e-13, -1.00000000e+00,  0.00000000e+00,
        8.76797145e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07828954, -0.08174417,  0.061988  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.66056119e-02, 1.71597630e-01, 8.82462742e-02, 2.13278993e-02,
 -1.40956609e-02, 1.00065010e-01, 5.19843074e-02, 1.51280356e-02,
  4.84673330e-05,-2.04775856e-03,-3.06034018e-04,-6.58786654e-05,
 -6.94105532e-05,-7.24470028e-05, 2.55866785e-05, 8.92287400e-05,
  7.25353347e-04, 1.21707150e-03,-1.22130533e+00,-1.44838731e-03,
  7.33436456e-04, 3.03556291e-04]


--- Step 1805 ---
qpos:
[ 0.03661205, 0.21036049,-0.06403489,-0.00794455, 0.00154553, 0.2310723 ,
 -0.05334545,-0.00573487,-0.00418283, 0.33195312,-0.01178922,-0.01966382,
  1.37741542, 0.0188864 , 1.35166749, 0.02435266, 0.08409592,-0.06751112,
  0.13181923, 0.99280095,-0.00713845,-0.07436371,-0.09362348]

qacc:
[  37.56682478,   3.99600102, 118.34748087, -91.0271746 ,  48.28244836,
   -4.74369593,  61.19655755,-101.80752847,   0.94241921, -20.58104915,
   43.13592439, -30.95522245,  -0.63016388,   0.47295178,   1.75550746,
   -5.37431992,  -1.65044284,   2.57569452,  -0.40079544, -20.05305365,
  -28.21469135,  55.77053763]

qfrc_actuator:
[-3.53568018e-02, 2.84214361e-01, 4.84094329e-02, 9.84014006e-03,
 -5.18435829e-03, 2.27151880e-01, 3.45243521e-02, 1.03599790e-02,
 -4.13457201e-04, 2.13766012e-01, 1.59939831e-03, 2.64053928e-04,
  7.52954448e-04,-1.46000817e-03, 0.00000000e+00,-7.47841964e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001675528567207626
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75886083, -0.64847576, -0.06007856, -0.04567376, -0.03902999,
        0.99819365, -0.64964925,  0.76023407,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11055159, -0.03143309,  0.11546573])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.23659489, -0.12332174,  0.20191308, -0.12332174,  0.27992209,
        0.0264628 ,  0.20191308,  0.0264628 ,  0.25275748,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003545555533717374
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97480438,  0.18599854, -0.12312983,  0.18453228,  0.98255002,
        0.02330871,  0.1253166 ,  0.        , -0.9921168 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10459582, -0.07776501,  0.11245581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  4.93733557,   3.11585615,   3.82997689,   3.11585615,
        24.81307811, -16.16979851,   3.82997689, -16.16979851,
        18.09218417,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003962091219629482
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.75132109e-14, -1.40105687e-13,  1.00000000e+00, -2.45370044e-27,
        1.00000000e+00,  1.40105687e-13, -1.00000000e+00,  0.00000000e+00,
       -1.75132109e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07827588, -0.08174454,  0.06198798])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.77021718e-02, 1.67821230e-01, 8.66990038e-02, 2.09814202e-02,
 -1.52139335e-02, 9.89228166e-02, 5.16330464e-02, 1.52269198e-02,
  3.22453109e-05,-2.01610449e-03,-4.80985273e-04,-1.03288538e-04,
 -8.08890916e-05,-2.81629153e-05, 1.78655791e-05,-2.02882633e-05,
  7.17022462e-04, 9.74057490e-04,-1.22147270e+00,-1.50200122e-03,
  7.64380096e-04, 3.43982639e-04]


--- Step 1806 ---
qpos:
[ 0.03727096, 0.21272685,-0.06473434,-0.00815304, 0.00177822, 0.23352824,
 -0.05370362,-0.00583971,-0.004171  , 0.33601538,-0.01182123,-0.01966906,
  1.37749834, 0.0188855 , 1.35176476, 0.02435801, 0.0837439 ,-0.06742948,
  0.13183232, 0.99257253,-0.00754447,-0.07692846,-0.09394073]

qacc:
[  43.98935174,  -9.4029378 , 150.92443257,-122.06110319,  45.28160923,
   -5.85358122,  60.32058213, -99.96396356,   0.54532758,  -3.96349504,
   -1.61101763,   6.75810982,  -0.72101245,   0.74911234,   0.16945642,
   -0.31411425,  -1.79211125,   2.2127255 ,  -0.39635191, -16.08727669,
  -28.86697736,  47.69899621]

qfrc_actuator:
[-0.03603334, 0.28458932, 0.04914428, 0.01002949,-0.00545671, 0.22750713,
  0.03488924, 0.01048986,-0.00041036, 0.21387832, 0.00164505, 0.00028673,
  0.000731  ,-0.00143533, 0.        ,-0.00074858, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016784667345148302
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.59121827e-01, -6.47880100e-01, -6.31302436e-02, -4.80193302e-02,
       -4.09825766e-02,  9.98005297e-01, -6.49175011e-01,  7.60639077e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1103337 , -0.03140738,  0.11547153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.23861978, -0.1311624 ,  0.19933847, -0.1311624 ,  0.26764733,
        0.01909979,  0.19933847,  0.01909979,  0.25118722,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036398504186879813
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97404363,  0.18673763, -0.12793776,  0.18514737,  0.98240982,
        0.02431856,  0.1302285 ,  0.        , -0.99148401])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10434689, -0.07775151,  0.11245304])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  4.93286061,   3.56599526,   3.40834148,   3.56599526,
        24.91534149, -20.90677604,   3.40834148, -20.90677604,
        26.80668534,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000395324460961341
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.89858095e-14,  1.40419217e-13,  1.00000000e+00, -1.10911255e-26,
        1.00000000e+00, -1.40419217e-13, -1.00000000e+00,  0.00000000e+00,
        7.89858095e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07826474, -0.08174567,  0.06198801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.89419515e-02, 1.63567598e-01, 8.49624201e-02, 2.06683981e-02,
 -1.63176446e-02, 9.80684845e-02, 5.13665653e-02, 1.53660552e-02,
  1.95957377e-05,-1.25824863e-03,-4.78616243e-04,-9.09909273e-05,
 -6.71273944e-05,-2.76903005e-06, 1.34793111e-06,-6.07347971e-07,
  7.08535695e-04, 7.59184477e-04,-1.22165452e+00,-1.54966873e-03,
  8.01823810e-04, 3.81217344e-04]


--- Step 1807 ---
qpos:
[ 0.03794415, 0.21517474,-0.06538624,-0.00835267, 0.00202498, 0.23600506,
 -0.05405217,-0.0059454 ,-0.00415957, 0.34007201,-0.01185619,-0.01967393,
  1.37758056, 0.01888469, 1.35186237, 0.02436063, 0.08338421,-0.06734048,
  0.13184387, 0.9923398 ,-0.00798611,-0.07954876,-0.09418031]

qacc:
[  47.23739072,  -6.6530153 , 142.77551371,-125.71506294,  39.81377347,
   -1.03774645,  47.21863453, -92.47487584,  -0.61788382,   1.5487398 ,
  -17.86536731,  33.05092162,  -0.85683188,   0.77952555,   8.84476734,
  -30.00387487,  -1.91775458,   1.84086121,  -0.38705689, -12.09571976,
  -29.70202983,  39.5038414 ]

qfrc_actuator:
[-0.03672845, 0.28518507, 0.04983508, 0.01018512,-0.00570491, 0.22818183,
  0.03526255, 0.01059224,-0.00044894, 0.21401272, 0.00165163, 0.00033816,
  0.00068824,-0.00143808, 0.        ,-0.00089318, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001689033951626571
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.59318261e-01, -6.47355114e-01, -6.60843034e-02, -5.02889478e-02,
       -4.28737319e-02,  9.97814043e-01, -6.48773304e-01,  7.60981734e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11010458, -0.03138047,  0.11548136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24032925, -0.13819205,  0.19662428, -0.13819205,  0.25750829,
        0.01207382,  0.19662428,  0.01207382,  0.24881501,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003716503057061724
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73273801e-01,  1.87287089e-01, -1.32897159e-01,  1.85565152e-01,
        9.82305221e-01,  2.53382773e-02,  1.35291106e-01,  3.46944695e-18,
       -9.90805893e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1040944 , -0.07773962,  0.11244962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003931872813010828
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.94151389e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.94151389e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07825559, -0.08174739,  0.06198808])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.03027926e-02, 1.59950027e-01, 8.31443720e-02, 2.03311204e-02,
 -1.73562855e-02, 9.76775128e-02, 5.11627698e-02, 1.54859767e-02,
 -2.37708395e-05,-8.10808893e-04,-3.60243054e-04,-2.94128888e-05,
 -7.57378591e-05,-1.89840723e-05,-3.03091471e-06,-1.45257644e-04,
  7.04810462e-04, 5.72504880e-04,-1.22185272e+00,-1.59070777e-03,
  8.43841863e-04, 4.14668476e-04]


--- Step 1808 ---
qpos:
[ 0.03863229, 0.21770434,-0.06599376,-0.00854452, 0.00228409, 0.23850213,
 -0.05439128,-0.00605183,-0.00414815, 0.34412133,-0.01189137,-0.01967899,
  1.37766211, 0.0188841 , 1.35195997, 0.0243615 , 0.08301637,-0.06724548,
  0.13185388, 0.99210084,-0.00845531,-0.0822273 ,-0.0943563 ]

qacc:
[ 4.87213651e+01, 1.96255001e-01, 1.23161953e+02,-1.19513758e+02,
  3.44374791e+01,-1.19666229e+00, 4.61618731e+01,-8.89995081e+01,
 -1.57315052e-02,-9.41643807e+00, 2.03615500e+01,-1.78867471e+01,
 -8.29950506e-01, 8.38030396e-01, 5.37165809e+00,-1.85858179e+01,
 -2.03793859e+00, 1.50014680e+00,-3.83108522e-01,-8.42887183e+00,
 -3.06979453e+01, 3.21202124e+01]

qfrc_actuator:
[-0.03745887, 0.28609443, 0.05049956, 0.01029978,-0.00594323, 0.22886157,
  0.0356557 , 0.01069644,-0.00045867, 0.21373453, 0.00167132, 0.00033525,
  0.00065967,-0.0014217 , 0.        ,-0.00097935, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017062898217953158
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75945332, -0.64689542, -0.06897081, -0.05250514, -0.0447234 ,
        0.99761868, -0.64843956,  0.76126614,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10986439, -0.03135241,  0.1154949 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24155729, -0.14430912,  0.19371319, -0.14430912,  0.25111201,
        0.00711791,  0.19371319,  0.00711791,  0.24685987,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003770009285579964
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97244034,  0.18819444, -0.13763229,  0.18633738,  0.98213179,
        0.02637287,  0.14013627,  0.        , -0.99013223])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10383892, -0.07772287,  0.11245   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038992734115059213
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.84725616e-13,  1.42362808e-13,  1.00000000e+00, -4.05343382e-26,
        1.00000000e+00, -1.42362808e-13, -1.00000000e+00,  0.00000000e+00,
        2.84725616e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07824801, -0.08174958,  0.06198818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.17575742e-02, 1.56702610e-01, 8.14113290e-02, 1.99997622e-02,
 -1.82996763e-02, 9.72294369e-02, 5.10508711e-02, 1.56279968e-02,
 -1.56946147e-06,-9.45712729e-04,-2.37832965e-04,-5.92714225e-05,
 -7.00825378e-05,-6.61883025e-06,-2.16631813e-05,-9.55581177e-05,
  7.09985294e-04, 4.13762927e-04,-1.22206782e+00,-1.62462520e-03,
  8.88698747e-04, 4.44025758e-04]


--- Step 1809 ---
qpos:
[ 0.03928944, 0.22022533,-0.06661497,-0.00872276, 0.0025361 , 0.24104127,
 -0.05469926,-0.00614866,-0.00413701, 0.34815755,-0.01192356,-0.01968473,
  1.37774344, 0.0188831 , 1.35205728, 0.02436264, 0.08263633,-0.06715982,
  0.13186363, 0.99183936,-0.00885694,-0.08498175,-0.09462736]

qacc:
[-9.96421836e+01, 5.46055025e+01,-2.68576003e+02, 5.32337471e+02,
 -1.94590460e+01,-1.14267761e+01, 8.10663260e+01, 4.13318710e+00,
 -3.61914621e-01,-2.70580380e+01, 7.41787617e+01,-8.09386951e+01,
  1.21836112e-01,-4.36005012e-01,-1.27726175e+00, 3.77460192e+00,
 -3.04986676e+00,-2.33305744e+00,-6.63398548e-02, 3.30959829e+01,
 -3.49883032e+01,-5.13232405e+01]

qfrc_actuator:
[-3.82701115e-02, 2.86502325e-01, 5.10968700e-02, 1.04761439e-02,
 -6.21502107e-03, 2.29146076e-01, 3.60215566e-02, 1.08019873e-02,
 -4.86815436e-04, 2.12857657e-01, 1.73284713e-03, 2.82377377e-04,
  6.55604750e-04,-1.44727691e-03, 0.00000000e+00,-9.59344746e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017295875084421919
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.59246243e-01, -6.46835021e-01, -7.17607013e-02, -5.46248725e-02,
       -4.65373137e-02,  9.97421878e-01, -6.48506952e-01,  7.61208732e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10961641, -0.03132718,  0.11551252])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24229941, -0.14817385,  0.19171207, -0.14817385,  0.49662199,
        0.19656538,  0.19171207,  0.19656538,  0.39422438,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038017422558141384
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71617195e-01,  1.88540220e-01, -1.42872710e-01,  1.86534326e-01,
        9.82065469e-01,  2.74291816e-02,  1.45481859e-01,  3.46944695e-18,
       -9.89360919e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10357933, -0.07771212,  0.11244549])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003883186731785393
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42952567e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.42952567e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08131642, -0.06671705,  0.06198823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.33268815e-02, 1.52940878e-01, 7.97679681e-02, 1.97829950e-02,
 -1.91899293e-02, 9.64173304e-02, 5.09198517e-02, 1.57663935e-02,
 -1.65905907e-05,-1.59538533e-03,-2.09679909e-04,-1.11323175e-04,
 -4.01976112e-05,-4.33313254e-05,-2.34468315e-05, 1.12871868e-05,
  7.26316092e-04, 2.79418966e-04,-1.22230010e+00,-1.65191171e-03,
  9.35144966e-04, 4.69447119e-04]


--- Step 1810 ---
qpos:
[ 0.0399177 , 0.22273192,-0.06723712,-0.00888438, 0.00278283, 0.2436316 ,
 -0.05497883,-0.00623726,-0.00412695, 0.35218037,-0.01195468,-0.01969   ,
  1.37782442, 0.01888223, 1.35215449, 0.02436364, 0.0822444 ,-0.06708096,
  0.13187258, 0.99155752,-0.00920596,-0.08781236,-0.09496271]

qacc:
[-9.14439756e+01, 1.78339898e+01,-1.61105757e+02, 4.60629116e+02,
 -1.43288490e+01, 5.35532517e+00, 4.44702091e+01, 1.47482487e+01,
 -1.57570798e+00,-1.97546935e+01, 4.28243033e+01,-2.67699847e+01,
 -3.71464611e-01, 3.83688578e-01, 3.33077933e-01,-1.27022351e+00,
 -2.97084724e+00,-1.70323352e+00,-1.99988964e-01, 2.68740792e+01,
 -3.58603077e+01,-3.54139101e+01]

qfrc_actuator:
[-0.03900112, 0.28725281, 0.0516942 , 0.0106806 ,-0.00647464, 0.22980261,
  0.03634558, 0.01084503,-0.00056126, 0.21225163, 0.0017986 , 0.00030661,
  0.00065025,-0.00142647, 0.        ,-0.00096571, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.42690611,  0.05683936, -0.42690611,  0.47286046,
        0.31685672,  0.05683936,  0.31685672,  2.8105042 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00174294250766819
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.59215012e-01, -6.46511402e-01, -7.49371226e-02, -5.70538089e-02,
       -4.85843106e-02,  9.97188261e-01, -6.48334349e-01,  7.61355746e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10936637, -0.03130076,  0.1155258 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24281225, -0.15018237,  0.19079581, -0.15018237,  0.48478015,
        0.1904618 ,  0.19079581,  0.1904618 ,  0.39273171,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003823414309690218
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97102937,  0.18774939, -0.14782463,  0.1856109 ,  0.98221696,
        0.02825647,  0.15050099,  0.        , -0.98860986])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10330929, -0.07771474,  0.11244646])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038747515232263885
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07447828e-13, -2.86527541e-13,  1.00000000e+00,  3.07867618e-26,
        1.00000000e+00,  2.86527541e-13, -1.00000000e+00,  0.00000000e+00,
        1.07447828e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08131654, -0.06671967,  0.06198826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.25138878e-02, 1.54037681e-01, 8.10271015e-02, 1.93032078e-02,
 -1.90948801e-02, 9.48843885e-02, 4.96619585e-02, 1.53247165e-02,
 -6.55562348e-05,-1.68364041e-03,-3.37814480e-04,-6.20544394e-05,
 -3.51919779e-05,-1.72272118e-06,-1.07996915e-05,-9.03403019e-06,
  8.77977711e-04, 4.83688097e-04,-1.22262248e+00,-1.58946457e-03,
  9.74499407e-04, 4.37917526e-04]


--- Step 1811 ---
qpos:
[ 0.04052181, 0.22524262,-0.06785049,-0.00903054, 0.00302669, 0.2462802 ,
 -0.05523239,-0.00631854,-0.00411707, 0.35619435,-0.0119873 ,-0.01969518,
  1.37790498, 0.01888202, 1.35225155, 0.02436521, 0.08184084,-0.06700705,
  0.1318803 , 0.99125671,-0.00951351,-0.09071923,-0.09533969]

qacc:
[-7.53548403e+01, 1.28641968e+01,-1.02950562e+02, 3.53115992e+02,
 -7.72607820e+00, 1.94435523e+01, 1.15817009e+01, 3.05887131e+01,
 -2.64441612e-01,-7.24767579e+00, 8.47209923e+00, 2.16940364e+00,
 -6.80169225e-01, 1.00592087e+00,-1.86503693e+00, 6.39615256e+00,
 -2.90903442e+00,-1.23470051e+00,-3.05864060e-01, 2.22636515e+01,
 -3.64838236e+01,-2.37156307e+01]

qfrc_actuator:
[-0.03949617, 0.28837785, 0.05228426, 0.01082245,-0.00670818, 0.23081619,
  0.03659928, 0.01091911,-0.00057379, 0.21222196, 0.0018676 , 0.00034074,
  0.00064414,-0.00137821, 0.        ,-0.00093434, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.42888719, -0.03918314, -0.42888719,  0.45194552,
       -0.23283893, -0.03918314, -0.23283893,  2.97926026,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001747372104062393
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.59214582e-01, -6.46095980e-01, -7.84423524e-02, -5.97386534e-02,
       -5.08379380e-02,  9.96918651e-01, -6.48092981e-01,  7.61561218e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1091158, -0.031275 ,  0.1155354])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.2433073 , -0.15347379,  0.18879682, -0.15347379,  0.50166246,
        0.21001807,  0.18879682,  0.21001807,  0.41403194,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038441405398670646
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70042543e-01,  1.88392845e-01, -1.53380573e-01,  1.86081089e-01,
        9.82093751e-01,  2.94226519e-02,  1.56177119e-01, -3.46944695e-18,
       -9.87729066e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10303595, -0.07770037,  0.11244267])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003853613908637865
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.40185971e-14, -5.40185971e-14,  1.00000000e+00, -2.91800883e-27,
        1.00000000e+00,  5.40185971e-14, -1.00000000e+00,  0.00000000e+00,
       -5.40185971e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08131636, -0.06672221,  0.06198833])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.15696489e-02, 1.55798691e-01, 8.16415019e-02, 1.86099281e-02,
 -1.90646650e-02, 9.32494702e-02, 4.84691931e-02, 1.49824831e-02,
 -1.18271697e-05,-1.18036655e-03,-3.66671158e-04,-5.93779898e-05,
 -2.38071849e-05, 3.98133621e-05,-8.29029548e-06, 2.89670020e-05,
  1.01125538e-03, 6.34189612e-04,-1.22295681e+00,-1.54306993e-03,
  1.02060964e-03, 4.13456037e-04]


--- Step 1812 ---
qpos:
[ 0.04111313, 0.2277782 ,-0.0684444 ,-0.00916827, 0.0032678 , 0.24898522,
 -0.05545896,-0.00639217,-0.00410664, 0.36020022,-0.012021  ,-0.0197002 ,
  1.37798555, 0.01888181, 1.35234862, 0.02436645, 0.08142554,-0.06693755,
  0.1318865 , 0.99093687,-0.00978225,-0.09370377,-0.0957498 ]

qacc:
[-3.93277447e+01,-3.96804724e+00, 2.65091775e+01, 6.96409063e+01,
 -7.26703510e+00, 1.49421502e+01, 2.26791939e+01, 2.50478873e+01,
  8.27775063e-01,-7.44608968e+00, 1.03723552e+01,-1.46902040e-01,
 -8.96522319e-03, 1.10614426e-02, 9.96044929e-01,-3.46914421e+00,
 -2.93347773e+00,-1.10457813e+00,-3.81078362e-01, 2.13418539e+01,
 -3.73463599e+01,-1.94546464e+01]

qfrc_actuator:
[-0.03994935, 0.28930655, 0.05289614, 0.01099225,-0.00692638, 0.23132407,
  0.03676631, 0.01097392,-0.00054964, 0.21202408, 0.00188746, 0.00036322,
  0.00064825,-0.00138507, 0.        ,-0.00095199, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.42903608, -0.03751779, -0.42903608,  0.4361548 ,
       -0.06268329, -0.03751779, -0.06268329,  1.14749043,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001745413640906126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75921807, -0.64562212, -0.08221924, -0.0626344 , -0.0532629 ,
        0.99661427, -0.64781545,  0.76179731,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10886265, -0.03124976,  0.11554254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24399708, -0.15652413,  0.18717577, -0.15652413,  0.53852966,
        0.24630034,  0.18717577,  0.24630034,  0.44996363,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003872707170348061
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68986210e-01,  1.89115634e-01, -1.59062887e-01,  1.86617996e-01,
        9.81954824e-01,  3.06340761e-02,  1.61985952e-01, -3.46944695e-18,
       -9.86793064e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1027551 , -0.07768504,  0.11244001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003822355126057997
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45227613e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.45227613e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08131594, -0.06672473,  0.06198842])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.08215152e-02, 1.56437738e-01, 8.17929053e-02, 1.80029938e-02,
 -1.91399163e-02, 9.07529739e-02, 4.73087606e-02, 1.46664217e-02,
  3.37655386e-05,-1.07245853e-03,-3.15149809e-04,-5.03772607e-05,
  1.61970098e-06, 2.09189383e-07,-2.99065617e-06,-1.76325988e-05,
  1.13510924e-03, 7.41169079e-04,-1.22329985e+00,-1.50893382e-03,
  1.07027067e-03, 3.94259912e-04]


--- Step 1813 ---
qpos:
[ 0.0416918 , 0.23034977,-0.06901754,-0.00929772, 0.00350597, 0.25174415,
 -0.05565795,-0.00645813,-0.00409633, 0.36419703,-0.0120556 ,-0.01970463,
  1.37806627, 0.01888169, 1.35244544, 0.02436914, 0.08099837,-0.06687187,
  0.13189088, 0.99059808,-0.01001526,-0.09676768,-0.09618295]

qacc:
[-38.4169454 ,  6.78067758, 10.04655747, 73.57523783, -7.65442778,
  10.07408629, 35.17978758, 13.68225025, -0.16688631, -8.19184886,
   9.30816412,  9.15967201,  0.20344798, -0.11599864, -4.76698719,
  16.09029148, -2.96928861, -0.95390855, -0.4561023 , 20.33743043,
 -38.39367782,-14.38472861]

qfrc_actuator:
[-0.04045011, 0.29039686, 0.05348915, 0.01116192,-0.00715209, 0.23164911,
  0.03694095, 0.01103167,-0.00057517, 0.21163932, 0.00186023, 0.00039639,
  0.00066911,-0.00137135, 0.        ,-0.00087412, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.42922644, -0.03527321, -0.42922644,  0.43542563,
       -0.05782864, -0.03527321, -0.05782864,  1.13436838,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017391009263823668
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.59204772e-01, -6.45114157e-01, -8.62313043e-02, -6.57119855e-02,
       -5.58370201e-02,  9.96275144e-01, -6.47526099e-01,  7.62043274e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10860455, -0.03122469,  0.11554824])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24484045, -0.15985746,  0.18545198, -0.15985746,  0.53979899,
        0.25425084,  0.18545198,  0.25425084,  0.46400172,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003907153299492102
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9678598 ,  0.18990129, -0.16487848,  0.18720435,  0.98180319,
        0.03189095,  0.16793435,  0.        , -0.98579818])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10246682, -0.07766892,  0.11243843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037821862863413047
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.33850041e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.33850041e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08131535, -0.06672726,  0.06198855])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.06902472e-02, 1.56199810e-01, 8.13897522e-02, 1.77471660e-02,
 -1.92289313e-02, 8.81639610e-02, 4.61054567e-02, 1.43363221e-02,
 -8.20899618e-06,-1.18747532e-03,-3.33129881e-04,-3.30888842e-05,
  2.13984815e-05, 1.42824932e-05,-5.38359319e-06, 7.60290728e-05,
  1.26165686e-03, 8.34045684e-04,-1.22365831e+00,-1.47907429e-03,
  1.12266594e-03, 3.75213235e-04]


--- Step 1814 ---
qpos:
[ 0.04229542, 0.23303961,-0.06951113,-0.00941492, 0.00376198, 0.25452426,
 -0.05585263,-0.00652599,-0.00408617, 0.36818168,-0.01208874,-0.01970994,
  1.37814714, 0.01888171, 1.35254211, 0.02437339, 0.08056278,-0.06679358,
  0.13189217, 0.99025746,-0.01031517,-0.09988982,-0.09646649]

qacc:
[ 7.48471094e+01,-4.01219939e+01, 3.18544486e+02,-3.21496933e+02,
  4.55699523e+01, 1.19148089e+01, 5.93294520e+00,-6.09226523e+01,
 -1.69947178e-01,-2.19698506e+01, 5.87222351e+01,-6.73161970e+01,
  1.80760651e-01,-6.84854471e-02,-4.96817956e+00, 1.70233710e+01,
 -2.10439458e+00, 3.14986334e+00,-7.70679765e-01,-2.31085454e+01,
 -3.28950954e+01, 7.69594330e+01]

qfrc_actuator:
[-0.04086792, 0.291279  , 0.05404401, 0.01136378,-0.00736327, 0.23186214,
  0.0371443 , 0.01110586,-0.00059453, 0.21098685, 0.00191154, 0.00034669,
  0.00067872,-0.00136313, 0.        ,-0.00079383, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.43006226, -0.02293457, -0.43006226,  0.43358526,
       -0.05460313, -0.02293457, -0.05460313,  1.45457514,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017294589292101497
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75916025, -0.64458735, -0.09045917, -0.06895571, -0.05854888,
        0.99590016, -0.64724093,  0.76228549,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10834045, -0.03119979,  0.11555304])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24576189, -0.16340684,  0.18356773, -0.16340684,  0.24248487,
       -0.00291712,  0.18356773, -0.00291712,  0.24316516,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003944200418330489
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96666258,  0.19073006, -0.17083764,  0.18781951,  0.98164252,
        0.03319322,  0.17403244,  0.        , -0.98473992])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10217125, -0.07765222,  0.11243781])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.84251835, -0.6472298 , -4.79907049, -0.6472298 , 13.24859398,
       -1.13369093, -4.79907049, -1.13369093,  4.99541432,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003766851146960182
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.2105128e-13,  1.4736752e-13,  1.0000000e+00, -3.2575779e-26,
        1.0000000e+00, -1.4736752e-13, -1.0000000e+00,  0.0000000e+00,
        2.2105128e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07818069, -0.08175477,  0.0619886 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.04830516e-02, 1.55196196e-01, 8.08833442e-02, 1.75302500e-02,
 -1.92935241e-02, 8.55863415e-02, 4.49012559e-02, 1.40217885e-02,
 -9.27444434e-06,-1.52196730e-03,-2.79793020e-04,-1.21133926e-04,
  2.31830431e-05, 1.75863102e-05, 4.81242925e-06, 8.35392784e-05,
  1.39133341e-03, 9.06894733e-04,-1.22403264e+00,-1.45472935e-03,
  1.17720216e-03, 3.56517242e-04]


--- Step 1815 ---
qpos:
[ 0.04292349, 0.23585256,-0.0699363 ,-0.00952279, 0.00403056, 0.2573205 ,
 -0.05604231,-0.0065955 ,-0.00407609, 0.37215099,-0.01211981,-0.01971559,
  1.37822798, 0.01888194, 1.35263916, 0.02437555, 0.08011817,-0.06670571,
  0.13189069, 0.98991101,-0.01066381,-0.1030747 ,-0.09663371]

qacc:
[ 7.20978063e+01,-8.84414467e+00, 2.28329697e+02,-2.66869133e+02,
  3.16154273e+01, 3.88030272e+00, 2.40118581e+01,-7.24332264e+01,
 -7.78158528e-02,-2.67876305e+01, 6.75476404e+01,-6.55530260e+01,
 -3.55936093e-01, 4.89091168e-01, 6.91816979e+00,-2.32843616e+01,
 -2.25622428e+00, 2.39845047e+00,-6.93467211e-01,-1.53216425e+01,
 -3.43070815e+01, 5.94189857e+01]

qfrc_actuator:
[-0.04132177, 0.29156677, 0.05454437, 0.01159545,-0.00758534, 0.23235643,
  0.03735935, 0.01117865,-0.00061013, 0.21012722, 0.00197246, 0.00031952,
  0.00066559,-0.00135828, 0.        ,-0.00090807, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017311882917344582
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75895096, -0.6442545 , -0.09449645, -0.07204054, -0.06115341,
        0.9955252 , -0.64715037,  0.76236238,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10806081, -0.03117402,  0.11556468])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24593417, -0.1685056 ,  0.17913536, -0.1685056 ,  0.23264114,
       -0.01250423,  0.17913536, -0.01250423,  0.23417193,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039510600928494125
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65453674e-01,  1.91258172e-01, -1.76973202e-01,  1.88123713e-01,
        9.81539766e-01,  3.44841567e-02,  1.80301612e-01, -6.93889390e-18,
       -9.83611371e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10187198, -0.07763819,  0.11243632])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  4.83224402,   3.52458978,   3.30572973,   3.52458978,
        21.82136402, -18.11390634,   3.30572973, -18.11390634,
        24.14540461,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003744649914942805
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48241231e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.48241231e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07816904, -0.08175558,  0.06198866])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.21974134e-02, 1.49479428e-01, 7.73811079e-02, 1.71456182e-02,
 -2.04096712e-02, 8.49262894e-02, 4.48710654e-02, 1.41836305e-02,
 -5.85810785e-06,-1.90833303e-03,-3.35575294e-04,-1.12765339e-04,
  2.29509405e-06, 1.55429153e-05, 9.83523943e-06,-1.09379213e-04,
  1.39278194e-03, 5.28016384e-04,-1.22426079e+00,-1.54339609e-03,
  1.21816734e-03, 4.05686460e-04]


--- Step 1816 ---
qpos:
[ 0.04357537, 0.23877627,-0.07029984,-0.00962223, 0.00430857, 0.26013631,
 -0.05622639,-0.00666638,-0.00406605, 0.37610323,-0.01215068,-0.01972063,
  1.37830874, 0.01888249, 1.35273626, 0.02437635, 0.07966397,-0.06661061,
  0.13188658, 0.98955539,-0.01104676,-0.10632621,-0.0967101 ]

qacc:
[ 6.91042353e+01,-8.13149177e+00, 2.06007154e+02,-2.40522770e+02,
  2.33799181e+01, 7.36980178e+00, 1.69301185e+01,-6.37936575e+01,
 -1.86968266e-02,-2.18289696e+01, 4.25727645e+01,-1.98787824e+01,
 -3.68728171e-01, 5.76408724e-01, 4.24991042e+00,-1.46533513e+01,
 -2.39472689e+00, 1.80503770e+00,-6.57206996e-01,-9.13204752e+00,
 -3.55918982e+01, 4.59269828e+01]

qfrc_actuator:
[-0.04191324, 0.29146354, 0.05495586, 0.01173649,-0.0078513 , 0.23312256,
  0.03757899, 0.01126888,-0.00062347, 0.20922235, 0.00194918, 0.00034119,
  0.00066545,-0.00133784, 0.        ,-0.00097623, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017430969769368218
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75859387, -0.64409178, -0.09839268, -0.07500403, -0.06368293,
        0.99514767, -0.64723237,  0.76229277,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10776551, -0.03114726,  0.1155827 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24515187, -0.17356833,  0.17312849, -0.17356833,  0.22925419,
       -0.01593807,  0.17312849, -0.01593807,  0.22917331,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003919741808505117
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96421303,  0.19154813, -0.18330996,  0.18817765,  0.98148322,
        0.03577512,  0.18676831,  0.        , -0.98240399])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10156945, -0.07762614,  0.11243349])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  4.81415163,   3.85477947,   2.88387433,   3.85477947,
        20.65678937, -21.1763301 ,   2.88387433, -21.1763301 ,
        33.11985196,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003705018365938312
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.61850972e-14, -1.49826926e-13,  1.00000000e+00,  8.41804040e-27,
        1.00000000e+00,  1.49826926e-13, -1.00000000e+00,  0.00000000e+00,
        5.61850972e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07815949, -0.0817572 ,  0.06198878])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.40248428e-02, 1.43125234e-01, 7.43451230e-02, 1.68148874e-02,
 -2.13054036e-02, 8.47889435e-02, 4.48105825e-02, 1.43510954e-02,
 -3.17854579e-06,-2.18009011e-03,-5.05953181e-04,-8.22021252e-05,
  4.13534251e-06, 2.59954831e-05,-1.09703579e-05,-7.37549998e-05,
  1.41560746e-03, 2.28312035e-04,-1.22452874e+00,-1.61271447e-03,
  1.26651946e-03, 4.44032836e-04]


--- Step 1817 ---
qpos:
[ 0.04425013, 0.2417933 ,-0.07060628,-0.00971327, 0.00459372, 0.26296932,
 -0.05640138,-0.00673742,-0.00405574, 0.38003787,-0.01218168,-0.0197251 ,
  1.37838932, 0.01888359, 1.35283312, 0.02437765, 0.07919971,-0.06651025,
  0.13187987, 0.98918764,-0.01145217,-0.10964777,-0.09671626]

qacc:
[  65.37721375, -18.48650198, 209.52015399,-224.14870225,  17.42779862,
   -2.99534522,  44.35826529, -74.49606197,   0.4049807 , -21.75873919,
   41.38032377, -18.25848542,  -0.41127853,   0.71301964,  -1.81199669,
    5.96311959,  -2.51678051,   1.31729415,  -0.64912403,  -4.06059372,
  -36.77766561,  34.97105646]

qfrc_actuator:
[-0.04261416, 0.29075148, 0.05529343, 0.01182033,-0.00810999, 0.23338507,
  0.03779881, 0.01131668,-0.00061771, 0.20842246, 0.0019652 , 0.0003736 ,
  0.00065714,-0.00130824, 0.        ,-0.00094562, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017629092674893798
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7581076 , -0.64406994, -0.10220946, -0.07789371, -0.06617662,
        0.9947629 , -0.64746076,  0.76209879,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10745591, -0.03111951,  0.11560614])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24349003, -0.17655509,  0.16767735, -0.17655509,  0.22767141,
       -0.01665614,  0.16767735, -0.01665614,  0.22595202,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038517431408450955
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.62926661e-01,  1.91649122e-01, -1.89849572e-01,  1.88029456e-01,
        9.81463506e-01,  3.70716829e-02,  1.93435182e-01,  6.93889390e-18,
       -9.81113057e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10126343, -0.07761557,  0.11242938])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003649555190206044
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.6051941e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        7.6051941e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07815161, -0.08175943,  0.06198895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.59302172e-02, 1.36773914e-01, 7.15720059e-02, 1.64725096e-02,
 -2.20375128e-02, 8.39759877e-02, 4.47207301e-02, 1.44615751e-02,
  1.62526646e-05,-2.26017491e-03,-5.42467002e-04,-8.83584135e-05,
 -1.03731091e-06, 3.89577904e-05,-1.53394888e-05, 2.46183155e-05,
  1.46154995e-03,-1.37874442e-05,-1.22482886e+00,-1.66697359e-03,
  1.31849205e-03, 4.73496355e-04]


--- Step 1818 ---
qpos:
[ 0.04494664, 0.24488857,-0.07085902,-0.00979574, 0.00488296, 0.26582035,
 -0.05656452,-0.00680797,-0.00404578, 0.38395666,-0.01221297,-0.01972987,
  1.37846953, 0.01888498, 1.35293001, 0.02437828, 0.07872501,-0.06640621,
  0.13187052, 0.98880518,-0.01187045,-0.11304202,-0.09666906]

qacc:
[ 6.11162479e+01,-2.85475613e+01, 2.15905181e+02,-2.11457033e+02,
  9.84498022e+00,-8.17843691e+00, 6.16109583e+01,-8.50959991e+01,
 -4.34004585e-01,-2.07184383e+01, 4.47380519e+01,-3.77787501e+01,
 -5.41969003e-01, 6.57133972e-01, 2.15153986e+00,-7.31131021e+00,
 -2.60893242e+00, 9.19350323e-01,-6.61046599e-01,-6.59281643e-03,
 -3.76876533e+01, 2.59729399e+01]

qfrc_actuator:
[-0.04340712, 0.28968279, 0.05560205, 0.011831  ,-0.0083658 , 0.2334287 ,
  0.03797749, 0.01132062,-0.00065405, 0.20788821, 0.00204054, 0.00037673,
  0.00061731,-0.00130899, 0.        ,-0.00098133, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017881702695038586
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.57509300e-01, -6.44160001e-01, -1.06007326e-01, -8.07565705e-02,
       -6.86726256e-02,  9.94365349e-01, -6.47810186e-01,  7.61801787e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10713376, -0.03109088,  0.11563393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24096973, -0.17859711,  0.16176984, -0.17859711,  0.22390342,
       -0.01884154,  0.16176984, -0.01884154,  0.2201683 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037445664685037324
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96158058,  0.19160022, -0.19660149,  0.18771687,  0.98147305,
        0.03837995,  0.20031268,  0.        , -0.97973202])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.100954  , -0.07760605,  0.11242384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003579985351295223
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55059716e-13,  3.87649290e-14,  1.00000000e+00, -6.01087889e-27,
        1.00000000e+00, -3.87649290e-14, -1.00000000e+00,  0.00000000e+00,
        1.55059716e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07814507, -0.08176213,  0.06198916])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.78816907e-02, 1.30934964e-01, 6.89950088e-02, 1.60569450e-02,
 -2.26512126e-02, 8.30621946e-02, 4.44148455e-02, 1.44684602e-02,
 -2.23777873e-05,-2.04631776e-03,-5.04148784e-04,-1.22402067e-04,
 -3.17571527e-05, 1.13311660e-05,-5.88957933e-06,-3.66657858e-05,
  1.53152436e-03,-2.10702103e-04,-1.22515699e+00,-1.70874970e-03,
  1.37208627e-03, 4.95362078e-04]


--- Step 1819 ---
qpos:
[ 0.04566297, 0.24805919,-0.07106427,-0.00987055, 0.00517332, 0.26869821,
 -0.05671496,-0.00687783,-0.00403697, 0.38786703,-0.01224759,-0.01973548,
  1.37854958, 0.01888576, 1.35302661, 0.02438047, 0.07823959,-0.06630003,
  0.1318585 , 0.98840546,-0.01229228,-0.11651144,-0.09658481]

qacc:
[ 5.46749861e+01,-1.69621090e+01, 1.72754561e+02,-1.71703780e+02,
  2.65527416e+00, 1.38931811e+00, 4.36842136e+01,-7.21216888e+01,
 -1.50113180e+00,-3.56031766e+00, 1.44408463e-01,-3.29662033e+00,
  3.96321067e-01,-8.32057193e-01,-5.24768054e+00, 1.75723540e+01,
 -2.68269629e+00, 5.32877977e-01,-6.67590578e-01, 3.86945297e+00,
 -3.85363643e+01, 1.72304996e+01]

qfrc_actuator:
[-0.04421005, 0.28924774, 0.05587384, 0.01184749,-0.00863742, 0.23388364,
  0.03812509, 0.0113509 ,-0.00073288, 0.20808672, 0.00209844, 0.0003807 ,
  0.00059054,-0.00136344, 0.        ,-0.00089608, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018173485814083276
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7568125 , -0.6443376 , -0.10983583, -0.08363112, -0.07120214,
        0.99394974, -0.64825973,  0.76141928,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10680058, -0.03106141,  0.11566516])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.23773513, -0.18126117,  0.15382581, -0.18126117,  0.22146964,
       -0.01916649,  0.15382581, -0.01916649,  0.21515023,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003599138184260548
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.60163534e-01,  1.91433947e-01, -2.03565794e-01,  1.87271386e-01,
        9.81505499e-01,  3.97037036e-02,  2.07401583e-01, -6.93889390e-18,
       -9.78255889e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10064103, -0.07759728,  0.11241691])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003497970811298934
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.38042944e-13,  1.58695296e-13,  1.00000000e+00, -3.77762953e-26,
        1.00000000e+00, -1.58695296e-13, -1.00000000e+00,  0.00000000e+00,
        2.38042944e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0781396 , -0.08176519,  0.06198941])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.97864216e-02, 1.26479387e-01, 6.65489786e-02, 1.56391628e-02,
 -2.31280392e-02, 8.25175111e-02, 4.39393074e-02, 1.44676698e-02,
 -7.20252230e-05,-1.18678752e-03,-4.73626251e-04,-1.11698853e-04,
 -3.98202763e-05,-5.80544980e-05,-9.54638338e-06, 8.18332179e-05,
  1.62506494e-03,-3.71002708e-04,-1.22550864e+00,-1.74000785e-03,
  1.42630224e-03, 5.10838263e-04]


--- Step 1820 ---
qpos:
[ 0.04639671, 0.25130041,-0.07122851,-0.00993828, 0.00546323, 0.27161111,
 -0.05685148,-0.00694639,-0.00402873, 0.39177592,-0.01228613,-0.01974169,
  1.37862914, 0.01888689, 1.35312281, 0.02438633, 0.07774314,-0.0661931 ,
  0.13184376, 0.98798608,-0.01270934,-0.1200585 ,-0.09647767]

qacc:
[  47.16427971,  -6.47375605, 128.76047279,-124.1273996 ,  -1.09883506,
   10.12967851,  25.55775351, -50.89094997,  -0.72809004,   7.74607276,
  -27.93954738,  24.95656109,  -0.27044425,   0.36556433, -11.65835481,
   39.98270186,  -2.75384101,   0.19096721,  -0.68064072,   7.31890916,
  -39.4199963 ,   9.61154447]

qfrc_actuator:
[-0.04500799, 0.28902246, 0.05609053, 0.01191822,-0.00891722, 0.2345516 ,
  0.03826621, 0.01146762,-0.00076526, 0.20867052, 0.00214903, 0.00040358,
  0.00058226,-0.00132504, 0.        ,-0.00070473, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001852370875666617
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.53928790e-01, -6.47153137e-01, -1.13067219e-01, -8.57948048e-02,
       -7.36440600e-02,  9.93587341e-01, -6.51329894e-01,  7.58794682e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10648078, -0.03106103,  0.11570697])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.23411141, -0.18480053,  0.14372514, -0.18480053,  0.22171146,
       -0.01594374,  0.14372514, -0.01594374,  0.21361109,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003424233860143118
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.58667726e-01,  1.91183514e-01, -2.10725070e-01,  1.86725750e-01,
        9.81554310e-01,  4.10442488e-02,  2.14685084e-01, -6.93889390e-18,
       -9.76683324e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10032389, -0.077589  ,  0.11240914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034048089253524427
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.63037493e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.63037493e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.078135  , -0.08176854,  0.06198969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.15896865e-02, 1.22376058e-01, 6.43578449e-02, 1.53204262e-02,
 -2.34649337e-02, 8.17443874e-02, 4.34141847e-02, 1.45449772e-02,
 -3.48157187e-05,-3.13574221e-04,-2.99074555e-04,-5.46589876e-05,
 -4.07386105e-05, 1.10530249e-05, 3.21412800e-06, 1.94337185e-04,
  1.74426427e-03,-4.94404968e-04,-1.22588356e+00,-1.76051037e-03,
  1.48059972e-03, 5.19783732e-04]


--- Step 1821 ---
qpos:
[ 0.04714556, 0.25460395,-0.07135592,-0.00999888, 0.00575276, 0.27456063,
 -0.05697031,-0.00701212,-0.00401963, 0.39568125,-0.01232418,-0.01974848,
  1.37870826, 0.01888882, 1.35321915, 0.02439308, 0.07723538,-0.0660865 ,
  0.13182618, 0.98754498,-0.01311475,-0.12368542,-0.0963578 ]

qacc:
[ 4.01687822e+01,-5.62035067e+00, 1.09502760e+02,-9.07814518e+01,
 -8.97359512e-01, 4.85686214e+00, 4.10301072e+01,-4.73767086e+01,
  1.09375022e+00,-7.24745019e+00, 2.14514689e+01,-2.96289308e+01,
 -7.74816714e-01, 1.18932942e+00,-2.40922067e+00, 8.96714785e+00,
 -2.82914166e+00,-8.42322692e-02,-7.09878455e-01, 1.02350094e+01,
 -4.02730274e+01, 4.03767751e+00]

qfrc_actuator:
[-0.04579069, 0.2886136 , 0.05622612, 0.01198351,-0.0092363 , 0.23486685,
  0.03841488, 0.01156429,-0.00071664, 0.2085943 , 0.00221489, 0.00038465,
  0.00057978,-0.00126716, 0.        ,-0.00066547, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018876928737375687
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75306421, -0.64745546, -0.11702873, -0.08873992, -0.07629515,
        0.99312853, -0.65193522,  0.75827467,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1061272 , -0.03102995,  0.11574402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.23042807, -0.18738913,  0.1340985 , -0.18738913,  0.22397822,
       -0.00901302,  0.1340985 , -0.00901302,  0.21783328,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003231207482102739
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.56418465e-01,  1.89923224e-01, -2.21794698e-01,  1.85013520e-01,
        9.81798945e-01,  4.29048782e-02,  2.25906434e-01,  6.93889390e-18,
       -9.74149005e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10001005, -0.07759234,  0.11235685])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000330162524341579
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.68132805e-13, -1.68132805e-13,  1.00000000e+00,  2.82686400e-26,
        1.00000000e+00,  1.68132805e-13, -1.00000000e+00,  0.00000000e+00,
        1.68132805e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0781311 , -0.08177212,  0.06199   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.32577757e-02, 1.18322458e-01, 6.24076157e-02, 1.50258411e-02,
 -2.37619973e-02, 8.02066925e-02, 4.28353303e-02, 1.45701994e-02,
  5.33191105e-05,-4.46500239e-04,-7.98316856e-05,-5.19003660e-05,
 -1.87955900e-05, 5.16506570e-05, 2.08449298e-05, 4.99884531e-05,
  1.88926771e-03,-5.84607432e-04,-1.22628196e+00,-1.77123908e-03,
  1.53491482e-03, 5.22528719e-04]


--- Step 1822 ---
qpos:
[ 0.04788108, 0.25792394,-0.07148117,-0.01004976, 0.00602388, 0.27756101,
 -0.05705829,-0.00707209,-0.00400977, 0.39957684,-0.01235959,-0.0197553 ,
  1.37878753, 0.01889037, 1.35331545, 0.02440128, 0.07671427,-0.06598842,
  0.13180551, 0.98707195,-0.01345521,-0.12740883,-0.09630635]

qacc:
[ -34.80994492,  35.5064656 ,-136.13054339, 288.97187208, -41.6125445 ,
   -6.87576439,  97.97241768, -85.30487086,   0.96614198, -20.33284959,
   53.930172  , -51.48913708,   0.4692792 ,  -0.68268741,  -4.52248555,
   15.5593997 ,  -3.3376327 ,  -2.13068238,  -0.77200954,  32.28023848,
  -46.04640121, -39.97830558]

qfrc_actuator:
[-0.04658667, 0.2885362 , 0.0563541 , 0.01206039,-0.00954332, 0.23483061,
  0.03852326, 0.01162914,-0.00069162, 0.20782295, 0.00223384, 0.0003586 ,
  0.00058079,-0.00130469, 0.        ,-0.0005919 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019235261631762952
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.52126337e-01, -6.47792804e-01, -1.21121661e-01, -9.17744650e-02,
       -7.90436860e-02,  9.92637670e-01, -6.52597442e-01,  7.57704810e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10576475, -0.03099815,  0.11578298])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.22669915, -0.19160137,  0.12116691, -0.19160137,  0.23033479,
        0.00574904,  0.12116691,  0.00574904,  0.23579011,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030168637517912633
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95470164,  0.18950606, -0.22941716,  0.18426063,  0.98187955,
        0.04427828,  0.23365102,  0.        , -0.97232052])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09968358, -0.07758527,  0.11234729])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.60402295,  0.79458434, -4.53493804,  0.79458434, 24.78394071,
        3.53580282, -4.53493804,  3.53580282,  5.22354488,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031848798818129336
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.06976384e-13, -1.13315361e-06,  1.00000000e+00, -2.34536036e-19,
        1.00000000e+00,  1.13315361e-06, -1.00000000e+00,  0.00000000e+00,
       -2.06976384e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0801978 , -0.07179554,  0.06199035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.48236073e-02, 1.15012161e-01, 6.06574673e-02, 1.47388202e-02,
 -2.40506217e-02, 7.82368548e-02, 4.20272088e-02, 1.44877175e-02,
  4.66690518e-05,-1.17022834e-03,-1.27013667e-04,-5.70529175e-05,
  4.32512989e-06,-2.59327985e-05, 1.12938648e-05, 7.81559822e-05,
  2.05805233e-03,-6.50203280e-04,-1.22670244e+00,-1.77460439e-03,
  1.58953115e-03, 5.19656074e-04]


--- Step 1823 ---
qpos:
[ 0.04862975, 0.26130346,-0.07156422,-0.0100917 , 0.00629259, 0.2806044 ,
 -0.05712666,-0.00712865,-0.00399942, 0.40345792,-0.012393  ,-0.01976186,
  1.37886712, 0.01889123, 1.35341193, 0.02440896, 0.07618136,-0.06589012,
  0.13178147, 0.98657633,-0.01378702,-0.1312133 ,-0.09622962]

qacc:
[ 3.37374168e+01,-2.04011957e+01, 1.49427103e+02,-1.06387223e+02,
 -5.42624742e+00, 9.11241196e+00, 3.56288959e+01,-3.95832588e+01,
  6.50282252e-01,-2.42158674e+01, 5.74652299e+01,-4.55925442e+01,
  6.25130089e-01,-1.00415697e+00, 1.76327885e+00,-5.94759082e+00,
 -2.95053215e+00, 5.43980411e-02,-8.41139801e-01, 9.62965116e+00,
 -4.11930753e+01, 1.02931342e+01]

qfrc_actuator:
[-0.04735047, 0.28871413, 0.05647968, 0.01212104,-0.00982495, 0.23499841,
  0.03860497, 0.01167082,-0.000681  , 0.2068374 , 0.00222228, 0.00034572,
  0.00059451,-0.00134536, 0.        ,-0.00062291, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.42856509,  0.0425617 , -0.42856509,  0.46056356,
        0.30097239,  0.0425617 ,  0.30097239,  3.46124435,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019510040728024927
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75116742, -0.64805899, -0.12556692, -0.09507428, -0.08202398,
        0.99208515, -0.6532292 ,  0.75716023,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10539904, -0.03096658,  0.11581948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.22324585, -0.19200287,  0.11390175, -0.19200287,  0.21736575,
       -0.00991201,  0.11390175, -0.00991201,  0.20653728,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002797320183314282
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95410365,  0.18562942, -0.23500628,  0.18024235,  0.98261982,
        0.04439568,  0.23916297,  0.        , -0.97097944])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09933541, -0.07761949,  0.11236454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.56980004, -0.02515832, -4.56973079, -0.02515832, 24.90249079,
       -0.11194016, -4.56973079, -0.11194016,  4.57041632,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003087298110006631
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.99024799e-14, -1.79804960e-13,  1.00000000e+00,  1.61649118e-26,
        1.00000000e+00,  1.79804960e-13, -1.00000000e+00,  0.00000000e+00,
        8.99024799e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07812396, -0.08177921,  0.06199064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.49313395e-02, 1.14250221e-01, 6.06375887e-02, 1.43063356e-02,
 -2.34113819e-02, 7.57571569e-02, 4.05336707e-02, 1.42352115e-02,
  3.08681686e-05,-1.79859056e-03,-3.12863868e-04,-7.65954458e-05,
  1.02204609e-05,-4.80107585e-05, 1.18474912e-05,-2.57188192e-05,
  2.34600999e-03,-4.83258192e-04,-1.22724714e+00,-1.71383364e-03,
  1.64337059e-03, 4.74683096e-04]


--- Step 1824 ---
qpos:
[ 0.04938102, 0.26471567,-0.07163573,-0.01012486, 0.00655766, 0.28369018,
 -0.05717897,-0.00717991,-0.0039879 , 0.40732429,-0.01242613,-0.01976852,
  1.37894685, 0.01889137, 1.35350866, 0.02441456, 0.075638  ,-0.06579407,
  0.13175692, 0.98605384,-0.01409718,-0.13509459,-0.09616931]

qacc:
[ 6.47296487e+00, 2.88527330e+01,-7.73429709e+01, 1.86992470e+02,
 -8.00502395e+00, 2.19988015e+01,-1.94933527e+01, 5.42619129e+01,
  1.43272403e+00,-2.04553545e+01, 4.51297708e+01,-3.65279563e+01,
  3.40337456e-01,-7.48696693e-01, 6.66277131e+00,-2.28602218e+01,
 -2.61198372e+00,-5.60973582e-01,-1.28202729e-01, 1.31123008e+01,
 -3.85074944e+01,-1.13383269e+01]

qfrc_actuator:
[-0.04806285, 0.2887648 , 0.05654519, 0.01220434,-0.01011771, 0.23575546,
  0.03868733, 0.01169866,-0.00062582, 0.20615805, 0.00224526, 0.00034046,
  0.00058921,-0.00138743, 0.        ,-0.00073305, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001969136735690325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75018796, -0.64828536, -0.13016961, -0.09848965, -0.0851112 ,
        0.99149174, -0.65384847,  0.75662552,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10502374, -0.0309335 ,  0.11585772])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.21990703, -0.19020218,  0.11037315, -0.19020218,  0.2252975 ,
        0.00928921,  0.11037315,  0.00928921,  0.2359148 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025605254297770874
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95218248,  0.1851778 , -0.24301791,  0.17942623,  0.98270503,
        0.04579352,  0.24729486,  0.        , -0.96894027])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09899621, -0.07761281,  0.11235536])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003077623366491422
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.80370190e-13, -3.60740381e-13,  1.00000000e+00,  6.50668111e-26,
        1.00000000e+00,  3.60740381e-13, -1.00000000e+00,  0.00000000e+00,
        1.80370190e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07711255, -0.07814921,  0.06199067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.63158621e-02, 1.11203933e-01, 5.85559544e-02, 1.39358065e-02,
 -2.35835355e-02, 7.42575336e-02, 3.96014670e-02, 1.40860105e-02,
  7.21914824e-05,-1.88231648e-03,-4.31479493e-04,-1.02658303e-04,
 -1.14515785e-05,-5.47823012e-05, 3.02886984e-07,-1.10619635e-04,
  2.53232670e-03,-5.84903357e-04,-1.22768841e+00,-1.72706277e-03,
  1.70065444e-03, 4.71199523e-04]


--- Step 1825 ---
qpos:
[ 0.05013546, 0.26815393,-0.07168661,-0.01014736, 0.00681626, 0.28681901,
 -0.0572149 ,-0.00722629,-0.00397554, 0.41117516,-0.01245913,-0.01977421,
  1.37902645, 0.01889086, 1.35360503, 0.02442181, 0.07508378,-0.0656998 ,
  0.13173094, 0.98550432,-0.01438782,-0.13905375,-0.09611599]

qacc:
[  7.89632181, -1.14268648,  9.16213369,122.99746425,-14.03524676,
  21.21036281,-13.63422705, 40.31088089,  1.04997082,-18.82949298,
  33.32117483, -5.24811007,  0.44987391, -0.91779138, -5.63207136,
  18.7486469 , -2.71364075, -0.44329341, -0.35860691, 12.7035613 ,
 -39.22514393, -6.61543157]

qfrc_actuator:
[-0.04882784, 0.28826284, 0.05664168, 0.01229783,-0.01037946, 0.23642342,
  0.03874802, 0.0118037 ,-0.00059801, 0.20545542, 0.00227213, 0.00039329,
  0.00056718,-0.00143007, 0.        ,-0.00064034, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.42502793, -0.06950396, -0.42502793,  0.53817054,
       -0.65736264, -0.06950396, -0.65736264,  4.45055218,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019926089703593253
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75066478, -0.64663468, -0.13552116, -0.10267822, -0.08844867,
        0.99077445, -0.65265578,  0.75765456,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10462697, -0.03087831,  0.11588982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 2.16918532e-01, -1.90628044e-01,  1.03511344e-01, -1.90628044e-01,
        2.16900439e-01, -3.33204084e-05,  1.03511344e-01, -3.33204084e-05,
        2.16857168e-01,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00])
  dim: 3
  dist: -0.0002321790381964644
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95015087,  0.18475012, -0.25115876,  0.17861526,  0.98278553,
        0.04721438,  0.25555805,  0.        , -0.96679371])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09865229, -0.07760572,  0.11234704])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030585098362434504
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81497377e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.81497377e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0771094 , -0.07815042,  0.06199072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.72234543e-02, 1.08946525e-01, 5.80361903e-02, 1.35828760e-02,
 -2.36642611e-02, 7.26987332e-02, 3.88245210e-02, 1.39199592e-02,
  5.31842396e-05,-1.97731805e-03,-4.60170877e-04,-5.27267106e-05,
 -4.07053921e-05,-6.21796024e-05,-1.46453805e-05, 8.59861812e-05,
  2.75946114e-03,-5.62311650e-04,-1.22813465e+00,-1.70742903e-03,
  1.75929383e-03, 4.60004689e-04]


--- Step 1826 ---
qpos:
[ 0.05089311, 0.2716197 ,-0.0717093 ,-0.01015818, 0.0070669 , 0.28998811,
 -0.05723181,-0.0072674 ,-0.00396348, 0.41500563,-0.01248967,-0.0197789 ,
  1.37910593, 0.01888934, 1.35370146, 0.02442875, 0.07451844,-0.06560703,
  0.13170273, 0.98492723,-0.01466004,-0.14309144,-0.09606395]

qacc:
[  7.84783021,-18.0420311 , 68.03766394, 68.34275716,-16.9026566 ,
  10.98957205, 15.86366915, 15.29290697, -0.32416097,-31.74879532,
  69.87264027,-41.53493495,  0.47303642, -1.13332874,  0.98463345,
  -3.47811794, -2.78347367, -0.3789837 , -0.5562236 , 12.56781054,
 -39.72249106, -3.79963913]

qfrc_actuator:
[-0.04955502, 0.28728083, 0.05672529, 0.01232102,-0.01061831, 0.23664749,
  0.03880674, 0.01188234,-0.00064003, 0.20424839, 0.00231913, 0.00042668,
  0.0005511 ,-0.00149055, 0.        ,-0.00065963, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020011102600123896
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.51053758e-01, -6.44988603e-01, -1.41095550e-01, -1.07041185e-01,
       -9.19246376e-02,  9.89995983e-01, -6.51506283e-01,  7.58643239e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10422613, -0.03082309,  0.11592176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.21422159, -0.19104869,  0.09690865, -0.19104869,  0.21210647,
       -0.0041698 ,  0.09690865, -0.0041698 ,  0.20600111,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020769198932442338
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.48006232e-01,  1.84325001e-01, -2.59438775e-01,  1.77787578e-01,
        9.82865349e-01,  4.86547344e-02,  2.63961666e-01, -6.93889390e-18,
       -9.64533171e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09830344, -0.0775985 ,  0.11233947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030102012653195065
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.84410099e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.84410099e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07710658, -0.07815225,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.81226990e-02, 1.06539343e-01, 5.70487596e-02, 1.30656727e-02,
 -2.35791196e-02, 7.06604574e-02, 3.80295610e-02, 1.37478259e-02,
 -2.04446458e-05,-2.53790568e-03,-4.61249926e-04,-7.62182345e-05,
 -4.99879327e-05,-8.92591822e-05, 1.62291540e-06,-1.66710164e-05,
  2.99327122e-03,-5.67177868e-04,-1.22859021e+00,-1.69488834e-03,
  1.81922045e-03, 4.48988903e-04]


--- Step 1827 ---
qpos:
[ 0.05165355, 0.27511941,-0.07169946,-0.01015721, 0.00730665, 0.2931965 ,
 -0.05722852,-0.00730323,-0.00395151, 0.41881342,-0.01251806,-0.01978299,
  1.37918519, 0.01888706, 1.35379843, 0.02443105, 0.07394176,-0.0655158 ,
  0.13167164, 0.98432168,-0.01491343,-0.14720826,-0.09601117]

qacc:
[ 6.74287625e+00,-2.13980374e+01, 9.18557100e+01, 3.48984769e+01,
 -2.27921581e+01, 6.43566753e+00, 3.02534787e+01,-3.03268727e-01,
 -4.64700108e-02,-3.47851393e+01, 7.79954173e+01,-5.43616025e+01,
 -1.56175559e-01,-3.58818266e-01, 1.48523747e+01,-5.07643764e+01,
 -2.83271982e+00,-3.81649540e-01,-7.20216268e-01, 1.29159061e+01,
 -4.01041587e+01,-2.93199326e+00]

qfrc_actuator:
[-0.05029631, 0.28621195, 0.05676762, 0.01233226,-0.01085711, 0.2366618 ,
  0.03881957, 0.01192506,-0.00065213, 0.20305164, 0.00239358, 0.00044799,
  0.00053859,-0.00152563, 0.        ,-0.00090456, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002016872739293435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7513763 , -0.64331226, -0.14691151, -0.11159669, -0.09554669,
        0.98914964, -0.650369  ,  0.75961844,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10382044, -0.03076729,  0.11595351])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.21177539, -0.19171754,  0.0899622 , -0.19171754,  0.20742019,
       -0.00928131,  0.0899622 , -0.00928131,  0.19199608,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001820767131394523
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94574362,  0.18389314, -0.26786623,  0.17693314,  0.98294624,
        0.05011339,  0.27251362,  0.        , -0.96215193])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09794965, -0.07759128,  0.11233249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029374428605984104
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41733356e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.41733356e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07710403, -0.0781546 ,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.90373460e-02, 1.03971533e-01, 5.56421690e-02, 1.24856804e-02,
 -2.34203040e-02, 6.85503122e-02, 3.70555865e-02, 1.35201352e-02,
 -5.87902844e-06,-2.84150587e-03,-5.50274092e-04,-1.12753233e-04,
 -5.71571666e-05,-7.44262562e-05,-3.64829707e-06,-2.46258943e-04,
  3.23697612e-03,-5.89597298e-04,-1.22905479e+00,-1.68673781e-03,
  1.88026581e-03, 4.37591997e-04]


--- Step 1828 ---
qpos:
[ 0.05241513, 0.27867589,-0.07165935,-0.01014651, 0.00753146, 0.29644917,
 -0.05720602,-0.00733433,-0.00393901, 0.42260733,-0.0125507 ,-0.01978729,
  1.37926409, 0.01888469, 1.35389557, 0.02442907, 0.07335362,-0.06542651,
  0.13163719, 0.98368626,-0.01514517,-0.15140491,-0.09596107]

qacc:
[  2.6269409 , 10.6355846 , 29.96919348, 48.28360886,-30.74556721,
  14.6550661 , 12.76147152,  5.88082617,  0.61103743, -6.89216777,
  -1.14030936, 14.45884428, -0.60178106,  0.49889705, 13.28163393,
 -45.9367097 , -2.86383256, -0.48747067, -0.84232276, 14.0681    ,
 -40.42775815, -4.94240599]

qfrc_actuator:
[-0.05108244, 0.28663574, 0.05673406, 0.01234929,-0.01105424, 0.23703221,
  0.03879608, 0.01197961,-0.00062863, 0.20297214, 0.00239505, 0.0004798 ,
  0.0005389 ,-0.0015098 , 0.        ,-0.00112068, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020301325732334126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.51616417e-01, -6.41624739e-01, -1.52939386e-01, -1.16320194e-01,
       -9.92978764e-02,  9.88235571e-01, -6.49262946e-01,  7.60564019e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10340903, -0.0307111 ,  0.11598572])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.20958167, -0.19336456,  0.08083701, -0.19336456,  0.20405608,
       -0.01321737,  0.08083701, -0.01321737,  0.17796532,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001549822557155009
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.43357607e-01,  1.83448431e-01, -2.76447279e-01,  1.76045075e-01,
        9.83029335e-01,  5.15893247e-02,  2.81219766e-01, -6.93889390e-18,
       -9.59643394e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09759088, -0.07758419,  0.11232602])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002844018284756389
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95185634e-13, -1.95185634e-13,  1.00000000e+00,  3.80974318e-26,
        1.00000000e+00,  1.95185634e-13, -1.00000000e+00,  0.00000000e+00,
        1.95185634e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07710173, -0.07815739,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.99769145e-02, 1.02573416e-01, 5.39413063e-02, 1.19051998e-02,
 -2.30717777e-02, 6.68437255e-02, 3.59856372e-02, 1.33041169e-02,
  3.25790858e-05,-1.91301887e-03,-6.97914678e-04,-1.18994997e-04,
 -4.53986290e-05,-2.00531015e-05,-3.27732333e-05,-2.31138586e-04,
  3.49444690e-03,-6.18491298e-04,-1.22952961e+00,-1.68001168e-03,
  1.94245226e-03, 4.24779851e-04]


--- Step 1829 ---
qpos:
[ 0.05317597, 0.28230625,-0.07159147,-0.01012792, 0.00773844, 0.29975108,
 -0.0571646 ,-0.00736096,-0.00392665, 0.4263964 ,-0.01258971,-0.01979306,
  1.37934267, 0.01888241, 1.35399254, 0.02442448, 0.07275388,-0.06533959,
  0.13159891, 0.98301952,-0.01535242,-0.15568226,-0.09591637]

qacc:
[ -1.75548233, 36.21586635,-20.75017192, 58.61719161,-36.10581064,
  21.45376303, -0.80488476, 11.48493585, -0.1723825 ,  8.38882984,
 -32.96969958, 21.27005166, -0.51112409,  0.50553298,  7.72915626,
 -27.24257583, -2.90236882, -0.58987552, -0.95509452, 15.27049394,
 -40.85243278, -6.62292559]

qfrc_actuator:
[-0.05184168, 0.28782997, 0.05660871, 0.01234939,-0.01123573, 0.23764882,
  0.03876146, 0.01203968,-0.00065535, 0.20349227, 0.00235828, 0.00046523,
  0.00053094,-0.00149931, 0.        ,-0.00124698, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002040753570738294
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75166871, -0.64006043, -0.15911253, -0.12114322, -0.1031558 ,
        0.98726045, -0.64831973,  0.76136819,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10299096, -0.03065576,  0.11601988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.20769558, -0.19540719,  0.070381  , -0.19540719,  0.20240011,
       -0.01470246,  0.070381  , -0.01470246,  0.16687539,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012660455550028902
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94084315,  0.1829987 , -0.2851765 ,  0.17513048,  0.98311315,
        0.05308334,  0.29007495,  0.        , -0.95700393])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09722681, -0.0775773 ,  0.1123203 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002732715095921795
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.03135524e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.03135524e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07709966, -0.07816058,  0.0619917 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.08069251e-02, 1.00801389e-01, 5.22610767e-02, 1.14105347e-02,
 -2.25053437e-02, 6.51321973e-02, 3.49531780e-02, 1.31201968e-02,
 -9.28082020e-06,-8.24213187e-04,-5.62501922e-04,-1.30789495e-04,
 -3.60793885e-05,-5.42161205e-06,-4.30948332e-05,-1.43892064e-04,
  3.77171013e-03,-6.35845235e-04,-1.23001837e+00,-1.66998311e-03,
  2.00611450e-03, 4.08749040e-04]


--- Step 1830 ---
qpos:
[ 0.05393505, 0.28600162,-0.07149012,-0.01010044, 0.00792663, 0.3031007 ,
 -0.05710214,-0.00738271,-0.00391476, 0.43017866,-0.01262938,-0.01979892,
  1.37942107, 0.01887997, 1.35408899, 0.0244207 , 0.07214232,-0.06525498,
  0.13155626, 0.9823206 ,-0.01553504,-0.16004104,-0.0958737 ]

qacc:
[-3.97651158e+00, 1.08466176e+01, 4.86456343e+01, 3.60948121e+00,
 -3.74490529e+01, 1.43960532e+01, 1.97205019e+01,-4.12999514e+00,
 -5.11405343e-01,-7.33027464e+00, 1.34686218e+01,-9.04094141e+00,
  4.60464825e-02,-1.89106972e-01,-3.22551359e+00, 1.01348226e+01,
 -2.95334358e+00,-5.79785572e-01,-1.09186787e+00, 1.56035942e+01,
 -4.13264979e+01,-5.08537728e+00]

qfrc_actuator:
[-0.05265437, 0.28768913, 0.0565607 , 0.01230177,-0.01146998, 0.23796443,
  0.03876603, 0.01208371,-0.00069399, 0.20330352, 0.00239115, 0.00047743,
  0.00052335,-0.0015099 , 0.        ,-0.0011951 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002038120617031333
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75120215, -0.63879611, -0.16623734, -0.12663995, -0.10769019,
        0.98608577, -0.64780989,  0.76180204,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10256882, -0.0306028 ,  0.1160474 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.20616332, -0.19705239,  0.06061081, -0.19705239,  0.20154804,
       -0.01500477,  0.06061081, -0.01500477,  0.15738115,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.715940618374771e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93819586,  0.18255061, -0.29404727,  0.17419532,  0.98319646,
        0.05459591,  0.29907276,  0.        , -0.95423031])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09685704, -0.07757063,  0.11231564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026058213115212614
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.32855417e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.32855417e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07709777, -0.0781641 ,  0.06199208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.15979664e-02, 9.68362223e-02, 5.07821443e-02, 1.09605294e-02,
 -2.18469296e-02, 6.28699714e-02, 3.39743352e-02, 1.29340245e-02,
 -2.99075203e-05,-8.96349574e-04,-2.51501285e-04,-5.28863248e-05,
 -2.77391673e-05,-1.98405630e-05,-3.70686636e-05, 3.80871846e-05,
  4.06960729e-03,-6.43033684e-04,-1.23052220e+00,-1.65706796e-03,
  2.07138173e-03, 3.89240212e-04]


--- Step 1831 ---
qpos:
[ 0.05469145, 0.28975266,-0.07135002,-0.01006307, 0.0080931 , 0.30649852,
 -0.05701968,-0.00739979,-0.00390295, 0.43395053,-0.01266704,-0.01980482,
  1.37949941, 0.01887714, 1.35418521, 0.0244175 , 0.07151879,-0.06517275,
  0.13150876, 0.98158843,-0.01569239,-0.16448183,-0.09583122]

qacc:
[-5.81637896e+00,-1.39211277e+01, 1.14898477e+02,-4.68324478e+01,
 -4.25407178e+01, 1.74977744e+01, 1.04197640e+01, 2.95428291e+00,
 -7.06641128e-02,-1.94693971e+01, 4.96363737e+01,-4.58316012e+01,
  2.57580882e-01,-5.22819491e-01,-2.14414754e+00, 6.93283076e+00,
 -2.99256759e+00,-5.93444334e-01,-1.21337225e+00, 1.60759109e+01,
 -4.17304776e+01,-4.34077494e+00]

qfrc_actuator:
[-0.05348007, 0.28660229, 0.05650677, 0.01222138,-0.01167452, 0.23831203,
  0.03871341, 0.01213364,-0.0007039 , 0.2027111 , 0.00246265, 0.00046939,
  0.00052131,-0.00153294, 0.        ,-0.00116293, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020463982934012036
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.50993621e-01, -6.37531211e-01, -1.71937595e-01, -1.31076042e-01,
       -1.11272673e-01,  9.85107843e-01, -6.47168952e-01,  7.62346606e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10213301, -0.03054995,  0.11609519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.20500381, -0.19908704,  0.04889694, -0.19908704,  0.20121532,
       -0.01542508,  0.04889694, -0.01542508,  0.14219958,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.629573419628427e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9354102 ,  0.18209703, -0.30306507,  0.17323175,  0.98328057,
        0.05612564,  0.3082183 ,  0.        , -0.95131566])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09648154, -0.0775643 ,  0.11231195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002465617046149976
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.51782828e-13, -2.25141010e-13,  1.00000000e+00,  7.92007413e-26,
        1.00000000e+00,  2.25141010e-13, -1.00000000e+00,  0.00000000e+00,
        3.51782828e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07709606, -0.07816791,  0.0619925 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.23500317e-02, 9.23659535e-02, 4.90110547e-02, 1.04276597e-02,
 -2.11095706e-02, 6.07135135e-02, 3.28307146e-02, 1.27326111e-02,
 -5.77288412e-06,-1.27235910e-03,-1.86626997e-04,-6.38986329e-05,
 -2.06514146e-05,-3.52615213e-05,-1.31379736e-05, 2.94694408e-05,
  4.38308909e-03,-6.60720413e-04,-1.23103661e+00,-1.64671922e-03,
  2.13779245e-03, 3.68052153e-04]


--- Step 1832 ---
qpos:
[ 0.0554434 , 0.29355903,-0.07116994,-0.0100159 , 0.00823508, 0.30994411,
 -0.05691733,-0.00741206,-0.00389115, 0.43771083,-0.01270368,-0.01981104,
  1.37957741, 0.01887435, 1.35428157, 0.02441301, 0.07088325,-0.06509321,
  0.13145603, 0.98082159,-0.01582228,-0.16900494,-0.09579138]

qacc:
[-9.53069153e+00,-1.80121609e+01, 1.29355772e+02,-6.50959777e+01,
 -4.71836193e+01, 1.75878547e+01, 8.76219177e+00, 7.42061583e+00,
  5.19792637e-03,-1.87715939e+01, 4.60932795e+01,-4.47335733e+01,
 -4.13845887e-01, 3.67246938e-01, 4.12933513e+00,-1.40667307e+01,
 -3.00260201e+00,-6.73620688e-01,-1.30924407e+00, 1.69258193e+01,
 -4.19180549e+01,-5.86459985e+00]

qfrc_actuator:
[-0.05422318, 0.28532176, 0.05634187, 0.01215225,-0.01185081, 0.23853502,
  0.03860134, 0.01216763,-0.00071452, 0.20213133, 0.00250164, 0.0004492 ,
  0.00050129,-0.00152764, 0.        ,-0.00123147, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020531380620877854
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75035971, -0.63642816, -0.17866031, -0.13625168, -0.11556378,
        0.98391082, -0.64683521,  0.7626298 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10169327, -0.03049815,  0.11613533])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.20426072, -0.20109152,  0.03584189, -0.20109152,  0.20188334,
       -0.01333832,  0.03584189, -0.01333832,  0.12942582,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.368897164155713e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.32480166e-01,  1.81634030e-01, -3.12233596e-01,  1.72235055e-01,
        9.83366198e-01,  5.76715435e-02,  3.17515079e-01, -6.93889390e-18,
       -9.48253223e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09610028, -0.07755843,  0.11230919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002313851196190514
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34948274e-13, -2.39908043e-13,  1.00000000e+00,  3.23751764e-26,
        1.00000000e+00,  2.39908043e-13, -1.00000000e+00,  0.00000000e+00,
        1.34948274e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07709449, -0.07817197,  0.06199296])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.29742234e-02, 8.81665024e-02, 4.68639218e-02, 9.85483827e-03,
 -2.01978694e-02, 5.84073989e-02, 3.16791765e-02, 1.25253623e-02,
 -1.37231223e-06,-1.45651826e-03,-2.89041389e-04,-9.01059268e-05,
 -3.83207116e-05,-1.03212413e-05,-4.12237163e-06,-6.88836151e-05,
  4.71415944e-03,-6.84063810e-04,-1.23156182e+00,-1.63766621e-03,
  2.20540150e-03, 3.44802109e-04]


--- Step 1833 ---
qpos:
[ 0.0562013 , 0.297441  ,-0.07093768,-0.00996266, 0.00804458, 0.31374182,
 -0.05651671,-0.00725207,-0.00387909, 0.44145774,-0.0127396 ,-0.01981665,
  1.37965494, 0.01887188, 1.35437769, 0.02440941, 0.07024089,-0.06501425,
  0.131398  , 0.98002926,-0.01594088,-0.17357015,-0.095718  ]

qacc:
[ 1.26424793e+01,-3.27793609e+01, 2.36537059e+02,-2.70789811e+02,
 -6.28875967e+02,-1.10727469e+01,-9.27590873e+00, 2.25085523e+03,
  3.13469473e-01,-1.84640317e+01, 3.76137566e+01,-1.84682383e+01,
 -4.90933935e-01, 5.94183790e-01,-2.97817607e+00, 1.00389931e+01,
 -1.70718993e+00,-1.46413059e-01,-1.32187737e+00, 1.01913528e+01,
 -2.25249976e+01, 1.39395161e+01]

qfrc_actuator:
[-0.05494941, 0.28427588, 0.05618241, 0.01208603,-0.01201643, 0.23804302,
  0.03849899, 0.0121723 ,-0.00070785, 0.20144022, 0.00252134, 0.00047527,
  0.00048117,-0.00150562, 0.        ,-0.00118127, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020576340205735295
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.49543838e-01, -6.35421035e-01, -1.85537442e-01, -1.41525730e-01,
       -1.19977540e-01,  9.82637195e-01, -6.46648670e-01,  7.62787977e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10124624, -0.03044716,  0.11617776])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.31157722, -3.43451382,  2.60649437, -3.43451382, 13.2080562 ,
       11.72267254,  2.60649437, 11.72267254, 19.75825581,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021517271442517139
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57984156e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.57984156e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07709304, -0.07817626,  0.06199345])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.34924455e-02, 8.42166464e-02, 4.46596664e-02, 9.29060410e-03,
 -1.91361187e-02, 5.54049089e-02, 3.05427987e-02, 1.22819185e-02,
  1.67957574e-05,-1.69253312e-03,-3.59721238e-04,-5.57535686e-05,
 -4.13779599e-05, 1.02602037e-05,-1.24774932e-05, 4.52083290e-05,
  5.06682573e-03,-6.97350503e-04,-1.23209881e+00,-1.62588884e-03,
  2.27471824e-03, 3.18526439e-04]


--- Step 1834 ---
qpos:
[ 0.05695687, 0.30139001,-0.0706649 ,-0.00990389, 0.00789097, 0.31768865,
 -0.05608825,-0.00709955,-0.00386681, 0.44518731,-0.01277373,-0.01982127,
  1.37973228, 0.01886938, 1.35447362, 0.02440709, 0.06958978,-0.06493815,
  0.1313343 , 0.9792051 ,-0.0160328 ,-0.17819372,-0.09564166]

qacc:
[-4.81148880e+00,-1.28738776e+01, 1.51460301e+02,-1.70483440e+02,
  6.82555106e+01, 1.03444942e+02,-5.17515335e+01,-2.31076180e+02,
  2.59628126e-01,-2.58738036e+01, 5.48419057e+01,-2.78300612e+01,
 -1.18290038e-02,-5.74160024e-02,-4.12808661e+00, 1.40370222e+01,
 -2.18564349e+00,-7.11574652e-01,-1.41974175e+00, 1.58688361e+01,
 -3.01073500e+01,-2.85131764e+00]

qfrc_actuator:
[-0.05565637, 0.28313312, 0.05598028, 0.01207461,-0.01184012, 0.23676308,
  0.03806286, 0.01198999,-0.00070884, 0.20042245, 0.00254709, 0.00051055,
  0.00047698,-0.00150936, 0.        ,-0.00111473, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020643255202450334
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.48592220e-01, -6.34483442e-01, -1.92458956e-01, -1.46818037e-01,
       -1.24438393e-01,  9.81305024e-01, -6.46571072e-01,  7.62853753e-01,
        2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1007892 , -0.03039555,  0.11622488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.20403744, -0.10753314,  0.17340098, -0.10753314,  1.53081263,
        0.82278828,  0.17340098,  0.82278828,  0.71428255,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.229508536180583e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92649625,  0.18073255, -0.33006127,  0.17025169,  0.98353228,
        0.06065161,  0.33558763,  0.        , -0.94200899])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09528023, -0.0775619 ,  0.1123419 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0001977628255677294
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.10521686e-13, -2.80695581e-13,  1.00000000e+00,  5.90925069e-26,
        1.00000000e+00,  2.80695581e-13, -1.00000000e+00,  0.00000000e+00,
        2.10521686e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07709175, -0.07818076,  0.06199397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.45145220e-02, 7.91533799e-02, 4.18012701e-02, 8.96580510e-03,
 -2.28268184e-03, 3.63797237e-02, 1.51471540e-02, 3.47802117e-03,
  1.31337549e-05,-2.16364071e-03,-4.09732258e-04,-5.83967604e-05,
 -2.18934798e-05,-9.89853739e-06,-2.84714058e-06, 6.70039461e-05,
  5.30732715e-03,-8.34497885e-04,-1.23233755e+00,-1.65054099e-03,
  2.33919523e-03, 3.08993739e-04]


--- Step 1835 ---
qpos:
[ 0.05770422, 0.30539527,-0.07035834,-0.00983981, 0.00776689, 0.32171857,
 -0.05562782,-0.00695106,-0.00385468, 0.44889696,-0.01280613,-0.01982489,
  1.37980942, 0.01886686, 1.35456972, 0.02440389, 0.06892976,-0.0648662 ,
  0.13126485, 0.97834654,-0.01608941,-0.18287792,-0.09557636]

qacc:
[-1.66570996e+01,-8.74697313e+00, 1.16861489e+02,-1.20465446e+02,
  5.37379394e+01, 1.21876886e+01, 1.32742982e+02,-3.14489380e+02,
 -1.19958444e-01,-2.91092593e+01, 6.13481636e+01,-3.21343429e+01,
 -2.32165658e-01, 1.80883371e-01, 2.90606679e+00,-9.75304118e+00,
 -2.22597955e+00,-1.03994351e+00,-1.43727391e+00, 1.89230659e+01,
 -3.09700766e+01,-1.06861610e+01]

qfrc_actuator:
[-0.05631037, 0.28203481, 0.05576108, 0.01211196,-0.01167727, 0.2353388 ,
  0.03759533, 0.01178858,-0.00073222, 0.19934225, 0.00259287, 0.00055072,
  0.00046636,-0.00151059, 0.        ,-0.0011634 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002057520606321923
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.47457544e-01, -6.33713580e-01, -1.99284518e-01, -1.52005696e-01,
       -1.28874308e-01,  9.79941672e-01, -6.46684999e-01,  7.62757177e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10032401, -0.03034516,  0.11627784])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.20426961, -0.1036466 ,  0.17602118, -0.1036466 ,  1.459287  ,
        0.73899226,  0.17602118,  0.73899226,  0.63941064,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.426491951791466e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92352624,  0.18031206, -0.33850677,  0.16929781,  0.98360945,
        0.06205395,  0.34414754,  0.        , -0.93891558])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09483337, -0.07757012,  0.1123862 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00017957848272266708
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.40958545e-13, -1.23647667e-12,  1.00000000e+00,  6.68882622e-25,
        1.00000000e+00,  1.23647667e-12, -1.00000000e+00,  0.00000000e+00,
        5.40958545e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07709058, -0.07818538,  0.06199452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.50677501e-02, 7.45599016e-02, 3.95078435e-02, 8.71812232e-03,
 -3.96951898e-03, 2.73556421e-02, 1.32384206e-02, 3.64084337e-03,
 -1.02354793e-05,-2.49918775e-03,-4.93037742e-04,-7.54198915e-05,
 -2.33257825e-05,-9.34469124e-06, 4.18062521e-06,-4.57382220e-05,
  5.62755748e-03,-8.61758539e-04,-1.23271208e+00,-1.64476262e-03,
  2.40876458e-03, 2.84762065e-04]


--- Step 1836 ---
qpos:
[ 0.05843863, 0.30945137,-0.07002242,-0.00977067, 0.00765316, 0.32579202,
 -0.05514885,-0.00680725,-0.0038427 , 0.452586  ,-0.01283718,-0.01982907,
  1.37988633, 0.01886455, 1.35466579, 0.02440047, 0.06826069,-0.06479922,
  0.13118947, 0.97745159,-0.01610526,-0.18762451,-0.09553043]

qacc:
[-2.56837663e+01,-4.21063461e+00, 9.14393050e+01,-8.87471054e+01,
  1.84626553e+01,-3.84766807e+00, 1.16933390e+02,-2.59586474e+02,
 -1.33051629e-01,-3.21376530e+01, 7.74267939e+01,-7.40629662e+01,
 -3.23295096e-01, 4.13435598e-01, 6.40276260e-01,-2.22538724e+00,
 -2.26454543e+00,-1.24188079e+00,-1.48200529e+00, 2.08622226e+01,
 -3.17450696e+01,-1.54418098e+01]

qfrc_actuator:
[-0.05699677, 0.28110693, 0.05546892, 0.01208778,-0.01152989, 0.2337278 ,
  0.03712922, 0.01166401,-0.00075101, 0.19835841, 0.00266776, 0.00052242,
  0.00046256,-0.00149255, 0.        ,-0.00117305, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020606592228558976
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.46091921e-01, -6.33156078e-01, -2.06058793e-01, -1.57110452e-01,
       -1.33328662e-01,  9.78539613e-01, -6.47041846e-01,  7.62454490e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09985268, -0.03029698,  0.11633571])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.20477813, -0.20313601,  0.02588135, -0.20313601,  0.2039552 ,
       -0.00645896,  0.02588135, -0.00645896,  0.15408342,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.837153723504808e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92044003,  0.1799217 , -0.34701345,  0.16835452,  0.98368094,
        0.06347104,  0.35277033,  0.        , -0.93570994])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09437783, -0.0775772 ,  0.11243581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0001606741522189592
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94337559e-13, -3.45488994e-13,  1.00000000e+00,  6.71414878e-26,
        1.00000000e+00,  3.45488994e-13, -1.00000000e+00,  0.00000000e+00,
        1.94337559e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0770895 , -0.07819012,  0.06199509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.53578987e-02, 7.06736867e-02, 3.74773087e-02, 8.41828522e-03,
 -5.30296851e-03, 2.14446721e-02, 1.11232587e-02, 3.70766793e-03,
 -1.11691285e-05,-2.60757072e-03,-5.43823894e-04,-1.61439299e-04,
 -1.73871918e-05, 9.89961058e-06,-6.11141909e-06,-1.23112659e-05,
  5.98214928e-03,-8.33372977e-04,-1.23311599e+00,-1.62453479e-03,
  2.48184532e-03, 2.52282586e-04]


--- Step 1837 ---
qpos:
[ 0.05915587, 0.31356529,-0.06966143,-0.00969774, 0.00753043, 0.32988638,
 -0.05466826,-0.00666889,-0.00383085, 0.4562623 ,-0.01287127,-0.01983579,
  1.37996318, 0.01886261, 1.35476204, 0.02439495, 0.06758239,-0.06473772,
  0.1311079 , 0.97651834,-0.01607673,-0.19243527,-0.09550991]

qacc:
[-3.34731385e+01, 1.43613234e+01, 4.37827714e+01,-6.06518775e+01,
 -1.58210837e+01, 1.18691264e+01, 2.08158102e+01,-1.33135733e+02,
 -1.19217864e-01,-1.35847609e+01, 3.47580373e+01,-6.46227539e+01,
 -4.66873098e-01, 6.98512432e-01, 6.73870626e+00,-2.30167899e+01,
 -2.30693516e+00,-1.36983911e+00,-1.54845484e+00, 2.20618092e+01,
 -3.26312193e+01,-1.89242221e+01]

qfrc_actuator:
[-0.05769461, 0.28106308, 0.05508837, 0.01197159,-0.01141993, 0.23298749,
  0.03662909, 0.01153455,-0.00076699, 0.19831089, 0.00272431, 0.00043643,
  0.00047349,-0.00146319, 0.        ,-0.00128386, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002060664274482397
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.44415160e-01, -6.32850146e-01, -2.12947794e-01, -1.62242836e-01,
       -1.37927609e-01,  9.77063579e-01, -6.47706208e-01,  7.61890194e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0993769 , -0.03025179,  0.11639638])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.20544761, -0.20433921, -0.02131212, -0.20433921,  0.20394863,
        0.01437211, -0.02131212,  0.01437211,  0.06764878,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.957443246443482e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.91723464,  0.18010025, -0.35530904,  0.16794031,  0.98364826,
        0.06505501,  0.36121554,  0.        , -0.93248235])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09391695, -0.07757695,  0.11249167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.18325563,  3.36375507, -2.4869217 ,  3.36375507, 18.26238838,
       19.04312232, -2.4869217 , 19.04312232, 29.94056001,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001411088525878207
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.21283229e-13, -3.93392407e-13,  1.00000000e+00,  8.70511423e-26,
        1.00000000e+00,  3.93392407e-13, -1.00000000e+00,  0.00000000e+00,
        2.21283229e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0770885 , -0.07819498,  0.06199569])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.54231895e-02, 6.79405561e-02, 3.55778751e-02, 8.04002832e-03,
 -5.71174558e-03, 1.83809625e-02, 9.64449851e-03, 3.80208140e-03,
 -8.68591529e-06,-1.74514223e-03,-5.93514716e-04,-2.27144297e-04,
  4.54397642e-06, 2.86569795e-05,-6.45922171e-06,-1.12777529e-04,
  6.36509664e-03,-7.68659217e-04,-1.23354330e+00,-1.59523736e-03,
  2.55819298e-03, 2.13970114e-04]


--- Step 1838 ---
qpos:
[ 0.05985185, 0.3177386 ,-0.06927807,-0.00962167, 0.00739141, 0.33399443,
 -0.0541914 ,-0.00653518,-0.00381963, 0.45993259,-0.01290973,-0.01984306,
  1.38003989, 0.01886127, 1.35485841, 0.02438679, 0.06689474,-0.06468206,
  0.13101984, 0.97554515,-0.01600111,-0.19731147,-0.09551858]

qacc:
[-40.59435117, 22.48410362, 20.6275747 ,-45.97239025,-28.07015671,
  18.89983615,-21.5286646 ,-62.91494465, -0.65132784,  3.14960278,
 -20.48208075, 22.56952302, -0.68503432,  1.05481514,  8.23584731,
 -28.33007223, -2.33858762, -1.4605234 , -1.6212395 , 22.98687786,
 -33.31297975,-21.21907952]

qfrc_actuator:
[-0.05844317, 0.28114951, 0.05466511, 0.01187041,-0.01131722, 0.2328813 ,
  0.03615356, 0.01138705,-0.00081674, 0.19863028, 0.0027382 , 0.00046006,
  0.00047196,-0.00142726, 0.        ,-0.00141788, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002057460820377448
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.42379103e-01, -6.32852113e-01, -2.19935151e-01, -1.67373484e-01,
       -1.42680017e-01,  9.75514495e-01, -6.48736761e-01,  7.61012888e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09889677, -0.03021037,  0.11646026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.20604007, -0.19371143, -0.07020252, -0.19371143,  0.18780902,
        0.05030538, -0.07020252,  0.05030538,  0.06723127,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.437253821161861e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.91381266,  0.17979493, -0.36417056,  0.16702063,  0.98370411,
        0.06656069,  0.37020336,  0.        , -0.92895074])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09345412, -0.07758238,  0.11254282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.15840224,  3.35037513, -2.46318811,  3.35037513, 17.34841922,
       17.94077546, -2.46318811, 17.94077546, 28.56105649,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012095966221137289
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.58922836e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.58922836e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07708756, -0.07819998,  0.0619963 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.53264728e-02, 6.49857814e-02, 3.38501204e-02, 7.73863787e-03,
 -5.15710549e-03, 1.70812936e-02, 9.03577606e-03, 3.91701793e-03,
 -4.17513525e-05,-9.08381652e-04,-4.66188297e-04,-8.35271930e-05,
  6.48491573e-06, 4.63049438e-05,-1.80078418e-05,-1.41676994e-04,
  6.77470645e-03,-6.74963159e-04,-1.23399373e+00,-1.55900284e-03,
  2.63790250e-03, 1.71394688e-04]


--- Step 1839 ---
qpos:
[ 0.06052311, 0.32195641,-0.06886979,-0.00954121, 0.00723422, 0.33810799,
 -0.05372043,-0.00640442,-0.00380891, 0.46359227,-0.01294782,-0.01984918,
  1.38011664, 0.01885995, 1.35495443, 0.02437908, 0.06619754,-0.06463235,
  0.13092493, 0.97453064,-0.01587729,-0.20225451,-0.09555654]

qacc:
[-4.61831916e+01,-1.55546479e+00, 7.25974391e+01,-6.94934534e+01,
 -3.06850690e+01, 1.76026506e+01,-3.97263938e+01,-5.97990782e+00,
 -4.97920880e-01,-1.27197609e+01, 2.02270605e+01, 6.60671060e+00,
  8.24472049e-02,-6.84103120e-02,-1.88425186e+00, 5.79670734e+00,
 -2.38638976e+00,-1.48592525e+00,-1.71257381e+00, 2.34812638e+01,
 -3.41395456e+01,-2.15537202e+01]

qfrc_actuator:
[-0.05922895, 0.27986923, 0.05420888, 0.0117774 ,-0.01119021, 0.23263962,
  0.03571524, 0.01135437,-0.0008507 , 0.19801425, 0.00272903, 0.00051297,
  0.00046297,-0.00144103, 0.        ,-0.00138693, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002050734016703357
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.39968170e-01, -6.33175033e-01, -2.27016487e-01, -1.72488491e-01,
       -1.47594735e-01,  9.73890915e-01, -6.50149851e-01,  7.59806009e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09841247, -0.03017306,  0.11652748])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.2063632 , -0.16665844, -0.12169936, -0.16665844,  0.14851607,
        0.07921745, -0.12169936,  0.07921745,  0.09788065,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010151080889967592
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.91019021,  0.17953726, -0.37325615,  0.16611218,  0.98375117,
        0.06812026,  0.3794213 ,  0.        , -0.92522402])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09298978, -0.07758728,  0.11259269])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.13709629,  3.33556677, -2.44735776,  3.33556677, 16.58304607,
       16.96290474, -2.44735776, 16.96290474, 27.25627501,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010029443048326092
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.76740946e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.76740946e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07708667, -0.07820514,  0.06199693])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.50622775e-02, 6.05842946e-02, 3.22231007e-02, 7.47903638e-03,
 -4.21187522e-03, 1.60076055e-02, 8.73181224e-03, 4.10634877e-03,
 -3.37269714e-05,-1.34299927e-03,-2.95579066e-04,-1.11708652e-05,
  3.64519999e-06, 2.72554530e-06,-2.61769799e-05, 2.02876240e-05,
  7.20868091e-03,-5.59498630e-04,-1.23446260e+00,-1.51791586e-03,
  2.72094000e-03, 1.25122869e-04]


--- Step 1840 ---
qpos:
[ 0.06116596, 0.32620658,-0.06843432,-0.00945521, 0.00705921, 0.34222287,
 -0.05325523,-0.00627498,-0.00379825, 0.46723382,-0.01298267,-0.01985503,
  1.38019368, 0.01885801, 1.35505002, 0.02437376, 0.06549071,-0.06458871,
  0.13082283, 0.97347334,-0.015704  ,-0.20726519,-0.09562517]

qacc:
[-5.19254616e+01,-2.13735899e+01, 1.15285011e+02,-8.72407958e+01,
 -2.95298529e+01, 1.51354265e+01,-4.58620065e+01, 3.13929950e+01,
 -2.81146163e-02,-3.24454643e+01, 7.97589004e+01,-6.68104899e+01,
  8.21952190e-01,-1.16457833e+00,-7.97525447e+00, 2.67330754e+01,
 -2.40693681e+00,-1.51903568e+00,-1.79753406e+00, 2.38952091e+01,
 -3.46817747e+01,-2.25218571e+01]

qfrc_actuator:
[-0.05995409, 0.27788431, 0.05377463, 0.01170453,-0.01105798, 0.23228385,
  0.03524964, 0.01130198,-0.00085731, 0.1967197 , 0.00273855, 0.00049323,
  0.00047078,-0.00148427, 0.        ,-0.00125903, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020393455769264044
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.73724139, -0.63373041, -0.23422404, -0.17762059, -0.15268211,
        0.97218265, -0.65186352,  0.7583363 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09792464, -0.03013926,  0.11659721])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.20628616, -0.12884156, -0.16110193, -0.12884156,  0.10118059,
        0.08405837, -0.16110193,  0.08405837,  0.13906032,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.98569899873166e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.90635341,  0.1793252 , -0.38257805,  0.16521009,  0.98378985,
        0.06973632,  0.38888188,  0.        , -0.92128762])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09252465, -0.07759168,  0.11264051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.11958855,  3.30607563, -2.45781889,  3.30607563, 16.16378716,
       16.20096244, -2.45781889, 16.20096244, 25.91192131,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.918282650166975e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05157558e-12,  1.40210078e-12,  1.00000000e+00, -1.47441494e-24,
        1.00000000e+00, -1.40210078e-12, -1.00000000e+00,  0.00000000e+00,
        1.05157558e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0770858 , -0.07821045,  0.06199757])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.45630186e-02, 5.62211880e-02, 3.04893321e-02, 7.17633508e-03,
 -3.16738949e-03, 1.52290808e-02, 8.50849852e-03, 4.19136671e-03,
 -4.70090423e-06,-2.22567651e-03,-3.42987764e-04,-9.50979035e-05,
  9.57525629e-06,-4.12757948e-05,-1.03152715e-05, 1.25569688e-04,
  7.66521635e-03,-4.36424871e-04,-1.23494810e+00,-1.47566148e-03,
  2.80666482e-03, 7.61010553e-05]


--- Step 1841 ---
qpos:
[ 0.06177609, 0.33048517,-0.06797229,-0.00936342, 0.00686799, 0.34633769,
 -0.05279034,-0.0061451 ,-0.00378731, 0.47085156,-0.01301416,-0.01986013,
  1.38027056, 0.01885656, 1.35514528, 0.02437199, 0.06477435,-0.06455142,
  0.13071327, 0.97237169,-0.01547914,-0.21234343,-0.09572855]

qacc:
[-5.86031390e+01,-2.42807307e+01, 1.17003921e+02,-8.05300500e+01,
 -2.63302962e+01, 1.68261270e+00,-7.88515855e+00, 1.58552804e+01,
  3.27145711e-01,-3.92898531e+01, 9.12499064e+01,-6.60811546e+01,
 -9.30406238e-02, 3.48410645e-01,-1.12526234e+01, 3.86725392e+01,
 -2.38361144e+00,-1.58633802e+00,-1.86598821e+00, 2.43841497e+01,
 -3.47408170e+01,-2.49168332e+01]

qfrc_actuator:
[-0.06061152, 0.27589701, 0.05332358, 0.01165859,-0.01089794, 0.2315243 ,
  0.03478766, 0.0111308 ,-0.00084776, 0.19520733, 0.002774  , 0.00050132,
  0.00047801,-0.00143807, 0.        ,-0.00107508, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020224462606455184
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.34236211e-01, -6.34457778e-01, -2.41579210e-01, -1.82790250e-01,
       -1.57950117e-01,  9.70381103e-01, -6.53823303e-01,  7.56647268e-01,
        2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09743392, -0.03010864,  0.11666882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.2058076 , -0.08691546, -0.1865542 , -0.08691546,  0.06089037,
        0.06751683, -0.1865542 ,  0.06751683,  0.17435156,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.886916614849768e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.902292  ,  0.1791606 , -0.39213598,  0.1643138 ,  0.98381984,
        0.07141076,  0.39858515,  0.        , -0.91713133])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09205907, -0.07759554,  0.1126859 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.10608144,  3.27791156, -2.47289316,  3.27791156, 15.81915783,
       15.52611697, -2.47289316, 15.52611697, 24.68652505,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.7678529509885834e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.81211568e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.81211568e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07708493, -0.07821592,  0.06199823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.38110285e-02, 5.24607746e-02, 2.86251577e-02, 6.84311686e-03,
 -2.11230914e-03, 1.42562392e-02, 8.28315237e-03, 4.07566577e-03,
  1.81937414e-05,-2.94970217e-03,-5.07894288e-04,-1.08317744e-04,
  2.47191586e-06, 3.54254456e-05, 8.89925993e-06, 1.89543965e-04,
  8.14454632e-03,-3.00080590e-04,-1.23544733e+00,-1.43093894e-03,
  2.89548236e-03, 2.44801985e-05]


--- Step 1842 ---
qpos:
[ 0.06234918, 0.33479405,-0.06748462,-0.00926607, 0.00666288, 0.35045453,
 -0.05232383,-0.00601383,-0.00377639, 0.47444633,-0.01304538,-0.01986477,
  1.38034733, 0.01885583, 1.35524046, 0.02437311, 0.06404863,-0.06452065,
  0.13059596, 0.97122423,-0.01520116,-0.21748855,-0.09587049]

qacc:
[-6.50201437e+01,-1.98104256e+01, 1.05677793e+02,-7.34259676e+01,
 -2.21469313e+01, 1.07937593e+00,-5.78447063e+00, 2.57277132e+01,
  6.81067052e-03,-3.01889328e+01, 6.16709101e+01,-3.73604563e+01,
 -2.66543512e-01, 6.85750136e-01,-8.82583417e+00, 3.07769987e+01,
 -2.33798311e+00,-1.63228319e+00,-1.93552007e+00, 2.45773148e+01,
 -3.45411016e+01,-2.70909195e+01]

qfrc_actuator:
[-0.06121264, 0.27423657, 0.05286995, 0.01155532,-0.01069796, 0.23078964,
  0.0343247 , 0.01092261,-0.00086432, 0.19414529, 0.00280585, 0.0005255 ,
  0.00048491,-0.00139231, 0.        ,-0.00093063, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019997248795148416
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.73094426, -0.63535805, -0.24907959, -0.18798811, -0.16340475,
        0.96848302, -0.65603427,  0.7547311 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09694086, -0.03008151,  0.11674218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.20507684, -0.04016337, -0.20110548, -0.04016337,  0.03145008,
        0.03467552, -0.20110548,  0.03467552,  0.19815169,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.866144291861803e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.89799974,  0.17905263, -0.40191619,  0.16343033,  0.9838395 ,
        0.07314623,  0.40851804,  0.        , -0.91275024])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09159295, -0.0775987 ,  0.11272896])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09674748,  3.26385157, -2.47600743,  3.26385157, 15.34376117,
       14.82571614, -2.47600743, 14.82571614, 23.63987823,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.581615367440061e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.54989147e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.54989147e-12, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07708406, -0.07822157,  0.0619989 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.27858081e-02, 4.92231847e-02, 2.67888266e-02, 6.43921123e-03,
 -1.09832082e-03, 1.33777124e-02, 7.78322751e-03, 3.83557249e-03,
 -2.54716517e-06,-2.93791164e-03,-6.81531233e-04,-1.29135557e-04,
  1.69966034e-05, 5.71148968e-05, 2.33143414e-05, 1.55736249e-04,
  8.64676782e-03,-1.37886246e-04,-1.23595620e+00,-1.38082048e-03,
  2.98837660e-03,-2.99195023e-05]


--- Step 1843 ---
qpos:
[ 0.06288083, 0.3391362 ,-0.06697248,-0.00916359, 0.00644713, 0.35457483,
 -0.05185558,-0.00588054,-0.0037658 , 0.47802332,-0.01307931,-0.01987004,
  1.38042409, 0.01885546, 1.35533609, 0.02437296, 0.06331378,-0.06449656,
  0.13047064, 0.97002951,-0.01486877,-0.22269971,-0.09605466]

qacc:
[-71.30709075,-13.45814831, 90.50609293,-65.76167577,-16.67377721,
   3.86379277,-15.57792108, 45.06395865, -0.31217982,-17.19724516,
  29.8886401 ,-23.35784403, -0.3691727 ,  0.61068871,  4.56571229,
 -14.88253302, -2.28512523, -1.66761078, -2.00515895, 24.63853504,
 -34.27968058,-29.19983959]

qfrc_actuator:
[-0.06172707, 0.27284779, 0.05240507, 0.01143334,-0.01046984, 0.23006785,
  0.0338416 , 0.01072661,-0.00089637, 0.19368168, 0.00281953, 0.00052385,
  0.00047564,-0.00138274, 0.        ,-0.00100592, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001971334424191049
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.27341216e-01, -6.36455103e-01, -2.56709287e-01, -1.93189276e-01,
       -1.69048993e-01,  9.66488666e-01, -6.58523090e-01,  7.52560523e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09644563, -0.03005834,  0.11681755])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.20435727,  0.00601755, -0.20426865,  0.00601755,  0.02047591,
       -0.00541696, -0.20426865, -0.00541696,  0.20419769,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.949359486442626e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.89347233,  0.17901007, -0.41190119,  0.16256644,  0.98384724,
        0.07494503,  0.41866377,  0.        , -0.90814132])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09112611, -0.07760102,  0.11276991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09175367,  3.25592307, -2.47818746,  3.25592307, 14.87570905,
       14.1683104 , -2.47818746, 14.1683104 , 22.70653949,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.3629889173333298e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.03637574e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.03637574e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07708315, -0.07822742,  0.06199958])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.14568640e-02, 4.61632950e-02, 2.49865514e-02, 6.02904308e-03,
 -1.72575836e-04, 1.24081268e-02, 7.16793496e-03, 3.55985250e-03,
 -2.32167315e-05,-2.36868643e-03,-7.19068577e-04,-1.60831483e-04,
  1.29172560e-05, 3.09750700e-05, 2.53320538e-05,-6.42335744e-05,
  9.16979734e-03, 4.97881892e-05,-1.23646992e+00,-1.32562714e-03,
  3.08546308e-03,-8.63116678e-05]


--- Step 1844 ---
qpos:
[ 0.06318055, 0.34365819,-0.06632803,-0.00907665, 0.00613931, 0.35867135,
 -0.05140482,-0.00575717,-0.00375497, 0.48158414,-0.01311452,-0.01987643,
  1.38050072, 0.01885537, 1.35543208, 0.02436993, 0.06256903,-0.06452416,
  0.13030613, 0.96878537,-0.01456391,-0.22790241,-0.09645361]

qacc:
[-3.91088356e+02,-1.61497594e+02, 9.88526330e+02,-1.60416219e+03,
 -1.41679010e+02,-2.79462503e+00, 6.50633476e+00,-1.32927955e+02,
  2.57025609e-01,-2.01144009e+01, 4.54827424e+01,-5.10869085e+01,
 -5.33058816e-01, 6.95354363e-01, 9.30377202e+00,-3.15889015e+01,
 -2.47279247e+00,-1.29237833e+01,-9.79460588e+00,-3.80426894e+01,
 -1.12495651e+00,-1.03408568e+02]

qfrc_actuator:
[-0.06222352, 0.27153588, 0.05190661, 0.01136934,-0.01024028, 0.22894321,
  0.0333989 , 0.01058999,-0.00088413, 0.19315506, 0.0028607 , 0.00048983,
  0.00045667,-0.00137707, 0.        ,-0.00115678, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.12357371, -0.41256403,  0.12357371,  0.86139981,
        0.12901383, -0.41256403,  0.12901383,  0.46931637,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001937547616461784
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72340163, -0.63777433, -0.26445033, -0.19836576, -0.17488569,
        0.96439931, -0.6613177 ,  0.75010592,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09594832, -0.0300396 ,  0.11689523])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.20400367,  0.17971499, -0.09654025,  0.17971499,  0.16080095,
       -0.08042424, -0.09654025, -0.08042424,  0.05428951,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.482149632476433e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.88705154e-01,  1.79041168e-01, -4.22075122e-01,  1.61728078e-01,
        9.83841583e-01,  7.68099500e-02,  4.29007199e-01,  1.38777878e-17,
       -9.03301070e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09065849, -0.07760227,  0.11280888])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.98887503e-02, 4.30297681e-02, 2.32093686e-02, 5.69768319e-03,
  5.91925181e-04, 1.09628636e-02, 6.58570901e-03, 3.31225186e-03,
  1.59376808e-05,-2.12169023e-03,-5.79446888e-04,-1.70669677e-04,
 -5.58215587e-06, 1.82962283e-05, 7.08452894e-07,-1.52053315e-04,
  9.71318339e-03, 2.63552184e-04,-1.23698687e+00,-1.26536839e-03,
  3.18693112e-03,-1.44341857e-04]


--- Step 1845 ---
qpos:
[ 0.06342048, 0.34815765,-0.06574676,-0.00899198, 0.00592346, 0.36283089,
 -0.05087827,-0.00557552,-0.00374388, 0.48512629,-0.01314824,-0.01988389,
  1.3805774 , 0.01885535, 1.35552761, 0.02436882, 0.06181803,-0.06455362,
  0.13014138, 0.96748739,-0.01415484,-0.23317638,-0.09693587]

qacc:
[-9.89920827e+01, 1.40954723e+02,-5.36727669e+02, 6.15972609e+02,
  1.39235744e+02,-8.41660301e+00,-9.51583349e+01, 9.36130923e+02,
  2.71570203e-01,-3.10532544e+01, 7.93789700e+01,-8.64135510e+01,
  1.87230482e-01,-1.42214116e-01,-6.48640659e+00, 2.16315369e+01,
 -1.56445042e+00,-4.64356466e-01,-6.24230291e-02, 4.40287055e+01,
 -3.50261538e+01,-5.53505431e+01]

qfrc_actuator:
[-0.06251987, 0.27002147, 0.05128811, 0.01134098,-0.00994193, 0.22772701,
  0.03299898, 0.01048237,-0.00088126, 0.19222332, 0.00293576, 0.00043715,
  0.00046383,-0.0013738 , 0.        ,-0.00104908, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.29938838, -0.30959027, -0.29938838,  0.66553166,
       -0.22711905, -0.30959027, -0.22711905,  0.65030817,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018809906182529431
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71738488, -0.64179233, -0.27103789, -0.20199959, -0.18071442,
        0.96256868, -0.66674965,  0.74528176,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09544036, -0.03006417,  0.1169946 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09091045, -3.96402332,  1.01097348, -3.96402332,  5.66663865,
        6.17842451,  1.01097348,  6.17842451, 28.31649031,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.459880698249764e-07
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01670997e-10, -1.01670997e-10,  1.00000000e+00,  1.03369916e-20,
        1.00000000e+00,  1.01670997e-10, -1.00000000e+00,  0.00000000e+00,
        1.01670997e-10])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07705889, -0.07828743,  0.06199998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.85591142e-02, 3.23538598e-02, 1.59164280e-02, 6.43466405e-03,
  5.51301146e-03, 1.07920997e-02, 7.00952005e-03, 3.69019294e-03,
  1.64393621e-05,-2.35951793e-03,-4.77430924e-04,-1.74064675e-04,
  7.93810038e-06, 8.04629477e-06,-1.97801127e-05, 9.86017940e-05,
  1.00187715e-02, 1.14016144e-03,-1.23706180e+00,-1.05210465e-03,
  3.30687343e-03,-2.94619505e-05]


--- Step 1846 ---
qpos:
[ 0.063604  , 0.35262589,-0.06518638,-0.00890295, 0.00572599, 0.36704269,
 -0.05033543,-0.00539059,-0.00373237, 0.48865661,-0.01318509,-0.01989263,
  1.38065422, 0.01885533, 1.35562296, 0.02436929, 0.06105985,-0.06458399,
  0.12997396, 0.96613788,-0.0136642 ,-0.2385204 ,-0.09746228]

qacc:
[-9.13215292e+01, 2.59517312e+01,-1.70751502e+02, 3.02654697e+02,
  2.72424659e+01, 3.01724253e+01,-2.13159259e+01, 1.36808646e+01,
  4.15427025e-01,-9.50959691e+00, 1.66275127e+01,-2.50548082e+01,
  2.60392593e-01,-2.31890805e-01,-5.12182241e+00, 1.74429818e+01,
 -1.79455824e+00,-2.27752492e-01,-6.66870131e-01, 3.73427560e+01,
 -3.56283553e+01,-3.38611851e+01]

qfrc_actuator:
[-0.06275779, 0.26947462, 0.05070467, 0.01122046,-0.00973176, 0.22746147,
  0.03248517, 0.01029242,-0.00086638, 0.19214041, 0.00295788, 0.00040917,
  0.00047602,-0.00137187, 0.        ,-0.00096741, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.37943999, -0.20372735, -0.37943999,  0.70388724,
       -0.50885791, -0.20372735, -0.50885791,  1.37841569,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018155871559677086
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71135371, -0.64577208, -0.27740641, -0.2053953 , -0.18645935,
        0.96075266, -0.67215227,  0.74041295,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0949395 , -0.0300915 ,  0.11709656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09094292, -3.95000344,  1.06455945, -3.95000344,  4.18213063,
        0.3383482 ,  1.06455945,  0.3383482 ,  5.34636981,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.7280956334876927e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.06958983e-11,  6.10438475e-11,  1.00000000e+00, -2.48423421e-21,
        1.00000000e+00, -6.10438475e-11, -1.00000000e+00,  0.00000000e+00,
        4.06958983e-11])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07703972, -0.07833185,  0.06199992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.58091800e-02, 3.27719078e-02, 1.84338598e-02, 6.41671218e-03,
  1.10702908e-03, 7.22409249e-03, 2.65293571e-03, 5.76020804e-04,
  2.85013561e-05,-1.62197071e-03,-5.66800043e-04,-1.56045653e-04,
  1.76676171e-05, 6.33517602e-06, 1.41685188e-06, 8.45156514e-05,
  1.06673651e-02, 1.60346203e-03,-1.23767663e+00,-9.33918128e-04,
  3.44326731e-03,-1.40374749e-04]


--- Step 1847 ---
qpos:
[ 0.06355578, 0.35718554,-0.06455512,-0.00883008, 0.00553449, 0.37128938,
 -0.04978995,-0.00520592,-0.00372081, 0.49218179,-0.01322647,-0.01990256,
  1.38073082, 0.01885592, 1.35571813, 0.02437208, 0.06029607,-0.06465683,
  0.12976995, 0.96473797,-0.01318348,-0.24386713,-0.09816147]

qacc:
[-3.67618448e+02,-1.08833732e+02, 6.33257642e+02,-1.09571984e+03,
  8.64448301e+00, 3.80966333e+01,-6.79831944e+01, 3.39684655e+01,
  4.40459258e-02, 3.41999909e+00,-1.70321976e+01, 7.49848189e+00,
 -3.29624232e-01, 6.50152423e-01,-7.22041006e+00, 2.49698621e+01,
 -1.39984967e+00,-1.06176193e+01,-9.14757060e+00,-2.56063762e+01,
 -6.62107783e+00,-8.47518423e+01]

qfrc_actuator:
[-0.0629756 , 0.26909996, 0.05016073, 0.01112767,-0.00955545, 0.22755662,
  0.03193223, 0.01012026,-0.00088006, 0.19247865, 0.00295226, 0.00039664,
  0.00046458,-0.0013352 , 0.        ,-0.00084854, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.17871255, -0.39184355,  0.17871255,  0.38570051,
       -0.02051128, -0.39184355, -0.02051128,  0.42131854,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017546456825997556
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.05237479e-01, -6.49508367e-01, -2.84216430e-01, -2.09061755e-01,
       -1.92541325e-01,  9.58760148e-01, -6.77446146e-01,  7.35572375e-01,
        2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09444449, -0.03011928,  0.11719388])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.32081747e-02, 3.37982634e-02, 1.88769737e-02, 6.09443338e-03,
  3.61678820e-04, 4.55599014e-03, 1.23194314e-03, 2.29599572e-04,
  3.21683767e-06,-8.05442613e-04,-4.52347634e-04,-1.11695838e-04,
 -1.31784850e-06, 4.26012060e-05, 8.60869176e-06, 1.23414820e-04,
  1.12985894e-02, 1.89484407e-03,-1.23825016e+00,-8.59962664e-04,
  3.56797115e-03,-2.35832434e-04]


--- Step 1848 ---
qpos:
[ 0.0634446 , 0.36169967,-0.06397927,-0.00875497, 0.00534696, 0.37555538,
 -0.04924558,-0.00502262,-0.00371005, 0.49570019,-0.01326847,-0.01991242,
  1.38080695, 0.01885732, 1.3558134 , 0.0243756 , 0.05952561,-0.06472557,
  0.12956844, 0.96328191,-0.01260109,-0.2492904 ,-0.09891139]

qacc:
[ -98.00749043,  98.48513547,-448.24969905, 609.82166224,   5.65220186,
   25.67688552, -48.815018  ,  12.78470767,  -0.75279359,  -7.10515824,
   12.0825805 ,  -5.0703482 ,  -0.81150824,   1.22779021,  -1.98046309,
    7.3856984 ,  -1.66847805,   1.02634809,   0.62492192,  46.23774933,
  -38.44918453, -40.1313671 ]

qfrc_actuator:
[-0.06300121, 0.26738701, 0.04952159, 0.0111058 ,-0.00937664, 0.22733206,
  0.03139844, 0.00994325,-0.00094618, 0.19225099, 0.00296816, 0.00041155,
  0.00043367,-0.00129605, 0.        ,-0.00081523, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.34282362, -0.26067509, -0.34282362,  0.57528028,
       -0.19017801, -0.26067509, -0.19017801,  0.68078361,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016566926863574188
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.99697265e-01, -6.52210621e-01, -2.91624833e-01, -2.13321595e-01,
       -1.98844010e-01,  9.56532779e-01, -6.81848688e-01,  7.31493244e-01,
       -2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09392333, -0.03014862,  0.11728849])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09354426, -4.04974861,  0.59719411, -4.04974861,  4.3104226 ,
        1.47071572,  0.59719411,  1.47071572, 14.06689935,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.4070753611896145e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07699195, -0.078444  ,  0.06199925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.16091344e-02, 2.73501746e-02, 1.46361158e-02, 6.86963748e-03,
  2.41487654e-04, 2.43548501e-03, 5.12716436e-04, 5.45011628e-05,
 -5.56133402e-05,-8.88784232e-04,-2.46374730e-04,-4.44171879e-05,
 -2.12583223e-05, 5.19706345e-05, 1.53418400e-05, 4.07617338e-05,
  1.16804470e-02, 2.65426720e-03,-1.23836220e+00,-6.82373029e-04,
  3.68243128e-03,-1.53025696e-04]


--- Step 1849 ---
qpos:
[ 0.06327461, 0.36616554,-0.06341413,-0.00867127, 0.00516367, 0.37982883,
 -0.04870467,-0.00484202,-0.00369974, 0.49920948,-0.01330936,-0.01992233,
  1.38088298, 0.01885854, 1.35590901, 0.02437716, 0.05874786,-0.06479028,
  0.12936639, 0.96177168,-0.01194052,-0.25478722,-0.09968012]

qacc:
[-8.96227409e+01,-1.59640700e+01,-7.15520481e+01, 2.72395174e+02,
  5.94297444e+00, 1.38970190e+01,-2.39061183e+01,-2.27545605e+01,
 -3.99564880e-01,-1.52221425e+01, 3.69973820e+01,-3.28732853e+01,
 -1.65004635e-01, 3.72674924e-02, 6.44125931e+00,-2.17608272e+01,
 -1.82487278e+00, 1.00503331e+00,-1.32956057e-01, 3.86096319e+01,
 -3.81846729e+01,-2.19480125e+01]

qfrc_actuator:
[-0.06295209, 0.26514899, 0.0489055 , 0.01104354,-0.00916123, 0.2268463 ,
  0.03087883, 0.00972904,-0.00097192, 0.19177627, 0.00301262, 0.00040666,
  0.00041241,-0.00132686, 0.        ,-0.00092135, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.32774713, -0.27939463, -0.32774713,  0.75732537,
       -0.38318295, -0.27939463, -0.38318295,  0.88017059,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015572439781091187
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69666153, -0.65121761, -0.30096235, -0.21986259, -0.20552074,
        0.95363602, -0.68287858,  0.73053189,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0933835 , -0.03013793,  0.11736038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09741979, -3.98844951,  0.93867964, -3.98844951,  4.10967029,
        0.05205238,  0.93867964,  0.05205238,  4.31859032,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.7819372825431685e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07696572, -0.07850568,  0.06199882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.84125684e-02, 2.72292193e-02, 1.67323090e-02, 6.68388582e-03,
  2.57919063e-04, 8.32374695e-04,-5.81821149e-06,-1.01836563e-04,
 -3.07957910e-05,-1.13663787e-03,-2.07190260e-04,-5.93315195e-05,
 -1.91999270e-05,-1.95705551e-05, 7.97046315e-06,-1.02700165e-04,
  1.23906644e-02, 3.02966600e-03,-1.23901167e+00,-5.91274554e-04,
  3.82927490e-03,-2.75993330e-04]


--- Step 1850 ---
qpos:
[ 0.0630656 , 0.37061257,-0.06284414,-0.00857786, 0.00498441, 0.38410024,
 -0.04816965,-0.00466349,-0.00368918, 0.50271119,-0.0133501 ,-0.01993215,
  1.38095864, 0.01886019, 1.3560045 , 0.0243788 , 0.05796377,-0.06484753,
  0.12916639, 0.96020968,-0.01124851,-0.26035916,-0.10041887]

qacc:
[-58.31743608,-18.25054978,-11.8000627 ,185.64258339,  5.55935225,
   9.43751483,-28.89945733,  4.16877102,  0.24791845,-10.2519073 ,
  21.63320835,-14.6791851 , -0.53528244,  0.73712443, -0.34492927,
   1.09304864, -1.58417033,  1.86812394,  0.50969868, 22.37462762,
 -41.33958477,  7.38309774]

qfrc_actuator:
[-0.06280158, 0.26364651, 0.04835173, 0.01093205,-0.00896121, 0.22608367,
  0.03031729, 0.00956541,-0.00095571, 0.19160216, 0.0030905 , 0.00042547,
  0.00040225,-0.00129247, 0.        ,-0.00091347, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.2781352 , -0.32881659, -0.2781352 ,  0.95218337,
       -0.44112826, -0.32881659, -0.44112826,  0.80380932,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014621116218966178
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.93486277e-01, -6.50143206e-01, -3.10468349e-01, -2.26498240e-01,
       -2.12342042e-01,  9.50583718e-01, -6.83941029e-01,  7.29537298e-01,
        2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0928519 , -0.03012941,  0.11743018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09922812, -3.3952437 , -2.29695264, -3.3952437 , 10.53363737,
       -9.51103084, -2.29695264, -9.51103084, 18.15797139,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.2741586717268305e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.97435256e-07, -5.97437984e-07,  1.00000000e+00, -3.56930515e-13,
        1.00000000e+00,  5.97437984e-07, -1.00000000e+00,  0.00000000e+00,
       -5.97435256e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07507736, -0.08776844,  0.06199866])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.53215258e-02, 2.79817601e-02, 1.66578152e-02, 6.13199744e-03,
  2.45546755e-04,-4.54445258e-04,-4.48096213e-04,-1.40903067e-04,
  1.75201944e-05,-9.66673620e-04,-2.20513243e-04,-4.51524650e-05,
 -2.42541565e-05, 2.39820483e-05,-1.10321369e-05, 2.43511355e-06,
  1.30859424e-02, 3.24807068e-03,-1.23960397e+00,-5.39241277e-04,
  3.96011880e-03,-3.80521491e-04]


--- Step 1851 ---
qpos:
[ 0.06281757, 0.37507055,-0.06226053,-0.00847589, 0.00480867, 0.38836134,
 -0.04764165,-0.00448699,-0.00367858, 0.50620766,-0.01339151,-0.01994136,
  1.38103433, 0.01886209, 1.35609998, 0.02437983, 0.05717365,-0.06489882,
  0.12896629, 0.95859491,-0.01052923,-0.26600056,-0.10113672]

qacc:
[-5.72435550e+01,-5.78918830e+00, 5.77249491e+00, 1.12179053e+02,
  4.79174401e+00, 1.74847689e+00,-1.74272961e+01, 9.70595051e-01,
  3.13608515e-02,-3.80457603e+00, 9.24714169e-01, 1.45518741e+01,
 -1.75996523e-01, 3.40404499e-01, 1.86638283e+00,-6.48214010e+00,
 -1.50709897e+00, 1.48710555e+00,-2.34308997e-02, 1.90025706e+01,
 -3.89625956e+01, 3.44547123e+00]

qfrc_actuator:
[-0.06255099, 0.26275278, 0.04778856, 0.0108042 ,-0.00878966, 0.22503717,
  0.02975212, 0.0094148 ,-0.00096813, 0.19161052, 0.00315343, 0.00047613,
  0.00042007,-0.00127275, 0.        ,-0.00094495, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.18958532, -0.38670007, -0.18958532,  1.87550357,
       -0.70834899, -0.38670007, -0.70834899,  0.77795173,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013700906811426176
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.6915132 , -0.6471024 , -0.32104201, -0.23441348, -0.21935883,
        0.94706495, -0.68327141,  0.73016449,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09230948, -0.03009948,  0.11748932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.10838482,  3.84127916, -1.45718915,  3.84127916,  7.26246924,
        8.3144448 , -1.45718915,  8.3144448 , 26.02599479,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.188646593047187e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.48491850e-13, -8.96983701e-13,  1.00000000e+00,  4.02289880e-25,
        1.00000000e+00,  8.96983701e-13, -1.00000000e+00,  0.00000000e+00,
        4.48491850e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07495263, -0.08825715,  0.06199806])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.31242776e-02, 2.78737842e-02, 1.57958465e-02, 5.50751317e-03,
  2.15221317e-04,-1.55034993e-03,-7.73133301e-04,-1.99017751e-04,
  1.80270177e-06,-6.90837925e-04,-2.01367081e-04,-6.18164283e-06,
  1.13428040e-05, 2.17808065e-05,-7.02045266e-06,-3.32519635e-05,
  1.37620150e-02, 3.19118907e-03,-1.24013442e+00,-5.50422389e-04,
  4.05193810e-03,-4.42584751e-04]


--- Step 1852 ---
qpos:
[ 0.06252881, 0.37954976,-0.0616569 ,-0.00836569, 0.00463635, 0.39260409,
 -0.04712067,-0.00431351,-0.00366749, 0.50969699,-0.0134324 ,-0.01995056,
  1.38111029, 0.0188637 , 1.35619552, 0.02437945, 0.05637784,-0.06494573,
  0.12876411, 0.95692596,-0.00978329,-0.27170648,-0.1018459 ]

qacc:
[-58.6981499 ,-10.6780722 , 44.28875584, 50.2882115 ,  4.5977685 ,
 -10.81815133, 16.11573217,-43.59325959,  0.45532458,-10.85240987,
  24.98405951,-20.42756653,  0.26795392, -0.39000207,  4.31380164,
 -15.02655327, -1.42198164,  1.0970826 , -0.5197734 , 16.9086591 ,
 -36.82649696, -2.47082598]

qfrc_actuator:
[-0.06224252, 0.26131442, 0.04722679, 0.01068158,-0.00861854, 0.22363415,
  0.02920603, 0.00921956,-0.00094432, 0.19124976, 0.00317265, 0.00047434,
  0.00042804,-0.00129734, 0.        ,-0.00101714, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.16170042, -0.39916477, -0.16170042,  1.69688633,
       -0.51293897, -0.39916477, -0.51293897,  0.63846335,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012816569194993388
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.87995128e-01, -6.46010535e-01, -3.30655548e-01, -2.41047993e-01,
       -2.26338147e-01,  9.43751508e-01, -6.84513381e-01,  7.29000296e-01,
        2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09178383, -0.03009383,  0.11756254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.1132534 ,  3.73869544, -1.71493729,  3.73869544,  6.51723552,
        5.24086627, -1.71493729,  5.24086627, 15.53874571,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.994070079972825e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.93688805e-13, -1.58737761e-12,  1.00000000e+00,  1.25988384e-24,
        1.00000000e+00,  1.58737761e-12, -1.00000000e+00,  0.00000000e+00,
        7.93688805e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07492636, -0.08828687,  0.0619978 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.08694677e-02, 2.57308682e-02, 1.44966983e-02, 4.94609502e-03,
  2.09701732e-04,-2.58849240e-03,-1.02216263e-03,-3.02915934e-04,
  3.38285465e-05,-8.99717300e-04,-1.84268204e-04,-4.53759739e-05,
  1.79600656e-05,-1.50121489e-05,-8.79587013e-06,-7.53777221e-05,
  1.44408210e-02, 3.16960915e-03,-1.24062313e+00,-5.54152455e-04,
  4.14407200e-03,-4.95646969e-04]


--- Step 1853 ---
qpos:
[ 0.06219675, 0.38405156,-0.06102959,-0.00824737, 0.00446771, 0.39682252,
 -0.04660724,-0.00414311,-0.00365573, 0.51317477,-0.0134704 ,-0.01995943,
  1.38118596, 0.01886608, 1.3562911 , 0.02437754, 0.05557678,-0.06498961,
  0.12855822, 0.9552012 ,-0.00901011,-0.27747259,-0.10255948]

qacc:
[-61.2117362 ,-19.284852  , 78.22987878,  7.10822736,  4.85186675,
 -17.34260604, 28.14292638,-51.30607693,  0.61921334,-22.66733403,
  57.31910627,-47.85600988, -0.82115918,  1.26213928,  4.83075283,
 -16.56073219, -1.31357857,  0.75485973, -0.92905401, 15.22920044,
 -34.97686299, -8.9429524 ]

qfrc_actuator:
[-0.06198849, 0.25937484, 0.04665402, 0.01054122,-0.00843125, 0.22208264,
  0.02869196, 0.00903484,-0.00091702, 0.19051173, 0.00325349, 0.00047694,
  0.00041942,-0.00124155, 0.        ,-0.00109497, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.10886174, -0.41668772, -0.10886174,  3.25697321,
       -0.73838491, -0.41668772, -0.73838491,  0.62358009,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011963714495392326
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.84287880e-01, -6.44952670e-01, -3.40273641e-01, -2.47621585e-01,
       -2.33387449e-01,  9.40326459e-01, -6.85881657e-01,  7.27713097e-01,
        2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09125787, -0.0300902 ,  0.11763933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.11254775,  3.7208773 , -1.75160529,  3.7208773 ,  6.50271269,
        5.07734851, -1.75160529,  5.07734851, 14.89819162,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.883276862361398e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.06464019e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.06464019e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07490514, -0.08831421,  0.06199783])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.85813416e-02, 2.25727421e-02, 1.28666854e-02, 4.38291578e-03,
  2.25173897e-04,-3.37231872e-03,-1.23845321e-03,-3.47429985e-04,
  4.60005880e-05,-1.39149801e-03,-1.64912860e-04,-5.00784329e-05,
 -4.10701315e-06, 5.54339651e-05,-1.39493987e-05,-8.35198728e-05,
  1.51277501e-02, 3.20450506e-03,-1.24108064e+00,-5.45423932e-04,
  4.23999997e-03,-5.43088156e-04]


--- Step 1854 ---
qpos:
[ 0.0618179 , 0.38857629,-0.0603799 ,-0.00812161, 0.00430261, 0.40101338,
 -0.04610183,-0.00397632,-0.00364399, 0.51663556,-0.01350451,-0.0199677 ,
  1.38126166, 0.01886861, 1.35638651, 0.02437535, 0.05477102,-0.06503175,
  0.12834731, 0.95341871,-0.00820774,-0.28329504,-0.10329238]

qacc:
[-6.49987849e+01,-1.65867885e+01, 7.19594031e+01, 4.01651809e+00,
  4.63000053e+00,-2.14457177e+01, 3.88984336e+01,-6.85567247e+01,
  6.16988646e-03,-3.21064791e+01, 7.93191583e+01,-6.25352041e+01,
 -7.40044472e-02, 1.72165189e-01, 5.63331762e-01,-2.32289177e+00,
 -1.17582985e+00, 4.38484990e-01,-1.25449661e+00, 1.38883200e+01,
 -3.33299511e+01,-1.64907571e+01]

qfrc_actuator:
[-0.06167729, 0.25735545, 0.04599197, 0.01040482,-0.00825362, 0.22057962,
  0.02823593, 0.00883992,-0.00094125, 0.18937708, 0.00333321, 0.00048186,
  0.00041687,-0.001245  , 0.        ,-0.00110447, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.07834675, -0.4234871 , -0.07834675,  2.37092549,
       -0.35895412, -0.4234871 , -0.35895412,  0.49708125,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011134694988533657
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.80403454e-01, -6.43910486e-01, -3.49900594e-01, -2.54138470e-01,
       -2.40507929e-01,  9.36786835e-01, -6.87360733e-01,  7.26316200e-01,
        2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09073096, -0.03008867,  0.11771975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.10743469,  3.7092356 , -1.76425365,  3.7092356 ,  6.33919684,
        4.69214368, -1.76425365,  4.69214368, 13.97238034,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.018688911123282e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.38346952e-12, -9.22313016e-13,  1.00000000e+00,  1.27599195e-24,
        1.00000000e+00,  9.22313016e-13, -1.00000000e+00,  0.00000000e+00,
        1.38346952e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07488809, -0.08833981,  0.0619981 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.61082045e-02, 1.92652703e-02, 1.09641110e-02, 3.83025440e-03,
  2.18765956e-04,-3.80746405e-03,-1.37002813e-03,-3.99450372e-04,
 -2.25322210e-06,-2.05877886e-03,-2.65234170e-04,-6.82195642e-05,
  7.41971051e-06, 1.32803510e-05,-1.80672052e-05,-1.64611280e-05,
  1.58256911e-02, 3.30366231e-03,-1.24151288e+00,-5.22367714e-04,
  4.34108699e-03,-5.85970885e-04]


--- Step 1855 ---
qpos:
[ 0.06139121, 0.39312657,-0.05971169,-0.00798941, 0.00414092, 0.40518186,
 -0.04560881,-0.00381339,-0.00363265, 0.52007825,-0.01353768,-0.01997527,
  1.38133739, 0.01887053, 1.35648184, 0.02437271, 0.05396125,-0.06507256,
  0.1281309 , 0.95157668,-0.00737889,-0.28917205,-0.1040524 ]

qacc:
[-65.27046801, -4.51817004, 38.22177906, 24.34627943,  4.35199999,
  -2.94456867,-16.14036883,-14.34911727, -0.32949629,-25.07848403,
  51.79447533,-27.97453499,  0.35348929, -0.72997986,  1.24338563,
  -4.62607035, -1.00014602,  0.32910971, -1.37316292, 11.3568736 ,
 -32.96731854,-19.97629463]

qfrc_actuator:
[-0.06131094, 0.2558824 , 0.04533918, 0.0102682 ,-0.00808313, 0.21988204,
  0.02776496, 0.00867619,-0.00097822, 0.18840508, 0.00333908, 0.0005055 ,
  0.00039131,-0.00130142, 0.        ,-0.00112689, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.0588473 , -0.42663396, -0.0588473 ,  2.11069463,
       -0.23173194, -0.42663396, -0.23173194,  0.46263705,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010322321877599752
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67634813, -0.64287359, -0.35953686, -0.26059805, -0.24770025,
        0.93313088, -0.68894257,  0.72481593,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09020301, -0.03008948,  0.11780378])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.10123093, -4.03724811, -0.72161126, -4.03724811,  4.21572698,
       -0.64057896, -0.72161126, -0.64057896,  7.68512206,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.759893767342094e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.83113342e-13,  1.74934003e-12,  1.00000000e+00, -1.02006351e-24,
        1.00000000e+00, -1.74934003e-12, -1.00000000e+00,  0.00000000e+00,
        5.83113342e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07464201, -0.08997096,  0.06199849])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.34029941e-02, 1.64874572e-02, 9.13532330e-03, 3.30970610e-03,
  2.10947173e-04,-3.27343640e-03,-1.49235258e-03,-3.92377355e-04,
 -2.85048768e-05,-2.29006389e-03,-4.89695070e-04,-8.18591383e-05,
 -1.95573717e-05,-5.03611981e-05,-1.13219067e-05,-2.59220991e-05,
  1.65381385e-02, 3.48031918e-03,-1.24192573e+00,-4.81937015e-04,
  4.44910873e-03,-6.25197672e-04]


--- Step 1856 ---
qpos:
[ 0.06091289, 0.39770323,-0.05902812,-0.00785171, 0.00398281, 0.40933319,
 -0.04512972,-0.00365413,-0.00362167, 0.52350352,-0.01357153,-0.01998226,
  1.3814127 , 0.01887283, 1.35657723, 0.02436879, 0.05314802,-0.06511293,
  0.12790797, 0.94967327,-0.00652134,-0.29510026,-0.10485218]

qacc:
[-69.22309566,  3.41613035, 15.42026095, 35.61427731,  4.48295759,
   8.66072006,-48.39200234, 20.01756091, -0.29221305,-19.94271697,
  35.23793164,-11.26895508, -0.67836331,  0.83663461,  4.01408362,
 -13.71690843, -0.86637092,  0.11238027, -1.63123046, 10.34058167,
 -31.59900386,-26.45483244]

qfrc_actuator:
[-0.06090951, 0.25476087, 0.04472238, 0.010165  ,-0.00790045, 0.21953152,
  0.02725709, 0.00853285,-0.0010047 , 0.18764509, 0.00333757, 0.00054005,
  0.00037857,-0.00126467, 0.        ,-0.00119226, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.42890762, -0.03862448, -0.42716495, -0.03862448,  1.98318073,
       -0.1405382 , -0.42716495, -0.1405382 ,  0.44161516,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009557836533880649
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.70882287e-01, -6.43699485e-01, -3.68195505e-01, -2.65680312e-01,
       -2.54915480e-01,  9.29748391e-01, -6.92337294e-01,  7.21574024e-01,
        2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08968843, -0.03011465,  0.11790299])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09527339,  3.46794336, -2.17821784,  3.46794336,  6.17646093,
        3.3134613 , -2.17821784,  3.3134613 ,  9.37063927,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.097134133909357e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.68850890e-12,  4.48084817e-13,  1.00000000e+00, -1.20468002e-24,
        1.00000000e+00, -4.48084817e-13, -1.00000000e+00,  0.00000000e+00,
        2.68850890e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07462878, -0.08999341,  0.06199901])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.06102529e-02, 1.39298307e-02, 7.53567894e-03, 2.87385546e-03,
  2.22470171e-04,-2.65156939e-03,-1.43331671e-03,-3.53113909e-04,
 -2.54862671e-05,-2.25356037e-03,-5.72735508e-04,-8.88459556e-05,
 -3.41454085e-05, 1.66142634e-05,-9.65063994e-06,-6.86220130e-05,
  1.72683085e-02, 3.69564170e-03,-1.24232533e+00,-4.32692445e-04,
  4.55904793e-03,-6.57556580e-04]


--- Step 1857 ---
qpos:
[ 0.06037864, 0.402304  ,-0.05833102,-0.00770902, 0.00382812, 0.41346619,
 -0.04466187,-0.00349807,-0.00361018, 0.52691355,-0.01360715,-0.01998912,
  1.38148798, 0.01887515, 1.3566723 , 0.02436612, 0.05233186,-0.06515348,
  0.12767763, 0.9477068 ,-0.00563344,-0.3010765 ,-0.10570257]

qacc:
[-7.36474708e+01, 4.48760010e+00, 9.41587784e+00, 3.72310622e+01,
  4.23507097e+00, 5.52308362e-01,-2.36209194e+01,-3.56114150e-01,
  4.51453729e-01,-1.49121637e+01, 2.34117815e+01,-7.16140467e+00,
  9.57401566e-02,-9.64489252e-02,-4.25354545e+00, 1.41503543e+01,
 -7.31886163e-01,-4.60929219e-02,-1.85468567e+00, 9.25859092e+00,
 -3.03519112e+01,-3.19662631e+01]

qfrc_actuator:
[-0.06042859, 0.2535374 , 0.04405189, 0.01004469,-0.00772975, 0.21875389,
  0.02675135, 0.00838533,-0.00097151, 0.18712538, 0.00333285, 0.00056323,
  0.00038954,-0.00126152, 0.        ,-0.00112264, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.41672933, -0.02127146, -0.41618609, -0.02127146,  1.81678472,
       -0.07155747, -0.41618609, -0.07155747,  0.42038666,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008740347147657195
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.64114683e-01, -6.46085040e-01, -3.76199163e-01, -2.69648051e-01,
       -2.62327541e-01,  9.26538823e-01, -6.97310273e-01,  7.16769407e-01,
       -2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08918623, -0.03016098,  0.11801366])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09133429,  3.46593529, -2.17400755,  3.46593529,  5.96991706,
        2.99495111, -2.17400755,  2.99495111,  8.86606781,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.671322513754577e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.73976839e-12,  4.30482629e-12,  1.00000000e+00, -2.47087059e-23,
        1.00000000e+00, -4.30482629e-12, -1.00000000e+00,  0.00000000e+00,
        5.73976839e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07461834, -0.09001569,  0.06199969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.75465793e-02, 1.12276645e-02, 6.03910638e-03, 2.46704937e-03,
  2.13580803e-04,-2.71612801e-03,-1.29368938e-03,-3.27752010e-04,
  3.49155024e-05,-2.00954190e-03,-5.78618842e-04,-1.01621041e-04,
 -2.18755417e-06, 7.37008914e-07,-1.48319575e-05, 6.39656842e-05,
  1.80142221e-02, 3.98160461e-03,-1.24270625e+00,-3.67742485e-04,
  4.67553964e-03,-6.86967513e-04]


--- Step 1858 ---
qpos:
[ 0.05971219, 0.40689819,-0.05764189,-0.00757744, 0.00367669, 0.41757743,
 -0.04420323,-0.00334523,-0.0035982 , 0.53030874,-0.01364401,-0.01999553,
  1.38156331, 0.01887725, 1.3567673 , 0.02436393, 0.0515137 ,-0.06521042,
  0.12740825, 0.94569203,-0.00474099,-0.3070427 ,-0.106625  ]

qacc:
[-1.71105369e+02,-9.02771628e+00, 6.68267422e+01,-2.41759824e+02,
  3.98628795e+00,-9.70268401e+00, 6.48243952e+00,-3.16121656e+01,
  4.34304245e-01,-1.52446252e+01, 2.40290548e+01,-3.41060581e+00,
  2.17846010e-01,-3.51220029e-01,-1.60966309e+00, 5.41063782e+00,
 -5.01308198e-01,-4.09799157e+00,-9.75793278e+00,-9.35392627e+00,
 -2.07086980e+00,-3.73503821e+01]

qfrc_actuator:
[-0.05991054, 0.25171191, 0.04332714, 0.00991245,-0.0075675 , 0.21760375,
  0.02626751, 0.00821857,-0.0009565 , 0.18654161, 0.00332758, 0.00059755,
  0.00038809,-0.00127833, 0.        ,-0.00109829, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.3965587 ,  0.20635743, -0.33863759,  0.20635743,  0.15343695,
       -0.14815243, -0.33863759, -0.14815243,  0.30627825,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007982881018177212
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.57503026e-01, -6.48490908e-01, -3.83600460e-01, -2.73111743e-01,
       -2.69368314e-01,  9.23499154e-01, -7.02210614e-01,  7.11969278e-01,
       -2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08867922, -0.03021128,  0.1181348 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.42302223e-02, 8.03770007e-03, 4.58078665e-03, 2.07437389e-03,
  2.04001464e-04,-3.09385009e-03,-1.26660509e-03,-3.44347980e-04,
  3.38893277e-05,-1.93820240e-03,-5.29694013e-04,-8.04288035e-05,
 -2.53404809e-06,-1.70487494e-05,-7.20607456e-07, 2.57779681e-05,
  1.87751442e-02, 4.33029273e-03,-1.24306680e+00,-2.89062192e-04,
  4.79762763e-03,-7.13151437e-04]


--- Step 1859 ---
qpos:
[ 0.05892249, 0.41145539,-0.05696965,-0.00745517, 0.00352867, 0.42166516,
 -0.04375355,-0.00319626,-0.00358639, 0.53368588,-0.01367934,-0.02000242,
  1.38163852, 0.01887921, 1.35686244, 0.02436071, 0.05069341,-0.06527954,
  0.12710043, 0.94363048,-0.0038398 ,-0.3129998 ,-0.10760062]

qacc:
[-1.56745075e+02,-2.06102870e+01, 4.22897957e+01,-1.49810582e+02,
  4.11073731e+00,-1.39362303e+01, 2.08909689e+01,-5.60554316e+01,
 -1.26705240e-01,-2.90816555e+01, 7.11059324e+01,-6.85887923e+01,
 -1.10857254e-01,-4.87262214e-04, 3.35891519e+00,-1.14197754e+01,
 -5.30998839e-01,-3.04438436e+00,-9.60822633e+00,-4.62992855e+00,
 -2.28752785e+00,-2.89612592e+01]

qfrc_actuator:
[-0.0592538 , 0.24933322, 0.04262142, 0.00976937,-0.00739379, 0.21643614,
  0.02581702, 0.00802381,-0.00098808, 0.18557002, 0.00337541, 0.00056718,
  0.00037385,-0.00128912, 0.        ,-0.00115412, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.35896036,  0.22857387, -0.27677883,  0.22857387,  0.16876163,
       -0.15707292, -0.27677883, -0.15707292,  0.22924391,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000693476209296213
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65091891, -0.65033348, -0.39162601, -0.27704597, -0.27679679,
        0.92012449, -0.70678858,  0.70742484,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08816993, -0.03026633,  0.11824724])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.69415865e-02, 5.83284308e-03, 4.21690358e-03, 2.47508948e-03,
  2.14059070e-04,-3.31656014e-03,-1.30806390e-03,-3.87819048e-04,
 -1.29651369e-05,-2.27442483e-03,-4.54882003e-04,-1.39917876e-04,
 -1.94302501e-05,-1.67518958e-05, 7.27975872e-07,-5.48897354e-05,
  1.91914380e-02, 4.72034034e-03,-1.24291884e+00,-2.10294598e-04,
  4.90325282e-03,-6.67796669e-04]


--- Step 1860 ---
qpos:
[ 0.05809039, 0.41598802,-0.05629644,-0.00732476, 0.00338389, 0.42572793,
 -0.04331288,-0.00305113,-0.00357434, 0.53704859,-0.01371561,-0.02001074,
  1.38171385, 0.0188803 , 1.35695739, 0.02435818, 0.0498693 ,-0.06534091,
  0.12679443, 0.94150159,-0.00291983,-0.31902314,-0.10858393]

qacc:
[-52.98116396,-18.27339382,-16.07788185,173.07209704,  3.85874362,
 -15.70925515, 24.35660394,-58.07795282,  0.22200806,-19.43302661,
  47.61806625,-60.20185802,  0.68633176, -1.2214262 , -2.47544307,
   8.03633174, -0.95551013,  1.93910461,  0.45131517, 11.09284592,
 -40.76392688,-10.32164834]

qfrc_actuator:
[-0.05846993, 0.24741901, 0.04199249, 0.00964021,-0.0072324 , 0.21521526,
  0.02537223, 0.00783193,-0.00097614, 0.18515601, 0.00343508, 0.0005165 ,
  0.00036793,-0.00134954, 0.        ,-0.00111469, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.30562418,  0.1872625 , -0.24153447,  0.1872625 ,  0.19432658,
       -0.08628941, -0.24153447, -0.08628941,  0.23872371,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005635889008840408
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.44765154e-01, -6.51195893e-01, -4.00277160e-01, -2.81630750e-01,
       -2.84439670e-01,  9.16394126e-01, -7.10606795e-01,  7.03589357e-01,
        2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08765756, -0.03032124,  0.11834909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09348271,  3.62157731, -1.90808242,  3.62157731,  5.86328371,
        3.35911651, -1.90808242,  3.35911651, 10.46915077,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.3788138016622717e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.66712873e-12, -2.91695546e-12,  1.00000000e+00,  1.36138066e-23,
        1.00000000e+00,  2.91695546e-12, -1.00000000e+00,  0.00000000e+00,
        4.66712873e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0745435 , -0.09009337,  0.06199923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.99771758e-02, 5.61558270e-03, 4.37702324e-03, 2.80093814e-03,
  2.04324065e-04,-3.50364348e-03,-1.35450803e-03,-3.96668783e-04,
  1.69287791e-05,-1.89120715e-03,-5.05090033e-04,-1.73153606e-04,
 -1.94200485e-05,-7.00463743e-05,-8.41211024e-06, 3.58780275e-05,
  1.96081661e-02, 5.02277714e-03,-1.24276004e+00,-1.52253660e-04,
  5.00440640e-03,-6.36971930e-04]


--- Step 1861 ---
qpos:
[ 0.05721776, 0.42050563,-0.05562285,-0.00718673, 0.00324163, 0.42976162,
 -0.04288018,-0.00290881,-0.00356206, 0.54040113,-0.01375445,-0.02001948,
  1.38178904, 0.01888092, 1.35705195, 0.02435881, 0.04904149,-0.06539511,
  0.12648701, 0.93930647,-0.00198874,-0.32510637,-0.10956844]

qacc:
[-49.82196541, -5.1018584 ,-42.62092415,184.83707584,  2.96673125,
 -21.91475964, 34.27389038,-48.88155698,  0.19838779, -7.09234631,
   7.61689218, -3.42224348,  0.45416919, -0.79767926,-10.20253449,
  34.67522626, -0.92501544,  1.79073397, -0.35209802,  8.19658185,
 -38.15569751, -6.01998848]

qfrc_actuator:
[-0.05762357, 0.24578588, 0.04132751, 0.00957668,-0.0071151 , 0.2136182 ,
  0.02491675, 0.0076788 ,-0.00097395, 0.18504466, 0.00345044, 0.00052578,
  0.00036166,-0.00136796, 0.        ,-0.00094842, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.25833699,  0.15803339, -0.20436107,  0.15803339,  0.14557678,
       -0.08719802, -0.20436107, -0.08719802,  0.19090635,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043972269735096655
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.63877758, -0.65168625, -0.40898439, -0.28628846, -0.29207388,
        0.91254138, -0.71414433,  0.69999849,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08714713, -0.03037493,  0.11845116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09914488, -4.00028525, -0.89482214, -4.00028525,  4.77088951,
       -3.00302153, -0.89482214, -3.00302153, 17.52409517,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.252759016330765e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.30529736e-12, -1.30529736e-12,  1.00000000e+00,  1.70380120e-24,
        1.00000000e+00,  1.30529736e-12, -1.00000000e+00,  0.00000000e+00,
        1.30529736e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07450944, -0.09012038,  0.06199862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.70124747e-02, 5.05660188e-03, 3.60724733e-03, 2.31967379e-03,
  1.58785975e-04,-3.99319673e-03,-1.40940579e-03,-3.67608343e-04,
  1.59074626e-05,-1.38537253e-03,-4.77357831e-04,-9.91197985e-05,
 -3.18127694e-05,-4.48223178e-05,-1.08946145e-06, 1.66911377e-04,
  2.04952576e-02, 5.15878762e-03,-1.24320501e+00,-1.18692442e-04,
  5.10632441e-03,-6.74170329e-04]


--- Step 1862 ---
qpos:
[ 5.63075565e-02, 4.25010200e-01,-5.49453677e-02,-7.04100249e-03,
  3.10186400e-03, 4.33760523e-01,-4.24542384e-02,-2.76826680e-03,
 -3.55063104e-03, 5.43740914e-01,-1.37927984e-02,-2.00277154e-02,
  1.38186401e+00, 1.88810503e-02, 1.35714663e+00, 2.43600612e-02,
  4.82101458e-02,-6.54424951e-02, 1.26175414e-01, 9.37046184e-01,
 -1.05359901e-03,-3.31243906e-01,-1.10547792e-01]

qacc:
[-45.44233111,-12.15225007,-14.02450028,150.42308727,  2.92103661,
 -30.69999076, 50.29985475,-44.79553867, -0.69686543,-17.19060853,
  34.66752855,-17.23891825,  0.15927951, -0.52407999, -1.76035185,
   6.35065628, -0.8836582 ,  1.70378939, -1.04491159,  5.65047305,
 -35.88250203, -1.86185718]

qfrc_actuator:
[-0.05672464, 0.24364705, 0.04058784, 0.00944326,-0.00698933, 0.21161427,
  0.02447516, 0.00756719,-0.00104869, 0.18440629, 0.00347674, 0.00055286,
  0.00034455,-0.00139673, 0.        ,-0.0009218 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.22942693,  0.13712233, -0.18394071,  0.13712233,  0.11421407,
       -0.08588776, -0.18394071, -0.08588776,  0.16540016,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003175694616274402
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.32947601e-01, -6.51707352e-01, -4.17917290e-01, -2.91165758e-01,
       -2.99795535e-01,  9.08485079e-01, -7.17356143e-01,  6.96706656e-01,
        2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08663852, -0.03042531,  0.11855237])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.10166482, -4.01870263, -0.82078224, -4.01870263,  4.53641639,
       -2.12862458, -0.82078224, -2.12862458, 14.52380697,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.858678035493669e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14251553e-12,  2.85628883e-13,  1.00000000e+00, -3.26335436e-25,
        1.00000000e+00, -2.85628883e-13, -1.00000000e+00,  0.00000000e+00,
        1.14251553e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07448182, -0.09014685,  0.06199842])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.40890003e-02, 3.51490050e-03, 2.79275762e-03, 1.79398393e-03,
  1.58144262e-04,-4.68259802e-03,-1.50186980e-03,-3.48293482e-04,
 -6.12336542e-05,-1.62008663e-03,-3.55761912e-04,-5.72209912e-05,
 -4.21252319e-05,-5.03880106e-05, 1.66496603e-05, 3.54474713e-05,
  2.13602686e-02, 5.24615754e-03,-1.24357616e+00,-9.66732794e-05,
  5.20044568e-03,-7.01551710e-04]


--- Step 1863 ---
qpos:
[ 5.53634237e-02, 4.29504845e-01,-5.42624574e-02,-6.88825837e-03,
  2.96466131e-03, 4.37720028e-01,-4.20350674e-02,-2.62973847e-03,
 -3.54025456e-03, 5.47063341e-01,-1.38283442e-02,-2.00355980e-02,
  1.38193894e+00, 1.88802843e-02, 1.35724161e+00, 2.43596373e-02,
  4.73754593e-02,-6.54832411e-02, 1.25857249e-01, 9.34721666e-01,
 -1.20846478e-04,-3.37430871e-01,-1.11515917e-01]

qacc:
[-40.38006672,-13.68919937,  0.35385887,119.41939579,  2.95685836,
 -37.21497432, 65.67817604,-60.78810998, -0.8508757 ,-30.04686067,
  72.37884495,-58.04251165,  0.33163206, -0.90232756,  5.49516187,
 -18.67977681, -0.83551354,  1.66002322, -1.64247167,  3.43995938,
 -33.93461654,  2.08027951]

qfrc_actuator:
[-0.05579865, 0.24165266, 0.03990622, 0.0092648 ,-0.00685946, 0.20941906,
  0.02404388, 0.00744508,-0.00111535, 0.18335186, 0.00354307, 0.00055433,
  0.00033692,-0.00144926, 0.        ,-0.00101323, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.21310188,  0.11976554, -0.17626295,  0.11976554,  0.08887867,
       -0.08440605, -0.17626295, -0.08440605,  0.15575043,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019644761038668
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.62733704, -0.65117572, -0.4271047 , -0.29632598, -0.30758631,
        0.90420218, -0.72016606,  0.69380173,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612987, -0.03047193,  0.11865208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09985704, -4.01807236, -0.81481428, -4.01807236,  4.45688543,
       -1.76060476, -0.81481428, -1.76060476, 12.78188128,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.432473688642524e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.26187036e-13,  1.87856111e-12,  1.00000000e+00, -1.17633061e-24,
        1.00000000e+00, -1.87856111e-12, -1.00000000e+00,  0.00000000e+00,
        6.26187036e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07445956, -0.09017307,  0.06199855])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12864057e-02, 2.02052873e-03, 1.86067547e-03, 1.21956937e-03,
  1.62349849e-04,-5.27613756e-03,-1.64411587e-03,-3.91043682e-04,
 -7.60749219e-05,-2.13991864e-03,-3.47600867e-04,-8.78096754e-05,
 -3.90159555e-05,-7.81733037e-05, 8.40451154e-06,-8.80408784e-05,
  2.22040837e-02, 5.28479315e-03,-1.24387952e+00,-8.59372814e-05,
  5.28701515e-03,-7.20051020e-04]


--- Step 1864 ---
qpos:
[ 5.43893344e-02, 4.33996320e-01,-5.35781178e-02,-6.73048242e-03,
  2.83004097e-03, 4.41654496e-01,-4.16319868e-02,-2.49479781e-03,
 -3.53042624e-03, 5.50371692e-01,-1.38647679e-02,-2.00436902e-02,
  1.38201335e+00, 1.88800360e-02, 1.35733640e+00, 2.43601496e-02,
  4.65376031e-02,-6.55174365e-02, 1.25530451e-01, 9.32333676e-01,
  8.03962593e-04,-3.43663257e-01,-1.12467042e-01]

qacc:
[-35.1164149 ,  2.2231681 ,-35.14626149,122.16740738,  2.89467495,
   4.43368886,-48.72000908, 30.83133401, -0.43882837,-16.57962443,
  33.01373313,-24.90155816, -0.63473451,  0.8468061 , -3.0608612 ,
  10.44921276, -0.79242602,  1.63761829, -2.1582128 ,  1.68454028,
 -32.38147963,  5.74339072]

qfrc_actuator:
[-0.0548628 , 0.24045715, 0.03925633, 0.00909242,-0.00672819, 0.20913366,
  0.02358601, 0.00733536,-0.00114111, 0.18289186, 0.00357765, 0.00055816,
  0.00033498,-0.00139117, 0.        ,-0.0009604 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.20532636,  0.10463449, -0.17666504,  0.10463449,  0.06724049,
       -0.08178496, -0.17666504, -0.08178496,  0.15688708,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.618149904659498e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.21968675e-01, -6.50016007e-01, -4.36616718e-01, -3.01853654e-01,
       -3.15465577e-01,  8.99647621e-01, -7.22522899e-01,  6.91346990e-01,
       -2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08561983, -0.03051437,  0.11874917])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09549455, -3.98473596, -0.94602059, -3.98473596,  4.52048483,
       -1.79010271, -0.94602059, -1.79010271, 11.63559118,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.174562981351353e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.74311701e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.74311701e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07444172, -0.0901992 ,  0.06199896])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.65691744e-03, 1.16894835e-03, 8.84151947e-04, 6.85598703e-04,
  1.64932285e-04,-3.72777143e-03,-1.81171307e-03,-4.09712768e-04,
 -3.99127616e-05,-1.83508771e-03,-4.86567692e-04,-1.07996814e-04,
 -3.88802022e-05, 2.47366878e-05,-9.00281682e-06, 4.83108563e-05,
  2.30281902e-02, 5.27577487e-03,-1.24412155e+00,-8.59889691e-05,
  5.36647748e-03,-7.30645421e-04]


--- Step 1865 ---
qpos:
[ 0.0533182 , 0.43848494,-0.0528915 ,-0.00656825, 0.00269828, 0.44557898,
 -0.04124663,-0.00236496,-0.00352041, 0.55367047,-0.0139035 ,-0.0200516 ,
  1.38208704, 0.01888091, 1.35743117, 0.02436094, 0.04569641,-0.06554376,
  0.12519551, 0.92988438, 0.00170294,-0.34993894,-0.11337939]

qacc:
[-112.03958372,  -0.81502116, -21.06796407,  96.24530301,   3.13687557,
   25.72840481, -89.42066015,  36.93070944,   0.15707833,  -5.80688561,
    1.58085404,  12.33389474,  -1.22142321,   1.78071868,  -0.71985977,
    2.82698099,  -0.83407583,   1.96805541,  -2.03615776,  -2.91723448,
  -32.15644633,  19.08603369]

qfrc_actuator:
[-0.05389368, 0.2390103 , 0.03857405, 0.00888735,-0.00657938, 0.20988902,
  0.02317746, 0.00718219,-0.00112467, 0.1828277 , 0.00361349, 0.00059933,
  0.00030985,-0.00132102, 0.        ,-0.00094722, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09337732, -4.09318995,  0.03916467, -4.09318995,  4.09434686,
        0.10132873,  0.03916467,  0.10132873, 14.68347547,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.329625187609541e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.08498164e-12,  4.76567231e-12,  1.00000000e+00, -9.93633924e-24,
        1.00000000e+00, -4.76567231e-12, -1.00000000e+00,  0.00000000e+00,
        2.08498164e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07340516, -0.09053154,  0.06199923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.19345207e-03,-2.71135064e-04, 7.51452059e-05, 2.18061884e-04,
  1.83997650e-04,-1.85536171e-03,-1.46336648e-03,-3.92888636e-04,
  1.30153940e-05,-1.29769953e-03,-4.39939410e-04,-6.27665393e-05,
 -3.81971254e-05, 6.90501852e-05,-1.14089877e-06, 1.42012040e-05,
  2.38361175e-02, 5.22130951e-03,-1.24431066e+00,-9.60879523e-05,
  5.43961118e-03,-7.34815090e-04]


--- Step 1866 ---
qpos:
[ 0.05224305, 0.44295517,-0.05220794,-0.00640673, 0.00256959, 0.44949066,
 -0.04086997,-0.00223776,-0.00350965, 0.55695842,-0.01394097,-0.02005917,
  1.3821606 , 0.01888164, 1.35752594, 0.02436154, 0.04485201,-0.06556278,
  0.12485062, 0.92737319, 0.002577  ,-0.35625597,-0.11425412]

qacc:
[-4.54292040e+00,-1.71376512e+01, 2.88743117e+01,-2.27745307e+01,
  3.36161913e+00, 1.92258952e+00,-2.03245574e+01,-1.89689896e+00,
  6.21340630e-01,-1.71637102e+01, 3.90107234e+01,-2.72837316e+01,
 -3.87746404e-02,-7.87488522e-02, 5.79414629e-01,-2.02021642e+00,
 -8.01159341e-01, 1.82561685e+00,-2.48620128e+00,-2.60854804e+00,
 -3.14316999e+01, 1.83764237e+01]

qfrc_actuator:
[-0.05282553, 0.23682779, 0.03790642, 0.00873225,-0.00642135, 0.20945303,
  0.02284208, 0.00707693,-0.00108341, 0.18239856, 0.00372289, 0.00062708,
  0.00029217,-0.00135096, 0.        ,-0.00095754, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09135653, -3.44971064, -2.19970333, -3.44971064,  6.75702937,
       -4.18047281, -2.19970333, -4.18047281, 10.6474322 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.920996476509014e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.79766006e-12, -5.59532012e-12,  1.00000000e+00,  1.56538036e-23,
        1.00000000e+00,  5.59532012e-12, -1.00000000e+00,  0.00000000e+00,
        2.79766006e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0733888 , -0.09055168,  0.06199967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.57946255e-04,-2.45785091e-03,-7.60076598e-04,-1.70166102e-04,
  1.98489907e-04,-1.92636396e-03,-9.59578899e-04,-2.52317408e-04,
  5.38362791e-05,-1.35006208e-03,-2.47896459e-04,-5.06372150e-05,
 -2.02490327e-05,-1.70019658e-05,-2.29566461e-06,-1.04065032e-05,
  2.46114371e-02, 5.01118530e-03,-1.24443822e+00,-1.40636673e-04,
  5.49236997e-03,-7.23485868e-04]


--- Step 1867 ---
qpos:
[ 0.05118298, 0.44740178,-0.05153411,-0.00624701, 0.00244354, 0.45338517,
 -0.04050022,-0.00211151,-0.0034985 , 0.56023593,-0.01397734,-0.02006652,
  1.38223442, 0.01888131, 1.35762062, 0.02436233, 0.04400843,-0.06558171,
  0.12446557, 0.92481743, 0.00345933,-0.36255401,-0.11513188]

qacc:
[ 1.68991294e+01,-7.75701476e+00,-1.00824530e+01, 1.19140651e+01,
  2.86332711e+00,-5.38792363e+00,-9.67887811e+00, 1.67279857e+01,
  3.18801185e-01,-1.64157716e+01, 3.75857397e+01,-2.78255547e+01,
  8.63926815e-01,-1.48844476e+00,-8.38087946e-01, 2.47816626e+00,
  2.04172072e-01, 2.31852777e-02,-1.00404753e+01, 2.26462575e+00,
  1.32889987e+00,-5.44897717e+00]

qfrc_actuator:
[-0.05178767, 0.23517918, 0.0372165 , 0.00859276,-0.00629466, 0.20845107,
  0.02244215, 0.00701773,-0.00108117, 0.18200408, 0.00382051, 0.00064656,
  0.00029489,-0.0014224 , 0.        ,-0.00094611, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 9.69316480e-04,-3.33834052e-03,-1.35223515e-03,-2.85251695e-04,
  1.70901355e-04,-2.42129527e-03,-9.71518437e-04,-1.89049905e-04,
  2.72458615e-05,-1.30398420e-03,-2.46259032e-04,-5.42418062e-05,
 -1.11083478e-05,-8.13436694e-05,-4.48919956e-06, 1.00414465e-05,
  2.53918110e-02, 4.80259905e-03,-1.24454366e+00,-1.83917203e-04,
  5.54636199e-03,-7.12654130e-04]


--- Step 1868 ---
qpos:
[ 0.05014204, 0.45182804,-0.05087475,-0.00609049, 0.00232001, 0.45725987,
 -0.04013762,-0.00198816,-0.00348716, 0.56350333,-0.01401358,-0.02007299,
  1.38230836, 0.01888011, 1.35771538, 0.02436224, 0.04316568,-0.06560054,
  0.12404037, 0.9222172 , 0.00434998,-0.36883275,-0.11601259]

qacc:
[ 2.11232067e+01, 6.83684308e+00,-5.00070753e+01, 3.28361418e+01,
  2.69677361e+00,-1.21292379e+01, 1.74738298e+01,-4.14956409e+01,
  1.63223949e-01,-1.18940380e+01, 1.93018772e+01, 3.18777106e+00,
  5.33902910e-01,-1.05948758e+00, 2.72920072e+00,-9.54681495e+00,
  2.07404613e-01, 2.34158378e-02,-1.00375993e+01, 2.28119200e+00,
  1.34452696e+00,-5.46869966e+00]

qfrc_actuator:
[-0.05074998, 0.23441384, 0.03657436, 0.00844626,-0.0061698 , 0.20736756,
  0.02204068, 0.00686127,-0.00108451, 0.18159881, 0.00385746, 0.00069656,
  0.00029918,-0.00146448, 0.        ,-0.00099294, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 1.23628246e-03,-3.07417175e-03,-1.56329359e-03,-3.52765253e-04,
  1.63192490e-04,-2.77847132e-03,-1.07420465e-03,-3.06612070e-04,
  1.35744232e-05,-1.28830953e-03,-2.97178422e-04,-2.17326796e-05,
 -1.98884950e-05,-7.01063308e-05,-2.23809397e-06,-4.71696664e-05,
  2.57836270e-02, 4.84594856e-03,-1.24418638e+00,-1.82363883e-04,
  5.63127326e-03,-7.01330934e-04]


--- Step 1869 ---
qpos:
[ 0.0491218 , 0.45623235,-0.05022838,-0.0059374 , 0.0021992 , 0.46111067,
 -0.03978046,-0.00186809,-0.00347598, 0.56676121,-0.0140502 ,-0.02008   ,
  1.38238207, 0.01887903, 1.35780996, 0.02436293, 0.04231853,-0.06560982,
  0.12361428, 0.91954535, 0.00519863,-0.37517888,-0.11683378]

qacc:
[ 22.51482029,  0.14583126,-28.21609118,  5.83995852,  2.89867069,
 -23.09434943, 50.38721473,-80.9827059 , -0.11546359,-12.64662746,
  29.16408461,-31.1004184 , -0.18395484,  0.21307261, -2.60721346,
   8.77145288, -1.0992206 ,  2.38864842, -0.22398524, -4.32359949,
 -46.59403841, 31.18453949]

qfrc_actuator:
[-0.04966921, 0.23338577, 0.03595177, 0.00827992,-0.00602923, 0.20603157,
  0.0217123 , 0.00668429,-0.00110892, 0.18124419, 0.0038763 , 0.00067536,
  0.00030441,-0.00143547, 0.        ,-0.00094947, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.10012021,  0.96571748, -3.98476793,  0.96571748, 30.19603527,
        6.3244038 , -3.98476793,  6.3244038 ,  5.63285371,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.497052092818782e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23438978e-12,  1.85158466e-12,  1.00000000e+00, -2.28557718e-24,
        1.00000000e+00, -1.85158466e-12, -1.00000000e+00,  0.00000000e+00,
        1.23438978e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07296861, -0.09233856,  0.06199849])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.34204323e-03,-3.23472727e-03,-1.51717261e-03,-3.69847082e-04,
  1.77510613e-04,-3.25590613e-03,-1.09121778e-03,-3.48208705e-04,
 -1.17027645e-05,-1.23751935e-03,-3.17037756e-04,-9.33612779e-05,
 -2.07511485e-05, 2.60330972e-06,-8.25633363e-06, 4.00993964e-05,
  2.61704796e-02, 4.88897075e-03,-1.24382352e+00,-1.80738265e-04,
  5.71525958e-03,-6.90286522e-04]


--- Step 1870 ---
qpos:
[ 0.04812176, 0.46060918,-0.049594  ,-0.00578672, 0.00208048, 0.46493278,
 -0.03942829,-0.00174962,-0.00346499, 0.57000943,-0.01408688,-0.02008873,
  1.38245557, 0.01887822, 1.35790464, 0.02436278, 0.04146735,-0.06561039,
  0.12318404, 0.91680185, 0.00600873,-0.38158708,-0.11759919]

qacc:
[ 21.68429692, -7.79768952,-14.80231662, 12.64627836,  2.20819281,
 -27.22564469, 48.86049755,-47.57611171, -0.14060347,-16.15034524,
  46.26851228,-68.65999976, -0.39770501,  0.51911262,  2.74626891,
  -9.28008803, -1.010021  ,  2.17939324, -1.03360489, -3.45083876,
 -44.08711772, 28.85705387]

qfrc_actuator:
[-0.04864283, 0.23176598, 0.03525645, 0.00813869,-0.00593371, 0.20437861,
  0.02137568, 0.0065853 ,-0.00112794, 0.18085239, 0.00390248, 0.00059476,
  0.00029958,-0.00141772, 0.        ,-0.00099513, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.11407507, -1.74792153, -3.72429644, -1.74792153, 12.85750865,
       -4.10354977, -3.72429644, -4.10354977,  6.03999131,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.120865710308344e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.89778108e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.89778108e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07292543, -0.09233801,  0.06199759])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31549306e-03,-3.90639847e-03,-1.61751818e-03,-3.50257243e-04,
  1.36115650e-04,-3.84405240e-03,-1.20119493e-03,-2.91980127e-04,
 -1.41938239e-05,-1.25296256e-03,-3.03962948e-04,-1.52626890e-04,
 -1.43232032e-05, 1.38925471e-05,-1.22136567e-06,-4.49155691e-05,
  2.71536384e-02, 4.53246556e-03,-1.24409486e+00,-2.49584433e-04,
  5.75147222e-03,-6.81854880e-04]


--- Step 1871 ---
qpos:
[ 0.04714118, 0.46495491,-0.04897175,-0.00563827, 0.00196355, 0.46872584,
 -0.03908278,-0.00163257,-0.00345367, 0.57324745,-0.01412315,-0.02009741,
  1.38252895, 0.01887738, 1.35799934, 0.02436174, 0.04061246,-0.06560295,
  0.1227469 , 0.91398648, 0.00678323,-0.38805283,-0.11831191]

qacc:
[ 20.61769721,-11.88465809, -7.8622903 , 11.37373832,  1.8719451 ,
 -22.69807228, 31.2210676 ,-23.82317665,  0.26801452,-14.47605959,
  31.82692536,-24.0284481 , -0.1659201 ,  0.1356814 ,  2.71940725,
  -9.42703088, -0.9249891 ,  2.00054057, -1.72981183, -2.66467373,
 -42.03178008, 26.891791  ]

qfrc_actuator:
[-0.04765685, 0.23007177, 0.0345927 , 0.00801287,-0.00584791, 0.20297586,
  0.02105359, 0.00651498,-0.00110813, 0.18042448, 0.00395064, 0.00060418,
  0.00028872,-0.00142464, 0.        ,-0.00103972, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.1215962 , -1.45723583, -3.85538831, -1.45723583, 11.43577416,
       -2.76456776, -3.85538831, -2.76456776,  5.16653043,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.188950953141871e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.38939331e-13,  6.77878663e-13,  1.00000000e+00, -2.29759741e-25,
        1.00000000e+00, -6.77878663e-13, -1.00000000e+00,  0.00000000e+00,
        3.38939331e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07289012, -0.09234353,  0.06199721])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.27296478e-03,-4.37495580e-03,-1.73580212e-03,-3.66593526e-04,
  1.16946205e-04,-3.94176924e-03,-1.31929487e-03,-2.91120330e-04,
  2.37865759e-05,-1.29704221e-03,-2.85451213e-04,-6.39437778e-05,
 -1.48864467e-05,-5.68632060e-06,-8.21994915e-06,-4.78407136e-05,
  2.81284128e-02, 4.19047523e-03,-1.24431908e+00,-3.14575614e-04,
  5.79177433e-03,-6.74693737e-04]


--- Step 1872 ---
qpos:
[ 0.04618023, 0.46926872,-0.04836198,-0.00549291, 0.00184851, 0.47249284,
 -0.03874586,-0.00151874,-0.00344202, 0.57647506,-0.01415937,-0.02010563,
  1.38260219, 0.01887651, 1.35809402, 0.02435983, 0.0397542 ,-0.06558812,
  0.12230043, 0.91109885, 0.00752468,-0.39457234,-0.11897448]

qacc:
[ 20.50846763,-13.60899125,  0.28210366,-10.07809769,  1.94381264,
 -17.01455766, 24.29786107,-47.08345431,  0.25733977,-12.98865182,
  24.45208709, -9.07373201, -0.16022347,  0.10776289,  2.63946544,
  -9.22645017, -0.84355834,  1.84707489, -2.32968447, -1.94899708,
 -40.36807055, 25.23721519]

qfrc_actuator:
[-0.04664921, 0.22854279, 0.03398833, 0.0078616 ,-0.00575073, 0.20196586,
  0.02072612, 0.00637357,-0.00110098, 0.17997931, 0.00397606, 0.00063102,
  0.00027958,-0.00142845, 0.        ,-0.00108328, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.12011945, -1.23229221, -3.93151882, -1.23229221, 10.10336694,
       -1.87538445, -3.93151882, -1.87538445,  4.7079385 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.990773290684344e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.47345302e-13,  2.08407181e-12,  1.00000000e+00, -7.23892553e-25,
        1.00000000e+00, -2.08407181e-12, -1.00000000e+00,  0.00000000e+00,
        3.47345302e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07286141, -0.09235403,  0.06199726])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.28876071e-03,-4.49538496e-03,-1.78775152e-03,-4.16415564e-04,
  1.24100911e-04,-3.62672688e-03,-1.35890385e-03,-3.70384202e-04,
  2.30437772e-05,-1.33081518e-03,-3.11792627e-04,-4.60130416e-05,
 -1.80907911e-05,-8.78957125e-06,-1.12384748e-05,-4.77593325e-05,
  2.90987105e-02, 3.86029374e-03,-1.24450077e+00,-3.76114586e-04,
  5.83539997e-03,-6.68904207e-04]


--- Step 1873 ---
qpos:
[ 0.04523822, 0.47355038,-0.0477647 ,-0.00535135, 0.00173574, 0.47623683,
 -0.03841806,-0.00140767,-0.00343042, 0.57969392,-0.01419637,-0.02011374,
  1.3826754 , 0.01887534, 1.35818858, 0.02435773, 0.03889287,-0.06556643,
  0.12184257, 0.90813844, 0.00823527,-0.4011424 ,-0.11958897]

qacc:
[ 1.95254751e+01,-1.54915189e+01, 9.58105630e+00,-3.18306215e+01,
  2.30208656e+00,-1.06122467e+01, 5.35576471e+00,-2.17022308e+01,
 -1.79071414e-02,-9.15846721e+00, 1.54128166e+01,-5.85160476e+00,
  1.54836077e-01,-3.49397551e-01, 3.77021066e-01,-1.63002398e+00,
 -7.65196858e-01, 1.71483300e+00,-2.84757401e+00,-1.29060823e+00,
 -3.90453617e+01, 2.38499974e+01]

qfrc_actuator:
[-0.04568977, 0.22705518, 0.03340705, 0.00767903,-0.00562979, 0.20116464,
  0.02040002, 0.00626287,-0.00111928, 0.1797411 , 0.00400576, 0.00065014,
  0.00027678,-0.00144812, 0.        ,-0.00109037, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.11184929, -1.06126427, -3.97253354, -1.06126427,  8.95187312,
       -1.29301472, -3.97253354, -1.29301472,  4.4572788 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.771792633128437e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.0987043e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        4.0987043e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07283818, -0.0923686 ,  0.06199767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24835020e-03,-4.53278332e-03,-1.79707685e-03,-4.55521070e-04,
  1.50008129e-04,-3.25218393e-03,-1.29962299e-03,-3.28994148e-04,
 -2.65584939e-06,-1.14689388e-03,-3.16944986e-04,-5.57113557e-05,
 -1.40383228e-05,-2.63255556e-05,-1.24893664e-05,-1.16441680e-05,
  3.00681018e-02, 3.53945276e-03,-1.24464395e+00,-4.34589642e-04,
  5.88170900e-03,-6.64578573e-04]


--- Step 1874 ---
qpos:
[ 4.43144246e-02, 4.77799116e-01,-4.71801896e-02,-5.21419969e-03,
  1.62579945e-03, 4.79956709e-01,-3.80977582e-02,-1.29929738e-03,
 -3.41915176e-03, 5.82906258e-01,-1.42348379e-02,-2.01219225e-02,
  1.38274860e+00, 1.88739141e-02, 1.35828289e+00, 2.43568764e-02,
  3.80287941e-02,-6.55383405e-02, 1.21371527e-01, 9.05104566e-01,
  8.91688830e-03,-4.07760346e-01,-1.20157043e-01]

qacc:
[ 18.55874336,-16.90004987, 15.71591311,-47.39954287,  2.83864282,
 -16.45258018, 23.8110651 ,-40.68279419, -0.26284927, -4.64847406,
   4.37648334,  1.51050398,  0.25061438, -0.42348799, -4.19021661,
  14.03087873, -0.68936571,  1.60031608, -3.29570303, -0.67848665,
 -38.02014058, 22.69305192]

qfrc_actuator:
[-0.04476641, 0.22548116, 0.03279135, 0.00746189,-0.00547798, 0.20005225,
  0.02006098, 0.00613593,-0.00115264, 0.17966509, 0.0040211 , 0.0006648 ,
  0.0002778 ,-0.00145927, 0.        ,-0.00102267, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.10114361, -0.93289489, -3.99363069, -0.93289489,  7.99010719,
       -0.9084451 , -3.99363069, -0.9084451 ,  4.31335247,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.739764506583172e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.17117952e-12, -1.17117952e-12,  1.00000000e+00,  1.37166147e-24,
        1.00000000e+00,  1.17117952e-12, -1.00000000e+00,  0.00000000e+00,
        1.17117952e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07281944, -0.09238646,  0.06199835])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20679930e-03,-4.64226041e-03,-1.84112215e-03,-4.92653404e-04,
  1.87650401e-04,-3.33881661e-03,-1.22605050e-03,-3.26244480e-04,
 -2.58874325e-05,-8.82861685e-04,-2.94131830e-04,-5.26401631e-05,
 -1.21930801e-05,-2.24368490e-05,-8.55291871e-06, 6.51156028e-05,
  3.10398773e-02, 3.22570278e-03,-1.24475213e+00,-4.90369093e-04,
  5.93016179e-03,-6.61804118e-04]


--- Step 1875 ---
qpos:
[ 4.34085302e-02, 4.82017985e-01,-4.66101408e-02,-5.07947212e-03,
  1.51828383e-03, 4.83650553e-01,-3.77842543e-02,-1.19324957e-03,
 -3.40797290e-03, 5.86111233e-01,-1.42738233e-02,-2.01313319e-02,
  1.38282151e+00, 1.88728450e-02, 1.35837730e+00, 2.43554827e-02,
  3.71622519e-02,-6.55042494e-02, 1.20885748e-01, 9.01996405e-01,
  9.57116074e-03,-4.14423957e-01,-1.20680000e-01]

qacc:
[ 17.98737771, -4.10159398,-32.49915415, 35.76790914,  2.4122108 ,
 -20.17408077, 31.83955148,-42.14334401, -0.05915664,-10.8179006 ,
  29.62205551,-44.58027662, -0.4902827 ,  0.65795988,  1.84727454,
  -6.10465173, -0.61550333,  1.50055725, -3.68456953, -0.10334023,
 -37.25450083, 21.73422087]

qfrc_actuator:
[-0.04385381, 0.22433047, 0.03219579, 0.00736816,-0.00536236, 0.1987457 ,
  0.01971616, 0.00601803,-0.0011592 , 0.17935036, 0.00401107, 0.00060589,
  0.00027045,-0.00142974, 0.        ,-0.00105346, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09285781, -0.83734661, -4.00628703, -0.83734661,  7.20693555,
       -0.6508676 , -4.00628703, -0.6508676 ,  4.22889444,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.070108290774808e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.68155784e-12,  2.01116838e-12,  1.00000000e+00, -5.39306435e-24,
        1.00000000e+00, -2.01116838e-12, -1.00000000e+00,  0.00000000e+00,
        2.68155784e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07280434, -0.09240693,  0.06199928])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18995250e-03,-4.28933748e-03,-1.84969347e-03,-3.76057807e-04,
  1.61118338e-04,-3.56501832e-03,-1.24012382e-03,-3.18231552e-04,
 -6.55649044e-06,-9.68678488e-04,-2.61902225e-04,-1.14009075e-04,
 -1.83964114e-05, 1.97307459e-05, 1.98101407e-06,-2.85674798e-05,
  3.20170863e-02, 2.91699871e-03,-1.24482830e+00,-5.43797396e-04,
  5.98030002e-03,-6.60666055e-04]


--- Step 1876 ---
qpos:
[ 4.25199909e-02, 4.86209829e-01,-4.60541422e-02,-4.94717391e-03,
  1.41275655e-03, 4.87318822e-01,-3.74780334e-02,-1.08859492e-03,
 -3.39705728e-03, 5.89307261e-01,-1.43122820e-02,-2.01410143e-02,
  1.38289422e+00, 1.88720985e-02, 1.35847190e+00, 2.43520591e-02,
  3.62967665e-02,-6.54701242e-02, 1.20359790e-01, 8.98838230e-01,
  1.02332922e-02,-4.21063438e-01,-1.21205181e-01]

qacc:
[ 1.72264853e+01,-1.51626947e+00,-3.62297935e+01, 3.66031075e+01,
  1.96021073e+00,-1.63000095e+01, 1.49649550e+01,-8.64488033e+00,
 -1.91589231e-01,-1.38568703e+01, 3.34047614e+01,-3.23984582e+01,
 -5.38078994e-01, 7.10684910e-01, 6.51154141e+00,-2.21869495e+01,
  2.64194766e-01, 8.53686552e-03,-1.00445142e+01, 1.86653960e+00,
  9.82914557e-01,-5.76561361e+00]

qfrc_actuator:
[-0.04297239, 0.22335513, 0.03163686, 0.00727723,-0.0052692 , 0.19761827,
  0.01940571, 0.00595953,-0.00118531, 0.1789136 , 0.0040387 , 0.0005928 ,
  0.00026343,-0.0014118 , 0.        ,-0.00115982, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 1.15874506e-03,-3.91205654e-03,-1.73661409e-03,-3.56046576e-04,
  1.32492993e-04,-3.51379189e-03,-1.25350235e-03,-2.68767677e-04,
 -1.99479482e-05,-1.13423074e-03,-2.39972584e-04,-7.19234003e-05,
 -1.15245486e-05, 2.00232088e-05,-5.13839162e-06,-1.08329680e-04,
  3.30025636e-02, 2.61148787e-03,-1.24487497e+00,-5.95192622e-04,
  6.03173192e-03,-6.61249596e-04]


--- Step 1877 ---
qpos:
[ 4.16483037e-02, 4.90372808e-01,-4.55102315e-02,-4.81813278e-03,
  1.30969061e-03, 4.90964926e-01,-3.71804283e-02,-9.85626613e-04,
 -3.38661683e-03, 5.92492564e-01,-1.43509358e-02,-2.01499239e-02,
  1.38296692e+00, 1.88713231e-02, 1.35856630e+00, 2.43487224e-02,
  3.54323520e-02,-6.54359645e-02, 1.19793670e-01, 8.95630222e-01,
  1.09033661e-02,-4.27678403e-01,-1.21732513e-01]

qacc:
[ 1.65338945e+01,-1.10980798e+01,-2.07476420e+00,-1.37037086e+01,
  2.39077875e+00,-8.69008035e+00,-4.40502135e+00, 5.29770525e+00,
 -3.50000173e-01,-1.20344892e+01, 1.90930048e+01, 2.45549503e+00,
  3.06121318e-02,-5.30853515e-02,-5.76880860e-01, 1.55872324e+00,
  2.67741072e-01, 8.62725384e-03,-1.00405737e+01, 1.88618723e+00,
  9.96951981e-01,-5.78369959e+00]

qfrc_actuator:
[-0.04211629, 0.22196154, 0.03105203, 0.00711796,-0.00513677, 0.1968568 ,
  0.01910132, 0.00590115,-0.00122294, 0.17831939, 0.00399934, 0.00062449,
  0.00026193,-0.00141869, 0.        ,-0.00115003, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 1.12971209e-03,-4.09389337e-03,-1.66942180e-03,-4.03821392e-04,
  1.64976006e-04,-3.11869640e-03,-1.23635937e-03,-2.65858496e-04,
 -3.59188154e-05,-1.37746407e-03,-3.36862853e-04,-3.26291696e-05,
 -3.10963203e-06,-2.93497248e-06,-1.71716988e-05, 2.48257862e-06,
  3.34303375e-02, 2.63979242e-03,-1.24438396e+00,-5.83526627e-04,
  6.11279714e-03,-6.50364266e-04]


--- Step 1878 ---
qpos:
[ 4.07935517e-02, 4.94504932e-01,-4.49778486e-02,-4.69232364e-03,
  1.20979598e-03, 4.94593184e-01,-3.68922836e-02,-8.85175924e-04,
 -3.37633435e-03, 5.95663189e-01,-1.43880886e-02,-2.01581044e-02,
  1.38303943e+00, 1.88707745e-02, 1.35866035e+00, 2.43475078e-02,
  3.45644592e-02,-6.53939520e-02, 1.19222090e-01, 8.92333510e-01,
  1.15309740e-02,-4.34369488e-01,-1.22192847e-01]

qacc:
[ 16.42393155,-15.22719377,  8.73738316,-23.53247709,  3.04001806,
  -2.34880513,-15.23598245, -0.06434462, -0.10407639,-22.08833804,
  47.54342112,-26.55610636, -0.07889847,  0.1715316 , -6.95150855,
  23.56323789, -0.86957623,  1.96319403, -1.36505963,  0.42652982,
 -55.2773287 , 34.09899141]

qfrc_actuator:
[-0.04124631, 0.22041839, 0.03047307, 0.00695498,-0.00496431, 0.19639274,
  0.01878706, 0.0058082 ,-0.00123166, 0.17742304, 0.00400906, 0.00064661,
  0.0002531 ,-0.00140474, 0.        ,-0.00103636, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.0934667 ,  0.15041357, -4.09070231,  0.15041357, 25.67315644,
        0.793477  , -4.09070231,  0.793477  ,  4.12264255,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.371406587994146e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.92606672e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.92606672e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07186817, -0.09218934,  0.06199915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13983606e-03,-4.33196823e-03,-1.69392809e-03,-4.13805110e-04,
  2.13750969e-04,-2.59565759e-03,-1.16200360e-03,-2.82780776e-04,
 -1.23783086e-05,-1.83342881e-03,-3.48433699e-04,-5.51785000e-05,
 -1.14962152e-05, 1.25288958e-05,-8.79205932e-06, 1.11343467e-04,
  3.38508081e-02, 2.66809031e-03,-1.24388644e+00,-5.71692585e-04,
  6.19265395e-03,-6.39844450e-04]


--- Step 1879 ---
qpos:
[ 3.99560378e-02, 4.98608376e-01,-4.44582107e-02,-4.56879710e-03,
  1.11279929e-03, 4.98203405e-01,-3.66116772e-02,-7.87936657e-04,
 -3.36635093e-03, 5.98816824e-01,-1.44234171e-02,-2.01657902e-02,
  1.38311176e+00, 1.88702122e-02, 1.35875456e+00, 2.43456308e-02,
  3.36936369e-02,-6.53447841e-02, 1.18642025e-01, 8.88948179e-01,
  1.21200541e-02,-4.41130189e-01,-1.22590356e-01]

qacc:
[ 16.52021288, -7.02484317,-20.36451472, 22.379576  ,  2.75519236,
  -9.38288943, 12.41842143,-42.67863842, -0.20641343,-26.53168947,
  59.93766403,-41.81991092, -0.20830374,  0.16371144,  2.28022171,
  -7.5578498 , -0.73237296,  1.78885864, -2.12121154,  1.21942166,
 -52.29973015, 31.3860505 ]

qfrc_actuator:
[-0.04035707, 0.21926063, 0.02993741, 0.00686206,-0.00482278, 0.1956501 ,
  0.01847116, 0.0056605 ,-0.00125866, 0.17649566, 0.00406435, 0.00066271,
  0.00023454,-0.00141404, 0.        ,-0.00107547, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09940836, -0.2304285 , -4.09292702, -0.2304285 ,  6.83652598,
       -0.15409752, -4.09292702, -0.15409752,  4.10808392,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.320125937719993e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44556076e-12, -1.28494289e-12,  1.00000000e+00,  1.85746302e-24,
        1.00000000e+00,  1.28494289e-12, -1.00000000e+00,  0.00000000e+00,
        1.44556076e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07181552, -0.09218526,  0.06199844])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16503651e-03,-4.08383852e-03,-1.70261050e-03,-3.54868373e-04,
  1.95952562e-04,-2.56622971e-03,-1.04665787e-03,-3.12801926e-04,
 -2.31063634e-05,-2.12214871e-03,-3.99050363e-04,-8.15223161e-05,
 -2.10699892e-05,-8.05063907e-06, 6.97065407e-06,-3.43307603e-05,
  3.51382825e-02, 2.19726083e-03,-1.24412118e+00,-6.51319468e-04,
  6.22872416e-03,-6.52054711e-04]


--- Step 1880 ---
qpos:
[ 3.91351222e-02, 5.02686135e-01,-4.39519754e-02,-4.44753719e-03,
  1.01756354e-03, 5.01792405e-01,-3.63368078e-02,-6.93444117e-04,
 -3.35685684e-03, 6.01952110e-01,-1.44571692e-02,-2.01731426e-02,
  1.38318389e+00, 1.88695914e-02, 1.35884892e+00, 2.43423067e-02,
  3.28204116e-02,-6.52890753e-02, 1.18050857e-01, 8.85474074e-01,
  1.26739726e-02,-4.47954927e-01,-1.22928506e-01]

qacc:
[ 15.72352104, -1.21320219,-35.41995523, 36.58004333,  1.66779257,
 -17.6488054 , 33.83872209,-56.62088937, -0.34565086,-27.96413681,
  63.12509859,-46.40680323, -0.26167272,  0.1878194 ,  4.628612  ,
 -15.80848806, -0.6007458 ,  1.63521077, -2.7756421 ,  1.92721021,
 -49.84012459, 29.08544741]

qfrc_actuator:
[-0.03951663, 0.21832651, 0.02939805, 0.00677602,-0.00475406, 0.19451687,
  0.01815616, 0.00551716,-0.00129642, 0.17555785, 0.00412832, 0.00067515,
  0.00022082,-0.00141939, 0.        ,-0.00115104, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.10131025, -0.33547487, -4.0875668 , -0.33547487,  5.94154722,
       -0.15103197, -4.0875668 , -0.15103197,  4.11370575,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.778107165166051e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.45222651e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.45222651e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07177215, -0.09218816,  0.06199826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12640644e-03,-3.71944259e-03,-1.65356274e-03,-3.36412264e-04,
  1.19077371e-04,-2.91696167e-03,-1.02616282e-03,-3.03699319e-04,
 -3.75742818e-05,-2.30491891e-03,-4.56950377e-04,-9.97764075e-05,
 -2.57971451e-05,-1.26493027e-05,-3.57675585e-06,-7.72489021e-05,
  3.64121003e-02, 1.74528179e-03,-1.24429087e+00,-7.25687176e-04,
  6.26818197e-03,-6.65781116e-04]


--- Step 1881 ---
qpos:
[ 3.83298663e-02, 5.06737231e-01,-4.34575479e-02,-4.32981187e-03,
  9.23934341e-04, 5.05357898e-01,-3.60676649e-02,-6.01263198e-04,
 -3.34752801e-03, 6.05068290e-01,-1.44893703e-02,-2.01796113e-02,
  1.38325572e+00, 1.88691600e-02, 1.35894321e+00, 2.43384350e-02,
  3.19452912e-02,-6.52273700e-02, 1.17446317e-01, 8.81910817e-01,
  1.31956114e-02,-4.54838918e-01,-1.23210164e-01]

qacc:
[ 14.67522711, -9.5413599 , -2.22717106,-20.42092381,  1.51100811,
 -19.79966683, 35.29037894,-48.88313799, -0.10421311,-27.76280318,
  58.63234714,-31.80006583, -0.39002153,  0.4489465 ,  1.59900588,
  -5.63752358, -0.47378499,  1.49914588, -3.34301093,  2.56857951,
 -47.82917925, 27.13680098]

qfrc_actuator:
[-3.87294537e-02, 2.17091231e-01, 2.88444807e-02, 6.60624676e-03,
 -4.67578678e-03, 1.93283935e-01, 1.78428966e-02, 5.39500185e-03,
 -1.30483330e-03, 1.74639695e-01, 4.21475567e-03, 7.20856507e-04,
  2.09993271e-04,-1.40455968e-03, 0.00000000e+00,-1.17642956e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.0982909 , -0.41623454, -4.0770991 , -0.41623454,  5.2439005 ,
       -0.11695627, -4.0770991 , -0.11695627,  4.11023107,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.026617513949726e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37860502e-12, -2.75721004e-12,  1.00000000e+00, -3.80110361e-24,
        1.00000000e+00,  2.75721004e-12, -1.00000000e+00,  0.00000000e+00,
       -1.37860502e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07173654, -0.0921968 ,  0.06199852])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06687783e-03,-3.80470590e-03,-1.58531231e-03,-4.02381381e-04,
  1.08852812e-04,-3.20719045e-03,-1.09364284e-03,-2.96571256e-04,
 -1.31953858e-05,-2.39948271e-03,-4.79765832e-04,-7.66497780e-05,
 -2.65917811e-05, 5.16497371e-06,-1.29111443e-05,-3.07421839e-05,
  3.76771258e-02, 1.30890553e-03,-1.24440070e+00,-7.95343322e-04,
  6.31027258e-03,-6.81115687e-04]


--- Step 1882 ---
qpos:
[ 3.75399968e-02, 5.10761504e-01,-4.29734585e-02,-4.21530485e-03,
  8.32201846e-04, 5.08904587e-01,-3.58069191e-02,-5.11495689e-04,
 -3.33803090e-03, 6.08173002e-01,-1.45245203e-02,-2.01866194e-02,
  1.38332732e+00, 1.88688880e-02, 1.35903737e+00, 2.43346026e-02,
  3.10687683e-02,-6.51601526e-02, 1.16826435e-01, 8.78257828e-01,
  1.36874415e-02,-4.61778064e-01,-1.23437681e-01]

qacc:
[ 14.26692586,-13.19649226,  9.17191211,-28.59554251,  1.75339551,
  -6.35840788, -3.20485674,-11.30287486,  0.12817223, -8.02421614,
   8.90152369, -5.09862159, -0.27377721,  0.3227026 , -0.2788345 ,
   0.7725616 , -0.35063126,  1.37800159, -3.83577955,  3.15855582,
 -46.20816963, 25.48936328]

qfrc_actuator:
[-3.79444441e-02, 2.15917298e-01, 2.83926616e-02, 6.45941131e-03,
 -4.57458410e-03, 1.92747574e-01, 1.75684707e-02, 5.30397681e-03,
 -1.29575978e-03, 1.74611303e-01, 4.26081685e-03, 7.32586941e-04,
  2.00930028e-04,-1.39560401e-03, 0.00000000e+00,-1.17203490e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09332597, -0.47995657, -4.06509031, -0.47995657,  4.69927238,
       -0.0715428 , -4.06509031, -0.0715428 ,  4.10177288,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.3052793379177428e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20400054e-12, -2.40800107e-12,  1.00000000e+00,  2.89923459e-24,
        1.00000000e+00,  2.40800107e-12, -1.00000000e+00,  0.00000000e+00,
        1.20400054e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07170735, -0.09221013,  0.06199914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05243932e-03,-3.77852143e-03,-1.49451156e-03,-3.81903669e-04,
  1.29299942e-04,-2.68548921e-03,-1.12242597e-03,-2.79993246e-04,
  1.23272265e-05,-1.56555999e-03,-5.41456364e-04,-1.14975869e-04,
 -2.11329562e-05, 4.70963836e-06,-1.14685695e-05, 5.71410343e-07,
  3.89378078e-02, 8.85173929e-04,-1.24445515e+00,-8.60809031e-04,
  6.35436462e-03,-6.98156261e-04]


--- Step 1883 ---
qpos:
[ 3.67653382e-02, 5.14758830e-01,-4.24984287e-02,-4.10301730e-03,
  7.42111838e-04, 5.12439268e-01,-3.55551440e-02,-4.24523596e-04,
 -3.32811936e-03, 6.11271028e-01,-1.45632139e-02,-2.01941377e-02,
  1.38339875e+00, 1.88689228e-02, 1.35913120e+00, 2.43328405e-02,
  3.01935310e-02,-6.50929591e-02, 1.16166382e-01, 8.74549668e-01,
  1.41870055e-02,-4.68687567e-01,-1.23667178e-01]

qacc:
[ 1.39578006e+01,-1.48666968e+01, 1.06832138e+01,-1.47864654e+01,
  1.49598489e+00, 3.41936577e+00,-2.34381372e+01,-1.73832915e+00,
  3.02269222e-01, 1.56319943e-02,-1.07208544e+01, 1.24681678e+01,
 -1.20240885e-01, 2.67340434e-01,-6.75122048e+00, 2.29316104e+01,
  3.21426157e-01,-5.95840789e-03,-1.00424618e+01, 1.48706353e+00,
  7.42694609e-01,-6.26326293e+00]

qfrc_actuator:
[-3.71667225e-02, 2.14737739e-01, 2.80051477e-02, 6.36294347e-03,
 -4.49606014e-03, 1.92775873e-01, 1.73578130e-02, 5.21490283e-03,
 -1.27646285e-03, 1.74726216e-01, 4.25102506e-03, 7.42752054e-04,
  2.03579030e-04,-1.37246484e-03, 0.00000000e+00,-1.06137296e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.04455148e-03,-3.74867656e-03,-1.41240247e-03,-3.26770540e-04,
  1.12512976e-04,-1.83341749e-03,-9.53510727e-04,-2.56292808e-04,
  3.12688901e-05,-9.69731694e-04,-4.33780908e-04,-8.36674836e-05,
 -6.76056296e-06, 1.99315198e-05,-7.12054526e-06, 1.08810308e-04,
  4.01982364e-02, 4.71400469e-04,-1.24445808e+00,-9.22572574e-04,
  6.39992419e-03,-7.17007527e-04]


--- Step 1884 ---
qpos:
[ 3.60056972e-02, 5.18726435e-01,-4.20316061e-02,-3.99264262e-03,
  6.53395283e-04, 5.15964219e-01,-3.53105992e-02,-3.38846198e-04,
 -3.31809655e-03, 6.14358934e-01,-1.46016691e-02,-2.02014182e-02,
  1.38347016e+00, 1.88689720e-02, 1.35922462e+00, 2.43350735e-02,
  2.93173315e-02,-6.50199679e-02, 1.15492834e-01, 8.70743329e-01,
  1.46529741e-02,-4.75664288e-01,-1.23833882e-01]

qacc:
[ 13.64265357,-20.26875416, 23.34104557,-21.48094328,  1.24005957,
   4.65865847,-29.82060134, 26.1560544 ,  0.08886248,-13.54881604,
  27.90608523,-16.74630153,  0.34021421, -0.35606373,-12.75323818,
  43.62272231, -0.24058399,  1.44942409, -3.37369777,  4.87755998,
 -54.03403749, 29.73663168]

qfrc_actuator:
[-3.63993525e-02, 2.13192851e-01, 2.75703106e-02, 6.26147944e-03,
 -4.43164789e-03, 1.92646623e-01, 1.71360907e-02, 5.18160475e-03,
 -1.28685061e-03, 1.74163555e-01, 4.24500088e-03, 7.52164486e-04,
  2.02606066e-04,-1.37653197e-03, 0.00000000e+00,-8.53492059e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09091391, -0.03504981, -4.09076375, -0.03504981, 19.92118179,
       -0.13563429, -4.09076375, -0.13563429,  4.09207602,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0291325189398792e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07163234, -0.09222954,  0.06199996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03524860e-03,-4.07681522e-03,-1.44105576e-03,-3.26476115e-04,
  9.44224839e-05,-1.47792939e-03,-7.66649914e-04,-1.57642734e-04,
  8.12325592e-06,-1.29011191e-03,-2.92436605e-04,-5.45348553e-05,
  4.97123018e-07, 5.74963739e-07, 7.39441292e-06, 2.12712542e-04,
  4.06484891e-02, 4.92833422e-04,-1.24382491e+00,-9.01220388e-04,
  6.47673631e-03,-7.06522137e-04]


--- Step 1885 ---
qpos:
[ 3.52611041e-02, 5.22661021e-01,-4.15732078e-02,-3.88407454e-03,
  5.66365708e-04, 5.19480343e-01,-3.50727974e-02,-2.54201642e-04,
 -3.30829626e-03, 6.17433455e-01,-1.46387738e-02,-2.02089845e-02,
  1.38354157e+00, 1.88687828e-02, 1.35931820e+00, 2.43384331e-02,
  2.84424781e-02,-6.49470135e-02, 1.14779135e-01, 8.66880817e-01,
  1.51267572e-02,-4.82609783e-01,-1.24002530e-01]

qacc:
[ 1.35342948e+01,-2.37940873e+01, 2.91434305e+01,-2.26822671e+01,
  1.51056384e+00, 5.02816333e+00,-3.05134208e+01, 2.99379068e+01,
 -1.48271029e-01,-2.20512323e+01, 5.41640893e+01,-5.14341257e+01,
  2.23758023e-01,-3.79727762e-01,-3.21023132e+00, 1.14937185e+01,
  3.36551310e-01,-9.22468627e-03,-1.00380940e+01, 1.41818071e+00,
  7.04968225e-01,-6.41140292e+00]

qfrc_actuator:
[-3.56263321e-02, 2.11406814e-01, 2.70920982e-02, 6.15759886e-03,
 -4.34058536e-03, 1.92407614e-01, 1.68740724e-02, 5.14588439e-03,
 -1.31491177e-03, 1.73360230e-01, 4.25662542e-03, 7.25076265e-04,
  1.94126644e-04,-1.39675318e-03, 0.00000000e+00,-8.03064305e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.04127624e-03,-4.50606696e-03,-1.55522387e-03,-3.43834641e-04,
  1.16513216e-04,-1.34550613e-03,-7.06825050e-04,-1.36394748e-04,
 -1.75115869e-05,-1.67900870e-03,-3.22390377e-04,-9.92684853e-05,
 -7.26551392e-06,-2.03111809e-05, 2.56984183e-05, 6.29028119e-05,
  4.20812090e-02, 5.00308966e-06,-1.24387555e+00,-9.74172009e-04,
  6.51654580e-03,-7.36845314e-04]


--- Step 1886 ---
qpos:
[ 3.45315269e-02, 5.26561976e-01,-4.11243817e-02,-3.77657172e-03,
  4.81327156e-04, 5.22985430e-01,-3.48396054e-02,-1.71351967e-04,
 -3.29850427e-03, 6.20490942e-01,-1.46734464e-02,-2.02165258e-02,
  1.38361281e+00, 1.88688476e-02, 1.35941218e+00, 2.43400608e-02,
  2.75671016e-02,-6.48676889e-02, 1.14054395e-01, 8.62910832e-01,
  1.55592764e-02,-4.89635819e-01,-1.24095003e-01]

qacc:
[ 1.33696206e+01,-1.98794525e+01, 1.08792144e+01, 1.07090798e+01,
  1.77453788e+00,-5.39978485e+00, 5.66304462e+00,-2.12380930e+01,
  1.03504048e-02,-2.92538208e+01, 7.15419467e+01,-6.24881040e+01,
 -4.64389003e-01, 5.98537649e-01, 5.90076458e+00,-1.96362689e+01,
 -1.30783884e-01, 1.59257374e+00,-2.76000355e+00, 6.30261199e+00,
 -6.28280889e+01, 3.69201302e+01]

qfrc_actuator:
[-3.48559587e-02, 2.09775317e-01, 2.66268662e-02, 6.10618513e-03,
 -4.23439556e-03, 1.91857203e-01, 1.66435392e-02, 5.05570880e-03,
 -1.31778245e-03, 1.72348812e-01, 4.31313706e-03, 7.12021339e-04,
  1.91793828e-04,-1.37316197e-03, 0.00000000e+00,-8.99095860e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.0925754 , -0.12729123, -4.09059536, -0.12729123, 18.84509587,
       -0.45906922, -4.09059536, -0.45906922,  4.10686073,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.914299400686964e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26866929e-12,  1.26866929e-12,  1.00000000e+00,  1.60952177e-24,
        1.00000000e+00, -1.26866929e-12, -1.00000000e+00,  0.00000000e+00,
       -1.26866929e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07100762, -0.0933263 ,  0.06199926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04307994e-03,-4.61447592e-03,-1.64503909e-03,-3.13940216e-04,
  1.37984209e-04,-1.56902135e-03,-6.39640959e-04,-1.82644845e-04,
 -1.24158800e-06,-2.11209772e-03,-3.62889729e-04,-1.03763634e-04,
 -9.84217301e-06, 1.52551380e-05, 1.57343626e-05,-8.99460627e-05,
  4.25285822e-02, 2.63531189e-05,-1.24320413e+00,-9.50479198e-04,
  6.59142902e-03,-7.26735644e-04]


--- Step 1887 ---
qpos:
[ 3.38163411e-02, 5.30428577e-01,-4.06850620e-02,-3.67060594e-03,
  3.97717625e-04, 5.26472893e-01,-3.46082608e-02,-8.93687951e-05,
 -3.28845334e-03, 6.23527726e-01,-1.47053479e-02,-2.02231274e-02,
  1.38368399e+00, 1.88687181e-02, 1.35950656e+00, 2.43378734e-02,
  2.66917603e-02,-6.47826547e-02, 1.13315968e-01, 8.58833824e-01,
  1.59544160e-02,-4.96734434e-01,-1.24116163e-01]

qacc:
[ 1.26902675e+01,-2.19869795e+01, 1.89995423e+01,-5.15445669e+00,
  1.27612015e+00,-1.98839320e+01, 4.07773328e+01,-3.98940643e+01,
  2.04095769e-01,-3.31660141e+01, 7.45992831e+01,-4.75733260e+01,
 -2.82264767e-01, 1.65467459e-01, 1.21844794e+01,-4.16772945e+01,
  8.78771837e-03, 1.42740732e+00,-3.42176225e+00, 6.66738112e+00,
 -5.92816153e+01, 3.38443004e+01]

qfrc_actuator:
[-3.41286660e-02, 2.08126094e-01, 2.61739398e-02, 6.03297494e-03,
 -4.17336614e-03, 1.90664123e-01, 1.64324608e-02, 4.98729313e-03,
 -1.30566403e-03, 1.71132775e-01, 4.37720635e-03, 7.42695219e-04,
  1.77187175e-04,-1.39469076e-03, 0.00000000e+00,-1.09834776e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09465974, -0.49078059, -4.06514118, -0.49078059,  4.36566888,
       -0.03271867, -4.06514118, -0.03271867,  4.09860983,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.871345810151471e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.83319973e-13, -1.57078991e-12,  1.00000000e+00, -7.59194139e-25,
        1.00000000e+00,  1.57078991e-12, -1.00000000e+00,  0.00000000e+00,
       -4.83319973e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07094318, -0.09332277,  0.06199887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00347867e-03,-4.70867699e-03,-1.66461335e-03,-3.42801825e-04,
  9.90089664e-05,-2.32415691e-03,-6.59430228e-04,-1.68985443e-04,
  1.92020238e-05,-2.56677411e-03,-4.49730314e-04,-8.00341165e-05,
 -1.60123922e-05,-1.89211423e-05,-6.47428016e-06,-2.03084286e-04,
  4.41530850e-02,-5.79227203e-04,-1.24329855e+00,-1.04440332e-03,
  6.62177312e-03,-7.68155304e-04]


--- Step 1888 ---
qpos:
[ 3.31151847e-02, 5.34258496e-01,-4.02539978e-02,-3.56699032e-03,
  3.15751351e-04, 5.29938091e-01,-3.43796906e-02,-7.97031203e-06,
 -3.27771106e-03, 6.26544173e-01,-1.47372489e-02,-2.02299589e-02,
  1.38375504e+00, 1.88683912e-02, 1.35960087e+00, 2.43336516e-02,
  2.58170258e-02,-6.46925099e-02, 1.12561547e-01, 8.54649901e-01,
  1.63155276e-02,-5.03898772e-01,-1.24070052e-01]

qacc:
[ 1.22583717e+01,-3.02101156e+01, 4.73038337e+01,-4.78455755e+01,
  1.45584258e+00,-2.28435525e+01, 4.12435899e+01,-3.05921982e+01,
  5.05597151e-01,-2.73507496e+01, 5.94966703e+01,-4.85386648e+01,
 -1.54972586e-01, 9.68856431e-03, 6.07270190e+00,-2.13580454e+01,
  1.51724603e-01, 1.27762365e+00,-3.99838793e+00, 7.02747038e+00,
 -5.63542348e+01, 3.12281551e+01]

qfrc_actuator:
[-3.34148509e-02, 2.06267380e-01, 2.57499125e-02, 5.91207946e-03,
 -4.08640946e-03, 1.89273969e-01, 1.61788792e-02, 4.93172299e-03,
 -1.26706345e-03, 1.70141750e-01, 4.37348800e-03, 7.27671061e-04,
  1.65864064e-04,-1.40743969e-03, 0.00000000e+00,-1.19698230e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09367961, -0.59057671, -4.0508557 , -0.59057671,  3.72602794,
        0.05360016, -4.0508557 ,  0.05360016,  4.08586521,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.46808388241343e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26515240e-12, -1.40572489e-13,  1.00000000e+00,  1.77845623e-25,
        1.00000000e+00,  1.40572489e-13, -1.00000000e+00,  0.00000000e+00,
        1.26515240e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07089011, -0.0933267 ,  0.06199902])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.81881979e-04,-4.97467878e-03,-1.65801875e-03,-3.95649992e-04,
  1.14160660e-04,-2.94618452e-03,-8.59582167e-04,-1.88851827e-04,
  5.26400447e-05,-2.61214970e-03,-6.21076251e-04,-1.47705670e-04,
 -2.44147262e-05,-2.19076607e-05,-2.84800402e-05,-1.11432659e-04,
  4.57502084e-02,-1.15949174e-03,-1.24330561e+00,-1.13139546e-03,
  6.65442334e-03,-8.10083678e-04]


--- Step 1889 ---
qpos:
[ 3.24280173e-02, 5.38052658e-01,-3.98324486e-02,-3.46582976e-03,
  2.35946631e-04, 5.33383825e-01,-3.41570357e-02, 7.08103449e-05,
 -3.26661961e-03, 6.29543113e-01,-1.47707421e-02,-2.02376270e-02,
  1.38382582e+00, 1.88685768e-02, 1.35969478e+00, 2.43302504e-02,
  2.49434801e-02,-6.45978007e-02, 1.11789122e-01, 8.50358865e-01,
  1.66455087e-02,-5.11122922e-01,-1.23960018e-01]

qacc:
[ 12.10557795,-25.69893169, 33.42541377,-34.43165669,  1.88404028,
 -14.57185554, 25.68657925,-47.23398424,  0.25713767,-20.40773712,
  42.7293133 ,-41.79996553, -0.41871487,  0.68095191, -3.03203064,
   9.86213753,  0.29718854,  1.14112412, -4.50113444,  7.3870158 ,
 -53.95724186, 29.00272687]

qfrc_actuator:
[-3.26967643e-02, 2.04636340e-01, 2.53280239e-02, 5.79950602e-03,
 -3.96692963e-03, 1.88522872e-01, 1.59547194e-02, 4.81291444e-03,
 -1.26636747e-03, 1.69524433e-01, 4.38401710e-03, 7.03774430e-04,
  1.72497188e-04,-1.36158197e-03, 0.00000000e+00,-1.14673783e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09133772, -0.66432796, -4.03704257, -0.66432796,  3.26535841,
        0.13592157, -4.03704257,  0.13592157,  4.06897073,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.710242979694972e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.50108352e-12, -7.50325055e-12,  1.00000000e+00, -1.87662563e-23,
        1.00000000e+00,  7.50325055e-12, -1.00000000e+00,  0.00000000e+00,
       -2.50108352e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07084648, -0.0933368 ,  0.06199961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.82789093e-04,-4.89515728e-03,-1.71126650e-03,-3.99408562e-04,
  1.51043023e-04,-2.69615546e-03,-9.83647369e-04,-2.85987788e-04,
  2.63902723e-05,-2.30129237e-03,-6.39389623e-04,-1.65719575e-04,
 -1.12375067e-05, 3.38730023e-05,-2.69000534e-05, 4.00795709e-05,
  4.73267321e-02,-1.71832061e-03,-1.24323183e+00,-1.21216327e-03,
  6.68874683e-03,-8.52869985e-04]


--- Step 1890 ---
qpos:
[ 3.17545356e-02, 5.41812241e-01,-3.94209801e-02,-3.36743435e-03,
  1.57448730e-04, 5.36814300e-01,-3.39408360e-02, 1.46205028e-04,
 -3.25558986e-03, 6.32524742e-01,-1.48043322e-02,-2.02447299e-02,
  1.38389674e+00, 1.88682846e-02, 1.35978843e+00, 2.43280969e-02,
  2.40714977e-02,-6.45031895e-02, 1.10976565e-01, 8.46006396e-01,
  1.69833763e-02,-5.18310108e-01,-1.23852232e-01]

qacc:
[ 1.17332595e+01,-2.32063319e+01, 2.81017637e+01,-3.44275106e+01,
  1.12770039e+00,-9.09484480e+00, 1.74605558e+01,-5.45209963e+01,
 -3.07844630e-02,-2.14405060e+01, 4.08772343e+01,-1.82393644e+01,
  5.20068172e-01,-8.00247590e-01,-4.23437649e+00, 1.40874889e+01,
  3.90812310e-01,-2.45169600e-02,-1.00332081e+01, 9.98966017e-01,
  4.86350605e-01,-7.08667099e+00]

qfrc_actuator:
[-3.19994387e-02, 2.03102395e-01, 2.48942273e-02, 5.67521814e-03,
 -3.91787467e-03, 1.88179068e-01, 1.57879687e-02, 4.67618247e-03,
 -1.28834858e-03, 1.68817097e-01, 4.44019246e-03, 7.46263588e-04,
  1.68617495e-04,-1.40545954e-03, 0.00000000e+00,-1.08021784e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 9.65127390e-04,-4.76329367e-03,-1.71288097e-03,-4.09521738e-04,
  9.14703766e-05,-2.17791231e-03,-8.92902569e-04,-2.99316333e-04,
 -5.41499101e-06,-2.22131632e-03,-5.32168389e-04,-8.69559633e-05,
 -2.03268685e-06,-3.55817935e-05,-8.85704102e-06, 6.51070077e-05,
  4.88887279e-02,-2.25924807e-03,-1.24308267e+00,-1.28737795e-03,
  6.72419516e-03,-8.96835327e-04]


--- Step 1891 ---
qpos:
[ 3.10944062e-02, 5.45537985e-01,-3.90189835e-02,-3.27229268e-03,
  8.01729004e-05, 5.40231131e-01,-3.37308643e-02, 2.18993875e-04,
 -3.24425458e-03, 6.35492191e-01,-1.48385168e-02,-2.02524425e-02,
  1.38396759e+00, 1.88673752e-02, 1.35988192e+00, 2.43274061e-02,
  2.32010941e-02,-6.44086765e-02, 1.10123900e-01, 8.41592818e-01,
  1.73292634e-02,-5.25459800e-01,-1.23746614e-01]

qacc:
[ 1.13458193e+01,-2.49305452e+01, 3.77345324e+01,-5.40384860e+01,
  1.04511837e+00,-5.99375063e+00, 6.20404192e+00,-3.13083412e+01,
  2.22860836e-01,-1.83344089e+01, 4.07539887e+01,-3.99355039e+01,
  4.43479084e-01,-8.58224591e-01,-4.72054494e+00, 1.60315834e+01,
  3.94715058e-01,-2.45358045e-02,-1.00265973e+01, 1.02746004e+00,
  5.01393169e-01,-7.09820798e+00]

qfrc_actuator:
[-3.13198621e-02, 2.01604327e-01, 2.44931630e-02, 5.52744108e-03,
 -3.85782663e-03, 1.87745919e-01, 1.55698062e-02, 4.56601700e-03,
 -1.27040687e-03, 1.68417609e-01, 4.52289705e-03, 7.38753832e-04,
  1.47751602e-04,-1.44913522e-03, 0.00000000e+00,-1.00468774e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 9.45128120e-04,-4.65302472e-03,-1.65290435e-03,-4.27503032e-04,
  8.58499031e-05,-1.95854137e-03,-8.26244532e-04,-2.47599842e-04,
  2.32734440e-05,-1.84254504e-03,-4.72964309e-04,-1.28242712e-04,
 -3.00677744e-05,-5.53131394e-05, 2.20405645e-06, 7.77942051e-05,
  4.93510813e-02,-2.23611112e-03,-1.24225905e+00,-1.25374038e-03,
  6.79540495e-03,-8.86708653e-04]


--- Step 1892 ---
qpos:
[ 3.04473099e-02, 5.49239976e-01,-3.86309586e-02,-3.18047955e-03,
  4.93305768e-06, 5.43634946e-01,-3.35270630e-02, 2.90351451e-04,
 -3.23263906e-03, 6.38451529e-01,-1.48754255e-02,-2.02609386e-02,
  1.38403825e+00, 1.88661729e-02, 1.35997535e+00, 2.43279560e-02,
  2.23337023e-02,-6.43091740e-02, 1.09257581e-01, 8.37051619e-01,
  1.76343444e-02,-5.32698555e-01,-1.23555117e-01]

qacc:
[ 10.95996224,  0.75510431,-34.23670603, 16.4969257 ,  1.72551763,
  -2.91252745, -8.539986  ,  3.21573582,  0.19703465, -4.71904669,
   4.5815042 , -7.82352984,  0.12835911, -0.36176309, -3.8651658 ,
  13.34236507,  0.75294377,  1.2473665 , -3.41370601, 12.00886831,
 -72.79047935, 39.7345765 ]

qfrc_actuator:
[-3.06560758e-02, 2.01188281e-01, 2.40796563e-02, 5.42042304e-03,
 -3.73836282e-03, 1.87263652e-01, 1.53231516e-02, 4.50787095e-03,
 -1.26435927e-03, 1.68508420e-01, 4.56879776e-03, 7.37698871e-04,
  1.43336610e-04,-1.45685392e-03, 0.00000000e+00,-9.42218393e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.0927973 , -0.27300673, -4.0836818 , -0.27300673, 15.22474209,
       -0.74420487, -4.0836818 , -0.74420487,  4.14254969,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.037728163557795e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36208431e-12, -2.72416862e-12,  1.00000000e+00, -3.71054734e-24,
        1.00000000e+00,  2.72416862e-12, -1.00000000e+00,  0.00000000e+00,
       -1.36208431e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07063437, -0.0933292 ,  0.06199914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.26271859e-04,-3.49634246e-03,-1.63525917e-03,-3.80183698e-04,
  1.43910589e-04,-1.86830184e-03,-7.99137552e-04,-1.82808897e-04,
  2.15729864e-05,-1.12936527e-03,-4.25467935e-04,-1.04282250e-04,
 -3.12525601e-05,-3.20997304e-05, 7.78262249e-06, 6.66585684e-05,
  4.97995447e-02,-2.21192475e-03,-1.24142736e+00,-1.21980944e-03,
  6.86476349e-03,-8.77145606e-04]


--- Step 1893 ---
qpos:
[ 2.98132071e-02, 5.52927264e-01,-3.82574023e-02,-3.09198370e-03,
 -6.80530367e-05, 5.47026631e-01,-3.33291611e-02, 3.60521803e-04,
 -3.22175044e-03, 6.41404672e-01,-1.49136605e-02,-2.02691552e-02,
  1.38410889e+00, 1.88647348e-02, 1.36006863e+00, 2.43305928e-02,
  2.14678717e-02,-6.42052476e-02, 1.08381289e-01, 8.32373284e-01,
  1.79056311e-02,-5.40030291e-01,-1.23293914e-01]

qacc:
[ 10.82323385, 14.09877928,-64.52673054, 41.15762269,  1.89457043,
  -1.99678917,-11.13658894,  8.95263977, -0.50014053, -3.90346843,
   0.86642753, 10.63142348,  0.29905664, -0.4664347 , -6.59852611,
  22.64042546,  0.39029692,  1.10596606, -2.49343222, 11.37614657,
 -76.91663526, 30.52320371]

qfrc_actuator:
[-2.99890327e-02, 2.01265125e-01, 2.36669728e-02, 5.32148409e-03,
 -3.62005755e-03, 1.86845507e-01, 1.50973405e-02, 4.46305168e-03,
 -1.33655560e-03, 1.68484700e-01, 4.61273612e-03, 7.76439664e-04,
  1.54131201e-04,-1.46082841e-03, 0.00000000e+00,-8.34690571e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.0967945 , -0.66443064,  4.04255576, -0.66443064, 22.91376245,
        3.09273904,  4.04255576,  3.09273904,  4.60511416,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.595990557598433e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.71847845e-13, -3.08739138e-12,  1.00000000e+00,  2.38299638e-24,
        1.00000000e+00,  3.08739138e-12, -1.00000000e+00,  0.00000000e+00,
        7.71847845e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06928819, -0.08658602,  0.06199846])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.27190304e-04,-2.34989106e-03,-1.39124700e-03,-3.20928280e-04,
  1.59927574e-04,-1.74464867e-03,-7.53800460e-04,-1.63363153e-04,
 -5.71456006e-05,-8.33804425e-04,-2.73279774e-04,-3.18002272e-05,
 -1.12202928e-05,-2.13483584e-05, 8.51893735e-06, 1.11681583e-04,
  5.17985056e-02,-2.94740351e-03,-1.24137917e+00,-1.32766375e-03,
  6.88457909e-03,-9.52532467e-04]


--- Step 1894 ---
qpos:
[ 2.91918061e-02, 5.56596303e-01,-3.78918478e-02,-3.00587947e-03,
 -1.39491281e-04, 5.50405381e-01,-3.31354762e-02, 4.29104909e-04,
 -3.21162615e-03, 6.44347687e-01,-1.49503814e-02,-2.02769896e-02,
  1.38417937e+00, 1.88634416e-02, 1.36016205e+00, 2.43334954e-02,
  2.06035772e-02,-6.40969604e-02, 1.07495624e-01, 8.27554559e-01,
  1.81415266e-02,-5.47452853e-01,-1.22962235e-01]

qacc:
[ 10.50579042, -6.69523815, -1.05037458,-14.10265052,  1.29530682,
  -8.57266622, 12.46444392,-23.68555615, -0.51710758,-16.8265431 ,
  38.96772906,-27.34304276, -0.19934028,  0.25704443, -0.57688061,
   2.37082211,  0.38403662,  1.09021664, -2.34301399, 11.15649491,
 -77.26189835, 31.04580622]

qfrc_actuator:
[-2.93429618e-02, 2.00395469e-01, 2.32963739e-02, 5.21096012e-03,
 -3.55673747e-03, 1.86292629e-01, 1.49217381e-02, 4.39105168e-03,
 -1.38379270e-03, 1.67843259e-01, 4.63743626e-03, 7.85050443e-04,
  1.52741099e-04,-1.44474378e-03, 0.00000000e+00,-8.25738654e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.11098951, -4.09310042, -0.38309742, -4.09310042,  4.43665605,
       -3.47949588, -0.38309742, -3.47949588, 41.28671947,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.631938635972418e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.23142198e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.23142198e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06794743, -0.08632156,  0.06199711])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.09586455e-04,-2.60160537e-03,-1.07987156e-03,-2.73723798e-04,
  1.10023929e-04,-1.79938244e-03,-6.71530851e-04,-1.83246638e-04,
 -6.03628660e-05,-1.25136103e-03,-2.10088325e-04,-4.25687514e-05,
 -1.11781508e-05, 6.60591205e-06, 1.43609852e-05, 1.58034477e-05,
  5.39799651e-02,-3.59225730e-03,-1.24132208e+00,-1.40648494e-03,
  6.91254387e-03,-1.02970498e-03]


--- Step 1895 ---
qpos:
[ 2.85825340e-02, 5.60239852e-01,-3.75313068e-02,-2.92050726e-03,
 -2.09802457e-04, 5.53768500e-01,-3.29445495e-02, 4.96052203e-04,
 -3.20141002e-03, 6.47279103e-01,-1.49863247e-02,-2.02845184e-02,
  1.38424965e+00, 1.88621395e-02, 1.36025569e+00, 2.43351623e-02,
  1.97418454e-02,-6.39849893e-02, 1.06597269e-01, 8.22596942e-01,
  1.83463781e-02,-5.54955366e-01,-1.22565179e-01]

qacc:
[ 9.96121093e+00,-2.11635960e+01, 2.96725376e+01,-1.56048023e+01,
  9.42554373e-01,-1.62992601e+01, 3.50575589e+01,-4.74855626e+01,
  7.19636160e-02,-1.68713495e+01, 3.66281597e+01,-2.40685152e+01,
 -2.75865204e-01, 2.33508095e-01, 4.10324720e+00,-1.38011443e+01,
  6.40677315e-01, 9.20972295e-01,-3.17262265e+00, 1.12260311e+01,
 -7.24192311e+01, 2.77354148e+01]

qfrc_actuator:
[-2.87321326e-02, 1.98772062e-01, 2.29148411e-02, 5.14714428e-03,
 -3.50885146e-03, 1.85451537e-01, 1.47591854e-02, 4.30361816e-03,
 -1.36246818e-03, 1.67210402e-01, 4.64828362e-03, 7.93121389e-04,
  1.33400763e-04,-1.45241529e-03, 0.00000000e+00,-8.92698550e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.12667202, -0.50043509, -4.09621614, -0.50043509,  2.51888968,
        0.19642291, -4.09621614,  0.19642291,  4.10267501,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.835397194074252e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.85351666e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.85351666e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06785776, -0.08630637,  0.06199608])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.71429443e-04,-3.42893892e-03,-1.10242551e-03,-2.26024081e-04,
  8.01450165e-05,-2.10140931e-03,-6.60080923e-04,-1.98511210e-04,
  6.82155487e-06,-1.46322298e-03,-3.02639530e-04,-5.89886358e-05,
 -2.29688651e-05,-8.23263602e-06, 5.32773279e-06,-6.49318524e-05,
  5.62154933e-02,-4.26707572e-03,-1.24119536e+00,-1.48910937e-03,
  6.93780060e-03,-1.10792374e-03]


--- Step 1896 ---
qpos:
[ 2.79851098e-02, 5.63850104e-01,-3.71748517e-02,-2.83576164e-03,
 -2.78995821e-04, 5.57114676e-01,-3.27577003e-02, 5.61556409e-04,
 -3.19163188e-03, 6.50199716e-01,-1.50220328e-02,-2.02917140e-02,
  1.38431965e+00, 1.88612370e-02, 1.36034927e+00, 2.43366945e-02,
  1.88836691e-02,-6.38699529e-02, 1.05683348e-01, 8.17501485e-01,
  1.85239644e-02,-5.62528262e-01,-1.22107085e-01]

qacc:
[  9.66054615,-33.82790042, 59.43392126,-39.31924551,  0.92683794,
 -13.95422252, 23.36494537,-29.37767597, -0.29090455,-14.24549449,
  28.67933744,-15.36449831, -0.468427  ,  0.66165219,  0.37017173,
  -1.29647763,  0.88885546,  0.76631377, -3.8912654 , 11.30049141,
 -68.30909635, 24.86895864]

qfrc_actuator:
[-2.81292036e-02, 1.96639935e-01, 2.25269606e-02, 5.07514511e-03,
 -3.45267163e-03, 1.84569655e-01, 1.45336802e-02, 4.22536061e-03,
 -1.40707292e-03, 1.66801250e-01, 4.70420809e-03, 8.18544706e-04,
  1.29928842e-04,-1.42098677e-03, 0.00000000e+00,-8.97294624e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.13011692, -0.5709677 , -4.09045984, -0.5709677 ,  2.25971682,
        0.26108019, -4.09045984,  0.26108019,  4.09367399,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.247678955567884e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.50338970e-14, -1.20054235e-12,  1.00000000e+00,  9.00813712e-26,
        1.00000000e+00,  1.20054235e-12, -1.00000000e+00,  0.00000000e+00,
        7.50338970e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.067784  , -0.08629983,  0.06199582])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.54006450e-04,-4.40180730e-03,-1.28036704e-03,-2.69417666e-04,
  7.96860051e-05,-2.30864264e-03,-7.84265569e-04,-2.02120406e-04,
 -3.49613155e-05,-1.37727682e-03,-3.13131406e-04,-5.42036857e-05,
 -1.66386697e-05, 2.37155999e-05,-7.84515427e-06,-8.22611843e-06,
  5.83922847e-02,-4.90644094e-03,-1.24094115e+00,-1.56261127e-03,
  6.96482356e-03,-1.18558071e-03]


--- Step 1897 ---
qpos:
[ 2.73990729e-02, 5.67420425e-01,-3.68222589e-02,-2.75252332e-03,
 -3.47256953e-04, 5.60441255e-01,-3.25748754e-02, 6.26163583e-04,
 -3.18230244e-03, 6.53106735e-01,-1.50555253e-02,-2.02980860e-02,
  1.38438964e+00, 1.88606056e-02, 1.36044282e+00, 2.43378085e-02,
  1.80300127e-02,-6.37524190e-02, 1.04751376e-01, 8.12268838e-01,
  1.86775815e-02,-5.70163098e-01,-1.21591635e-01]

qacc:
[  9.21826212,-45.01486594, 90.3295698 ,-80.96229314,  0.7713919 ,
 -16.48114174, 24.98497925,-19.68615612, -0.29246544,-22.45766191,
  50.53880579,-29.85467915, -0.20170912,  0.37341651,  1.25578716,
  -4.38222358,  1.12998686,  0.62439114, -4.5130066 , 11.38777187,
 -64.83975651, 22.38430275]

qfrc_actuator:
[-2.75533379e-02, 1.94238330e-01, 2.21718545e-02, 4.96291804e-03,
 -3.40970971e-03, 1.83493337e-01, 1.42905786e-02, 4.17082288e-03,
 -1.43748422e-03, 1.66050843e-01, 4.78741012e-03, 8.54229704e-04,
  1.41318084e-04,-1.40200839e-03, 0.00000000e+00,-9.18336933e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.1217875 , -0.62542575, -4.07406122, -0.62542575,  2.05739427,
        0.31691342, -4.07406122,  0.31691342,  4.07313683,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.214263999967164e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.75789714e-13, -1.35157943e-12,  1.00000000e+00,  9.13383476e-25,
        1.00000000e+00,  1.35157943e-12, -1.00000000e+00,  0.00000000e+00,
        6.75789714e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06772373, -0.08630056,  0.06199622])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.23449509e-04,-5.25256168e-03,-1.47148263e-03,-3.58231771e-04,
  6.64642549e-05,-2.64396029e-03,-8.59799112e-04,-1.91589297e-04,
 -3.59881104e-05,-1.67194784e-03,-2.69071239e-04,-4.05008912e-05,
  8.52357464e-06, 2.27815673e-05,-6.76120731e-06,-2.30104560e-05,
  6.05180414e-02,-5.51398480e-03,-1.24056727e+00,-1.62771663e-03,
  6.99305225e-03,-1.26304700e-03]


--- Step 1898 ---
qpos:
[ 2.68239993e-02, 5.70946872e-01,-3.64744657e-02,-2.67084013e-03,
 -4.14263223e-04, 5.63743489e-01,-3.23937981e-02, 6.89938655e-04,
 -3.17264487e-03, 6.55995979e-01,-1.50860046e-02,-2.03035946e-02,
  1.38445950e+00, 1.88598587e-02, 1.36053616e+00, 2.43399900e-02,
  1.71818179e-02,-6.36329109e-02, 1.03799204e-01, 8.06899286e-01,
  1.88101147e-02,-5.77852414e-01,-1.21021935e-01]

qacc:
[ 8.80896684e+00,-4.77010825e+01, 9.25522802e+01,-7.96187060e+01,
  1.03510100e+00,-2.89663289e+01, 6.01334004e+01,-5.38831279e+01,
  2.37361226e-01,-3.01289998e+01, 6.97085149e+01,-4.65429869e+01,
  6.83011891e-02,-1.75995724e-01,-3.56377709e+00, 1.19743923e+01,
  1.36539103e+00, 4.93539495e-01,-5.04997449e+00, 1.14937185e+01,
 -6.19332127e+01, 2.02289937e+01]

qfrc_actuator:
[-2.69979886e-02, 1.91819261e-01, 2.18378236e-02, 4.86319086e-03,
 -3.33943480e-03, 1.82079004e-01, 1.41272602e-02, 4.11279560e-03,
 -1.40593567e-03, 1.64943021e-01, 4.84939899e-03, 8.77695265e-04,
  1.13677832e-04,-1.42603675e-03, 0.00000000e+00,-8.60146484e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.10751716, -0.6678573 , -4.05285872, -0.6678573 ,  1.90119586,
        0.36357245, -4.05285872,  0.36357245,  4.04760525,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.033633576573577e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.60014273e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.60014273e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06767479, -0.08630735,  0.06199717])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.95397098e-04,-5.78748200e-03,-1.65220398e-03,-3.90412951e-04,
  8.98644640e-05,-3.18375475e-03,-8.57899163e-04,-2.11791258e-04,
  2.54344052e-05,-2.18390350e-03,-3.45085767e-04,-6.35188967e-05,
 -1.87413098e-05,-1.47405314e-05,-7.51772665e-06, 5.56119342e-05,
  6.25999406e-02,-6.09314761e-03,-1.24008055e+00,-1.68513668e-03,
  7.02198895e-03,-1.34069738e-03]


--- Step 1899 ---
qpos:
[ 2.62602637e-02, 5.74428156e-01,-3.61332422e-02,-2.59083922e-03,
 -4.79701803e-04, 5.67017759e-01,-3.22143440e-02, 7.53543833e-04,
 -3.16281111e-03, 6.58866190e-01,-1.51148942e-02,-2.03082665e-02,
  1.38452909e+00, 1.88589619e-02, 1.36062981e+00, 2.43398205e-02,
  1.63400084e-02,-6.35119139e-02, 1.02824980e-01, 8.01392784e-01,
  1.89240991e-02,-5.85589601e-01,-1.20400593e-01]

qacc:
[  9.03756585,-44.7301906 , 80.01823071,-65.49546177,  1.28256188,
 -32.725363  , 63.80881766,-43.64292371,  0.13316403,-27.87089162,
  59.35611378,-33.45399786, -0.3497185 ,  0.20787399,  7.62571868,
 -25.90738197,  1.5963495 ,  0.372229  , -5.51278486, 11.62250256,
 -59.52150241, 18.3577984 ]

qfrc_actuator:
[-2.64058225e-02, 1.89516144e-01, 2.14834150e-02, 4.77161434e-03,
 -3.25346764e-03, 1.80509955e-01, 1.39756394e-02, 4.08847372e-03,
 -1.40881907e-03, 1.63932163e-01, 4.89697613e-03, 9.11212679e-04,
  8.92599270e-05,-1.44008570e-03, 0.00000000e+00,-9.86518975e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09490366, -0.70198283, -4.03428508, -0.70198283,  1.78291293,
        0.40229626, -4.03428508,  0.40229626,  4.02490239,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.963162311621359e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06763528, -0.08631917,  0.06199858])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.25453396e-04,-6.00769183e-03,-1.80586000e-03,-4.11943308e-04,
  1.12730994e-04,-3.63979344e-03,-9.57819370e-04,-2.01472810e-04,
  1.33611129e-05,-2.38922582e-03,-4.75207468e-04,-7.84365638e-05,
 -3.68334970e-05,-2.29481846e-05, 1.10413072e-06,-1.24614780e-04,
  6.46446595e-02,-6.64715043e-03,-1.23948686e+00,-1.73555310e-03,
  7.05118755e-03,-1.41890880e-03]


--- Step 1900 ---
qpos:
[ 2.57079676e-02, 5.77882291e-01,-3.58081946e-02,-2.51368096e-03,
 -5.43850531e-04, 5.70267356e-01,-3.20400590e-02, 8.15363811e-04,
 -3.15289587e-03, 6.61721704e-01,-1.51457810e-02,-2.03132572e-02,
  1.38459847e+00, 1.88580915e-02, 1.36072371e+00, 2.43361378e-02,
  1.55003334e-02,-6.33911517e-02, 1.01810745e-01, 7.95811583e-01,
  1.90474739e-02,-5.93273294e-01,-1.19782793e-01]

qacc:
[  9.01861273,  3.42668807,-52.32085179, 49.01027511,  1.04280034,
 -21.81615507, 38.02305361,-42.53708156,  0.06183514,-14.49523114,
  24.8545973 ,-16.38798435, -0.49651548,  0.48489746, 11.0739918 ,
 -38.05311379,  0.53359839, -0.05871157,-10.00297336,  0.21214574,
   0.09539847, -9.17189997]

qfrc_actuator:
[-2.58140786e-02, 1.89378495e-01, 2.11204696e-02, 4.72118271e-03,
 -3.19440516e-03, 1.79518280e-01, 1.37961066e-02, 4.01303520e-03,
 -1.41458834e-03, 1.63502679e-01, 4.90061916e-03, 9.14937282e-04,
  8.80959122e-05,-1.43031383e-03, 0.00000000e+00,-1.16737986e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 8.36357846e-04,-3.99634096e-03,-1.87895799e-03,-3.85852877e-04,
  9.29626734e-05,-3.33651588e-03,-1.09150597e-03,-2.75313462e-04,
  5.96951184e-06,-1.94946274e-03,-5.77874076e-04,-1.21774932e-04,
 -2.46437667e-05,-5.61872285e-06,-1.66476311e-05,-1.88396745e-04,
  6.66583673e-02,-7.17896749e-03,-1.23879110e+00,-1.77960646e-03,
  7.08024587e-03,-1.49805790e-03]


--- Step 1901 ---
qpos:
[ 2.51661175e-02, 5.81328555e-01,-3.55011110e-02,-2.44062711e-03,
 -6.06778213e-04, 5.73497459e-01,-3.18723203e-02, 8.74739516e-04,
 -3.14295539e-03, 6.64565036e-01,-1.51795396e-02,-2.03192275e-02,
  1.38466748e+00, 1.88575793e-02, 1.36081720e+00, 2.43329812e-02,
  1.46628085e-02,-6.32706240e-02, 1.00756539e-01, 7.90156222e-01,
  1.91804427e-02,-6.00902770e-01,-1.19168439e-01]

qacc:
[ 8.15514421e+00, 3.12507139e+01,-1.09273584e+02, 7.28785931e+01,
  9.74056429e-01,-1.24936767e+01, 1.74872693e+01,-3.49957591e+01,
  2.13340494e-02,-1.00909941e+01, 1.67548583e+01,-2.01619676e+01,
 -4.29286448e-01, 5.73227275e-01,-2.15508987e+00, 6.77001347e+00,
  5.37544104e-01,-5.86133581e-02,-9.99271127e+00, 2.54236969e-01,
  1.16453358e-01,-9.17534240e+00]

qfrc_actuator:
[-2.52982355e-02, 1.90540177e-01, 2.08178941e-02, 4.64401339e-03,
 -3.13408209e-03, 1.79005193e-01, 1.36395269e-02, 3.92636258e-03,
 -1.42206487e-03, 1.63141253e-01, 4.84534746e-03, 8.83854326e-04,
  7.42595864e-05,-1.40636574e-03, 0.00000000e+00,-1.13029437e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 7.66945506e-04,-1.58509292e-03,-1.41075706e-03,-3.28351707e-04,
  8.84210299e-05,-2.71807609e-03,-1.02456072e-03,-2.79543716e-04,
  1.57221389e-06,-1.65792541e-03,-5.59885673e-04,-1.42103743e-04,
 -2.81432550e-05, 1.70742085e-05,-3.11851330e-05, 2.38908508e-05,
  6.71112064e-02,-7.12740211e-03,-1.23751649e+00,-1.72146557e-03,
  7.14098108e-03,-1.48889567e-03]


--- Step 1902 ---
qpos:
[ 2.46339973e-02, 5.84767750e-01,-3.52038761e-02,-2.37095918e-03,
 -6.68743110e-04, 5.76711642e-01,-3.17107507e-02, 9.32326228e-04,
 -3.13302326e-03, 6.67397775e-01,-1.52148429e-02,-2.03259291e-02,
  1.38473623e+00, 1.88573472e-02, 1.36091055e+00, 2.43299049e-02,
  1.38274488e-02,-6.31503303e-02, 9.96624031e-02, 7.84427249e-01,
  1.93232066e-02,-6.08477312e-01,-1.18557435e-01]

qacc:
[ 7.55238987e+00, 1.11635725e+01,-3.91099964e+01, 1.52046469e+00,
  7.61700394e-01,-7.48153556e+00, 3.70028414e+00,-1.30925118e+01,
 -5.27497308e-04,-1.11883924e+01, 2.26669985e+01,-2.50685353e+01,
 -3.71843444e-01, 4.88010791e-01,-4.16283649e-01, 1.24568133e+00,
  5.41292534e-01,-5.84924115e-02,-9.98236885e+00, 2.96336308e-01,
  1.37539086e-01,-9.17930921e+00]

qfrc_actuator:
[-2.48137624e-02, 1.90609014e-01, 2.05065411e-02, 4.51769500e-03,
 -3.09120243e-03, 1.78606422e-01, 1.34824115e-02, 3.86982793e-03,
 -1.43054214e-03, 1.62859532e-01, 4.86291630e-03, 8.68180368e-04,
  6.34926603e-05,-1.39200692e-03, 0.00000000e+00,-1.12484871e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 7.16869356e-04,-1.22988040e-03,-8.61478518e-04,-2.56806370e-04,
  6.99139346e-05,-2.24342413e-03,-8.88919266e-04,-2.20606727e-04,
 -1.05250153e-06,-1.41179406e-03,-4.25116602e-04,-1.13942689e-04,
 -2.09910509e-05, 1.35803658e-05,-1.26668258e-05, 2.57706061e-06,
  6.75397305e-02,-7.07305923e-03,-1.23623282e+00,-1.66298623e-03,
  7.19910433e-03,-1.48054416e-03]


--- Step 1903 ---
qpos:
[ 2.41113244e-02, 5.88200757e-01,-3.49148996e-02,-2.30234759e-03,
 -7.29970640e-04, 5.79913594e-01,-3.15557851e-02, 9.87852753e-04,
 -3.12289962e-03, 6.70223254e-01,-1.52515116e-02,-2.03336633e-02,
  1.38480481e+00, 1.88572776e-02, 1.36100368e+00, 2.43278998e-02,
  1.30056049e-02,-6.30293956e-02, 9.85521923e-02, 7.78518902e-01,
  1.94371243e-02,-6.16148148e-01,-1.17864231e-01]

qacc:
[  7.28271504, 12.6812345 ,-52.6620382 , 52.19424474,  0.57643732,
  -1.95889115, -7.77993016, -8.31270796,  0.12953324, -7.9061366 ,
  18.62308626,-28.9681776 , -0.11465767,  0.1783772 , -3.54887705,
  11.98459655,  3.37894226,  0.16021782, -4.01879547, 21.13628829,
 -93.25998213, 31.31354569]

qfrc_actuator:
[-2.43338211e-02, 1.90539317e-01, 2.01889920e-02, 4.48707887e-03,
 -3.05901898e-03, 1.78369227e-01, 1.32917106e-02, 3.79619321e-03,
 -1.42184370e-03, 1.62841949e-01, 4.92401099e-03, 8.44142774e-04,
  5.98985391e-05,-1.38346683e-03, 0.00000000e+00,-1.06714101e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([4.09726961, 0.55331501, 4.05973653, 0.55331501, 1.63436855,
       0.33567698, 4.05973653, 0.33567698, 4.05151907, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -3.738125019441679e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48499986e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.48499986e-12])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06722847, -0.08627662,  0.06199804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.98434241e-04,-1.05280474e-03,-7.23885253e-04,-1.25421783e-04,
  5.37003751e-05,-1.78514906e-03,-8.05417869e-04,-2.11469064e-04,
  1.51408923e-05,-9.80491083e-04,-3.13008763e-04,-1.06519480e-04,
 -1.09104588e-05, 8.16784858e-06,-7.43428122e-06, 5.58168209e-05,
  6.79437526e-02,-7.01593520e-03,-1.23494056e+00,-1.60417901e-03,
  7.25460086e-03,-1.47300698e-03]


--- Step 1904 ---
qpos:
[ 2.35976871e-02, 5.91626492e-01,-3.46324895e-02,-2.23510777e-03,
 -7.89415863e-04, 5.83105565e-01,-3.14071736e-02, 1.04230715e-03,
 -3.11282549e-03, 6.73045024e-01,-1.52900539e-02,-2.03421588e-02,
  1.38487347e+00, 1.88570304e-02, 1.36109637e+00, 2.43295951e-02,
  1.21973201e-02,-6.29082288e-02, 9.74234780e-02, 7.72435304e-01,
  1.95262552e-02,-6.23899822e-01,-1.17095856e-01]

qacc:
[ 6.91993029e+00, 5.88602243e+00,-2.91699313e+01, 2.13158153e+01,
  1.38261213e+00, 2.34595580e+00,-2.29888336e+01, 2.19498566e+01,
 -3.24054435e-02,-1.23336679e+00, 4.97270677e-01,-7.94551325e+00,
  5.02350555e-01,-6.19148165e-01,-1.19378988e+01, 4.06391796e+01,
  3.38979234e+00, 5.80589183e-02,-4.62586723e+00, 1.99777376e+01,
 -8.61916731e+01, 2.73555182e+01]

qfrc_actuator:
[-2.38779608e-02, 1.90246424e-01, 1.98878270e-02, 4.42414573e-03,
 -2.94464979e-03, 1.78160647e-01, 1.30837609e-02, 3.76654315e-03,
 -1.43854163e-03, 1.63001507e-01, 4.95840185e-03, 8.33433498e-04,
  6.59327112e-05,-1.39616509e-03, 0.00000000e+00,-8.72583474e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.10626497, -0.68992893, -4.04788959, -0.68992893,  2.84524656,
        0.21493004, -4.04788959,  0.21493004,  4.06963195,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.802516685970982e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.78336851e-13, -9.56673703e-13,  1.00000000e+00,  4.57612287e-25,
        1.00000000e+00,  9.56673703e-13, -1.00000000e+00,  0.00000000e+00,
        4.78336851e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06708347, -0.08625077,  0.06199687])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.70224681e-04,-1.14246769e-03,-6.49198297e-04,-1.42786273e-04,
  1.31010339e-04,-1.48199774e-03,-7.17143210e-04,-1.44728485e-04,
 -4.13374579e-06,-5.38299934e-04,-2.36424877e-04,-7.06683799e-05,
  2.61104156e-06,-1.26064621e-05, 1.14177213e-06, 1.96348771e-04,
  7.08809070e-02,-7.85663248e-03,-1.23426971e+00,-1.69490909e-03,
  7.25747116e-03,-1.62216713e-03]


--- Step 1905 ---
qpos:
[ 2.30929571e-02, 5.95036458e-01,-3.43520821e-02,-2.16850290e-03,
 -8.46819879e-04, 5.86286842e-01,-3.12627372e-02, 1.09647769e-03,
 -3.10285637e-03, 6.75862060e-01,-1.53284835e-02,-2.03491028e-02,
  1.38494217e+00, 1.88566370e-02, 1.36118914e+00, 2.43325876e-02,
  1.14016113e-02,-6.27863004e-02, 9.62789113e-02, 7.66170236e-01,
  1.95827872e-02,-6.31733595e-01,-1.16242625e-01]

qacc:
[ 6.78873711e+00,-1.65334888e+01, 3.13978128e+01,-2.76073810e+01,
  1.57750691e+00,-3.05312629e+00,-8.42580368e+00, 1.80569369e+01,
 -6.55898995e-02,-3.37337294e+00,-3.58358618e+00, 3.37043131e+01,
  2.18136446e-01,-3.08251329e-01,-3.83120025e+00, 1.35167463e+01,
  3.14398206e+00, 1.90391644e-01,-3.96310785e+00, 2.04598287e+01,
 -8.94023052e+01, 3.31194711e+01]

qfrc_actuator:
[-2.34221636e-02, 1.89042059e-01, 1.96336090e-02, 4.36031299e-03,
 -2.83556694e-03, 1.77741095e-01, 1.29211117e-02, 3.76311989e-03,
 -1.45256035e-03, 1.62840637e-01, 4.99557750e-03, 9.19626045e-04,
  6.70778228e-05,-1.40357861e-03, 0.00000000e+00,-8.12005186e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.11844149, -0.59093362,  4.07582602, -0.59093362, 41.63485199,
        5.4393166 ,  4.07582602,  5.4393166 ,  4.90706078,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.759291335368568e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.94269026e-14, -1.43083044e-12,  1.00000000e+00,  1.27954735e-25,
        1.00000000e+00,  1.43083044e-12, -1.00000000e+00,  0.00000000e+00,
        8.94269026e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06511198, -0.08746128,  0.0619957 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.62653780e-04,-2.08889206e-03,-6.11943257e-04,-1.45232957e-04,
  1.50557770e-04,-1.50178618e-03,-5.95809786e-04,-1.01114678e-04,
 -8.65661396e-06,-5.93810572e-04,-1.31524225e-04, 4.85412357e-05,
  1.56670819e-07,-1.10808285e-05, 2.14340671e-05, 7.14339475e-05,
  7.36791860e-02,-8.63816280e-03,-1.23342514e+00,-1.77293163e-03,
  7.26151144e-03,-1.76535609e-03]


--- Step 1906 ---
qpos:
[ 2.25977572e-02, 5.98421486e-01,-3.40722012e-02,-2.10187697e-03,
 -9.02872419e-04, 5.89452857e-01,-3.11193766e-02, 1.14974137e-03,
 -3.09277266e-03, 6.78670875e-01,-1.53647429e-02,-2.03550965e-02,
  1.38501080e+00, 1.88561769e-02, 1.36128225e+00, 2.43342995e-02,
  1.06191103e-02,-6.26641915e-02, 9.51159191e-02, 7.59727117e-01,
  1.96114899e-02,-6.39635349e-01,-1.15311393e-01]

qacc:
[ 7.22310641e+00,-3.13990288e+01, 6.40695949e+01,-4.45784225e+01,
  1.04729401e+00,-1.90079601e+01, 4.23504697e+01,-4.51286640e+01,
  8.24015669e-02,-1.49707405e+01, 3.36098221e+01,-1.46069287e+01,
 -1.40373019e-01, 9.25239371e-02, 4.39214800e+00,-1.46034810e+01,
  3.30196011e+00, 4.51227601e-02,-4.60637150e+00, 1.96722869e+01,
 -8.31411371e+01, 2.89888873e+01]

qfrc_actuator:
[-2.29166325e-02, 1.87231203e-01, 1.93878695e-02, 4.31350499e-03,
 -2.78388561e-03, 1.76809105e-01, 1.28037578e-02, 3.70406277e-03,
 -1.44714358e-03, 1.62294741e-01, 5.05093974e-03, 9.55435700e-04,
  5.99640124e-05,-1.40778163e-03, 0.00000000e+00,-8.84149286e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.13091416, -0.74220947, -4.06369006, -0.74220947,  1.96257576,
        0.39603446, -4.06369006,  0.39603446,  4.05858075,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.340412402145115e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.68600512e-13, -5.94311566e-13,  1.00000000e+00,  3.97357017e-25,
        1.00000000e+00,  5.94311566e-13, -1.00000000e+00,  0.00000000e+00,
        6.68600512e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0649787 , -0.08743631,  0.06199468])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.11075627e-04,-3.21629514e-03,-7.94175461e-04,-1.67457330e-04,
  9.96998803e-05,-1.99779574e-03,-5.37925002e-04,-1.52505510e-04,
  9.01708902e-06,-9.82810596e-04,-1.07664617e-04, 1.74787078e-06,
 -9.01145475e-06,-7.91290293e-06, 1.50824651e-05,-6.60498811e-05,
  7.65858076e-02,-9.53869218e-03,-1.23247160e+00,-1.87555771e-03,
  7.25363732e-03,-1.91662104e-03]


--- Step 1907 ---
qpos:
[ 2.21135733e-02, 6.01776871e-01,-3.37953644e-02,-2.03497484e-03,
 -9.57782528e-04, 5.92602593e-01,-3.09776282e-02, 1.20054955e-03,
 -3.08256997e-03, 6.81470559e-01,-1.53996474e-02,-2.03622593e-02,
  1.38507927e+00, 1.88557111e-02, 1.36137501e+00, 2.43385079e-02,
  9.85055946e-03,-6.25424706e-02, 9.39322684e-02, 7.53108648e-01,
  1.96166150e-02,-6.47592646e-01,-1.14307994e-01]

qacc:
[ 8.29065034e+00,-3.00669577e+01, 4.92117761e+01,-1.78099553e+01,
  8.81296813e-01,-2.20383877e+01, 5.77445599e+01,-8.57224957e+01,
  8.44161554e-02,-1.82605363e+01, 5.25271071e+01,-6.82031142e+01,
  1.00132169e-01,-1.53826819e-01,-8.09217760e+00, 2.75202343e+01,
  3.48752703e+00,-9.70048862e-02,-5.16461052e+00, 1.90468469e+01,
 -7.78342868e+01, 2.53897514e+01]

qfrc_actuator:
[-2.23144361e-02, 1.85409230e-01, 1.90932841e-02, 4.29426244e-03,
 -2.73126669e-03, 1.75986810e-01, 1.27121520e-02, 3.57685662e-03,
 -1.44799575e-03, 1.61807252e-01, 5.09735862e-03, 8.89985559e-04,
  4.79021933e-05,-1.41007935e-03, 0.00000000e+00,-7.49825883e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.13005553, -0.80308081, -4.0512245 , -0.80308081,  1.76966746,
        0.46790356, -4.0512245 ,  0.46790356,  4.03730225,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.240497950645937e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.26014284e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.26014284e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06486916, -0.08742303,  0.06199458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.24651948e-04,-3.89543658e-03,-1.09877893e-03,-1.94867659e-04,
  8.44094361e-05,-2.15503657e-03,-6.09036569e-04,-2.40853416e-04,
  9.36306556e-06,-1.13861419e-03,-1.95527183e-04,-1.16237952e-04,
 -1.82910736e-05,-6.81457227e-06,-3.71315763e-06, 1.31822802e-04,
  7.93601743e-02,-1.03742309e-02,-1.23134768e+00,-1.96391300e-03,
  7.24712640e-03,-2.06373448e-03]


--- Step 1908 ---
qpos:
[ 2.16415884e-02, 6.05098033e-01,-3.35217475e-02,-1.96799762e-03,
 -1.01185453e-03, 5.95740329e-01,-3.08402078e-02, 1.24860285e-03,
 -3.07251127e-03, 6.84259137e-01,-1.54334634e-02,-2.03685893e-02,
  1.38514723e+00, 1.88562103e-02, 1.36146761e+00, 2.43452810e-02,
  9.09678679e-03,-6.24216913e-02, 9.27260358e-02, 7.46316917e-01,
  1.96019685e-02,-6.55594477e-01,-1.13237383e-01]

qacc:
[  9.12192822,-36.03394451, 62.55916747,-30.99844797,  0.63771047,
  -9.43035708, 22.24472542,-54.18428278, -0.0850677 ,-16.00097028,
  32.25143966,-11.43801983, -0.75915313,  1.24625109, -7.92539877,
  27.58337291,  3.69455326, -0.23539542, -5.64549613, 18.56300576,
 -73.34650961, 22.24502701]

qfrc_actuator:
[-2.16595386e-02, 1.83435495e-01, 1.88253772e-02, 4.27354298e-03,
 -2.69616938e-03, 1.75734527e-01, 1.26192091e-02, 3.46393032e-03,
 -1.47041216e-03, 1.61181480e-01, 5.12060632e-03, 9.25292613e-04,
  3.82093983e-05,-1.34025778e-03, 0.00000000e+00,-6.19155119e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.11878229, -0.84457419, -4.03126059, -0.84457419,  1.64609428,
        0.51804353, -4.03126059,  0.51804353,  4.01024894,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.806875034915839e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.88818365e-14, -1.42210938e-12,  1.00000000e+00, -1.26399694e-25,
        1.00000000e+00,  1.42210938e-12, -1.00000000e+00,  0.00000000e+00,
       -8.88818365e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06477982, -0.08741971,  0.06199527])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.16169788e-04,-4.48990787e-03,-1.25047589e-03,-2.36446578e-04,
  6.20919040e-05,-1.69069689e-03,-6.54418057e-04,-2.37438657e-04,
 -1.21124700e-05,-1.38678926e-03,-2.65653966e-04,-2.74648333e-05,
 -1.96897706e-05, 6.33477977e-05, 1.14610259e-05, 1.37186303e-04,
  8.20153286e-02,-1.11500286e-02,-1.23006400e+00,-2.03910117e-03,
  7.24149719e-03,-2.20771813e-03]


--- Step 1909 ---
qpos:
[ 2.11811209e-02, 6.08385165e-01,-3.32532606e-02,-1.90319033e-03,
 -1.06485609e-03, 5.98872742e-01,-3.07094128e-02, 1.29443509e-03,
 -3.06242004e-03, 6.87039177e-01,-1.54679006e-02,-2.03751007e-02,
  1.38521515e+00, 1.88571762e-02, 1.36156055e+00, 2.43508927e-02,
  8.35183309e-03,-6.22931200e-02, 9.15297108e-02, 7.39304577e-01,
  1.94531641e-02,-6.63714399e-01,-1.11953177e-01]

qacc:
[ 8.55508737e+00,-3.50671533e+01, 6.89561749e+01,-7.33289819e+01,
  7.99743431e-01, 6.88822370e+00,-2.54066405e+01, 1.49814846e+00,
  2.54568965e-02,-9.91907904e+00, 1.97647849e+01,-1.56424344e+01,
 -4.29742038e-01, 7.24278237e-01, 4.09217390e+00,-1.34266490e+01,
  2.20474162e+00, 1.94798934e+00, 2.47691314e+00, 2.88035546e+01,
 -1.21890797e+02, 1.12350745e+02]

qfrc_actuator:
[-2.10851254e-02, 1.81777696e-01, 1.85748709e-02, 4.16326484e-03,
 -2.63623242e-03, 1.76021763e-01, 1.24933195e-02, 3.39635879e-03,
 -1.47004646e-03, 1.60975439e-01, 5.16518080e-03, 9.30756553e-04,
  4.59523135e-05,-1.31689606e-03, 0.00000000e+00,-6.87021874e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00010131614521708548
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.47900348e-13,  4.10925261e-13,  1.00000000e+00, -2.25146094e-25,
        1.00000000e+00, -4.10925261e-13, -1.00000000e+00,  0.00000000e+00,
        5.47900348e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05132221, -0.09731074,  0.06199366])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.67742553e-04,-4.53823878e-03,-1.37556208e-03,-3.57452128e-04,
  7.99125022e-05,-9.00138664e-04,-5.96693198e-04,-1.73644659e-04,
  2.35785842e-06,-1.11604544e-03,-3.01008288e-04,-6.86077182e-05,
  1.34770028e-05, 3.85025193e-05, 1.75915454e-05,-5.94211485e-05,
  8.45628830e-02,-1.18709845e-02,-1.22862958e+00,-2.10219136e-03,
  7.23628024e-03,-2.34952120e-03]


--- Step 1910 ---
qpos:
[ 2.07300781e-02, 6.11646998e-01,-3.29945809e-02,-1.84011320e-03,
 -1.11675639e-03, 6.02005317e-01,-3.05856714e-02, 1.33793560e-03,
 -3.05184720e-03, 6.89813124e-01,-1.55036456e-02,-2.03822114e-02,
  1.38528346e+00, 1.88572624e-02, 1.36165340e+00, 2.43570131e-02,
  7.61757251e-03,-6.21587877e-02, 9.03370670e-02, 7.32077112e-01,
  1.91890254e-02,-6.71929753e-01,-1.10477558e-01]

qacc:
[   6.94650022,  -9.59809053,  -6.99990334,  11.35186915,   0.81286796,
   15.09522214, -43.69191345,  14.53248972,   0.31126158,  -5.63287678,
   10.92769006, -14.72706361,   0.89441788,  -1.36697088,  -1.79998715,
    5.81457561,   2.67327915,   1.44025884,   0.92027653,  28.32405032,
 -111.2688612 ,  97.91923589]

qfrc_actuator:
[-2.06519642e-02, 1.81157329e-01, 1.83202503e-02, 4.12573488e-03,
 -2.57971190e-03, 1.76542070e-01, 1.23339376e-02, 3.32106296e-03,
 -1.43837778e-03, 1.60916594e-01, 5.18832049e-03, 9.18995717e-04,
  4.28292696e-05,-1.39230862e-03, 0.00000000e+00,-6.58279154e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43686701, -0.91628753, -4.34122172, -0.91628753,  1.91046333,
        0.5332398 , -4.34122172,  0.5332398 ,  4.32431782,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002659466332480126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.60913019e-14, -2.60913019e-13,  1.00000000e+00,  6.80756036e-27,
        1.00000000e+00,  2.60913019e-13, -1.00000000e+00,  0.00000000e+00,
        2.60913019e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05101806, -0.09710168,  0.06198288])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.12424560e-04,-3.55754553e-03,-1.40878472e-03,-2.93364266e-04,
  8.26695089e-05,-2.09917200e-04,-4.57388053e-04,-1.44220132e-04,
  3.92305355e-05,-8.26087204e-04,-2.72159791e-04,-7.62355727e-05,
  1.20857656e-05,-6.02198763e-05,-1.89382977e-06, 2.69015993e-05,
  8.82166478e-02,-1.42570884e-02,-1.22721417e+00,-2.55082976e-03,
  7.08706981e-03,-2.58092601e-03]


--- Step 1911 ---
qpos:
[ 2.02856865e-02, 6.14889871e-01,-3.27460438e-02,-1.77926968e-03,
 -1.16781164e-03, 6.05138174e-01,-3.04669083e-02, 1.38093423e-03,
 -3.04126001e-03, 6.92576668e-01,-1.55376432e-02,-2.03888177e-02,
  1.38535163e+00, 1.88573269e-02, 1.36174615e+00, 2.43640935e-02,
  6.89572278e-03,-6.20205382e-02, 8.91427054e-02, 7.24639328e-01,
  1.88259433e-02,-6.80220167e-01,-1.08829928e-01]

qacc:
[ 4.86829775e+00,-1.33145398e+00,-2.22009646e+01, 1.37289535e+01,
  6.20689017e-01, 1.32298324e+01,-4.45263776e+01, 4.36204454e+01,
  1.73236336e-02,-1.75907441e+01, 4.06485806e+01,-2.70810130e+01,
 -2.57297327e-02,-2.69995980e-02,-3.05778441e+00, 1.04776955e+01,
  3.10271326e+00, 9.79318241e-01,-4.29418343e-01, 2.77377948e+01,
 -1.01956093e+02, 8.53084298e+01]

qfrc_actuator:
[-2.03770788e-02, 1.80791497e-01, 1.80343852e-02, 4.06127152e-03,
 -2.54345284e-03, 1.76737296e-01, 1.21575388e-02, 3.31314220e-03,
 -1.45939993e-03, 1.60236932e-01, 5.21728692e-03, 9.32895684e-04,
  3.31485280e-05,-1.38380492e-03, 0.00000000e+00,-6.08281688e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.85732046, -1.15721038, -4.71745972, -1.15721038,  1.80117878,
        0.7496829 , -4.71745972,  0.7496829 ,  4.67342047,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037984587812311954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46141249e-13, -2.92282499e-13,  1.00000000e+00,  4.27145296e-26,
        1.00000000e+00,  2.92282499e-13, -1.00000000e+00,  0.00000000e+00,
        1.46141249e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05076008, -0.09693972,  0.06197478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.04328590e-04,-2.75765039e-03,-1.23889851e-03,-2.78095911e-04,
  6.36376067e-05,-1.18747493e-04,-3.13519320e-04,-4.18490318e-05,
  8.31812863e-07,-1.27876318e-03,-2.03029717e-04,-3.72834586e-05,
 -1.77941839e-05,-7.67903026e-06, 1.08022554e-06, 5.09643824e-05,
  9.16535065e-02,-1.64297499e-02,-1.22554978e+00,-2.95154767e-03,
  6.94737359e-03,-2.80928372e-03]


--- Step 1912 ---
qpos:
[ 1.98460000e-02, 6.18112505e-01,-3.25037543e-02,-1.72165061e-03,
 -1.21756201e-03, 6.08265647e-01,-3.03494894e-02, 1.42489409e-03,
 -3.03100406e-03, 6.95326376e-01,-1.55692361e-02,-2.03955883e-02,
  1.38541950e+00, 1.88579190e-02, 1.36183893e+00, 2.43713800e-02,
  6.18704990e-03,-6.18785739e-02, 8.79476983e-02, 7.16987118e-01,
  1.83605300e-02,-6.88579635e-01,-1.07006779e-01]

qacc:
[   3.42934361, -15.91644255,  31.55501132, -62.49859004,   0.9667551 ,
   -1.38205301,  -9.45732348,  32.20372309,  -0.20010231, -25.33933519,
   64.51371389, -61.03760339,  -0.53651697,   0.80520009,  -0.51222444,
    2.01673983,   3.29421172,   0.92866934,  -0.16138743,  28.39678516,
 -101.87115946,  87.3823482 ]

qfrc_actuator:
[-2.01804027e-02, 1.79889815e-01, 1.77695368e-02, 3.91083310e-03,
 -2.46627707e-03, 1.76240213e-01, 1.20071813e-02, 3.34474932e-03,
 -1.49400935e-03, 1.59369055e-01, 5.26497000e-03, 9.08070292e-04,
  3.02203835e-05,-1.34321023e-03, 0.00000000e+00,-5.99443974e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.38636709, -1.60905525, -5.14041746, -1.60905525, 16.97639078,
       -3.62791322, -5.14041746, -3.62791322,  6.52197773,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047094622094590033
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.89357646e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.89357646e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0488317 , -0.09670201,  0.0619677 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.57656490e-04,-2.80957387e-03,-1.03080592e-03,-3.23540867e-04,
  9.83939343e-05,-7.25749610e-04,-2.47262759e-04, 8.58083517e-06,
 -2.77313240e-05,-1.70372963e-03,-2.67817870e-04,-9.22191284e-05,
 -1.31113780e-05, 3.40492482e-05, 4.00785973e-06, 1.13029680e-05,
  9.48819421e-02,-1.84014034e-02,-1.22365233e+00,-3.30687385e-03,
  6.81624518e-03,-3.03413390e-03]


--- Step 1913 ---
qpos:
[ 1.94111373e-02, 6.21310890e-01,-3.22654288e-02,-1.66674430e-03,
 -1.26554114e-03, 6.11380451e-01,-3.02306556e-02, 1.46883725e-03,
 -3.02066350e-03, 6.98060663e-01,-1.56001854e-02,-2.04016729e-02,
  1.38548749e+00, 1.88577862e-02, 1.36193182e+00, 2.43777123e-02,
  5.49317187e-03,-6.17346638e-02, 8.67471920e-02, 7.09124887e-01,
  1.78079439e-02,-6.96989461e-01,-1.05026007e-01]

qacc:
[ 3.50085596e+00,-2.65273252e+01, 5.95504533e+01,-8.23642257e+01,
  1.31326174e+00,-2.07053141e+01, 4.96196319e+01,-4.28852210e+01,
  6.34376708e-02,-2.07637690e+01, 4.15777901e+01,-1.94249537e+01,
  4.42580219e-01,-8.69304044e-01, 3.00604459e+00,-1.04033458e+01,
  3.69871450e+00, 4.86474259e-01,-1.37481774e+00, 2.76409138e+01,
 -9.35849699e+01, 7.57471906e+01]

qfrc_actuator:
[-1.99248508e-02, 1.78533464e-01, 1.75174605e-02, 3.76395183e-03,
 -2.36534914e-03, 1.75209032e-01, 1.19240636e-02, 3.31004765e-03,
 -1.48317337e-03, 1.58502357e-01, 5.25151638e-03, 9.31487044e-04,
  1.53846416e-05,-1.40816994e-03, 0.00000000e+00,-6.50437515e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.90914839, -1.67874172, -5.66567392, -1.67874172,  1.80375189,
        1.21643082, -5.66567392,  1.21643082,  5.5487194 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005370969191905023
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58385169e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.58385169e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04861575, -0.09657835,  0.06196187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.67722693e-04,-3.25135735e-03,-1.00432412e-03,-3.15810101e-04,
  1.33787993e-04,-1.58305315e-03,-2.95358392e-04,-8.04355026e-05,
  6.45782117e-06,-1.95538486e-03,-4.26452222e-04,-6.54571059e-05,
 -1.33291424e-05,-5.72538017e-05, 3.03952790e-07,-5.04988856e-05,
  9.81131297e-02,-2.04475295e-02,-1.22154689e+00,-3.68128630e-03,
  6.66987243e-03,-3.26862111e-03]


--- Step 1914 ---
qpos:
[ 1.89820353e-02, 6.24483413e-01,-3.20321286e-02,-1.61386549e-03,
 -1.31188803e-03, 6.14479128e-01,-3.01115791e-02, 1.51209857e-03,
 -3.01039529e-03, 7.00778253e-01,-1.56309537e-02,-2.04076673e-02,
  1.38555545e+00, 1.88569750e-02, 1.36202500e+00, 2.43810425e-02,
  4.81559450e-03,-6.15904241e-02, 8.55369706e-02, 7.01056683e-01,
  1.71816840e-02,-7.05432627e-01,-1.02903476e-01]

qacc:
[ 4.15372408e+00,-2.42862183e+01, 4.55722286e+01,-5.36375978e+01,
  1.20507581e+00,-2.33668527e+01, 5.52880601e+01,-5.56503534e+01,
 -3.57808052e-02,-2.23818375e+01, 4.74150741e+01,-3.38892191e+01,
  9.85949000e-02,-5.21870943e-01, 9.50107633e+00,-3.26608531e+01,
  4.07516302e+00, 8.23860214e-02,-2.42875737e+00, 2.68664804e+01,
 -8.62147846e+01, 6.54198055e+01]

qfrc_actuator:
[-1.96004688e-02, 1.77182706e-01, 1.72377577e-02, 3.65548820e-03,
 -2.28666346e-03, 1.74186377e-01, 1.18435632e-02, 3.25390676e-03,
 -1.49861140e-03, 1.57625735e-01, 5.23768507e-03, 9.29806753e-04,
  4.02854930e-06,-1.44665771e-03, 0.00000000e+00,-8.07262476e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.15908373,  4.94847527, -3.66700216,  4.94847527, 27.38646018,
       28.64551012, -3.66700216, 28.64551012, 44.81507364,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005672345094085082
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.78627892e-14, -9.78627892e-14,  1.00000000e+00,  9.57712551e-27,
        1.00000000e+00,  9.78627892e-14, -1.00000000e+00,  0.00000000e+00,
        9.78627892e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04843702, -0.09649216,  0.0619582 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.40648700e-04,-3.48603555e-03,-1.11931536e-03,-2.95178884e-04,
  1.23492172e-04,-2.06708158e-03,-4.78644762e-04,-1.41968060e-04,
 -6.55639535e-06,-2.13704232e-03,-4.97234612e-04,-1.06265697e-04,
 -3.11815579e-05,-5.94432076e-05,-7.57694955e-06,-1.60111685e-04,
  1.01131220e-01,-2.22870800e-02,-1.21922121e+00,-4.00916912e-03,
  6.53234706e-03,-3.49858829e-03]


--- Step 1915 ---
qpos:
[ 1.85606670e-02, 6.27629783e-01,-3.18032827e-02,-1.56213323e-03,
 -1.35799722e-03, 6.17560688e-01,-2.99942129e-02, 1.55415746e-03,
 -3.00023621e-03, 7.03478589e-01,-1.56606262e-02,-2.04137180e-02,
  1.38562302e+00, 1.88566033e-02, 1.36211807e+00, 2.43831371e-02,
  4.15398639e-03,-6.14230071e-02, 8.44185864e-02, 6.92776716e-01,
  1.61671399e-02,-7.13959471e-01,-1.00304137e-01]

qacc:
[ 5.54086794e+00,-2.44551064e+01, 4.18944533e+01,-3.54113637e+01,
  1.83340356e-01,-2.02958369e+01, 4.46328274e+01,-5.01475258e+01,
 -5.75655718e-02,-2.59782048e+01, 5.97828798e+01,-4.98407094e+01,
 -6.65063152e-01, 8.64183382e-01, 3.66196079e+00,-1.28512707e+01,
  3.99231615e+00, 5.79431685e+00, 2.29593034e+01, 3.82000000e+01,
 -1.19915615e+02, 2.93920146e+02]

qfrc_actuator:
[-1.91488921e-02, 1.75970886e-01, 1.70506416e-02, 3.60598026e-03,
 -2.31065581e-03, 1.73283878e-01, 1.17297341e-02, 3.18557419e-03,
 -1.51193810e-03, 1.56821611e-01, 5.31259553e-03, 9.31142244e-04,
  5.42208948e-06,-1.39800839e-03, 0.00000000e+00,-8.65383025e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006183567884970112
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79544083e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.79544083e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02244239, -0.09346662,  0.06195267])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.93723801e-04,-3.50017845e-03,-1.08829075e-03,-2.49784171e-04,
  1.74858905e-05,-2.25737587e-03,-6.36434677e-04,-1.82394315e-04,
 -9.63392619e-06,-2.18185539e-03,-4.55939643e-04,-1.14234202e-04,
 -2.80499730e-05, 2.31872718e-05,-2.38716091e-05,-6.86120393e-05,
  1.03941644e-01,-2.39307554e-02,-1.21669131e+00,-4.29328615e-03,
  6.40302432e-03,-3.72392539e-03]


--- Step 1916 ---
qpos:
[ 0.01814933, 0.63075118,-0.03157964,-0.00151128,-0.00140397, 0.62062388,
 -0.02987948, 0.00159553,-0.00299019, 0.70616278,-0.0156898 ,-0.0204199 ,
  1.38569043, 0.01885645, 1.36221092, 0.02438515, 0.00359968,-0.06121078,
  0.08355914, 0.6857067 , 0.0142803 ,-0.72124454,-0.09699854]

qacc:
[ 7.14295462e+00,-2.02517235e+01, 2.80396303e+01,-1.65832572e+01,
  1.05739592e-01,-1.83025727e+01, 3.29755862e+01,-2.72347435e+01,
 -5.84228161e-02,-2.29896124e+01, 5.15713835e+01,-4.27975920e+01,
 -2.46632395e-01, 3.48492354e-01,-6.01261503e-02,-1.95069154e-01,
  2.68257774e+01, 1.12026603e+01, 6.47341948e+01,-1.22101977e+02,
  8.24072149e+02, 6.06682831e+02]

qfrc_actuator:
[-1.85720179e-02, 1.74888570e-01, 1.68495062e-02, 3.57402316e-03,
 -2.30675015e-03, 1.72336647e-01, 1.15800110e-02, 3.14622517e-03,
 -1.52393227e-03, 1.56156987e-01, 5.38650597e-03, 9.34397611e-04,
  3.84637325e-06,-1.38668635e-03, 0.00000000e+00,-8.64846579e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002093266080782606
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.65189178e-14,  2.65189178e-14,  1.00000000e+00, -7.03253004e-28,
        1.00000000e+00, -2.65189178e-14, -1.00000000e+00,  0.00000000e+00,
        2.65189178e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05492024, -0.08348962,  0.06184279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.73083225e-04,-3.36925695e-03,-1.09949627e-03,-2.30817680e-04,
  9.41654292e-06,-2.44210824e-03,-7.32214775e-04,-1.67758540e-04,
 -9.58847054e-06,-2.05859033e-03,-4.61185129e-04,-1.12920890e-04,
 -1.05716382e-05, 1.25913084e-05,-2.05222895e-05,-6.77436787e-06,
  1.06513814e-01,-2.96873814e-02,-1.21384577e+00,-5.67366126e-03,
  5.83287217e-03,-4.04027945e-03]


--- Step 1917 ---
qpos:
[ 0.01774927, 0.63384985,-0.0313625 ,-0.00146119,-0.00144894, 0.62366878,
 -0.02976823, 0.00163638,-0.00298023, 0.70883171,-0.01571934,-0.02042649,
  1.3857578 , 0.01885641, 1.36230353, 0.02438813, 0.00313249,-0.0609647 ,
  0.08291851, 0.67961801, 0.01168211,-0.72754033,-0.09310188]

qacc:
[ 7.97443425e+00,-1.34431906e+01, 7.54258742e+00, 6.40848322e+00,
  7.33233966e-01,-1.55180162e+01, 2.24214066e+01,-1.23301133e+01,
 -5.35843972e-02,-1.99921876e+01, 4.37682208e+01,-3.90790286e+01,
 -9.60318161e-03, 6.99446564e-02,-3.28118903e+00, 1.09409985e+01,
  2.17784733e+01, 8.46187724e+00, 5.47043569e+01,-8.57213938e+01,
  6.62812872e+02, 4.99708680e+02]

qfrc_actuator:
[-1.79608651e-02, 1.73981997e-01, 1.66069858e-02, 3.55278753e-03,
 -2.23283731e-03, 1.71494936e-01, 1.14281151e-02, 3.12423567e-03,
 -1.53508368e-03, 1.55510847e-01, 5.40672225e-03, 9.21150962e-04,
  5.80847687e-06,-1.37996140e-03, 0.00000000e+00,-8.12025925e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.62550614, -0.43292109, -8.62550614,  8.62693088,
        0.18793788, -0.43292109,  0.18793788,  4.89189515,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004028953288496714
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.75561156e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.75561156e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05034044, -0.08183695,  0.06171045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.71254430e-04,-3.12086890e-03,-1.11423464e-03,-2.14445663e-04,
  7.66505704e-05,-2.45825985e-03,-7.83563752e-04,-1.61290027e-04,
 -8.77405796e-06,-1.97159289e-03,-4.89824886e-04,-1.24262234e-04,
 -8.04279693e-07, 8.51780283e-06,-1.15090158e-05, 4.95059819e-05,
  7.50159646e-02,-3.22204280e-02,-1.21243681e+00,-7.42248173e-03,
  5.05920562e-03,-2.63370351e-03]


--- Step 1918 ---
qpos:
[ 0.01736042, 0.63693092,-0.031153  ,-0.00141211,-0.001493  , 0.62670076,
 -0.02966252, 0.00167563,-0.00297016, 0.71149073,-0.01575179,-0.02043311,
  1.38582502, 0.01885693, 1.36239597, 0.02439236, 0.00273719,-0.06069286,
  0.08245975, 0.67434081, 0.00849541,-0.73302342,-0.08870714]

qacc:
[ 7.88403188e+00,-3.98260657e+00,-1.52659208e+01, 2.28891022e+01,
  6.56170165e-01,-4.87268092e+00,-6.51047452e-01,-8.66063813e+00,
  7.82019946e-02,-5.04428248e+00,-9.17667230e-01, 1.23974174e+01,
 -3.23451624e-01, 6.36475253e-01,-4.00494349e+00, 1.37589995e+01,
  1.79727213e+01, 6.44304439e+00, 4.54682006e+01,-6.13738545e+01,
  5.46892762e+02, 4.16366638e+02]

qfrc_actuator:
[-1.73876544e-02, 1.73561427e-01, 1.63962698e-02, 3.53821778e-03,
 -2.18885978e-03, 1.71291905e-01, 1.13123136e-02, 3.07725669e-03,
 -1.52794303e-03, 1.55431693e-01, 5.41313091e-03, 9.51591075e-04,
  9.88887007e-06,-1.34047927e-03, 0.00000000e+00,-7.46595583e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.63601839,  0.07722149, -8.63601839,  8.63611996,
       -0.02725123,  0.07722149, -0.02725123,  5.58873925,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005522515468667284
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50776811e-14, -1.31929709e-14,  1.00000000e+00,  1.98919408e-28,
        1.00000000e+00,  1.31929709e-14, -1.00000000e+00,  0.00000000e+00,
        1.50776811e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04824774, -0.08074451,  0.06161627])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.69474928e-04,-2.49741752e-03,-1.03204294e-03,-1.97267409e-04,
  6.99387890e-05,-1.83814943e-03,-7.56630291e-04,-1.88570169e-04,
  9.79215442e-06,-1.36176509e-03,-4.89388870e-04,-7.80236860e-05,
  5.45090960e-06, 4.20486067e-05,-1.05854023e-06, 6.64076331e-05,
  5.36457072e-02,-3.21753557e-02,-1.21168792e+00,-8.26894005e-03,
  4.56345959e-03,-1.69778170e-03]


--- Step 1919 ---
qpos:
[ 1.69812828e-02, 6.39996796e-01,-3.09506041e-02,-1.36372180e-03,
 -1.53640078e-03, 6.29723238e-01,-2.95612665e-02, 1.71302543e-03,
 -2.96017670e-03, 7.14147239e-01,-1.57886958e-02,-2.04406125e-02,
  1.38589219e+00, 1.88577093e-02, 1.36248862e+00, 2.43953287e-02,
  2.40083056e-03,-6.04012610e-02, 8.21509115e-02, 6.69725786e-01,
  4.81979189e-03,-7.37839051e-01,-8.38908568e-02]

qacc:
[ 6.78747973e+00,-1.70214716e+00,-2.01779655e+01, 3.07431524e+01,
  4.61323010e-01,-3.93865763e+00, 3.68626711e+00,-2.17963191e+01,
 -5.75891960e-02, 7.35129751e+00,-2.72983334e+01, 2.10181908e+01,
 -3.25198962e-01, 4.82230026e-01, 4.20200895e+00,-1.41305960e+01,
  1.47351769e+01, 4.93722311e+00, 3.74792025e+01,-4.27689075e+01,
  4.47854349e+02, 3.47861883e+02]

qfrc_actuator:
[-0.01693042, 0.17309911, 0.01615512, 0.00352821,-0.00216315, 0.17120773,
  0.01123938, 0.00301657,-0.00154551, 0.15590653, 0.00541394, 0.00095476,
  0.        ,-0.00133508, 0.        ,-0.0008163 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.6279718 ,  0.3806303 , -8.6279718 ,  8.63182818,
       -0.10280786,  0.3806303 , -0.10280786,  6.30595717,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006643095667266979
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.67124347e-14, -8.35621734e-15,  1.00000000e+00,  1.39652737e-28,
        1.00000000e+00,  8.35621734e-15, -1.00000000e+00,  0.00000000e+00,
        1.67124347e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04597001, -0.07988423,  0.06155008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.54914948e-04,-2.17206580e-03,-9.22669657e-04,-1.62760533e-04,
  4.96208898e-05,-1.36750642e-03,-5.83054557e-04,-1.75254117e-04,
 -7.46235835e-06,-4.64226606e-04,-3.67206439e-04,-7.82265127e-05,
  2.42243789e-06, 1.98316042e-05, 4.98308908e-06,-6.65893385e-05,
  3.86951304e-02,-3.06407144e-02,-1.21121415e+00,-8.55911150e-03,
  4.22135870e-03,-1.04406974e-03]


--- Step 1920 ---
qpos:
[ 1.66094853e-02, 6.43043648e-01,-3.07515895e-02,-1.31675875e-03,
 -1.57870197e-03, 6.32733968e-01,-2.94614118e-02, 1.74866178e-03,
 -2.95032362e-03, 7.16801586e-01,-1.58263547e-02,-2.04480814e-02,
  1.38595953e+00, 1.88581048e-02, 1.36258133e+00, 2.43971097e-02,
  2.11293886e-03,-6.00943460e-02, 8.19639158e-02, 6.65651229e-01,
  7.35134740e-04,-7.42099449e-01,-7.87166388e-02]

qacc:
[ 5.11588265e+00,-1.85917051e+01, 3.58305748e+01,-4.10818586e+01,
  7.86546725e-01,-1.52156610e+01, 3.91456038e+01,-5.86771389e+01,
 -8.11053925e-02,-6.99902155e-01,-1.78214020e+00, 5.11018112e+00,
  2.71411498e-01,-4.67437795e-01, 3.62879548e+00,-1.26668814e+01,
  1.21169544e+01, 3.82970211e+00, 3.04611519e+01,-2.95131364e+01,
  3.69028361e+02, 2.92096531e+02]

qfrc_actuator:
[-0.01661677, 0.17204831, 0.01595149, 0.00345   ,-0.00209525, 0.17062853,
  0.01117555, 0.00293082,-0.00156   , 0.15601796, 0.00546738, 0.00097795,
  0.        ,-0.00136781, 0.        ,-0.0008763 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.60494459,  0.73600639, -8.60494459,  8.62636239,
       -0.1169286 ,  0.73600639, -0.1169286 ,  7.2693047 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007448959488011775
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49044041e-14, -3.72610103e-15,  1.00000000e+00,  5.55353155e-29,
        1.00000000e+00,  3.72610103e-15, -1.00000000e+00,  0.00000000e+00,
        1.49044041e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04444143, -0.07928527,  0.06150504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.72605330e-04,-2.55384334e-03,-8.02991071e-04,-2.12495829e-04,
  8.49593228e-05,-1.56242582e-03,-4.54695996e-04,-1.73852861e-04,
 -1.11573750e-05,-3.00236575e-04,-1.14038070e-04,-1.55284391e-05,
  5.37062520e-06,-2.58229532e-05,-7.89436876e-06,-6.37141728e-05,
  2.82389413e-02,-2.83786203e-02,-1.21083207e+00,-8.52029714e-03,
  3.96205772e-03,-5.82513207e-04]


--- Step 1921 ---
qpos:
[ 1.62426259e-02, 6.46068175e-01,-3.05553153e-02,-1.27186591e-03,
 -1.61942449e-03, 6.35731657e-01,-2.93635326e-02, 1.78343155e-03,
 -2.94080716e-03, 7.19451388e-01,-1.58624424e-02,-2.04548183e-02,
  1.38602697e+00, 1.88581557e-02, 1.36267393e+00, 2.43984812e-02,
  1.86498441e-03,-5.97753627e-02, 8.18743087e-02, 6.62017026e-01,
 -3.69357087e-03,-7.45892766e-01,-7.32379458e-02]

qacc:
[ 3.42797135e+00,-2.60834414e+01, 5.89441413e+01,-7.40063119e+01,
  1.11656734e+00,-1.34868847e+01, 2.67455732e+01,-2.90082203e+01,
 -2.03209714e-01,-8.88643461e+00, 1.98873924e+01,-6.40319285e+00,
  2.46451220e-01,-4.44243232e-01, 1.06858715e+00,-4.01785807e+00,
  9.98430938e+00, 3.01707378e+00, 2.43471782e+01,-2.00784778e+01,
  3.05424773e+02, 2.46158773e+02]

qfrc_actuator:
[-0.01642628, 0.17077858, 0.01575173, 0.00333189,-0.00200275, 0.16995365,
  0.01106264, 0.00288392,-0.0015903 , 0.15575224, 0.00553271, 0.00101258,
  0.        ,-0.00138738, 0.        ,-0.00089455, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.57129569,  1.0581432 , -8.57129569,  8.63322566,
       -0.02541861,  1.0581432 , -0.02541861,  8.43046482,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007995554697637755
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.94275173e-15,  3.47137587e-15,  1.00000000e+00, -2.41009008e-29,
        1.00000000e+00, -3.47137587e-15, -1.00000000e+00,  0.00000000e+00,
        6.94275173e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04347437, -0.078889  ,  0.06147603])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.85818354e-04,-2.96286209e-03,-8.64626408e-04,-2.65517049e-04,
  1.22013064e-04,-1.73998134e-03,-5.27972165e-04,-1.38840766e-04,
 -2.84754349e-05,-5.30502103e-04,-3.48471536e-05, 1.29375925e-05,
 -3.92547696e-06,-2.62572233e-05,-1.23241492e-05,-2.31998045e-05,
  2.08292948e-02,-2.58042822e-02,-1.21048039e+00,-8.28983540e-03,
  3.74944761e-03,-2.47644302e-04]


--- Step 1922 ---
qpos:
[ 1.58798090e-02, 6.49065861e-01,-3.03614049e-02,-1.22759921e-03,
 -1.65891075e-03, 6.38718829e-01,-2.92700562e-02, 1.81916972e-03,
 -2.93160805e-03, 7.22093222e-01,-1.58958282e-02,-2.04608104e-02,
  1.38609433e+00, 1.88582034e-02, 1.36276655e+00, 2.43989333e-02,
  1.64998142e-03,-5.94466974e-02, 8.18609199e-02, 6.58740112e-01,
 -8.41277377e-03,-7.49289275e-01,-6.75001692e-02]

qacc:
[ 2.79757079e+00,-3.01239698e+01, 5.86026278e+01,-4.59644944e+01,
  8.66509651e-01, 3.93210661e-01,-2.56603669e+01, 5.72007172e+01,
 -1.87708881e-01,-1.65442528e+01, 4.05720763e+01,-2.61601824e+01,
 -1.29239385e-01, 1.16635697e-01, 2.80857469e+00,-9.77560787e+00,
  8.23786788e+00, 2.42050129e+00, 1.90545568e+01,-1.34038055e+01,
  2.53483794e+02, 2.07918013e+02]

qfrc_actuator:
[-0.01623922, 0.16919314, 0.01553726, 0.00327981,-0.00194966, 0.16965341,
  0.01092142, 0.00294891,-0.00161209, 0.15519246, 0.00560315, 0.00103562,
  0.        ,-0.00138119, 0.        ,-0.00094131, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.52969195,  1.35319328, -8.52969195,  8.66744494,
        0.19591728,  1.35319328,  0.19591728,  9.8713048 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00832923527966499
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.33292312e-14, -9.99692337e-15,  1.00000000e+00,  1.33251303e-28,
        1.00000000e+00,  9.99692337e-15, -1.00000000e+00,  0.00000000e+00,
        1.33292312e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04293556, -0.07865347,  0.0614594 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.16453115e-04,-3.52138956e-03,-9.72910487e-04,-2.20097094e-04,
  9.57945161e-05,-1.47764641e-03,-6.00560111e-04,-3.63734081e-05,
 -2.70248928e-05,-9.35483029e-04,-6.64793233e-05,-5.21311964e-06,
 -8.38595652e-06,-2.78105214e-06,-9.59390190e-06,-4.99536469e-05,
  1.55181071e-02,-2.31643767e-02,-1.21014347e+00,-7.95356250e-03,
  3.56507998e-03, 1.22747414e-06]


--- Step 1923 ---
qpos:
[ 1.55215770e-02, 6.52031836e-01,-3.01696952e-02,-1.18309816e-03,
 -1.69758778e-03, 6.41698184e-01,-2.91808529e-02, 1.85527591e-03,
 -2.92244705e-03, 7.24723562e-01,-1.59267594e-02,-2.04657434e-02,
  1.38616173e+00, 1.88580439e-02, 1.36285909e+00, 2.43988068e-02,
  1.46218688e-03,-5.91101102e-02, 8.19055217e-02, 6.55751102e-01,
 -1.33778621e-02,-7.52345724e-01,-6.15421484e-02]

qacc:
[ 3.15856339e+00,-3.52370260e+01, 6.38696892e+01,-3.30292312e+01,
  5.63163958e-01, 2.35995416e+00,-2.49644108e+01, 4.39247675e+01,
 -1.46422646e-02,-1.98635099e+01, 4.43261326e+01,-2.14989718e+01,
  1.03094955e-01,-2.25473244e-01, 1.64054572e+00,-5.91500796e+00,
  6.80211117e+00, 1.98049347e+00, 1.44976470e+01,-8.73998289e+00,
  2.10644305e+02, 1.75811543e+02]

qfrc_actuator:
[-0.01598428, 0.16732519, 0.01531468, 0.00326674,-0.0019205 , 0.1695629 ,
  0.01081969, 0.00299078,-0.0016109 , 0.15440823, 0.00563939, 0.00106914,
  0.        ,-0.00139524, 0.        ,-0.00096899, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.47987785,  1.63659662, -8.47987785,  8.75086647,
        0.59328612,  1.63659662,  0.59328612, 11.71042217,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.008488936168877824
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.53923532e-15, -9.80885298e-15,  1.00000000e+00,  6.41423979e-29,
        1.00000000e+00,  9.80885298e-15, -1.00000000e+00,  0.00000000e+00,
        6.53923532e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04272725, -0.07854741,  0.0614524 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.59936536e-04,-4.13561550e-03,-1.10779256e-03,-2.07811992e-04,
  6.28429630e-05,-1.13128547e-03,-5.12073914e-04,-4.87318122e-05,
 -3.59326910e-06,-1.39334850e-03,-1.88750792e-04,-1.34990102e-05,
 -5.19061136e-06,-1.66286999e-05,-1.18932444e-05,-3.21382628e-05,
  1.16725197e-02,-2.06035431e-02,-1.20982311e+00,-7.56539642e-03,
  3.39993650e-03, 1.89993858e-04]


--- Step 1924 ---
qpos:
[ 1.51686104e-02, 6.54966453e-01,-2.99822966e-02,-1.13944963e-03,
 -1.73578894e-03, 6.44668836e-01,-2.90938158e-02, 1.89145072e-03,
 -2.91305176e-03, 7.27340565e-01,-1.59571701e-02,-2.04706338e-02,
  1.38622920e+00, 1.88574713e-02, 1.36295160e+00, 2.43979943e-02,
  1.29686668e-03,-5.87669125e-02, 8.19924991e-02, 6.52991756e-01,
 -1.85513439e-02,-7.55108438e-01,-5.53972945e-02]

qacc:
[ 3.60356018e+00,-3.11214277e+01, 5.44498552e+01,-3.92910254e+01,
  3.32814909e-01,-5.30271831e+00, 1.93233597e+00, 9.11425536e+00,
  1.50449615e-01,-1.89914107e+01, 4.19638698e+01,-3.22686479e+01,
  2.57614559e-01,-4.97759968e-01, 1.98489570e+00,-7.10997612e+00,
  5.61858487e+00, 1.65259658e+00, 1.05938992e+01,-5.54790425e+00,
  1.75041536e+02, 1.48684601e+02]

qfrc_actuator:
[-0.01569078, 0.16580042, 0.01510576, 0.0032232 ,-0.00190577, 0.16920918,
  0.01074329, 0.00300123,-0.00159607, 0.15360255, 0.00560103, 0.00105509,
  0.        ,-0.00142123, 0.        ,-0.00100296, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.41732538,  1.93272095, -8.41732538,  8.92565822,
        1.25992667,  1.93272095,  1.25992667, 14.12355657,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.008507473469777274
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.52498670e-15, -3.26249335e-15,  1.00000000e+00,  2.12877257e-29,
        1.00000000e+00,  3.26249335e-15, -1.00000000e+00,  0.00000000e+00,
        6.52498670e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04277581, -0.07854675,  0.06145297])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.14711578e-04,-4.16210330e-03,-1.23679993e-03,-2.68947762e-04,
  3.69168811e-05,-1.18262211e-03,-4.04552365e-04,-6.24463285e-05,
  1.94173961e-05,-1.69597099e-03,-3.73147953e-04,-8.50539492e-05,
 -6.81136897e-06,-3.22131836e-05,-1.05624621e-05,-3.76336765e-05,
  8.86265862e-03,-1.82035370e-02,-1.20952602e+00,-7.15908814e-03,
  3.24992395e-03, 3.35526201e-04]


--- Step 1925 ---
qpos:
[ 1.48223096e-02, 6.57877053e-01,-2.98019772e-02,-1.09788089e-03,
 -1.77328899e-03, 6.47627369e-01,-2.90073150e-02, 1.92734035e-03,
 -2.90363740e-03, 7.29942682e-01,-1.59869657e-02,-2.04758883e-02,
  1.38629678e+00, 1.88563371e-02, 1.36304420e+00, 2.43954241e-02,
  1.15011201e-03,-5.84180991e-02, 8.21085421e-02, 6.50413050e-01,
 -2.39015058e-02,-7.57615549e-01,-4.90944295e-02]

qacc:
[ 4.52714543e+00,-1.62313361e+01, 2.06006201e+01,-2.76227242e+01,
  4.90679092e-01,-1.50899033e+01, 3.17776045e+01,-2.69619596e+01,
  2.00756882e-02,-2.21385667e+01, 5.19312900e+01,-4.82820474e+01,
  2.58083728e-01,-5.83612876e-01, 5.42787647e+00,-1.88696190e+01,
  4.64138334e+00, 1.40394847e+00, 7.26640330e+00,-3.43170913e+00,
  1.45296672e+02, 1.25673279e+02]

qfrc_actuator:
[-0.01530563, 0.16516849, 0.0149613 , 0.00316238,-0.00186419, 0.16847075,
  0.01066394, 0.00297524,-0.00160883, 0.15280821, 0.00560762, 0.00103084,
  0.        ,-0.00145411, 0.        ,-0.00109361, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.33142642,  2.27466715, -8.33142642,  9.2843658 ,
        2.37343841,  2.27466715,  2.37343841, 17.32955967,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.008412563498512104
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.59860116e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.59860116e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04302453, -0.07863234,  0.06145949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.27045172e-04,-3.31220505e-03,-1.19543427e-03,-2.92947552e-04,
  5.45892942e-05,-1.57395327e-03,-4.05169312e-04,-9.76051317e-05,
  1.12814872e-06,-1.89447785e-03,-4.15725902e-04,-1.15957654e-04,
 -1.11454654e-05,-4.43699309e-05,-1.05500210e-05,-9.44549263e-05,
  6.79203185e-03,-1.60066892e-02,-1.20925855e+00,-6.75541237e-03,
  3.11338444e-03, 4.49090883e-04]


--- Step 1926 ---
qpos:
[ 1.44838310e-02, 6.60775915e-01,-2.96321634e-02,-1.05884544e-03,
 -1.80980793e-03, 6.50569670e-01,-2.89206414e-02, 1.96163555e-03,
 -2.89448471e-03, 7.32528021e-01,-1.60147887e-02,-2.04806366e-02,
  1.38636436e+00, 1.88547913e-02, 1.36313669e+00, 2.43921095e-02,
  1.01869350e-03,-5.80644434e-02, 8.22423641e-02, 6.47973678e-01,
 -2.94014054e-02,-7.59898630e-01,-4.26584240e-02]

qacc:
[  5.27359188,  8.60078943,-42.50854535, 24.13461463,  0.68374662,
 -25.18868184, 65.43604502,-81.4034681 , -0.14766763,-26.63876285,
  60.68265059,-42.76780604,  0.1903106 , -0.44746066,  2.07157796,
  -7.53793429,  3.83404042,  1.2105523 ,  4.44476195, -2.09503127,
 120.37090636,106.12005988]

qfrc_actuator:
[-0.01486902, 0.16552128, 0.01478899, 0.00311051,-0.00180691, 0.16743739,
  0.01058205, 0.00287446,-0.00163801, 0.15193878, 0.00569413, 0.00105411,
  0.        ,-0.00147304, 0.        ,-0.00112817, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.20506641,  2.69511818, -8.20506641, 10.02387591,
        4.22416742,  2.69511818,  4.22416742, 21.49649515,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00822763195788355
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.74691716e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.74691716e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04342889, -0.0787886 ,  0.06147065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.20783750e-04,-1.84380405e-03,-1.04312994e-03,-2.46557226e-04,
  7.66401986e-05,-2.08878977e-03,-4.89642582e-04,-1.89840866e-04,
 -2.28333203e-05,-2.09011954e-03,-3.82936547e-04,-7.89716131e-05,
 -1.62213558e-05,-3.51464893e-05,-1.71293046e-05,-4.15760881e-05,
  5.25347147e-03,-1.40302795e-02,-1.20902483e+00,-6.36666900e-03,
  2.98971571e-03, 5.38407128e-04]


--- Step 1927 ---
qpos:
[ 1.41534949e-02, 6.63672025e-01,-2.94722967e-02,-1.02138599e-03,
 -1.84558537e-03, 6.53496892e-01,-2.88362349e-02, 1.99437354e-03,
 -2.88519680e-03, 7.35094175e-01,-1.60401094e-02,-2.04855700e-02,
  1.38643188e+00, 1.88529792e-02, 1.36322882e+00, 2.43903884e-02,
  8.99944245e-04,-5.77065673e-02, 8.23844469e-02, 6.45638871e-01,
 -3.50281015e-02,-7.61983923e-01,-3.61106944e-02]

qacc:
[ 5.45886182e+00, 2.08748632e+01,-7.30893190e+01, 6.37989235e+01,
  5.13161781e-01,-1.67832899e+01, 3.75103130e+01,-4.97654823e+01,
  9.39944115e-02,-3.27235365e+01, 8.06746481e+01,-7.37895437e+01,
  2.69157708e-01,-4.59211497e-01,-5.39067662e+00, 1.80016291e+01,
  3.16731241e+00, 1.05512942e+00, 2.06518814e+00,-1.31222193e+00,
  9.94644419e+01, 8.95135947e+01]

qfrc_actuator:
[-0.01444085, 0.16619594, 0.01460623, 0.0031008 ,-0.00177627, 0.16678636,
  0.01049814, 0.00280122,-0.00162352, 0.15087238, 0.00577373, 0.00103416,
  0.        ,-0.00148353, 0.        ,-0.00104061, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.02781422,  3.18448986, -8.02781422, 11.42595413,
        7.03230823,  3.18448986,  7.03230823, 26.36418394,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00797246625910071
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.96285810e-15, -6.96285810e-15,  1.00000000e+00,  4.84813929e-29,
        1.00000000e+00,  6.96285810e-15, -1.00000000e+00,  0.00000000e+00,
        6.96285810e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04395341, -0.07900256,  0.06148544])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.48353485e-04,-6.66801301e-04,-7.29657741e-04,-1.35263846e-04,
  5.79721861e-05,-2.01506716e-03,-6.11377983e-04,-1.89019264e-04,
  1.09215676e-05,-2.38755182e-03,-4.24753114e-04,-1.28679358e-04,
 -1.64519313e-05,-2.49876112e-05,-1.38335594e-05, 8.27436375e-05,
  4.10065412e-03,-1.22755826e-02,-1.20882638e+00,-5.99957177e-03,
  2.87861669e-03, 6.08907884e-04]


--- Step 1928 ---
qpos:
[ 1.38313191e-02, 6.66565145e-01,-2.93170755e-02,-9.84805971e-04,
 -1.88091204e-03, 6.56411159e-01,-2.87548051e-02, 2.02564194e-03,
 -2.87572383e-03, 7.37637992e-01,-1.60636816e-02,-2.04906695e-02,
  1.38649925e+00, 1.88512410e-02, 1.36332094e+00, 2.43890295e-02,
  7.97450513e-04,-5.73455136e-02, 8.25586016e-02, 6.43501222e-01,
 -4.07660804e-02,-7.63790392e-01,-2.94710203e-02]

qacc:
[ 5.45179763e+00, 7.20093278e+00,-2.77163764e+01, 2.21513871e+01,
  3.11023053e-01,-1.18189630e+01, 2.35080159e+01,-3.46662015e+01,
  1.24531101e-01,-3.47436909e+01, 8.17552611e+01,-7.10250768e+01,
 -1.32863572e-01, 1.45142293e-01,-1.10960185e+00, 3.87675826e+00,
  4.06388125e+00, 7.94387199e-01, 8.01796805e+00,-2.47539817e+00,
  1.61508017e+02, 8.05239076e+01]

qfrc_actuator:
[-0.01402119, 0.16627832, 0.0144741 , 0.00308093,-0.00176178, 0.16637006,
  0.01043314, 0.00274512,-0.00161862, 0.14955489, 0.00577687, 0.00100653,
  0.        ,-0.00147119, 0.        ,-0.00102385, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.007746655436357726
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43316433e-14, -7.16582165e-15,  1.00000000e+00,  1.02698000e-28,
        1.00000000e+00,  7.16582165e-15, -1.00000000e+00,  0.00000000e+00,
        1.43316433e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04434536, -0.06770369,  0.06149899])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.51589663e-04,-5.31103181e-04,-3.93270704e-04,-8.19410564e-05,
  3.51978014e-05,-1.76355054e-03,-5.91974508e-04,-1.72878067e-04,
  1.51040265e-05,-2.81506227e-03,-5.69332363e-04,-1.51483817e-04,
 -1.36699474e-05, 7.58480149e-07, 1.87553267e-06, 1.93773360e-05,
  3.22931003e-03,-1.07337327e-02,-1.20866250e+00,-5.65714936e-03,
  2.77969251e-03, 6.64523229e-04]


--- Step 1929 ---
qpos:
[ 1.35161003e-02, 6.69449913e-01,-2.91635024e-02,-9.49068526e-04,
 -1.91534296e-03, 6.59311905e-01,-2.86756041e-02, 2.05590177e-03,
 -2.86611421e-03, 7.40155635e-01,-1.60858225e-02,-2.04952736e-02,
  1.38656644e+00, 1.88498481e-02, 1.36341297e+00, 2.43885511e-02,
  7.24535334e-04,-5.70061766e-02, 8.28456459e-02, 6.41839261e-01,
 -4.60798582e-02,-7.65100080e-01,-2.32567868e-02]

qacc:
[ 4.63304365e+00,-8.16537828e+00, 1.66511771e+01,-2.24574720e+01,
  6.11489589e-01,-1.37046620e+01, 2.72036364e+01,-3.11667707e+01,
  9.67710612e-02,-3.75635073e+01, 8.16674052e+01,-5.61752648e+01,
 -2.65815118e-01, 4.41058497e-01,-2.77478101e+00, 9.58018669e+00,
  7.39463829e+00,-5.42919689e+00, 2.82224338e+01,-2.36128319e+01,
  3.56432796e+02,-2.81763687e+02]

qfrc_actuator:
[-0.01369868, 0.16561611, 0.01430001, 0.0030194 ,-0.00170372, 0.16576123,
  0.01034561, 0.00269983,-0.00161958, 0.1480088 , 0.00575162, 0.00100984,
  0.        ,-0.00144538, 0.        ,-0.00097797, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00839614004622262
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.61150849e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.61150849e-15, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03949119, -0.02687066,  0.06147132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.56866009e-04,-1.12777979e-03,-3.63774982e-04,-1.05082492e-04,
  7.05966096e-05,-1.81016409e-03,-5.59397357e-04,-1.50256901e-04,
  1.08629597e-05,-3.31279694e-03,-7.04376159e-04,-1.44247652e-04,
 -6.38452755e-06, 2.29512342e-05, 7.17241222e-07, 4.66934452e-05,
  2.10170755e-03,-8.27304680e-03,-1.20866246e+00,-5.07625005e-03,
  2.69484974e-03, 7.57820039e-04]


--- Step 1930 ---
qpos:
[ 1.32062012e-02, 6.72318533e-01,-2.90099195e-02,-9.13551477e-04,
 -1.94817242e-03, 6.62197991e-01,-2.85986575e-02, 2.08542422e-03,
 -2.85601707e-03, 7.42644059e-01,-1.61072048e-02,-2.04994368e-02,
  1.38663355e+00, 1.88487428e-02, 1.36350493e+00, 2.43889549e-02,
  6.76304433e-04,-5.66843043e-02, 8.32227520e-02, 6.40576690e-01,
 -5.10405800e-02,-7.65998570e-01,-1.73940972e-02]

qacc:
[ 3.53429915e+00,-2.17996487e+01, 4.77071709e+01,-3.96906310e+01,
  1.08398193e+00,-1.45803893e+01, 2.69949936e+01,-2.53851737e+01,
  3.07031446e-01,-3.98201099e+01, 8.41073528e+01,-5.62514258e+01,
 -1.56411525e-01, 3.16409328e-01,-2.75282863e+00, 9.53195591e+00,
  6.17106937e+00,-4.36615677e+00, 2.25154239e+01,-1.67614933e+01,
  2.96958684e+02,-2.33769633e+02]

qfrc_actuator:
[-0.01347202, 0.16433618, 0.01411737, 0.00296869,-0.00160239, 0.16502485,
  0.01022724, 0.00266116,-0.00158858, 0.14635609, 0.00570896, 0.00101337,
  0.        ,-0.00142955, 0.        ,-0.00093302, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -2.00342674,  8.40077723, -2.00342674, 31.2980462 ,
        5.40438339,  8.40077723,  5.40438339,  9.92520703,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.008979549706209136
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.18195266e-15,  1.54548817e-15,  1.00000000e+00, -9.55413469e-30,
        1.00000000e+00, -1.54548817e-15, -1.00000000e+00,  0.00000000e+00,
        6.18195266e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03880676, -0.0273093 ,  0.06144979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.26649504e-04,-2.07361253e-03,-4.92573826e-04,-1.19215766e-04,
  1.26917776e-04,-1.95546133e-03,-5.94850564e-04,-1.44028530e-04,
  4.09436037e-05,-3.72448578e-03,-8.40706773e-04,-1.69824108e-04,
  2.25315542e-06, 2.16018379e-05, 3.37185673e-06, 4.71592580e-05,
  7.47297544e-04,-3.85395294e-03,-1.20959771e+00,-3.45490186e-03,
  3.15174866e-03, 9.89728147e-04]


--- Step 1931 ---
qpos:
[ 1.29009454e-02, 6.75165550e-01,-2.88568076e-02,-8.78961045e-04,
 -1.97927534e-03, 6.65067553e-01,-2.85230618e-02, 2.11432629e-03,
 -2.84568936e-03, 7.45101678e-01,-1.61282454e-02,-2.05037125e-02,
  1.38670041e+00, 1.88485716e-02, 1.36359705e+00, 2.43885547e-02,
  6.48858330e-04,-5.63763791e-02, 8.36704889e-02, 6.39650705e-01,
 -5.57055209e-02,-7.66553356e-01,-1.18246762e-02]

qacc:
[ 3.07515672e+00,-2.91122298e+01, 6.63062973e+01,-6.57419374e+01,
  1.16499186e+00,-1.93220019e+01, 3.98378489e+01,-3.62847724e+01,
  1.53314881e-01,-4.18924229e+01, 9.07842207e+01,-7.06633878e+01,
 -8.37849956e-01, 1.37611136e+00, 2.78502976e+00,-9.13193237e+00,
  5.19619967e+00,-3.48675334e+00, 1.76576890e+01,-1.19867928e+01,
  2.49056120e+02,-1.95522111e+02]

qfrc_actuator:
[-0.01325076, 0.16289202, 0.01394635, 0.00288869,-0.00151167, 0.16416525,
  0.01014454, 0.00262659,-0.00159206, 0.14474167, 0.00569147, 0.00099914,
  0.        ,-0.00136652, 0.        ,-0.00097775, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,   4.57682746,   7.32389427,   4.57682746,
        30.16309015, -13.45242154,   7.32389427, -13.45242154,
        17.04301317,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00936041719882661
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.93041422e-15,  1.03782249e-14,  1.00000000e+00, -6.15471724e-29,
        1.00000000e+00, -1.03782249e-14, -1.00000000e+00,  0.00000000e+00,
        5.93041422e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03847816, -0.02752406,  0.0614395 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.73152199e-04,-2.79326866e-03,-6.92441228e-04,-1.93718620e-04,
  1.37187912e-04,-2.16635066e-03,-5.93117386e-04,-1.47215023e-04,
  1.88505280e-05,-3.94470883e-03,-9.17957860e-04,-2.10377420e-04,
  6.11778386e-06, 7.03175731e-05, 4.69126601e-06,-4.21529796e-05,
  7.58537873e-05,-6.15845338e-04,-1.21035046e+00,-2.21438170e-03,
  3.49482478e-03, 1.17015440e-03]


--- Step 1932 ---
qpos:
[ 1.26008970e-02, 6.77996826e-01,-2.87095322e-02,-8.45734918e-04,
 -2.00936071e-03, 6.67919242e-01,-2.84484994e-02, 2.14229209e-03,
 -2.83588936e-03, 7.47528583e-01,-1.61484729e-02,-2.05089406e-02,
  1.38676713e+00, 1.88493835e-02, 1.36368964e+00, 2.43839454e-02,
  6.39067640e-04,-5.60794794e-02, 8.41723752e-02, 6.39009166e-01,
 -6.01212819e-02,-7.66818389e-01,-6.50204388e-03]

qacc:
[   3.42211867,  -7.30420439,   1.612394  ,  -4.31311245,   0.68843052,
  -22.63699842,  50.40953045, -51.84500219,  -0.29734397, -44.81691395,
  104.92885849,-100.15398118,  -1.08122366,   1.69162548,  13.57873691,
  -46.15897516,   4.41385308,  -2.75640063,  13.53735622,  -8.68546999,
  210.04183673,-164.68657947]

qfrc_actuator:
[-0.01296319, 0.16247967, 0.01378277, 0.00284516,-0.00148133, 0.16325718,
  0.01008325, 0.00257691,-0.00165168, 0.14328778, 0.00576019, 0.00095687,
  0.        ,-0.00131144, 0.        ,-0.00119923, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.07900003,  3.0523    ,  8.07900003, 10.95268346,
       -6.13096612,  3.0523    , -6.13096612, 24.86415102,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.009576400308383415
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.79666153e-15, -2.31866461e-14,  1.00000000e+00,  1.34405139e-28,
        1.00000000e+00,  2.31866461e-14, -1.00000000e+00,  0.00000000e+00,
        5.79666153e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03841759, -0.02757411,  0.06143767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.19889714e-04,-2.20754075e-03,-8.60562399e-04,-1.96387778e-04,
  8.07875114e-05,-2.33183492e-03,-6.14938719e-04,-1.71320726e-04,
 -4.65631692e-05,-3.92405013e-03,-8.87825771e-04,-2.51243346e-04,
  1.87754833e-05, 7.87432061e-05,-5.52043788e-06,-2.23888832e-04,
 -1.66477858e-04, 1.79162132e-03,-1.21096400e+00,-1.24763286e-03,
  3.75839015e-03, 1.31409492e-03]


--- Step 1933 ---
qpos:
[ 1.23067279e-02, 6.80824633e-01,-2.85721654e-02,-8.14366834e-04,
 -2.03936297e-03, 6.70752887e-01,-2.83758253e-02, 2.16942302e-03,
 -2.82669951e-03, 7.49925709e-01,-1.61680750e-02,-2.05134444e-02,
  1.38683409e+00, 1.88501862e-02, 1.36378197e+00, 2.43783939e-02,
  6.44405340e-04,-5.57911774e-02, 8.47144719e-02, 6.38608509e-01,
 -6.43260974e-02,-7.66837269e-01,-1.38877186e-03]

qacc:
[ 3.83417839e+00, 1.92443630e+01,-6.74555621e+01, 5.37421391e+01,
  6.44767376e-02,-2.02688027e+01, 4.12069223e+01,-3.93911142e+01,
 -3.45906109e-01,-3.96027242e+01, 8.10661427e+01,-4.76862730e+01,
  1.47428800e-01,-9.53772432e-02, 2.47630695e+00,-9.22221489e+00,
  3.78209760e+00,-2.14943922e+00, 1.00526089e+01,-6.43227932e+00,
  1.77984177e+02,-1.39590846e+02]

qfrc_actuator:
[-0.01263824, 0.16322176, 0.01362921, 0.00282432,-0.00150497, 0.16239901,
  0.00999952, 0.00253648,-0.00169105, 0.14194244, 0.00584454, 0.00100518,
  0.        ,-0.00133257, 0.        ,-0.00123898, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.62398238,  0.46228219,  8.62398238,  8.6638439 ,
       -0.51265066,  0.46228219, -0.51265066, 18.19998166,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00965864830791148
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.31047514e-15, -2.29892008e-14,  1.00000000e+00,  9.90943783e-29,
        1.00000000e+00,  2.29892008e-14, -1.00000000e+00,  0.00000000e+00,
        4.31047514e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03856013, -0.02750269,  0.06144227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.75821467e-04,-7.59726639e-04,-7.50107858e-04,-1.54422976e-04,
  6.02101247e-06,-2.37931299e-03,-6.74839707e-04,-1.70337606e-04,
 -5.37603614e-05,-3.79853058e-03,-8.65331393e-04,-1.59468389e-04,
  2.57983738e-05, 8.48214021e-06,-3.06257811e-05,-5.36351300e-05,
 -1.43039758e-04, 3.60466575e-03,-1.21147194e+00,-4.81369232e-04,
  3.96512396e-03, 1.43116006e-03]


--- Step 1934 ---
qpos:
[ 1.20187206e-02, 6.83653397e-01,-2.84420117e-02,-7.84729476e-04,
 -2.06936160e-03, 6.73566580e-01,-2.83045816e-02, 2.19562459e-03,
 -2.81780657e-03, 7.52293084e-01,-1.61872377e-02,-2.05174080e-02,
  1.38690137e+00, 1.88503883e-02, 1.36387375e+00, 2.43753721e-02,
  6.62820126e-04,-5.55094597e-02, 8.52850218e-02, 6.38412171e-01,
 -6.83515307e-02,-7.66645548e-01, 3.54551808e-03]

qacc:
[ 4.00190531e+00, 1.78291668e+01,-5.44547232e+01, 3.53740801e+01,
  1.33947847e-02,-2.42607765e+01, 5.21824371e+01,-5.13360808e+01,
 -1.60178329e-01,-3.94281874e+01, 8.12682083e+01,-5.07916280e+01,
  8.64300454e-01,-1.18723994e+00,-8.59937906e+00, 2.86188256e+01,
  3.26927145e+00,-1.64603658e+00, 7.11329800e+00,-4.92263255e+00,
  1.51467777e+02,-1.19015428e+02]

qfrc_actuator:
[-0.01231138, 0.16378066, 0.01347033, 0.00278264,-0.0015072 , 0.16134732,
  0.00990359, 0.00248411,-0.00170023, 0.14051379, 0.00588486, 0.00103554,
  0.        ,-0.00138107, 0.        ,-0.00110027, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.58600342, -0.93130127,  8.58600342,  8.69045352,
        0.49867424, -0.93130127,  0.49867424, 13.23382189,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.009633020940196982
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00845327e-14, -1.15251802e-14,  1.00000000e+00,  1.16226057e-28,
        1.00000000e+00,  1.15251802e-14, -1.00000000e+00,  0.00000000e+00,
        1.00845327e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03885672, -0.02734204,  0.06145174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.00207321e-04,-1.08366170e-04,-4.41159256e-04,-1.08571992e-04,
 -4.16170720e-07,-2.61100535e-03,-7.03936080e-04,-1.86305359e-04,
 -2.67137601e-05,-3.80213746e-03,-8.77185466e-04,-1.69428428e-04,
  1.32392508e-05,-3.95177255e-05,-2.02464397e-05, 1.31743743e-04,
  4.01196087e-05, 4.98581402e-03,-1.21189997e+00, 1.35680067e-04,
  4.13037183e-03, 1.52772152e-03]


--- Step 1935 ---
qpos:
[ 1.17389314e-02, 6.86479364e-01,-2.83136032e-02,-7.55144657e-04,
 -2.09856601e-03, 6.76357965e-01,-2.82340278e-02, 2.22114773e-03,
 -2.80846463e-03, 7.54632220e-01,-1.62076021e-02,-2.05221744e-02,
  1.38696855e+00, 1.88508081e-02, 1.36396569e+00, 2.43716484e-02,
  6.92852135e-04,-5.52330235e-02, 8.58749847e-02, 6.38392220e-01,
 -7.22172647e-02,-7.66270726e-01, 8.31949219e-03]

qacc:
[   5.32606128,   1.06253267,  -8.94322812,  12.89490753,   0.53557647,
  -28.92103619,  63.22706422, -57.49606929,   0.27719977, -35.6080358 ,
   76.21161471, -67.44811683,  -0.27738196,   0.39725656,   2.39296832,
   -7.94995429,   2.90430583,  -1.32040977,   4.85326593,  -4.12327343,
  131.25686106,-106.44734115]

qfrc_actuator:
[-0.01182623, 0.16360525, 0.01338052, 0.00278231,-0.00144328, 0.16015313,
  0.00983615, 0.00244277,-0.00165586, 0.13922458, 0.00586319, 0.00100175,
  0.        ,-0.00135663, 0.        ,-0.00114163, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.22593295, -2.63074208,  8.22593295,  8.93385339,
        0.93020551, -2.63074208,  0.93020551, 11.54497571,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.009521617579414646
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70602823e-07,  9.70602834e-07,  1.00000000e+00,  9.42069851e-13,
        1.00000000e+00, -9.70602834e-07, -1.00000000e+00,  0.00000000e+00,
       -9.70602823e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03916462, -0.02642284,  0.06146484])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.68833845e-04,-4.12474403e-04,-1.97777455e-04,-2.76929045e-05,
  6.32792665e-05,-2.88898367e-03,-7.27181172e-04,-1.86474990e-04,
  3.80823569e-05,-3.66666341e-03,-9.41419808e-04,-2.34268316e-04,
 -2.77269490e-06, 1.49976331e-05, 5.71745478e-06,-3.65427359e-05,
  3.13976641e-04, 6.04893168e-03,-1.21226748e+00, 6.40095416e-04,
  4.26473977e-03, 1.60816458e-03]


--- Step 1936 ---
qpos:
[ 1.14694668e-02, 6.89297849e-01,-2.81854217e-02,-7.25395719e-04,
 -2.12554294e-03, 6.79129195e-01,-2.81658773e-02, 2.24640785e-03,
 -2.79698025e-03, 7.56944138e-01,-1.62296826e-02,-2.05271391e-02,
  1.38703624e+00, 1.88497687e-02, 1.36405769e+00, 2.43667930e-02,
  7.33202597e-04,-5.49606098e-02, 8.64763417e-02, 6.38523755e-01,
 -7.59433237e-02,-7.65736425e-01, 1.29519484e-02]

qacc:
[  6.66754255, -8.91158643, 16.73217132, -8.02842258,  1.46857908,
 -20.44267731, 35.36408519,-21.27297311,  1.26991743,-31.5800865 ,
  61.25512542,-41.96440742,  1.17428307, -1.97833317,  3.39034362,
 -12.05585043,  2.57961324, -1.00560294,  2.84850314, -3.50371956,
 113.47437501,-93.55963525]

qfrc_actuator:
[-0.01123288, 0.16299265, 0.01327632, 0.00277031,-0.00128721, 0.15934534,
  0.00978562, 0.00244367,-0.00149123, 0.13799391, 0.00582355, 0.00100162,
  0.        ,-0.00146653, 0.        ,-0.00120003, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.1649787 , -2.81423162,  8.1649787 ,  8.72115339,
        0.24600197, -2.81423162,  0.24600197,  9.35009339,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.009356451160406544
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.93292802e-15,  5.93292802e-15,  1.00000000e+00, -3.51996349e-29,
        1.00000000e+00, -5.93292802e-15, -1.00000000e+00,  0.00000000e+00,
        5.93292802e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03959803, -0.02585004,  0.06148006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.42389936e-04,-9.65775404e-04,-2.42121327e-04,-4.23836256e-05,
  1.79426199e-04,-2.66199042e-03,-7.70269975e-04,-1.56900105e-04,
  1.85635192e-04,-3.54749458e-03,-9.41264225e-04,-1.98238879e-04,
  1.92464878e-06,-1.05753615e-04,-4.11636137e-06,-6.03025014e-05,
  6.38250865e-04, 6.87231992e-03,-1.21259533e+00, 1.06276138e-03,
  4.38111601e-03, 1.67668347e-03]


--- Step 1937 ---
qpos:
[ 1.12114231e-02, 6.92102813e-01,-2.80571201e-02,-6.96394003e-04,
 -2.15018868e-03, 6.81882885e-01,-2.81010488e-02, 2.27110138e-03,
 -2.78183574e-03, 7.59228635e-01,-1.62521077e-02,-2.05308349e-02,
  1.38710478e+00, 1.88455602e-02, 1.36414951e+00, 2.43622684e-02,
  7.82710527e-04,-5.46910481e-02, 8.70819793e-02, 6.38784483e-01,
 -7.95489832e-02,-7.65063045e-01, 1.74608499e-02]

qacc:
[  7.34814073,-19.72863544, 47.57441031,-50.7707972 ,  1.52734558,
 -15.05323441, 22.4360783 ,-14.04338141,  2.15656608,-32.65709277,
  58.52269365,-15.9005929 ,  2.59777702, -4.41469872, -1.60779105,
   4.42494863,  2.28936676, -0.71300912,  1.07014324, -3.06001683,
  97.77914586,-81.10035246]

qfrc_actuator:
[-0.01061551, 0.16192824, 0.01312716, 0.00269786,-0.00116636, 0.15872292,
  0.00971174, 0.00243426,-0.0012563 , 0.13671988, 0.00584514, 0.00107466,
  0.        ,-0.0016732 , 0.        ,-0.0011792 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.12306828, -2.93300846,  8.12306828,  8.51861897,
       -0.32609791, -2.93300846, -0.32609791,  7.73322421,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.009134726570974368
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04014465, -0.02554353,  0.0614974 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.34136243e-04,-1.73639607e-03,-4.07231025e-04,-1.28348809e-04,
  1.88392184e-04,-2.35654066e-03,-7.50764953e-04,-1.58346440e-04,
  3.18426677e-04,-3.52174512e-03,-8.53868092e-04,-1.19205943e-04,
 -2.37594635e-05,-2.39390476e-04,-9.70013805e-06, 1.66801021e-05,
  9.83045286e-04, 7.51385898e-03,-1.21288861e+00, 1.41898042e-03,
  4.48055589e-03, 1.73487857e-03]


--- Step 1938 ---
qpos:
[ 1.09612174e-02, 6.94895587e-01,-2.79320308e-02,-6.68171867e-04,
 -2.17513860e-03, 6.84622332e-01,-2.80397060e-02, 2.29496691e-03,
 -2.76477943e-03, 7.61486271e-01,-1.62737775e-02,-2.05324732e-02,
  1.38717314e+00, 1.88401202e-02, 1.36424103e+00, 2.43600204e-02,
  8.40425056e-04,-5.44233958e-02, 8.76859645e-02, 6.39155673e-01,
 -8.30502632e-02,-7.64267476e-01, 2.18610508e-02]

qacc:
[  5.0202464 , -8.73828108, 11.06711315,-10.45777912, -0.19272132,
 -10.77945601, 14.6234817 ,-12.91575862,  1.13031295,-33.36555234,
  58.79995161, -4.71533746,  0.78462361, -1.61568403, -7.45674013,
  25.16075098,  2.05165005, -0.47735285, -0.41307046, -2.78326592,
  84.6937598 ,-70.75204852]

qfrc_actuator:
[-0.01032624, 0.16140066, 0.01298627, 0.00266099,-0.00126292, 0.15834142,
  0.00966122, 0.00241908,-0.00123012, 0.13551968, 0.00593827, 0.00119021,
  0.        ,-0.00170486, 0.        ,-0.00105857, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  7.94822543, -3.37823762,  7.94822543,  8.34773602,
       -0.67907519, -3.37823762, -0.67907519,  7.03865402,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.008869554740102224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.38792637e-15, -1.09525808e-14,  1.00000000e+00,  1.02822022e-28,
        1.00000000e+00,  1.09525808e-14, -1.00000000e+00,  0.00000000e+00,
        9.38792637e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04073952, -0.02521334,  0.06151622])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.42654832e-04,-1.66772931e-03,-5.81274926e-04,-1.33137144e-04,
 -2.52461282e-05,-1.94013397e-03,-6.61699785e-04,-1.50337973e-04,
  1.66261531e-04,-3.41119411e-03,-7.63215465e-04,-7.09763637e-05,
 -6.63760718e-05,-1.12444757e-04,-2.33976946e-06, 1.20332736e-04,
  1.32794122e-03, 8.01719149e-03,-1.21315271e+00, 1.72138773e-03,
  4.56467015e-03, 1.78403956e-03]


--- Step 1939 ---
qpos:
[ 1.07144187e-02, 6.97682717e-01,-2.78133406e-02,-6.38924261e-04,
 -2.20231719e-03, 6.87351112e-01,-2.79820775e-02, 2.31825383e-03,
 -2.74858601e-03, 7.63716723e-01,-1.62949071e-02,-2.05334258e-02,
  1.38724120e+00, 1.88340269e-02, 1.36433284e+00, 2.43565414e-02,
  9.05568581e-04,-5.41569047e-02, 8.82833681e-02, 6.39621638e-01,
 -8.64604531e-02,-7.63363707e-01, 2.61648660e-02]

qacc:
[ 2.16836130e+00, 1.25149093e+01,-5.97891381e+01, 9.19448750e+01,
 -1.43909559e+00,-4.90578428e+00,-5.16652243e-01, 4.28181319e+00,
 -4.89137240e-01,-3.60152666e+01, 7.34114988e+01,-4.24661589e+01,
  2.43656505e-02,-4.94954993e-01, 4.14107198e+00,-1.39016427e+01,
  1.85724889e+00,-2.90285592e-01,-1.64541436e+00,-2.60370873e+00,
  7.38024000e+01,-6.21551727e+01]

qfrc_actuator:
[-0.01028809, 0.1616253 , 0.01285362, 0.00275231,-0.00143496, 0.15816145,
  0.00960847, 0.00241867,-0.00138215, 0.13417891, 0.00596687, 0.00122346,
  0.        ,-0.00172093, 0.        ,-0.00112868, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  7.75781917, -3.79513091,  7.75781917,  8.16942507,
       -0.95449276, -3.79513091, -0.95449276,  6.68523668,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00857168146703962
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.47610990e-15,  3.23805495e-15,  1.00000000e+00, -2.09699997e-29,
        1.00000000e+00, -3.23805495e-15, -1.00000000e+00,  0.00000000e+00,
        6.47610990e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04136727, -0.02486889,  0.06153604])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.80047451e-04,-9.12674986e-04,-5.80218372e-04,-8.06485677e-06,
 -1.82037377e-04,-1.48643781e-03,-5.66450567e-04,-1.14433868e-04,
 -7.64596596e-05,-3.46835275e-03,-7.91826262e-04,-1.44418920e-04,
 -5.70727651e-05,-6.67844298e-05, 1.07029227e-05,-6.40592679e-05,
  1.66220608e-03, 8.41526338e-03,-1.21339413e+00, 1.98166183e-03,
  4.63654969e-03, 1.82567653e-03]


--- Step 1940 ---
qpos:
[ 1.04713845e-02, 7.00463473e-01,-2.76972674e-02,-6.08057544e-04,
 -2.23124632e-03, 6.90069329e-01,-2.79270716e-02, 2.34046680e-03,
 -2.73259444e-03, 7.65917724e-01,-1.63157713e-02,-2.05351128e-02,
  1.38730909e+00, 1.88273230e-02, 1.36442485e+00, 2.43509284e-02,
  9.77507521e-04,-5.38909921e-02, 8.88701122e-02, 6.40169308e-01,
 -8.97905423e-02,-7.62363311e-01, 3.03825279e-02]

qacc:
[ 2.39099304e+00, 2.21816634e+00,-2.69694632e+01, 6.38689934e+01,
 -1.12422044e+00,-8.83437427e+00, 1.57846875e+01,-2.24204548e+01,
 -1.03077688e-01,-4.11685106e+01, 9.34244669e+01,-8.49343594e+01,
  3.09400246e-02,-4.43680164e-01, 6.75761722e+00,-2.32237538e+01,
  1.69885384e+00,-1.44635810e-01,-2.66487381e+00,-2.46997564e+00,
  6.47641809e+01,-5.50180941e+01]

qfrc_actuator:
[-0.01007976, 0.1614475 , 0.01278366, 0.00284805,-0.00150822, 0.15774948,
  0.00952049, 0.00237396,-0.00137281, 0.13256959, 0.00592114, 0.00117236,
  0.        ,-0.00174551, 0.        ,-0.00123963, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  7.53389791, -4.22222207,  7.53389791,  7.990257  ,
       -1.1528767 , -4.22222207, -1.1528767 ,  6.57923467,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.008250031220911905
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.36429946e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.36429946e-15, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04201557, -0.02451749,  0.06155645])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.10259673e-04,-8.86931078e-04,-3.56918889e-04, 3.12128651e-05,
 -1.43420189e-04,-1.44305719e-03,-4.94792791e-04,-1.35269577e-04,
 -1.86641679e-05,-3.77712515e-03,-8.83745409e-04,-2.33570527e-04,
 -4.26663666e-05,-5.85209192e-05,-5.66559657e-06,-1.13902012e-04,
  1.98016474e-03, 8.73261354e-03,-1.21361773e+00, 2.20871122e-03,
  4.69848006e-03, 1.86103233e-03]


--- Step 1941 ---
qpos:
[ 1.02345430e-02, 7.03233214e-01,-2.75812214e-02,-5.77693070e-04,
 -2.26014745e-03, 6.92775906e-01,-2.78739760e-02, 2.36196077e-03,
 -2.71502275e-03, 7.68085821e-01,-1.63346683e-02,-2.05381730e-02,
  1.38737663e+00, 1.88207257e-02, 1.36451621e+00, 2.43490494e-02,
  1.05572887e-03,-5.36252163e-02, 8.94428404e-02, 6.40787853e-01,
 -9.30495783e-02,-7.61275835e-01, 3.45225563e-02]

qacc:
[ 3.92206567e+00,-1.55041842e+01, 3.62831892e+01,-3.68458039e+01,
  2.28080880e-02,-1.15148002e+01, 2.17783379e+01,-2.26193748e+01,
  9.32874664e-01,-5.18054469e+01, 1.27414964e+02,-1.30149117e+02,
  1.34345945e-02,-4.25405599e-02,-1.22935044e+01, 4.15663661e+01,
  1.57060309e+00,-3.42125734e-02,-3.50399046e+00,-2.34470061e+00,
  5.72958152e+01,-4.91013106e+01]

qfrc_actuator:
[-0.00968228, 0.16067615, 0.01269682, 0.00280341,-0.00145079, 0.15718471,
  0.00942952, 0.00233889,-0.00123147, 0.13075902, 0.00595515, 0.00108956,
  0.        ,-0.00172169, 0.        ,-0.00103638, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  7.24925799, -4.69414907,  7.24925799,  7.83927724,
       -1.23095471, -4.69414907, -1.23095471,  6.73537836,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007911994173483601
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.50803792e-15, -1.75401896e-15,  1.00000000e+00,  6.15316504e-30,
        1.00000000e+00,  1.75401896e-15, -1.00000000e+00,  0.00000000e+00,
        3.50803792e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04267453, -0.02416481,  0.06157714])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.11722309e-04,-1.41792098e-03,-3.39470711e-04,-9.95442764e-05,
  1.87895263e-06,-1.55719043e-03,-4.80534793e-04,-1.21655215e-04,
  1.37898281e-04,-4.17292862e-03,-8.81899509e-04,-2.83357811e-04,
 -3.44452489e-05,-3.99089074e-06,-1.78973346e-05, 1.95605174e-04,
  2.27948706e-03, 8.98770750e-03,-1.21382710e+00, 2.40939978e-03,
  4.75215994e-03, 1.89115342e-03]


--- Step 1942 ---
qpos:
[ 1.00016634e-02, 7.05988418e-01,-2.74662520e-02,-5.48352896e-04,
 -2.28891135e-03, 6.95473491e-01,-2.78230208e-02, 2.38278723e-03,
 -2.69604557e-03, 7.70218691e-01,-1.63500747e-02,-2.05406922e-02,
  1.38744393e+00, 1.88143252e-02, 1.36460701e+00, 2.43529225e-02,
  1.13982118e-03,-5.33592552e-02, 8.99988061e-02, 6.41468376e-01,
 -9.62449673e-02,-7.60109125e-01, 3.85920599e-02]

qacc:
[ 2.50253334e+00,-1.82974830e+01, 4.16969207e+01,-4.70313938e+01,
  9.07034061e-02,-7.27184151e+00, 1.15061432e+01,-1.30297116e+01,
  8.31998950e-01,-5.51867277e+01, 1.26953236e+02,-9.73195299e+01,
  2.06840854e-01,-1.63668604e-01,-1.82806362e+01, 6.26719510e+01,
  1.46773948e+00, 4.63448080e-02,-4.19060359e+00,-2.20124462e+00,
  5.11593211e+01,-4.42061719e+01]

qfrc_actuator:
[-0.00954805, 0.15971564, 0.01254506, 0.00272928,-0.0014403 , 0.15701289,
  0.00942585, 0.00232743,-0.00117239, 0.1289317 , 0.0061062 , 0.00111294,
  0.        ,-0.00170483, 0.        ,-0.00073839, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  6.84865659, -5.26143324,  6.84865659,  7.72918913,
       -1.18084301, -5.26143324, -1.18084301,  7.09929419,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00756366677733307
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.33918519e-15, -7.33918519e-15,  1.00000000e+00,  5.38636393e-29,
        1.00000000e+00,  7.33918519e-15, -1.00000000e+00,  0.00000000e+00,
        7.33918519e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04333619, -0.02381522,  0.06159786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.27980264e-04,-1.90553444e-03,-5.16309129e-04,-1.53704837e-04,
  1.09471544e-05,-1.22400084e-03,-4.14396026e-04,-1.02139103e-04,
  1.22713252e-04,-4.41176165e-03,-8.47794732e-04,-1.94975326e-04,
 -1.70613937e-05, 7.72247492e-06, 1.28136972e-05, 3.06443506e-04,
  2.56000938e-03, 9.19457590e-03,-1.21402487e+00, 2.58906288e-03,
  4.79885429e-03, 1.91693530e-03]


--- Step 1943 ---
qpos:
[ 9.76997122e-03, 7.08724366e-01,-2.73514172e-02,-5.17256975e-04,
 -2.31956422e-03, 6.98164311e-01,-2.77737521e-02, 2.40254455e-03,
 -2.67730899e-03, 7.72315691e-01,-1.63627073e-02,-2.05418109e-02,
  1.38751120e+00, 1.88078563e-02, 1.36469832e+00, 2.43563124e-02,
  1.22945891e-03,-5.30928873e-02, 9.05357779e-02, 6.42203632e-01,
 -9.93827285e-02,-7.58869597e-01, 4.25969850e-02]

qacc:
[ 7.55862736e-01,-2.14358705e+01, 3.21119552e+01, 1.26182595e+01,
 -1.20044317e+00,-6.42242515e+00, 1.44459011e+01,-2.52859075e+01,
 -1.19616207e-01,-5.22598594e+01, 1.11667851e+02,-6.55567129e+01,
 -6.65374337e-02, 1.99128577e-02, 2.21952144e+00,-6.66019527e+00,
  1.38635361e+00, 1.01685540e-01,-4.74849674e+00,-2.02120092e+00,
  4.61531390e+01,-4.01666672e+01]

qfrc_actuator:
[-0.00957201, 0.15850755, 0.01244417, 0.00279795,-0.0016001 , 0.15693681,
  0.00944006, 0.00229487,-0.00125189, 0.12712756, 0.0062364 , 0.00118091,
  0.        ,-0.00171003, 0.        ,-0.00077763, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  6.23037428, -5.98073685,  6.23037428,  7.80192173,
       -0.86927171, -5.98073685, -0.86927171,  7.73080831,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007210054347952043
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.69913076e-15, -3.84956538e-15,  1.00000000e+00,  2.96383073e-29,
        1.00000000e+00,  3.84956538e-15, -1.00000000e+00,  0.00000000e+00,
        7.69913076e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04399421, -0.02347206,  0.06161842])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.80391643e-05,-2.46402336e-03,-5.89595597e-04,-3.89223060e-05,
 -1.55764716e-04,-9.26994454e-04,-3.18720253e-04,-1.06263936e-04,
 -2.23710761e-05,-4.51029491e-03,-9.10402253e-04,-1.57652155e-04,
 -5.02779878e-06,-7.12463119e-06, 3.84354737e-05,-2.08824815e-05,
  2.82292312e-03, 9.36397774e-03,-1.21421303e+00, 2.75187949e-03,
  4.83950413e-03, 1.93915266e-03]


--- Step 1944 ---
qpos:
[ 9.53810494e-03, 7.11436716e-01,-2.72361339e-02,-4.83076722e-04,
 -2.35259548e-03, 7.00844078e-01,-2.77242936e-02, 2.42277241e-03,
 -2.65964514e-03, 7.74376384e-01,-1.63751000e-02,-2.05429756e-02,
  1.38757829e+00, 1.88018331e-02, 1.36478999e+00, 2.43579270e-02,
  1.32438940e-03,-5.28259761e-02, 9.10519578e-02, 6.42987797e-01,
 -1.02467710e-01,-7.57562456e-01, 4.65423200e-02]

qacc:
[-9.48171050e-02,-2.60629628e+01, 3.46807419e+01, 3.52939579e+01,
 -1.50164736e+00,-1.41539668e+01, 2.72971535e+01,-1.13485408e+01,
 -6.00109452e-01,-4.87392428e+01, 1.04372091e+02,-7.89056229e+01,
 -5.81354821e-01, 8.32436612e-01, 5.97816940e+00,-1.99704109e+01,
  1.32319169e+00, 1.35843758e-01,-5.19796060e+00,-1.79246734e+00,
  4.21055652e+01,-3.68433085e+01]

qfrc_actuator:
[-0.0096187 , 0.15709042, 0.01237328, 0.00293217,-0.00173585, 0.15619171,
  0.00937664, 0.00230358,-0.00134245, 0.12524556, 0.0062114 , 0.00116804,
  0.        ,-0.00167501, 0.        ,-0.00087325, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  5.14817994, -6.9341921 ,  5.14817994,  8.33427073,
       -0.22428405, -6.9341921 , -0.22428405,  8.46984754,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0068552422204914976
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.21464310e-14, -2.02440517e-15,  1.00000000e+00,  2.45892978e-29,
        1.00000000e+00,  2.02440517e-15, -1.00000000e+00,  0.00000000e+00,
        1.21464310e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04464357, -0.02313783,  0.06163865])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.53046632e-05,-2.99485105e-03,-6.79741294e-04, 2.45709057e-06,
 -1.96684606e-04,-1.41001721e-03,-3.23226671e-04,-4.90103130e-05,
 -9.60199517e-05,-4.65359577e-03,-1.09206313e-03,-2.44086984e-04,
 -3.48194572e-06, 3.14953078e-05, 1.11429217e-05,-9.28211336e-05,
  3.07021851e-03, 9.50423398e-03,-1.21439304e+00, 2.90114389e-03,
  4.87480688e-03, 1.95848029e-03]


--- Step 1945 ---
qpos:
[ 9.30707176e-03, 7.14131962e-01,-2.71261171e-02,-4.51541579e-04,
 -2.38628976e-03, 7.03509706e-01,-2.76746125e-02, 2.44325557e-03,
 -2.64187402e-03, 7.76399410e-01,-1.63879812e-02,-2.05455032e-02,
  1.38764528e+00, 1.87962311e-02, 1.36488145e+00, 2.43604119e-02,
  1.42442194e-03,-5.25584556e-02, 9.15459126e-02, 6.43816257e-01,
 -1.05503772e-01,-7.56191886e-01, 5.04322657e-02]

qacc:
[ 5.22777988e-01,-1.33250216e+01, 2.58839922e+01,-5.06729686e+01,
 -4.10452905e-01,-1.87609411e+01, 3.87200285e+01,-2.42852395e+01,
  7.84345420e-02,-5.12146583e+01, 1.16139546e+02,-1.11279921e+02,
 -2.36264177e-01, 4.76806620e-01,-2.90888941e+00, 9.80968157e+00,
  1.27551195e+00, 1.52318636e-01,-5.55628272e+00,-1.50774139e+00,
  3.88697728e+01,-3.41184683e+01]

qfrc_actuator:
[-0.0095361 , 0.15660733, 0.01223111, 0.00281966,-0.00171389, 0.15531847,
  0.00931868, 0.00230044,-0.00129669, 0.12327835, 0.00614795, 0.0010898 ,
  0.        ,-0.00165186, 0.        ,-0.00082369, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  3.06220114, -8.07525238,  3.06220114, 10.25851734,
        0.61513383, -8.07525238,  0.61513383,  8.86962737,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006502540680077197
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.53684028e-15, -1.70736806e-14,  1.00000000e+00,  1.45755284e-28,
        1.00000000e+00,  1.70736806e-14, -1.00000000e+00,  0.00000000e+00,
        8.53684028e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04528029, -0.02281438,  0.06165843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.89877855e-05,-2.37366595e-03,-8.70067359e-04,-2.69286981e-04,
 -5.53414153e-05,-1.80626222e-03,-4.15939304e-04,-8.05740969e-05,
  8.29541783e-06,-4.85909326e-03,-1.18512472e-03,-3.23493565e-04,
  5.24080439e-06, 3.25336134e-05,-8.64156085e-06, 4.50412032e-05,
  3.30430755e-03, 9.62183039e-03,-1.21456597e+00, 3.03946648e-03,
  4.90527625e-03, 1.97550838e-03]


--- Step 1946 ---
qpos:
[ 9.07966958e-03, 7.16817337e-01,-2.70232453e-02,-4.24238039e-04,
 -2.42034622e-03, 7.06160818e-01,-2.76256431e-02, 2.46356706e-03,
 -2.62317503e-03, 7.78383754e-01,-1.64009982e-02,-2.05492501e-02,
  1.38771250e+00, 1.87902299e-02, 1.36497303e+00, 2.43617740e-02,
  1.52941839e-03,-5.22903185e-02, 9.20165147e-02, 6.44685432e-01,
 -1.08493945e-01,-7.54761210e-01, 5.42703764e-02]

qacc:
[   2.25042617,  -1.79986497,   5.34104804, -59.8788992 ,  -0.22039119,
  -17.5328062 ,  35.41328789, -26.59113466,   0.54887551, -53.2436385 ,
  120.82475498,-113.3015542 ,   0.31476976,  -0.51152118,   3.54955774,
  -12.23669541,   1.2409774 ,   0.1541422 ,  -5.83817286,  -1.1633381 ,
   36.31993387, -31.89273849]

qfrc_actuator:
[-0.00925261, 0.1566876 , 0.01208721, 0.00265236,-0.00172235, 0.15460663,
  0.00928166, 0.0022902 ,-0.00122315, 0.12132917, 0.00613308, 0.00102694,
  0.        ,-0.00168923, 0.        ,-0.00088423, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -0.89904881, -8.5894405 , -0.89904881, 13.40026952,
       -0.49863363, -8.5894405 , -0.49863363,  8.68855516,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006154607850571439
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.01944569e-15,  2.25486142e-15,  1.00000000e+00, -2.03376001e-29,
        1.00000000e+00, -2.25486142e-15, -1.00000000e+00,  0.00000000e+00,
        9.01944569e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0459013 , -0.02250301,  0.06167767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.03734375e-04,-1.51318434e-03,-7.76088204e-04,-3.09284561e-04,
 -3.05420618e-05,-1.88634352e-03,-4.89191900e-04,-1.08430192e-04,
  8.11085823e-05,-4.97748613e-03,-1.19283896e-03,-3.21617054e-04,
  9.78174847e-06,-2.57447363e-05,-4.79873272e-07,-5.94955736e-05,
  3.52777297e-03, 9.72185711e-03,-1.21473267e+00, 3.16892376e-03,
  4.93128762e-03, 1.99075451e-03]


--- Step 1947 ---
qpos:
[ 8.85566369e-03, 7.19492007e-01,-2.69235208e-02,-3.97707019e-04,
 -2.45508018e-03, 7.08795813e-01,-2.75768269e-02, 2.48367333e-03,
 -2.60421494e-03, 7.80328924e-01,-1.64147316e-02,-2.05533353e-02,
  1.38777949e+00, 1.87848599e-02, 1.36506445e+00, 2.43637427e-02,
  1.63928514e-03,-5.20216057e-02, 9.24628922e-02, 6.45592617e-01,
 -1.11440565e-01,-7.53273024e-01, 5.80596768e-02]

qacc:
[  2.10177927, -6.94040941,  7.48064336, -7.94851565, -0.41585873,
 -21.27163793, 45.82348254,-37.30520719,  0.16639583,-50.45844642,
 106.23724079,-82.19239032, -0.49053075,  0.83578666, -2.02410788,
   6.86823504,  1.2175755 ,  0.1439376 , -6.0561319 , -0.75825952,
  34.34811818,-30.08202377]

qfrc_actuator:
[-0.0090825 , 0.15630663, 0.01199951, 0.00263236,-0.00176684, 0.15376689,
  0.00925803, 0.00227604,-0.00124032, 0.11937139, 0.00609394, 0.0010092 ,
  0.        ,-0.00163801, 0.        ,-0.00084942, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.5328261 , -6.63133563, -5.5328261 , 11.87225465,
       -2.69985163, -6.63133563, -2.69985163, 10.88897313,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005813553962213842
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.54857418e-15, -9.54857418e-15,  1.00000000e+00,  9.11752688e-29,
        1.00000000e+00,  9.54857418e-15, -1.00000000e+00,  0.00000000e+00,
        9.54857418e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04650428, -0.02220461,  0.0616963 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.84783035e-04,-1.47506879e-03,-5.31765249e-04,-1.22606896e-04,
 -5.68840643e-05,-2.07476434e-03,-5.02125534e-04,-1.18829490e-04,
  2.19589475e-05,-5.05268831e-03,-1.24207917e-03,-2.81714839e-04,
 -1.63703307e-06, 4.56126442e-05,-8.70617232e-06, 3.09909137e-05,
  3.74320579e-03, 9.80833199e-03,-1.21489377e+00, 3.29117178e-03,
  4.95311291e-03, 2.00467346e-03]


--- Step 1948 ---
qpos:
[ 8.63582687e-03, 7.22153480e-01,-2.68256721e-02,-3.71832940e-04,
 -2.48916527e-03, 7.11412305e-01,-2.75275859e-02, 2.50432205e-03,
 -2.58529368e-03, 7.82234699e-01,-1.64296298e-02,-2.05572591e-02,
  1.38784661e+00, 1.87793593e-02, 1.36515567e+00, 2.43670965e-02,
  1.75396612e-03,-5.17523970e-02, 9.28843867e-02, 6.46535845e-01,
 -1.14345383e-01,-7.51729309e-01, 6.18027600e-02]

qacc:
[ 2.57264030e+00,-1.35436531e+01, 2.57603551e+01,-2.44363549e+01,
  4.16284303e-01,-2.44988914e+01, 4.95986630e+01,-2.73122802e+01,
 -5.26250269e-03,-4.84663081e+01, 9.66069929e+01,-6.30417086e+01,
  3.08082124e-01,-3.69726763e-01,-4.53571785e+00, 1.53365878e+01,
  1.20355779e+00, 1.23969742e-01,-6.22077125e+00,-2.93462962e-01,
  3.28617532e+01,-2.86151747e+01]

qfrc_actuator:
[-0.00883961, 0.15556494, 0.01187338, 0.00259246,-0.00169048, 0.15275129,
  0.00924218, 0.00229513,-0.00125836, 0.1174244 , 0.00604088, 0.00101815,
  0.        ,-0.00165877, 0.        ,-0.00077642, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -7.84915352, -3.60243888, -7.84915352,  9.06856122,
       -0.94169125, -3.60243888, -0.94169125, 10.68816229,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005481029830016748
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.06393442e-15,  7.59590163e-15,  1.00000000e+00, -3.84651477e-29,
        1.00000000e+00, -7.59590163e-15, -1.00000000e+00,  0.00000000e+00,
        5.06393442e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04708748, -0.02191969,  0.06171427])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.50458096e-04,-1.75555499e-03,-5.25576197e-04,-1.28748961e-04,
  5.34587858e-05,-2.35848319e-03,-5.35025589e-04,-9.42614463e-05,
 -4.71537617e-06,-5.09128814e-03,-1.27584874e-03,-2.59102848e-04,
  9.43906858e-06,-6.54353336e-06,-2.39482510e-06, 7.31869380e-05,
  3.95310470e-03, 9.88444049e-03,-1.21504978e+00, 3.40753281e-03,
  4.97094746e-03, 2.01766569e-03]


--- Step 1949 ---
qpos:
[ 8.42243290e-03, 7.24801105e-01,-2.67300480e-02,-3.47311843e-04,
 -2.52058704e-03, 7.14011297e-01,-2.74800855e-02, 2.52497059e-03,
 -2.56515323e-03, 7.84101143e-01,-1.64449002e-02,-2.05611711e-02,
  1.38791413e+00, 1.87727378e-02, 1.36524687e+00, 2.43709493e-02,
  1.87343668e-03,-5.14828035e-02, 9.32805168e-02, 6.47513774e-01,
 -1.17209668e-01,-7.50131530e-01, 6.55018682e-02]

qacc:
[ 3.95859584e+00,-1.48621470e+01, 3.21508586e+01,-4.18353437e+01,
  1.66602309e+00,-1.82483025e+01, 3.15182288e+01,-1.58862348e+01,
  7.11018489e-01,-5.09054696e+01, 1.06055152e+02,-7.63900270e+01,
  1.02506633e+00,-1.64609543e+00,-1.65526505e+00, 5.45771660e+00,
  1.19739407e+00, 9.61896522e-02,-6.34108877e+00, 2.28711896e-01,
  3.17815015e+01,-2.74320283e+01]

qfrc_actuator:
[-0.00843092, 0.15487987, 0.0117597 , 0.00252306,-0.00148939, 0.15195857,
  0.00917721, 0.00229799,-0.00115246, 0.11553528, 0.0060512 , 0.00102499,
  0.        ,-0.00173995, 0.        ,-0.00075255, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.48414948, -1.61430619, -8.48414948,  8.62444147,
        0.06265816, -1.61430619,  0.06265816,  8.30705736,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005158301911914992
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07615165e-14,  1.88326539e-14,  1.00000000e+00, -2.02667916e-28,
        1.00000000e+00, -1.88326539e-14, -1.00000000e+00,  0.00000000e+00,
        1.07615165e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0476497 , -0.02164854,  0.06173154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.43156111e-04,-1.85421771e-03,-5.70339358e-04,-1.70135919e-04,
  2.21927340e-04,-2.29931929e-03,-6.45730431e-04,-1.23259385e-04,
  1.07494159e-04,-5.05988269e-03,-1.22343238e-03,-2.63516357e-04,
  3.08420990e-06,-8.10347435e-05, 5.77199571e-06, 2.73279317e-05,
  4.15981815e-03, 9.95271550e-03,-1.21520112e+00, 3.51906225e-03,
  4.98493098e-03, 2.03008474e-03]


--- Step 1950 ---
qpos:
[ 8.21773473e-03, 7.27434379e-01,-2.66363818e-02,-3.24895490e-04,
 -2.54831819e-03, 7.16595070e-01,-2.74357868e-02, 2.54417052e-03,
 -2.54262724e-03, 7.85929070e-01,-1.64612024e-02,-2.05657834e-02,
  1.38798123e+00, 1.87669303e-02, 1.36533844e+00, 2.43723877e-02,
  1.99769819e-03,-5.12129609e-02, 9.36509481e-02, 6.48525578e-01,
 -1.20034288e-01,-7.48480716e-01, 6.91589596e-02]

qacc:
[ 5.32261054e+00,-1.78176602e+01, 4.48990972e+01,-6.76523111e+01,
  2.29451890e+00,-1.41398471e+01, 2.73516266e+01,-3.61202049e+01,
  1.37077823e+00,-4.94538499e+01, 1.05441100e+02,-8.76318691e+01,
 -1.04571970e+00, 1.47843828e+00, 7.98319919e+00,-2.68291732e+01,
  1.19773740e+00, 6.22735014e-02,-6.42470660e+00, 8.04988545e-01,
  3.10394583e+01,-2.64817659e+01]

qfrc_actuator:
[-0.00790893, 0.15419921, 0.01167232, 0.00241916,-0.001269  , 0.15139473,
  0.00908476, 0.0022382 ,-0.00099119, 0.11369659, 0.00602822, 0.00099515,
  0.        ,-0.00166107, 0.        ,-0.00088209, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.62347216, -0.47170405, -8.62347216,  8.63018428,
        0.11296811, -0.47170405,  0.11296811,  6.57113368,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0048463159442287684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14542989e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.14542989e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0481901 , -0.02139119,  0.0617481 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.35030800e-04,-1.91545313e-03,-5.71170746e-04,-2.11178583e-04,
  3.08570848e-04,-2.06076688e-03,-6.75401997e-04,-1.87745026e-04,
  2.11893103e-04,-4.98013491e-03,-1.24357857e-03,-2.97056960e-04,
 -1.69946935e-05, 5.40798629e-05, 4.29255664e-06,-1.27636843e-04,
  4.36551546e-03, 1.00151734e-02,-1.21534816e+00, 3.62660096e-03,
  4.99516377e-03, 2.04224379e-03]


--- Step 1951 ---
qpos:
[ 8.02129330e-03, 7.30049578e-01,-2.65434767e-02,-3.03591215e-04,
 -2.57183620e-03, 7.19162346e-01,-2.73928112e-02, 2.56209909e-03,
 -2.51824362e-03, 7.87719181e-01,-1.64781440e-02,-2.05708965e-02,
  1.38804826e+00, 1.87614679e-02, 1.36543031e+00, 2.43699309e-02,
  2.12677329e-03,-5.09430237e-02, 9.39954671e-02, 6.49570865e-01,
 -1.22819781e-01,-7.46777531e-01, 7.27757647e-02]

qacc:
[ 5.03972560e+00,-2.40353987e+01, 5.57388361e+01,-6.04959685e+01,
  2.61203137e+00,-2.07064256e+01, 4.75704968e+01,-5.53444186e+01,
  1.06886914e+00,-4.92146607e+01, 1.05088521e+02,-8.49710975e+01,
 -6.00372016e-01, 8.21918688e-01, 1.23239085e+01,-4.22727222e+01,
  1.20339683e+00, 2.36571124e-02,-6.47807563e+00, 1.43149678e+00,
  3.05776033e+01,-2.57215224e+01]

qfrc_actuator:
[-0.00750132, 0.15311891, 0.01156585, 0.00234912,-0.00103913, 0.15060013,
  0.00903125, 0.00217776,-0.00092263, 0.11192082, 0.00603933, 0.0009795 ,
  0.        ,-0.00164741, 0.        ,-0.00108321, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.63093499,  0.30616681, -8.63093499,  8.63076341,
       -0.15787195,  0.30616681, -0.15787195,  4.18590552,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004545750848531413
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.10582862e-15, -3.05291431e-15,  1.00000000e+00,  1.86405715e-29,
        1.00000000e+00,  3.05291431e-15, -1.00000000e+00,  0.00000000e+00,
        6.10582862e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04870824, -0.02114751,  0.06176394])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.99471025e-04,-2.35069607e-03,-6.04252627e-04,-1.80740449e-04,
  3.53141345e-04,-2.16639065e-03,-5.92864554e-04,-1.80408617e-04,
  1.65020144e-04,-4.87710070e-03,-1.19629865e-03,-2.80718581e-04,
  3.69018149e-06, 2.71989899e-05,-1.59535385e-05,-2.08509014e-04,
  4.57217703e-03, 1.00734185e-02,-1.21549125e+00, 3.73081649e-03,
  5.00171921e-03, 2.05442160e-03]


--- Step 1952 ---
qpos:
[ 7.83250662e-03, 7.32641369e-01,-2.64502683e-02,-2.81379741e-04,
 -2.59067829e-03, 7.21713667e-01,-2.73515080e-02, 2.57868159e-03,
 -2.49305744e-03, 7.89471430e-01,-1.64938365e-02,-2.05766897e-02,
  1.38811570e+00, 1.87550313e-02, 1.36552183e+00, 2.43670756e-02,
  2.26070165e-03,-5.06731603e-02, 9.43139595e-02, 6.50649596e-01,
 -1.25566411e-01,-7.45022330e-01, 7.63538316e-02]

qacc:
[ 4.66078973e+00,-2.98902733e+01, 5.78758624e+01,-2.54796447e+01,
  2.88742502e+00,-1.91679878e+01, 4.34409721e+01,-5.23465555e+01,
  4.71581570e-01,-5.49201285e+01, 1.26099478e+02,-1.12066790e+02,
  8.90097592e-01,-1.41580240e+00, 5.84417976e-01,-3.05380309e+00,
  1.21331588e+00,-1.84335365e-02,-6.50665095e+00, 2.10403368e+00,
  3.03464608e+01,-2.51152035e+01]

qfrc_actuator:
[-0.00712988, 0.15164853, 0.01146526, 0.00237025,-0.00078781, 0.14990523,
  0.00898275, 0.00211733,-0.00092786, 0.11012649, 0.00614191, 0.00095471,
  0.        ,-0.00172601, 0.        ,-0.00109405, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.61467415,  0.61169117, -8.61467415,  8.63238025,
       -0.05609955,  0.61169117, -0.05609955,  7.84629281,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004257064352308153
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.62997158e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.62997158e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0492039 , -0.02091725,  0.06177904])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.49817013e-04,-2.98903691e-03,-6.91065974e-04,-1.08721482e-04,
  3.92935744e-04,-2.10776600e-03,-5.99035060e-04,-1.81876684e-04,
  7.07354971e-05,-4.82651122e-03,-1.07679158e-03,-2.83431544e-04,
  6.65533018e-06,-6.84933051e-05,-3.29236312e-05,-2.50334110e-05,
  4.78159687e-03, 1.01287233e-02,-1.21563071e+00, 3.83223590e-03,
  5.00465338e-03, 2.06686774e-03]


--- Step 1953 ---
qpos:
[ 7.64917644e-03, 7.35206842e-01,-2.63574988e-02,-2.58395278e-04,
 -2.60537425e-03, 7.24250672e-01,-2.73127041e-02, 2.59416475e-03,
 -2.46822009e-03, 7.91187340e-01,-1.65100222e-02,-2.05825248e-02,
  1.38818320e+00, 1.87480297e-02, 1.36561287e+00, 2.43664032e-02,
  2.39953623e-03,-5.04035486e-02, 9.46063917e-02, 6.51762021e-01,
 -1.28274224e-01,-7.43215211e-01, 7.98945643e-02]

qacc:
[ 3.31549661e+00,-3.19374507e+01, 6.01633201e+01,-2.67668371e+01,
  2.55063861e+00,-1.41895891e+01, 2.77866630e+01,-3.22981156e+01,
 -1.81295256e-01,-4.67230570e+01, 9.71077417e+01,-7.03767921e+01,
  6.04751408e-01,-9.57190040e-01,-7.39753597e+00, 2.46609476e+01,
  1.22655522e+00,-6.29553244e-02,-6.51504198e+00, 2.81825904e+00,
  3.03039335e+01,-2.46324732e+01]

qfrc_actuator:
[-0.00692485, 0.15015194, 0.01136745, 0.00239126,-0.00059678, 0.14936496,
  0.00892037, 0.00207525,-0.00099482, 0.10842497, 0.00615573, 0.00096032,
  0.        ,-0.00175225, 0.        ,-0.0009749 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.58981892,  0.89542599, -8.58981892,  8.66078041,
        0.23423001,  0.89542599,  0.23423001, 10.88333146,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0039805315544969855
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74320786e-14, -1.39456629e-14,  1.00000000e+00,  2.43101892e-28,
        1.00000000e+00,  1.39456629e-14, -1.00000000e+00,  0.00000000e+00,
        1.74320786e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04967713, -0.02070006,  0.06179342])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.63985787e-04,-3.38625748e-03,-8.28087596e-04,-1.37751111e-04,
  3.49219157e-04,-1.92106314e-03,-6.01393400e-04,-1.61219886e-04,
 -3.24544514e-05,-4.67982342e-03,-1.14014324e-03,-2.46719189e-04,
 -1.34244893e-05,-4.58392032e-05,-1.75537508e-05, 1.13592806e-04,
  4.99539247e-03, 1.01820921e-02,-1.21576686e+00, 3.93127217e-03,
  5.00401231e-03, 2.07980718e-03]


--- Step 1954 ---
qpos:
[ 7.46922792e-03, 7.37744494e-01,-2.62655832e-02,-2.36578735e-04,
 -2.24651268e-03, 7.26802809e-01,-2.73159170e-02, 2.53955561e-03,
 -2.44424608e-03, 7.92868363e-01,-1.65275255e-02,-2.05887809e-02,
  1.38825065e+00, 1.87407003e-02, 1.36570367e+00, 2.43681300e-02,
  2.53906757e-03,-5.01537103e-02, 9.48577009e-02, 6.53000940e-01,
 -1.30876950e-01,-7.41307315e-01, 8.32133466e-02]

qacc:
[ 2.05323046e+00,-3.67568233e+01, 8.26593544e+01,-8.10887050e+01,
  2.28512862e+02,-7.14115147e+00, 3.49963451e+02,-1.50654809e+03,
 -4.72200717e-01,-4.32829967e+01, 8.92221280e+01,-6.87939939e+01,
  3.68802225e-01,-5.98196393e-01,-7.68408094e+00, 2.62251514e+01,
  1.74190096e-01,-4.94332863e+00,-1.02807561e+01,-3.60943872e+01,
  8.98845453e+01,-1.09970830e+02]

qfrc_actuator:
[-0.00682054, 0.14868741, 0.01128966, 0.00232319,-0.00044327, 0.14901098,
  0.00886893, 0.00211548,-0.00106247, 0.10681051, 0.00613529, 0.00094828,
  0.        ,-0.00176485, 0.        ,-0.00085119, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.20679862, -0.1453146 , -0.14713714, -0.1453146 ,  0.22712758,
       -0.02007715, -0.14713714, -0.02007715,  0.22662709,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011037417415960359
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.22377377,  0.12209839, -0.96696292,  0.02752838,  0.992518  ,
        0.11895463,  0.97425227,  0.        , -0.22546066])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05822368, -0.07874502,  0.12924859])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -3.59954579, -7.85048068, -3.59954579,  1.95981211,
        3.06128426, -7.85048068,  3.06128426,  7.23272565,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037162774880245553
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49372999e-14, -3.73432497e-15,  1.00000000e+00,  5.57807318e-29,
        1.00000000e+00,  3.73432497e-15, -1.00000000e+00,  0.00000000e+00,
        1.49372999e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05012813, -0.0204955 ,  0.06180709])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.87846959e-04,-3.60499017e-03,-9.07678759e-04,-2.49084729e-04,
  2.94593183e-04,-1.62940649e-03,-5.51272503e-04,-7.05492167e-05,
 -7.87053730e-05,-4.52125430e-03,-1.15030619e-03,-2.59482339e-04,
 -1.69340864e-05,-3.00059693e-05, 4.21448385e-06, 1.27693517e-04,
  5.21501884e-03, 1.02343111e-02,-1.21590004e+00, 4.02824554e-03,
  4.99983726e-03, 2.09344436e-03]


--- Step 1955 ---
qpos:
[ 7.29193641e-03, 7.40251680e-01,-2.61739657e-02,-2.16219191e-04,
 -1.63104316e-03, 7.29255925e-01,-2.74116364e-02, 2.41943838e-03,
 -2.42096546e-03, 7.94514539e-01,-1.65456413e-02,-2.05952437e-02,
  1.38831805e+00, 1.87331848e-02, 1.36579537e+00, 2.43639537e-02,
  2.67666873e-03,-4.99264760e-02, 9.50702953e-02, 6.54350818e-01,
 -1.33387649e-01,-7.39314665e-01, 8.62935040e-02]

qacc:
[ 1.61267255e+00,-4.23943859e+01, 9.89152602e+01,-1.01300058e+02,
  1.56446851e+02,-7.45124194e+00, 1.12905068e+02,-1.02554085e+03,
 -3.75265314e-01,-4.47589870e+01, 9.36573645e+01,-7.06792142e+01,
 -4.91489726e-01, 3.91081542e-01, 1.92790617e+01,-6.53515467e+01,
 -4.82543088e-01,-5.65100957e+00,-9.67868493e+00,-4.76131497e+01,
  8.05862775e+01,-1.11092756e+02]

qfrc_actuator:
[-0.00670576, 0.1470411 , 0.01122449, 0.00223882,-0.00078985, 0.14879831,
  0.00886456, 0.00222127,-0.00109438, 0.1051371 , 0.00613082, 0.00094382,
  0.        ,-0.00176929, 0.        ,-0.00116965, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.21600595, -0.16511026, -0.13927374, -0.16511026,  0.52426761,
       -0.36544694, -0.13927374, -0.36544694,  0.64924655,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022425355390827227
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.23592241,  0.12420022, -0.96380232,  0.02953026,  0.99225718,
        0.12063855,  0.97132311,  0.        , -0.23776337])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05785076, -0.07869512,  0.12951151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -3.49982298, -7.89544273, -3.49982298,  1.80434741,
        3.02843656, -7.89544273,  3.02843656,  7.2939447 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003457433777596053
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.21111870e-14,  2.20764410e-14,  1.00000000e+00, -7.08900726e-28,
        1.00000000e+00, -2.20764410e-14, -1.00000000e+00,  0.00000000e+00,
        3.21111870e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05056997, -0.02029676,  0.06182031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.26409674e-04,-3.92935721e-03,-9.53580819e-04,-2.79615118e-04,
 -1.88028347e-02,-2.66350814e-03, 1.52425953e-03, 3.53595110e-03,
 -6.35117306e-05,-4.49320821e-03,-1.10295014e-03,-2.45658785e-04,
 -1.44829915e-05,-1.78472305e-05, 1.44898499e-05,-3.11194572e-04,
  5.73350845e-03, 1.00107524e-02,-1.21630854e+00, 4.15599890e-03,
  5.22922224e-03, 2.10599200e-03]


--- Step 1956 ---
qpos:
[ 7.11438154e-03, 7.42724783e-01,-2.60817546e-02,-1.96014694e-04,
 -9.12811417e-04, 7.31573706e-01,-2.75974057e-02, 2.24338767e-03,
 -2.39845842e-03, 7.96126289e-01,-1.65642351e-02,-2.06018284e-02,
  1.38838523e+00, 1.87260889e-02, 1.36588721e+00, 2.43557031e-02,
  2.81083633e-03,-4.97234532e-02, 9.52457146e-02, 6.55817282e-01,
 -1.35802645e-01,-7.37237476e-01, 8.91192413e-02]

qacc:
[-1.39901729e-01,-4.69788378e+01, 1.02836908e+02,-8.14656372e+01,
  6.24541390e+01,-4.24752904e+01, 1.27906049e+02,-8.52261447e+02,
 -4.19745191e-01,-4.44023805e+01, 9.28371169e+01,-6.89162076e+01,
 -7.75840666e-01, 1.00872236e+00, 1.26447964e+01,-4.36980372e+01,
 -8.58392200e-01,-6.05286592e+00,-9.29378920e+00,-5.13134731e+01,
  8.35946763e+01,-1.18010576e+02]

qfrc_actuator:
[-0.0068161 , 0.14515749, 0.01118443, 0.00221643,-0.00153998, 0.14833472,
  0.00895573, 0.00231883,-0.00114017, 0.10349549, 0.00613575, 0.00094385,
  0.        ,-0.00173333, 0.        ,-0.00137327, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.22266168, -0.15710411, -0.15778631, -0.15710411,  0.20385138,
        0.01872896, -0.15778631,  0.01872896,  0.20401369,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002757809570447835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24408509,  0.12136014, -0.96213003,  0.02984278,  0.99260854,
        0.11763372,  0.96929453,  0.        , -0.24590267])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05753909, -0.07868228,  0.1297336 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -3.63219402, -7.83542873, -3.63219402,  1.84153549,
        3.14981286, -7.83542873,  3.14981286,  7.17623531,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0032042809877879503
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02783235e-06,  8.66202924e-15,  1.00000000e+00,  8.90311390e-21,
        1.00000000e+00, -8.66202924e-15, -1.00000000e+00, -1.50463277e-36,
       -1.02783235e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05001616, -0.02003114,  0.06183312])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.37160479e-05,-4.35785694e-03,-1.00185300e-03,-2.33643538e-04,
 -3.24269100e-02, 1.76771214e-03, 6.22323517e-03, 6.90577647e-03,
 -7.08125099e-05,-4.43438174e-03,-1.08112157e-03,-2.37991909e-04,
 -1.20856513e-05, 2.76233575e-05,-3.24448774e-05,-2.20098966e-04,
  6.17941357e-03, 9.65970878e-03,-1.21671977e+00, 4.24773422e-03,
  5.48816101e-03, 2.09614406e-03]


--- Step 1957 ---
qpos:
[ 6.93443175e-03, 7.45160160e-01,-2.59887000e-02,-1.76206121e-04,
 -1.97190242e-04, 7.33738136e-01,-2.78681571e-02, 2.02065976e-03,
 -2.37665316e-03, 7.97704409e-01,-1.65835944e-02,-2.06091886e-02,
  1.38845227e+00, 1.87194145e-02, 1.36597858e+00, 2.43473806e-02,
  2.94060910e-03,-4.95445058e-02, 9.53858954e-02, 6.57398269e-01,
 -1.38124056e-01,-7.35079358e-01, 9.16929629e-02]

qacc:
[-1.41087398e+00,-5.29839069e+01, 1.18281915e+02,-9.88079477e+01,
 -1.58543314e+00,-6.13084324e+01, 1.21552970e+02,-6.80702043e+02,
 -3.79427784e-01,-4.38941772e+01, 9.53052443e+01,-8.28119967e+01,
 -3.28477795e-01, 5.62404968e-01,-4.26178780e-01, 5.95883227e-01,
 -1.09870854e+00,-6.01885402e+00,-8.80962455e+00,-5.08286118e+01,
  8.16950172e+01,-1.16743415e+02]

qfrc_actuator:
[-0.00700641, 0.14305853, 0.0111409 , 0.00217726,-0.00237451, 0.14754795,
  0.00915652, 0.00248135,-0.00117619, 0.10190423, 0.00612868, 0.00091107,
  0.        ,-0.00170916, 0.        ,-0.00136543, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.22370583, -0.14241381, -0.17251843, -0.14241381,  0.15715247,
        0.05493974, -0.17251843,  0.05493974,  0.17835313,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002827913160237721
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24875083,  0.11431898, -0.96179738,  0.0286246 ,  0.9934441 ,
        0.11067729,  0.96814444,  0.        , -0.25039238])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05728524, -0.07870966,  0.12991373])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -3.73354744, -7.78764408, -3.73354744,  1.8811034 ,
        3.23860262, -7.78764408,  3.23860262,  7.0837148 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0029643050230640164
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.80897972e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.80897972e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04999472, -0.01981501,  0.06184519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.07158958e-04,-4.81974675e-03,-1.09780793e-03,-2.69488158e-04,
 -3.84089367e-02, 7.69183172e-03, 1.09093876e-02, 9.86192838e-03,
 -6.44024293e-05,-4.34534976e-03,-1.07770245e-03,-2.67316603e-04,
 -1.14070247e-06, 3.09885836e-05,-4.12779083e-05,-8.97041423e-06,
  6.66796651e-03, 9.24064728e-03,-1.21709398e+00, 4.31911238e-03,
  5.74714444e-03, 2.07657924e-03]


--- Step 1958 ---
qpos:
[ 6.75335333e-03, 7.47557206e-01,-2.58967431e-02,-1.57575756e-04,
  4.47714745e-04, 7.35747200e-01,-2.82157167e-02, 1.76043991e-03,
 -2.35525487e-03, 7.99249634e-01,-1.66044805e-02,-2.06166331e-02,
  1.38851925e+00, 1.87130809e-02, 1.36606971e+00, 2.43391484e-02,
  3.06537290e-03,-4.93884158e-02, 9.54927785e-02, 6.59088075e-01,
 -1.40356879e-01,-7.32844844e-01, 9.40281354e-02]

qacc:
[-6.53977606e-01,-4.99728451e+01, 1.09685871e+02,-1.00194995e+02,
 -4.27485868e+01,-6.78515682e+01, 1.02320350e+02,-5.14177657e+02,
 -2.14759926e-01,-3.93732873e+01, 7.76809852e+01,-5.25582797e+01,
 -2.21183401e-01, 4.21831719e-01,-6.02176648e-01, 1.65781731e+00,
 -1.25224181e+00,-5.71434572e+00,-8.32443034e+00,-4.75394992e+01,
  7.75196373e+01,-1.10684552e+02]

qfrc_actuator:
[-0.00701167, 0.14109617, 0.0110593 , 0.00211056,-0.0031244 , 0.14674594,
  0.00945403, 0.00271372,-0.00118834, 0.10033841, 0.00607938, 0.00091257,
  0.        ,-0.00169225, 0.        ,-0.00135735, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.21984677, -0.12173549, -0.18306576, -0.12173549,  0.12289593,
        0.06447059, -0.18306576,  0.06447059,  0.17697497,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002555987542762451
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.50448432e-01,  1.03610525e-01, -9.62569708e-01,  2.60895088e-02,
        9.94617946e-01,  1.00272022e-01,  9.67778343e-01, -3.46944695e-18,
       -2.51803653e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05708388, -0.0787795 ,  0.13005372])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -3.82687578, -7.7422089 , -3.82687578,  1.92497956,
        3.31735213, -7.7422089 ,  3.31735213,  6.9966385 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0027280329773924916
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.03484165e-14, -2.03484165e-14,  1.00000000e+00,  4.14058054e-28,
        1.00000000e+00,  2.03484165e-14, -1.00000000e+00,  0.00000000e+00,
        2.03484165e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05039961, -0.01963028,  0.06185702])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.85240993e-05,-4.96160863e-03,-1.24394802e-03,-3.20737276e-04,
 -3.90174475e-02, 1.45011850e-02, 1.54389910e-02, 1.24251404e-02,
 -3.78200066e-05,-4.26974958e-03,-1.10182319e-03,-2.29620909e-04,
  5.50616609e-06, 2.70118223e-05,-2.01027930e-05, 2.28373836e-06,
  7.17597042e-03, 8.78922373e-03,-1.21740740e+00, 4.36928579e-03,
  5.98327664e-03, 2.04890805e-03]


--- Step 1959 ---
qpos:
[ 6.57315865e-03, 7.49917477e-01,-2.58071976e-02,-1.39390065e-04,
  9.82590824e-04, 7.37612103e-01,-2.86279809e-02, 1.47193196e-03,
 -2.33377959e-03, 8.00762556e-01,-1.66263036e-02,-2.06227896e-02,
  1.38858621e+00, 1.87070219e-02, 1.36616042e+00, 2.43333860e-02,
  3.18494840e-03,-4.92534972e-02, 9.55682410e-02, 6.60880194e-01,
 -1.42506605e-01,-7.30538024e-01, 9.61427678e-02]

qacc:
[ 5.40894770e-01,-4.27425895e+01, 8.37874948e+01,-6.06342208e+01,
 -6.63542320e+01,-6.78831712e+01, 8.51140943e+01,-3.65331254e+02,
  5.61475997e-02,-3.74109644e+01, 6.60387277e+01,-1.85657206e+01,
  5.70549864e-02, 9.88250323e-02,-8.11215545e+00, 2.74552379e+01,
 -1.29707352e+00,-5.29286150e+00,-7.85514510e+00,-4.28475291e+01,
  7.28886542e+01,-1.02862259e+02]

qfrc_actuator:
[-0.00688846, 0.139409  , 0.01099197, 0.00209931,-0.00378987, 0.14606916,
  0.00983541, 0.00297972,-0.00116845, 0.09883607, 0.00607683, 0.0009875 ,
  0.        ,-0.00167977, 0.        ,-0.001225  , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.21237796, -0.09746272, -0.18869398, -0.09746272,  0.09294522,
        0.06168846, -0.18869398,  0.06168846,  0.18051513,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018876070580267225
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.2497748 ,  0.0894718 , -0.96416147,  0.02243779,  0.99598936,
        0.08661263,  0.96804395,  0.        , -0.2507806 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0569274 , -0.07889491,  0.13015737])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -3.9145434 , -7.69825479, -3.9145434 ,  1.97690689,
        3.38631717, -7.69825479,  3.38631717,  6.91442978,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002495221388282634
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.44939687e-14, -5.56174609e-15,  1.00000000e+00,  2.47464157e-28,
        1.00000000e+00,  5.56174609e-15, -1.00000000e+00,  0.00000000e+00,
        4.44939687e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05080494, -0.01944457,  0.06186864])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.50975722e-05,-4.79693540e-03,-1.27836784e-03,-2.77357156e-04,
 -3.61267297e-02, 2.15379669e-02, 1.96445300e-02, 1.45629006e-02,
  5.95531593e-06,-4.16644223e-03,-1.04082493e-03,-1.52982693e-04,
  8.23934347e-06, 2.26250950e-05,-1.00045660e-05, 1.29697892e-04,
  7.69029683e-03, 8.33425021e-03,-1.21765586e+00, 4.40135844e-03,
  6.18598501e-03, 2.01621219e-03]


--- Step 1960 ---
qpos:
[ 6.39494306e-03, 7.52242281e-01,-2.57206769e-02,-1.19966323e-04,
  1.39044044e-03, 7.39353099e-01,-2.90899697e-02, 1.16446833e-03,
 -2.31200036e-03, 8.02243647e-01,-1.66480712e-02,-2.06278368e-02,
  1.38865333e+00, 1.87006968e-02, 1.36625104e+00, 2.43292237e-02,
  3.29942940e-03,-4.91379680e-02, 9.56138520e-02, 6.62769219e-01,
 -1.44577748e-01,-7.28161630e-01, 9.80554822e-02]

qacc:
[ 1.18665907e+00,-3.58427832e+01, 5.45849328e+01,-2.28175654e+00,
 -7.64397698e+01,-6.37428619e+01, 6.98200403e+01,-2.27402638e+02,
  1.83152389e-01,-3.99277295e+01, 7.66686346e+01,-3.42145513e+01,
  4.28924519e-01,-5.67373362e-01,-5.04855559e+00, 1.73163928e+01,
 -1.27362795e+00,-4.84734664e+00,-7.46289277e+00,-3.75382673e+01,
  6.89962660e+01,-9.51270166e+01]

qfrc_actuator:
[-0.00674298, 0.13779421, 0.01089945, 0.00217431,-0.00433708, 0.14548294,
  0.01026796, 0.00327169,-0.0011474 , 0.09734888, 0.00612009, 0.00105191,
  0.        ,-0.00170553, 0.        ,-0.00114477, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.20501806, -0.07322095, -0.19149699, -0.07322095,  0.06816278,
        0.0523281 , -0.19149699,  0.0523281 ,  0.18500984,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.676401984251831e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.46654169e-01,  7.24128309e-02, -9.66394383e-01,  1.79079395e-02,
        9.97374745e-01,  7.01635503e-02,  9.68938092e-01, -3.46944695e-18,
       -2.47303403e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05681487, -0.07905366,  0.13022805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -4.0007355 , -7.65381554, -4.0007355 ,  2.0349478 ,
        3.45063433, -7.65381554,  3.45063433,  6.83267825,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002266084054849987
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.44965102e-14, -6.12412756e-15,  1.00000000e+00,  1.50019753e-28,
        1.00000000e+00,  6.12412756e-15, -1.00000000e+00,  0.00000000e+00,
        2.44965102e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05121144, -0.01925718,  0.06188008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.70101252e-04,-4.63658896e-03,-1.27190668e-03,-1.84319894e-04,
 -3.11498160e-02, 2.81083328e-02, 2.32975464e-02, 1.62667605e-02,
  2.65537554e-05,-4.07675279e-03,-9.63209001e-04,-1.55431754e-04,
  9.25444976e-06,-1.66883377e-05, 9.01961146e-06, 8.60088544e-05,
  8.20567238e-03, 7.89188545e-03,-1.21784619e+00, 4.41925720e-03,
  6.35381155e-03, 1.98150889e-03]


--- Step 1961 ---
qpos:
[ 6.22012171e-03, 7.54530916e-01,-2.56367420e-02,-9.94732285e-05,
  1.50382265e-03, 7.41267933e-01,-2.92436650e-02, 1.15395394e-03,
 -2.29059481e-03, 8.03693536e-01,-1.66691202e-02,-2.06336316e-02,
  1.38872028e+00, 1.86948826e-02, 1.36634159e+00, 2.43267308e-02,
  3.42425208e-03,-4.90268571e-02, 9.56316538e-02, 6.64676706e-01,
 -1.46625033e-01,-7.25751464e-01, 9.99539325e-02]

qacc:
[ 2.01933876e+00,-3.83437775e+01, 6.28675710e+01,-1.36706839e+01,
 -1.76679396e+02,-1.98339350e+01,-8.48768012e+02, 5.36634387e+03,
 -1.94342260e-01,-4.47762151e+01, 1.02985159e+02,-9.41633767e+01,
 -2.96992057e-01, 5.73284293e-01,-5.11116020e+00, 1.78351084e+01,
  2.58542359e+00,-1.10457230e+00,-6.95227641e+00, 5.70348110e+00,
  1.77748898e+01,-1.18772931e+01]

qfrc_actuator:
[-0.00651459, 0.13600545, 0.01077564, 0.00222855,-0.00477009, 0.14491747,
  0.01070661, 0.00359899,-0.00119692, 0.09588322, 0.00619023, 0.00102089,
  0.        ,-0.00166504, 0.        ,-0.00106041, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -3.61914125, -7.84146628, -3.61914125,  2.32987836,
        2.9106879 , -7.84146628,  2.9106879 ,  7.29296812,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020408357665362975
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.44004100e-14, -3.40002563e-14,  1.00000000e+00,  1.84962788e-27,
        1.00000000e+00,  3.40002563e-14, -1.00000000e+00,  0.00000000e+00,
        5.44004100e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0516196 , -0.01906758,  0.06189136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.93174773e-04,-4.71446468e-03,-1.26568772e-03,-1.96107307e-04,
 -2.52105817e-02, 3.36910106e-02, 2.62094739e-02, 1.75397056e-02,
 -3.48715095e-05,-3.98826940e-03,-9.08053006e-04,-2.44317946e-04,
  9.63247843e-07, 3.72842345e-05, 1.20409263e-05, 8.99199184e-05,
  8.72459956e-03, 7.46918664e-03,-1.21798846e+00, 4.42652632e-03,
  6.48941939e-03, 1.94743323e-03]


--- Step 1962 ---
qpos:
[ 6.05085614e-03, 7.56783572e-01,-2.55553154e-02,-8.03254041e-05,
  1.49437760e-03, 7.43347048e-01,-2.93072433e-02, 1.16850105e-03,
 -2.26993503e-03, 8.05112724e-01,-1.66888214e-02,-2.06402552e-02,
  1.38878715e+00, 1.86895500e-02, 1.36643233e+00, 2.43239364e-02,
  3.55922241e-03,-4.89202630e-02, 9.56218784e-02, 6.66604398e-01,
 -1.48647095e-01,-7.23305967e-01, 1.01838576e-01]

qacc:
[   3.2859281 , -43.27766328,  91.01812894, -83.87568409, -73.61354681,
   17.01966108, 148.7163364 ,  19.89760287,  -0.40070837, -46.0389256 ,
  108.78901871,-102.74271398,  -0.38785929,   0.67534467,   1.24708668,
   -3.82867628,   2.5369104 ,  -1.1292055 ,  -6.89430179,   6.61917261,
   18.8253621 , -12.16082096]

qfrc_actuator:
[-0.00614989, 0.13426923, 0.01066933, 0.00216349,-0.00484531, 0.14397424,
  0.01082856, 0.00362141,-0.00125272, 0.0944426 , 0.00629356, 0.0009873 ,
  0.        ,-0.00163872, 0.        ,-0.00108082, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -3.54200101,  7.87661131, -3.54200101, 24.87766683,
        7.30348496,  7.87661131,  7.30348496, 11.92063781,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018359693763759233
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.53530042e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.53530042e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05198921, -0.01889567,  0.06190166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.81646133e-04,-4.70358949e-03,-1.26354065e-03,-3.18688210e-04,
 -1.05304858e-02, 2.39989195e-02, 1.08990397e-02, 2.71128194e-03,
 -6.86962973e-05,-3.90534618e-03,-8.52594183e-04,-2.42875557e-04,
  9.43204034e-06, 3.82237008e-05, 1.30671159e-05,-1.43970422e-05,
  8.90081524e-03, 7.44558860e-03,-1.21806296e+00, 4.46561607e-03,
  6.46737175e-03, 1.95665344e-03]


--- Step 1963 ---
qpos:
[ 5.88793394e-03, 7.59002324e-01,-2.54772498e-02,-6.20491147e-05,
  1.43543407e-03, 7.45526591e-01,-2.93192546e-02, 1.19383928e-03,
 -2.24983343e-03, 8.06502004e-01,-1.67077071e-02,-2.06476881e-02,
  1.38885410e+00, 1.86843493e-02, 1.36652320e+00, 2.43202661e-02,
  3.70335045e-03,-4.88179852e-02, 9.55853029e-02, 6.68558990e-01,
 -1.50639319e-01,-7.20819931e-01, 1.03707759e-01]

qacc:
[ 3.73751166e+00,-3.71833978e+01, 7.12621711e+01,-5.60743469e+01,
 -2.95930022e+01, 1.09062075e+01, 1.08214946e+02,-7.78612595e+01,
 -2.96753716e-01,-4.34640814e+01, 1.01046746e+02,-9.43949960e+01,
 -9.70077464e-02, 2.01459257e-01, 2.85103706e+00,-9.67134474e+00,
  2.28942814e+00,-1.07906431e+00,-6.70001779e+00, 8.41780668e+00,
  2.28702087e+01,-1.43004657e+01]

qfrc_actuator:
[-0.00579569, 0.13277408, 0.01057448, 0.00213536,-0.0047242 , 0.14277988,
  0.01087308, 0.00357849,-0.00127626, 0.09302896, 0.00636262, 0.00095253,
  0.        ,-0.00163884, 0.        ,-0.00112727, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  2.08522819,  8.38084723,  2.08522819, 19.26306315,
       -2.64401591,  8.38084723, -2.64401591,  9.29421795,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016509042018785988
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.68123478e-14, -6.72493912e-14,  1.00000000e+00,  1.13062015e-27,
        1.00000000e+00,  6.72493912e-14, -1.00000000e+00,  0.00000000e+00,
        1.68123478e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05232096, -0.01874109,  0.061911  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.51276035e-04,-4.46014120e-03,-1.25344867e-03,-2.83541329e-04,
 -4.25032389e-03, 1.45340796e-02, 6.41987728e-03, 1.41189104e-03,
 -5.16935274e-05,-3.81965190e-03,-8.62583015e-04,-2.38492115e-04,
  1.32792612e-05, 1.41853691e-05, 1.50900412e-06,-4.62219306e-05,
  9.09022616e-03, 7.42337621e-03,-1.21813774e+00, 4.50469024e-03,
  6.44297726e-03, 1.96767481e-03]


--- Step 1964 ---
qpos:
[ 5.73117571e-03, 7.61186785e-01,-2.54016932e-02,-4.43424383e-05,
  1.35802777e-03, 7.47761117e-01,-2.92982835e-02, 1.22578970e-03,
 -2.22979810e-03, 8.07861702e-01,-1.67260297e-02,-2.06552046e-02,
  1.38892102e+00, 1.86794804e-02, 1.36661397e+00, 2.43167390e-02,
  3.85586452e-03,-4.87198943e-02, 9.55226319e-02, 6.70546186e-01,
 -1.52597748e-01,-7.18288788e-01, 1.05560205e-01]

qacc:
[ 3.62335936e+00,-3.94533518e+01, 7.73392363e+01,-5.80068441e+01,
 -1.10044927e+01,-5.84037751e+00, 9.83915719e+01,-7.71951221e+01,
 -2.39364205e-02,-4.08327731e+01, 8.92324736e+01,-6.98688184e+01,
 -1.97303730e-01, 3.99506219e-01,-5.44879424e-01, 1.77029302e+00,
  2.09650667e+00,-1.04674071e+00,-6.52388170e+00, 1.00589991e+01,
  2.63375832e+01,-1.60685205e+01]

qfrc_actuator:
[-0.00548629, 0.13111635, 0.01047061, 0.00211169,-0.004545  , 0.14143299,
  0.01087366, 0.00353614,-0.00126259, 0.09160751, 0.00641113, 0.00095289,
  0.        ,-0.00161916, 0.        ,-0.00111764, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.7894804 ,  8.44893702,  1.7894804 , 20.54030083,
       -2.52124761,  8.44893702, -2.52124761,  9.17036255,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014835427846067173
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.67724556e-14,  7.48359290e-14,  1.00000000e+00, -3.50026017e-27,
        1.00000000e+00, -7.48359290e-14, -1.00000000e+00,  0.00000000e+00,
        4.67724556e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05261938, -0.0186017 ,  0.06191948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.36722272e-04,-4.48196140e-03,-1.20936611e-03,-2.67542671e-04,
 -1.58779512e-03, 8.10696931e-03, 3.82304999e-03, 8.26310386e-04,
 -6.94640738e-06,-3.78062422e-03,-8.66265792e-04,-1.99914595e-04,
  9.25108447e-06, 2.74240163e-05,-6.60040134e-06, 6.76330218e-06,
  9.32367328e-03, 7.40220674e-03,-1.21821104e+00, 4.54481522e-03,
  6.41494599e-03, 1.98282374e-03]


--- Step 1965 ---
qpos:
[ 5.57996993e-03, 7.63336347e-01,-2.53286134e-02,-2.84381878e-05,
  1.27488744e-03, 7.50019651e-01,-2.92561970e-02, 1.26257592e-03,
 -2.20995166e-03, 8.09192671e-01,-1.67453915e-02,-2.06620104e-02,
  1.38898793e+00, 1.86749015e-02, 1.36670452e+00, 2.43146787e-02,
  4.01615906e-03,-4.86259133e-02, 9.54345006e-02, 6.72570852e-01,
 -1.54518976e-01,-7.15708502e-01, 1.07394948e-01]

qacc:
[ 3.25691694e+00,-4.28793508e+01, 9.35994720e+01,-9.52121272e+01,
 -3.40175434e+00,-1.72769390e+01, 8.72612376e+01,-5.50447724e+01,
 -9.33556681e-02,-3.35916959e+01, 6.17050001e+01,-2.66733540e+01,
 -3.74033689e-02, 2.11402486e-01,-4.77370757e+00, 1.62250242e+01,
  1.94511668e+00,-1.02745344e+00,-6.36508419e+00, 1.15676049e+01,
  2.93203012e+01,-1.75235955e+01]

qfrc_actuator:
[-0.0052239 , 0.12937502, 0.01034406, 0.00201974,-0.00437769, 0.13989333,
  0.01082808, 0.00352948,-0.00128011, 0.09022851, 0.00637622, 0.00099166,
  0.        ,-0.00160561, 0.        ,-0.00103953, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.43256077,  8.51672158,  1.43256077, 21.86640741,
       -2.22536823,  8.51672158, -2.22536823,  9.01068317,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001332036636467887
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.25108383e-14,  4.16738922e-14,  1.00000000e+00, -2.60506994e-27,
        1.00000000e+00, -4.16738922e-14, -1.00000000e+00,  0.00000000e+00,
        6.25108383e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05288832, -0.01847563,  0.06192719])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.84294102e-04,-4.56693668e-03,-1.23020073e-03,-3.34853939e-04,
 -4.93823911e-04, 3.75772959e-03, 2.10840836e-03, 4.85183598e-04,
 -1.81151628e-05,-3.71466081e-03,-9.40488990e-04,-1.59149067e-04,
  1.04067201e-05, 2.45367909e-05,-3.93311138e-06, 7.72769994e-05,
  9.59700784e-03, 7.38110648e-03,-1.21828443e+00, 4.58545962e-03,
  6.38375088e-03, 2.00191536e-03]


--- Step 1966 ---
qpos:
[ 5.43249968e-03, 7.65451593e-01,-2.52583169e-02,-1.35410567e-05,
  1.19053846e-03, 7.52280621e-01,-2.91999772e-02, 1.30194598e-03,
 -2.19055346e-03, 8.10495974e-01,-1.67669020e-02,-2.06690922e-02,
  1.38905462e+00, 1.86712782e-02, 1.36679502e+00, 2.43135563e-02,
  4.18370272e-03,-4.85362113e-02, 9.53221098e-02, 6.74640533e-01,
 -1.56396537e-01,-7.13073411e-01, 1.09208903e-01]

qacc:
[  2.18972617,-39.620862  , 79.73527505,-67.51807983, -0.70503547,
 -30.9039109 ,103.99217192,-83.72823331, -0.23795519,-31.11965427,
  59.08719901,-40.1237412 , -0.66648991,  1.2130122 , -2.82289676,
   9.98319745,  1.81228273, -1.0697651 , -6.06486601, 13.66624296,
  33.80078422,-20.80091898]

qfrc_actuator:
[-0.00509808, 0.12775763, 0.01024039, 0.00197704,-0.00427611, 0.13815823,
  0.01078898, 0.00349012,-0.00131621, 0.08892147, 0.00629262, 0.00098172,
  0.        ,-0.00154256, 0.        ,-0.00099271, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.15298867,  8.55905333,  1.15298867, 28.51085817,
       -2.6772899 ,  8.55905333, -2.6772899 ,  8.99702092,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001197903085176602
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.26805380e-14,  9.26805380e-14,  1.00000000e+00, -8.58968213e-27,
        1.00000000e+00, -9.26805380e-14, -1.00000000e+00,  0.00000000e+00,
        9.26805380e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05294465, -0.01732611,  0.06193404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.26094556e-04,-4.49665025e-03,-1.22940632e-03,-2.91197941e-04,
 -1.04331227e-04, 7.61027419e-04, 9.93122614e-04, 2.00061806e-04,
 -4.17770003e-05,-3.61862541e-03,-9.83011867e-04,-2.06767743e-04,
  1.06334101e-05, 7.32299096e-05, 5.40327579e-06, 5.02997333e-05,
  9.90693800e-03, 7.35916595e-03,-1.21835942e+00, 4.62616154e-03,
  6.34981608e-03, 2.02482911e-03]


--- Step 1967 ---
qpos:
[ 5.28766404e-03, 7.67531855e-01,-2.51897795e-02, 1.35939320e-06,
  1.10638166e-03, 7.54528478e-01,-2.91337904e-02, 1.34282660e-03,
 -2.17145030e-03, 8.11771496e-01,-1.67884875e-02,-2.06771007e-02,
  1.38912132e+00, 1.86681904e-02, 1.36688568e+00, 2.43116645e-02,
  4.35812558e-03,-4.84507588e-02, 9.51858537e-02, 6.76758159e-01,
 -1.58228219e-01,-7.10380769e-01, 1.11001750e-01]

qacc:
[  1.5457758 ,-41.2792887 , 80.11106049,-51.56019431,  0.12897344,
 -42.01304459,118.32127201,-98.54510991, -0.15151166,-38.40817759,
  87.59161968,-83.10844919, -0.37600653,  0.72099742,  2.61900705,
  -8.69247158,  1.71979836, -1.06236985, -5.96633849, 14.84195936,
  35.65301122,-21.59464648]

qfrc_actuator:
[-0.00500134, 0.12605044, 0.01016949, 0.00198157,-0.0042162 , 0.13621132,
  0.01077006, 0.0034492 ,-0.0013276 , 0.08761477, 0.00632337, 0.00094324,
  0.        ,-0.0015216 , 0.        ,-0.00103575, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  0.43466954,  8.62541821,  0.43466954, 23.09780096,
       -0.72877003,  8.62541821, -0.72877003,  8.67308929,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001078709902786891
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02921371e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.02921371e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05315299, -0.0172234 ,  0.06194014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.30080810e-04,-4.54406425e-03,-1.18013475e-03,-2.40003615e-04,
  1.62817241e-05,-1.36900604e-03, 2.46952063e-04, 2.59399370e-05,
 -2.78149726e-05,-3.57464387e-03,-8.55459645e-04,-2.33531147e-04,
  2.19526615e-05, 4.65237421e-05, 5.62864333e-06,-4.00857817e-05,
  1.02700053e-02, 7.32900242e-03,-1.21843429e+00, 4.66590051e-03,
  6.31296156e-03, 2.05328456e-03]


--- Step 1968 ---
qpos:
[ 5.14378328e-03, 7.69576221e-01,-2.51225396e-02, 1.58674471e-05,
  1.02229169e-03, 7.56752671e-01,-2.90615962e-02, 1.38416166e-03,
 -2.15279993e-03, 8.13019685e-01,-1.68095123e-02,-2.06856531e-02,
  1.38918833e+00, 1.86647369e-02, 1.36697609e+00, 2.43112865e-02,
  4.53911985e-03,-4.83695449e-02, 9.50260846e-02, 6.78926233e-01,
 -1.60012085e-01,-7.07628064e-01, 1.12773339e-01]

qacc:
[ 5.69155316e-01,-4.45872783e+01, 9.18282725e+01,-7.01972240e+01,
  5.62567778e-02,-4.70683232e+01, 1.20568064e+02,-1.04979278e+02,
 -2.38028997e-01,-3.88011932e+01, 8.82420230e+01,-7.84860725e+01,
  6.07387372e-01,-7.76701841e-01,-5.02780751e+00, 1.68757898e+01,
  1.64285232e+00,-1.05965697e+00,-5.87824949e+00, 1.59538287e+01,
  3.72703080e+01,-2.22250272e+01]

qfrc_actuator:
[-0.00501122, 0.12425052, 0.01010059, 0.00196057,-0.00421772, 0.13413415,
  0.0107085 , 0.00338964,-0.00135965, 0.08633721, 0.00638601, 0.00092392,
  0.        ,-0.00156137, 0.        ,-0.00095384, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.61983652, -0.11170128,  8.61911274, -0.11170128, 23.78362277,
        0.19651842,  8.61911274,  0.19651842,  8.62238334,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009698230704134475
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.71715294e-13,  1.14476863e-13,  1.00000000e+00, -1.96574281e-26,
        1.00000000e+00, -1.14476863e-13, -1.00000000e+00,  0.00000000e+00,
        1.71715294e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05334283, -0.01712917,  0.06194574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.27931661e-05,-4.64990925e-03,-1.17972443e-03,-2.64789170e-04,
  5.06561134e-06,-2.85146900e-03,-3.33524441e-04,-1.13166084e-04,
 -4.22553174e-05,-3.49496812e-03,-7.99459975e-04,-2.08556620e-04,
  2.08759569e-05,-1.99123030e-05,-4.32646819e-06, 7.98445731e-05,
  1.06614469e-02, 7.29551640e-03,-1.21851386e+00, 4.70453243e-03,
  6.27447457e-03, 2.08523001e-03]


--- Step 1969 ---
qpos:
[ 4.99901936e-03, 7.71583758e-01,-2.50564635e-02, 2.97089475e-05,
  9.37586219e-04, 7.58946713e-01,-2.89863380e-02, 1.42511363e-03,
 -2.13500051e-03, 8.14241367e-01,-1.68303231e-02,-2.06934587e-02,
  1.38925541e+00, 1.86611797e-02, 1.36706641e+00, 2.43122110e-02,
  4.72641850e-03,-4.82925681e-02, 9.48431048e-02, 6.81146844e-01,
 -1.61746459e-01,-7.04813015e-01, 1.14523679e-01]

qacc:
[  -0.49448797, -46.75618017,  98.93206646, -81.57691467,  -0.34463602,
  -49.13747776, 119.04749288,-108.47883732,  -0.4575641 , -34.08437212,
   67.56595743, -35.54223087,   0.23833273,  -0.29216352,  -4.11343522,
   14.1167394 ,   1.57609594,  -1.05926454,  -5.80265324,  17.00149218,
   38.66196182, -22.69926524]

qfrc_actuator:
[-0.00511994, 0.12239212, 0.01003313, 0.00192466,-0.0042738 , 0.13208338,
  0.01063908, 0.00331935,-0.00142158, 0.08510555, 0.00643166, 0.00096933,
  0.        ,-0.00156588, 0.        ,-0.0008877 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.34047341, -0.63506682,  8.31626038, -0.63506682, 23.12388013,
        1.12892702,  8.31626038,  1.12892702,  8.42668332,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008703024038320475
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11621563e-13,  1.91351251e-13,  1.00000000e+00, -2.13589257e-26,
        1.00000000e+00, -1.91351251e-13, -1.00000000e+00,  0.00000000e+00,
        1.11621563e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05351598, -0.01704247,  0.06195089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.89842682e-05,-4.76750491e-03,-1.20058271e-03,-2.84640038e-04,
 -5.45012721e-05,-3.77913768e-03,-7.23707567e-04,-2.10173393e-04,
 -7.87310233e-05,-3.39115955e-03,-7.91986717e-04,-1.37938337e-04,
  5.45644539e-06,-6.01277719e-06, 6.14723497e-06, 6.98431496e-05,
  1.10799941e-02, 7.25816873e-03,-1.21859928e+00, 4.74182542e-03,
  6.23460822e-03, 2.12068294e-03]


--- Step 1970 ---
qpos:
[ 4.85434502e-03, 7.73553936e-01,-2.49917109e-02, 4.30254318e-05,
  8.53034457e-04, 7.61106913e-01,-2.89101296e-02, 1.46616283e-03,
 -2.11842168e-03, 8.15437336e-01,-1.68516418e-02,-2.07000619e-02,
  1.38932252e+00, 1.86575906e-02, 1.36715686e+00, 2.43129174e-02,
  4.91978290e-03,-4.82198318e-02, 9.46371733e-02, 6.83421738e-01,
 -1.63429875e-01,-7.01933519e-01, 1.16252908e-01]

qacc:
[ 6.78558885e-02,-4.67191203e+01, 9.71859512e+01,-7.67352324e+01,
  1.07271603e-01,-4.71268433e+01, 1.02765810e+02,-7.77821987e+01,
 -6.61185396e-01,-3.00764974e+01, 5.28836339e+01,-1.24142836e+01,
  8.17998289e-03,-2.20894476e-02, 8.49350639e-01,-2.69774367e+00,
  1.51643659e+00,-1.06013979e+00,-5.73794604e+00, 1.79952980e+01,
  3.98677292e+01,-2.30434146e+01]

qfrc_actuator:
[-0.00507347, 0.12053166, 0.00996692, 0.00189797,-0.00423769, 0.13009991,
  0.01056548, 0.00329652,-0.00150085, 0.08389378, 0.00643174, 0.00103475,
  0.        ,-0.0015671 , 0.        ,-0.00090242, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 7.8295368 , -1.0628326 ,  7.75706345, -1.0628326 , 21.61689565,
        1.88907239,  7.75706345,  1.88907239,  8.0883677 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007793250849181255
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42459552e-13,  7.12297760e-14,  1.00000000e+00, -1.01473620e-26,
        1.00000000e+00, -7.12297760e-14, -1.00000000e+00,  0.00000000e+00,
        1.42459552e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05367402, -0.01696253,  0.06195562])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.69876419e-06,-4.83939014e-03,-1.22650131e-03,-2.81479738e-04,
  1.23023454e-05,-4.31439548e-03,-9.70630720e-04,-2.17780553e-04,
 -1.12670716e-04,-3.30795411e-03,-8.12525007e-04,-1.11799924e-04,
  1.47076063e-06,-1.92831613e-06, 8.80116855e-06,-1.04649625e-05,
  1.15243171e-02, 7.21651243e-03,-1.21869171e+00, 4.77758306e-03,
  6.19359636e-03, 2.15964912e-03]


--- Step 1971 ---
qpos:
[ 4.71182702e-03, 7.75487247e-01,-2.49285095e-02, 5.61495799e-05,
  7.69993871e-04, 7.63230580e-01,-2.88341881e-02, 1.50733277e-03,
 -2.10256296e-03, 8.16608267e-01,-1.68738927e-02,-2.07066167e-02,
  1.38938962e+00, 1.86540090e-02, 1.36724721e+00, 2.43144576e-02,
  5.11899430e-03,-4.81513423e-02, 9.44085141e-02, 6.85752375e-01,
 -1.65061038e-01,-6.98987606e-01, 1.17961267e-01]

qacc:
[ 1.25673438e+00,-4.47507518e+01, 8.97035817e+01,-6.34888460e+01,
  9.01143625e-01,-4.72343644e+01, 9.78894135e+01,-6.85716853e+01,
 -3.86101024e-01,-3.03781581e+01, 6.01120693e+01,-3.94104201e+01,
  6.95285285e-02,-6.93582427e-02,-2.68039184e+00, 9.14244016e+00,
  1.46174940e+00,-1.06168960e+00,-5.68192265e+00, 1.89469507e+01,
  4.09285560e+01,-2.32837523e+01]

qfrc_actuator:
[-0.00488127, 0.118774  , 0.00991984, 0.0018947 ,-0.00411129, 0.1280838 ,
  0.01047252, 0.0032841 ,-0.0015188 , 0.08270376, 0.00640512, 0.00104042,
  0.        ,-0.00156638, 0.        ,-0.00085815, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 7.21950686, -1.36216363,  7.08983706, -1.36216363, 19.81295661,
        2.41956749,  7.08983706,  2.41956749,  7.68437605,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006961665390271474
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.19607482e-13, -7.97383214e-14,  1.00000000e+00,  9.53729985e-27,
        1.00000000e+00,  7.97383214e-14, -1.00000000e+00,  0.00000000e+00,
        1.19607482e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05381827, -0.01688865,  0.06195996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.89424821e-04,-4.78091778e-03,-1.22494113e-03,-2.61909515e-04,
  1.30777485e-04,-4.69662548e-03,-1.13091155e-03,-2.38940705e-04,
 -6.68445712e-05,-3.24212707e-03,-8.23445587e-04,-1.68151210e-04,
  2.40178943e-07, 5.10707171e-07, 4.17413071e-07, 4.42499703e-05,
  1.19933681e-02, 7.17016983e-03,-1.21879227e+00, 4.81164953e-03,
  6.15163898e-03, 2.20215119e-03]


--- Step 1972 ---
qpos:
[ 4.57271802e-03, 7.77383909e-01,-2.48666010e-02, 6.97096402e-05,
  6.89032555e-04, 7.65314511e-01,-2.87584127e-02, 1.54837462e-03,
 -2.08679807e-03, 8.17754500e-01,-1.68962444e-02,-2.07125015e-02,
  1.38945680e+00, 1.86502103e-02, 1.36733778e+00, 2.43144999e-02,
  5.32384663e-03,-4.80871063e-02, 9.41573223e-02, 6.88139988e-01,
 -1.66638783e-01,-6.95973398e-01, 1.19649078e-01]

qacc:
[ 1.97339412e+00,-4.38925491e+01, 8.44079367e+01,-4.78920526e+01,
  1.23180227e+00,-5.22571384e+01, 1.10709116e+02,-8.35090395e+01,
 -4.15046702e-02,-3.09720734e+01, 6.02630365e+01,-3.03950633e+01,
  5.03340606e-02,-1.62366231e-01, 4.85940493e+00,-1.65361301e+01,
  1.41023575e+00,-1.06337134e+00,-5.63312847e+00, 1.98648741e+01,
  4.18738606e+01,-2.34390167e+01]

qfrc_actuator:
[-0.00465697, 0.11702146, 0.009885  , 0.0019231 ,-0.00398538, 0.12590457,
  0.01038653, 0.00326011,-0.00149998, 0.08155416, 0.00643411, 0.00108192,
  0.        ,-0.00158227, 0.        ,-0.00093922, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 6.60071713, -1.53629429,  6.41944441, -1.53629429, 17.98162823,
        2.72366698,  6.41944441,  2.72366698,  7.25254208,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006201784580159367
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.95083512e-14, -4.47541756e-13,  1.00000000e+00,  4.00587247e-26,
        1.00000000e+00,  4.47541756e-13, -1.00000000e+00,  0.00000000e+00,
        8.95083512e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05394991, -0.01682024,  0.06196397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.00687125e-04,-4.74087063e-03,-1.19940962e-03,-2.27224970e-04,
  1.80632337e-04,-5.10638940e-03,-1.22301213e-03,-2.72781374e-04,
 -9.37485057e-06,-3.16889754e-03,-7.57305659e-04,-1.30934142e-04,
  2.59946506e-07,-1.56332726e-05, 3.32458007e-06,-7.89676340e-05,
  1.24864271e-02, 7.11881405e-03,-1.21890207e+00, 4.84390383e-03,
  6.10890304e-03, 2.24823466e-03]


--- Step 1973 ---
qpos:
[ 4.43755251e-03, 7.79244514e-01,-2.48061832e-02, 8.30304552e-05,
  6.10576449e-04, 7.67357097e-01,-2.86831670e-02, 1.58863177e-03,
 -2.07099371e-03, 8.18876453e-01,-1.69185180e-02,-2.07182931e-02,
  1.38952400e+00, 1.86462561e-02, 1.36742823e+00, 2.43145828e-02,
  5.53425891e-03,-4.80271692e-02, 9.38842747e-02, 6.90587476e-01,
 -1.68160662e-01,-6.92887824e-01, 1.21315262e-01]

qacc:
[ 2.27484715e+00,-4.39471757e+01, 8.85881336e+01,-6.38748364e+01,
  1.47695645e+00,-5.47176245e+01, 1.19169801e+02,-1.01571423e+02,
  3.15298124e-02,-3.21071413e+01, 6.75412428e+01,-4.82373173e+01,
  1.20633932e-01,-2.14426811e-01,-3.13199803e-01, 8.04327494e-01,
  1.38998511e+00,-1.07473121e+00,-5.46398208e+00, 2.09537003e+01,
  4.38516085e+01,-2.45172028e+01]

qfrc_actuator:
[-0.00443329, 0.11530426, 0.00984011, 0.00191671,-0.0038432 , 0.12375179,
  0.01032248, 0.00321162,-0.00149494, 0.08040296, 0.00646051, 0.00109102,
  0.        ,-0.00159016, 0.        ,-0.00093372, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 6.01925092,  0.70683979,  5.9776048 ,  0.70683979, 31.42926058,
       -3.00468272,  5.9776048 , -3.00468272,  6.37454863,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005504099428516085
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.61001817e-07,  3.30789322e-13,  1.00000000e+00,  2.18652343e-19,
        1.00000000e+00, -3.30789322e-13, -1.00000000e+00,  0.00000000e+00,
       -6.61001817e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05354712, -0.0168032 ,  0.06196767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.48622597e-04,-4.67531267e-03,-1.19649451e-03,-2.58687192e-04,
  2.18257260e-04,-5.32835897e-03,-1.29783776e-03,-3.18604465e-04,
  2.88740413e-06,-3.11362027e-03,-7.35128299e-04,-1.57145277e-04,
 -3.85419820e-06,-1.25368448e-05,-9.68244803e-06, 9.65393786e-07,
  1.30029992e-02, 7.06216120e-03,-1.21902223e+00, 4.87425198e-03,
  6.06552918e-03, 2.29796101e-03]


--- Step 1974 ---
qpos:
[ 4.30613781e-03, 7.81069563e-01,-2.47471299e-02, 9.67235370e-05,
  5.34700732e-04, 7.69358862e-01,-2.86093127e-02, 1.62722797e-03,
 -2.05537366e-03, 8.19974031e-01,-1.69398941e-02,-2.07247022e-02,
  1.38959094e+00, 1.86429489e-02, 1.36751849e+00, 2.43157181e-02,
  5.75007392e-03,-4.79715569e-02, 9.35897076e-02, 6.93096316e-01,
 -1.69625213e-01,-6.89728697e-01, 1.22959783e-01]

qacc:
[ 2.15971156e+00,-4.23794811e+01, 8.13774102e+01,-4.66499704e+01,
  1.51592196e+00,-5.34238518e+01, 1.19257498e+02,-1.15827062e+02,
 -9.04532011e-02,-3.59862893e+01, 8.41834382e+01,-7.84067088e+01,
 -4.91716469e-01, 8.34983475e-01,-3.40544294e+00, 1.16548002e+01,
  1.35068157e+00,-1.08120959e+00,-5.37985980e+00, 2.19104958e+01,
  4.49960820e+01,-2.48782236e+01]

qfrc_actuator:
[-0.00424738, 0.11362235, 0.00980765, 0.0019432 ,-0.00371025, 0.12177442,
  0.01027201, 0.00313139,-0.00151601, 0.07922478, 0.00652071, 0.00106324,
  0.        ,-0.00153996, 0.        ,-0.00087722, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.54064556, -1.1159854 ,  5.42709221, -1.1159854 , 20.10574906,
        2.99505558,  5.42709221,  2.99505558,  6.1565257 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004917484730468588
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.64426269e-14,  2.82213135e-14,  1.00000000e+00, -1.59288507e-27,
        1.00000000e+00, -2.82213135e-14, -1.00000000e+00,  0.00000000e+00,
        5.64426269e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0534096 , -0.01677064,  0.06197078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.32098401e-04,-4.60308602e-03,-1.17089800e-03,-2.23445659e-04,
  2.25275574e-04,-5.29328222e-03,-1.34049115e-03,-3.63259648e-04,
 -1.76995352e-05,-3.10560547e-03,-6.87867638e-04,-1.91364641e-04,
 -5.04867287e-06, 4.55685910e-05,-5.78219203e-06, 5.49769718e-05,
  1.35558024e-02, 6.99574251e-03,-1.21915382e+00, 4.90219123e-03,
  6.02199176e-03, 2.35232603e-03]


--- Step 1975 ---
qpos:
[ 4.17712432e-03, 7.82859193e-01,-2.46896355e-02, 1.10905227e-04,
  4.61160626e-04, 7.71320266e-01,-2.85369464e-02, 1.66478388e-03,
 -2.04001536e-03, 8.21047492e-01,-1.69610142e-02,-2.07300364e-02,
  1.38965792e+00, 1.86397258e-02, 1.36760886e+00, 2.43161648e-02,
  5.97106704e-03,-4.79202679e-02, 9.32736680e-02, 6.95666806e-01,
 -1.71031793e-01,-6.86494570e-01, 1.24583414e-01]

qacc:
[ 1.38487710e+00,-4.14177787e+01, 7.77186642e+01,-4.07671688e+01,
  1.37025366e+00,-5.12702220e+01, 1.09840728e+02,-9.58504728e+01,
 -1.33221006e-01,-3.03677470e+01, 5.75143587e+01,-2.16405078e+01,
 -7.77839634e-02, 1.43903738e-01, 2.24836062e+00,-7.61823644e+00,
  1.29452816e+00,-1.08079375e+00,-5.36812327e+00, 2.27252115e+01,
  4.54603548e+01,-2.46609034e+01]

qfrc_actuator:
[-0.00417428, 0.11190452, 0.00974762, 0.00197114,-0.00360169, 0.11984728,
  0.01023078, 0.00308657,-0.00153479, 0.07805795, 0.00654709, 0.00112051,
  0.        ,-0.00154441, 0.        ,-0.00091542, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.16833675, -2.01441115,  4.75960634, -2.01441115, 11.22286936,
        2.5624636 ,  4.75960634,  2.5624636 ,  6.25284981,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004377383209150376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.90220328e-13, -1.26813552e-13,  1.00000000e+00,  2.41225154e-26,
        1.00000000e+00,  1.26813552e-13, -1.00000000e+00,  0.00000000e+00,
        1.90220328e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05350046, -0.01672011,  0.06197368])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.12542234e-04,-4.59081144e-03,-1.17883542e-03,-2.17255119e-04,
  2.04164216e-04,-5.23294610e-03,-1.33040970e-03,-3.28619150e-04,
 -2.48416616e-05,-3.08083508e-03,-7.15193365e-04,-1.04952438e-04,
  7.95664611e-06, 8.88162587e-06, 1.54471119e-06,-3.63043653e-05,
  1.41365145e-02, 6.92155144e-03,-1.21929830e+00, 4.92777063e-03,
  5.97823506e-03, 2.41092222e-03]


--- Step 1976 ---
qpos:
[ 4.04956462e-03, 7.84613198e-01,-2.46337407e-02, 1.24244248e-04,
  3.89878596e-04, 7.73241109e-01,-2.84659041e-02, 1.70110922e-03,
 -2.02455325e-03, 8.22098347e-01,-1.69841467e-02,-2.07354050e-02,
  1.38972496e+00, 1.86365197e-02, 1.36769934e+00, 2.43151476e-02,
  6.17101664e-03,-4.78822357e-02, 9.30575975e-02, 6.98043826e-01,
 -1.72045819e-01,-6.83601692e-01, 1.25792606e-01]

qacc:
[ 8.42499602e-01,-4.43136779e+01, 9.32719320e+01,-7.91465115e+01,
  1.32245459e+00,-5.23839766e+01, 1.14231257e+02,-1.03649819e+02,
  6.43218744e-02,-2.43158713e+01, 4.35113569e+01,-2.43018971e+01,
 -9.87954368e-02, 1.27212990e-01, 4.62054644e+00,-1.58787276e+01,
 -5.26087858e+00,-3.31422696e+00, 2.49922969e+01,-4.35134404e+01,
 -1.74119583e+02,-2.96031141e+02]

qfrc_actuator:
[-0.00413352, 0.11014371, 0.00967179, 0.00192868,-0.00349078, 0.11785965,
  0.01017799, 0.00302752,-0.00151654, 0.0769962 , 0.0064647 , 0.00112086,
  0.        ,-0.00154584, 0.        ,-0.00099136, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.38979539,  8.37696282, -0.46385413,  8.37696282,  8.56207845,
        3.11134181, -0.46385413,  3.11134181, 64.57899998,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008819350908138499
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.29424453e-14, -6.29424453e-14,  1.00000000e+00,  3.96175142e-27,
        1.00000000e+00,  6.29424453e-14, -1.00000000e+00,  0.00000000e+00,
        6.29424453e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04053944, -0.02296611,  0.06194708])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.28434026e-04,-4.62728761e-03,-1.19251745e-03,-2.87215624e-04,
  1.97688606e-04,-5.25496697e-03,-1.32666631e-03,-3.39151711e-04,
  8.86989458e-06,-2.96322786e-03,-8.19023904e-04,-1.60041924e-04,
  5.54288901e-06, 3.36050613e-06,-5.50210740e-06,-7.82683417e-05,
  1.47377604e-02, 6.84155818e-03,-1.21945690e+00, 4.95114722e-03,
  5.93420280e-03, 2.47330983e-03]


--- Step 1977 ---
qpos:
[ 3.92342648e-03, 7.86331967e-01,-2.45793970e-02, 1.36858340e-04,
  3.20827719e-04, 7.75121656e-01,-2.83964453e-02, 1.73567006e-03,
 -2.00896789e-03, 8.23126366e-01,-1.70080784e-02,-2.07408153e-02,
  1.38979185e+00, 1.86338260e-02, 1.36778962e+00, 2.43145622e-02,
  6.35285084e-03,-4.78564730e-02, 9.29232146e-02, 7.00259818e-01,
 -1.72732644e-01,-6.80998577e-01, 1.26651327e-01]

qacc:
[ 8.22345281e-01,-4.36938230e+01, 9.13096390e+01,-7.55091664e+01,
  1.30353554e+00,-5.24088095e+01, 1.17080725e+02,-1.15518930e+02,
  7.58123634e-02,-2.80264227e+01, 5.63281620e+01,-3.90162623e+01,
 -3.65409785e-01, 6.53267145e-01,-1.56011019e+00, 5.13654886e+00,
 -4.52885163e+00,-3.06737940e+00, 2.04218598e+01,-3.76692104e+01,
 -1.46605902e+02,-2.48959005e+02]

qfrc_actuator:
[-0.0040589 , 0.10846026, 0.00962264, 0.00189838,-0.00337932, 0.11590531,
  0.01011869, 0.00294279,-0.00151184, 0.07589912, 0.00644348, 0.00112323,
  0.        ,-0.00150992, 0.        ,-0.00096463, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.52866068,  1.35967786, -8.52866068,  8.63906802,
        0.01696342,  1.35967786,  0.01696342,  8.74276772,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014365425566112838
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.72843811e-14,  1.93210953e-14,  1.00000000e+00, -1.49321889e-27,
        1.00000000e+00, -1.93210953e-14, -1.00000000e+00,  0.00000000e+00,
        7.72843811e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04006865, -0.02346773,  0.06191455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25771065e-04,-4.57514158e-03,-1.17711972e-03,-2.78390291e-04,
  1.95662287e-04,-5.23248042e-03,-1.33722325e-03,-3.65769811e-04,
  1.06715415e-05,-2.95598697e-03,-7.48048640e-04,-1.57601978e-04,
  2.82135636e-06, 3.85464664e-05,-1.32463915e-05, 2.12041012e-05,
  1.18941084e-02, 4.36413781e-03,-1.21869987e+00, 4.37694361e-03,
  6.25138832e-03, 2.30763947e-03]


--- Step 1978 ---
qpos:
[ 3.79852083e-03, 7.88016045e-01,-2.45269390e-02, 1.48559363e-04,
  2.53588620e-04, 7.76963134e-01,-2.83289348e-02, 1.76943700e-03,
 -1.99391649e-03, 8.24131407e-01,-1.70309481e-02,-2.07456094e-02,
  1.38985892e+00, 1.86308453e-02, 1.36787959e+00, 2.43159480e-02,
  6.51902638e-03,-4.78421070e-02, 9.28549414e-02, 7.02340317e-01,
 -1.73144547e-01,-6.78643001e-01, 1.27211331e-01]

qacc:
[   0.7129514 , -42.42741855,  88.63238422, -75.95190069,   1.0585693 ,
  -47.77491486,  98.81128057, -80.76478339,  -0.28117611, -32.0577023 ,
   67.65656441, -41.83524185,   0.50095841,  -0.65056929,  -6.49378169,
   21.89712938,  -3.91466336,  -2.84915753,  16.52744145, -32.83206086,
 -124.41769755,-210.99979302]

qfrc_actuator:
[-0.00400004, 0.10680158, 0.0095546 , 0.00185783,-0.00330392, 0.11409343,
  0.01007404, 0.0029147 ,-0.00156858, 0.07482561, 0.00652956, 0.00116236,
  0.        ,-0.00154085, 0.        ,-0.00085985, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.55826374,  1.15883501, -8.55826374,  8.64869016,
        0.09103423,  1.15883501,  0.09103423,  9.30867238,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018601467186393703
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.98423510e-14,  1.49211755e-14,  1.00000000e+00, -4.45282956e-28,
        1.00000000e+00, -1.49211755e-14, -1.00000000e+00,  0.00000000e+00,
        2.98423510e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03971835, -0.02384542,  0.06189015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09076962e-04,-4.51665818e-03,-1.18270780e-03,-2.85626267e-04,
  1.58947665e-04,-5.07960200e-03,-1.31976342e-03,-3.08980881e-04,
 -4.99997212e-05,-2.91299693e-03,-6.30219202e-04,-1.18004516e-04,
  9.80685781e-06,-1.79135776e-05,-5.18986847e-06, 1.03931804e-04,
  9.73398729e-03, 2.60540766e-03,-1.21814320e+00, 3.95385603e-03,
  6.48470001e-03, 2.17828963e-03]


--- Step 1979 ---
qpos:
[ 3.67465674e-03, 7.89664722e-01,-2.44754596e-02, 1.59309258e-04,
  1.87931913e-04, 7.78766712e-01,-2.82637848e-02, 1.80275959e-03,
 -1.97970806e-03, 8.25114619e-01,-1.70532815e-02,-2.07503881e-02,
  1.38992633e+00, 1.86268546e-02, 1.36796950e+00, 2.43185575e-02,
  6.67159757e-03,-4.78383663e-02, 9.28395839e-02, 7.04305550e-01,
 -1.73323512e-01,-6.76500315e-01, 1.27514614e-01]

qacc:
[   0.60450994, -45.97464444, 100.08326777, -88.9945735 ,   0.92373498,
  -44.3621883 ,  87.40577846, -63.50441104,  -0.45009214, -30.31043078,
   66.16097023, -50.73666903,   0.97275805,  -1.53752013,  -3.93016573,
   13.305745  ,  -3.40109017,  -2.65632022,  13.22893157, -28.82963637,
 -106.46445018,-180.29311065]

qfrc_actuator:
[-0.00395101, 0.10504703, 0.00951167, 0.00181162,-0.00323287, 0.11232866,
  0.01000365, 0.00290256,-0.00162608, 0.07382878, 0.00658972, 0.00116962,
  0.        ,-0.00161131, 0.        ,-0.00079872, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.58188659,  0.96850373, -8.58188659,  8.65123298,
        0.1317569 ,  0.96850373,  0.1317569 ,  9.80385811,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002176068328571097
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.27549192e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.27549192e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03946343, -0.02412514,  0.06187227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.21315521e-05,-4.58029390e-03,-1.14610941e-03,-2.89054997e-04,
  1.38930348e-04,-4.93984245e-03,-1.30940636e-03,-2.84684620e-04,
 -7.85668694e-05,-2.78567182e-03,-6.31191446e-04,-1.43131360e-04,
  7.24966236e-07,-7.39055740e-05, 8.35561044e-06, 6.60447583e-05,
  8.06849865e-03, 1.34684504e-03,-1.21773211e+00, 3.63689118e-03,
  6.65796132e-03, 2.07606711e-03]


--- Step 1980 ---
qpos:
[ 3.55207798e-03, 7.91278977e-01,-2.44250721e-02, 1.69592898e-04,
  1.23924116e-04, 7.80533041e-01,-2.82012903e-02, 1.83520276e-03,
 -1.96590784e-03, 8.26077200e-01,-1.70760421e-02,-2.07551630e-02,
  1.38999377e+00, 1.86223175e-02, 1.36805946e+00, 2.43215503e-02,
  6.80667073e-03,-4.78439365e-02, 9.28671370e-02, 7.06099507e-01,
 -1.73304353e-01,-6.74619089e-01, 1.27585941e-01]

qacc:
[   0.74062953, -43.37130946,  90.6256486 , -71.67996715,   0.95931485,
  -43.57283049,  87.67846808, -71.31367537,  -0.21425881, -26.0561616 ,
   53.34024673, -37.45209796,   0.37369066,  -0.71134378,  -1.11644071,
    3.92135537,  -4.37450612,  -2.3277381 ,  10.72765171, -40.20285687,
 -142.53863569,-160.438045  ]

qfrc_actuator:
[-0.00387266, 0.10344484, 0.00950141, 0.00179791,-0.00314717, 0.11055335,
  0.00990127, 0.00286447,-0.00163025, 0.072886  , 0.00659893, 0.00117589,
  0.        ,-0.00163363, 0.        ,-0.00078157, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024511067185377378
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13236912e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.13236912e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05162376, -0.02541847,  0.06185706])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14153175e-04,-4.45512794e-03,-1.12185591e-03,-2.58006464e-04,
  1.45076989e-04,-4.86795020e-03,-1.31003946e-03,-3.03752757e-04,
 -3.83847510e-05,-2.66114178e-03,-6.56659537e-04,-1.39170968e-04,
 -1.62608940e-05,-4.55942931e-05, 9.76679853e-06, 2.15402085e-05,
  6.76539922e-03, 4.40074856e-04,-1.21742701e+00, 3.39519125e-03,
  6.78788369e-03, 1.99432147e-03]


--- Step 1981 ---
qpos:
[ 3.43167422e-03, 7.92860014e-01,-2.43761389e-02, 1.79789795e-04,
  6.08861136e-05, 7.82262399e-01,-2.81411060e-02, 1.86715970e-03,
 -1.95254812e-03, 8.27019873e-01,-1.70994035e-02,-2.07599385e-02,
  1.39006100e+00, 1.86179446e-02, 1.36814967e+00, 2.43230629e-02,
  6.92642786e-03,-4.78582584e-02, 9.29276627e-02, 7.07745689e-01,
 -1.73116426e-01,-6.72964943e-01, 1.27455594e-01]

qacc:
[   1.24040448, -39.98535359,  79.26190356, -54.05131237,   0.56924113,
  -43.36316601,  85.80041611, -63.38576108,  -0.23204121, -24.62721766,
   49.64768459, -34.08957744,  -0.41061776,   0.47306644,   4.89435495,
  -16.47802485,  -3.82900719,  -2.18792598,   8.24312996, -35.73448406,
 -123.30770483,-138.37809027]

qfrc_actuator:
[-0.00372414, 0.10191173, 0.00947576, 0.00180361,-0.0031244 , 0.10878624,
  0.00981644, 0.00284691,-0.00165579, 0.07196543, 0.00659605, 0.00118155,
  0.        ,-0.00160937, 0.        ,-0.00086148, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.60034562,  0.78792902, -8.60034562,  8.64229421,
        0.06473299,  0.78792902,  0.06473299,  9.34293247,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002666174092737658
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.08205276e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.08205276e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05138174, -0.02560082,  0.06184547])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.94237455e-04,-4.30874932e-03,-1.10701544e-03,-2.31737095e-04,
  8.49779343e-05,-4.81942989e-03,-1.27800731e-03,-2.80451187e-04,
 -4.13831486e-05,-2.57384163e-03,-6.45833698e-04,-1.35205925e-04,
 -1.80187266e-05, 6.13086743e-06, 4.56059483e-06,-7.79949737e-05,
  5.29048163e-03,-2.09340763e-04,-1.21713672e+00, 3.19951419e-03,
  6.89125459e-03, 1.89229725e-03]


--- Step 1982 ---
qpos:
[ 3.31448837e-03, 7.94407951e-01,-2.43286055e-02, 1.89901333e-04,
 -1.70079456e-06, 7.83954837e-01,-2.80828623e-02, 1.89890887e-03,
 -1.93997185e-03, 8.27942553e-01,-1.71228151e-02,-2.07653575e-02,
  1.39012801e+00, 1.86140391e-02, 1.36823998e+00, 2.43229470e-02,
  7.03267802e-03,-4.78808282e-02, 9.30127664e-02, 7.09263135e-01,
 -1.72783486e-01,-6.71509446e-01, 1.27148476e-01]

qacc:
[   1.82555344, -39.98098079,  79.46388375, -54.40157261,   0.27239306,
  -43.7531875 ,  86.11688356, -59.51409241,  -0.41771675, -27.60252822,
   62.80189245, -59.1783114 ,  -0.59100844,   0.84351586,   5.15299914,
  -17.63540518,  -3.37674103,  -2.06197409,   6.14451387, -31.96675028,
 -107.5547159 ,-120.33932655]

qfrc_actuator:
[-0.00351716, 0.10030838, 0.00942391, 0.001803  ,-0.00312161, 0.10700315,
  0.00974285, 0.00284164,-0.00171169, 0.0709947 , 0.00660404, 0.00115136,
  0.        ,-0.00157541, 0.        ,-0.00094464, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.60055328,  0.78565907, -8.60055328,  8.64569577,
        0.10215824,  0.78565907,  0.10215824,  9.75468251,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0028090398091510788
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.97616107e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.97616107e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05122602, -0.02572464,  0.06183801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.88283640e-04,-4.29203044e-03,-1.09992606e-03,-2.30687618e-04,
  3.89575708e-05,-4.79959756e-03,-1.25161857e-03,-2.64454097e-04,
 -7.31843293e-05,-2.57225302e-03,-6.15304739e-04,-1.66842575e-04,
 -7.54276472e-06, 3.20107821e-05,-9.63330746e-06,-8.76139324e-05,
  4.15888604e-03,-6.36184068e-04,-1.21692511e+00, 3.05628100e-03,
  6.96302746e-03, 1.81263858e-03]


--- Step 1983 ---
qpos:
[ 3.20036351e-03, 7.95922927e-01,-2.42829558e-02, 1.99545324e-04,
 -6.33983195e-05, 7.85610990e-01,-2.80265849e-02, 1.92986248e-03,
 -1.92757053e-03, 8.28846107e-01,-1.71467725e-02,-2.07722387e-02,
  1.39019468e+00, 1.86112575e-02, 1.36833032e+00, 2.43211553e-02,
  7.12691989e-03,-4.79111931e-02, 9.31153716e-02, 7.10667340e-01,
 -1.72324817e-01,-6.70229042e-01, 1.26685125e-01]

qacc:
[ 1.73375366e+00,-3.92328259e+01, 7.86756282e+01,-5.95547720e+01,
  5.21096819e-01,-4.40537713e+01, 9.08851114e+01,-7.48794938e+01,
 -8.78808896e-02,-2.67576133e+01, 6.49026118e+01,-7.52806315e+01,
 -1.07408078e+00, 1.71176894e+00, 5.25644910e+00,-1.79946146e+01,
 -3.00207494e+00,-1.94876100e+00, 4.37537519e+00,-2.87830443e+01,
 -9.46107331e+01,-1.05547056e+02]

qfrc_actuator:
[-0.00336578, 0.09869379, 0.00933913, 0.00178089,-0.00305966, 0.10527847,
  0.00967657, 0.00280815,-0.00169653, 0.07010845, 0.00660047, 0.00108253,
  0.        ,-0.0015005 , 0.        ,-0.00102902, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.59557249,  0.83839751, -8.59557249,  8.65117048,
        0.15180543,  0.83839751,  0.15180543, 10.19273102,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0028932021636034824
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.83735032e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.83735032e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05113871, -0.02580204,  0.06183385])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.74549999e-04,-4.29148147e-03,-1.12819763e-03,-2.51150246e-04,
  7.81003872e-05,-4.72291134e-03,-1.23605319e-03,-2.90527950e-04,
 -1.68020635e-05,-2.48142997e-03,-6.23690413e-04,-2.04925134e-04,
  3.02175315e-06, 8.36843729e-05,-1.65374614e-05,-9.10249345e-05,
  3.28130352e-03,-9.06570311e-04,-1.21677120e+00, 2.95013816e-03,
  7.01210912e-03, 1.74998689e-03]


--- Step 1984 ---
qpos:
[ 3.08865180e-03, 7.97405896e-01,-2.42402684e-02, 2.08750779e-04,
 -1.24420635e-04, 7.87232054e-01,-2.79725099e-02, 1.96032164e-03,
 -1.91480044e-03, 8.29731371e-01,-1.71721197e-02,-2.07796241e-02,
  1.39026124e+00, 1.86093815e-02, 1.36842031e+00, 2.43203529e-02,
  7.21039310e-03,-4.79489479e-02, 9.32295243e-02, 7.11970951e-01,
 -1.71756105e-01,-6.69104182e-01, 1.26082506e-01]

qacc:
[  1.36598363,-34.90282899, 64.93981778,-44.28832052,  0.39763196,
 -41.19496336, 81.71419795,-60.9961739 ,  0.20610913,-21.32182351,
  43.08758782,-36.16432477, -0.52185313,  1.0582062 , -3.44446997,
  11.46555581, -2.69216532, -1.84749389,  2.88687657,-26.08829467,
 -83.95135065,-93.39345603]

qfrc_actuator:
[-0.00326664, 0.09717433, 0.00921787, 0.00176404,-0.00303386, 0.10365623,
  0.00961547, 0.0027939 ,-0.00165679, 0.06926226, 0.00655498, 0.00106262,
  0.        ,-0.00145511, 0.        ,-0.00097141, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.58393576,  0.95017036, -8.58393576,  8.661442  ,
        0.22656046,  0.95017036,  0.22656046, 10.68313389,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002929900952812814
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.89464259e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.89464259e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05110549, -0.02584264,  0.0618323 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.16533635e-04,-4.20184849e-03,-1.16843395e-03,-2.47174487e-04,
  5.91393292e-05,-4.57445578e-03,-1.21366254e-03,-2.67898117e-04,
  3.36544703e-05,-2.39343607e-03,-6.49034360e-04,-1.53122632e-04,
  1.96937487e-05, 7.29692743e-05,-1.99804518e-05, 4.99274040e-05,
  2.59376667e-03,-1.06611166e-03,-1.21665980e+00, 2.87040133e-03,
  7.04482458e-03, 1.70040207e-03]


--- Step 1985 ---
qpos:
[ 2.97930430e-03, 7.98857459e-01,-2.42001339e-02, 2.18216214e-04,
 -1.84906371e-04, 7.88818373e-01,-2.79196621e-02, 1.99054686e-03,
 -1.90164078e-03, 8.30598336e-01,-1.71976327e-02,-2.07866128e-02,
  1.39032804e+00, 1.86074172e-02, 1.36851003e+00, 2.43212107e-02,
  7.28412074e-03,-4.79937327e-02, 9.33502248e-02, 7.13184317e-01,
 -1.71090125e-01,-6.68118634e-01, 1.25354654e-01]

qacc:
[  1.33643734,-33.81295646, 59.25985108,-27.61641642,  0.3188434 ,
 -42.92688801, 87.45117583,-64.04000227,  0.21809851,-22.89861744,
  44.89320889,-24.34000388,  0.41735994, -0.42322854, -5.47473343,
  18.45862016, -2.43638893, -1.75748301,  1.63694919,-23.80421195,
 -75.16147118,-83.39735524]

qfrc_actuator:
[-0.00314617, 0.09570642, 0.00912982, 0.00178602,-0.00301212, 0.10202001,
  0.009594  , 0.00279122,-0.00163827, 0.06841141, 0.00657417, 0.00108944,
  0.        ,-0.00148093, 0.        ,-0.00088386, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.56287452,  1.12425833, -8.56287452,  8.68138169,
        0.34287842,  1.12425833,  0.34287842, 11.24788521,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0029284954070842584
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05111485, -0.02585415,  0.06183283])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.12419548e-04,-4.10741691e-03,-1.12121709e-03,-2.05763359e-04,
  4.68531162e-05,-4.49883389e-03,-1.13947564e-03,-2.48691254e-04,
  3.56176771e-05,-2.35141008e-03,-5.67349566e-04,-1.02464286e-04,
  2.56658281e-05, 1.95293786e-06,-4.54285313e-06, 8.75659238e-05,
  2.04998020e-03,-1.14646306e-03,-1.21657993e+00, 2.80958379e-03,
  7.06568659e-03, 1.66096083e-03]


--- Step 1986 ---
qpos:
[ 2.87243213e-03, 8.00277561e-01,-2.41612791e-02, 2.28775052e-04,
 -2.44349833e-04, 7.90370601e-01,-2.78676097e-02, 2.02102354e-03,
 -1.88822122e-03, 8.31446704e-01,-1.72217184e-02,-2.07929818e-02,
  1.39039478e+00, 1.86060113e-02, 1.36859988e+00, 2.43217565e-02,
  7.34894475e-03,-4.80452296e-02, 9.34732832e-02, 7.14315912e-01,
 -1.70337284e-01,-6.67258913e-01, 1.24513173e-01]

qacc:
[  1.3975435 ,-35.72588682, 62.45870443,-18.39054399,  0.60476112,
 -42.27203048, 84.3183616 ,-53.67596393,  0.14895704,-27.28226808,
  59.01417879,-36.93298079, -0.42262013,  0.75853423,  1.17995783,
  -3.73336182, -2.22591   , -1.67803752,  0.58947763,-21.86577137,
 -67.90953281,-75.17459597]

qfrc_actuator:
[-0.00301382, 0.09421064, 0.00909797, 0.00184853,-0.0029397 , 0.1004246 ,
  0.00959623, 0.00281317,-0.00163266, 0.06752959, 0.00666699, 0.00112584,
  0.        ,-0.00144233, 0.        ,-0.00090368, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.52798453,  1.36391225, -8.52798453,  8.72051823,
        0.52618419,  1.36391225,  0.52618419, 11.92637784,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0028967750959386016
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.91630863e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.91630863e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05115746, -0.02584278,  0.06183498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.22738964e-04,-4.07009191e-03,-1.03795499e-03,-1.58695541e-04,
  9.22065050e-05,-4.39862194e-03,-1.09003142e-03,-2.17817176e-04,
  2.35945699e-05,-2.33937130e-03,-4.73057941e-04,-8.72376933e-05,
  1.27487668e-05, 4.50658622e-05, 6.86824762e-06,-1.57264576e-05,
  1.61612312e-03,-1.16968447e-03,-1.21652362e+00, 2.76241031e-03,
  7.07792593e-03, 1.62947679e-03]


--- Step 1987 ---
qpos:
[ 2.76776022e-03, 8.01667058e-01,-2.41234836e-02, 2.39134885e-04,
 -3.02198379e-04, 7.91890392e-01,-2.78177768e-02, 2.05031923e-03,
 -1.87487644e-03, 8.32276767e-01,-1.72444386e-02,-2.07989254e-02,
  1.39046134e+00, 1.86055708e-02, 1.36868974e+00, 2.43220704e-02,
  7.40555119e-03,-4.81028969e-02, 9.35961366e-02, 7.15369274e-01,
 -1.69509673e-01,-6.66515987e-01, 1.23570673e-01]

qacc:
[ 1.24143412e+00,-3.78715576e+01, 7.72047185e+01,-5.64859779e+01,
  9.14236375e-01,-3.90590359e+01, 8.20792393e+01,-7.51615255e+01,
 -3.23488982e-02,-2.71256652e+01, 5.98327156e+01,-4.12292289e+01,
 -7.29646916e-01, 1.29761778e+00, 8.29559931e-01,-2.62538067e+00,
 -2.05439275e+00,-1.54260111e+00,-5.12558314e-02,-2.09326536e+01,
 -6.38666458e+01,-6.61018216e+01]

qfrc_actuator:
[-0.00291089, 0.09278175, 0.00908184, 0.00184564,-0.0028376 , 0.09892017,
  0.00952396, 0.00276074,-0.00165257, 0.06665456, 0.00674922, 0.00114985,
  0.        ,-0.00138343, 0.        ,-0.0009156 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.32408954, -2.30137137, -8.32408954,  8.82971713,
       -0.69936205, -2.30137137, -0.69936205, 11.16596506,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002842311582676303
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.90605672e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.90605672e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05121871, -0.02723335,  0.06183833])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.98150755e-04,-3.96224923e-03,-1.00235166e-03,-2.18630572e-04,
  1.41910145e-04,-4.23910926e-03,-1.13634604e-03,-2.85529358e-04,
 -7.49718008e-06,-2.30526572e-03,-4.68885280e-04,-9.55189121e-05,
  1.62750233e-05, 7.61168173e-05,-1.15683238e-06,-1.25021243e-05,
  1.26728060e-03,-1.15118188e-03,-1.21648508e+00, 2.72514879e-03,
  7.08386038e-03, 1.60430298e-03]


--- Step 1988 ---
qpos:
[ 2.66476845e-03, 8.03027520e-01,-2.40874220e-02, 2.47793883e-04,
 -3.58219062e-04, 7.93377951e-01,-2.77696815e-02, 2.07795407e-03,
 -1.86211409e-03, 8.33089742e-01,-1.72679720e-02,-2.08052571e-02,
  1.39052820e+00, 1.86049038e-02, 1.36877956e+00, 2.43222315e-02,
  7.45449027e-03,-4.81665066e-02, 9.37157539e-02, 7.16350471e-01,
 -1.68613938e-01,-6.65880260e-01, 1.22534981e-01]

qacc:
[  0.94814955,-37.00344912, 83.46004574,-88.80663661,  1.04442389,
 -41.12185248, 91.85286712,-94.16324007, -0.30870432,-21.10363837,
  44.12530761,-36.99669708,  0.36750203, -0.44182831,  0.36045842,
  -1.44901932, -1.91683926, -1.48559231, -0.80901617,-19.43009114,
 -58.70306645,-60.66315328]

qfrc_actuator:
[-0.00284409, 0.091458  , 0.00903992, 0.00176888,-0.00273639, 0.0973758 ,
  0.009462  , 0.00268276,-0.00170531, 0.065844  , 0.00671806, 0.00113088,
  0.        ,-0.00141951, 0.        ,-0.00092274, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.18871956,  2.74438495, -8.18871956,  9.19194126,
        1.65773732,  2.74438495,  1.65773732, 13.5827346 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002771255554455253
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00310474e-14,  2.00310474e-14,  1.00000000e+00, -4.01242858e-28,
        1.00000000e+00, -2.00310474e-14, -1.00000000e+00,  0.00000000e+00,
        2.00310474e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05130266, -0.02719534,  0.06184255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.51312537e-04,-3.79119801e-03,-1.00326496e-03,-2.87771608e-04,
  1.63017334e-04,-4.20139361e-03,-1.10082739e-03,-3.07097178e-04,
 -5.47082293e-05,-2.22075707e-03,-5.74855828e-04,-1.37036602e-04,
  2.48915050e-05,-8.17365529e-06,-4.24993558e-06,-8.50918734e-06,
  9.79108830e-04,-1.09428199e-03,-1.21645914e+00, 2.69737851e-03,
  7.08379828e-03, 1.58344360e-03]


--- Step 1989 ---
qpos:
[ 2.56337506e-03, 8.04359546e-01,-2.40531008e-02, 2.54995927e-04,
 -4.12522646e-04, 7.94833589e-01,-2.77229129e-02, 2.10397299e-03,
 -1.84999269e-03, 8.33885273e-01,-1.72920219e-02,-2.08121110e-02,
  1.39059524e+00, 1.86039458e-02, 1.36886930e+00, 2.43226305e-02,
  7.49620984e-03,-4.82358612e-02, 9.38296123e-02, 7.17264452e-01,
 -1.67655452e-01,-6.65343784e-01, 1.21412538e-01]

qacc:
[  0.90096631,-35.69334397, 78.90681313,-80.46166677,  0.98044432,
 -41.76551622, 94.55504812,-96.97459338, -0.33974754,-22.68188591,
  49.63371298,-45.04061978,  0.34675811, -0.48928413, -0.88671963,
   2.82065353, -1.80487758, -1.43623935, -1.43973839,-18.15430598,
 -54.45915067,-56.21424224]

qfrc_actuator:
[-0.00276383, 0.09011923, 0.00898364, 0.00170263,-0.00265436, 0.09585574,
  0.00942438, 0.00260817,-0.00174172, 0.06497172, 0.00669151, 0.00110451,
  0.        ,-0.00144075, 0.        ,-0.00090924, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.0335843 ,  3.16990538, -8.0335843 ,  9.56116648,
        2.343755  ,  3.16990538,  2.343755  , 14.57621076,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00268562871776086
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05140204, -0.02714703,  0.06184751])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.44095393e-04,-3.71291516e-03,-9.84533511e-04,-2.71254345e-04,
  1.53291213e-04,-4.14867286e-03,-1.06475413e-03,-3.01230316e-04,
 -6.02034644e-05,-2.25845085e-03,-5.67128267e-04,-1.45260662e-04,
  9.68737509e-06,-1.80294962e-05,-4.11507078e-06, 1.21767064e-05,
  7.45901797e-04,-1.01518268e-03,-1.21644380e+00, 2.67487019e-03,
  7.08040795e-03, 1.56693456e-03]


--- Step 1990 ---
qpos:
[ 2.46382276e-03, 8.05662869e-01,-2.40197332e-02, 2.61972875e-04,
 -4.65292692e-04, 7.96258359e-01,-2.76775117e-02, 2.12871025e-03,
 -1.83824092e-03, 8.34663142e-01,-1.73147029e-02,-2.08179739e-02,
  1.39066244e+00, 1.86025317e-02, 1.36895891e+00, 2.43238461e-02,
  7.53107198e-03,-4.83107912e-02, 9.39356173e-02, 7.18115235e-01,
 -1.66638528e-01,-6.64899990e-01, 1.20208627e-01]

qacc:
[  1.03545087,-35.70812573, 73.24755488,-54.54579183,  0.87509602,
 -39.57362556, 87.34792617,-84.68975196, -0.19162861,-25.12041863,
  51.53092872,-23.62090117,  0.46912754, -0.72481862, -2.72387506,
   9.1085875 , -1.71435809, -1.3938346 , -1.96333755,-17.06873029,
 -50.98171714,-52.59023278]

qfrc_actuator:
[-0.00265832, 0.08872921, 0.00895494, 0.00169637,-0.00258445, 0.09443386,
  0.00940165, 0.00255397,-0.00175027, 0.06415835, 0.00679203, 0.00116275,
  0.        ,-0.00147069, 0.        ,-0.00086594, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -7.81270117,  3.68082562, -7.81270117, 10.20346477,
        3.32623551,  3.68082562,  3.32623551, 15.69643295,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025892094476209215
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.28788419e-14,  2.14394209e-14,  1.00000000e+00, -9.19297540e-28,
        1.00000000e+00, -2.14394209e-14, -1.00000000e+00,  0.00000000e+00,
        4.28788419e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05151267, -0.02709103,  0.06185302])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.66300078e-04,-3.71503502e-03,-9.37632782e-04,-2.06876253e-04,
  1.37005864e-04,-4.01242164e-03,-1.03402281e-03,-2.77148005e-04,
 -3.49595221e-05,-2.21891632e-03,-4.47030407e-04,-6.21226981e-05,
  2.95947749e-07,-3.33529703e-05,-1.87489272e-06, 4.31290480e-05,
  5.56737014e-04,-9.18901789e-04,-1.21643680e+00, 2.65630699e-03,
  7.07453879e-03, 1.55398702e-03]


--- Step 1991 ---
qpos:
[ 2.36637728e-03, 8.06938834e-01,-2.39881854e-02, 2.69698696e-04,
 -5.16696005e-04, 7.97652353e-01,-2.76332328e-02, 2.15390669e-03,
 -1.82693601e-03, 8.35424505e-01,-1.73366552e-02,-2.08228794e-02,
  1.39072967e+00, 1.86007799e-02, 1.36904824e+00, 2.43275708e-02,
  7.55936713e-03,-4.83911518e-02, 9.40320353e-02, 7.18906059e-01,
 -1.65566603e-01,-6.64543463e-01, 1.18927561e-01]

qacc:
[  1.18046295,-29.50985133, 49.61126226,-13.65103909,  0.78025099,
 -36.55605462, 69.41323916,-37.08210147, -0.23403372,-21.87036801,
  42.30656417,-14.80743372,  0.45717316, -0.67204442, -8.0793833 ,
  27.50887097, -1.64174924, -1.3576561 , -2.39677154,-16.14244953,
 -48.14438198,-49.65526124]

qfrc_actuator:
[-0.00253854, 0.08747985, 0.00890719, 0.00174322,-0.00252232, 0.09295834,
  0.00937067, 0.00258334,-0.00177763, 0.06342305, 0.00686059, 0.0012172 ,
  0.        ,-0.00148781, 0.        ,-0.00073442, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -7.49674086,  4.2878495 , -7.49674086, 11.32582516,
        4.70216972,  4.2878495 ,  4.70216972, 16.85748891,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0024851112178481266
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.46749834e-14,  2.23374917e-14,  1.00000000e+00, -9.97927072e-28,
        1.00000000e+00, -2.23374917e-14, -1.00000000e+00,  0.00000000e+00,
        4.46749834e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05163113, -0.02702946,  0.06185891])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.90686282e-04,-3.56233524e-03,-9.48849583e-04,-1.50936431e-04,
  1.22155987e-04,-3.98164130e-03,-1.00921439e-03,-1.86157149e-04,
 -4.21494177e-05,-2.08995485e-03,-4.53016262e-04,-5.84239740e-05,
 -7.49696892e-06,-2.75992526e-05, 2.58144522e-06, 1.33355087e-04,
  4.03410171e-04,-8.08836247e-04,-1.21643653e+00, 2.64076612e-03,
  7.06679038e-03, 1.54399729e-03]


--- Step 1992 ---
qpos:
[ 2.27104649e-03, 8.08188396e-01,-2.39582859e-02, 2.78090723e-04,
 -5.66469361e-04, 7.99016304e-01,-2.75911034e-02, 2.17918686e-03,
 -1.81585184e-03, 8.36169877e-01,-1.73579149e-02,-2.08285643e-02,
  1.39079672e+00, 1.85992898e-02, 1.36913747e+00, 2.43335046e-02,
  7.58132611e-03,-4.84768203e-02, 9.41174353e-02, 7.19639513e-01,
 -1.64442381e-01,-6.64269751e-01, 1.17572840e-01]

qacc:
[  1.18294988,-28.89537808, 49.60348501,-16.05105379,  0.92557058,
 -33.49324085, 61.48198816,-34.54109735, -0.11234244,-24.6699029 ,
  60.58919391,-63.43922889, -0.11301102,  0.22682385, -6.82488701,
  23.69072028, -1.58404021, -1.32698578, -2.75446734,-15.34926941,
 -45.84240626,-47.29685208]

qfrc_actuator:
[-0.00242896, 0.08627177, 0.00886701, 0.00178554,-0.00242979, 0.09151614,
  0.00928178, 0.00259061,-0.00178055, 0.06266946, 0.00691007, 0.00118025,
  0.        ,-0.00146168, 0.        ,-0.000623  , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -7.03981517,  5.00277716, -7.03981517, 13.28272503,
        6.53827351,  5.00277716,  6.53827351, 17.83690077,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023758894917131693
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.50465487e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.50465487e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05175466, -0.02696404,  0.06186503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.91644962e-04,-3.43484403e-03,-9.08929514e-04,-1.48173182e-04,
  1.46066466e-04,-3.92123377e-03,-1.05426740e-03,-2.04254676e-04,
 -2.10672473e-05,-2.03677985e-03,-4.45941264e-04,-1.44415046e-04,
 -9.43369111e-06, 1.55122747e-05, 1.46756443e-05, 1.18854550e-04,
  2.79746482e-04,-6.87231217e-04,-1.21644182e+00, 2.62760767e-03,
  7.05758239e-03, 1.53650187e-03]


--- Step 1993 ---
qpos:
[ 2.17736888e-03, 8.09411904e-01,-2.39293137e-02, 2.86440622e-04,
 -6.14696526e-04, 8.00351569e-01,-2.75518451e-02, 2.20349459e-03,
 -1.80472760e-03, 8.36899800e-01,-1.73787592e-02,-2.08354124e-02,
  1.39086401e+00, 1.85970835e-02, 1.36922724e+00, 2.43367183e-02,
  7.59713045e-03,-4.85676934e-02, 9.41906407e-02, 7.20317642e-01,
 -1.63267955e-01,-6.64075206e-01, 1.16147278e-01]

qacc:
[ 9.26031494e-01,-3.19068534e+01, 6.39992260e+01,-4.41171358e+01,
  8.76059268e-01,-3.18623050e+01, 6.27218094e+01,-5.38990564e+01,
  2.77342667e-02,-2.39698991e+01, 6.07491811e+01,-7.01896073e+01,
  3.48109987e-01,-7.31336713e-01, 8.98272594e+00,-3.03845061e+01,
 -1.53866041e+00,-1.30112401e+00,-3.04868907e+00,-1.46669607e+01,
 -4.39886624e+01,-4.54215303e+01]

qfrc_actuator:
[-0.00236185, 0.08504519, 0.00884969, 0.00178943,-0.00235534, 0.09019427,
  0.00917739, 0.0025493 ,-0.00176885, 0.06194651, 0.00694785, 0.00112531,
  0.        ,-0.00151657, 0.        ,-0.00077288, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -6.36881903,  5.83308846, -6.36881903, 16.70070866,
        8.80500173,  5.83308846,  8.80500173, 18.2500465 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022636315450267064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.90461015e-14,  2.45230507e-14,  1.00000000e+00, -1.20276004e-27,
        1.00000000e+00, -2.45230507e-14, -1.00000000e+00,  0.00000000e+00,
        4.90461015e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05188104, -0.02689615,  0.06187129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49815677e-04,-3.37297790e-03,-8.54485479e-04,-1.79667787e-04,
  1.38715839e-04,-3.77635731e-03,-1.06319298e-03,-2.52097381e-04,
  3.27867830e-06,-1.97822901e-03,-4.48637722e-04,-1.61524003e-04,
 -3.20155420e-07,-5.23913954e-05, 1.74757227e-05,-1.41955301e-04,
  1.81098429e-04,-5.55511449e-04,-1.21645182e+00, 2.61639556e-03,
  7.04720497e-03, 1.53114398e-03]


--- Step 1994 ---
qpos:
[ 2.08504924e-03, 8.10609802e-01,-2.39009338e-02, 2.93958944e-04,
 -6.61736958e-04, 8.01658724e-01,-2.75143075e-02, 2.22657009e-03,
 -1.79373100e-03, 8.37614891e-01,-1.74008840e-02,-2.08418140e-02,
  1.39093149e+00, 1.85940270e-02, 1.36931721e+00, 2.43371408e-02,
  7.60692113e-03,-4.86636840e-02, 9.42506866e-02, 7.20942027e-01,
 -1.62044903e-01,-6.63956856e-01, 1.14653116e-01]

qacc:
[ 7.61509992e-01,-3.38792210e+01, 7.52181402e+01,-6.98631443e+01,
  6.74335569e-01,-3.48448886e+01, 7.55642447e+01,-7.35075853e+01,
 -6.38614062e-02,-1.50988163e+01, 2.35230164e+01,-2.87351910e+00,
  4.01282255e-01,-8.81356875e-01, 8.71903468e+00,-3.01657716e+01,
 -1.50341265e+00,-1.27940049e+00,-3.28985468e+00,-1.40766408e+01,
 -4.25104458e+01,-4.39513547e+01]

qfrc_actuator:
[-0.00230286, 0.08383547, 0.00884601, 0.00175294,-0.00231007, 0.08890202,
  0.00913627, 0.00249762,-0.00178406, 0.06123005, 0.00688984, 0.00114904,
  0.        ,-0.00156595, 0.        ,-0.00091572, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.3709232 ,  6.76313247, -5.3709232 , 22.40826376,
       10.93691692,  6.76313247, 10.93691692, 17.32188638,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021500320442568513
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.74562659e-14,  1.29093776e-14,  1.00000000e+00, -9.99912188e-28,
        1.00000000e+00, -1.29093776e-14, -1.00000000e+00,  0.00000000e+00,
        7.74562659e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05200848, -0.02682693,  0.0618776 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23066128e-04,-3.31092622e-03,-8.22201049e-04,-2.16073082e-04,
  1.06405480e-04,-3.66882453e-03,-9.72456991e-04,-2.57443849e-04,
 -1.23716713e-05,-1.93990218e-03,-5.33127091e-04,-8.07479190e-05,
 -1.24840998e-05,-6.58564214e-05,-1.09381750e-05,-1.49255444e-04,
  1.03976226e-04,-4.14516436e-04,-1.21646592e+00, 2.60684109e-03,
  7.03585529e-03, 1.52764846e-03]


--- Step 1995 ---
qpos:
[ 1.99370402e-03, 8.11782461e-01,-2.38731996e-02, 3.00206477e-04,
 -7.07946396e-04, 8.02938572e-01,-2.74783080e-02, 2.24833754e-03,
 -1.78273115e-03, 8.38315058e-01,-1.74240353e-02,-2.08472181e-02,
  1.39099881e+00, 1.85908542e-02, 1.36940684e+00, 2.43381834e-02,
  7.61080615e-03,-4.87647194e-02, 9.42967852e-02, 7.21513863e-01,
 -1.60774373e-01,-6.63912284e-01, 1.13092114e-01]

qacc:
[ 5.48362684e-01,-3.41459596e+01, 7.87314556e+01,-8.11638254e+01,
  4.74461298e-01,-3.44498157e+01, 7.60148192e+01,-7.61518099e+01,
  6.78469119e-03,-1.47962718e+01, 1.99449129e+01, 9.89313790e+00,
  2.30674032e-02,-1.33853278e-01,-2.39297739e+00, 7.61697731e+00,
 -1.47641709e+00,-1.26118173e+00,-3.48680768e+00,-1.35622625e+01,
 -4.13469304e+01,-4.28211559e+01]

qfrc_actuator:
[-0.00226686, 0.08262809, 0.00883281, 0.00169303,-0.00228255, 0.08763842,
  0.00909762, 0.00244038,-0.00177975, 0.06050527, 0.0068469 , 0.00120108,
  0.        ,-0.00155834, 0.        ,-0.00087564, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -3.89110303,  7.71012932, -3.89110303, 31.06408171,
       11.31868974,  7.71012932, 11.31868974, 14.34861386,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020364567019551597
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.72586946e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.72586946e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05213557, -0.0267573 ,  0.06188388])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.81866156e-05,-3.26809214e-03,-8.15961520e-04,-2.36377640e-04,
  7.43555976e-05,-3.56074831e-03,-9.36519562e-04,-2.55319061e-04,
 -1.48660228e-07,-1.94037909e-03,-5.17620822e-04,-5.21273163e-05,
 -2.19475520e-05,-1.56321147e-05,-2.34644590e-05, 2.99198449e-05,
  4.57736222e-05,-2.64668077e-04,-1.21648370e+00, 2.59876233e-03,
  7.02366400e-03, 1.52580281e-03]


--- Step 1996 ---
qpos:
[ 1.90320294e-03, 8.12930580e-01,-2.38466461e-02, 3.04904367e-04,
 -7.53601711e-04, 8.04191429e-01,-2.74438408e-02, 2.26916296e-03,
 -1.77135360e-03, 8.39000369e-01,-1.74474229e-02,-2.08530782e-02,
  1.39106583e+00, 1.85881808e-02, 1.36949629e+00, 2.43399921e-02,
  7.60886692e-03,-4.88707383e-02, 9.43282957e-02, 7.22034012e-01,
 -1.59457149e-01,-6.63939544e-01, 1.11465626e-01]

qacc:
[  0.47505566,-32.30058088, 74.67201348,-81.58835809,  0.31924776,
 -33.29746439, 70.96489754,-65.00757571,  0.20843059,-19.90657625,
  44.42206966,-41.0291587 , -0.45621067,  0.6993275 , -2.53327053,
   8.60422243, -1.45606423, -1.24587573, -3.64705   ,-13.11018737,
 -40.44712228,-41.97631669]

qfrc_actuator:
[-0.00222706, 0.08146749, 0.00879643, 0.00161985,-0.0022658 , 0.0863492 ,
  0.0090432 , 0.0023981 ,-0.00174606, 0.0597993 , 0.00684877, 0.00118061,
  0.        ,-0.00151692, 0.        ,-0.00083464, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -1.79620119,  8.44751077, -1.79620119, 41.11650311,
        6.90627888,  8.44751077,  6.90627888, 10.10485142,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001923995929669943
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.88520107e-14,  2.88520107e-14,  1.00000000e+00, -8.32438524e-28,
        1.00000000e+00, -2.88520107e-14, -1.00000000e+00,  0.00000000e+00,
        2.88520107e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0522612 , -0.02668798,  0.06189009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.63867546e-05,-3.19626055e-03,-8.29996308e-04,-2.47954197e-04,
  4.93618799e-05,-3.51766961e-03,-9.25203921e-04,-2.34373522e-04,
  3.48698422e-05,-1.91703494e-03,-4.69883022e-04,-1.23539425e-04,
 -1.45123195e-05, 3.17148370e-05,-8.34884073e-06, 3.94592105e-05,
  4.56280718e-06,-1.06090651e-04,-1.21650486e+00, 2.59205475e-03,
  7.01071456e-03, 1.52544267e-03]


--- Step 1997 ---
qpos:
[ 1.81351014e-03, 8.14054634e-01,-2.38209965e-02, 3.08914914e-04,
 -7.98506613e-04, 8.05417480e-01,-2.74109679e-02, 2.28925691e-03,
 -1.75999965e-03, 8.39671017e-01,-1.74705860e-02,-2.08595614e-02,
  1.39113272e+00, 1.85859489e-02, 1.36958580e+00, 2.43412553e-02,
  7.60116378e-03,-4.89816889e-02, 9.43446984e-02, 7.22503058e-01,
 -1.58093711e-01,-6.64037071e-01, 1.09774668e-01]

qacc:
[ 4.54764899e-01,-3.06734937e+01, 6.61373920e+01,-5.89196128e+01,
  4.28028511e-01,-3.24470113e+01, 6.73981790e+01,-5.78325802e+01,
 -6.96563652e-03,-2.12858214e+01, 5.04098880e+01,-5.07841951e+01,
 -4.24799567e-01, 6.71752862e-01, 1.79055047e+00,-6.01075600e+00,
 -1.44097509e+00,-1.23293436e+00,-3.77694098e+00,-1.27088272e+01,
 -3.97681988e+01,-4.13709763e+01]

qfrc_actuator:
[-0.00218524, 0.08034437, 0.00878244, 0.00159274,-0.00222007, 0.08505521,
  0.00897993, 0.00236498,-0.00176613, 0.0591105 , 0.00687714, 0.00115319,
  0.        ,-0.00149131, 0.        ,-0.00086448, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  0.81992253,  8.59735447,  0.81992253, 46.3715757 ,
       -3.59877572,  8.59735447, -3.59877572,  8.97957588,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001813510082926413
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.06097836e-14,  3.06097836e-14,  1.00000000e+00,  9.36958853e-28,
        1.00000000e+00, -3.06097836e-14, -1.00000000e+00,  0.00000000e+00,
       -3.06097836e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05238448, -0.02661957,  0.06189616])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.31995673e-05,-3.12135964e-03,-7.94670572e-04,-1.99464171e-04,
  6.72285557e-05,-3.49436947e-03,-9.22782350e-04,-2.22533662e-04,
 -2.64458098e-06,-1.87961750e-03,-4.35022997e-04,-1.29199790e-04,
  1.78744231e-07, 3.24543447e-05,-1.36069184e-06,-2.91389589e-05,
 -2.10601900e-05, 6.13030540e-05,-1.21652917e+00, 2.58666997e-03,
  6.99705741e-03, 1.52644080e-03]


--- Step 1998 ---
qpos:
[ 1.72481395e-03, 8.15155302e-01,-2.37966469e-02, 3.13506461e-04,
 -8.42582251e-04, 8.06617539e-01,-2.73800604e-02, 2.30867602e-03,
 -1.74938744e-03, 8.40327034e-01,-1.74928527e-02,-2.08663952e-02,
  1.39119957e+00, 1.85840365e-02, 1.36967578e+00, 2.43381301e-02,
  7.58774077e-03,-4.90975269e-02, 9.43455736e-02, 7.22921345e-01,
 -1.56684280e-01,-6.64203622e-01, 1.08019970e-01]

qacc:
[  0.55743151,-26.05982418, 45.63583077,-16.33086278,  0.47069971,
 -30.21983501, 60.77690245,-50.23271234, -0.39190614,-22.55784882,
  53.86025537,-50.6196991 , -0.60783285,  0.82140751, 14.07518214,
 -48.02429054, -1.42996749, -1.22185389, -3.8818674 ,-12.34834119,
 -39.27415282,-40.96656666]

qfrc_actuator:
[-0.00212475, 0.07925306, 0.00874658, 0.00162854,-0.00217513, 0.08383999,
  0.00891202, 0.0023375 ,-0.00183596, 0.05842001, 0.00693879, 0.00113971,
  0.        ,-0.00147531, 0.        ,-0.00109559, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,   3.46202285,   7.91209041,   3.46202285,
        41.21409859, -14.25474901,   7.91209041, -14.25474901,
        14.87368706,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0017056676273710103
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.50902325e-14,  4.88176744e-14,  1.00000000e+00, -3.17755378e-27,
        1.00000000e+00, -4.88176744e-14, -1.00000000e+00,  0.00000000e+00,
        6.50902325e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05250474, -0.02655251,  0.06190209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.05359760e-05,-3.03763704e-03,-7.94825860e-04,-1.31136243e-04,
  7.44851482e-05,-3.40083079e-03,-9.21644571e-04,-2.15519053e-04,
 -6.98628487e-05,-1.85306792e-03,-3.89787144e-04,-1.12541984e-04,
  7.19477550e-06, 2.64740012e-05,-6.20527108e-06,-2.33441834e-04,
 -3.20928921e-05, 2.37749776e-04,-1.21655648e+00, 2.58260024e-03,
  6.98272024e-03, 1.52869843e-03]


--- Step 1999 ---
qpos:
[ 1.63828520e-03, 8.16232956e-01,-2.37736227e-02, 3.18062407e-04,
 -8.85411954e-04, 8.07791936e-01,-2.73502063e-02, 2.32815683e-03,
 -1.73940362e-03, 8.40968439e-01,-1.75146117e-02,-2.08729880e-02,
  1.39126628e+00, 1.85828456e-02, 1.36976565e+00, 2.43329346e-02,
  7.56862966e-03,-4.92182137e-02, 9.43305833e-02, 7.23289010e-01,
 -1.55228858e-01,-6.64438214e-01, 1.06202028e-01]

qacc:
[  1.2006087 ,-26.76686528, 51.47169831,-33.06968146,  0.7021801 ,
 -30.8134138 , 60.4195543 ,-38.83136531, -0.33113545,-20.22751573,
  43.09618781,-29.01994797, -0.70680626,  1.13341409,  6.20789248,
 -21.71846259, -1.42202738, -1.21217426, -3.96638851,-12.02037896,
 -38.93467826,-40.73061311]

qfrc_actuator:
[-0.00196482, 0.07815429, 0.00869835, 0.00163008,-0.00209552, 0.08264643,
  0.0088956 , 0.00234916,-0.0018639 , 0.05769883, 0.0069664 , 0.00115232,
  0.        ,-0.00142963, 0.        ,-0.00119487, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,   5.55962239,   6.60888612,   5.55962239,
        29.78879885, -17.79415625,   6.60888612, -17.79415625,
        23.60542009,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0016009773373742847
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.73366449e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.73366449e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05262148, -0.02648717,  0.06190783])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.97951785e-04,-2.99476402e-03,-7.87342525e-04,-1.60443089e-04,
  1.12455749e-04,-3.32561098e-03,-8.50208163e-04,-1.72154357e-04,
 -5.92864148e-05,-1.85850527e-03,-4.12087116e-04,-8.34015841e-05,
  8.24479233e-06, 5.62500287e-05,-3.17392245e-05,-1.13732942e-04,
 -2.92161342e-05, 4.23591112e-04,-1.21658667e+00, 2.57986711e-03,
  6.96771566e-03, 1.53213866e-03]


--- Step 2000 ---
qpos:
[ 1.55450698e-03, 8.17287398e-01,-2.37506895e-02, 3.22505436e-04,
 -9.26979084e-04, 8.08941248e-01,-2.73215937e-02, 2.34717744e-03,
 -1.72934700e-03, 8.41595851e-01,-1.75368069e-02,-2.08790663e-02,
  1.39133302e+00, 1.85819936e-02, 1.36985481e+00, 2.43308964e-02,
  7.54385340e-03,-4.93437143e-02, 9.42994555e-02, 7.23606014e-01,
 -1.53727261e-01,-6.64740074e-01, 1.04321138e-01]

qacc:
[ 1.52061882e+00,-3.06356002e+01, 6.52129698e+01,-4.99808418e+01,
  7.10110783e-01,-3.06022778e+01, 6.29733481e+01,-5.05396580e+01,
  4.40469114e-02,-1.62107992e+01, 2.88074531e+01,-8.94770414e+00,
  1.38960941e-01, 6.45493831e-02,-1.06476442e+01, 3.56579852e+01,
 -1.41628435e+00,-1.20347729e+00,-4.03435963e+00,-1.17178614e+01,
 -3.87242490e+01,-4.06357453e+01]

qfrc_actuator:
[-0.00180004, 0.07704227, 0.00871425, 0.00162921,-0.00203137, 0.08145817,
  0.00885668, 0.00233057,-0.00183103, 0.05703608, 0.00695586, 0.00118012,
  0.        ,-0.00141993, 0.        ,-0.00102033, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -7.00955433, -5.04508919, -7.00955433, 14.43697503,
       -8.05926302, -5.04508919, -8.05926302, 19.83375577,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001499815458727266
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.40239753e-14,  1.85059938e-14,  1.00000000e+00, -1.36988723e-27,
        1.00000000e+00, -1.85059938e-14, -1.00000000e+00,  0.00000000e+00,
        7.40239753e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05273434, -0.02642382,  0.06191337])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.51629356e-04,-2.98312881e-03,-7.14238497e-04,-1.61297790e-04,
  1.14101856e-04,-3.26092866e-03,-8.46627035e-04,-1.95815262e-04,
  6.40317808e-06,-1.80611043e-03,-4.52983024e-04,-6.86136002e-05,
  1.55001802e-05, 2.99473660e-05,-2.84287399e-05, 1.63881981e-04,
 -1.28631444e-05, 6.19241302e-04,-1.21661964e+00, 2.57851311e-03,
  6.95204666e-03, 1.53670118e-03]


--- Step 2001 ---
qpos:
[ 1.47356642e-03, 8.18319074e-01,-2.37278620e-02, 3.27156592e-04,
 -9.67773330e-04, 8.10065834e-01,-2.72941116e-02, 2.36573360e-03,
 -1.71907550e-03, 8.42209888e-01,-1.75583419e-02,-2.08842497e-02,
  1.39139997e+00, 1.85808548e-02, 1.36994389e+00, 2.43298991e-02,
  7.51342919e-03,-4.94739965e-02, 9.42519716e-02, 7.23872165e-01,
 -1.52179150e-01,-6.65108604e-01, 1.02377433e-01]

qacc:
[  1.56661631,-29.34254449, 60.10488021,-39.62082711,  0.43775433,
 -30.44640565, 63.12462672,-51.20630775,  0.12064586,-17.67233449,
  33.60070815, -9.36812924,  0.43597212, -0.57127762, -3.31321925,
  11.30717331, -1.41199073, -1.1953843 , -4.08903742,-11.4347937 ,
 -38.62135423,-40.65887893]

qfrc_actuator:
[-0.00165156, 0.0759672 , 0.00873243, 0.00164472,-0.00201252, 0.0802828 ,
  0.00882263, 0.00231208,-0.00181537, 0.05646687, 0.00702969, 0.00123444,
  0.        ,-0.00144948, 0.        ,-0.00096994, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,  -7.81094137,  -3.68455856,  -7.81094137,
        22.17896154, -28.70912117,  -3.68455856, -28.70912117,
        69.49718551,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001402448618172257
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.95815936e-14,  3.95815936e-14,  1.00000000e+00, -1.56670255e-27,
        1.00000000e+00, -3.95815936e-14, -1.00000000e+00,  0.00000000e+00,
        3.95815936e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05284305, -0.02636267,  0.06191871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.59871113e-04,-2.92399286e-03,-7.00388207e-04,-1.41854768e-04,
  6.96258265e-05,-3.21147487e-03,-8.28545249e-04,-1.93232299e-04,
  1.97497233e-05,-1.69071862e-03,-3.62203625e-04,-4.09714741e-05,
  1.41216189e-05,-1.64885511e-05, 5.60078440e-06, 5.59655183e-05,
  1.67269688e-05, 8.25163982e-04,-1.21665531e+00, 2.57859564e-03,
  6.93571078e-03, 1.54233825e-03]


--- Step 2002 ---
qpos:
[ 1.39538438e-03, 8.19328872e-01,-2.37061671e-02, 3.32570600e-04,
 -1.00753374e-03, 8.11166187e-01,-2.72677829e-02, 2.38451342e-03,
 -1.70901376e-03, 8.42811169e-01,-1.75787100e-02,-2.08888788e-02,
  1.39146703e+00, 1.85794434e-02, 1.37003289e+00, 2.43301852e-02,
  7.47737096e-03,-4.96090288e-02, 9.41879550e-02, 7.24087139e-01,
 -1.50584049e-01,-6.65543342e-01, 1.00370911e-01]

qacc:
[  1.52049996,-24.1638767 , 40.99488485, -9.91491909,  0.5815077 ,
 -28.31462093, 53.5647658 ,-30.06135606, -0.10668082,-18.97214972,
  40.85686082,-23.77831745,  0.36319495, -0.51406962, -4.05101581,
  13.88963319, -1.40850363, -1.18755334, -4.13316948,-11.16610574,
 -38.60786125,-40.78053464]

qfrc_actuator:
[-0.00151405, 0.07494091, 0.00869877, 0.00168755,-0.00194984, 0.07914257,
  0.00879189, 0.00232936,-0.00184572, 0.05590551, 0.00711771, 0.00126856,
  0.        ,-0.00146659, 0.        ,-0.00090443, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.23562668,  2.60023654,  8.23562668,  9.76134815,
       -3.56311911,  2.60023654, -3.56311911, 19.92169031,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013090531386094478
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.24055751e-14,  2.12027876e-14,  1.00000000e+00, -8.99116401e-28,
        1.00000000e+00, -2.12027876e-14, -1.00000000e+00,  0.00000000e+00,
        4.24055751e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05294746, -0.02630388,  0.06192383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.52848997e-04,-2.83787241e-03,-7.37442654e-04,-1.11113382e-04,
  9.35015547e-05,-3.14415739e-03,-8.12478219e-04,-1.54636576e-04,
 -2.00490190e-05,-1.59808508e-03,-3.11936664e-04,-5.25209158e-05,
  3.12829898e-06,-1.91764477e-05, 7.26831045e-06, 6.89845895e-05,
  5.94675708e-05, 1.04185544e-03,-1.21669360e+00, 2.58018245e-03,
  6.91870303e-03, 1.54901138e-03]


--- Step 2003 ---
qpos:
[ 1.31945681e-03, 8.20317187e-01,-2.36857379e-02, 3.38380149e-04,
 -1.04663942e-03, 8.12243214e-01,-2.72426906e-02, 2.40285896e-03,
 -1.69946112e-03, 8.43400308e-01,-1.75989878e-02,-2.08944683e-02,
  1.39153396e+00, 1.85783315e-02, 1.37012162e+00, 2.43336018e-02,
  7.43569165e-03,-4.97487799e-02, 9.41072622e-02, 7.24250492e-01,
 -1.48941369e-01,-6.66043930e-01, 9.83014582e-02]

qacc:
[ 1.24257247e+00,-2.40240619e+01, 4.28071903e+01,-1.81624931e+01,
  3.70708550e-01,-2.82412730e+01, 5.78164244e+01,-4.62328089e+01,
 -2.67826603e-01,-1.82723284e+01, 4.59220815e+01,-5.37634867e+01,
 -6.45537376e-03, 1.50258744e-01,-9.89314686e+00, 3.40094900e+01,
 -1.40526963e+00,-1.17967610e+00,-4.16907055e+00,-1.09075150e+01,
 -3.86684822e+01,-4.09842705e+01]

qfrc_actuator:
[-0.00141967, 0.07391659, 0.00865281, 0.00171063,-0.00193246, 0.07806834,
  0.0087636 , 0.00231432,-0.00188558, 0.05531808, 0.00712471, 0.00121954,
  0.        ,-0.00144061, 0.        ,-0.00074174, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.47758511,  1.64843184,  8.47758511,  9.20876105,
       -2.94373577,  1.64843184, -2.94373577, 23.77546124,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012197313153678863
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.10219333e-14,  4.55109667e-14,  1.00000000e+00, -4.14249617e-27,
        1.00000000e+00, -4.55109667e-14, -1.00000000e+00,  0.00000000e+00,
        9.10219333e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05304748, -0.02624754,  0.06192872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.06713511e-04,-2.79350004e-03,-7.35244481e-04,-1.27826655e-04,
  5.90219736e-05,-3.03489235e-03,-7.92578266e-04,-1.82710029e-04,
 -4.81363360e-05,-1.56216189e-03,-3.67935925e-04,-1.30162774e-04,
 -2.62070454e-06, 2.05032636e-05, 9.25663144e-06, 1.67053546e-04,
  1.15391908e-04, 1.26983258e-03,-1.21673442e+00, 2.58334837e-03,
  6.90101811e-03, 1.55668881e-03]


--- Step 2004 ---
qpos:
[ 1.24526809e-03, 8.21283170e-01,-2.36658340e-02, 3.44101902e-04,
 -1.08516995e-03, 8.13297614e-01,-2.72184218e-02, 2.41968827e-03,
 -1.69042475e-03, 8.43977001e-01,-1.76192626e-02,-2.09009183e-02,
  1.39160089e+00, 1.85772567e-02, 1.37021048e+00, 2.43379347e-02,
  7.38840509e-03,-4.98932169e-02, 9.40097745e-02, 7.24361678e-01,
 -1.47250424e-01,-6.66610096e-01, 9.61688694e-02]

qacc:
[ 9.60027379e-01,-2.82071862e+01, 5.81374117e+01,-4.24220420e+01,
  3.26272896e-01,-3.06947742e+01, 7.24763842e+01,-8.07962683e+01,
 -2.71466664e-01,-1.82261059e+01, 4.47522377e+01,-5.05055909e+01,
  5.57494953e-02,-3.24014127e-02,-2.59216344e+00, 9.32702544e+00,
 -1.40181153e+00,-1.17147482e+00,-4.19868733e+00,-1.06554095e+01,
 -3.87903270e+01,-4.12562066e+01]

qfrc_actuator:
[-0.00135178, 0.07277753, 0.00861783, 0.00170416,-0.00190679, 0.07702474,
  0.00875509, 0.00224496,-0.00191301, 0.05468399, 0.00711921, 0.00117519,
  0.        ,-0.00144252, 0.        ,-0.00070063, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.59380772,  0.85629774,  8.59380772,  8.80860561,
       -1.72862123,  0.85629774, -1.72862123, 25.98481362,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001134525122296913
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.89289749e-14,  7.33934623e-14,  1.00000000e+00, -3.59106688e-27,
        1.00000000e+00, -7.33934623e-14, -1.00000000e+00,  0.00000000e+00,
        4.89289749e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05314306, -0.02619373,  0.0619334 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.59397314e-04,-2.88311366e-03,-7.15223129e-04,-1.55680836e-04,
  5.18334193e-05,-2.93962648e-03,-7.48541187e-04,-2.32164782e-04,
 -4.88426169e-05,-1.60331931e-03,-3.82496109e-04,-1.27386970e-04,
  4.14021905e-06, 3.69418883e-06, 2.09960718e-05, 5.11767911e-05,
  1.84627482e-04, 1.50962425e-03,-1.21677764e+00, 2.58817283e-03,
  6.88265198e-03, 1.56534348e-03]


--- Step 2005 ---
qpos:
[ 1.17240740e-03, 8.22226825e-01,-2.36457659e-02, 3.49277745e-04,
 -1.12233194e-03, 8.14330265e-01,-2.71954549e-02, 2.43612892e-03,
 -1.68182691e-03, 8.44541713e-01,-1.76398081e-02,-2.09072168e-02,
  1.39166785e+00, 1.85761880e-02, 1.37029930e+00, 2.43437571e-02,
  7.33552767e-03,-5.00423047e-02, 9.38953923e-02, 7.24420060e-01,
 -1.45510442e-01,-6.67241626e-01, 9.39728673e-02]

qacc:
[  0.73496722,-31.07167981, 70.29119362,-63.61166277,  0.76301553,
 -25.88131324, 52.23304138,-40.91202206, -0.2300864 ,-14.7620183 ,
  29.02845779,-17.18609364,  0.13747906, -0.13547017, -4.58941984,
  15.92533109, -1.39771706, -1.16269925, -4.22365344,-10.40674748,
 -38.96252742,-41.58462644]

qfrc_actuator:
[-0.00130017, 0.07170336, 0.00864245, 0.00168029,-0.0018053 , 0.0760259 ,
  0.00872301, 0.00223303,-0.00193277, 0.05413359, 0.00712402, 0.00118719,
  0.        ,-0.00144325, 0.        ,-0.00062499, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.63428943,  0.18926941,  8.63428943,  8.64516808,
       -0.40165022,  0.18926941, -0.40165022, 26.95926245,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010534277437123513
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.58087211e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.58087211e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05323424, -0.02614248,  0.06193785])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21680282e-04,-2.86483008e-03,-6.72427249e-04,-1.76731356e-04,
  1.24441330e-04,-2.83400799e-03,-7.48503090e-04,-1.70053517e-04,
 -4.15498294e-05,-1.54522715e-03,-3.82283885e-04,-7.32355386e-05,
  3.28868696e-06, 1.17679557e-06, 1.25692934e-05, 8.05350898e-05,
  2.67375810e-04, 1.76176513e-03,-1.21682316e+00, 2.59473807e-03,
  6.86360299e-03, 1.57495136e-03]


--- Step 2006 ---
qpos:
[ 1.10057888e-03, 8.23149796e-01,-2.36267201e-02, 3.53620248e-04,
 -1.15825134e-03, 8.15340689e-01,-2.71729059e-02, 2.45329871e-03,
 -1.67358123e-03, 8.45094518e-01,-1.76598073e-02,-2.09130622e-02,
  1.39173481e+00, 1.85751268e-02, 1.37038807e+00, 2.43511205e-02,
  7.27707989e-03,-5.01960048e-02, 9.37640281e-02, 7.24424919e-01,
 -1.43720583e-01,-6.67938346e-01, 9.17131176e-02]

qacc:
[  0.5711683 ,-26.17652358, 57.20292202,-54.80459511,  0.69367266,
 -26.68029704, 49.44835524,-19.84592387, -0.18329712,-16.32363257,
  33.46958075,-17.77297002,  0.13333667, -0.13289274, -4.75329612,
  16.4860943 , -1.39258836, -1.15308805, -4.24549371,-10.15866918,
 -39.17484381,-41.95848397]

qfrc_actuator:
[-0.00125861, 0.07078355, 0.00863135, 0.00164647,-0.00174812, 0.07493782,
  0.00871311, 0.00227279,-0.00194781, 0.05358465, 0.0071708 , 0.00121456,
  0.        ,-0.00144327, 0.        ,-0.00054732, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.62624259,  8.61790863, -0.37909384,  8.61790863,  8.66180326,
        0.80839777, -0.37909384,  0.80839777, 27.00348158,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009763932670645431
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.68532712e-14,  2.84266356e-14,  1.00000000e+00, -1.61614722e-27,
        1.00000000e+00, -2.84266356e-14, -1.00000000e+00,  0.00000000e+00,
        5.68532712e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05332106, -0.0260938 ,  0.06194209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.45427103e-05,-2.69172592e-03,-6.99642474e-04,-1.84785884e-04,
  1.13017245e-04,-2.86092163e-03,-7.02157075e-04,-1.12593019e-04,
 -3.34458217e-05,-1.50861383e-03,-3.26324505e-04,-5.42823641e-05,
  2.25439110e-06, 9.26117354e-07, 1.25562741e-05, 8.32439521e-05,
  3.63896376e-04, 2.02679133e-03,-1.21687081e+00, 2.60312782e-03,
  6.84387270e-03, 1.58549015e-03]


--- Step 2007 ---
qpos:
[ 1.02958066e-03, 8.24052997e-01,-2.36092342e-02, 3.57411193e-04,
 -1.19366760e-03, 8.16328929e-01,-2.71504940e-02, 2.47006161e-03,
 -1.66561644e-03, 8.45635188e-01,-1.76788246e-02,-2.09182071e-02,
  1.39180171e+00, 1.85743133e-02, 1.37047722e+00, 2.43566894e-02,
  7.21308973e-03,-5.03542729e-02, 9.36155945e-02, 7.24375479e-01,
 -1.41879962e-01,-6.68700084e-01, 8.93892643e-02]

qacc:
[  0.45974264,-22.8920722 , 46.04930812,-38.58231332,  0.28591718,
 -29.74384201, 65.25191681,-55.79526332, -0.14475842,-17.33395761,
  35.58878722,-16.14041467, -0.3760785 ,  0.52462278,  6.03699653,
 -20.1982805 , -1.38559577, -1.14198251, -4.2673446 , -9.90524113,
 -39.40579131,-42.35457294]

qfrc_actuator:
[-0.00122331, 0.06987489, 0.00858217, 0.00162495,-0.00175345, 0.07385864,
  0.00871616, 0.00225383,-0.00195992, 0.05298805, 0.00722428, 0.00125081,
  0.        ,-0.00142511, 0.        ,-0.00064661, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.46962379,  8.42657377, -0.85286671,  8.42657377,  8.64541644,
        1.73688305, -0.85286671,  1.73688305, 25.63053886,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009033457833201516
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84351836e-13,  3.07253060e-14,  1.00000000e+00, -5.66426657e-27,
        1.00000000e+00, -3.07253060e-14, -1.00000000e+00,  0.00000000e+00,
        1.84351836e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0534036 , -0.02604769,  0.06194611])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.60116716e-05,-2.58920614e-03,-7.05401377e-04,-1.66141275e-04,
  4.53972553e-05,-2.85445769e-03,-6.86876586e-04,-1.69699258e-04,
 -2.67633859e-05,-1.52314123e-03,-3.04405877e-04,-4.15230338e-05,
  1.71601165e-06, 1.87853126e-05, 1.28408929e-05,-9.35722581e-05,
  4.74490660e-04, 2.30522951e-03,-1.21692041e+00, 2.61342495e-03,
  6.82346753e-03, 1.59693807e-03]


--- Step 2008 ---
qpos:
[ 9.59854814e-04, 8.24937307e-01,-2.35923590e-02, 3.60703134e-04,
 -1.22874079e-03, 8.17296456e-01,-2.71290248e-02, 2.48595423e-03,
 -1.65769151e-03, 8.46164423e-01,-1.76991154e-02,-2.09217908e-02,
  1.39186843e+00, 1.85741956e-02, 1.37056664e+00, 2.43593765e-02,
  7.14359318e-03,-5.05170582e-02, 9.34500024e-02, 7.24270908e-01,
 -1.39987654e-01,-6.69526658e-01, 8.70009358e-02]

qacc:
[ 7.00636240e-01,-2.42691056e+01, 5.24292101e+01,-4.62203085e+01,
  1.96366010e-01,-2.65067829e+01, 5.84835392e+01,-5.68354644e+01,
 -1.77973846e-02,-8.33416348e+00, 1.21866122e+00, 3.62002087e+01,
 -8.10513473e-01, 1.21846560e+00, 9.23990977e+00,-3.14807475e+01,
 -1.37659581e+00,-1.12930576e+00,-4.28962891e+00,-9.64578807e+00,
 -3.96521746e+01,-4.27693046e+01]

qfrc_actuator:
[-0.00113872, 0.06905128, 0.00859987, 0.00161084,-0.00174278, 0.07293566,
  0.0087091 , 0.00221824,-0.00195244, 0.05242111, 0.00715688, 0.00132745,
  0.        ,-0.00137853, 0.        ,-0.0007961 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.162591  ,  8.07101158, -1.21928828,  8.07101158,  8.52550702,
        2.40230264, -1.21928828,  2.40230264, 24.06450088,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008341984808663411
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.65442967e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.65442967e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05348196, -0.02600414,  0.06194993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16930291e-04,-2.44668645e-03,-6.17238987e-04,-1.54123880e-04,
  3.08066105e-05,-2.69334925e-03,-6.95538479e-04,-1.86596414e-04,
 -4.09580346e-06,-1.49624509e-03,-4.25067498e-04,-7.23516353e-07,
  4.83351705e-06, 5.30365771e-05,-7.78524325e-06,-1.53818504e-04,
  5.99447982e-04, 2.59749717e-03,-1.21697174e+00, 2.62569298e-03,
  6.80241207e-03, 1.60927036e-03]


--- Step 2009 ---
qpos:
[ 8.91531373e-04, 8.25803633e-01,-2.35766992e-02, 3.64384551e-04,
 -1.26363237e-03, 8.18243694e-01,-2.71072487e-02, 2.50215581e-03,
 -1.64975911e-03, 8.46681908e-01,-1.77202782e-02,-2.09254661e-02,
  1.39193534e+00, 1.85739128e-02, 1.37065567e+00, 2.43629238e-02,
  7.06863411e-03,-5.06843040e-02, 9.32671622e-02, 7.24110319e-01,
 -1.38042694e-01,-6.70417884e-01, 8.45477416e-02]

qacc:
[ 7.70092605e-01,-1.95569926e+01, 3.36115006e+01,-1.17209082e+01,
  1.08225697e-01,-2.70084048e+01, 5.61098599e+01,-3.63655762e+01,
  7.77706063e-03,-1.32766635e+01, 2.52019075e+01,-1.67735005e+01,
  3.44815325e-01,-4.11858096e-01,-3.21599130e+00, 1.03255164e+01,
 -1.36563277e+00,-1.11513346e+00,-4.31202353e+00,-9.38097072e+00,
 -3.99159463e+01,-4.32047447e+01]

qfrc_actuator:
[-0.00106085, 0.06823248, 0.0085686 , 0.00163687,-0.0017403 , 0.07202504,
  0.00876786, 0.00224431,-0.00195111, 0.05182285, 0.00710756, 0.00132067,
  0.        ,-0.00140421, 0.        ,-0.00074312, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 7.758735  ,  7.61515989, -1.48570143,  7.61515989,  8.32386845,
        2.89666649, -1.48570143,  2.89666649, 22.60598361,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007688562964658086
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.21996444e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.21996444e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05355621, -0.02596312,  0.06195356])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.29060687e-04,-2.34296944e-03,-6.25327388e-04,-1.04572554e-04,
  1.60389394e-05,-2.59285647e-03,-5.97914781e-04,-1.18627076e-04,
  3.50520388e-07,-1.53539385e-03,-4.14772751e-04,-8.63533551e-05,
  1.34681913e-05,-7.38332869e-06,-2.34179707e-05, 4.27913968e-05,
  7.39075787e-04, 2.90401402e-03,-1.21702450e+00, 2.63999581e-03,
  6.78073352e-03, 1.62246096e-03]


--- Step 2010 ---
qpos:
[ 8.24620217e-04, 8.26652005e-01,-2.35628733e-02, 3.67668986e-04,
 -1.29808196e-03, 8.19171096e-01,-2.70855806e-02, 2.51813474e-03,
 -1.64183696e-03, 8.47187704e-01,-1.77411373e-02,-2.09306800e-02,
  1.39200235e+00, 1.85734149e-02, 1.37074460e+00, 2.43667000e-02,
  6.98826429e-03,-5.08559478e-02, 9.30669842e-02, 7.23892764e-01,
 -1.36044076e-01,-6.71373573e-01, 8.20292717e-02]

qacc:
[ 7.74303181e-01,-1.94091939e+01, 3.64603568e+01,-2.72120094e+01,
  2.50546757e-01,-2.63469527e+01, 5.68611952e+01,-4.59847161e+01,
 -9.83060611e-04,-1.94622090e+01, 5.34675750e+01,-7.19793923e+01,
  2.43327693e-01,-3.54140935e-01,-8.76860544e-01, 2.77195109e+00,
 -1.35268513e+00,-1.09947499e+00,-4.33444134e+00,-9.11091303e+00,
 -4.01974786e+01,-4.36613417e+01]

qfrc_actuator:
[-0.00098763, 0.06733445, 0.00847329, 0.00161528,-0.00170722, 0.07107644,
  0.00877646, 0.00223554,-0.00195348, 0.0512817 , 0.00714022, 0.00124712,
  0.        ,-0.0014194 , 0.        ,-0.00073102, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 7.30586264,  7.11278829, -1.66849385,  7.11278829,  8.07014954,
        3.25815459, -1.66849385,  3.25815459, 21.19537371,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007072139883391171
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.84927224e-14,  3.92463612e-14,  1.00000000e+00, -3.08055373e-27,
        1.00000000e+00, -3.92463612e-14, -1.00000000e+00,  0.00000000e+00,
        7.84927224e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05362647, -0.02592462,  0.06195698])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30066966e-04,-2.36327688e-03,-6.67061893e-04,-1.47036400e-04,
  3.99730940e-05,-2.55104173e-03,-6.12754436e-04,-1.44433401e-04,
 -1.31019003e-06,-1.50141340e-03,-3.42477414e-04,-1.56095327e-04,
  4.24638201e-06,-1.42758608e-05,-6.18313954e-06, 1.14099631e-05,
  8.93715021e-04, 3.22523939e-03,-1.21707842e+00, 2.65640459e-03,
  6.75845690e-03, 1.63648324e-03]


--- Step 2011 ---
qpos:
[ 7.59090023e-04, 8.27482035e-01,-2.35500483e-02, 3.70289842e-04,
 -1.33138867e-03, 8.20079067e-01,-2.70653511e-02, 2.53285790e-03,
 -1.63395733e-03, 8.47682861e-01,-1.77624220e-02,-2.09358000e-02,
  1.39206934e+00, 1.85729924e-02, 1.37083390e+00, 2.43672312e-02,
  6.90254374e-03,-5.10319207e-02, 9.28493784e-02, 7.23617234e-01,
 -1.33990754e-01,-6.72393526e-01, 7.94450981e-02]

qacc:
[ 7.57338807e-01,-2.27961246e+01, 4.89197587e+01,-4.53354920e+01,
  6.33494099e-01,-2.42234244e+01, 5.44254788e+01,-5.95947342e+01,
 -1.89885421e-02,-1.26739809e+01, 2.43996916e+01,-1.42912233e+01,
 -3.62848717e-01, 4.17604757e-01, 1.04235654e+01,-3.55546769e+01,
 -1.33768390e+00,-1.08229109e+00,-4.35695736e+00,-8.83537333e+00,
 -4.04960188e+01,-4.41383801e+01]

qfrc_actuator:
[-0.00091779, 0.06643155, 0.00842943, 0.00158349,-0.0016206 , 0.07011271,
  0.00870202, 0.00217075,-0.00195807, 0.05083272, 0.00715022, 0.00125926,
  0.        ,-0.00141044, 0.        ,-0.00090293, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 6.84045475,  6.60330172, -1.78556084,  6.60330172,  7.78932078,
        3.5090648 , -1.78556084,  3.5090648 , 19.8175615 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006491556408987423
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05369284, -0.0258886 ,  0.06196022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.27254560e-04,-2.38946191e-03,-6.26253387e-04,-1.60334465e-04,
  1.04408246e-04,-2.54642866e-03,-6.89721742e-04,-1.99629966e-04,
 -4.32157776e-06,-1.37801377e-03,-3.51526022e-04,-6.77890396e-05,
 -1.47807449e-06, 5.49883956e-06,-2.94970489e-06,-1.72409431e-04,
  1.06373692e-03, 3.56166229e-03,-1.21713316e+00, 2.67499596e-03,
  6.73560675e-03, 1.65130981e-03]


--- Step 2012 ---
qpos:
[ 6.94707522e-04, 8.28293938e-01,-2.35376314e-02, 3.73103914e-04,
 -1.36366678e-03, 8.20967619e-01,-2.70461353e-02, 2.54697525e-03,
 -1.62652587e-03, 8.48167347e-01,-1.77833798e-02,-2.09401093e-02,
  1.39213640e+00, 1.85724187e-02, 1.37092331e+00, 2.43646986e-02,
  6.81154108e-03,-5.12121476e-02, 9.26142536e-02, 7.23282661e-01,
 -1.31881645e-01,-6.73477532e-01, 7.67947779e-02]

qacc:
[  0.63035722,-22.40208103, 44.31418627,-27.01000014,  0.57063602,
 -24.05676938, 51.11068166,-45.72010752, -0.23453838,-13.34288654,
  23.70236477, -2.37870888, -0.1200102 ,  0.05214021,  9.45809309,
 -32.81153828, -1.32052718, -1.06350792, -4.37975074, -8.55387571,
 -40.8100495 ,-44.63434523]

qfrc_actuator:
[-0.00086825, 0.06558656, 0.00843409, 0.00159927,-0.00157374, 0.06918295,
  0.00866787, 0.0021445 ,-0.00199946, 0.05033615, 0.00718275, 0.00130404,
  0.        ,-0.00142269, 0.        ,-0.0010576 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 6.38704652,  6.11221823, -1.8534162 ,  6.11221823,  7.49892296,
        3.66675948, -1.8534162 ,  3.66675948, 18.47932997,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005945551753194639
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.86731706e-13,  4.66829266e-14,  1.00000000e+00, -8.71718255e-27,
        1.00000000e+00, -4.66829266e-14, -1.00000000e+00,  0.00000000e+00,
        1.86731706e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05375543, -0.02585504,  0.06196328])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05748810e-04,-2.33786072e-03,-5.78408946e-04,-1.12700745e-04,
  9.39868473e-05,-2.52761741e-03,-6.59677370e-04,-1.64605596e-04,
 -4.25389817e-05,-1.35442403e-03,-3.01488436e-04,-2.84390468e-05,
 -3.53061525e-07,-1.04673130e-05,-2.33070450e-05,-1.65288227e-04,
  1.24953861e-03, 3.91379243e-03,-1.21718837e+00, 2.69585051e-03,
  6.71220860e-03, 1.66691209e-03]


--- Step 2013 ---
qpos:
[ 6.31614273e-04, 8.29088715e-01,-2.35259042e-02, 3.75947883e-04,
 -1.39523119e-03, 8.21837063e-01,-2.70278838e-02, 2.56128471e-03,
 -1.61958602e-03, 8.48641828e-01,-1.78046655e-02,-2.09452858e-02,
  1.39220355e+00, 1.85714823e-02, 1.37101217e+00, 2.43636519e-02,
  6.71533406e-03,-5.13965466e-02, 9.23615166e-02, 7.22887918e-01,
 -1.29715629e-01,-6.74625366e-01, 7.40778566e-02]

qacc:
[  0.70608952,-20.6321232 , 40.60781993,-26.41255151,  0.3976681 ,
 -22.14064557, 41.50788838,-22.61418126, -0.25831702,-14.0880035 ,
  34.70734251,-41.83739929,  0.45225231, -0.66587624, -5.36090163,
  17.44942011, -1.30109153, -1.04302797, -4.40306014, -8.2658091 ,
 -41.13757034,-45.14721144]

qfrc_actuator:
[-0.00079571, 0.06481893, 0.00843216, 0.0016075 ,-0.00155108, 0.06828132,
  0.0086403 , 0.00215897,-0.00202699, 0.04986856, 0.00717494, 0.00126113,
  0.        ,-0.00144748, 0.        ,-0.00097002, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.96019342,  5.65398004, -1.88584604,  5.65398004,  7.21001983,
        3.74712115, -1.88584604,  3.74712115, 17.19448703,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005432775308757964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02178257e-13,  1.02178257e-13,  1.00000000e+00, -1.04403962e-26,
        1.00000000e+00, -1.02178257e-13, -1.00000000e+00,  0.00000000e+00,
        1.02178257e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05381436, -0.02582389,  0.06196617])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18970626e-04,-2.21925020e-03,-5.66636652e-04,-1.15431772e-04,
  6.50883879e-05,-2.48074110e-03,-6.44120283e-04,-1.21320163e-04,
 -4.66313668e-05,-1.29996945e-03,-3.29335764e-04,-1.12599969e-04,
 -3.84959625e-06,-2.76341235e-05,-3.05816281e-05, 7.50407743e-05,
  1.45153816e-03, 4.28215237e-03,-1.21724363e+00, 2.71905135e-03,
  6.68829019e-03, 1.68325992e-03]


--- Step 2014 ---
qpos:
[ 5.69826996e-04, 8.29866249e-01,-2.35144624e-02, 3.78828275e-04,
 -1.42599832e-03, 8.22687977e-01,-2.70111374e-02, 2.57558970e-03,
 -1.61269120e-03, 8.49106431e-01,-1.78255622e-02,-2.09506713e-02,
  1.39227079e+00, 1.85700210e-02, 1.37110076e+00, 2.43642749e-02,
  6.61401006e-03,-5.15850286e-02, 9.20910710e-02, 7.22431821e-01,
 -1.27491555e-01,-6.75836778e-01, 7.12938723e-02]

qacc:
[ 7.14926893e-01,-2.19003594e+01, 4.48806650e+01,-3.11349155e+01,
  4.42396634e-01,-2.02760713e+01, 3.67918888e+01,-2.08562519e+01,
 -2.00646875e-02,-1.45700825e+01, 3.38927154e+01,-3.08810135e+01,
  5.43302171e-01,-8.57811909e-01,-5.53412519e+00, 1.85987560e+01,
 -1.27924304e+00,-1.02074064e+00,-4.42714098e+00,-7.97051577e+00,
 -4.14763765e+01,-4.56747371e+01]

qfrc_actuator:
[-0.00072772, 0.06397971, 0.00842673, 0.00161128,-0.00150754, 0.06740403,
  0.00858154, 0.00216182,-0.00201049, 0.04942197, 0.00721448, 0.00125573,
  0.        ,-0.00147951, 0.        ,-0.00088245, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.56754722,  5.23557543, -1.89376132,  5.23557543,  6.92955584,
        3.76546865, -1.89376132,  3.76546865, 15.97772662,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004951802575202183
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12102917e-13,  1.12102917e-13,  1.00000000e+00,  1.25670640e-26,
        1.00000000e+00, -1.12102917e-13, -1.00000000e+00,  0.00000000e+00,
       -1.12102917e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05386976, -0.02579511,  0.0619689 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20600214e-04,-2.22176199e-03,-5.44139753e-04,-1.14414629e-04,
  7.28491938e-05,-2.42462097e-03,-6.62051181e-04,-1.29524605e-04,
 -4.53615182e-06,-1.25762678e-03,-2.77008526e-04,-7.53471807e-05,
 -8.61139256e-06,-4.14650414e-05,-5.49260091e-06, 8.78747254e-05,
  1.67016938e-03, 4.66727087e-03,-1.21729851e+00, 2.74468288e-03,
  6.66388243e-03, 1.70032118e-03]


--- Step 2015 ---
qpos:
[ 5.09318529e-04, 8.30627009e-01,-2.35035592e-02, 3.82354243e-04,
 -1.45599080e-03, 8.23520959e-01,-2.69954345e-02, 2.58898819e-03,
 -1.60554298e-03, 8.49561143e-01,-1.78457174e-02,-2.09550821e-02,
  1.39233797e+00, 1.85684034e-02, 1.37118971e+00, 2.43625772e-02,
  6.50766577e-03,-5.17774975e-02, 9.18028199e-02, 7.21913123e-01,
 -1.25208233e-01,-6.77111503e-01, 6.84423494e-02]

qacc:
[  0.69932447,-19.32137315, 34.01138969, -9.6612229 ,  0.42968427,
 -22.62830406, 50.1378322 ,-50.9955184 ,  0.13900785,-13.13001057,
  23.7495377 , -0.82326969, -0.17996868,  0.07788116,  7.58714953,
 -25.71081801, -1.25507333, -0.9967325 , -4.45138169, -7.66883812,
 -41.83048848,-46.22163799]

qfrc_actuator:
[-0.000663  , 0.06319326, 0.00841906, 0.00164788,-0.00146959, 0.06658392,
  0.00855823, 0.0021223 ,-0.00198556, 0.04895636, 0.00726408, 0.00130803,
  0.        ,-0.00148007, 0.        ,-0.00100868, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.24582568,  4.8905607 , -1.89765725,  4.8905607 ,  6.71151036,
        3.77729955, -1.89765725,  3.77729955, 14.98051972,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045011526690454107
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23326524e-13,  1.23326524e-13,  1.00000000e+00, -1.52094315e-26,
        1.00000000e+00, -1.23326524e-13, -1.00000000e+00,  0.00000000e+00,
        1.23326524e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05392177, -0.02576864,  0.06197147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18171706e-04,-2.16526263e-03,-5.43936458e-04,-8.08768463e-05,
  7.08393043e-05,-2.33962264e-03,-6.17317691e-04,-1.70229552e-04,
  2.36133155e-05,-1.24033226e-03,-2.50387214e-04,-1.32855382e-05,
 -1.34628522e-05,-1.57066131e-05, 6.22933179e-06,-1.22286058e-04,
  1.90587707e-03, 5.06967774e-03,-1.21735252e+00, 2.77282993e-03,
  6.63902007e-03, 1.71806143e-03]


--- Step 2016 ---
qpos:
[ 4.50050339e-04, 8.31371768e-01,-2.34931546e-02, 3.87544560e-04,
 -1.48525835e-03, 8.24336282e-01,-2.69799686e-02, 2.60168804e-03,
 -1.59813930e-03, 8.50006620e-01,-1.78662992e-02,-2.09588490e-02,
  1.39240500e+00, 1.85669716e-02, 1.37127857e+00, 2.43604014e-02,
  6.39640765e-03,-5.19738500e-02, 9.14966649e-02, 7.21330511e-01,
 -1.22864437e-01,-6.78449251e-01, 6.55228016e-02]

qacc:
[  0.67770771,-16.31675402, 20.47713584, 20.87498154,  0.40263276,
 -24.09023681, 54.99933535,-53.75302288,  0.1390057 , -9.68453371,
  14.11381894,  4.47556614, -0.26241406,  0.34626666,  1.33965758,
  -4.81360199, -1.22845772, -0.97089741, -4.47596401, -7.36016684,
 -42.19820513,-46.7863064 ]

qfrc_actuator:
[-0.00060072, 0.06248041, 0.00842818, 0.00173906,-0.00143528, 0.06576941,
  0.0085741 , 0.00209377,-0.00197362, 0.04851879, 0.00724819, 0.00134058,
  0.        ,-0.00146192, 0.        ,-0.00102909, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.99827417,  4.61987411, -1.90774941,  4.61987411,  6.5474765 ,
        3.7516037 , -1.90774941,  3.7516037 , 14.08329168,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004079251331444225
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.36081714e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.36081714e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05397053, -0.02574442,  0.06197389])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14692819e-04,-2.05816318e-03,-5.14156304e-04,-2.31967994e-05,
  6.63160235e-05,-2.27850930e-03,-5.56323961e-04,-1.54807386e-04,
  2.38287967e-05,-1.19421678e-03,-3.06795642e-04,-3.01421001e-05,
 -1.04901196e-05, 1.03344099e-05,-1.37798877e-05,-2.71065935e-05,
  2.15915157e-03, 5.48996411e-03,-1.21740512e+00, 2.80358931e-03,
  6.61373462e-03, 1.73644567e-03]


--- Step 2017 ---
qpos:
[ 3.91984373e-04, 8.32100949e-01,-2.34833898e-02, 3.94061597e-04,
 -1.51384990e-03, 8.25133593e-01,-2.69650474e-02, 2.61467731e-03,
 -1.59093907e-03, 8.50442870e-01,-1.78867574e-02,-2.09622490e-02,
  1.39247186e+00, 1.85659688e-02, 1.37136705e+00, 2.43603188e-02,
  6.28035314e-03,-5.21739744e-02, 9.11725031e-02, 7.20682619e-01,
 -1.20458917e-01,-6.79849702e-01, 6.25347436e-02]

qacc:
[  0.65633134,-16.05582718, 21.78669455, 13.63612923,  0.37559079,
 -21.66759891, 41.50807552,-22.40550893, -0.10465576,-11.78031074,
  22.76926951, -9.85288913, -0.19034831,  0.41031349, -6.88125166,
  23.30714027, -1.19909479, -0.94296981, -4.50170673, -7.04280273,
 -42.57300941,-47.36171232]

qfrc_actuator:
[-0.0005404 , 0.06174665, 0.00841203, 0.00180844,-0.00140343, 0.06485866,
  0.00854208, 0.0021075 ,-0.00200507, 0.0480836 , 0.00726491, 0.00136124,
  0.        ,-0.00143281, 0.        ,-0.00091591, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.80488327,  4.40334217, -1.9228835 ,  4.40334217,  6.40677924,
        3.6682909 , -1.9228835 ,  3.6682909 , 13.20515298,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036844440493793984
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.50663575e-13,  7.53317875e-14,  1.00000000e+00,  1.13497564e-26,
        1.00000000e+00, -7.53317875e-14, -1.00000000e+00,  0.00000000e+00,
       -1.50663575e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0540162 , -0.0257224 ,  0.06197617])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11241249e-04,-2.01016018e-03,-5.11496426e-04,-3.82223841e-05,
  6.18365083e-05,-2.32686704e-03,-5.83395073e-04,-1.07491982e-04,
 -1.94755516e-05,-1.17819074e-03,-2.72131447e-04,-4.23361429e-05,
 -3.16422083e-06, 3.02324196e-05,-1.10114994e-05, 1.09536119e-04,
  2.43049856e-03, 5.92872897e-03,-1.21745575e+00, 2.83705979e-03,
  6.58806118e-03, 1.75543655e-03]


--- Step 2018 ---
qpos:
[ 3.35468160e-04, 8.32814230e-01,-2.34740618e-02, 3.99637194e-04,
 -1.54180667e-03, 8.25913805e-01,-2.69511147e-02, 2.62692624e-03,
 -1.58424190e-03, 8.50869827e-01,-1.79060890e-02,-2.09654499e-02,
  1.39253872e+00, 1.85650623e-02, 1.37145551e+00, 2.43608939e-02,
  6.15963168e-03,-5.23777498e-02, 9.08302245e-02, 7.19968028e-01,
 -1.17990399e-01,-6.81312489e-01, 5.94776998e-02]

qacc:
[ 8.43955364e-01,-2.17178186e+01, 5.09303408e+01,-5.48516738e+01,
  3.52060418e-01,-2.13389390e+01, 4.64373465e+01,-4.51190104e+01,
 -2.63138932e-01,-1.50162696e+01, 3.48863272e+01,-2.64265674e+01,
  9.39587572e-03, 5.10989592e-02,-2.01203968e+00, 7.00925123e+00,
 -1.16674082e+00,-9.12732438e-01,-4.52918700e+00,-6.71551032e+00,
 -4.29499130e+01,-4.79424861e+01]

qfrc_actuator:
[-0.00044619, 0.0609353 , 0.00838107, 0.0017579 ,-0.00137328, 0.06407511,
  0.00851722, 0.00207486,-0.00204446, 0.04765352, 0.0073363 , 0.00137477,
  0.        ,-0.00143296, 0.        ,-0.00088473, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.65210787,  4.22755905, -1.94161071,  4.22755905,  6.28095192,
        3.54655769, -1.94161071,  3.54655769, 12.3741924 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033150506816606584
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.37259465e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.37259465e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05405893, -0.02570249,  0.06197832])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.43614361e-04,-2.06059671e-03,-5.16456472e-04,-1.56260846e-04,
  5.80955372e-05,-2.22980598e-03,-5.87751903e-04,-1.55915335e-04,
 -4.77678910e-05,-1.15725962e-03,-2.10217649e-04,-4.77955009e-05,
  5.45732558e-06, 8.69575215e-06, 5.98338215e-06, 3.56148812e-05,
  2.72040243e-03, 6.38652373e-03,-1.21750375e+00, 2.87333155e-03,
  6.56204486e-03, 1.77499236e-03]


--- Step 2019 ---
qpos:
[ 2.80681047e-04, 8.33511139e-01,-2.34645054e-02, 4.04557345e-04,
 -1.56896907e-03, 8.26678171e-01,-2.69383921e-02, 2.63816984e-03,
 -1.57785909e-03, 8.51287524e-01,-1.79244208e-02,-2.09691633e-02,
  1.39260588e+00, 1.85634557e-02, 1.37154464e+00, 2.43564823e-02,
  6.03438543e-03,-5.25850451e-02, 9.04697108e-02, 7.19185271e-01,
 -1.15457593e-01,-6.82837192e-01, 5.63512115e-02]

qacc:
[  0.94095061,-23.60970091, 55.56520593,-55.25595565,  0.43804884,
 -19.61335785, 43.80150699,-47.63288628, -0.16294263,-16.08282367,
  41.75297582,-45.41999359,  0.18166887, -0.5331008 , 16.06578105,
 -54.82344911, -1.13119673, -0.88000551, -4.55879106, -6.37740988,
 -43.32512807,-48.52457765]

qfrc_actuator:
[-0.00035024, 0.06011946, 0.00839453, 0.00172592,-0.00132664, 0.06339191,
  0.00849732, 0.00203307,-0.00205271, 0.04719476, 0.00738619, 0.00134855,
  0.        ,-0.001486  , 0.        ,-0.00115069, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.53045519,  4.08313118, -1.96292232,  4.08313118,  6.16515605,
        3.4003883 , -1.96292232,  3.4003883 , 11.6037007 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029694061607109246
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.60830835e-13,  1.86943612e-13,  1.00000000e+00, -1.04843742e-25,
        1.00000000e+00, -1.86943612e-13, -1.00000000e+00,  0.00000000e+00,
        5.60830835e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05409889, -0.02568462,  0.06198036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.60375789e-04,-2.09896140e-03,-4.87011904e-04,-1.42314243e-04,
  7.29194628e-05,-2.07769366e-03,-5.64798797e-04,-1.61972587e-04,
 -2.99613029e-05,-1.16146802e-03,-2.19892071e-04,-8.46074933e-05,
  4.68570130e-06,-4.90855919e-05, 4.66003739e-06,-2.63681104e-04,
  3.02932479e-03, 6.86385790e-03,-1.21754842e+00, 2.91248737e-03,
  6.53573961e-03, 1.79506697e-03]


--- Step 2020 ---
qpos:
[ 2.27326905e-04, 8.34193122e-01,-2.34553362e-02, 4.08889070e-04,
 -1.59554513e-03, 8.27426823e-01,-2.69267093e-02, 2.64980475e-03,
 -1.57188027e-03, 8.51696394e-01,-1.79425015e-02,-2.09731777e-02,
  1.39267309e+00, 1.85615144e-02, 1.37163384e+00, 2.43486069e-02,
  5.90476999e-03,-5.27957190e-02, 9.00908341e-02, 7.18332837e-01,
 -1.12859202e-01,-6.84423333e-01, 5.31548424e-02]

qacc:
[  0.77938912,-19.84269434, 44.62207967,-43.22820699,  0.3246363 ,
 -17.04086312, 28.98593973, -9.01275211, -0.21111632,-12.98425587,
  30.64248217,-29.7721817 , -0.06175297, -0.12466632, 10.61738509,
 -36.95107576, -1.09229759, -0.84463802, -4.59075502, -6.02789194,
 -43.69580056,-49.10497687]

qfrc_actuator:
[-0.00028954, 0.05948529, 0.00841639, 0.00170515,-0.00130602, 0.06265025,
  0.00846327, 0.00205736,-0.00207778, 0.04677573, 0.00740511, 0.00133461,
  0.        ,-0.00149901, 0.        ,-0.00132326, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.43307872,  3.96328375, -1.98609389,  3.96328375,  6.05670057,
        3.23996469, -1.98609389,  3.23996469, 10.89848275,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002645890272501006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.09801411e-13,  1.04900705e-13,  1.00000000e+00,  2.20083160e-26,
        1.00000000e+00, -1.04900705e-13, -1.00000000e+00,  0.00000000e+00,
       -2.09801411e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05413624, -0.02566873,  0.06198229])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.32943365e-04,-1.93165927e-03,-4.82281034e-04,-1.31420305e-04,
  5.37377909e-05,-2.04619590e-03,-5.44774636e-04,-8.86703332e-05,
 -3.84303573e-05,-1.12743970e-03,-2.54136311e-04,-7.35428631e-05,
 -1.00906140e-05,-2.70166228e-05,-3.01932795e-05,-1.87348943e-04,
  3.35770365e-03, 7.36120375e-03,-1.21758899e+00, 2.95460364e-03,
  6.50920726e-03, 1.81560983e-03]


--- Step 2021 ---
qpos:
[ 1.75038180e-04, 8.34861577e-01,-2.34465234e-02, 4.11694640e-04,
 -1.62179984e-03, 8.28159593e-01,-2.69153482e-02, 2.66124109e-03,
 -1.56607659e-03, 8.52096564e-01,-1.79595058e-02,-2.09777599e-02,
  1.39274008e+00, 1.85598794e-02, 1.37172239e+00, 2.43427059e-02,
  5.77095493e-03,-5.30096189e-02, 8.96934565e-02, 7.17409170e-01,
 -1.10193918e-01,-6.86070369e-01, 4.98881826e-02]

qacc:
[  0.57991876,-20.01406125, 51.86945831,-67.78056005,  0.18077145,
 -20.4802626 , 43.42063265,-34.68669497, -0.08908129,-15.67128912,
  41.590438  ,-46.74436731, -0.13420166,  0.26927211, -6.93365375,
  22.88404262, -1.04990431, -0.80650081, -4.62519732, -5.66655019,
 -44.05979583,-49.68148705]

qfrc_actuator:
[-0.0002504 , 0.05892971, 0.00844383, 0.00163805,-0.00130112, 0.06187971,
  0.00845654, 0.00204929,-0.00207722, 0.04638382, 0.0074768 , 0.00131028,
  0.        ,-0.00147033, 0.        ,-0.00120854, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.35492038,  3.86301075, -2.01059182,  3.86301075,  5.95415983,
        3.07266704, -2.01059182,  3.07266704, 10.2585283 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023429489398441722
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.36928557e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.36928557e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05417112, -0.02565474,  0.06198412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.88268297e-05,-1.75768873e-03,-4.41067466e-04,-1.70181956e-04,
  2.92491567e-05,-2.04976827e-03,-5.05797774e-04,-1.17530911e-04,
 -1.68036428e-05,-1.08768484e-03,-1.98100955e-04,-8.34308638e-05,
 -1.24727094e-05, 1.84785388e-05,-3.59718873e-05, 1.00143497e-04,
  3.70595274e-03, 7.87900009e-03,-1.21762462e+00, 2.99975128e-03,
  6.48251666e-03, 1.83656607e-03]


--- Step 2022 ---
qpos:
[ 1.23504966e-04, 8.35516805e-01,-2.34378491e-02, 4.13595932e-04,
 -1.64757264e-03, 8.28876226e-01,-2.69038486e-02, 2.67177814e-03,
 -1.55999093e-03, 8.52488469e-01,-1.79760125e-02,-2.09833173e-02,
  1.39280688e+00, 1.85587827e-02, 1.37181080e+00, 2.43374886e-02,
  5.63312428e-03,-5.32265807e-02, 8.92774304e-02, 7.16412675e-01,
 -1.07460427e-01,-6.87777692e-01, 4.65508521e-02]

qacc:
[  0.4124463 ,-18.94203533, 46.00337995,-51.72300508,  0.26829634,
 -23.54252269, 56.80994835,-60.75461311,  0.1529242 ,-14.31919406,
  39.32166138,-50.91911005, -0.40971942,  0.69818017, -2.22585008,
   7.61000035, -1.00389697, -0.7654811 , -4.66214439, -5.29312937,
 -44.41552693,-50.25254168]

qfrc_actuator:
[-0.00022439, 0.05831934, 0.00845698, 0.00159758,-0.00127012, 0.06108055,
  0.0084659 , 0.00200449,-0.00204359, 0.04599382, 0.00750822, 0.00126234,
  0.        ,-0.0014349 , 0.        ,-0.00117404, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.29216633,  3.77853614, -2.03601485,  3.77853614,  5.85684172,
        2.90380126, -2.03601485,  2.90380126,  9.68118303,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020591089526471318
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.69588218e-13,  2.69588218e-13,  1.00000000e+00, -7.26778070e-26,
        1.00000000e+00, -2.69588218e-13, -1.00000000e+00,  0.00000000e+00,
        2.69588218e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05420369, -0.02564258,  0.06198585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.00112998e-05,-1.70799612e-03,-4.15567183e-04,-1.35399263e-04,
  4.41308865e-05,-2.07316568e-03,-4.86500708e-04,-1.53602821e-04,
  2.64188563e-05,-1.05217938e-03,-2.23540230e-04,-1.03568710e-04,
 -2.18793130e-06, 3.86682581e-05,-5.32168308e-06, 3.55080702e-05,
  4.07446100e-03, 8.41765516e-03,-1.21765440e+00, 3.04799653e-03,
  6.45574303e-03, 1.85787649e-03]


--- Step 2023 ---
qpos:
[ 7.28795385e-05, 8.36158840e-01,-2.34296103e-02, 4.16373444e-04,
 -1.67300737e-03, 8.29577115e-01,-2.68923386e-02, 2.68197661e-03,
 -1.55357802e-03, 8.52871894e-01,-1.79925988e-02,-2.09883131e-02,
  1.39287352e+00, 1.85583456e-02, 1.37189928e+00, 2.43317077e-02,
  5.49147695e-03,-5.34464285e-02, 8.88425981e-02, 7.15341714e-01,
 -1.04657414e-01,-6.89544619e-01, 4.31425036e-02]

qacc:
[  0.49414201,-14.40468328, 22.37211461,  3.17576744,  0.18975149,
 -21.51389625, 47.96126532,-42.28383229,  0.17665501, -9.82594394,
  16.41044773, -0.34884601, -0.55926713,  0.9402316 ,  1.88495689,
  -6.26619473, -0.95416969, -0.72147823, -4.70155079, -4.9074849 ,
 -44.76181821,-50.81705769]

qfrc_actuator:
[-0.00017087, 0.05768121, 0.00844374, 0.0016441 ,-0.00125925, 0.06034184,
  0.00848459, 0.00199169,-0.00202602, 0.04555476, 0.00749786, 0.00128965,
  0.        ,-0.00139577, 0.        ,-0.00120492, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.24189034,  3.70696079, -2.06205608,  3.70696079,  5.76446571,
        2.73713565, -2.06205608,  2.73713565,  9.16244251,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017929876917532894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.09601407e-13,  3.09601407e-13,  1.00000000e+00, -9.58530313e-26,
        1.00000000e+00, -3.09601407e-13, -1.00000000e+00,  0.00000000e+00,
        3.09601407e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05423408, -0.02563218,  0.0619875 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.42484258e-05,-1.70088014e-03,-4.27244313e-04,-4.47086311e-05,
  3.08418925e-05,-2.02294723e-03,-4.80742534e-04,-1.22614077e-04,
  3.07011026e-05,-1.08729679e-03,-2.61741512e-04,-2.80693554e-05,
  7.66585090e-06, 5.09477334e-05,-3.44997743e-07,-2.99795162e-05,
  4.46359196e-03, 8.97754863e-03,-1.21767737e+00, 3.09940157e-03,
  6.42896740e-03, 1.87947769e-03]


--- Step 2024 ---
qpos:
[ 2.30241433e-05, 8.36787670e-01,-2.34220095e-02, 4.20372820e-04,
 -1.69849248e-03, 8.30263012e-01,-2.68812306e-02, 2.69288559e-03,
 -1.54692008e-03, 8.53246041e-01,-1.80089138e-02,-2.09918386e-02,
  1.39294022e+00, 1.85581621e-02, 1.37198757e+00, 2.43269380e-02,
  5.34622536e-03,-5.36689753e-02, 8.83888038e-02, 7.14194579e-01,
 -1.01783546e-01,-6.91370433e-01, 3.96628027e-02]

qacc:
[ 4.19504952e-01,-1.31454591e+01, 1.63969635e+01, 1.54676368e+01,
 -2.17383638e-02,-1.72101472e+01, 2.96288632e+01,-5.68408889e+00,
  1.33552915e-01,-9.98657161e+00, 1.16276690e+01, 2.01684707e+01,
 -1.01315206e-02, 1.75344446e-01,-3.34809394e+00, 1.13021470e+01,
 -9.01067987e-01,-6.74776224e-01,-4.74050829e+00,-4.51396385e+00,
 -4.51193167e+01,-5.13885137e+01]

qfrc_actuator:
[-0.0001368 , 0.05703169, 0.008415  , 0.00170587,-0.00127827, 0.05966321,
  0.0084912 , 0.00203339,-0.00201824, 0.04505428, 0.00749834, 0.00136096,
  0.        ,-0.00139027, 0.        ,-0.00114979, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.20181304,  3.6417169 , -2.09597968,  3.6417169 ,  5.73532341,
        2.6644393 , -2.09597968,  2.6644393 ,  8.83121556,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015432997762658643
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.75934576e-08, -1.75928615e-08,  1.00000000e+00, -3.09519262e-16,
        1.00000000e+00,  1.75928615e-08, -1.00000000e+00,  0.00000000e+00,
       -1.75934576e-08])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05426005, -0.02563082,  0.06198908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.14405377e-05,-1.70649191e-03,-4.39450445e-04,-2.77591802e-05,
 -5.12549371e-06,-1.93186428e-03,-4.80539834e-04,-6.51306759e-05,
  2.29095780e-05,-1.17280235e-03,-2.60196038e-04, 1.45841788e-05,
  1.49811824e-05, 2.35245875e-05,-5.84710424e-06, 5.29091220e-05,
  4.87368291e-03, 9.55903299e-03,-1.21769249e+00, 3.15402512e-03,
  6.40227615e-03, 1.90130210e-03]


--- Step 2025 ---
qpos:
[-2.62520757e-05, 8.37403196e-01,-2.34150829e-02, 4.24041168e-04,
 -1.72382261e-03, 8.30934343e-01,-2.68701895e-02, 2.70376162e-03,
 -1.54030670e-03, 8.53612015e-01,-1.80261282e-02,-2.09948990e-02,
  1.39300714e+00, 1.85576315e-02, 1.37207579e+00, 2.43228469e-02,
  5.19717164e-03,-5.38943712e-02, 8.79185498e-02, 7.12962489e-01,
 -9.88338946e-02,-6.93262347e-01, 3.61063710e-02]

qacc:
[ 3.16419877e-01,-1.63678570e+01, 3.42567326e+01,-2.91399191e+01,
  8.96820660e-02,-1.91125174e+01, 4.03678389e+01,-3.01412251e+01,
 -2.12079206e-02,-7.32668421e+00, 8.49784319e+00, 6.97833414e+00,
  4.46800696e-01,-6.15714186e-01,-2.21314207e+00, 7.46094877e+00,
 -9.50529405e-01,-7.12268200e-01,-4.11489461e+00,-5.09693947e+00,
 -5.05704473e+01,-5.52776671e+01]

qfrc_actuator:
[-0.00011464, 0.05636286, 0.00837735, 0.00168735,-0.0012617 , 0.05899067,
  0.00850871, 0.00203586,-0.00203413, 0.04469866, 0.00746948, 0.00138651,
  0.        ,-0.00142255, 0.        ,-0.00111541, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00014758315569650404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.52269471e-13,  7.52269471e-13,  1.00000000e+00, -5.65909357e-25,
        1.00000000e+00, -7.52269471e-13, -1.00000000e+00,  0.00000000e+00,
        7.52269471e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05374129, -0.02723816,  0.0619894 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.36599764e-05,-1.73039188e-03,-4.50328854e-04,-1.08372942e-04,
  1.39343062e-05,-1.87195667e-03,-4.48673877e-04,-9.93004882e-05,
 -4.46234264e-06,-1.07338506e-03,-3.05448702e-04,-3.39265337e-05,
  1.24152491e-05,-2.13898189e-05, 1.95154979e-06, 3.63038053e-05,
  5.30524066e-03, 1.01626631e-02,-1.21769869e+00, 3.21197291e-03,
  6.37573552e-03, 1.92328785e-03]


--- Step 2026 ---
qpos:
[-7.49249643e-05, 8.38005949e-01,-2.34090432e-02, 4.27732002e-04,
 -1.74848393e-03, 8.31591363e-01,-2.68592719e-02, 2.71453095e-03,
 -1.53383505e-03, 8.53970852e-01,-1.80433257e-02,-2.09988751e-02,
  1.39307424e+00, 1.85565471e-02, 1.37216366e+00, 2.43218740e-02,
  5.04461839e-03,-5.41223305e-02, 8.74313040e-02, 7.11644542e-01,
 -9.58079470e-02,-6.95218176e-01, 3.24741572e-02]

qacc:
[  0.32889639,-14.34780605, 26.57616811,-15.38898786,  0.36798182,
 -18.7705571 , 39.94716431,-31.09252359, -0.07252414,-11.36393231,
  30.69523206,-41.32122371,  0.75756866, -1.07497975,-10.06486163,
  34.21614545, -0.87488264, -0.64084085, -4.24796964, -4.46717066,
 -50.17836335,-55.07076142]

qfrc_actuator:
[-8.19724968e-05, 5.57765875e-02, 8.35239165e-03, 1.69271861e-03,
 -1.20621323e-03, 5.83095952e-02, 8.51483887e-03, 2.03301980e-03,
 -2.04628898e-03, 4.44503234e-02, 7.51284527e-03, 1.34953551e-03,
  0.00000000e+00,-1.45925625e-03, 0.00000000e+00,-9.51528052e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.17990667,  3.75461645, -1.83697442,  3.75461645,  4.16780129,
       -0.02474235, -1.83697442, -0.02474235,  4.12933545,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013857659662114274
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0537444 , -0.02724613,  0.06198989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.59584326e-05,-1.66655556e-03,-4.46583459e-04,-8.74253644e-05,
  6.16328948e-05,-1.84149279e-03,-4.44814882e-04,-1.01594168e-04,
 -1.36260132e-05,-9.21735429e-04,-2.19869768e-04,-9.47026327e-05,
  1.04485882e-06,-4.06783380e-05, 3.53701601e-06, 1.65830254e-04,
  5.80715960e-03, 1.08442007e-02,-1.21770170e+00, 3.28549770e-03,
  6.34360503e-03, 1.94769725e-03]


--- Step 2027 ---
qpos:
[-1.23108343e-04, 8.38596564e-01,-2.34041121e-02, 4.31371606e-04,
 -1.77218610e-03, 8.32234524e-01,-2.68492605e-02, 2.72550204e-03,
 -1.52771330e-03, 8.54322333e-01,-1.80588655e-02,-2.10033630e-02,
  1.39314123e+00, 1.85555260e-02, 1.37225147e+00, 2.43231976e-02,
  4.88850895e-03,-5.43538671e-02, 8.69312584e-02, 7.10238453e-01,
 -9.26930142e-02,-6.97239317e-01, 2.87520485e-02]

qacc:
[ 2.67096217e-01,-1.30411820e+01, 2.34457369e+01,-1.36452781e+01,
  5.24321074e-01,-1.53541686e+01, 2.73290371e+01,-1.22127897e+01,
 -1.81599119e-01,-1.54045437e+01, 4.29795479e+01,-4.90825430e+01,
  6.89867410e-02,-6.27648632e-02,-7.05536865e+00, 2.45248105e+01,
 -8.89049547e-01,-8.94313371e-01,-3.19997322e+00,-4.86828198e+00,
 -5.10171719e+01,-6.46172069e+01]

qfrc_actuator:
[-6.10203065e-05, 5.52268943e-02, 8.31778098e-03, 1.69445019e-03,
 -1.14570601e-03, 5.76467313e-02, 8.47871933e-03, 2.04482214e-03,
 -2.07383817e-03, 4.41265613e-02, 7.61674532e-03, 1.32948846e-03,
  0.00000000e+00,-1.44500608e-03, 0.00000000e+00,-8.36929944e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00012741253196004487
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04692352e-06, -5.32481357e-13,  1.00000000e+00,  5.57467259e-19,
        1.00000000e+00,  5.32481357e-13, -1.00000000e+00,  9.62964972e-35,
        1.04692352e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04810084, -0.02674723,  0.06199054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.53693825e-05,-1.59228404e-03,-4.41752900e-04,-8.77689474e-05,
  8.86370182e-05,-1.80517910e-03,-4.80256231e-04,-8.55306786e-05,
 -3.33391668e-05,-8.97110910e-04,-1.19520575e-04,-6.94878575e-05,
 -8.19733799e-06, 1.33241320e-06, 1.91843562e-05, 1.24074641e-04,
  6.32755850e-03, 1.15413329e-02,-1.21769138e+00, 3.36106900e-03,
  6.31288904e-03, 1.97184992e-03]


--- Step 2028 ---
qpos:
[-1.70741081e-04, 8.39174921e-01,-2.33997700e-02, 4.34618008e-04,
 -1.79515130e-03, 8.32864441e-01,-2.68404602e-02, 2.73610448e-03,
 -1.52213444e-03, 8.54666677e-01,-1.80734438e-02,-2.10077025e-02,
  1.39320824e+00, 1.85543709e-02, 1.37233992e+00, 2.43212131e-02,
  4.72903459e-03,-5.45903592e-02, 8.64242275e-02, 7.08745616e-01,
 -8.94710163e-02,-6.99323624e-01, 2.49210325e-02]

qacc:
[  0.30017864,-15.35389302, 32.90735392,-29.77060419,  0.4032228 ,
 -14.86472107, 29.16935358,-23.88813967, -0.28424774,-11.810078  ,
  27.80246261,-21.53759006, -0.22640063,  0.16199009, 11.000754  ,
 -37.03034305, -0.84122766, -1.23891323, -1.74629608, -4.87499828,
 -49.16563812,-77.68173184]

qfrc_actuator:
[-2.94693464e-05, 5.46326103e-02, 8.29570733e-03, 1.67631141e-03,
 -1.11824893e-03, 5.70355689e-02, 8.43583408e-03, 2.02964142e-03,
 -2.11035907e-03, 4.37783726e-02, 7.66655410e-03, 1.33731514e-03,
  0.00000000e+00,-1.45383816e-03, 0.00000000e+00,-1.01861522e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00016643749372625277
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.00288276e-13, -8.33813794e-14,  1.00000000e+00,  4.17147266e-26,
        1.00000000e+00,  8.33813794e-14, -1.00000000e+00,  0.00000000e+00,
        5.00288276e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0408884 , -0.02615951,  0.06198745])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.11062737e-05,-1.59404694e-03,-4.13182583e-04,-1.04275632e-04,
  6.80605639e-05,-1.73943820e-03,-4.83208824e-04,-1.11848847e-04,
 -5.16248684e-05,-8.85800198e-04,-1.55245634e-04,-3.65860591e-05,
 -2.84657905e-06,-1.05956532e-05, 2.01186654e-05,-1.72883565e-04,
  6.89229244e-03, 1.23299911e-02,-1.21767048e+00, 3.44930380e-03,
  6.27448420e-03, 1.99699994e-03]


--- Step 2029 ---
qpos:
[-2.17349644e-04, 8.39740919e-01,-2.33955221e-02, 4.37236820e-04,
 -1.81750588e-03, 8.33481657e-01,-2.68330473e-02, 2.74739925e-03,
 -1.51686820e-03, 8.55004220e-01,-1.80877550e-02,-2.10115742e-02,
  1.39327544e+00, 1.85526235e-02, 1.37242867e+00, 2.43154321e-02,
  4.56672001e-03,-5.48310432e-02, 8.59084909e-02, 7.07166215e-01,
 -8.61439903e-02,-7.01466159e-01, 2.09853659e-02]

qacc:
[  0.55473505,-17.35170708, 40.82592288,-42.46346028,  0.33434542,
 -11.47496358, 13.64204817,  9.88775501, -0.16282259, -8.76725501,
  16.2518094 , -3.5992293 ,  0.15247588, -0.46745953, 11.93342021,
 -41.13234424, -0.71005645, -1.04794089, -2.17641791, -3.97144342,
 -47.53082651,-75.33714585]

qfrc_actuator:
[ 4.36892034e-05, 5.40342991e-02, 8.29883226e-03, 1.64661286e-03,
 -1.09303079e-03, 5.64603563e-02, 8.38955695e-03, 2.06977109e-03,
 -2.11642479e-03, 4.34537566e-02, 7.68394106e-03, 1.36141054e-03,
  0.00000000e+00,-1.49410015e-03, 0.00000000e+00,-1.21361097e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.26781044,  3.89897068, -1.73557875,  3.89897068,  4.40129625,
        0.29987534, -1.73557875,  0.29987534,  4.94147918,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019354689728909302
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.30214734e-13, -7.17024556e-14,  1.00000000e+00,  3.08474528e-26,
        1.00000000e+00,  7.17024556e-14, -1.00000000e+00,  0.00000000e+00,
        4.30214734e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04084569, -0.02620378,  0.06198517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.54200928e-05,-1.59355292e-03,-3.85292771e-04,-1.15222365e-04,
  5.63682042e-05,-1.66811757e-03,-4.74174762e-04,-5.43122011e-05,
 -2.98158917e-05,-8.61708877e-04,-1.88544033e-04,-2.04188937e-05,
 -4.20123542e-06,-4.40846242e-05,-1.38350101e-05,-2.02917211e-04,
  7.48284711e-03, 1.32232526e-02,-1.21763627e+00, 3.54881385e-03,
  6.22817018e-03, 2.02195571e-03]


--- Step 2030 ---
qpos:
[-2.62833867e-04, 8.40294291e-01,-2.33912710e-02, 4.39834456e-04,
 -1.83913336e-03, 8.34086526e-01,-2.68266152e-02, 2.75864584e-03,
 -1.51198812e-03, 8.55335417e-01,-1.81028132e-02,-2.10154701e-02,
  1.39334236e+00, 1.85513839e-02, 1.37251740e+00, 2.43070152e-02,
  4.40205183e-03,-5.50752332e-02, 8.53825356e-02, 7.05500121e-01,
 -8.27136482e-02,-7.03662398e-01, 1.69487854e-02]

qacc:
[  0.60840736,-16.72656841, 35.52842551,-26.63184496,  0.39721512,
 -13.66256933, 25.25163514,-15.45160999, -0.20255364, -6.34791759,
  10.57096799, -5.14122314, -0.73207824,  0.9977907 ,  8.04686303,
 -27.97096895, -0.58840196, -0.87651982, -2.55469702, -3.16061708,
 -46.13303751,-73.32263506]

qfrc_actuator:
[ 0.00010561, 0.05340307, 0.00829906, 0.00164588,-0.00105157, 0.05589372,
  0.00835966, 0.00207116,-0.00213974, 0.0431458 , 0.00764668, 0.00135938,
  0.        ,-0.00144619, 0.        ,-0.00134377, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.30118861,  3.89018512, -1.83485236,  3.89018512,  4.43701705,
        0.28797837, -1.83485236,  0.28797837,  4.91174953,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021027599974114686
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31995927e-13, -6.59979637e-14,  1.00000000e+00,  8.71146244e-27,
        1.00000000e+00,  6.59979637e-14, -1.00000000e+00,  0.00000000e+00,
        1.31995927e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04081292, -0.02624018,  0.0619836 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04830742e-04,-1.62058819e-03,-3.84923794e-04,-8.54679799e-05,
  6.72426196e-05,-1.61500010e-03,-4.39844442e-04,-8.85400431e-05,
 -3.67868120e-05,-8.37594034e-04,-2.41707670e-04,-4.63385390e-05,
 -1.32964673e-05, 3.35100423e-05,-3.08584997e-05,-1.43670022e-04,
  8.07699526e-03, 1.41170166e-02,-1.21757906e+00, 3.64662029e-03,
  6.18545074e-03, 2.04582807e-03]


--- Step 2031 ---
qpos:
[-3.07414145e-04, 8.40835195e-01,-2.33863928e-02, 4.43012709e-04,
 -1.86006985e-03, 8.34678969e-01,-2.68200972e-02, 2.76801041e-03,
 -1.50744876e-03, 8.55660432e-01,-1.81195279e-02,-2.10189814e-02,
  1.39340929e+00, 1.85501592e-02, 1.37260587e+00, 2.42977305e-02,
  4.23548734e-03,-5.53223051e-02, 8.48450274e-02, 7.03746933e-01,
 -7.91814034e-02,-7.05908171e-01, 1.28145738e-02]

qacc:
[ 4.90216507e-01,-1.70242142e+01, 3.43487953e+01,-1.61506068e+01,
  3.78124771e-01,-2.05183853e+01, 5.72889623e+01,-8.08827289e+01,
 -1.79086996e-01,-2.74803575e+00,-3.67135733e+00, 1.75021506e+01,
 -5.31374375e-02, 6.67925538e-02, 2.25137045e+00,-8.41552355e+00,
 -4.74073835e-01,-7.20455137e-01,-2.88821680e+00,-2.42526011e+00,
 -4.49413027e+01,-7.16037734e+01]

qfrc_actuator:
[ 0.00014253, 0.05282831, 0.00835076, 0.00167991,-0.00101848, 0.05530144,
  0.00837524, 0.00197877,-0.00215544, 0.04283236, 0.00755978, 0.00137749,
  0.        ,-0.00145276, 0.        ,-0.00138141, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.31850588,  3.86686885, -1.9227112 ,  3.86686885,  4.4520486 ,
        0.268575  , -1.9227112 ,  0.268575  ,  4.85865164,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021836599865225625
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.81317272e-13, -3.81317272e-13,  1.00000000e+00,  1.45402862e-25,
        1.00000000e+00,  3.81317272e-13, -1.00000000e+00,  0.00000000e+00,
        3.81317272e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04078864, -0.0262698 ,  0.06198265])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.42547056e-05,-1.57757040e-03,-3.37866267e-04,-5.12403896e-05,
  6.39211868e-05,-1.60498651e-03,-3.80236106e-04,-1.79510669e-04,
 -3.24884079e-05,-8.41528034e-04,-2.93750540e-04,-2.75027380e-05,
 -2.19987207e-08, 1.62213685e-06,-3.17522331e-05,-4.99231988e-05,
  8.67537971e-03, 1.50126524e-02,-1.21749780e+00, 3.74304392e-03,
  6.14601350e-03, 2.06862376e-03]


--- Step 2032 ---
qpos:
[-3.50786837e-04, 8.41364927e-01,-2.33817924e-02, 4.45069632e-04,
 -1.88057924e-03, 8.35258594e-01,-2.68125955e-02, 2.77685401e-03,
 -1.50280492e-03, 8.55978377e-01,-1.81363799e-02,-2.10219032e-02,
  1.39347640e+00, 1.85484156e-02, 1.37269402e+00, 2.42890201e-02,
  4.09019007e-03,-5.55871581e-02, 8.43366179e-02, 7.02276254e-01,
 -7.53891531e-02,-7.07850667e-01, 8.48356231e-03]

qacc:
[ 6.51614654e-01,-1.62868699e+01, 4.13895534e+01,-5.21500288e+01,
  2.36228289e-01,-2.07411280e+01, 5.15882563e+01,-5.27758451e+01,
  5.77601269e-02,-7.74139116e+00, 1.15665292e+01, 4.03459561e+00,
  5.15605173e-01,-8.03562347e-01,-2.27312132e+00, 7.11500204e+00,
  5.31680203e+00,-4.44528240e+00, 7.27468523e+00, 3.51557063e+01,
  2.12553719e+02,-1.50823516e+02]

qfrc_actuator:
[ 0.00021748, 0.05234559, 0.0083617 , 0.0016277 ,-0.00100842, 0.05468105,
  0.00843519, 0.00195622,-0.00213097, 0.04246474, 0.00755083, 0.00140728,
  0.        ,-0.00149173, 0.        ,-0.00134651, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031610534675584334
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.51219312e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.51219312e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05448774, -0.01570369,  0.06197449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12764960e-04,-1.44999432e-03,-3.62660427e-04,-1.33329110e-04,
  3.93797165e-05,-1.61877155e-03,-3.29498777e-04,-1.08918501e-04,
  9.69855542e-06,-9.07682730e-04,-2.22316509e-04,-1.74108205e-05,
 -6.40542701e-07,-3.80199433e-05,-2.06442386e-05, 2.79672048e-05,
  9.27869837e-03, 1.59115610e-02,-1.21739145e+00, 3.83841584e-03,
  6.10957701e-03, 2.09034676e-03]


--- Step 2033 ---
qpos:
[-3.92952521e-04, 8.41883376e-01,-2.33777716e-02, 4.46502995e-04,
 -1.90074147e-03, 8.35826017e-01,-2.68048028e-02, 2.78634366e-03,
 -1.49815744e-03, 8.56289012e-01,-1.81519855e-02,-2.10255559e-02,
  1.39354331e+00, 1.85469775e-02, 1.37278172e+00, 2.42834382e-02,
  3.96331951e-03,-5.58664783e-02, 8.38494950e-02, 7.01048245e-01,
 -7.13683920e-02,-7.09522476e-01, 3.97087606e-03]

qacc:
[ 6.50837898e-01,-1.45667397e+01, 3.29417375e+01,-3.45222232e+01,
  1.92303044e-01,-1.55946531e+01, 2.94876750e+01,-9.81576093e+00,
  5.35895532e-03,-1.46466875e+01, 4.12885969e+01,-5.05562239e+01,
 -4.21320300e-02, 1.75929419e-01,-1.01537858e+01, 3.45374042e+01,
  4.60668058e+00,-3.61681231e+00, 5.32163452e+00, 2.62351852e+01,
  1.86815428e+02,-1.35496340e+02]

qfrc_actuator:
[ 0.00027907, 0.05177975, 0.00833108, 0.00159623,-0.00099444, 0.05412016,
  0.00846757, 0.00199272,-0.00213596, 0.04212123, 0.00762329, 0.00137272,
  0.        ,-0.00146084, 0.        ,-0.0011804 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 7.18672432,  7.0429032 , -1.43056662,  7.0429032 ,  7.01311938,
       -0.85468424, -1.43056662, -0.85468424,  2.97898012,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006920131199934301
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.02169058e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.02169058e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05348909, -0.01629264,  0.06194394])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12755495e-04,-1.47011872e-03,-3.83665348e-04,-1.09567227e-04,
  3.19692745e-05,-1.55315962e-03,-3.51120493e-04,-4.73053419e-05,
  1.38532793e-07,-9.05200981e-04,-1.45359164e-04,-8.19244302e-05,
 -9.43447476e-06, 1.88871569e-05,-6.71974550e-06, 1.64952150e-04,
  7.32166400e-03, 1.53415451e-02,-1.21725127e+00, 3.41418523e-03,
  6.23805855e-03, 1.99444786e-03]


--- Step 2034 ---
qpos:
[-4.34191150e-04, 8.42390196e-01,-2.33738615e-02, 4.48235116e-04,
 -1.92056907e-03, 8.36381547e-01,-2.67971536e-02, 2.79582266e-03,
 -1.49374003e-03, 8.56593239e-01,-1.81667343e-02,-2.10300391e-02,
  1.39361026e+00, 1.85453731e-02, 1.37286905e+00, 2.42822064e-02,
  3.85237707e-03,-5.61574643e-02, 8.33766509e-02, 7.00027905e-01,
 -6.71464931e-02,-7.10951318e-01,-7.09238740e-04]

qacc:
[ 5.01017241e-01,-1.44356723e+01, 2.79170130e+01,-1.40312436e+01,
  1.84972903e-01,-1.53239911e+01, 3.18881651e+01,-2.31139486e+01,
 -1.18783352e-01,-1.25712778e+01, 3.60382674e+01,-4.70684831e+01,
  5.17255023e-01,-6.29406470e-01,-1.38030469e+01, 4.73108939e+01,
  3.98202709e+00,-2.91643743e+00, 3.56970947e+00, 1.89995093e+01,
  1.64415082e+02,-1.21787795e+02]

qfrc_actuator:
[ 0.00031442, 0.05120414, 0.0083292 , 0.00161265,-0.00097819, 0.05354622,
  0.00846595, 0.00199268,-0.00215857, 0.04186627, 0.00769002, 0.00133612,
  0.        ,-0.00147742, 0.        ,-0.00095611, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.6262082 ,  8.50408007, -1.44640591,  8.50408007,  8.4631    ,
       -0.95898748, -1.44640591, -0.95898748,  2.98788342,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009763531418739008
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.52834116e-14, -9.94973135e-14,  1.00000000e+00,  8.48547034e-27,
        1.00000000e+00,  9.94973135e-14, -1.00000000e+00,  0.00000000e+00,
        8.52834116e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05272267, -0.01675528,  0.06192038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.65539574e-05,-1.49418792e-03,-3.60750435e-04,-6.27780133e-05,
  3.08232523e-05,-1.53103536e-03,-3.71997180e-04,-8.05625650e-05,
 -2.20096966e-05,-8.01968024e-04,-1.43287290e-04,-8.24262836e-05,
  2.07799970e-07,-1.28874551e-05, 1.41915155e-05, 2.32397002e-04,
  5.79793391e-03, 1.47119097e-02,-1.21712064e+00, 2.98591878e-03,
  6.34153243e-03, 1.92850142e-03]


--- Step 2035 ---
qpos:
[-4.74424641e-04, 8.42886515e-01,-2.33708596e-02, 4.49698518e-04,
 -1.94005457e-03, 8.36925387e-01,-2.67902948e-02, 2.80488340e-03,
 -1.48921073e-03, 8.56891460e-01,-1.81816839e-02,-2.10345692e-02,
  1.39367706e+00, 1.85440862e-02, 1.37295632e+00, 2.42843442e-02,
  3.75518797e-03,-5.64577593e-02, 8.29118966e-02, 6.99184753e-01,
 -6.27470915e-02,-7.12160621e-01,-5.54370617e-03]

qacc:
[ 5.41596551e-01,-1.18854142e+01, 2.33824359e+01,-1.88691718e+01,
  1.88352975e-01,-1.40883591e+01, 2.95922513e+01,-2.69859824e+01,
  6.11710205e-02,-7.46969074e+00, 1.53187133e+01,-1.14016305e+01,
 -1.94486744e-02, 1.72748017e-01,-1.02871181e+01, 3.58682827e+01,
  3.43833689e+00,-2.32726307e+00, 2.02245928e+00, 1.31307318e+01,
  1.45073313e+02,-1.09691924e+02]

qfrc_actuator:
[ 0.00036932, 0.05075178, 0.00830882, 0.00160388,-0.00096071, 0.05296903,
  0.0084265 , 0.00197113,-0.00213826, 0.04157769, 0.00768218, 0.00133421,
  0.        ,-0.00145112, 0.        ,-0.00078815, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.54919425, -1.22395036,  8.54919425,  8.51933813,
       -0.81741369, -1.22395036, -0.81741369,  2.92679516,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011836415427586774
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.37972338e-14, -1.17246542e-14,  1.00000000e+00,  1.09974013e-27,
        1.00000000e+00,  1.17246542e-14, -1.00000000e+00,  0.00000000e+00,
        9.37972338e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0521463 , -0.0171128 ,  0.06190257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.39421112e-05,-1.37736430e-03,-3.79681884e-04,-8.72798225e-05,
  3.15369032e-05,-1.52735235e-03,-4.08881815e-04,-1.02489353e-04,
  1.04402316e-05,-7.77302092e-04,-1.96245380e-04,-4.32524747e-05,
 -1.76845385e-06, 2.18082088e-05, 3.10109700e-05, 1.82413512e-04,
  4.60633040e-03, 1.40578617e-02,-1.21698808e+00, 2.56179198e-03,
  6.42006904e-03, 1.88309798e-03]


--- Step 2036 ---
qpos:
[-5.13685262e-04, 8.43373271e-01,-2.33687676e-02, 4.50907120e-04,
 -1.95918821e-03, 8.37458156e-01,-2.67852089e-02, 2.81358696e-03,
 -1.48451322e-03, 8.57182935e-01,-1.81966623e-02,-2.10383207e-02,
  1.39374365e+00, 1.85435634e-02, 1.37304421e+00, 2.42844925e-02,
  3.66988073e-03,-5.67653912e-02, 8.24498711e-02, 6.98492576e-01,
 -5.81903486e-02,-7.13169906e-01,-1.05208924e-02]

qacc:
[ 5.23716878e-01,-1.06144397e+01, 2.05886373e+01,-1.65199995e+01,
  1.92605775e-01,-1.04054924e+01, 1.73833679e+01,-1.25974372e+01,
  9.13244105e-02,-7.22904124e+00, 9.56287532e+00, 8.89454128e+00,
 -8.31073707e-01, 1.26922499e+00, 7.05204490e+00,-2.30782006e+01,
  2.97046371e+00,-1.83422858e+00, 6.82182050e-01, 8.36816655e+00,
  1.28598831e+02,-9.92277302e+01]

qfrc_actuator:
[ 0.00041775, 0.05035915, 0.00829594, 0.00159819,-0.00094263, 0.0524477 ,
  0.0083473 , 0.00195482,-0.00212795, 0.0412001 , 0.00766582, 0.00137041,
  0.        ,-0.00139952, 0.        ,-0.00090329, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.57768727, -1.00501642,  8.57768727,  8.55685968,
       -0.67855615, -1.00501642, -0.67855615,  2.84497325,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013265224199325298
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.27706894e-14, -6.27706894e-14,  1.00000000e+00,  3.94015945e-27,
        1.00000000e+00,  6.27706894e-14, -1.00000000e+00,  0.00000000e+00,
        6.27706894e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05172597, -0.01738257,  0.0618895 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.09816481e-05,-1.25700305e-03,-3.51145297e-04,-8.03044163e-05,
  3.24746950e-05,-1.47768779e-03,-4.53066924e-04,-9.87642314e-05,
  1.57672080e-05,-8.61634853e-04,-2.04786606e-04,-5.14669341e-06,
  5.34902427e-06, 5.76140080e-05, 3.16730182e-05,-1.01648536e-04,
  3.66931837e-03, 1.34028307e-02,-1.21684754e+00, 2.14689721e-03,
  6.47482144e-03, 1.85164055e-03]


--- Step 2037 ---
qpos:
[-5.52221908e-04, 8.43850286e-01,-2.33667296e-02, 4.52329727e-04,
 -1.97815336e-03, 8.37979830e-01,-2.67810354e-02, 2.82160744e-03,
 -1.47968533e-03, 8.57466775e-01,-1.82104747e-02,-2.10415847e-02,
  1.39381036e+00, 1.85431602e-02, 1.37313266e+00, 2.42799633e-02,
  3.59483728e-03,-5.70786972e-02, 8.19859351e-02, 6.97928765e-01,
 -5.34935383e-02,-7.13995496e-01,-1.56304894e-02]

qacc:
[ 3.90973970e-01,-1.22746147e+01, 2.41886771e+01,-1.32465803e+01,
  9.43191486e-02,-1.35071760e+01, 2.97777406e+01,-3.19958969e+01,
  7.24022014e-02,-1.23411576e+01, 2.73112856e+01,-1.51438152e+01,
 -4.04922341e-01, 5.24842826e-01, 1.50558602e+01,-5.13241753e+01,
  2.56594828e+00,-1.41850928e+00,-4.77623109e-01, 4.47080118e+00,
  1.14518464e+02,-9.01718810e+01]

qfrc_actuator:
[ 0.00044417, 0.0498991 , 0.00830568, 0.0016122 ,-0.0009421 , 0.05192844,
  0.00831657, 0.00192401,-0.00212375, 0.04078999, 0.00771528, 0.00139316,
  0.        ,-0.00140431, 0.        ,-0.00114876, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.60056565, -0.78552366,  8.60056565,  8.58717064,
       -0.53860579, -0.78552366, -0.53860579,  2.73925997,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014158302699436368
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.96037450e-14, -6.86131076e-14,  1.00000000e+00,  1.34507387e-27,
        1.00000000e+00,  6.86131076e-14, -1.00000000e+00,  0.00000000e+00,
        1.96037450e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05143442, -0.01757869,  0.06188035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.76579244e-05,-1.25067942e-03,-2.99828559e-04,-5.43108702e-05,
  1.53844726e-05,-1.45651807e-03,-3.99556170e-04,-1.12568651e-04,
  1.21599899e-05,-9.41275859e-04,-1.56075284e-04,-2.17471912e-05,
  1.57617908e-05, 1.46755209e-05,-1.28493360e-06,-2.48091336e-04,
  2.92716154e-03, 1.27607638e-02,-1.21669628e+00, 1.74373903e-03,
  6.50750259e-03, 1.82950367e-03]


--- Step 2038 ---
qpos:
[-5.90103282e-04, 8.44317078e-01,-2.33644163e-02, 4.53242505e-04,
 -1.99676677e-03, 8.38490114e-01,-2.67767363e-02, 2.82879927e-03,
 -1.47459740e-03, 8.57743610e-01,-1.82232369e-02,-2.10449773e-02,
  1.39387708e+00, 1.85430300e-02, 1.37322082e+00, 2.42748834e-02,
  3.52865196e-03,-5.73962627e-02, 8.15160787e-02, 6.97473764e-01,
 -4.86715164e-02,-7.14651069e-01,-2.08634072e-02]

qacc:
[  0.35441498,-15.31843659, 37.17688395,-38.9376533 ,  0.19372803,
 -17.09401069, 42.61767844,-48.80289151,  0.14051699,-12.45401536,
  31.5187544 ,-30.28266542, -0.17568493,  0.34908274,  1.26088308,
  -4.97829387,  2.21453255, -1.06487528, -1.48009391,  1.25067303,
 102.45220491,-82.33904011]

qfrc_actuator:
[ 0.00047501, 0.0493671 , 0.00831073, 0.0015844 ,-0.00091654, 0.05137936,
  0.00833251, 0.00188498,-0.00210548, 0.04048823, 0.00778528, 0.00139007,
  0.        ,-0.00138934, 0.        ,-0.00116715, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.61773933, -0.56687362,  8.61773933,  8.61032152,
       -0.39589809, -0.56687362, -0.39589809,  2.61783239,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014608642515636927
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.69982644e-14, -5.69982644e-14,  1.00000000e+00,  3.24880214e-27,
        1.00000000e+00,  5.69982644e-14, -1.00000000e+00,  0.00000000e+00,
        5.69982644e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05124952, -0.01771282,  0.06187448])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.12215225e-05,-1.30714419e-03,-2.95895963e-04,-9.35489070e-05,
  3.24941504e-05,-1.46374685e-03,-3.42289410e-04,-1.18286761e-04,
  2.44914917e-05,-8.67938540e-04,-1.46496739e-04,-4.96254002e-05,
  9.64561159e-06, 2.37156321e-05,-3.11245953e-05,-3.30423722e-05,
  2.33539488e-03, 1.21399380e-02,-1.21653334e+00, 1.35352808e-03,
  6.51992048e-03, 1.81350149e-03]


--- Step 2039 ---
qpos:
[-6.27146430e-04, 8.44773482e-01,-2.33622587e-02, 4.53508247e-04,
 -2.01478550e-03, 8.38989028e-01,-2.67721217e-02, 2.83578004e-03,
 -1.46966226e-03, 8.58014533e-01,-1.82352965e-02,-2.10488522e-02,
  1.39394414e+00, 1.85421476e-02, 1.37330857e+00, 2.42712427e-02,
  3.47009751e-03,-5.77168723e-02, 8.10368411e-02, 6.97110618e-01,
 -4.37370980e-02,-7.15148097e-01,-2.62116758e-02]

qacc:
[ 4.51823851e-01,-1.46179120e+01, 3.49375666e+01,-3.82598517e+01,
  3.24511955e-01,-1.63278595e+01, 3.73157586e+01,-3.31292811e+01,
 -7.80926530e-02,-1.07686808e+01, 2.90929933e+01,-3.42183833e+01,
  8.61270892e-01,-1.26120292e+00,-5.06538718e+00, 1.65925691e+01,
  1.90771842e+00,-7.61037253e-01,-2.34530312e+00,-1.43959104e+00,
  9.20925824e+01,-7.55745914e+01]

qfrc_actuator:
[ 0.00052602, 0.04883181, 0.00829492, 0.00154991,-0.00087622, 0.05083489,
  0.00835803, 0.00187693,-0.00213222, 0.04027165, 0.00784951, 0.0013719 ,
  0.        ,-0.00145148, 0.        ,-0.00108707, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.62922076, -0.35117787,  8.62922076,  8.62617339,
       -0.25039691, -0.35117787, -0.25039691,  2.48355513,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014696141563630694
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.55452048e-14, -7.55452048e-14,  1.00000000e+00,  5.70707797e-27,
        1.00000000e+00,  7.55452048e-14, -1.00000000e+00,  0.00000000e+00,
        7.55452048e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05115312, -0.01779467,  0.06187132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.84226056e-05,-1.34262474e-03,-3.29214989e-04,-1.03271915e-04,
  5.51983058e-05,-1.45131986e-03,-3.27248633e-04,-8.57198818e-05,
 -1.46793783e-05,-7.40797121e-04,-1.36861473e-04,-6.17707301e-05,
  9.05959403e-06,-5.20310786e-05,-1.84373980e-05, 7.41625963e-05,
  1.86063078e-03, 1.15447376e-02,-1.21635872e+00, 9.76594550e-04,
  6.51380103e-03, 1.80142564e-03]


--- Step 2040 ---
qpos:
[-6.63330676e-04, 8.45219750e-01,-2.33605027e-02, 4.53675063e-04,
 -2.03238621e-03, 8.39476607e-01,-2.67673143e-02, 2.84259752e-03,
 -1.46516923e-03, 8.58280295e-01,-1.82480205e-02,-2.10532717e-02,
  1.39401158e+00, 1.85398826e-02, 1.37339615e+00, 2.42688853e-02,
  3.41973315e-03,-5.80401249e-02, 8.05511074e-02, 6.96850228e-01,
 -3.86910755e-02,-7.15471343e-01,-3.16783374e-02]

qacc:
[  0.46244486,-12.46877896, 25.44579294,-19.07340248,  0.22923877,
 -15.83874386, 35.44028428,-30.25768877, -0.23195429, -6.0831908 ,
  14.09304591,-18.66215312,  1.24201379, -2.02211466, -4.30482235,
  14.30030326,  2.04752157, -0.6607378 , -1.62403028, -3.4646011 ,
 101.36909231,-76.02816811]

qfrc_actuator:
[ 0.00057095, 0.04835206, 0.00828467, 0.00154725,-0.00086293, 0.05027995,
  0.00837131, 0.00186944,-0.0021679 , 0.04003688, 0.00782144, 0.00134509,
  0.        ,-0.00154122, 0.        ,-0.00102067, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.47229851, -1.67539095,  8.47229851, 10.39699648,
        8.90335896, -1.67539095,  8.90335896, 53.65983419,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014691410055622939
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.55695349e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.55695349e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05146408, -0.02102247,  0.06186875])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.04011772e-05,-1.31396198e-03,-3.35343893e-04,-7.42864467e-05,
  3.87158623e-05,-1.45004032e-03,-3.33853886e-04,-8.34621025e-05,
 -4.21537789e-05,-6.86288737e-04,-2.02093978e-04,-6.48657100e-05,
 -7.79934526e-06,-1.04096354e-04,-1.40588248e-07, 6.81700381e-05,
  1.47760025e-03, 1.09768793e-02,-1.21617282e+00, 6.12674418e-04,
  6.49069448e-03, 1.79173416e-03]


--- Step 2041 ---
qpos:
[-6.98877602e-04, 8.45655866e-01,-2.33584160e-02, 4.53400007e-04,
 -2.04963517e-03, 8.39953195e-01,-2.67625758e-02, 2.84888527e-03,
 -1.46112118e-03, 8.58541028e-01,-1.82611745e-02,-2.10580194e-02,
  1.39407904e+00, 1.85368020e-02, 1.37348358e+00, 2.42683388e-02,
  3.37634688e-03,-5.83649906e-02, 8.00555187e-02, 6.96675982e-01,
 -3.35449676e-02,-7.15632107e-01,-3.72558527e-02]

qacc:
[  0.34437655,-15.24045512, 36.74673313,-37.47169665,  0.19317971,
 -15.41059184, 36.11586926,-37.10736791, -0.23328941, -6.11924916,
  13.56149279,-14.86024012,  0.65257263, -1.16420446, -5.79255543,
  19.73207099,  1.74452213, -0.40328651, -2.46373613, -5.69124822,
  91.15987492,-69.92260902]

qfrc_actuator:
[ 0.00059411, 0.04787403, 0.00831356, 0.0015279 ,-0.00084816, 0.04975876,
  0.00837724, 0.00184456,-0.00219083, 0.03981056, 0.00781009, 0.00133109,
  0.        ,-0.00157557, 0.        ,-0.0009274 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([8.63636364, 8.63246634, 0.25942584, 8.63246634, 8.63082932,
       0.18415602, 0.25942584, 0.18415602, 2.50852111, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0014642694697581532
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.68657126e-14,  3.79104751e-14,  1.00000000e+00, -2.15580618e-27,
        1.00000000e+00, -3.79104751e-14, -1.00000000e+00,  0.00000000e+00,
        5.68657126e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05139304, -0.02108941,  0.06186639])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.96063264e-05,-1.29598367e-03,-2.89944177e-04,-8.93860372e-05,
  3.25476262e-05,-1.41656795e-03,-3.41581999e-04,-1.00957597e-04,
 -4.24280910e-05,-6.60834687e-04,-1.82215152e-04,-5.20184341e-05,
 -2.73115184e-05,-6.92167157e-05, 6.72049821e-06, 9.68478699e-05,
  1.09721365e-03, 1.02658520e-02,-1.21597803e+00, 2.07142919e-04,
  6.45262608e-03, 1.78037808e-03]


--- Step 2042 ---
qpos:
[-7.33841859e-04, 8.46082049e-01,-2.33561707e-02, 4.52864643e-04,
 -2.06655470e-03, 8.40419058e-01,-2.67582983e-02, 2.85480336e-03,
 -1.45762387e-03, 8.58796089e-01,-1.82736487e-02,-2.10625550e-02,
  1.39414625e+00, 1.85336914e-02, 1.37357127e+00, 2.42669065e-02,
  3.36566454e-03,-5.86744976e-02, 7.96584996e-02, 6.96968241e-01,
 -2.86729198e-02,-7.15261364e-01,-4.25947941e-02]

qacc:
[ 3.14868812e-01,-1.40965816e+01, 3.23220825e+01,-2.97900339e+01,
  1.80732167e-01,-1.36346161e+01, 2.96177296e+01,-2.74054306e+01,
 -2.88062480e-01,-8.95461828e+00, 2.01629758e+01,-1.34219860e+01,
 -2.75830076e-01, 2.05072292e-01, 3.09686349e+00,-1.02049020e+01,
  8.17598247e+00, 3.83970350e+00, 2.46423877e+01,-1.21763307e+01,
  3.42962874e+02, 1.98777154e+02]

qfrc_actuator:
[ 0.00062184, 0.04740111, 0.00832986, 0.00151666,-0.00083261, 0.04924425,
  0.00836119, 0.00182744,-0.0022237 , 0.03952024, 0.0078443 , 0.00134254,
  0.        ,-0.00155896, 0.        ,-0.00097882, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015841613722725884
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.50413488e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.50413488e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04375241, -0.07222476,  0.06185307])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.44947209e-05,-1.27185161e-03,-2.93668539e-04,-7.92045844e-05,
  3.04786429e-05,-1.39323512e-03,-3.58111835e-04,-9.23591084e-05,
 -5.25010034e-05,-7.05827935e-04,-1.28454703e-04,-2.45348849e-05,
 -2.83523691e-05,-1.17158867e-05, 1.21337570e-05,-4.55615986e-05,
  7.98498256e-04, 9.59316644e-03,-1.21577506e+00,-1.82258592e-04,
  6.39834439e-03, 1.76990186e-03]


--- Step 2043 ---
qpos:
[-7.68033060e-04, 8.46498872e-01,-2.33543575e-02, 4.52152579e-04,
 -2.08353097e-03, 8.40874305e-01,-2.67544308e-02, 2.86078278e-03,
 -1.45441376e-03, 8.59045427e-01,-1.82855646e-02,-2.10672555e-02,
  1.39421296e+00, 1.85316387e-02, 1.37365894e+00, 2.42655608e-02,
  3.38739926e-03,-5.89655672e-02, 7.93377308e-02, 6.97719871e-01,
 -2.41781811e-02,-7.14378752e-01,-4.75961832e-02]

qacc:
[ 4.15745171e-01,-1.15210825e+01, 2.38790325e+01,-1.93721588e+01,
 -2.67355272e-02,-1.27463876e+01, 2.48401883e+01,-1.53300196e+01,
 -1.49075631e-01,-9.46181980e+00, 2.34580972e+01,-2.30016843e+01,
 -1.01321208e+00, 1.55957530e+00,-1.73793956e-01, 8.55018458e-01,
  8.10426404e+00, 4.60932194e+00, 1.90625910e+01,-1.50828317e+01,
  3.29790996e+02, 2.69696403e+02]

qfrc_actuator:
[ 0.00066986, 0.04697059, 0.00832089, 0.00151029,-0.00085222, 0.04873788,
  0.00835012, 0.00183277,-0.00222674, 0.03922967, 0.00786941, 0.00133335,
  0.        ,-0.00147672, 0.        ,-0.00097306, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.55066741, -1.21361599, -8.55066741,  8.97220357,
       -2.36619785, -1.21361599, -2.36619785, 25.30767567,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00231837971825824
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.78878855e-14, -2.39439427e-14,  1.00000000e+00,  1.14662479e-27,
        1.00000000e+00,  2.39439427e-14, -1.00000000e+00,  0.00000000e+00,
        4.78878855e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05360936, -0.0839156 ,  0.06178838])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.24363177e-05,-1.21603856e-03,-3.13977258e-04,-7.32200291e-05,
 -5.62618506e-06,-1.37481931e-03,-3.49952953e-04,-6.92889899e-05,
 -2.74641176e-05,-7.18824064e-04,-1.39237207e-04,-4.47042343e-05,
 -1.61962250e-05, 7.21337078e-05,-2.76758240e-06, 4.04692303e-06,
 -4.06562612e-05, 4.77531749e-03,-1.21551938e+00,-1.26888817e-03,
  6.39212692e-03, 1.71290340e-03]


--- Step 2044 ---
qpos:
[-8.01237007e-04, 8.46906642e-01,-2.33523597e-02, 4.50927558e-04,
 -2.10058688e-03, 8.41320022e-01,-2.67513609e-02, 2.86699591e-03,
 -1.45117847e-03, 8.59289160e-01,-1.82966086e-02,-2.10717284e-02,
  1.39427944e+00, 1.85304903e-02, 1.37374628e+00, 2.42666299e-02,
  3.43587554e-03,-5.92408463e-02, 7.90782314e-02, 6.98861318e-01,
 -2.00049797e-02,-7.13060582e-01,-5.23188773e-02]

qacc:
[ 5.30127385e-01,-1.35262553e+01, 3.30430294e+01,-3.55716437e+01,
 -3.96889306e-02,-9.87534763e+00, 1.59573091e+01,-3.63959408e+00,
  1.58625602e-02,-9.37272790e+00, 2.17150236e+01,-1.50629287e+01,
 -4.90432378e-01, 9.92329427e-01,-7.74433126e+00, 2.65261036e+01,
  6.68539289e+00, 3.94762206e+00, 1.53173229e+01,-1.82774705e+01,
  2.80167878e+02, 2.26621344e+02]

qfrc_actuator:
[ 0.00072965, 0.04656892, 0.00835056, 0.0014891 ,-0.00085716, 0.0483471 ,
  0.00834218, 0.00185129,-0.00221192, 0.03897678, 0.00792441, 0.00134756,
  0.        ,-0.00142718, 0.        ,-0.00084485, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([8.63636364, 6.06071188, 6.15260501, 6.06071188, 7.32995037,
       1.28690114, 6.15260501, 1.28690114, 7.36868319, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0029150582284060006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.80857924e-14, -1.90428962e-14,  1.00000000e+00,  7.25263791e-28,
        1.00000000e+00,  1.90428962e-14, -1.00000000e+00,  0.00000000e+00,
        3.80857924e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05181666, -0.08319528,  0.06173724])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.26289744e-05,-1.15968378e-03,-2.66040067e-04,-8.62129151e-05,
 -7.74164390e-06,-1.24600191e-03,-3.41129131e-04,-5.45595301e-05,
  2.23454827e-06,-6.91365000e-04,-1.14013337e-04,-2.26089678e-05,
  8.57579943e-06, 6.88541816e-05,-3.55375789e-06, 1.27488488e-04,
  4.59216286e-06, 3.06048018e-04,-1.21537483e+00,-2.16465942e-03,
  6.39816347e-03, 1.64838794e-03]


--- Step 2045 ---
qpos:
[-8.34038356e-04, 8.47305945e-01,-2.33501389e-02, 4.49711227e-04,
 -2.11763840e-03, 8.41756690e-01,-2.67490879e-02, 2.87295889e-03,
 -1.44765953e-03, 8.59527264e-01,-1.83069009e-02,-2.10759924e-02,
  1.39434582e+00, 1.85302173e-02, 1.37383410e+00, 2.42648555e-02,
  3.50524421e-03,-5.94940198e-02, 7.89020956e-02, 7.00298251e-01,
 -1.62070423e-02,-7.11409454e-01,-5.67122576e-02]

qacc:
[ 2.17980814e-01,-1.17883113e+01, 2.57636962e+01,-1.97541803e+01,
  5.21250017e-03,-1.02383107e+01, 2.02155135e+01,-1.66266595e+01,
  1.52063505e-01,-9.10672888e+00, 2.07992281e+01,-1.42588611e+01,
 -8.70578320e-01, 1.40395973e+00, 9.44483903e+00,-3.17215273e+01,
  5.22309603e+00, 5.52641890e+00, 2.08409284e+01,-1.94727488e+01,
  2.08584886e+02, 2.59929310e+02]

qfrc_actuator:
[ 0.00072495, 0.04620575, 0.00838519, 0.00149494,-0.00085325, 0.04794006,
  0.00831892, 0.00184203,-0.00218658, 0.03869541, 0.0079613 , 0.00135774,
  0.        ,-0.0013798 , 0.        ,-0.00100059, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,   8.05389018,   3.11795283,   8.05389018,
        13.43373371, -12.39194234,   3.11795283, -12.39194234,
        40.64561714,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0034152629972229523
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.12692189e-15, -1.62538438e-14,  1.00000000e+00,  1.32093719e-28,
        1.00000000e+00,  1.62538438e-14, -1.00000000e+00,  0.00000000e+00,
        8.12692189e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02781055, -0.08362288,  0.06169535])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.76456427e-05,-1.08010844e-03,-2.43893900e-04,-5.53537103e-05,
  1.36422600e-07,-1.18752634e-03,-3.28168465e-04,-7.62204405e-05,
  2.68126615e-05,-6.98202740e-04,-1.22539935e-04,-2.41568352e-05,
  2.00474629e-05, 7.10973260e-05, 1.10194895e-05,-1.49432542e-04,
  7.30106816e-04,-3.04115019e-03,-1.21530913e+00,-2.82752300e-03,
  6.38105015e-03, 1.58110418e-03]


--- Step 2046 ---
qpos:
[-8.66930692e-04, 8.47697005e-01,-2.33480349e-02, 4.49245851e-04,
 -2.13477991e-03, 8.42184777e-01,-2.67474941e-02, 2.87868076e-03,
 -1.44385787e-03, 8.59760295e-01,-1.83173868e-02,-2.10814951e-02,
  1.39441230e+00, 1.85303394e-02, 1.37392180e+00, 2.42625926e-02,
  3.59186075e-03,-5.97286171e-02, 7.87926454e-02, 7.01986157e-01,
 -1.27277543e-02,-7.09473835e-01,-6.08302354e-02]

qacc:
[-4.54896984e-02,-9.01449095e+00, 1.31712129e+01, 6.06395395e+00,
 -4.55163767e-02,-9.92932946e+00, 1.99738231e+01,-1.67610406e+01,
  1.50659575e-01,-8.71321201e+00, 2.65622947e+01,-4.39504293e+01,
 -1.79564583e-01, 4.50406488e-01, 1.33350603e+00,-4.84911870e+00,
  4.31196552e+00, 4.64403779e+00, 1.66713840e+01,-1.96461352e+01,
  1.77620029e+02, 2.19201721e+02]

qfrc_actuator:
[ 0.0006995 , 0.04581545, 0.0083872 , 0.00153443,-0.00086185, 0.0475621 ,
  0.00830453, 0.00183423,-0.00217296, 0.03845248, 0.0079516 , 0.00129442,
  0.        ,-0.00136953, 0.        ,-0.00102061, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.65250012,  8.47679304,  1.65250012, 14.93885038,
       -1.2286321 ,  8.47679304, -1.2286321 ,  8.87587812,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037870886392991424
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.46580016e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.46580016e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02714497, -0.0832011 ,  0.06166489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.81220952e-06,-1.05663770e-03,-2.56224099e-04,-1.69128374e-05,
 -8.68679446e-06,-1.12376078e-03,-3.06287376e-04,-7.22020380e-05,
  2.67391497e-05,-6.65283909e-04,-1.71615119e-04,-9.82706779e-05,
  2.51823248e-05, 3.76328774e-05,-1.50547823e-05,-2.77104134e-05,
  1.76563178e-03,-5.31453343e-03,-1.21529585e+00,-3.18659844e-03,
  6.38221345e-03, 1.51698412e-03]


--- Step 2047 ---
qpos:
[-8.99519618e-04, 8.48080177e-01,-2.33469990e-02, 4.49610964e-04,
 -2.15175519e-03, 8.42604261e-01,-2.67462365e-02, 2.88422911e-03,
 -1.44003566e-03, 8.59988591e-01,-1.83292801e-02,-2.10873335e-02,
  1.39447879e+00, 1.85309406e-02, 1.37400903e+00, 2.42630950e-02,
  3.69286019e-03,-5.99475987e-02, 7.87355913e-02, 7.03887878e-01,
 -9.52080530e-03,-7.07292765e-01,-6.47159525e-02]

qacc:
[ 1.63932401e-01,-5.72646068e+00, 1.78988347e+00, 2.00858522e+01,
  9.21238173e-02,-1.07789125e+01, 2.26732399e+01,-1.88227281e+01,
  1.16082207e-02,-3.01653061e+00, 3.09265346e+00,-3.17360911e+00,
 -2.70031244e-03, 2.93525539e-01,-9.07218445e+00, 3.07281408e+01,
  3.59572700e+00, 3.90393202e+00, 1.30990353e+01,-1.93023452e+01,
  1.52238246e+02, 1.86197691e+02]

qfrc_actuator:
[ 0.00073295, 0.0454298 , 0.00833438, 0.00157561,-0.00084234, 0.04715148,
  0.00829566, 0.00182741,-0.00218423, 0.03821655, 0.00787908, 0.00127713,
  0.        ,-0.00134591, 0.        ,-0.00087164, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  0.39022935,  8.62754298,  0.39022935, 18.05728982,
       -0.42611458,  8.62754298, -0.42611458,  8.65563707,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0040354413783400545
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.37559057e-14,  1.37559057e-14,  1.00000000e+00, -1.89224943e-28,
        1.00000000e+00, -1.37559057e-14, -1.00000000e+00,  0.00000000e+00,
        1.37559057e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02670516, -0.08293048,  0.06164477])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.83380627e-05,-1.03957337e-03,-3.06329737e-04,-1.38808523e-05,
  1.53124444e-05,-1.11584981e-03,-2.84679319e-04,-6.76462278e-05,
  1.80986066e-06,-6.53053239e-04,-2.36201632e-04,-5.39671490e-05,
  1.99414092e-05, 4.15471101e-05,-1.10910828e-05, 1.45237235e-04,
  2.96067015e-03,-6.94152078e-03,-1.21533152e+00,-3.43535162e-03,
  6.38035647e-03, 1.45175377e-03]


--- Step 2048 ---
qpos:
[-9.31248964e-04, 8.48455585e-01,-2.33467949e-02, 4.50767981e-04,
 -2.16826728e-03, 8.43014534e-01,-2.67445960e-02, 2.88897685e-03,
 -1.43628597e-03, 8.60211915e-01,-1.83423156e-02,-2.10926373e-02,
  1.39454533e+00, 1.85318821e-02, 1.37409646e+00, 2.42630026e-02,
  3.79111124e-03,-6.01353798e-02, 7.87767842e-02, 7.05673143e-01,
 -6.71434378e-03,-7.05217569e-01,-6.81800016e-02]

qacc:
[ 4.60247860e-01,-6.30085367e+00, 4.24039037e+00, 1.64975555e+01,
  2.51930290e-01,-1.48769936e+01, 3.87723001e+01,-4.64841261e+01,
 -3.71477568e-02,-2.27537173e+00,-3.66793759e+00, 1.83833686e+01,
 -2.16905100e-01, 4.44691260e-01, 2.11898415e+00,-6.92209314e+00,
 -6.87097815e-01, 7.80011979e+00, 2.45617460e+01, 1.10440252e+01,
 -9.34137118e+01, 2.85766057e+02]

qfrc_actuator:
[ 0.00080138, 0.04506762, 0.00830291, 0.00161743,-0.00080619, 0.04667148,
  0.0083078 , 0.0017857 ,-0.00219253, 0.03796876, 0.00782342, 0.00130479,
  0.        ,-0.00133226, 0.        ,-0.00090839, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.63335026, -0.22812324,  8.63335026,  8.6957186 ,
        2.24629543, -0.22812324,  2.24629543, 93.64767246,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004436715660560843
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.50235334e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.50235334e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01971957, -0.08760836,  0.06161486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.07534903e-05,-1.01656482e-03,-2.87446664e-04,-1.41774970e-05,
  4.31323279e-05,-1.17594339e-03,-2.59154649e-04,-1.01349083e-04,
 -7.05167781e-06,-6.69390633e-04,-2.23191214e-04,-9.84499408e-06,
  1.91243867e-05, 3.12760789e-05, 1.04987832e-05,-3.02191347e-05,
  4.21426141e-03,-8.11475444e-03,-1.21540375e+00,-3.60948773e-03,
  6.37767211e-03, 1.38648925e-03]


--- Step 2049 ---
qpos:
[-9.62207476e-04, 8.48823106e-01,-2.33467164e-02, 4.51681446e-04,
 -2.18407557e-03, 8.43416036e-01,-2.67428253e-02, 2.89417196e-03,
 -1.43282007e-03, 8.60430014e-01,-1.83550975e-02,-2.10976395e-02,
  1.39461220e+00, 1.85323174e-02, 1.37418416e+00, 2.42604752e-02,
  3.88083635e-03,-6.02955607e-02, 7.88978894e-02, 7.07248094e-01,
 -4.24522500e-03,-7.03351629e-01,-7.12642783e-02]

qacc:
[ 4.13286905e-01,-1.05684487e+01, 2.35894704e+01,-2.18123324e+01,
  3.80485088e-01,-1.10231004e+01, 2.06043231e+01,-6.63224486e+00,
 -1.47452085e-01,-6.99160568e+00, 1.36403387e+01,-4.99676324e+00,
  3.34282614e-01,-5.67083603e-01, 7.74939156e+00,-2.66010706e+01,
 -2.13148525e+00, 6.90004657e+00, 1.99780602e+01, 2.13121267e+01,
 -1.60769370e+02, 2.45078438e+02]

qfrc_actuator:
[ 0.00083686, 0.04468706, 0.0083022 , 0.00160608,-0.00076042, 0.04627814,
  0.00833194, 0.00181251,-0.00221672, 0.03773374, 0.00784918, 0.00132319,
  0.        ,-0.00137791, 0.        ,-0.00103657, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,   4.76727852,   7.20137712,   4.76727852,
        47.43491877, -25.68446498,   7.20137712, -25.68446498,
        25.63936128,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004801696952369155
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.02116904e-08,  5.12781868e-14,  1.00000000e+00, -4.11311005e-21,
        1.00000000e+00, -5.12781868e-14, -1.00000000e+00,  0.00000000e+00,
        8.02116904e-08])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03215451, -0.08842688,  0.06158996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.24144850e-05,-1.01799844e-03,-2.49554323e-04,-6.57031061e-05,
  6.57143243e-05,-1.11880859e-03,-2.57500149e-04,-3.51569599e-05,
 -2.71564705e-05,-6.61055742e-04,-1.41965040e-04,-1.84911582e-05,
  1.61333122e-05,-3.13663895e-05,-1.06040294e-06,-1.29089588e-04,
  3.91043852e-03,-7.01187399e-03,-1.21558426e+00,-3.17281001e-03,
  6.55008536e-03, 1.42335749e-03]


--- Step 2050 ---
qpos:
[-9.93025574e-04, 8.49182817e-01,-2.33469774e-02, 4.51409386e-04,
 -2.19920026e-03, 8.43809215e-01,-2.67411015e-02, 2.90027911e-03,
 -1.42983600e-03, 8.60643294e-01,-1.83677182e-02,-2.11024358e-02,
  1.39467915e+00, 1.85325397e-02, 1.37427160e+00, 2.42584448e-02,
  3.95992339e-03,-6.04323736e-02, 7.90808816e-02, 7.08584697e-01,
 -2.05587706e-03,-7.01729712e-01,-7.40196715e-02]

qacc:
[ 7.73372299e-02,-1.18065890e+01, 3.21306059e+01,-4.63720078e+01,
  3.69251525e-01,-8.98298702e+00, 1.22245645e+01, 9.74619620e+00,
 -2.51939429e-01,-6.39162276e+00, 1.26858315e+01,-5.84874449e+00,
  2.45344520e-01,-3.63922188e-01,-1.91875867e+00, 6.08245747e+00,
 -2.65951739e+00, 5.84200895e+00, 1.54717505e+01, 2.49160339e+01,
 -1.80781474e+02, 2.05681017e+02]

qfrc_actuator:
[ 0.00081681, 0.04429869, 0.00828406, 0.00154579,-0.00072706, 0.04590456,
  0.00834564, 0.00186176,-0.00225021, 0.03752638, 0.00786959, 0.00133605,
  0.        ,-0.00138742, 0.        ,-0.00100448, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.05001918,  3.12793351, -8.05001918, 16.33100998,
       19.80286681,  3.12793351, 19.80286681, 59.60082857,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005178216724846474
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07201290e-14,  1.60801935e-14,  1.00000000e+00, -1.72381748e-28,
        1.00000000e+00, -1.60801935e-14, -1.00000000e+00,  0.00000000e+00,
        1.07201290e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04013634, -0.08884689,  0.06156661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30046003e-05,-1.02079013e-03,-2.64324356e-04,-1.14379121e-04,
  6.38528577e-05,-1.06371701e-03,-2.53579881e-04,-8.91682126e-06,
 -4.59981055e-05,-6.12213704e-04,-1.35841338e-04,-2.10241147e-05,
 -1.95896235e-07,-1.55283680e-05,-1.67645777e-05, 2.43072105e-05,
  3.12828292e-03,-5.56213727e-03,-1.21574694e+00,-2.71153258e-03,
  6.72822401e-03, 1.48814280e-03]


--- Step 2051 ---
qpos:
[-1.02378380e-03, 8.49534606e-01,-2.33469613e-02, 4.50723006e-04,
 -2.21392205e-03, 8.44194132e-01,-2.67395456e-02, 2.90588040e-03,
 -1.42710998e-03, 8.60851722e-01,-1.83798044e-02,-2.11063785e-02,
  1.39474601e+00, 1.85328825e-02, 1.37435869e+00, 2.42587920e-02,
  4.02992074e-03,-6.05498769e-02, 7.93120300e-02, 7.09720259e-01,
 -1.07067648e-04,-7.00318348e-01,-7.64941478e-02]

qacc:
[ 3.49400336e-02,-1.20882565e+01, 2.96666725e+01,-3.14665852e+01,
  2.18656156e-01,-1.14816700e+01, 2.72367011e+01,-2.96588150e+01,
 -1.33776971e-01,-6.14567177e+00, 9.01441375e+00, 8.45028350e+00,
  8.73330442e-02,-4.02307417e-02,-7.74620820e+00, 2.62945377e+01,
 -2.27242184e+00, 4.82739648e+00, 1.20390684e+01, 2.09289847e+01,
 -1.54327742e+02, 1.76267694e+02]

qfrc_actuator:
[ 0.00081702, 0.04392647, 0.008309  , 0.00152819,-0.00071915, 0.04549263,
  0.00833545, 0.00183506,-0.00225345, 0.03730179, 0.00790455, 0.00138107,
  0.        ,-0.00137533, 0.        ,-0.0008782 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.59814774,  0.8115616 , -8.59814774,  8.70011969,
        0.67546811,  0.8115616 ,  0.67546811, 15.79265911,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005430042963785867
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02229672e-14, -1.02229672e-14,  1.00000000e+00,  1.04509059e-28,
        1.00000000e+00,  1.02229672e-14, -1.00000000e+00,  0.00000000e+00,
        1.02229672e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03987723, -0.08863229,  0.06155331])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.41362086e-06,-1.01114768e-03,-2.25268459e-04,-7.32535110e-05,
  3.75465548e-05,-1.06911992e-03,-2.64637514e-04,-8.18446608e-05,
 -2.47037377e-05,-6.00863394e-04,-1.10513147e-04, 1.33931121e-05,
 -4.02869213e-06, 7.25391404e-06,-5.77568537e-06, 1.25304997e-04,
  2.28574158e-03,-4.20130304e-03,-1.21587242e+00,-2.31380662e-03,
  6.88442330e-03, 1.55583188e-03]


--- Step 2052 ---
qpos:
[-1.05401421e-03, 8.49878478e-01,-2.33464524e-02, 4.50149267e-04,
 -2.22834510e-03, 8.44570315e-01,-2.67382233e-02, 2.91082718e-03,
 -1.42434574e-03, 8.61055436e-01,-1.83917256e-02,-2.11097497e-02,
  1.39481298e+00, 1.85328608e-02, 1.37444558e+00, 2.42616317e-02,
  4.09208722e-03,-6.06513168e-02, 7.95797463e-02, 7.10684527e-01,
  1.63313139e-03,-6.99090104e-01,-7.87264992e-02]

qacc:
[ 2.84022314e-01,-1.16014739e+01, 2.57135413e+01,-1.87410434e+01,
  1.62941049e-01,-1.22262495e+01, 2.96162233e+01,-3.41606218e+01,
  2.19371260e-02,-5.51008852e+00, 8.20485102e+00, 4.86944887e+00,
  5.23340744e-01,-7.34812258e-01,-7.90740943e+00, 2.70776392e+01,
 -1.95771859e+00, 4.01584699e+00, 9.14196409e+00, 1.77495873e+01,
 -1.32954653e+02, 1.52407024e+02]

qfrc_actuator:
[ 0.00086493, 0.04354942, 0.00834154, 0.0015359 ,-0.00070876, 0.04502545,
  0.00831106, 0.00179935,-0.00223858, 0.03706882, 0.00791228, 0.00140914,
  0.        ,-0.00140379, 0.        ,-0.00075074, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.61065855,  0.66583497, -8.61065855,  8.68034567,
        0.56878097,  0.66583497,  0.56878097, 15.99190816,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005580301489131315
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.94769751e-15, -4.97384876e-15,  1.00000000e+00,  4.94783429e-29,
        1.00000000e+00,  4.97384876e-15, -1.00000000e+00,  0.00000000e+00,
        9.94769751e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0397664 , -0.08855415,  0.06154775])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.95564878e-05,-1.00056382e-03,-2.09372033e-04,-4.53594685e-05,
  2.77686384e-05,-1.13258948e-03,-2.83766013e-04,-9.28732185e-05,
  3.50235598e-06,-5.96074611e-04,-1.31045908e-04,-1.51062443e-06,
 -2.18365741e-08,-2.72026720e-05, 1.01607211e-05, 1.33442541e-04,
  1.67320368e-03,-3.18534513e-03,-1.21595934e+00,-2.02277121e-03,
  7.00323000e-03, 1.60727900e-03]


--- Step 2053 ---
qpos:
[-1.08338731e-03, 8.50215111e-01,-2.33467092e-02, 4.49316150e-04,
 -2.24212464e-03, 8.44937763e-01,-2.67367488e-02, 2.91630567e-03,
 -1.42147731e-03, 8.61255307e-01,-1.84050109e-02,-2.11124241e-02,
  1.39487992e+00, 1.85327601e-02, 1.37453257e+00, 2.42653108e-02,
  4.14744870e-03,-6.07392915e-02, 7.98742729e-02, 7.11501451e-01,
  3.19091223e-03,-6.98022355e-01,-8.07483505e-02]

qacc:
[ 4.58067684e-01,-7.95566594e+00, 1.55848437e+01,-1.35331172e+01,
  3.47671182e-01,-1.08629589e+01, 1.97472099e+01,-4.37742559e+00,
  5.53760164e-02, 1.67806329e-01,-1.09018171e+01, 2.79502751e+01,
  8.04166908e-02,-1.39832250e-01,-2.39896556e+00, 8.58840181e+00,
 -1.70124833e+00, 3.36631232e+00, 6.70258936e+00, 1.51963187e+01,
 -1.15543277e+02, 1.32894662e+02]

qfrc_actuator:
[ 0.00092319, 0.04320815, 0.0083073 , 0.00152294,-0.00066143, 0.04461766,
  0.00833154, 0.00182959,-0.00223078, 0.03690364, 0.00785058, 0.00144474,
  0.        ,-0.00140289, 0.        ,-0.0007124 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.61379573,  0.62393904, -8.61379573,  8.67767637,
        0.57034334,  0.62393904,  0.57034334, 16.51024345,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00564812402702633
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  9.8282458e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -9.8282458e-15, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03976921, -0.08858035,  0.06154815])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.06753179e-05,-9.54200491e-04,-2.70976420e-04,-6.44792161e-05,
  6.01422693e-05,-1.11289232e-03,-2.54665345e-04,-3.04976684e-05,
  9.80266464e-06,-5.30373956e-04,-2.02501438e-04, 5.22789160e-06,
 -5.61807913e-06,-8.02085135e-06, 1.79698044e-05, 4.67037296e-05,
  1.22405196e-03,-2.41815952e-03,-1.21602188e+00,-1.80811017e-03,
  7.09494614e-03, 1.64701108e-03]


--- Step 2054 ---
qpos:
[-1.11168792e-03, 8.50544461e-01,-2.33474528e-02, 4.47965159e-04,
 -2.25543615e-03, 8.45297181e-01,-2.67343151e-02, 2.92194366e-03,
 -1.41851878e-03, 8.61451376e-01,-1.84188291e-02,-2.11147204e-02,
  1.39494658e+00, 1.85333592e-02, 1.37461977e+00, 2.42684396e-02,
  4.19684147e-03,-6.08158799e-02, 8.01874111e-02, 7.12190457e-01,
  4.58789727e-03,-6.97096346e-01,-8.25856473e-02]

qacc:
[ 5.72510503e-01,-9.32570580e+00, 2.14752132e+01,-2.43110650e+01,
  2.53944052e-01,-1.29533996e+01, 3.01210710e+01,-2.30034264e+01,
  4.84466068e-02,-2.75596560e+00, 9.44651746e-01, 9.23470217e+00,
 -6.90786095e-01, 1.06726221e+00, 2.05318220e+00,-6.53861683e+00,
 -1.49217827e+00, 2.84655727e+00, 4.65289348e+00, 1.31351796e+01,
 -1.01266549e+02, 1.16837010e+02]

qfrc_actuator:
[ 0.00098714, 0.04285532, 0.00828732, 0.0014979 ,-0.00064566, 0.04430226,
  0.00841416, 0.00184523,-0.00222732, 0.03674465, 0.00783744, 0.00146676,
  0.        ,-0.00134901, 0.        ,-0.00074463, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.6085612 ,  0.69242399, -8.6085612 ,  8.69311854,
        0.70560539,  0.69242399,  0.70560539, 17.40880249,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005649394722279086
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.82603517e-15,  4.91301759e-15,  1.00000000e+00, -4.82754836e-29,
        1.00000000e+00, -4.91301759e-15, -1.00000000e+00,  0.00000000e+00,
        9.82603517e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03985896, -0.08868616,  0.06155313])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01007185e-04,-9.53184726e-04,-2.55332547e-04,-7.70643178e-05,
  4.37084845e-05,-1.00059108e-03,-1.82647362e-04,-4.20290356e-05,
  8.46637264e-06,-5.01817514e-04,-1.48895771e-04,-7.88338715e-06,
 -4.08622558e-06, 4.98656028e-05, 1.07631115e-05,-2.79494668e-05,
  8.92563763e-04,-1.83295717e-03,-1.21606879e+00,-1.64880782e-03,
  7.16674979e-03, 1.67815961e-03]


--- Step 2055 ---
qpos:
[-1.13897254e-03, 8.50866143e-01,-2.33483731e-02, 4.46688191e-04,
 -2.26875282e-03, 8.45648799e-01,-2.67312927e-02, 2.92667156e-03,
 -1.41550451e-03, 8.61643699e-01,-1.84322663e-02,-2.11171582e-02,
  1.39501329e+00, 1.85340686e-02, 1.37470680e+00, 2.42728465e-02,
  4.24094611e-03,-6.08827439e-02, 8.05122857e-02, 7.12767403e-01,
  5.84202024e-03,-6.96296482e-01,-8.42597754e-02]

qacc:
[ 5.42673902e-01,-9.48285812e+00, 1.87987256e+01,-1.16046029e+01,
  4.84219966e-04,-1.38130724e+01, 3.81466273e+01,-4.91190706e+01,
  3.09098355e-02,-6.30367381e+00, 1.58928270e+01,-1.62009088e+01,
  9.06267595e-02,-1.67954799e-02,-4.14166990e+00, 1.40857080e+01,
 -1.32203265e+00, 2.43111251e+00, 2.93408659e+00, 1.14656490e+01,
 -8.95031179e+01, 1.03560332e+02]

qfrc_actuator:
[ 0.00103619, 0.042463  , 0.00827593, 0.00150148,-0.00066666, 0.04392081,
  0.00844443, 0.001799  ,-0.00222647, 0.03659085, 0.00787092, 0.0014629 ,
  0.        ,-0.00135284, 0.        ,-0.00067613, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.59037168,  0.89010746, -8.59037168,  8.74542452,
        1.05253982,  0.89010746,  1.05253982, 18.79435993,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005597322308598024
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0400148 , -0.08885229,  0.06156161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.56889720e-05,-9.89238824e-04,-2.44987676e-04,-4.80918897e-05,
 -7.13151880e-07,-9.89271225e-04,-2.03270551e-04,-9.68023610e-05,
  5.20311899e-06,-4.70038922e-04,-9.02083064e-05,-3.09212152e-05,
  9.38408851e-06, 1.10712174e-05,-1.33871029e-06, 6.76071915e-05,
  6.46864921e-04,-1.38257627e-03,-1.21610552e+00,-1.53006143e-03,
  7.22373016e-03, 1.70292922e-03]


--- Step 2056 ---
qpos:
[-1.16555434e-03, 8.51180412e-01,-2.33496475e-02, 4.46469667e-04,
 -2.28177150e-03, 8.45993108e-01,-2.67292814e-02, 2.93084636e-03,
 -1.41209480e-03, 8.61832758e-01,-1.84452412e-02,-2.11190071e-02,
  1.39508005e+00, 1.85347865e-02, 1.37479391e+00, 2.42770243e-02,
  4.28031452e-03,-6.09412089e-02, 8.08431432e-02, 7.13245288e-01,
  6.96820282e-03,-6.95609769e-01,-8.57884179e-02]

qacc:
[ 3.75966138e-01,-6.62280511e+00, 4.93599420e+00, 1.93924280e+01,
  1.61279695e-01,-7.96622357e+00, 1.67274372e+01,-1.93154103e+01,
  2.09536704e-01,-4.39122432e+00, 6.91820524e+00, 4.92004224e+00,
  1.75252106e-02, 2.36112508e-03, 8.25327702e-01,-2.69653324e+00,
 -1.18405885e+00, 2.09975042e+00, 1.49573407e+00, 1.01111250e+01,
 -7.97784392e+01, 9.25482531e+01]

qfrc_actuator:
[ 0.00105817, 0.04212129, 0.00826956, 0.00155735,-0.00063843, 0.04355597,
  0.00839002, 0.00176992,-0.0021917 , 0.03647715, 0.0079139 , 0.00149716,
  0.        ,-0.00135549, 0.        ,-0.00069081, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.54478619,  1.25435474, -8.54478619,  8.89865445,
        1.78675048,  1.25435474,  1.78675048, 20.8078812 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005502900024646637
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.01752352e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.01752352e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04022033, -0.08906361,  0.06157273])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.61487014e-05,-9.55224687e-04,-2.45061185e-04, 3.59023565e-06,
  2.77723997e-05,-9.72750423e-04,-2.89988405e-04,-8.09383485e-05,
  3.75788446e-05,-4.00955743e-04,-6.76756648e-05, 1.01335899e-05,
  7.05933042e-06, 2.93534987e-06, 5.47420668e-06,-1.14397875e-05,
  4.64436105e-04,-1.03324777e-03,-1.21613555e+00,-1.44129818e-03,
  7.26955219e-03, 1.72289656e-03]


--- Step 2057 ---
qpos:
[-1.19156531e-03, 8.51487527e-01,-2.33503160e-02, 4.46120733e-04,
 -2.29460624e-03, 8.46330578e-01,-2.67286136e-02, 2.93562794e-03,
 -1.40829113e-03, 8.62018699e-01,-1.84576966e-02,-2.11208061e-02,
  1.39514655e+00, 1.85364600e-02, 1.37488130e+00, 2.42789937e-02,
  4.31539173e-03,-6.09923285e-02, 8.11751797e-02, 7.13634801e-01,
  7.97888271e-03,-6.95025375e-01,-8.71862215e-02]

qacc:
[  0.30621773,-11.40798106, 27.51459569,-25.49070553,  0.09995369,
  -4.03113986, -1.2990202 , 18.97426444,  0.2086915 , -5.46822248,
  13.30974587,-10.99058262, -0.98558701,  1.52618939,  7.22073578,
 -24.36742609, -1.07279818,  1.83633391,  0.29475401,  9.01234773,
 -71.72418578, 83.39851463]

qfrc_actuator:
[ 0.00108157, 0.04181275, 0.00831972, 0.00155482,-0.00063421, 0.04325699,
  0.00833942, 0.0018044 ,-0.00217244, 0.03633527, 0.0079446 , 0.00150034,
  0.        ,-0.00128636, 0.        ,-0.00080767, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.43531392,  1.85263488, -8.43531392,  9.35758896,
        3.28384295,  1.85263488,  3.28384295, 23.58817436,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0053752784828113714
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03271210e-14,  5.16356049e-15,  1.00000000e+00, -5.33247139e-29,
        1.00000000e+00, -5.16356049e-15, -1.00000000e+00,  0.00000000e+00,
        1.03271210e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04046255, -0.08930812,  0.06158581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.37108795e-05,-9.00649657e-04,-1.79669224e-04,-5.23399569e-05,
  1.70736624e-05,-9.14693769e-04,-2.92829137e-04,-1.93575030e-05,
  3.74493044e-05,-3.84021124e-04,-6.14708620e-05,-1.63943214e-05,
  3.92607385e-06, 7.16729206e-05,-9.27765521e-07,-1.17312205e-04,
  3.29187259e-04,-7.60501292e-04,-1.21616110e+00,-1.37487535e-03,
  7.30689210e-03, 1.73920505e-03]


--- Step 2058 ---
qpos:
[-1.21706005e-03, 8.51788623e-01,-2.33512147e-02, 4.45299808e-04,
 -2.30765248e-03, 8.46661154e-01,-2.67281353e-02, 2.94035508e-03,
 -1.40456600e-03, 8.62201131e-01,-1.84691992e-02,-2.11232284e-02,
  1.39521310e+00, 1.85384396e-02, 1.37496858e+00, 2.42802199e-02,
  4.34653380e-03,-6.10369364e-02, 8.15043940e-02, 7.13944743e-01,
  8.88443241e-03,-6.94534274e-01,-8.84653224e-02]

qacc:
[ 2.76158238e-01,-8.28033838e+00, 1.99753123e+01,-2.33556856e+01,
 -1.10537924e-01,-8.68744414e+00, 1.79883326e+01,-1.35659259e+01,
 -3.94729634e-02,-8.58272140e+00, 2.64997257e+01,-3.62251982e+01,
 -1.80266016e-01, 3.87802958e-01, 2.12785995e+00,-7.59634509e+00,
 -9.83785326e-01, 1.62793656e+00,-7.05555847e-01, 8.12282041e+00,
 -6.50500321e+01, 7.57928425e+01]

qfrc_actuator:
[ 0.00110567, 0.04158009, 0.00833197, 0.00153577,-0.00066216, 0.04294672,
  0.00834511, 0.00180505,-0.00219814, 0.03614213, 0.00798544, 0.00146744,
  0.        ,-0.00128163, 0.        ,-0.00084174, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.169611  ,  2.80075577, -8.169611  , 10.7930798 ,
        6.29099198,  2.80075577,  6.29099198, 26.98675244,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005222070364729381
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06301040e-14, -5.31505202e-15,  1.00000000e+00,  5.64995558e-29,
        1.00000000e+00,  5.31505202e-15, -1.00000000e+00,  0.00000000e+00,
        1.06301040e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04073111, -0.08957629,  0.06160029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.85951943e-05,-7.82984001e-04,-2.00137246e-04,-6.53398801e-05,
 -2.00866216e-05,-8.91292670e-04,-2.22708092e-04,-4.95757304e-05,
 -7.58082375e-06,-4.25591161e-04,-4.79638070e-05,-5.20569692e-05,
  1.75493176e-05, 2.86292860e-05,-1.65197137e-05,-4.14138414e-05,
  2.29515758e-04,-5.46424789e-04,-1.21618365e+00,-1.32521191e-03,
  7.33772821e-03, 1.75269413e-03]


--- Step 2059 ---
qpos:
[-1.24187327e-03, 8.52083734e-01,-2.33527216e-02, 4.45304167e-04,
 -2.32073053e-03, 8.46985175e-01,-2.67278109e-02, 2.94430443e-03,
 -1.40123731e-03, 8.62379491e-01,-1.84798566e-02,-2.11252594e-02,
  1.39528007e+00, 1.85395887e-02, 1.37505584e+00, 2.42803292e-02,
  4.37402255e-03,-6.10756877e-02, 8.18274626e-02, 7.14182364e-01,
  9.69349602e-03,-6.94128962e-01,-8.96357677e-02]

qacc:
[ 3.63632934e-01,-4.50589498e+00, 1.11121863e+00, 1.85397801e+01,
 -1.46998666e-02,-9.82306701e+00, 2.57480299e+01,-3.41546390e+01,
 -2.06481450e-01,-6.93553766e+00, 1.52736402e+01,-6.87251458e+00,
  7.29985724e-01,-1.14915239e+00, 3.24859866e+00,-1.16435338e+01,
 -9.13331491e-01, 1.46416395e+00,-1.53640797e+00, 7.40558216e+00,
 -5.95238484e+01, 6.94757574e+01]

qfrc_actuator:
[ 0.00114777, 0.04128816, 0.00830431, 0.00157821,-0.00065583, 0.04265021,
  0.00834844, 0.00176808,-0.00223276, 0.03590212, 0.00801398, 0.00148455,
  0.        ,-0.00135078, 0.        ,-0.00089774, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -7.50914505,  4.26608925, -7.50914505, 15.36392404,
       11.84181202,  4.26608925, 11.84181202, 29.48025107,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005049601163935338
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09931754e-14, -5.49658769e-15,  1.00000000e+00,  6.04249525e-29,
        1.00000000e+00,  5.49658769e-15, -1.00000000e+00,  0.00000000e+00,
        1.09931754e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04101776, -0.08986051,  0.06161574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.42261503e-05,-7.81087761e-04,-2.18662647e-04, 2.40289985e-07,
 -3.18579691e-06,-8.51082257e-04,-2.12574590e-04,-8.43473931e-05,
 -3.78994299e-05,-4.94369507e-04,-6.84056406e-05,-4.04829130e-06,
  1.41786477e-05,-5.58252665e-05,-1.33646788e-05,-6.06987777e-05,
  1.56994338e-04,-3.77797605e-04,-1.21620419e+00,-1.28819783e-03,
  7.36353866e-03, 1.76398667e-03]


--- Step 2060 ---
qpos:
[-1.26619238e-03, 8.52372700e-01,-2.33539943e-02, 4.45770037e-04,
 -2.33353851e-03, 8.47302401e-01,-2.67274722e-02, 2.94847978e-03,
 -1.39813627e-03, 8.62553561e-01,-1.84895959e-02,-2.11277414e-02,
  1.39534724e+00, 1.85400001e-02, 1.37514330e+00, 2.42774030e-02,
  4.39807783e-03,-6.11090924e-02, 8.21416340e-02, 7.14353630e-01,
  1.04132638e-02,-6.93803216e-01,-9.07058569e-02]

qacc:
[  0.26465874, -7.81995662, 14.15512318, -2.03138291,  0.14669865,
  -8.5482753 , 16.49905643, -7.62234925, -0.11760019, -9.1606227 ,
  26.34018603,-32.45904784,  0.32578184, -0.72827011,  9.46761954,
 -32.7613704 , -0.858364  ,  1.3366264 , -2.22431435,  6.83090367,
 -54.95764282, 64.23952343]

qfrc_actuator:
[ 0.00116479, 0.04099854, 0.00832419, 0.00160317,-0.00062904, 0.04231113,
  0.00835041, 0.00178029,-0.00223688, 0.03567146, 0.00805261, 0.00145988,
  0.        ,-0.00139223, 0.        ,-0.00105498, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.90353927,  6.30357049, -5.90353927, 28.05111759,
       18.18267323,  6.30357049, 18.18267323, 25.66514528,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004863116785216122
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14147272e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.14147272e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04131592, -0.0901547 ,  0.0616318 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.65259909e-05,-7.78576391e-04,-1.70695998e-04,-1.65064909e-05,
  2.51976484e-05,-8.70407443e-04,-2.05540047e-04,-3.37586422e-05,
 -2.18188954e-05,-5.25558152e-04,-7.33473144e-05,-4.85303803e-05,
 -6.67400132e-06,-5.57242117e-05,-1.36380362e-05,-1.62533626e-04,
  1.05470067e-04,-2.44797646e-04,-1.21622338e+00,-1.26078583e-03,
  7.38543800e-03, 1.77354900e-03]


--- Step 2061 ---
qpos:
[-1.29007773e-03, 8.52655681e-01,-2.33551047e-02, 4.46161381e-04,
 -2.34580786e-03, 8.47612980e-01,-2.67269403e-02, 2.95272706e-03,
 -1.39517741e-03, 8.62724403e-01,-1.84992459e-02,-2.11305837e-02,
  1.39541437e+00, 1.85401332e-02, 1.37523053e+00, 2.42739431e-02,
  4.41886790e-03,-6.11375430e-02, 8.24446383e-02, 7.14463436e-01,
  1.10496983e-02,-6.93551899e-01,-9.16824217e-02]

qacc:
[  0.2324362 , -8.51243824, 19.19239892,-16.34819607,  0.29002119,
  -9.16797727, 19.64490199,-13.83064107, -0.07356174, -5.25685491,
  14.07248735,-18.07598015,  0.09663478, -0.2798551 ,  1.25732901,
  -4.9342803 , -0.81630505,  1.23852717, -2.79177485,  6.37461947,
 -51.19745783, 59.91332543]

qfrc_actuator:
[ 0.00118444, 0.04071288, 0.00833649, 0.00159994,-0.00059024, 0.04200262,
  0.00836919, 0.00178581,-0.00224045, 0.03557252, 0.00807913, 0.00144635,
  0.        ,-0.00139907, 0.        ,-0.00107532, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -2.76509149,  8.18175079, -2.76509149, 46.60610176,
       12.83219233,  8.18175079, 12.83219233, 12.97311096,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004666956304835351
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.37890169e-14, -5.94725423e-15,  1.00000000e+00,  1.41479331e-28,
        1.00000000e+00,  5.94725423e-15, -1.00000000e+00,  0.00000000e+00,
        2.37890169e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04162032, -0.09045402,  0.0616482 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.08358818e-05,-7.63892606e-04,-1.72382773e-04,-4.32582169e-05,
  5.04739383e-05,-8.46848849e-04,-1.90035535e-04,-4.00378888e-05,
 -1.36487382e-05,-4.14100393e-04,-9.40165361e-05,-3.97681021e-05,
 -1.69398766e-05,-2.56436835e-05,-2.60147376e-05,-3.15289344e-05,
  7.04364648e-05,-1.40092813e-04,-1.21624170e+00,-1.24070496e-03,
  7.40427292e-03, 1.78173281e-03]


--- Step 2062 ---
qpos:
[-1.31316677e-03, 8.52932308e-01,-2.33564763e-02, 4.46579922e-04,
 -2.35752918e-03, 8.47917570e-01,-2.67276092e-02, 2.95631880e-03,
 -1.39250254e-03, 8.62891688e-01,-1.85090783e-02,-2.11321293e-02,
  1.39548125e+00, 1.85406020e-02, 1.37531748e+00, 2.42712301e-02,
  4.43651806e-03,-6.11613363e-02, 8.27346112e-02, 7.14515782e-01,
  1.16077228e-02,-6.93370793e-01,-9.25710583e-02]

qacc:
[  0.42455275, -7.60600923, 14.82455899, -9.27030109,  0.29374337,
  -5.90357966, 12.33663873,-17.36306399, -0.14807199, -1.51826458,
  -6.86632036, 32.18533753, -0.30841417,  0.45903842, -2.62921939,
   8.69878159, -0.78497854,  1.16433961, -3.25787167,  6.01690403,
 -48.11600825, 56.35538017]

qfrc_actuator:
[ 0.00124103, 0.04036086, 0.00830871, 0.00159788,-0.00056238, 0.04171502,
  0.00830912, 0.00175187,-0.00226144, 0.03537575, 0.00806335, 0.00151059,
  0.        ,-0.00136755, 0.        ,-0.00103256, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  0.92904192,  8.58624819,  0.92904192, 47.53825389,
       -4.20922923,  8.58624819, -4.20922923,  9.09180708,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004464696344830293
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.48667085e-14, -6.21667712e-15,  1.00000000e+00,  1.54588298e-28,
        1.00000000e+00,  6.21667712e-15, -1.00000000e+00,  0.00000000e+00,
        2.48667085e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04192678, -0.09075463,  0.06166471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.51183898e-05,-8.23376820e-04,-2.10513421e-04,-4.20163311e-05,
  5.13833405e-05,-8.09662811e-04,-2.62278513e-04,-7.80598879e-05,
 -2.71817615e-05,-4.53427260e-04,-1.15523474e-04, 4.22419424e-05,
 -1.46741427e-05, 1.98244972e-05,-1.62762083e-05, 3.74892069e-05,
  4.85902330e-05,-5.81938706e-05,-1.21625948e+00,-1.22625701e-03,
  7.42069040e-03, 1.78880476e-03]


--- Step 2063 ---
qpos:
[-1.33562337e-03, 8.53203066e-01,-2.33581740e-02, 4.47595599e-04,
 -2.36914714e-03, 8.48215819e-01,-2.67294498e-02, 2.95812965e-03,
 -1.39010049e-03, 8.63054876e-01,-1.85182376e-02,-2.11325418e-02,
  1.39554810e+00, 1.85411316e-02, 1.37540462e+00, 2.42666747e-02,
  4.45111806e-03,-6.11806913e-02, 8.30100289e-02, 7.14513919e-01,
  1.20913790e-02,-6.93256461e-01,-9.33763203e-02]

qacc:
[  0.33735705, -5.61262877,  6.24015245,  8.92585843,  0.05658788,
  -8.76711571, 26.62062084,-50.91304628, -0.14145595, -4.95867657,
   5.05176108, 16.47192633, -0.23201701,  0.26801439,  5.8713435 ,
 -20.08790945, -0.76253743,  1.10955302, -3.63877977,  5.7413607 ,
 -45.60723485, 53.44709605]

qfrc_actuator:
[ 0.00126598, 0.04011383, 0.00831049, 0.00163197,-0.00057681, 0.04137096,
  0.00823857, 0.00165946,-0.00227494, 0.03515741, 0.00809342, 0.00156673,
  0.        ,-0.00136679, 0.        ,-0.00113054, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,   3.54525784,   7.87514595,   3.54525784,
        35.28711011, -11.99771642,   7.87514595, -11.99771642,
        14.03753315,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004259272135684403
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.30330135e-14, -1.30330135e-14,  1.00000000e+00,  1.69859441e-28,
        1.00000000e+00,  1.30330135e-14, -1.00000000e+00,  0.00000000e+00,
        1.30330135e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04223198, -0.09105346,  0.06168115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.96495335e-05,-7.59325431e-04,-1.97830978e-04,-9.70748578e-06,
  9.53327120e-06,-8.61720721e-04,-2.75245888e-04,-1.38174859e-04,
 -2.61325938e-05,-4.97843339e-04,-7.75674938e-05, 3.33109576e-05,
 -2.76464762e-06, 3.84049929e-06,-4.64020090e-06,-9.82597588e-05,
  3.75146482e-05, 5.01204266e-06,-1.21627697e+00,-1.21617007e-03,
  7.43518675e-03, 1.79496773e-03]


--- Step 2064 ---
qpos:
[-1.35772681e-03, 8.53468666e-01,-2.33602680e-02, 4.48915020e-04,
 -2.38075995e-03, 8.48507350e-01,-2.67315690e-02, 2.95948758e-03,
 -1.38791810e-03, 8.63214549e-01,-1.85268468e-02,-2.11333856e-02,
  1.39561518e+00, 1.85409484e-02, 1.37549174e+00, 2.42606410e-02,
  4.46272844e-03,-6.11957645e-02, 8.32696537e-02, 7.14460465e-01,
  1.25039601e-02,-6.93206124e-01,-9.41018811e-02]

qacc:
[ 1.88875546e-01,-5.07955060e+00, 6.94243236e+00, 2.73586283e+00,
  5.01509346e-03,-9.02316512e+00, 2.12092641e+01,-2.36722641e+01,
 -1.13847072e-01,-7.06978778e+00, 2.02854417e+01,-2.60430508e+01,
  4.86986807e-01,-8.71051401e-01, 4.41431060e+00,-1.55924388e+01,
 -7.47406507e-01, 1.07047216e+00,-3.94820365e+00, 5.53433401e+00,
 -4.35822087e+01, 5.10886763e+01]

qfrc_actuator:
[ 0.00127181, 0.03991408, 0.00831244, 0.00165166,-0.00058088, 0.04104903,
  0.00823318, 0.00163986,-0.00228383, 0.03501684, 0.00813248, 0.00154664,
  0.        ,-0.00141983, 0.        ,-0.00120415, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,   5.05016003,   7.00590184,   5.05016003,
        25.60886458, -12.23451995,   7.00590184, -12.23451995,
        17.45553996,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004053079303805329
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.36960437e-14,  1.36960437e-14,  1.00000000e+00, -1.87581613e-28,
        1.00000000e+00, -1.36960437e-14, -1.00000000e+00,  0.00000000e+00,
        1.36960437e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04253334, -0.09134814,  0.06169738])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.32591028e-05,-6.72073416e-04,-1.81713677e-04,-2.02871866e-05,
  2.84290308e-07,-8.73789841e-04,-2.24443401e-04,-6.91931849e-05,
 -2.10482700e-05,-4.37352611e-04,-7.33668050e-05,-4.36756531e-05,
 -1.07326728e-06,-5.22113630e-05,-1.53113044e-05,-8.01763394e-05,
  3.54510727e-05, 5.26013905e-05,-1.21629437e+00,-1.20949198e-03,
  7.44814334e-03, 1.80037619e-03]


--- Step 2065 ---
qpos:
[-1.37935418e-03, 8.53729181e-01,-2.33618632e-02, 4.49342901e-04,
 -2.39215865e-03, 8.48792513e-01,-2.67337769e-02, 2.96156737e-03,
 -1.38571434e-03, 8.63370756e-01,-1.85351730e-02,-2.11358375e-02,
  1.39568243e+00, 1.85399309e-02, 1.37557845e+00, 2.42564279e-02,
  4.47138587e-03,-6.12066614e-02, 8.35124876e-02, 7.14357506e-01,
  1.28481235e-02,-6.93217564e-01,-9.47506707e-02]

qacc:
[ 2.54470402e-01,-9.94389235e+00, 2.94715340e+01,-4.19675178e+01,
  1.16453462e-01,-6.67508534e+00, 8.54735774e+00, 8.76314071e+00,
  1.25654975e-02,-8.68246058e+00, 3.10902622e+01,-5.68088279e+01,
  8.00142412e-01,-1.29023422e+00,-6.25335345e+00, 2.07032818e+01,
 -7.38236746e-01, 1.04405853e+00,-4.19775018e+00, 5.38438316e+00,
 -4.19659991e+01, 4.91957499e+01]

qfrc_actuator:
[ 0.00130168, 0.03969109, 0.00835019, 0.00160951,-0.00056093, 0.0407788 ,
  0.00824871, 0.00168108,-0.00227216, 0.03483523, 0.00814128, 0.00146417,
  0.        ,-0.00146891, 0.        ,-0.00110299, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,   5.92502496,   6.28337935,   5.92502496,
        20.08050469, -10.79145753,   6.28337935, -10.79145753,
        18.81236155,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038480596298403197
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04282882, -0.0916368 ,  0.06171329])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.49039634e-05,-6.43530751e-04,-1.26227569e-04,-7.80325559e-05,
  1.99715834e-05,-8.15229172e-04,-1.97307681e-04,-5.77092098e-06,
  1.93870365e-06,-4.46912875e-04,-9.32592127e-05,-1.04812918e-04,
 -1.31876354e-05,-6.56082106e-05,-1.70084907e-05, 9.44879344e-05,
  4.11325213e-05, 8.68644630e-05,-1.21631180e+00,-1.20551219e-03,
  7.45985306e-03, 1.80514758e-03]


--- Step 2066 ---
qpos:
[-1.40048531e-03, 8.53984726e-01,-2.33630973e-02, 4.49248333e-04,
 -2.40309459e-03, 8.49071696e-01,-2.67357703e-02, 2.96404328e-03,
 -1.38324686e-03, 8.63523445e-01,-1.85439465e-02,-2.11381687e-02,
  1.39574943e+00, 1.85390285e-02, 1.37566483e+00, 2.42550984e-02,
  4.47710783e-03,-6.12134472e-02, 8.37377325e-02, 7.14206676e-01,
  1.31259866e-02,-6.93289030e-01,-9.53249913e-02]

qacc:
[ 2.64996149e-01,-8.64780842e+00, 2.35134793e+01,-2.94859562e+01,
  2.48971869e-01,-7.67983624e+00, 1.42488021e+01,-3.34732552e+00,
  1.39510812e-01,-3.14972160e+00, 3.97765802e+00, 1.40713109e+00,
  9.98382815e-04, 4.98905408e-03,-9.21414845e+00, 3.15296955e+01,
 -7.33868627e-01, 1.02780448e+00,-4.39724631e+00, 5.28187363e+00,
 -4.06952365e+01, 4.76967429e+01]

qfrc_actuator:
[ 0.00132798, 0.03945614, 0.00837318, 0.00158458,-0.00052678, 0.04052416,
  0.00827672, 0.00170455,-0.00224829, 0.03464811, 0.00811421, 0.00146989,
  0.        ,-0.00144419, 0.        ,-0.00095294, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  6.474636  ,  5.71540598,  6.474636  , 16.96232401,
       -9.43197438,  5.71540598, -9.43197438, 19.32127404,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036457734143111875
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  3.0452332e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -3.0452332e-14, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04311687, -0.09191802,  0.0617288 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.68272105e-05,-6.30420102e-04,-1.30218264e-04,-5.87796833e-05,
  4.34104434e-05,-7.58401873e-04,-1.67147953e-04,-1.88355266e-05,
  2.50529049e-05,-4.64412108e-04,-1.35635341e-04,-1.89031655e-05,
 -2.13080395e-05, 8.98226789e-07, 2.49495068e-06, 1.53085077e-04,
  5.36614086e-05, 1.09491232e-04,-1.21632938e+00,-1.20370380e-03,
  7.47053994e-03, 1.80937066e-03]


--- Step 2067 ---
qpos:
[-1.42151042e-03, 8.54235023e-01,-2.33639454e-02, 4.48882245e-04,
 -2.41355266e-03, 8.49344919e-01,-2.67372220e-02, 2.96709155e-03,
 -1.38051262e-03, 8.63672870e-01,-1.85542740e-02,-2.11400273e-02,
  1.39581619e+00, 1.85385568e-02, 1.37575127e+00, 2.42548979e-02,
  4.47989658e-03,-6.12161543e-02, 8.39447574e-02, 7.14009229e-01,
  1.33392085e-02,-6.93419170e-01,-9.58266158e-02]

qacc:
[  0.0583106 , -8.56779102, 21.6356517 ,-23.1006999 ,  0.25717459,
  -8.20474685, 15.41361766, -1.99957646,  0.14031526,  1.0021778 ,
 -11.82128904, 24.87070756, -0.35517444,  0.56518709, -3.29042939,
  11.73868434, -0.73330239,  1.01963297, -4.55500953,  5.21865625,
 -39.71618493, 46.5307917 ]

qfrc_actuator:
[ 0.0013164 , 0.03918043, 0.00838725, 0.00156997,-0.00050219, 0.04024555,
  0.00831195, 0.00173516,-0.00223512, 0.03447688, 0.00803074, 0.00149194,
  0.        ,-0.00141132, 0.        ,-0.00089962, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  6.85093684,  5.25846377,  6.85093684, 15.16362595,
       -8.50397831,  5.25846377, -8.50397831, 19.71568659,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003447460610873518
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.61020407e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.61020407e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04339634, -0.09219075,  0.06174383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.88434463e-06,-6.63731147e-04,-1.36216745e-04,-4.76506540e-05,
  4.48462656e-05,-7.44793241e-04,-1.44884069e-04,-8.46725807e-06,
  2.53487059e-05,-4.63296820e-04,-1.97871376e-04,-3.11669438e-06,
 -9.36681656e-06, 2.80829101e-05, 1.64820936e-05, 6.18027310e-05,
  7.24190578e-05, 1.21710561e-04,-1.21634719e+00,-1.20368031e-03,
  7.48037405e-03, 1.81311183e-03]


--- Step 2068 ---
qpos:
[-1.44228898e-03, 8.54480381e-01,-2.33647559e-02, 4.48321124e-04,
 -2.42396549e-03, 8.49611948e-01,-2.67380938e-02, 2.96981102e-03,
 -1.37795089e-03, 8.63819699e-01,-1.85659458e-02,-2.11420578e-02,
  1.39588310e+00, 1.85377086e-02, 1.37583780e+00, 2.42550195e-02,
  4.47974263e-03,-6.12147903e-02, 8.41330699e-02, 7.13766096e-01,
  1.34890594e-02,-6.93606964e-01,-9.62568708e-02]

qacc:
[ 1.32402096e-01,-7.02986695e+00, 1.64207616e+01,-1.62306280e+01,
  2.67338611e-02,-1.04725638e+01, 2.68592692e+01,-2.89347223e+01,
 -9.05537117e-02,-2.80692249e-02,-4.15015005e+00, 5.23016906e+00,
  3.54623859e-01,-5.57124828e-01,-8.89061465e-01, 3.19265215e+00,
 -7.35673704e-01, 1.01781757e+00,-4.67807786e+00, 5.18781206e+00,
 -3.89831941e+01, 4.56460601e+01]

qfrc_actuator:
[ 0.00133555, 0.03895354, 0.0083958 , 0.00156152,-0.00051904, 0.03991941,
  0.00833334, 0.00171646,-0.00226398, 0.03440509, 0.00798572, 0.00148787,
  0.        ,-0.00144492, 0.        ,-0.00088597, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  7.13066753,  4.87240777,  7.13066753, 14.08887261,
       -7.97963358,  4.87240777, -7.97963358, 20.31439158,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0032540925107644586
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.70588731e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.70588731e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04366637, -0.09245422,  0.06175836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.32010747e-05,-6.34179119e-04,-1.48930545e-04,-4.29082598e-05,
  4.08233653e-06,-7.79522950e-04,-1.52763129e-04,-5.62151256e-05,
 -1.65439798e-05,-3.75313075e-04,-1.66270937e-04,-3.10196828e-05,
  2.39866397e-06,-2.70012055e-05, 1.15466678e-05, 1.85538540e-05,
  9.69982390e-05, 1.24395306e-04,-1.21636530e+00,-1.20516308e-03,
  7.48948276e-03, 1.81641997e-03]


--- Step 2069 ---
qpos:
[-1.46256175e-03, 8.54720840e-01,-2.33666548e-02, 4.48074344e-04,
 -2.43442062e-03, 8.49873082e-01,-2.67387763e-02, 2.97157578e-03,
 -1.37547326e-03, 8.63963924e-01,-1.85774191e-02,-2.11445790e-02,
  1.39595008e+00, 1.85365059e-02, 1.37592437e+00, 2.42553162e-02,
  4.47662775e-03,-6.12093425e-02, 8.43022928e-02, 7.13477928e-01,
  1.35764800e-02,-6.93851668e-01,-9.66167081e-02]

qacc:
[ 2.68941230e-01,-2.78348897e+00,-7.94187513e-01, 1.15749488e+01,
 -2.02892466e-02,-1.02760989e+01, 2.93720974e+01,-4.18739467e+01,
 -4.31387170e-02,-5.00505167e+00, 1.49222008e+01,-2.18145516e+01,
  2.76895945e-01,-4.81355538e-01,-5.12989159e-01, 1.78545660e+00,
 -7.40233580e-01, 1.02091835e+00,-4.77240514e+00, 5.18344723e+00,
 -3.84574374e+01, 4.49983608e+01]

qfrc_actuator:
[ 0.00137296, 0.03868672, 0.00833022, 0.00157454,-0.00052502, 0.03963838,
  0.00834617, 0.00166884,-0.00226446, 0.03432259, 0.00801744, 0.0014686 ,
  0.        ,-0.00146452, 0.        ,-0.00087803, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  7.35544791,  4.52594332,  7.35544791, 13.42470535,
       -7.78189109,  4.52594332, -7.78189109, 21.28329498,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0030664154603341903
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81029453e-14, -9.05147263e-15,  1.00000000e+00,  1.63858314e-28,
        1.00000000e+00,  9.05147263e-15, -1.00000000e+00,  0.00000000e+00,
        1.81029453e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04392638, -0.09270789,  0.06177234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.77539765e-05,-6.59883575e-04,-2.18318721e-04,-2.05065474e-05,
 -4.16039046e-06,-7.57358592e-04,-1.71068160e-04,-8.78093519e-05,
 -8.10034683e-06,-3.31421058e-04,-6.84003868e-05,-4.19070684e-05,
 -4.85451740e-06,-2.77103206e-05, 5.23327446e-06, 9.96132484e-06,
  1.27152541e-04, 1.18142255e-04,-1.21638375e+00,-1.20795663e-03,
  7.49795953e-03, 1.81933008e-03]


--- Step 2070 ---
qpos:
[-1.48190703e-03, 8.54955940e-01,-2.33691507e-02, 4.47314166e-04,
 -2.44470097e-03, 8.50129201e-01,-2.67400177e-02, 2.97234078e-03,
 -1.37267332e-03, 8.64104838e-01,-1.85873318e-02,-2.11476661e-02,
  1.39601682e+00, 1.85357837e-02, 1.37601091e+00, 2.42560462e-02,
  4.47052754e-03,-6.11997838e-02, 8.44521437e-02, 7.13145147e-01,
  1.36021320e-02,-6.94152765e-01,-9.69067651e-02]

qacc:
[  0.4925909 , -6.46798149, 14.95517055,-18.94985394,  0.09446715,
  -7.1182513 , 19.98851374,-32.71693049,  0.17138044, -9.90047088,
  31.33550108,-41.18395246, -0.4368318 ,  0.67923113, -1.29964232,
   4.6152578 , -0.74633172,  1.02773039, -4.84302686,  5.20052678,
 -38.10587259, 44.55001396]

qfrc_actuator:
[ 0.00143872, 0.03839788, 0.00829229, 0.00154676,-0.00050664, 0.03943986,
  0.00833628, 0.00162238,-0.00223018, 0.03414595, 0.0080942 , 0.00144058,
  0.        ,-0.00142232, 0.        ,-0.00085573, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  7.54997672,  4.19340297,  7.54997672, 12.98816722,
       -7.83516776,  4.19340297, -7.83516776, 22.7431248 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0028849878493220765
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.88620719e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.88620719e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04417598, -0.09295144,  0.06178575])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.76981898e-05,-7.09520981e-04,-2.03709856e-04,-6.43685900e-05,
  1.63257375e-05,-6.67449210e-04,-1.92518837e-04,-8.69363802e-05,
  3.06734211e-05,-3.81209418e-04,-2.59708259e-06,-4.55879123e-05,
 -8.61340761e-06, 3.22783986e-05, 1.52188234e-06, 2.30599520e-05,
  1.62758131e-04, 1.03333360e-04,-1.21640257e+00,-1.21192984e-03,
  7.50587064e-03, 1.82186618e-03]


--- Step 2071 ---
qpos:
[-1.50014051e-03, 8.55186152e-01,-2.33721332e-02, 4.46842281e-04,
 -2.45473977e-03, 8.50379830e-01,-2.67416308e-02, 2.97361858e-03,
 -1.36951522e-03, 8.64242331e-01,-1.85963910e-02,-2.11510050e-02,
  1.39608016e+00, 1.85365093e-02, 1.37609744e+00, 2.42580643e-02,
  4.46141372e-03,-6.11860762e-02, 8.45824177e-02, 7.12767969e-01,
  1.35664419e-02,-6.94509927e-01,-9.71274161e-02]

qacc:
[  0.59000413, -4.50307878,  5.46871495,  3.88940225,  0.13035838,
  -5.1549319 ,  5.69327754,  7.80760546,  0.18978989, -7.42349864,
  20.97119747,-24.18113131, -3.49243694,  3.61112421, -3.5585444 ,
  13.30030537, -0.75340254,  1.03724216, -4.89420074,  5.23473834,
 -37.90037515, 44.26889089]

qfrc_actuator:
[ 0.00150311, 0.03820476, 0.00828864, 0.00156621,-0.00049161, 0.03915029,
  0.00831343, 0.00164806,-0.00221093, 0.03395009, 0.00812553, 0.00142535,
  0.        ,-0.00143251, 0.        ,-0.00078965, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,   7.77305996,   3.76381665,   7.77305996,
        15.61708605, -14.41663581,   3.76381665, -14.41663581,
        38.40969877,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0027102114078651277
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.04822218e-14,  1.02411109e-14,  1.00000000e+00, -2.09760705e-28,
        1.00000000e+00, -1.02411109e-14, -1.00000000e+00,  0.00000000e+00,
        2.04822218e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04441497, -0.09318468,  0.06179859])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05194260e-04,-6.40278375e-04,-1.79349791e-04,-1.96036433e-05,
  2.26107868e-05,-7.12474709e-04,-1.89480167e-04,-1.16659276e-05,
  3.40929774e-05,-4.14774447e-04,-5.03146802e-05,-3.27303692e-05,
  3.24785629e-06,-1.87552800e-06, 9.25282833e-07, 6.70390219e-05,
  2.03784700e-04, 8.01829618e-05,-1.21642175e+00,-1.21700147e-03,
  7.51326053e-03, 1.82404353e-03]


--- Step 2072 ---
qpos:
[-1.51793862e-03, 8.55410597e-01,-2.33737578e-02, 4.46929250e-04,
 -2.46471665e-03, 8.50624461e-01,-2.67433249e-02, 2.97557802e-03,
 -1.36607825e-03, 8.64376853e-01,-1.86054289e-02,-2.11545035e-02,
  1.39613989e+00, 1.85380500e-02, 1.37618414e+00, 2.42598653e-02,
  4.44925609e-03,-6.11681741e-02, 8.46929736e-02, 7.12346442e-01,
  1.34696370e-02,-6.94922979e-01,-9.72788164e-02]

qacc:
[ 2.33414768e-01,-1.02586663e+01, 2.31656478e+01,-1.14352473e+01,
  3.51337336e-02,-6.29351711e+00, 8.06190024e+00, 8.26971783e+00,
  1.47444795e-01,-4.31465232e+00, 1.03597747e+01,-1.09738409e+01,
 -3.43108830e+00, 3.11408568e+00, 1.25228196e+00,-3.18015398e+00,
 -7.60953385e-01, 1.04860190e+00,-4.92952587e+00, 5.28237990e+00,
 -3.78170111e+01, 4.41276074e+01]

qfrc_actuator:
[ 0.00149511, 0.03791097, 0.00835894, 0.00159564,-0.00049647, 0.03882634,
  0.00830058, 0.0016804 ,-0.00220086, 0.03381513, 0.00812969, 0.00141769,
  0.        ,-0.00142203, 0.        ,-0.00080484, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  7.90438548,  3.47957857,  7.90438548, 10.2748383 ,
       -3.72204136,  3.47957857, -3.72204136, 17.09153977,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025423576856073438
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.18345167e-14, -1.09172583e-14,  1.00000000e+00,  2.38373059e-28,
        1.00000000e+00,  1.09172583e-14, -1.00000000e+00,  0.00000000e+00,
        2.18345167e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04464328, -0.09340756,  0.06181085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.10961300e-05,-6.95156554e-04,-8.65004798e-05,-4.92630681e-06,
  5.66166065e-06,-7.68053744e-04,-1.85742315e-04,-5.35346737e-06,
  2.65336925e-05,-3.81863797e-04,-8.98328131e-05,-2.79832078e-05,
  1.72981812e-04,-6.37755198e-05,-3.12087231e-07,-1.30032361e-05,
  2.50273254e-04, 4.87744382e-05,-1.21644131e+00,-1.22312899e-03,
  7.52015608e-03, 1.82587043e-03]


--- Step 2073 ---
qpos:
[-1.53570163e-03, 8.55628723e-01,-2.33739079e-02, 4.47424928e-04,
 -2.47484192e-03, 8.50863726e-01,-2.67451789e-02, 2.97782603e-03,
 -1.36245844e-03, 8.64508075e-01,-1.86139958e-02,-2.11573686e-02,
  1.39619605e+00, 1.85403936e-02, 1.37627083e+00, 2.42618211e-02,
  4.43402424e-03,-6.11460277e-02, 8.47837213e-02, 7.11880464e-01,
  1.33117773e-02,-6.95391867e-01,-9.73609394e-02]

qacc:
[ 2.18291413e-02,-1.16218583e+01, 2.76022441e+01,-1.82521174e+01,
 -7.70653883e-02,-6.04356759e+00, 1.00470966e+01,-8.58598624e-01,
  9.74708145e-02,-4.37006353e+00, 6.58840652e+00, 6.03041827e+00,
 -3.35924533e+00, 3.03859022e+00,-1.27675131e-01, 1.27087872e+00,
 -7.68554580e-01, 1.06109017e+00,-4.95204358e+00, 5.34026676e+00,
 -3.78354223e+01, 4.41028388e+01]

qfrc_actuator:
[ 0.00147941, 0.03755962, 0.00841871, 0.00161294,-0.00051319, 0.03860873,
  0.00831135, 0.00169861,-0.00219636, 0.03364662, 0.00815354, 0.0014501 ,
  0.        ,-0.00138134, 0.        ,-0.00079679, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.09190061,  3.01793331,  8.09190061, 11.23957594,
       -6.97992072,  3.01793331, -6.97992072, 27.35143085,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023815904496009566
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04486093, -0.09362013,  0.06182253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.14825554e-06,-7.63484392e-04,-9.63863437e-05,-1.59159611e-05,
 -1.41568032e-05,-6.91605249e-04,-1.72876443e-04,-2.16023919e-05,
  1.73635562e-05,-4.04895319e-04,-6.80242447e-05, 1.22177846e-05,
  3.53075603e-04,-6.38591894e-05,-1.05362521e-05, 5.45990859e-06,
  3.02319045e-04, 9.08881987e-06,-1.21646122e+00,-1.23029994e-03,
  7.52656995e-03, 1.82734964e-03]


--- Step 2074 ---
qpos:
[-1.55310343e-03, 8.55842283e-01,-2.33754471e-02, 4.48781914e-04,
 -2.48472319e-03, 8.51098101e-01,-2.67470018e-02, 2.98157249e-03,
 -1.35855077e-03, 8.64635600e-01,-1.86217062e-02,-2.11601475e-02,
  1.39624826e+00, 1.85430836e-02, 1.37635737e+00, 2.42651988e-02,
  4.41568907e-03,-6.11195849e-02, 8.48546118e-02, 7.11369805e-01,
  1.30927821e-02,-6.95916633e-01,-9.73736089e-02]

qacc:
[  0.19188365, -0.37908238,-11.03922165, 31.52417285,  0.13167189,
  -3.46040535, -3.36119845, 32.83724405,  0.15293611, -7.09923799,
  17.86154544,-15.02640622, -3.27205295,  2.57901971, -4.23438631,
  15.22375057, -0.77583086,  1.07409752, -4.96432281,  5.40565371,
 -37.93830396, 44.17473513]

qfrc_actuator:
[ 0.00151259, 0.03738962, 0.00836498, 0.00165837,-0.00048358, 0.03842117,
  0.00833641, 0.00177948,-0.00217746, 0.03344175, 0.00818875, 0.00145256,
  0.        ,-0.00139385, 0.        ,-0.00072182, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.2899756 ,  2.42138005,  8.2899756 , 11.32503326,
       -9.20508348,  2.42138005, -9.20508348, 40.15141531,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022279846235609066
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.49154104e-14, -3.73731156e-14,  1.00000000e+00,  9.31166512e-28,
        1.00000000e+00,  3.73731156e-14, -1.00000000e+00,  0.00000000e+00,
        2.49154104e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04506806, -0.09382253,  0.06183363])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.41003781e-05,-6.22717186e-04,-2.25553697e-04, 8.75331364e-06,
  2.28756619e-05,-6.16701954e-04,-1.41738654e-04, 4.44636417e-05,
  2.73826494e-05,-4.47840511e-04,-5.73248333e-05,-1.71768358e-05,
  5.31875321e-04,-1.16546461e-04,-1.24967235e-05, 7.22451100e-05,
  3.60058376e-04,-3.89727387e-05,-1.21648143e+00,-1.23852509e-03,
  7.53250335e-03, 1.82847954e-03]


--- Step 2075 ---
qpos:
[-1.56987140e-03, 8.56052074e-01,-2.33781918e-02, 4.51239983e-04,
 -2.49388487e-03, 8.51327091e-01,-2.67483374e-02, 2.98628257e-03,
 -1.35458900e-03, 8.64760845e-01,-1.86300887e-02,-2.11629552e-02,
  1.39629668e+00, 1.85457455e-02, 1.37644412e+00, 2.42674308e-02,
  4.39422408e-03,-6.10887937e-02, 8.49056281e-02, 7.10814124e-01,
  1.28124524e-02,-6.96497391e-01,-9.73165256e-02]

qacc:
[ 3.35890452e-01, 6.54403268e-01,-1.42081029e+01, 3.79636998e+01,
  3.84999554e-01,-6.48918652e+00, 8.74677839e+00, 1.11044973e+01,
  2.87678093e-02,-1.19487872e+00, 1.09303801e-02, 2.23757429e+00,
 -3.16695778e+00, 2.28696212e+00, 4.10192861e+00,-1.31365023e+01,
 -7.82454065e-01, 1.08710614e+00,-4.96853231e+00, 5.47617001e+00,
 -3.81109601e+01, 4.43264211e+01]

qfrc_actuator:
[ 0.00155699, 0.03727594, 0.0083342 , 0.00172008,-0.0004265 , 0.03812907,
  0.00835215, 0.0018256 ,-0.00218561, 0.03339431, 0.00817694, 0.00145509,
  0.        ,-0.00140264, 0.        ,-0.00078556, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.48926205,  1.58720088,  8.48926205, 10.32996704,
       -9.05836389,  1.58720088, -9.05836389, 57.08569715,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002081542295296737
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.66682793e-14,  1.33341396e-14,  1.00000000e+00, -3.55598559e-28,
        1.00000000e+00, -1.33341396e-14, -1.00000000e+00,  0.00000000e+00,
        2.66682793e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04526486, -0.09401495,  0.06184418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.99800773e-05,-5.13172327e-04,-1.88555171e-04, 2.70713588e-05,
  6.77477425e-05,-6.69994402e-04,-1.29420074e-04, 1.52971143e-05,
  5.09630838e-06,-3.13395178e-04,-1.12888455e-04,-1.91368400e-05,
  7.28963093e-04,-1.42695162e-04,-6.21858719e-06,-6.30324451e-05,
  4.23658356e-04,-9.55712200e-05,-1.21650190e+00,-1.24783319e-03,
  7.53794827e-03, 1.82925511e-03]


--- Step 2076 ---
qpos:
[-1.58655848e-03, 8.56257390e-01,-2.33803033e-02, 4.54373189e-04,
 -2.50249944e-03, 8.51550790e-01,-2.67499965e-02, 2.99120174e-03,
 -1.35103873e-03, 8.64883723e-01,-1.86384110e-02,-2.11650649e-02,
  1.39634190e+00, 1.85489005e-02, 1.37653104e+00, 2.42675503e-02,
  4.36960654e-03,-6.10536037e-02, 8.49367784e-02, 7.10212983e-01,
  1.24704907e-02,-6.97134311e-01,-9.71892904e-02]

qacc:
[  0.04483604, -6.28825793, 10.99458553,  2.96079894,  0.292608  ,
  -5.65318489,  9.13123771, -1.10964375, -0.21502344, -1.85559489,
  -0.85968286, 14.56788717, -3.07944373,  2.6581485 ,  6.96124581,
 -23.23228042, -0.78813685,  1.0996747 , -4.96650163,  5.54976456,
 -38.34092291, 44.54356748]

qfrc_actuator:
[ 0.0015367 , 0.03705507, 0.00837081, 0.00175546,-0.00040677, 0.03784768,
  0.00832633, 0.00183306,-0.00222762, 0.03329936, 0.00819136, 0.00149326,
  0.        ,-0.00133795, 0.        ,-0.00089502, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.63023943,  0.32518332,  8.63023943,  8.73740714,
       -2.68165557,  0.32518332, -2.68165557, 79.80646438,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001942206238553977
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.85814916e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.85814916e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04545157, -0.09419763,  0.06185418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.54290135e-06,-5.50585312e-04,-9.33074428e-05, 7.07956025e-06,
  5.14794422e-05,-6.87641031e-04,-1.81441110e-04,-2.57851700e-05,
 -3.93672727e-05,-2.97221816e-04,-6.57781324e-05, 2.02947130e-05,
  9.18032733e-04,-7.66423367e-05,-1.91021675e-05,-1.15650576e-04,
  4.93308892e-04,-1.60915670e-04,-1.21652254e+00,-1.25826677e-03,
  7.54288931e-03, 1.82966865e-03]


--- Step 2077 ---
qpos:
[-1.60327047e-03, 8.56458468e-01,-2.33822646e-02, 4.56866622e-04,
 -2.51069878e-03, 8.51770238e-01,-2.67527577e-02, 2.99643072e-03,
 -1.34795783e-03, 8.65003442e-01,-1.86464398e-02,-2.11666182e-02,
  1.39638378e+00, 1.85525437e-02, 1.37661779e+00, 2.42673552e-02,
  4.34181850e-03,-6.10139681e-02, 8.49480896e-02, 7.09565859e-01,
  1.20665167e-02,-6.97827597e-01,-9.69914238e-02]

qacc:
[-1.15782537e-02,-7.33328252e+00, 2.07248957e+01,-2.89277150e+01,
  2.21557871e-01,-1.89865086e+00,-2.68791302e+00, 1.29369162e+01,
 -2.44936558e-01,-3.84892242e+00, 5.32213923e+00, 6.14556265e+00,
 -3.00568705e+00, 2.54475585e+00, 1.00378275e+00,-3.14775066e+00,
 -7.92627206e-01, 1.11142592e+00,-4.95977268e+00, 5.62465964e+00,
 -3.86176272e+01, 4.48140225e+01]

qfrc_actuator:
[ 0.00153115, 0.03684311, 0.00837548, 0.00172177,-0.00039181, 0.03769906,
  0.00829394, 0.00185319,-0.002254  , 0.03308814, 0.00818555, 0.00151658,
  0.        ,-0.00131845, 0.        ,-0.00090622, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018098713274746422
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.06713247e-14,  1.53356624e-14,  1.00000000e+00, -4.70365081e-28,
        1.00000000e+00, -1.53356624e-14, -1.00000000e+00,  0.00000000e+00,
        3.06713247e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04562848, -0.09437085,  0.06186365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.48615981e-06,-5.43687778e-04,-1.21892016e-04,-6.06786117e-05,
  3.90649416e-05,-5.77117748e-04,-1.99439239e-04,-1.64563437e-05,
 -4.49191263e-05,-3.92979890e-04,-7.54815244e-05, 8.54689564e-06,
  1.07829894e-03,-8.18500573e-05,-2.93575426e-05,-2.16549633e-05,
  5.69216411e-04,-2.35251983e-04,-1.21654328e+00,-1.26987883e-03,
  7.54730521e-03, 1.82971046e-03]


--- Step 2078 ---
qpos:
[-1.61977620e-03, 8.56655987e-01,-2.33850075e-02, 4.58217961e-04,
 -2.51838796e-03, 8.51985807e-01,-2.67559741e-02, 3.00210386e-03,
 -1.34490213e-03, 8.65121089e-01,-1.86562847e-02,-2.11682207e-02,
  1.39642185e+00, 1.85560858e-02, 1.37670429e+00, 2.42683401e-02,
  4.31084764e-03,-6.09698443e-02, 8.49396023e-02, 7.08872151e-01,
  1.16000815e-02,-6.98577477e-01,-9.67223825e-02]

qacc:
[ 1.09749921e-01,-4.86909608e+00, 1.53578394e+01,-3.12591603e+01,
  2.72257820e-01,-2.93739520e+00, 1.16202138e+00, 1.01029698e+01,
 -1.36445653e-02, 2.23526922e+00,-1.17341458e+01, 1.53088114e+01,
 -2.90972035e+00, 1.97064759e+00,-3.68779375e+00, 1.29986474e+01,
 -7.95703734e-01, 1.12203618e+00,-4.94964324e+00, 5.69931182e+00,
 -3.89321317e+01, 4.51274957e+01]

qfrc_actuator:
[ 0.00155227, 0.0366913 , 0.00834348, 0.00166544,-0.00036206, 0.03756017,
  0.00829403, 0.00188075,-0.00223528, 0.03300418, 0.00809634, 0.00151311,
  0.        ,-0.00136176, 0.        ,-0.00084166, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016843941643610444
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.29561527e-14,  3.29561527e-14,  1.00000000e+00, -1.08610800e-27,
        1.00000000e+00, -3.29561527e-14, -1.00000000e+00,  0.00000000e+00,
        3.29561527e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0457959 , -0.09453491,  0.06187261])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.94569150e-05,-4.88380467e-04,-1.62981750e-04,-8.53276161e-05,
  4.80495913e-05,-5.08798109e-04,-1.45991958e-04,-4.73354187e-06,
 -2.47679353e-06,-3.21703156e-04,-1.80243236e-04,-2.29086678e-05,
  1.24501272e-03,-1.49622760e-04,-2.28256634e-05, 5.82096050e-05,
  6.51598898e-04,-3.18853915e-04,-1.21656399e+00,-1.28273023e-03,
  7.55117009e-03, 1.82936940e-03]


--- Step 2079 ---
qpos:
[-1.63654834e-03, 8.56849755e-01,-2.33870491e-02, 4.58798520e-04,
 -2.52580693e-03, 8.52197402e-01,-2.67589221e-02, 3.00732607e-03,
 -1.34175099e-03, 8.65236411e-01,-1.86660545e-02,-2.11703001e-02,
  1.39645619e+00, 1.85594428e-02, 1.37679062e+00, 2.42707374e-02,
  4.27668809e-03,-6.09211956e-02, 8.49113661e-02, 7.08131192e-01,
  1.10706791e-02,-6.99384191e-01,-9.63815736e-02]

qacc:
[ -0.13903975, -8.4988184 , 26.3676277 ,-38.07826019,  0.14517405,
  -6.92533914, 18.97849163,-24.29660438,  0.0509095 , -4.2637928 ,
  12.75699705,-19.42119459, -2.7916798 ,  1.81578974, -4.26220601,
  15.18164159, -0.79717152,  1.13122683, -4.9372037 ,  5.77237872,
 -39.27687996, 45.47528651]

qfrc_actuator:
[ 0.00151817, 0.03654109, 0.00839685, 0.00163179,-0.00035919, 0.03737518,
  0.0083134 , 0.00185924,-0.00222525, 0.03292574, 0.00811885, 0.00149395,
  0.        ,-0.00137135, 0.        ,-0.00076852, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001565601192714039
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.09135270e-14,  1.77283818e-14,  1.00000000e+00, -1.25718208e-27,
        1.00000000e+00, -1.77283818e-14, -1.00000000e+00,  0.00000000e+00,
        7.09135270e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04595417, -0.09469014,  0.06188107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.53818185e-05,-4.65294881e-04,-7.20596336e-05,-6.21749450e-05,
  2.54013179e-05,-5.05050847e-04,-1.05579255e-04,-4.87861112e-05,
  9.04978027e-06,-2.99238645e-04,-6.77634329e-05,-3.97838345e-05,
  1.43503706e-03,-1.54222232e-04,-1.17552814e-05, 7.19147586e-05,
  7.40681963e-04,-4.12015874e-04,-1.21658456e+00,-1.29688761e-03,
  7.55445453e-03, 1.82863330e-03]


--- Step 2080 ---
qpos:
[-1.65359385e-03, 8.57039271e-01,-2.33882787e-02, 4.59711808e-04,
 -2.53342676e-03, 8.52404761e-01,-2.67614681e-02, 3.01123166e-03,
 -1.33887435e-03, 8.65349092e-01,-1.86748424e-02,-2.11729654e-02,
  1.39648671e+00, 1.85620600e-02, 1.37687702e+00, 2.42733169e-02,
  4.23934111e-03,-6.08679919e-02, 8.48634365e-02, 7.07342253e-01,
  1.04777566e-02,-7.00247975e-01,-9.59683662e-02]

qacc:
[ -0.14239314, -7.19662171, 16.1081366 , -8.52988601, -0.104971  ,
  -9.42179607, 31.03726442,-51.36316626, -0.1424489 , -7.43919544,
  23.92955754,-33.69092534, -2.66555884,  1.32781293, -0.21944829,
   1.47886118, -0.79685855,  1.13875705, -4.92336808,  5.84269083,
 -39.64549552, 45.85005027]

qfrc_actuator:
[ 0.00150457, 0.0363047 , 0.00842927, 0.00164733,-0.00039016, 0.03714643,
  0.00832603, 0.00179126,-0.00225606, 0.03279844, 0.00817173, 0.00146582,
  0.        ,-0.00143159, 0.        ,-0.00076195, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014532955262287484
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.63934798e-14,  1.90983700e-14,  1.00000000e+00, -1.45899094e-27,
        1.00000000e+00, -1.90983700e-14, -1.00000000e+00,  0.00000000e+00,
        7.63934798e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04610364, -0.09483687,  0.06188906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.60616634e-05,-5.18718753e-04,-7.62157458e-05,-8.38468341e-06,
 -1.90937772e-05,-5.40165106e-04,-1.08047421e-04,-9.45506698e-05,
 -2.62957671e-05,-3.12977286e-04,-1.94704592e-05,-4.42230303e-05,
  1.62153775e-03,-2.05261806e-04,-5.50819841e-06, 7.43955101e-06,
  8.36695698e-04,-5.15047081e-04,-1.21660484e+00,-1.31242178e-03,
  7.55712645e-03, 1.82748940e-03]


--- Step 2081 ---
qpos:
[-1.67041110e-03, 8.57224596e-01,-2.33895831e-02, 4.60162951e-04,
 -2.54130419e-03, 8.52607511e-01,-2.67636718e-02, 3.01433929e-03,
 -1.33595843e-03, 8.65459591e-01,-1.86825622e-02,-2.11760162e-02,
  1.39651380e+00, 1.85643851e-02, 1.37696334e+00, 2.42766301e-02,
  4.19881568e-03,-6.08102105e-02, 8.47958712e-02, 7.06504547e-01,
  9.82072169e-03,-7.01169057e-01,-9.54821018e-02]

qacc:
[ 1.22040352e-01,-6.27921565e+00, 1.63035942e+01,-2.11048325e+01,
 -1.34959416e-01,-8.68296054e+00, 2.54950476e+01,-3.64729464e+01,
  2.20312464e-02,-6.66142218e+00, 2.11914542e+01,-2.79635373e+01,
 -2.53947213e+00, 1.57076110e+00,-2.10577986e+00, 7.76084255e+00,
 -7.94612559e-01, 1.14441774e+00,-4.90890013e+00, 5.90922746e+00,
 -4.00326061e+01, 4.62455984e+01]

qfrc_actuator:
[ 0.0015389 , 0.03607186, 0.00841322, 0.00162059,-0.00040558, 0.03689327,
  0.00833439, 0.0017497 ,-0.00224002, 0.03273183, 0.00824188, 0.00145035,
  0.        ,-0.00141508, 0.        ,-0.00072365, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013472626894164424
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.24058317e-14,  2.06014579e-14,  1.00000000e+00, -1.69768028e-27,
        1.00000000e+00, -2.06014579e-14, -1.00000000e+00,  0.00000000e+00,
        8.24058317e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04624466, -0.09497544,  0.0618966 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.15404015e-05,-5.43502876e-04,-1.34341294e-04,-5.20526056e-05,
 -2.44680154e-05,-5.86580329e-04,-1.21431210e-04,-7.06023957e-05,
  3.69539519e-06,-2.50134061e-04, 7.83084722e-07,-3.05516010e-05,
  1.81276780e-03,-1.51809080e-04,-1.06531429e-05, 3.61987749e-05,
  9.39872148e-04,-6.28266849e-04,-1.21662466e+00,-1.32940636e-03,
  7.55915187e-03, 1.82592464e-03]


--- Step 2082 ---
qpos:
[-1.68665108e-03, 8.57405784e-01,-2.33913595e-02, 4.59960898e-04,
 -2.54917786e-03, 8.52805595e-01,-2.67654285e-02, 3.01657381e-03,
 -1.33293324e-03, 8.65568086e-01,-1.86895383e-02,-2.11778520e-02,
  1.39653800e+00, 1.85668772e-02, 1.37704966e+00, 2.42800334e-02,
  4.15512905e-03,-6.07478370e-02, 8.47087282e-02, 7.05617237e-01,
  9.09895066e-03,-7.02147647e-01,-9.49221027e-02]

qacc:
[ 3.06105113e-01,-5.48829282e+00, 1.43978400e+01,-2.19104993e+01,
  3.94087932e-03,-9.20513789e+00, 2.75646583e+01,-3.99690619e+01,
  5.85330021e-02,-2.22224035e+00,-1.03700400e+00, 2.23260392e+01,
 -2.43140919e+00, 1.87285270e+00,-3.14159055e-02, 6.88744451e-01,
 -7.90298283e-01, 1.14802640e+00,-4.89443544e+00, 5.97109627e+00,
 -4.04336932e+01, 4.66567265e+01]

qfrc_actuator:
[ 0.00158384, 0.03586054, 0.00838641, 0.00158689,-0.00039377, 0.03666304,
  0.00835784, 0.00170625,-0.00223159, 0.03264897, 0.00828642, 0.00151354,
  0.        ,-0.00137042, 0.        ,-0.00072018, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,  -3.38854926,  -7.94383476,  -3.38854926,
        72.95124689, -27.43437607,  -7.94383476, -27.43437607,
        20.33886471,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012472754358199625
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.45059284e-14, -4.45059284e-14,  1.00000000e+00,  1.98077766e-27,
        1.00000000e+00,  4.45059284e-14, -1.00000000e+00,  0.00000000e+00,
        4.45059284e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04637759, -0.09510621,  0.06190371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.46718362e-05,-5.49606841e-04,-1.58865324e-04,-6.29276114e-05,
  2.20560709e-07,-5.91232914e-04,-1.16716563e-04,-7.44724886e-05,
  1.03867047e-05,-2.26422865e-04,-8.87669697e-06, 5.17549138e-05,
  1.98367726e-03,-9.25888156e-05,-8.60961755e-06, 2.54696263e-06,
  1.05044326e-03,-7.52000726e-04,-1.21664383e+00,-1.34791681e-03,
  7.56049552e-03, 1.82392597e-03]


--- Step 2083 ---
qpos:
[-1.70227328e-03, 8.57583077e-01,-2.33939005e-02, 4.59340798e-04,
 -2.55694154e-03, 8.52999290e-01,-2.67676079e-02, 3.01863405e-03,
 -1.32999978e-03, 8.65674670e-01,-1.86975705e-02,-2.11791512e-02,
  1.39655960e+00, 1.85689995e-02, 1.37713655e+00, 2.42787609e-02,
  4.10830725e-03,-6.06808659e-02, 8.46020632e-02, 7.04679437e-01,
  8.31179357e-03,-7.03183929e-01,-9.42876793e-02]

qacc:
[ 3.27183351e-01,-3.87093386e+00, 8.09774103e+00,-1.12480281e+01,
  5.97047772e-02,-4.97205036e+00, 1.00533169e+01,-9.17220966e+00,
 -4.80706965e-02, 1.53146463e+00,-1.13833471e+01, 2.37514117e+01,
 -2.33769903e+00, 1.52446395e+00, 1.52230746e+01,-5.14921797e+01,
 -7.83795082e-01, 1.14942291e+00,-4.88050002e+00, 6.02751581e+00,
 -4.08449633e+01, 4.70790669e+01]

qfrc_actuator:
[ 0.00161696, 0.03568151, 0.00835356, 0.00156714,-0.00038354, 0.03644847,
  0.00833683, 0.00169756,-0.00224556, 0.0325038 , 0.00820898, 0.0015337 ,
  0.        ,-0.00139798, 0.        ,-0.00096805, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,  -4.23003363,  -7.52951475,  -4.23003363,
        55.32214306, -26.22777476,  -7.52951475, -26.22777476,
        23.37096114,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001153097784593285
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.81408879e-14, -4.81408879e-14,  1.00000000e+00,  2.31754509e-27,
        1.00000000e+00,  4.81408879e-14, -1.00000000e+00,  0.00000000e+00,
        4.81408879e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04650278, -0.09522949,  0.0619104 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.85301100e-05,-5.26157287e-04,-1.69519756e-04,-5.02883607e-05,
  1.02610201e-05,-5.77253247e-04,-1.61643854e-04,-3.98123802e-05,
 -8.82638156e-06,-2.73904958e-04,-1.24301305e-04, 1.10173524e-05,
  2.12778086e-03,-1.28535153e-04,-1.06548566e-05,-2.50264068e-04,
  1.16863921e-03,-8.86577340e-04,-1.21666214e+00,-1.36802955e-03,
  7.56112143e-03, 1.82148057e-03]


--- Step 2084 ---
qpos:
[-1.71752311e-03, 8.57756930e-01,-2.33968425e-02, 4.58053341e-04,
 -2.56418074e-03, 8.53188698e-01,-2.67699140e-02, 3.02157048e-03,
 -1.32720721e-03, 8.65779567e-01,-1.87073929e-02,-2.11808678e-02,
  1.39657938e+00, 1.85720768e-02, 1.37722340e+00, 2.42745350e-02,
  4.05838546e-03,-6.06093008e-02, 8.44759282e-02, 7.03690215e-01,
  7.45857956e-03,-7.04278058e-01,-9.35781363e-02]

qacc:
[  0.19758603, -4.79750964, 13.32729498,-21.70918841,  0.27993918,
  -3.50509668,  0.57903433, 17.93760753, -0.0744312 ,  1.91328779,
  -8.29586883,  5.17902597, -2.26899707,  2.45541116,  9.15254093,
 -31.47579378, -0.77499483,  1.1484658 , -4.86752595,  6.07780057,
 -41.26323725, 47.50896236]

qfrc_actuator:
[ 0.00162495, 0.03555877, 0.00835308, 0.00153803,-0.00033886, 0.03626263,
  0.00834311, 0.00174488,-0.00225506, 0.03241072, 0.0081131 , 0.00151049,
  0.        ,-0.00127313, 0.        ,-0.00111346, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,  -4.77574473,  -7.19576536,  -4.77574473,
        43.91138509, -23.41161629,  -7.19576536, -23.41161629,
        24.17437764,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001064488394841162
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.21481977e-14,  7.82222965e-14,  1.00000000e+00,  4.07915178e-27,
        1.00000000e+00, -7.82222965e-14, -1.00000000e+00,  0.00000000e+00,
       -5.21481977e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04662061, -0.09534564,  0.0619167 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.52521318e-05,-4.58312311e-04,-1.33147632e-04,-5.87531592e-05,
  4.94411887e-05,-5.48382461e-04,-1.35773884e-04, 1.59278342e-05,
 -1.35232677e-05,-2.73901521e-04,-1.68145338e-04,-3.91720571e-05,
  2.25829793e-03, 1.47825951e-05,-4.03997786e-05,-1.62298912e-04,
  1.29468696e-03,-1.03232579e-03,-1.21667935e+00,-1.38982136e-03,
  7.56099337e-03, 1.81857610e-03]


--- Step 2085 ---
qpos:
[-1.73267516e-03, 8.57927222e-01,-2.33995997e-02, 4.57085872e-04,
 -2.57105011e-03, 8.53374255e-01,-2.67721057e-02, 3.02497082e-03,
 -1.32455000e-03, 8.65882323e-01,-1.87171665e-02,-2.11822303e-02,
  1.39659699e+00, 1.85763532e-02, 1.37730959e+00, 2.42725749e-02,
  4.00540854e-03,-6.05331557e-02, 8.43303693e-02, 7.02648597e-01,
  6.53862203e-03,-7.05430150e-01,-9.27927789e-02]

qacc:
[  0.05304934, -4.55990601,  8.08300188, -0.22714066,  0.1977903 ,
  -4.45018832,  6.52698975,  4.1462842 , -0.07016372, -2.23614448,
   2.37742746,  5.23458558, -2.22070529,  2.45753095, -7.61553297,
  25.77428304, -0.76378489,  1.1450081 , -4.85595121,  6.12123898,
 -41.68513672, 47.94252864]

qfrc_actuator:
[ 0.00161787, 0.03539989, 0.00837196, 0.00155699,-0.00032722, 0.03611344,
  0.00836562, 0.00177158,-0.00226179, 0.03233168, 0.00813158, 0.00153301,
  0.        ,-0.00121777, 0.        ,-0.00098421, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.6299443 ,  -5.14880574,  -6.92573015,  -5.14880574,
        36.17842285, -20.48040589,  -6.92573015, -20.48040589,
        23.85572254,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0009812033789839414
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.65745618e-14,  8.48618427e-14,  1.00000000e+00, -4.80102157e-27,
        1.00000000e+00, -8.48618427e-14, -1.00000000e+00,  0.00000000e+00,
        5.65745618e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0467314 , -0.09545499,  0.06192264])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.18308706e-06,-4.49273832e-04,-9.55529054e-05,-6.68363646e-06,
  3.48457160e-05,-4.87749957e-04,-1.08419894e-04,-1.48027490e-06,
 -1.29987956e-05,-2.71010004e-04,-6.08889081e-05, 4.06553578e-06,
  2.34870646e-03, 2.23402760e-05,-4.07020646e-05, 1.14217730e-04,
  1.42880915e-03,-1.18957345e-03,-1.21669521e+00,-1.41336888e-03,
  7.56007524e-03, 1.81520084e-03]


--- Step 2086 ---
qpos:
[-1.74776617e-03, 8.58093749e-01,-2.34020436e-02, 4.56364898e-04,
 -2.57820815e-03, 8.53556054e-01,-2.67746010e-02, 3.02763930e-03,
 -1.32219344e-03, 8.65982841e-01,-1.87258074e-02,-2.11837255e-02,
  1.39661157e+00, 1.85802001e-02, 1.37739569e+00, 2.42714515e-02,
  3.95099147e-03,-6.04507706e-02, 8.41830789e-02, 7.01580860e-01,
  5.48784344e-03,-7.06621184e-01,-9.18731910e-02]

qacc:
[ 3.37868020e-02,-5.33961026e+00, 1.07818736e+01,-4.25379795e+00,
 -1.52054404e-01,-5.62042348e+00, 1.59260581e+01,-2.53492005e+01,
 -1.56112927e-01,-6.39343012e+00, 1.90649509e+01,-2.15263499e+01,
 -2.12957288e+00, 1.16508863e+00,-2.47991551e+00, 8.93845814e+00,
 -3.60035104e-01, 1.56000454e+00,-4.32868531e-01, 3.27669641e+00,
 -2.85242529e+01, 9.22167050e+01]

qfrc_actuator:
[ 0.00161963, 0.03520308, 0.00838428, 0.00156856,-0.00037097, 0.03591651,
  0.00834444, 0.0017327 ,-0.00228456, 0.03224443, 0.00819981, 0.0015291 ,
  0.        ,-0.00132901, 0.        ,-0.00094274, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009323861363476418
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.95366545e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.95366545e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02136914, -0.09264038,  0.06192597])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.68795503e-06,-4.72079691e-04,-9.37860746e-05,-1.13651576e-05,
 -2.74024068e-05,-4.96593880e-04,-1.36803954e-04,-6.38438374e-05,
 -2.87968326e-05,-2.53541844e-04, 4.17625140e-06,-1.76808773e-05,
  2.45715765e-03,-1.48921377e-04,-9.30287760e-06, 4.19912154e-05,
  1.57122047e-03,-1.35864120e-03,-1.21670945e+00,-1.43874735e-03,
  7.55833154e-03, 1.81134396e-03]


--- Step 2087 ---
qpos:
[-1.76257084e-03, 8.58256590e-01,-2.34048567e-02, 4.55130738e-04,
 -2.58537203e-03, 8.53733658e-01,-2.67768785e-02, 3.02949106e-03,
 -1.32068624e-03, 8.66081557e-01,-1.87345678e-02,-2.11852281e-02,
  1.39662374e+00, 1.85838417e-02, 1.37748203e+00, 2.42684813e-02,
  3.89529484e-03,-6.03622493e-02, 8.40321433e-02, 7.00487212e-01,
  4.31327620e-03,-7.07848608e-01,-9.08262679e-02]

qacc:
[ 1.52209042e-01,-4.89500655e+00, 1.25515827e+01,-1.81353912e+01,
 -1.48206981e-03,-7.82570731e+00, 2.33133128e+01,-3.47210646e+01,
 -4.44653095e-01,-2.06362860e+00, 3.93318284e+00,-2.54889043e+00,
 -2.00733573e+00, 1.33325970e+00, 6.15514196e+00,-2.05307278e+01,
 -3.19892473e-01, 1.53407149e+00,-9.11303321e-01, 3.30770546e+00,
 -2.72575243e+01, 8.73134514e+01]

qfrc_actuator:
[ 0.00164443, 0.03500289, 0.00835696, 0.00154014,-0.00035868, 0.03569239,
  0.00835066, 0.00169099,-0.00235225, 0.03215322, 0.00819027, 0.00152743,
  0.        ,-0.00130826, 0.        ,-0.00104218, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.53970629,  7.66432331, -3.7662623 ,  7.66432331,  9.92910354,
        2.82741586, -3.7662623 ,  2.82741586, 14.29348219,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009266973092827008
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.19804278e-13,  1.19804278e-13,  1.00000000e+00, -1.43530651e-26,
        1.00000000e+00, -1.19804278e-13, -1.00000000e+00,  0.00000000e+00,
        1.19804278e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02136897, -0.09263249,  0.06192602])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.70894646e-05,-4.87960790e-04,-1.38057384e-04,-5.23599940e-05,
 -6.74944754e-07,-5.37182605e-04,-1.16843388e-04,-6.92396736e-05,
 -8.12431888e-05,-2.35193207e-04,-6.27178629e-05,-1.28611768e-05,
  2.60832027e-03,-1.06778738e-04,-6.57371525e-06,-9.96956851e-05,
  1.62433074e-03,-1.57552069e-03,-1.21673760e+00,-1.48748230e-03,
  7.55877083e-03, 1.80959590e-03]


--- Step 2088 ---
qpos:
[-1.77702634e-03, 8.58415673e-01,-2.34080216e-02, 4.54260122e-04,
 -2.59243046e-03, 8.53907429e-01,-2.67790654e-02, 3.03251199e-03,
 -1.31945066e-03, 8.66178697e-01,-1.87440794e-02,-2.11863814e-02,
  1.39663383e+00, 1.85875926e-02, 1.37756845e+00, 2.42636773e-02,
  3.83846014e-03,-6.02677095e-02, 8.38759294e-02, 6.99367672e-01,
  3.02070410e-03,-7.09110166e-01,-8.96577231e-02]

qacc:
[ 1.85419312e-01,-3.23086724e+00, 2.78371038e+00, 6.82977764e+00,
  5.74559655e-02,-2.90929627e+00,-1.91100617e+00, 2.48166919e+01,
 -1.42274435e-01, 7.38462424e-01,-7.12172419e+00, 1.55164055e+01,
 -1.91042924e+00, 1.50589265e+00, 5.84949088e+00,-1.98498723e+01,
 -2.84516758e-01, 1.50460260e+00,-1.31957884e+00, 3.32044595e+00,
 -2.62157318e+01, 8.32600069e+01]

qfrc_actuator:
[ 0.00166507, 0.03481985, 0.00834191, 0.00155939,-0.00034843, 0.03554264,
  0.00837292, 0.00175447,-0.0023397 , 0.03207785, 0.00815261, 0.00154479,
  0.        ,-0.0012794 , 0.        ,-0.00113506, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.49459963,  7.21318725, -4.48644097,  7.21318725, 11.45345076,
        4.75716663, -4.48644097,  4.75716663, 16.14305281,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009110026205205804
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.09341290e-14,  3.04670645e-14,  1.00000000e+00, -1.85648404e-27,
        1.00000000e+00, -3.04670645e-14, -1.00000000e+00,  0.00000000e+00,
        6.09341290e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02137284, -0.09263912,  0.06192684])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.30582587e-05,-4.90493700e-04,-1.35901964e-04,-7.68801420e-06,
  9.85944969e-06,-4.81499242e-04,-1.06875858e-04, 3.48103874e-05,
 -2.60164691e-05,-2.22672861e-04,-9.50987058e-05, 4.73241150e-06,
  2.72855061e-03,-6.77157464e-05,-2.07615176e-05,-1.00628568e-04,
  1.67648000e-03,-1.78584784e-03,-1.21676179e+00,-1.53339734e-03,
  7.55858296e-03, 1.80759433e-03]


--- Step 2089 ---
qpos:
[-1.79075729e-03, 8.58570394e-01,-2.34102782e-02, 4.53612714e-04,
 -2.59953289e-03, 8.54077877e-01,-2.67818595e-02, 3.03728196e-03,
 -1.31771025e-03, 8.66274169e-01,-1.87528740e-02,-2.11877562e-02,
  1.39664142e+00, 1.85911352e-02, 1.37765455e+00, 2.42597921e-02,
  3.78844898e-03,-6.01672119e-02, 8.37347018e-02, 6.98361827e-01,
  1.54802753e-03,-7.10273735e-01,-8.83152520e-02]

qacc:
[ 3.84511033e-01,-7.83941031e+00, 1.86469247e+01,-1.30355265e+01,
 -2.24239881e-02, 9.06106881e-01,-1.69855714e+01, 5.06717418e+01,
  2.65612890e-01,-4.66454241e+00, 1.43647162e+01,-1.81155499e+01,
 -1.81389174e+00, 1.10449944e+00,-3.08524143e+00, 1.05135642e+01,
  1.70588549e+00, 1.48944217e+00, 3.74656410e+00,-5.87761707e+00,
  6.67652764e+01, 1.29625226e+02]

qfrc_actuator:
[ 0.00171852, 0.03459539, 0.00838762, 0.00157108,-0.00035728, 0.03540334,
  0.0083516 , 0.00184391,-0.00227924, 0.03203021, 0.00820529, 0.0015377 ,
  0.        ,-0.00131691, 0.        ,-0.00108124, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.47416339, -8.42570029,  0.90499708, -8.42570029,  9.43947951,
        8.98728245,  0.90499708,  8.98728245, 92.14752581,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009046948366265989
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.06794894e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.06794894e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01867174, -0.08741016,  0.06192692])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.87187262e-05,-5.30880649e-04,-7.38278809e-05,-1.44179310e-05,
 -4.26229802e-06,-4.33312496e-04,-1.34108987e-04, 6.55230985e-05,
  4.82207897e-05,-1.93811798e-04,-5.54795412e-06,-1.99510337e-05,
  2.83245528e-03,-1.10746880e-04,-2.60085432e-05, 4.44856864e-05,
  1.72792718e-03,-1.99116090e-03,-1.21678210e+00,-1.57678998e-03,
  7.55777852e-03, 1.80535881e-03]


--- Step 2090 ---
qpos:
[-1.80357105e-03, 8.58721097e-01,-2.34118007e-02, 4.53072971e-04,
 -2.60649424e-03, 8.54245131e-01,-2.67849263e-02, 3.04165984e-03,
 -1.31554369e-03, 8.66367583e-01,-1.87605093e-02,-2.11895346e-02,
  1.39664669e+00, 1.85946402e-02, 1.37774040e+00, 2.42575502e-02,
  3.74765116e-03,-6.00618896e-02, 8.36056426e-02, 6.97511487e-01,
 -9.04540863e-05,-7.11295283e-01,-8.68143889e-02]

qacc:
[ 4.85851978e-01,-7.13434601e+00, 1.72832243e+01,-1.36463467e+01,
  7.57716378e-02,-4.26407346e+00, 1.07346601e+01,-1.47390261e+01,
  2.24758850e-01,-6.79071934e+00, 2.19659126e+01,-2.92890246e+01,
 -1.69484419e+00, 1.13522317e+00,-5.19536376e+00, 1.80088088e+01,
  2.30333598e+00, 1.20619269e+00, 3.04210728e+00,-8.03685236e+00,
  9.76176188e+01, 1.20947885e+02]

qfrc_actuator:
[ 0.00177341, 0.0344192 , 0.00843315, 0.00157821,-0.00034197, 0.03525357,
  0.00834028, 0.00182361,-0.00226171, 0.03191119, 0.00825773, 0.00151638,
  0.        ,-0.0013052 , 0.        ,-0.0009947 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.63204776, -0.27299891, -8.63204776,  8.660588  ,
       -0.76595874, -0.27299891, -0.76595874, 32.85548038,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010401881249614414
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.06732907e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.06732907e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03286977, -0.08541507,  0.061916  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.70407043e-05,-4.92565747e-04,-7.49007738e-05,-1.86741186e-05,
  1.32486857e-05,-4.21059731e-04,-1.16407921e-04,-4.24978662e-05,
  4.06909578e-05,-2.31583402e-04, 1.03678715e-05,-3.03315215e-05,
  2.95771997e-03,-8.86907751e-05,-1.20633622e-05, 8.47014125e-05,
  1.33569498e-03,-1.93766989e-03,-1.21679977e+00,-1.58347505e-03,
  7.57029365e-03, 1.81029697e-03]


--- Step 2091 ---
qpos:
[-1.81574612e-03, 8.58868740e-01,-2.34137524e-02, 4.52575059e-04,
 -2.61326340e-03, 8.54408777e-01,-2.67876941e-02, 3.04576895e-03,
 -1.31307370e-03, 8.66459150e-01,-1.87679961e-02,-2.11922044e-02,
  1.39664957e+00, 1.85976110e-02, 1.37782625e+00, 2.42560128e-02,
  3.71530414e-03,-5.99518696e-02, 8.34841286e-02, 6.96800959e-01,
 -1.87950787e-03,-7.12187374e-01,-8.51706293e-02]

qacc:
[ 3.37770493e-01,-2.75733055e+00, 3.78811394e+00,-1.29841506e-01,
  1.03398823e-01,-6.14997944e+00, 1.61500290e+01,-1.86341025e+01,
  1.59704598e-01,-4.68973370e+00, 1.69380865e+01,-3.12332003e+01,
 -1.57374954e+00, 6.89516952e-01,-2.01023062e+00, 7.34246845e+00,
  2.11269688e+00, 1.17440878e+00, 1.88630848e+00,-7.30511499e+00,
  8.83303328e+01, 1.09461570e+02]

qfrc_actuator:
[ 0.00179316, 0.03430887, 0.00842513, 0.00158264,-0.00033008, 0.03506322,
  0.00835264, 0.00180991,-0.00225232, 0.03180364, 0.00825605, 0.00146903,
  0.        ,-0.00135281, 0.        ,-0.00096061, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.16102299, -2.82568234,  8.16102299,  9.29085035,
        1.89026241, -2.82568234,  1.89026241, 14.0957441 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011382449380150927
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.75381473e-14, -1.46307221e-13,  1.00000000e+00,  1.42705353e-26,
        1.00000000e+00,  1.46307221e-13, -1.00000000e+00,  0.00000000e+00,
        9.75381473e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03268963, -0.08528737,  0.06190801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.06062932e-05,-4.05588880e-04,-1.20792324e-04,-1.98507201e-05,
  1.80788717e-05,-4.55679808e-04,-9.17385567e-05,-3.68516795e-05,
  2.89613616e-05,-2.38341306e-04,-4.99476117e-05,-5.76206765e-05,
  3.07294908e-03,-1.34478434e-04,-1.30430890e-06, 3.62232969e-05,
  8.93657700e-04,-1.68851742e-03,-1.21680745e+00,-1.54178316e-03,
  7.58942246e-03, 1.81524797e-03]


--- Step 2092 ---
qpos:
[-1.82745000e-03, 8.59013275e-01,-2.34160913e-02, 4.51441825e-04,
 -2.62002671e-03, 8.54568455e-01,-2.67903784e-02, 3.04939378e-03,
 -1.31078151e-03, 8.66548189e-01,-1.87740223e-02,-2.11954257e-02,
  1.39664986e+00, 1.85992743e-02, 1.37791228e+00, 2.42535629e-02,
  3.69075159e-03,-5.98372938e-02, 8.33662217e-02, 6.96216980e-01,
 -3.80637305e-03,-7.12960318e-01,-8.33967209e-02]

qacc:
[ 2.49384077e-01,-4.33116928e+00, 1.21664574e+01,-2.02600127e+01,
  4.56235201e-03,-6.46826434e+00, 1.75027418e+01,-2.31070040e+01,
 -9.13732065e-02,-8.55717312e+00, 2.79865376e+01,-3.80025490e+01,
 -1.43737980e+00, 3.22651186e-02, 3.14607839e+00,-1.03467363e+01,
  1.94862139e+00, 1.13895232e+00, 9.01763827e-01,-6.62339447e+00,
  8.05830852e+01, 9.99189981e+01]

qfrc_actuator:
[ 0.0018095 , 0.03414994, 0.00840361, 0.00154997,-0.00033811, 0.03483246,
  0.00834323, 0.00178246,-0.00228336, 0.03166809, 0.00832896, 0.00144223,
  0.        ,-0.00145325, 0.        ,-0.00101097, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.08434387, -3.038118  ,  8.08434387,  9.73716802,
        2.92920853, -3.038118  ,  2.92920853, 16.43090256,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012022524379181054
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.61726252e-14, -2.30863126e-14,  1.00000000e+00,  1.06595566e-27,
        1.00000000e+00,  2.30863126e-14, -1.00000000e+00,  0.00000000e+00,
        4.61726252e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03256896, -0.08519867,  0.06190265])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.46928126e-05,-4.15003233e-04,-1.22003564e-04,-5.48343572e-05,
  4.36561971e-07,-5.10027736e-04,-1.17393492e-04,-5.11212830e-05,
 -1.70677934e-05,-2.83708041e-04, 1.48859804e-05,-3.99838661e-05,
  3.19253229e-03,-2.08267664e-04,-2.73608027e-06,-4.97704922e-05,
  5.69943679e-04,-1.38992541e-03,-1.21681593e+00,-1.48158995e-03,
  7.61035243e-03, 1.81830798e-03]


--- Step 2093 ---
qpos:
[-1.83897131e-03, 8.59155213e-01,-2.34192464e-02, 4.49885529e-04,
 -2.62662208e-03, 8.54724399e-01,-2.67935101e-02, 3.05231909e-03,
 -1.30877543e-03, 8.66634741e-01,-1.87794190e-02,-2.11975117e-02,
  1.39664818e+00, 1.86002441e-02, 1.37799838e+00, 2.42498633e-02,
  3.67564065e-03,-5.97202699e-02, 8.32443114e-02, 6.95792935e-01,
 -5.84630133e-03,-7.13578025e-01,-8.15132802e-02]

qacc:
[ 9.66709786e-02,-2.02139863e+00, 4.01405205e+00,-8.12197448e+00,
  9.00449012e-02,-5.12104675e+00, 1.40543285e+01,-2.27044378e+01,
 -1.48580269e-01,-2.70625312e+00, 9.79321690e-02, 2.03498583e+01,
 -1.29739417e+00, 4.20181375e-01, 4.00560847e+00,-1.35847363e+01,
  2.36040033e+00, 6.12031620e-01,-1.00083274e+00,-6.48092644e+00,
  1.06129893e+02, 8.53985135e+01]

qfrc_actuator:
[ 0.00180595, 0.0340519 , 0.00837411, 0.0015312 ,-0.00032247, 0.03465027,
  0.00832085, 0.00174707,-0.00230279, 0.03153491, 0.00835648, 0.00149878,
  0.        ,-0.00144239, 0.        ,-0.00107517, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.63380473,  0.21022055, -8.63380473,  8.6328453 ,
       -0.14449882,  0.21022055, -0.14449882,  2.701765  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001246237931916111
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25277131e-14,  1.25277131e-14,  1.00000000e+00, -1.56943596e-28,
        1.00000000e+00, -1.25277131e-14, -1.00000000e+00,  0.00000000e+00,
        1.25277131e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05769395, -0.08348612,  0.06189881])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72735323e-05,-3.61061874e-04,-1.33254272e-04,-4.20507004e-05,
  1.57799437e-05,-4.97666094e-04,-1.45204563e-04,-6.25385750e-05,
 -2.74304158e-05,-2.92518547e-04,-3.12583439e-05, 4.40157613e-05,
  3.32221974e-03,-1.32056914e-04,-1.37266984e-05,-6.87342620e-05,
  3.37861754e-04,-1.05703565e-03,-1.21682559e+00,-1.40726739e-03,
  7.63233061e-03, 1.81985018e-03]


--- Step 2094 ---
qpos:
[-1.85038438e-03, 8.59294567e-01,-2.34223102e-02, 4.48046352e-04,
 -2.63301255e-03, 8.54877305e-01,-2.67972852e-02, 3.05471619e-03,
 -1.30666141e-03, 8.66719482e-01,-1.87855440e-02,-2.11985535e-02,
  1.39664475e+00, 1.86009119e-02, 1.37808426e+00, 2.42467514e-02,
  3.66922021e-03,-5.96007588e-02, 8.31154373e-02, 6.95513956e-01,
 -7.98990358e-03,-7.14052822e-01,-7.95302757e-02]

qacc:
[ 5.80487040e-02,-4.25031244e+00, 1.13950211e+01,-1.45400324e+01,
  1.09248582e-01,-3.30244097e+00, 8.18036391e+00,-1.40616329e+01,
  5.67693053e-02, 1.79366019e+00,-1.42656364e+01, 3.48144588e+01,
 -1.18198291e+00, 5.88625262e-01,-2.00972691e+00, 6.79653846e+00,
  2.17262547e+00, 6.21812262e-01,-1.74098089e+00,-5.94495200e+00,
  9.69594132e+01, 7.79580839e+01]

qfrc_actuator:
[ 0.00180832, 0.03395561, 0.00839367, 0.00152082,-0.00031055, 0.03455182,
  0.00830895, 0.00172509,-0.00227958, 0.03145737, 0.00832152, 0.00155061,
  0.        ,-0.00143585, 0.        ,-0.00104045, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.27974484, -2.45613562,  8.27974484,  9.04493937,
        1.37732736, -2.45613562,  1.37732736, 13.27939678,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012994999848500582
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.27647994e-14, -2.66983224e-14,  1.00000000e+00,  2.20968129e-27,
        1.00000000e+00,  2.66983224e-14, -1.00000000e+00,  0.00000000e+00,
        8.27647994e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0575292 , -0.08340893,  0.06189421])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02150262e-05,-3.30854817e-04,-7.39723672e-05,-3.14903746e-05,
  1.92988071e-05,-4.13137525e-04,-1.35967251e-04,-4.97832145e-05,
  1.02668698e-05,-2.47678134e-04,-9.83299450e-05, 3.89655953e-05,
  3.42008596e-03,-9.08415611e-05,-1.91723379e-05, 2.80738843e-05,
  1.34473416e-04,-5.61905759e-04,-1.21681924e+00,-1.28497385e-03,
  7.65504954e-03, 1.81917750e-03]


--- Step 2095 ---
qpos:
[-1.86187359e-03, 8.59431093e-01,-2.34250845e-02, 4.46454785e-04,
 -2.63939287e-03, 8.55027632e-01,-2.68015309e-02, 3.05675342e-03,
 -1.30417246e-03, 8.66802494e-01,-1.87915239e-02,-2.12000758e-02,
  1.39663950e+00, 1.86011113e-02, 1.37816992e+00, 2.42450582e-02,
  3.67083482e-03,-5.94787654e-02, 8.29770647e-02, 6.95367416e-01,
 -1.02291976e-02,-7.14394927e-01,-7.74558473e-02]

qacc:
[-3.89394488e-02,-4.03222115e+00, 7.91374180e+00,-2.01708609e+00,
  5.98838127e-03,-2.83156860e+00, 6.67164359e+00,-1.02535465e+01,
  1.97087017e-01,-3.67942259e+00, 1.18298579e+01,-1.91034972e+01,
 -1.06715277e+00, 3.53710004e-01,-4.53223479e+00, 1.55967986e+01,
  2.00876183e+00, 6.20565468e-01,-2.37458843e+00,-5.38423835e+00,
  8.92584292e+01, 7.17545187e+01]

qfrc_actuator:
[ 0.00179649, 0.03380814, 0.00840657, 0.00153324,-0.00031872, 0.03446892,
  0.0083037 , 0.00171126,-0.00224881, 0.0313958 , 0.00833894, 0.00152825,
  0.        ,-0.00146751, 0.        ,-0.00096547, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.16624392, -2.81055814,  8.16624392,  9.76952595,
        3.29247054, -2.81055814,  3.29247054, 18.20283271,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013249976250051115
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.30922761e-15,  2.09476418e-14,  1.00000000e+00, -2.74252310e-29,
        1.00000000e+00, -2.09476418e-14, -1.00000000e+00,  0.00000000e+00,
        1.30922761e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05743876, -0.08336147,  0.06189168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.32051025e-06,-3.52386008e-04,-6.66964400e-05,-5.12270602e-06,
  8.82558614e-07,-3.47793273e-04,-1.10241904e-04,-3.74371986e-05,
  3.58115031e-05,-2.20664233e-04,-4.51116815e-05,-3.57338706e-05,
  3.50764619e-03,-1.07409409e-04,-9.70814995e-06, 7.32863387e-05,
  2.87966344e-05,-6.04964426e-05,-1.21681745e+00,-1.15508720e-03,
  7.67787281e-03, 1.81733751e-03]


--- Step 2096 ---
qpos:
[-1.87398775e-03, 8.59564719e-01,-2.34284476e-02, 4.44746575e-04,
 -2.64579317e-03, 8.55174928e-01,-2.68059332e-02, 3.05760414e-03,
 -1.30150819e-03, 8.66883815e-01,-1.87975700e-02,-2.12021926e-02,
  1.39663266e+00, 1.86010082e-02, 1.37825540e+00, 2.42452655e-02,
  3.67990916e-03,-5.93543288e-02, 8.28270240e-02, 6.95342562e-01,
 -1.25573847e-02,-7.14612798e-01,-7.52966274e-02]

qacc:
[-3.28833833e-01,-2.42746878e+00, 3.58600440e+00,-2.53222660e+00,
 -9.65665214e-03,-6.00579986e+00, 2.06140812e+01,-3.86760292e+01,
  9.23571446e-02,-3.27364837e+00, 1.09356566e+01,-1.98683734e+01,
 -9.47664819e-01, 3.86401112e-01,-5.94723649e+00, 2.06020384e+01,
  1.86493316e+00, 6.10778954e-01,-2.91705397e+00,-4.80830512e+00,
  8.27838279e+01, 6.65813999e+01]

qfrc_actuator:
[ 0.00174077, 0.03363123, 0.008362  , 0.00152343,-0.00032107, 0.03428959,
  0.00828478, 0.00164911,-0.00224932, 0.03130893, 0.00833394, 0.00149797,
  0.        ,-0.00146855, 0.        ,-0.00086739, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  7.87967183, -3.53518722,  7.87967183, 12.77563707,
        9.22613551, -3.53518722,  9.22613551, 29.2007399 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013278948384725167
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.87401648e-14, -1.30637113e-14,  1.00000000e+00,  3.75453214e-28,
        1.00000000e+00,  1.30637113e-14, -1.00000000e+00,  0.00000000e+00,
        2.87401648e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05740834, -0.08333804,  0.06189083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.95135293e-05,-3.91161497e-04,-1.26798215e-04,-2.75115697e-05,
 -1.98098755e-06,-4.01781362e-04,-1.06797428e-04,-8.18263133e-05,
  1.67197239e-05,-2.23010958e-04,-5.79629681e-05,-4.20959553e-05,
  3.59830880e-03,-8.50257906e-05,-7.03626104e-07, 1.00023203e-04,
 -8.67372049e-07, 4.42325185e-04,-1.21682015e+00,-1.01964821e-03,
  7.70031778e-03, 1.81454587e-03]


--- Step 2097 ---
qpos:
[-1.88651085e-03, 8.59694804e-01,-2.34320671e-02, 4.43336740e-04,
 -2.65237812e-03, 8.55319038e-01,-2.68104879e-02, 3.05771958e-03,
 -1.29895953e-03, 8.66963319e-01,-1.88038990e-02,-2.12042809e-02,
  1.39662440e+00, 1.86004869e-02, 1.37834091e+00, 2.42463071e-02,
  3.69593478e-03,-5.92275147e-02, 8.26634571e-02, 6.95430220e-01,
 -1.49686661e-02,-7.14713423e-01,-7.30579975e-02]

qacc:
[-2.14465523e-01,-3.34596510e+00, 3.88336302e+00, 4.29058148e+00,
 -9.68155465e-02,-5.29289992e+00, 1.58711818e+01,-2.60160442e+01,
 -6.00903540e-02,-1.55191786e+00, 1.92966155e+00, 3.48700118e-01,
 -8.33961909e-01, 2.47612568e-01,-2.41933033e+00, 8.68425443e+00,
  1.73781799e+00, 5.94392656e-01,-3.38153410e+00,-4.22350084e+00,
  7.73373489e+01, 6.22710309e+01]

qfrc_actuator:
[ 0.00173032, 0.03342012, 0.00833695, 0.00153606,-0.00033766, 0.03412489,
  0.00827528, 0.00161219,-0.00226855, 0.03120755, 0.00831565, 0.00149876,
  0.        ,-0.00148671, 0.        ,-0.00082752, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001312553979908468
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.64327944e-15, -2.64327944e-14,  1.00000000e+00, -6.98692621e-29,
        1.00000000e+00,  2.64327944e-14, -1.00000000e+00,  0.00000000e+00,
       -2.64327944e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05742627, -0.08333397,  0.06189133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.89954258e-05,-4.60352405e-04,-1.23426916e-04,-9.25289805e-06,
 -1.75767584e-05,-4.18450008e-04,-1.09609071e-04,-5.96434045e-05,
 -1.11125474e-05,-2.41730154e-04,-7.35308868e-05,-1.16948381e-05,
  3.67796240e-03,-8.80444450e-05, 6.50606755e-06, 4.44644649e-05,
  2.95283679e-05, 9.43904597e-04,-1.21682737e+00,-8.80005183e-04,
  7.72198485e-03, 1.81098833e-03]


--- Step 2098 ---
qpos:
[-1.89886819e-03, 8.59821600e-01,-2.34356018e-02, 4.43410753e-04,
 -2.65893895e-03, 8.55460314e-01,-2.68154688e-02, 3.05977821e-03,
 -1.29678050e-03, 8.67040898e-01,-1.88095468e-02,-2.12063990e-02,
  1.39661500e+00, 1.85991427e-02, 1.37842686e+00, 2.42444792e-02,
  3.71845862e-03,-5.90984090e-02, 8.24847731e-02, 6.95622543e-01,
 -1.74580901e-02,-7.14702551e-01,-7.07442967e-02]

qacc:
[ 8.86786072e-02,-1.52652172e+00,-7.12544942e+00, 3.50858748e+01,
  1.36342682e-02, 1.44372373e+00,-1.87875554e+01, 5.51862810e+01,
 -1.92484279e-01,-4.50704134e+00, 1.25063112e+01,-1.26997077e+01,
 -7.25871975e-01,-3.88669236e-02, 9.40232608e+00,-3.18026454e+01,
  1.62455715e+00, 5.72897046e-01,-3.77928085e+00,-3.63382128e+00,
  7.27560521e+01, 5.86861583e+01]

qfrc_actuator:
[ 0.0017648 , 0.03329681, 0.00835902, 0.00161502,-0.00032712, 0.03402359,
  0.0082715 , 0.0017147 ,-0.00229879, 0.03113375, 0.00836063, 0.00150005,
  0.        ,-0.00153265, 0.        ,-0.00098205, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.61642469, -0.58651719, -8.61642469,  8.8888412 ,
       -3.70910516, -0.58651719, -3.70910516, 63.12619952,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012826595627870724
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20367394e-13, -7.43843448e-14,  1.00000000e+00,  8.95344976e-27,
        1.00000000e+00,  7.43843448e-14, -1.00000000e+00,  0.00000000e+00,
        1.20367394e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05748295, -0.0833454 ,  0.06189291])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56696699e-05,-4.09682467e-04,-8.95138144e-05, 5.46073902e-05,
  2.19772907e-06,-3.63918245e-04,-1.06889883e-04, 7.94155581e-05,
 -3.54118423e-05,-2.26473279e-04,-1.49690735e-05,-1.19374359e-05,
  3.74829884e-03,-1.13053303e-04, 3.33107869e-06,-1.52180193e-04,
  1.08236333e-04, 1.44307578e-03,-1.21683917e+00,-7.37020416e-04,
  7.74253981e-03, 1.80682440e-03]


--- Step 2099 ---
qpos:
[-1.91088128e-03, 8.59945062e-01,-2.34385573e-02, 4.44051419e-04,
 -2.66520655e-03, 8.55598407e-01,-2.68200215e-02, 3.06199308e-03,
 -1.29515810e-03, 8.67115965e-01,-1.88137970e-02,-2.12081167e-02,
  1.39660506e+00, 1.85975053e-02, 1.37851311e+00, 2.42384846e-02,
  3.74707318e-03,-5.89671137e-02, 8.22896094e-02, 6.95912807e-01,
 -2.00214243e-02,-7.14584883e-01,-6.83589915e-02]

qacc:
[  0.18302181, -4.85402891,  8.52604184,  2.80043321,  0.1567484 ,
  -5.07550624, 11.33859504, -6.98489925, -0.28973306, -6.39840969,
  16.31021366, -9.77725332, -0.63774842,  0.34482838, 13.13706174,
 -45.14154176,  1.52267981,  0.54741912, -4.11992618, -3.04154215,
  68.90507363, 55.71367165]

qfrc_actuator:
[ 0.00179034, 0.03313857, 0.00839139, 0.00164373,-0.00030044, 0.03385475,
  0.00828923, 0.00172096,-0.00233534, 0.03098859, 0.00842497, 0.00151945,
  0.        ,-0.00150592, 0.        ,-0.00119658, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.51894141,  1.41930057, -8.51894141,  9.12515857,
        2.93385028,  1.41930057,  2.93385028, 26.24595185,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012413214538742265
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.09622190e-14, -1.11798501e-14,  1.00000000e+00, -2.34354466e-28,
        1.00000000e+00,  1.11798501e-14, -1.00000000e+00,  0.00000000e+00,
       -2.09622190e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05757044, -0.08336917,  0.06189536])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.26498280e-05,-4.06450530e-04,-6.23537307e-05, 8.93680680e-06,
  2.76776587e-05,-3.94384108e-04,-6.89418848e-05,-1.16971542e-05,
 -5.33183461e-05,-2.77192929e-04, 1.47595538e-05, 8.84062660e-06,
  3.80553319e-03,-4.51394725e-05,-2.03578931e-05,-2.23633405e-04,
  2.26609187e-04, 1.93966384e-03,-1.21685566e+00,-5.91214750e-04,
  7.76169847e-03, 1.80219151e-03]


--- Step 2100 ---
qpos:
[-1.92233787e-03, 8.60065304e-01,-2.34410853e-02, 4.44332867e-04,
 -2.67132950e-03, 8.55733035e-01,-2.68238327e-02, 3.06324112e-03,
 -1.29384665e-03, 8.67188647e-01,-1.88183689e-02,-2.12081052e-02,
  1.39659465e+00, 1.85961196e-02, 1.37859906e+00, 2.42316232e-02,
  3.78140791e-03,-5.88337431e-02, 8.20767988e-02, 6.96295235e-01,
 -2.26550480e-02,-7.14364228e-01,-6.59048144e-02]

qacc:
[  0.29467683, -6.18653789, 17.40189018,-21.93955713,  0.07828237,
  -8.63436323, 28.22781674,-43.60779824, -0.16212795,  1.30988721,
 -16.52709299, 48.68905634, -0.5765802 ,  0.62610193,  2.24017243,
  -8.33474203,  1.43004376,  0.51879545, -4.41172146, -2.44770471,
  65.67206869, 53.2597678 ]

qfrc_actuator:
[ 0.00182801, 0.03297848, 0.00841164, 0.00162486,-0.00029984, 0.03366461,
  0.00831918, 0.00167047,-0.00233983, 0.03083747, 0.00839343, 0.00160254,
  0.        ,-0.00147131, 0.        ,-0.00123163, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.3916295 ,  2.04140422, -8.3916295 ,  9.10202427,
        1.91419783,  2.04140422,  1.91419783, 16.50508402,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001191161338693611
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.80588757e-14, -2.33012731e-14,  1.00000000e+00,  1.11983299e-27,
        1.00000000e+00,  2.33012731e-14, -1.00000000e+00,  0.00000000e+00,
        4.80588757e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05768217, -0.08340264,  0.06189849])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.28480225e-05,-4.02755654e-04,-7.20105638e-05,-3.84555083e-05,
  1.36021847e-05,-4.28704524e-04,-6.14654630e-05,-7.01999236e-05,
 -2.98210982e-05,-3.04440471e-04,-8.72132303e-05, 7.18039309e-05,
  3.83238200e-03, 4.19535393e-06,-3.71414154e-05,-5.07357780e-05,
  3.78298965e-04, 2.43414192e-03,-1.21687700e+00,-4.42869602e-04,
  7.77921367e-03, 1.79720921e-03]


--- Step 2101 ---
qpos:
[-1.93325122e-03, 8.60183502e-01,-2.34447216e-02, 4.44337356e-04,
 -2.67754293e-03, 8.55864294e-01,-2.68276394e-02, 3.06563654e-03,
 -1.29234278e-03, 8.67259455e-01,-1.88245509e-02,-2.12077656e-02,
  1.39658339e+00, 1.85948312e-02, 1.37868449e+00, 2.42270206e-02,
  3.82112180e-03,-5.86984220e-02, 8.18453413e-02, 6.96764845e-01,
 -2.53558615e-02,-7.14043637e-01,-6.33838784e-02]

qacc:
[ 2.86258685e-01,-1.74934853e-01,-2.12721485e+00, 6.10386933e-01,
 -4.66281853e-02,-2.09903281e+00,-3.81548735e+00, 2.61398943e+01,
  1.00419080e-01, 2.69903386e+00,-1.45966776e+01, 2.42187335e+01,
 -5.08868935e-01, 3.67801836e-01,-7.57039134e+00, 2.54668840e+01,
  1.34478631e+00, 4.87632948e-01,-4.66173940e+00,-1.85248565e+00,
  6.29629082e+01, 5.12462086e+01]

qfrc_actuator:
[ 0.00185486, 0.03292503, 0.00837129, 0.00161363,-0.00031488, 0.03349875,
  0.00832048, 0.00172903,-0.00230736, 0.03073691, 0.00830552, 0.00161585,
  0.        ,-0.00148564, 0.        ,-0.00110738, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.29551609,  2.40233005, -8.29551609,  8.93652488,
        1.03649056,  2.40233005,  1.03649056, 12.21548223,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011343854987237584
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.36428106e-14,  6.11687465e-15,  1.00000000e+00, -2.05788855e-28,
        1.00000000e+00, -6.11687465e-15, -1.00000000e+00,  0.00000000e+00,
        3.36428106e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05781272, -0.08344362,  0.06190215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.16173840e-05,-2.98006959e-04,-1.34659418e-04,-3.18959529e-05,
 -8.66929351e-06,-4.24495521e-04,-9.82885948e-05, 3.64926624e-05,
  1.83489343e-05,-2.87422009e-04,-1.59576958e-04,-1.44887591e-06,
  3.85573676e-03,-2.26806154e-05,-2.36905525e-05, 1.16486989e-04,
  5.58671727e-04, 2.92739404e-03,-1.21690342e+00,-2.92099336e-04,
  7.79486453e-03, 1.79198301e-03]


--- Step 2102 ---
qpos:
[-1.94388436e-03, 8.60299772e-01,-2.34487648e-02, 4.44484168e-04,
 -2.68368009e-03, 8.55992180e-01,-2.68313960e-02, 3.06870848e-03,
 -1.29054951e-03, 8.67328376e-01,-1.88306820e-02,-2.12084205e-02,
  1.39657116e+00, 1.85935510e-02, 1.37876945e+00, 2.42265781e-02,
  3.86589681e-03,-5.85612835e-02, 8.15943795e-02, 6.97317333e-01,
 -2.81212082e-02,-7.13625508e-01,-6.07977722e-02]

qacc:
[ 1.48066255e-01,-1.11753995e+00,-3.12933204e-01, 4.84371761e+00,
  4.16639957e-02,-3.20204839e+00, 2.09448217e+00, 1.20114545e+01,
  1.52176649e-01,-4.68572015e+00, 1.72783976e+01,-3.31724646e+01,
 -4.19642542e-01, 1.84634439e-01,-1.32719183e+01, 4.54795199e+01,
  1.26528378e+00, 4.54358711e-01,-4.87604430e+00,-1.25547640e+00,
  6.06983151e+01, 4.96073992e+01]

qfrc_actuator:
[ 0.00185726, 0.03286466, 0.00836695, 0.00162482,-0.00030361, 0.033331  ,
  0.00832278, 0.00176251,-0.00228859, 0.03068488, 0.00832722, 0.00157024,
  0.        ,-0.00149378, 0.        ,-0.00089032, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.21302032,  2.67078156, -8.21302032,  8.76407555,
        0.39273168,  2.67078156,  0.39273168,  9.84406753,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010728463119228926
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.14435557e-14,  9.70161405e-15,  1.00000000e+00, -5.96101663e-28,
        1.00000000e+00, -9.70161405e-15, -1.00000000e+00,  0.00000000e+00,
        6.14435557e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05795755, -0.08349029,  0.06190621])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.66017114e-05,-2.58954175e-04,-8.44786319e-05,-7.03796430e-06,
  7.12502048e-06,-4.26992796e-04,-9.72378733e-05, 1.24105528e-05,
  2.76359380e-05,-2.47392148e-04,-5.78699703e-05,-6.35608990e-05,
  3.89750025e-03,-3.56452941e-05, 5.59715067e-07, 2.20226220e-04,
  7.64376154e-04, 3.42055118e-03,-1.21693517e+00,-1.38902858e-04,
  7.80844778e-03, 1.78660774e-03]


--- Step 2103 ---
qpos:
[-1.95414271e-03, 8.60414727e-01,-2.34528935e-02, 4.43966439e-04,
 -2.68930989e-03, 8.56117275e-01,-2.68350527e-02, 3.07138439e-03,
 -1.28869398e-03, 8.67395793e-01,-1.88357051e-02,-2.12090536e-02,
  1.39655836e+00, 1.85920433e-02, 1.37885466e+00, 2.42263799e-02,
  3.91591944e-03,-5.84195579e-02, 8.13338318e-02, 6.97949237e-01,
 -3.09850254e-02,-7.13112252e-01,-5.81180364e-02]

qacc:
[ 1.97824514e-01,-2.86575478e+00, 1.05023411e+01,-2.09013889e+01,
  2.69653675e-01,-4.77945602e+00, 1.33633334e+01,-1.83294840e+01,
  3.38255775e-02,-5.03619726e+00, 1.49829785e+01,-1.52741768e+01,
 -3.25011989e-01, 5.38693327e-02,-3.45779035e-01, 1.80607857e+00,
  1.31190211e+00, 1.14678971e+00,-2.39648964e+00,-2.69949873e+00,
  5.71935737e+01, 7.15326170e+01]

qfrc_actuator:
[ 0.00188054, 0.0328541 , 0.00838396, 0.00159588,-0.00025893, 0.03323448,
  0.00834339, 0.00174547,-0.00229597, 0.03068048, 0.00841367, 0.00157924,
  0.        ,-0.00149816, 0.        ,-0.00088667, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.63481862, -0.1633534 ,  8.63481862,  8.66547868,
        1.53901391, -0.1633534 ,  1.53901391, 89.98824275,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001012051265717455
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.48501376e-14, -5.48501376e-14,  1.00000000e+00,  3.00853760e-27,
        1.00000000e+00,  5.48501376e-14, -1.00000000e+00,  0.00000000e+00,
        5.48501376e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03274321, -0.08527012,  0.06191024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.56239719e-05,-1.75834258e-04,-4.80020883e-05,-4.32633498e-05,
  4.79866661e-05,-3.57894354e-04,-8.01268794e-05,-3.86594285e-05,
  5.92026090e-06,-1.58980455e-04, 2.55441057e-05,-4.92657495e-06,
  3.94645657e-03,-4.03919524e-05, 2.22410726e-05, 1.54711746e-05,
  9.93023142e-04, 3.91487824e-03,-1.21697258e+00, 1.67994683e-05,
  7.81977072e-03, 1.78117052e-03]


--- Step 2104 ---
qpos:
[-1.96422496e-03, 8.60528934e-01,-2.34574293e-02, 4.43050050e-04,
 -2.69439685e-03, 8.56239914e-01,-2.68378043e-02, 3.07338514e-03,
 -1.28686182e-03, 8.67462085e-01,-1.88404170e-02,-2.12092263e-02,
  1.39654547e+00, 1.85906305e-02, 1.37894012e+00, 2.42249182e-02,
  3.97075246e-03,-5.82738001e-02, 8.10621552e-02, 6.98655299e-01,
 -3.39427101e-02,-7.12506400e-01,-5.53470499e-02]

qacc:
[ 9.27529052e-02,-6.71301716e-01, 2.64251510e+00,-8.34111334e+00,
  2.88774435e-01,-7.15734907e+00, 2.36662414e+01,-3.50012482e+01,
 -1.16201432e-02,-1.40661218e+00, 9.18581055e-01, 7.37184531e+00,
 -2.56156366e-01, 2.97579855e-01, 4.23356057e+00,-1.41897110e+01,
  1.20259906e+00, 1.00803370e+00,-2.78224822e+00,-1.76327613e+00,
  5.46139249e+01, 6.89033471e+01]

qfrc_actuator:
[ 0.00188063, 0.03285583, 0.00837811, 0.00157912,-0.00023018, 0.03316371,
  0.00841041, 0.00171665,-0.00230118, 0.03063403, 0.00843138, 0.00160264,
  0.        ,-0.00146454, 0.        ,-0.00095556, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.62415121, -8.41658847,  1.88069738, -8.41658847,  8.51411244,
       -0.49245085,  1.88069738, -0.49245085,  6.4203112 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009740657160365526
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.5483685e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        8.5483685e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03279081, -0.08529897,  0.06191238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67349741e-05,-1.11049564e-04,-5.04372179e-05,-2.69608128e-05,
  5.13653353e-05,-2.92086548e-04,-1.90754112e-05,-4.78631787e-05,
 -2.26647851e-06,-1.31840739e-04,-1.26313757e-05, 1.72802822e-05,
  3.97452785e-03, 4.64412603e-06, 8.02826948e-06,-6.60323993e-05,
  1.25413132e-03, 4.48889684e-03,-1.21704037e+00, 1.78613391e-04,
  7.83866726e-03, 1.77520465e-03]


--- Step 2105 ---
qpos:
[-1.97418416e-03, 8.60641794e-01,-2.34616025e-02, 4.42995561e-04,
 -2.69902728e-03, 8.56359544e-01,-2.68391778e-02, 3.07436801e-03,
 -1.28470868e-03, 8.67527686e-01,-1.88453264e-02,-2.12094851e-02,
  1.39653240e+00, 1.85897419e-02, 1.37902520e+00, 2.42260055e-02,
  4.03000254e-03,-5.81244954e-02, 8.07780244e-02, 6.99430881e-01,
 -3.69903367e-02,-7.11809877e-01,-5.24867314e-02]

qacc:
[ 6.55730721e-02,-1.01703358e+00,-2.59290336e+00, 1.79179529e+01,
  2.43548701e-01,-9.91388123e+00, 3.38814867e+01,-5.15006566e+01,
  1.68150882e-01,-5.39798359e-01, 9.62602146e-01,-1.63080335e+00,
 -2.07505558e-01, 4.82744870e-01,-8.26362039e+00, 2.81434381e+01,
  1.10426573e+00, 8.86701564e-01,-3.11352915e+00,-9.23687883e-01,
  5.24363443e+01, 6.67115176e+01]

qfrc_actuator:
[ 0.00188461, 0.03277613, 0.00839442, 0.00162293,-0.00021122, 0.0329849 ,
  0.00846893, 0.00166346,-0.00226952, 0.03061582, 0.00842596, 0.00159871,
  0.        ,-0.00142611, 0.        ,-0.00081803, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.546333  , -8.28700895,  2.08932771, -8.28700895,  8.4157507 ,
       -0.51793533,  2.08932771, -0.51793533,  6.4920192 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000929280737766186
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.98678047e-14,  5.97356095e-14,  1.00000000e+00, -1.78417152e-27,
        1.00000000e+00, -5.97356095e-14, -1.00000000e+00,  0.00000000e+00,
        2.98678047e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03285177, -0.0853352 ,  0.06191512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16744980e-05,-1.56038652e-04,-1.46341921e-05, 3.66169124e-05,
  4.31789004e-05,-3.51057334e-04,-6.76652332e-06,-6.74814863e-05,
  3.06965473e-05,-9.53300503e-05,-3.40936811e-05,-9.76300433e-06,
  3.97908275e-03, 3.83842824e-05,-6.34458371e-06, 1.34283605e-04,
  1.53168441e-03, 5.06534217e-03,-1.21711476e+00, 3.43774168e-04,
  7.85408549e-03, 1.76923714e-03]


--- Step 2106 ---
qpos:
[-1.98383456e-03, 8.60752727e-01,-2.34649654e-02, 4.43507421e-04,
 -2.70311816e-03, 8.56476603e-01,-2.68407962e-02, 3.07510483e-03,
 -1.28202783e-03, 8.67592141e-01,-1.88498171e-02,-2.12097750e-02,
  1.39651926e+00, 1.85888814e-02, 1.37911050e+00, 2.42263645e-02,
  4.09331073e-03,-5.79720750e-02, 8.04802997e-02, 7.00271872e-01,
 -4.01245539e-02,-7.11024088e-01,-4.95385909e-02]

qacc:
[ 0.16385976,-3.64359845, 6.90572516, 3.01368334, 0.28629897,-3.21655613,
  7.58013563,-9.55932186, 0.2769153 ,-2.74772948, 7.73046001,-8.09525707,
 -0.15109051, 0.15492924, 2.54947062,-8.40260162, 1.01452571, 0.77895267,
 -3.39846585,-0.15872975,50.59972489,64.89893114]

qfrc_actuator:
[ 0.00190866, 0.03264846, 0.00842341, 0.00164872,-0.00018051, 0.03284933,
  0.00845051, 0.00164952,-0.00223383, 0.03054356, 0.00844253, 0.00159651,
  0.        ,-0.00143851, 0.        ,-0.00086174, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.37975755, -8.0657876 ,  2.27231311, -8.0657876 ,  8.23095878,
       -0.52817512,  2.27231311, -0.52817512,  6.50495065,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008794874332862246
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.31176173e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.31176173e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03292322, -0.08537721,  0.06191834])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.93387752e-05,-2.19010642e-04,-4.62568687e-06, 1.91477627e-05,
  5.10548191e-05,-3.39038629e-04,-9.50383523e-05,-3.07134764e-05,
  5.04739503e-05,-1.34528164e-04,-8.12026546e-06,-7.74336448e-06,
  3.98782670e-03,-2.02552440e-07, 1.09694402e-05,-3.72825753e-05,
  1.82412753e-03, 5.64509215e-03,-1.21719669e+00, 5.12277732e-04,
  7.86600885e-03, 1.76335754e-03]


--- Step 2107 ---
qpos:
[-1.99296396e-03, 8.60861212e-01,-2.34678978e-02, 4.44416075e-04,
 -2.70693334e-03, 8.56591218e-01,-2.68427251e-02, 3.07599940e-03,
 -1.27925525e-03, 8.67655244e-01,-1.88544623e-02,-2.12107142e-02,
  1.39650610e+00, 1.85879284e-02, 1.37919596e+00, 2.42252101e-02,
  4.16170575e-03,-5.78144121e-02, 8.01993225e-02, 7.01209481e-01,
 -4.33785253e-02,-7.10115375e-01,-4.64728016e-02]

qacc:
[ 2.75532423e-01,-3.61717910e+00, 6.53265990e+00, 1.44134373e+00,
  1.46580118e-01,-2.03652784e+00, 1.90884433e+00, 3.11368368e+00,
  4.83634933e-02,-2.69302134e+00, 9.74471784e+00,-1.97322763e+01,
 -1.01474736e-01, 4.43728401e-02, 4.84607330e+00,-1.65605240e+01,
  1.27170974e+00, 1.31062153e+00, 4.18687470e+00,-1.21103003e+00,
  7.20633421e+01, 8.86274061e+01]

qfrc_actuator:
[ 0.00194452, 0.03247539, 0.00842391, 0.00166365,-0.00017853, 0.03274045,
  0.00844026, 0.00165876,-0.0022493 , 0.03043961, 0.00841852, 0.00155982,
  0.        ,-0.00144563, 0.        ,-0.00094093, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008459422582881432
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0168114 , -0.07453963,  0.06192014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.95250098e-05,-2.98272741e-04,-4.54841080e-05, 5.59652935e-06,
  2.60559594e-05,-3.22205127e-04,-9.39740727e-05,-9.35075156e-06,
  8.73930283e-06,-1.82665759e-04,-5.35315870e-05,-4.29734070e-05,
  3.99119807e-03,-8.68499769e-06,-1.75520953e-06,-8.04636492e-05,
  2.13044105e-03, 6.22917634e-03,-1.21728709e+00, 6.84185787e-04,
  7.87439946e-03, 1.75763515e-03]


--- Step 2108 ---
qpos:
[-2.00158735e-03, 8.60967413e-01,-2.34719001e-02, 4.45579216e-04,
 -2.71059138e-03, 8.56703355e-01,-2.68450755e-02, 3.07700605e-03,
 -1.27673236e-03, 8.67717753e-01,-1.88602648e-02,-2.12121146e-02,
  1.39649334e+00, 1.85879516e-02, 1.37928106e+00, 2.42257908e-02,
  4.23346358e-03,-5.76533861e-02, 7.99688471e-02, 7.02227958e-01,
 -4.67030466e-02,-7.09095779e-01,-4.33347047e-02]

qacc:
[ 0.26658938, 0.49329082,-7.21559943,15.01248239, 0.08377152,-1.86481596,
  1.42523113, 3.00929375,-0.13123989, 1.49905246,-4.53782082,-1.15321487,
 -0.06649964, 0.75826649,-5.77755658,19.47740545, 0.84069976, 0.84077913,
 12.62543902, 0.11566231,64.38212447,54.68549144]

qfrc_actuator:
[ 0.00196938, 0.03232962, 0.00835411, 0.001672  ,-0.00017597, 0.03261299,
  0.00841731, 0.00166385,-0.00227751, 0.03044157, 0.00837056, 0.00153857,
  0.        ,-0.00134294, 0.        ,-0.00084506, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010220342043893785
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.43143771e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.43143771e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00366608, -0.06315042,  0.06190291])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.80987331e-05,-3.24255184e-04,-1.37637920e-04,-6.04798139e-06,
  1.48192428e-05,-3.30180204e-04,-1.02296222e-04,-1.23208739e-05,
 -2.39227918e-05,-1.14525134e-04,-9.42218317e-05,-3.18465614e-05,
  3.99205320e-03, 9.86648490e-05,-1.18705180e-05, 9.06900375e-05,
  2.60483878e-03, 7.08490107e-03,-1.21741693e+00, 9.11716801e-04,
  7.88888451e-03, 1.74973995e-03]


--- Step 2109 ---
qpos:
[-2.01015604e-03, 8.61070946e-01,-2.34766194e-02, 4.47547279e-04,
 -2.71414458e-03, 8.56812929e-01,-2.68479429e-02, 3.07773514e-03,
 -1.27451329e-03, 8.67780025e-01,-1.88669288e-02,-2.12134827e-02,
  1.39648068e+00, 1.85883988e-02, 1.37936604e+00, 2.42278222e-02,
  4.30637337e-03,-5.75059667e-02, 7.98196477e-02, 7.03327921e-01,
 -4.97589161e-02,-7.07967312e-01,-4.04496003e-02]

qacc:
[ 2.93346472e-02, 1.36321429e-01,-8.99706083e+00, 2.60346596e+01,
  5.60400405e-02,-2.51148810e+00, 5.21383873e+00,-7.30849898e+00,
 -1.59477216e-01, 2.16056287e+00,-8.29334047e+00, 1.04026924e+01,
 -3.86528924e-02, 3.18554110e-01,-4.57509049e+00, 1.57506553e+01,
  2.87991370e-01,-3.40165757e+00, 2.03189968e+01, 4.17333100e+00,
  7.88446741e+01,-1.79773015e+02]

qfrc_actuator:
[ 0.00195193, 0.0321833 , 0.00831447, 0.0017119 ,-0.00017307, 0.0324754 ,
  0.00838698, 0.00164868,-0.00229529, 0.03047135, 0.0083448 , 0.00154442,
  0.        ,-0.00135294, 0.        ,-0.00077105, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012831664828299102
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.65221341e-14,  4.32610670e-14,  1.00000000e+00, -3.74303984e-27,
        1.00000000e+00, -4.32610670e-14, -1.00000000e+00,  0.00000000e+00,
        8.65221341e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00118937, -0.03664559,  0.06187812])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.12626484e-06,-3.58807787e-04,-1.24573106e-04, 2.09724289e-05,
  9.85994994e-06,-3.46561397e-04,-1.12427954e-04,-3.32629521e-05,
 -2.90925747e-05,-5.65045172e-05,-6.25617383e-05,-3.02789127e-06,
  3.97171334e-03, 3.98750291e-05, 4.77073908e-06, 7.75337121e-05,
  3.04120349e-03, 7.76027296e-03,-1.21753481e+00, 1.12048840e-03,
  7.89321330e-03, 1.74285905e-03]


--- Step 2110 ---
qpos:
[-2.01896171e-03, 8.61171425e-01,-2.34808112e-02, 4.49938684e-04,
 -2.71761556e-03, 8.56919717e-01,-2.68506026e-02, 3.07928823e-03,
 -1.27255690e-03, 8.67842239e-01,-1.88742859e-02,-2.12158442e-02,
  1.39646707e+00, 1.85875372e-02, 1.37945109e+00, 2.42303964e-02,
  4.38041659e-03,-5.73703049e-02, 7.97366546e-02, 7.04498803e-01,
 -5.25848224e-02,-7.06745299e-01,-3.77803503e-02]

qacc:
[-1.23318134e-01,-4.63630098e+00, 8.88893940e+00,-1.64757991e-01,
  4.46822725e-02,-2.56441376e+00, 3.22949102e-01, 1.56522763e+01,
 -1.37940401e-01,-1.86844939e-01, 4.74069435e+00,-2.07662376e+01,
  2.52175103e-02,-1.05720586e+00,-1.56321070e+00, 5.55138893e+00,
  2.83358106e-01,-2.93939726e+00, 1.65515834e+01, 4.33336041e+00,
  6.80228779e+01,-1.53550935e+02]

qfrc_actuator:
[ 0.0019271 , 0.03203794, 0.00834627, 0.00173457,-0.00016998, 0.03235055,
  0.00840574, 0.00169272,-0.00230666, 0.03048221, 0.00831477, 0.00149519,
  0.        ,-0.00151914, 0.        ,-0.00074608, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,  -7.46249163,  -4.34718248,  -7.46249163,
        22.70192588, -24.14532657,  -4.34718248, -24.14532657,
        50.0848877 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0016008607598533425
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73379074e-14,  3.46758148e-14,  1.00000000e+00, -6.01206066e-28,
        1.00000000e+00, -3.46758148e-14, -1.00000000e+00,  0.00000000e+00,
        1.73379074e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00134942, -0.0369599 ,  0.06184894])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.26503738e-05,-3.73246688e-04,-5.77086353e-05, 3.24445019e-06,
  7.71455969e-06,-3.45899067e-04,-6.86649462e-05, 2.44821387e-05,
 -2.51501176e-05,-3.52061601e-05,-4.99387129e-05,-5.39515692e-05,
  3.96681627e-03,-1.47520455e-04, 9.41516672e-06, 2.95622320e-05,
  3.33289333e-03, 7.33223982e-03,-1.21745479e+00, 1.23265134e-03,
  7.85085663e-03, 1.73924947e-03]


--- Step 2111 ---
qpos:
[-2.02781377e-03, 8.61269388e-01,-2.34844877e-02, 4.51474655e-04,
 -2.72101418e-03, 8.57024359e-01,-2.68528077e-02, 3.08194272e-03,
 -1.27117327e-03, 8.67903771e-01,-1.88809309e-02,-2.12187963e-02,
  1.39645305e+00, 1.85857799e-02, 1.37953629e+00, 2.42322555e-02,
  4.45561017e-03,-5.72448478e-02, 7.97072071e-02, 7.05731809e-01,
 -5.52118425e-02,-7.05441967e-01,-3.52972705e-02]

qacc:
[-2.32364542e-02,-6.52146453e+00, 2.20427732e+01,-3.58273035e+01,
  3.94012624e-02,-1.83469303e+00,-2.21825023e+00, 2.21277757e+01,
 -2.99095970e-01,-4.10740978e+00, 1.58259734e+01,-2.66781349e+01,
  1.18590663e-01,-7.64666463e-01, 2.35400284e+00,-7.99244531e+00,
  2.87590133e-01,-2.55117092e+00, 1.33863967e+01, 4.36736421e+00,
  5.92486923e+01,-1.32548633e+02]

qfrc_actuator:
[ 0.00193362, 0.03194787, 0.00838446, 0.00169371,-0.00016678, 0.03230561,
  0.00845344, 0.00175352,-0.00234962, 0.03044612, 0.00835337, 0.00146719,
  0.        ,-0.00152897, 0.        ,-0.00078572, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,  -4.98990234,  -7.04894684,  -4.98990234,
        53.04270043, -31.4349489 ,  -7.04894684, -31.4349489 ,
        30.88895377,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018359147179944219
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.51181181e-14, -3.02362363e-14,  1.00000000e+00,  4.57114993e-28,
        1.00000000e+00,  3.02362363e-14, -1.00000000e+00,  0.00000000e+00,
        1.51181181e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00146734, -0.0371859 ,  0.06182776])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.48692137e-06,-3.12914046e-04,-4.66516641e-05,-5.89379229e-05,
  6.79981979e-06,-2.54045202e-04,-3.21794539e-05, 4.39287784e-05,
 -5.48460711e-05,-6.98083069e-05, 2.28871694e-05,-3.23610708e-05,
  4.01433002e-03,-9.18739085e-05, 3.67802535e-06,-3.76292187e-05,
  3.59646603e-03, 6.93679003e-03,-1.21739589e+00, 1.31544376e-03,
  7.81402541e-03, 1.73719998e-03]


--- Step 2112 ---
qpos:
[-2.03698443e-03, 8.61365395e-01,-2.34876337e-02, 4.51395629e-04,
 -2.72453183e-03, 8.57127210e-01,-2.68545734e-02, 3.08456514e-03,
 -1.27051870e-03, 8.67964323e-01,-1.88866090e-02,-2.12223874e-02,
  1.39643912e+00, 1.85839985e-02, 1.37962131e+00, 2.42349685e-02,
  4.51786636e-03,-5.71330789e-02, 7.97306023e-02, 7.06762552e-01,
 -5.75227710e-02,-7.04329512e-01,-3.31325279e-02]

qacc:
[-1.66757966e-01,-7.38755708e+00, 2.94110594e+01,-5.67775330e+01,
 -6.20343455e-02,-3.65846602e+00, 9.74611872e+00,-9.69060221e+00,
 -3.80606965e-01,-5.31350062e+00, 1.97569720e+01,-3.16320839e+01,
  1.78018928e-01,-1.73203999e-01,-2.86263553e+00, 9.59326887e+00,
 -3.23434949e+00,-3.42207640e+00, 1.32106735e+01,-2.96113764e+00,
 -1.24330056e+02,-2.32663155e+02]

qfrc_actuator:
[ 0.0019056 , 0.03189166, 0.00842629, 0.00161583,-0.0001813 , 0.03223807,
  0.00848268, 0.00175278,-0.00239335, 0.03038251, 0.00839651, 0.00143418,
  0.        ,-0.00148037, 0.        ,-0.0007388 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002187445646049682
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.07543137e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.07543137e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03916427, -0.03003402,  0.06179755])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.03950372e-05,-2.45640399e-04,-3.13257610e-05,-9.41896079e-05,
 -1.13369744e-05,-2.16861622e-04,-2.65009332e-05,-1.20455288e-05,
 -6.98178760e-05,-1.00706773e-04, 3.00032531e-05,-3.59199032e-05,
  4.03453679e-03, 1.55931185e-06,-5.42603696e-06, 4.46397395e-05,
  3.83522111e-03, 6.57254451e-03,-1.21735331e+00, 1.37752629e-03,
  7.78185455e-03, 1.73630940e-03]


--- Step 2113 ---
qpos:
[-2.04644447e-03, 8.61459333e-01,-2.34900729e-02, 4.52109108e-04,
 -2.72818192e-03, 8.57228127e-01,-2.68567003e-02, 3.08653879e-03,
 -1.27011245e-03, 8.68023755e-01,-1.88913439e-02,-2.12259827e-02,
  1.39642557e+00, 1.85822326e-02, 1.37970644e+00, 2.42368656e-02,
  4.56909981e-03,-5.70331451e-02, 7.97953999e-02, 7.07620936e-01,
 -5.95627896e-02,-7.03383821e-01,-3.12423610e-02]

qacc:
[-1.51084207e-01,-3.07561199e+00, 3.65503690e+00, 1.04478344e+01,
 -6.96128590e-02,-2.87958248e+00, 9.29967247e+00,-1.85310866e+01,
 -1.28961469e-01,-4.12091833e+00, 1.25661433e+01,-1.33247341e+01,
  2.14565737e-01,-1.17183520e-01, 2.60645505e+00,-8.93818134e+00,
 -2.75568257e+00,-2.95875652e+00, 1.03505996e+01,-3.15606397e+00,
 -1.07245717e+02,-2.00087665e+02]

qfrc_actuator:
[ 0.00189265, 0.03180295, 0.00847008, 0.00165887,-0.00018853, 0.03210423,
  0.0084474 , 0.0017158 ,-0.00238391, 0.03032072, 0.00844184, 0.00143394,
  0.        ,-0.00146824, 0.        ,-0.00078326, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,  -6.32464437,  -5.88095659,  -6.32464437,
        20.93538446, -13.22691839,  -5.88095659, -13.22691839,
        22.86118467,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0024783482441125965
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11992234e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.11992234e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03879606, -0.03039338,  0.06177365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.76164384e-05,-2.38821631e-04,-1.47874560e-05, 2.94568173e-05,
 -1.26168175e-05,-2.63565356e-04,-8.45558054e-05,-4.75811967e-05,
 -2.38011398e-05,-1.14842043e-04, 2.65626329e-05,-4.28641985e-06,
  4.02947646e-03, 1.49562197e-05, 1.43039689e-06,-4.29250258e-05,
  2.77858260e-03, 4.90837026e-03,-1.21720796e+00, 1.11564331e-03,
  7.76878790e-03, 1.73823919e-03]


--- Step 2114 ---
qpos:
[-2.05552474e-03, 8.61550861e-01,-2.34923470e-02, 4.53756675e-04,
 -2.73173688e-03, 8.57327068e-01,-2.68597384e-02, 3.08740570e-03,
 -1.26976449e-03, 8.68081911e-01,-1.88953988e-02,-2.12288246e-02,
  1.39641287e+00, 1.85807699e-02, 1.37979187e+00, 2.42355339e-02,
  4.61085388e-03,-5.69435354e-02, 7.98919450e-02, 7.08330829e-01,
 -6.13682564e-02,-7.02585032e-01,-2.95913120e-02]

qacc:
[ 2.00881391e-01,-1.72209265e+00,-2.42314922e+00, 2.00949168e+01,
  5.03649902e-02,-2.34211514e+00, 9.23481797e+00,-2.54805911e+01,
 -2.95938943e-02,-2.03544514e+00, 1.63443201e+00, 1.12414608e+01,
  2.28002416e-01, 1.68064733e-01, 1.02263057e+01,-3.51296681e+01,
 -2.36984761e+00,-2.58101817e+00, 7.93687068e+00,-3.23638105e+00,
 -9.34134162e+01,-1.73787677e+02]

qfrc_actuator:
[ 0.00194209, 0.03164238, 0.0084614 , 0.00170168,-0.00017357, 0.03198471,
  0.0083918 , 0.00165771,-0.00237826, 0.03024278, 0.00847037, 0.00147075,
  0.        ,-0.00142476, 0.        ,-0.00095222, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,  -6.01356305,  -6.19869634,  -6.01356305,
        24.41117072, -15.303669  ,  -6.19869634, -15.303669  ,
        23.4829658 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0026847461662495714
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03382495e-14, -2.58456237e-14,  1.00000000e+00,  2.67198505e-28,
        1.00000000e+00,  2.58456237e-14, -1.00000000e+00,  0.00000000e+00,
        1.03382495e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03854925, -0.03063536,  0.06175755])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.61019743e-05,-2.98112725e-04,-5.95218869e-05, 3.25061679e-05,
  8.95811160e-06,-2.88811396e-04,-1.22892104e-04,-7.33917107e-05,
 -5.61421497e-06,-1.38213760e-04, 7.51113625e-06, 3.26452415e-05,
  4.01088562e-03, 5.77267813e-05,-5.45011271e-06,-1.71509069e-04,
  2.00501635e-03, 3.66848455e-03,-1.21708327e+00, 9.28006347e-04,
  7.75704318e-03, 1.73993806e-03]


--- Step 2115 ---
qpos:
[-2.06389326e-03, 8.61640770e-01,-2.34954872e-02, 4.54491266e-04,
 -2.73513789e-03, 8.57423835e-01,-2.68628772e-02, 3.08788175e-03,
 -1.26977967e-03, 8.68139218e-01,-1.89009103e-02,-2.12304200e-02,
  1.39640061e+00, 1.85795109e-02, 1.37987707e+00, 2.42338621e-02,
  4.64437377e-03,-5.68630148e-02, 8.00121047e-02, 7.08911437e-01,
 -6.29686287e-02,-7.01916717e-01,-2.81504697e-02]

qacc:
[ 3.74523573e-01,-1.59843621e+00, 6.44923578e+00,-1.96744126e+01,
  8.21008359e-02,-3.39332211e+00, 9.58249052e+00,-1.45909856e+01,
 -1.90575696e-01, 5.51715835e+00,-2.65470066e+01, 5.10497321e+01,
  2.25886780e-01, 1.39922523e-03, 6.69731056e-01,-2.88147449e+00,
 -2.05854321e+00,-2.27226517e+00, 5.90365953e+00,-3.24321830e+00,
 -8.21423675e+01,-1.52412916e+02]

qfrc_actuator:
[ 0.00199291, 0.03158188, 0.00842149, 0.00165514,-0.00016324, 0.03189237,
  0.0083957 , 0.00164092,-0.00241048, 0.03017353, 0.00838218, 0.00152902,
  0.        ,-0.00143377, 0.        ,-0.00096237, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,  -5.91085864,  -6.29670763,  -5.91085864,
        27.39000398, -17.60445675,  -6.29670763, -17.60445675,
        25.16205634,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002822104058283967
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.96701291e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.96701291e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03839758, -0.03078576,  0.0617476 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.77416833e-05,-2.40240519e-04,-1.08380898e-04,-6.08771190e-05,
  1.45369962e-05,-2.84725119e-04,-7.41896065e-05,-3.49892621e-05,
 -3.48014059e-05,-1.44932501e-04,-1.15093321e-04, 5.31724195e-05,
  3.96785662e-03, 3.36011642e-05,-2.22774785e-05,-2.06073716e-05,
  1.43507318e-03, 2.73534454e-03,-1.21697748e+00, 7.93187920e-04,
  7.74606320e-03, 1.74158625e-03]


--- Step 2116 ---
qpos:
[-2.07194775e-03, 8.61729325e-01,-2.34993370e-02, 4.54959948e-04,
 -2.73838743e-03, 8.57518502e-01,-2.68655029e-02, 3.08844193e-03,
 -1.27035199e-03, 8.68195176e-01,-1.89069838e-02,-2.12313023e-02,
  1.39638858e+00, 1.85783670e-02, 1.37996197e+00, 2.42333831e-02,
  4.67066430e-03,-5.67905729e-02, 8.01490393e-02, 7.09378309e-01,
 -6.43879084e-02,-7.01365247e-01,-2.68961399e-02]

qacc:
[ 1.65264343e-01,-3.53871976e-01,-2.12411368e-01,-2.25854903e+00,
  8.11715971e-02,-4.03219198e+00, 9.99720747e+00,-7.82198150e+00,
 -2.91358061e-01, 1.25749842e+00,-1.00734290e+01, 2.42918591e+01,
  2.43587714e-01,-1.22931481e-01,-4.08216200e+00, 1.35751535e+01,
 -1.80734049e+00,-2.01969030e+00, 4.19372443e+00,-3.20505927e+00,
 -7.29112534e+01,-1.34946376e+02]

qfrc_actuator:
[ 0.00199082, 0.0315461 , 0.00839933, 0.00164522,-0.00015577, 0.03181731,
  0.00843487, 0.00164865,-0.00244734, 0.03009181, 0.0083501 , 0.00156387,
  0.        ,-0.00143879, 0.        ,-0.00089657, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,  -6.08532591,  -6.12826121,  -6.08532591,
        29.08021415, -20.30061855,  -6.12826121, -20.30061855,
        28.79475373,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0029032568578197665
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.91203031e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.91203031e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03832056, -0.03086464,  0.06174248])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.98714812e-05,-1.97210240e-04,-8.79230175e-05,-2.52788922e-05,
  1.43074077e-05,-2.53393656e-04,-3.07379838e-05,-7.86572410e-06,
 -5.33885906e-05,-1.85570230e-04,-7.47515475e-05, 2.56249272e-05,
  3.94587866e-03, 1.84438402e-05,-1.23670301e-05, 6.18017114e-05,
  1.01363467e-03, 2.02714894e-03,-1.21688818e+00, 6.96371413e-04,
  7.73555666e-03, 1.74327730e-03]


--- Step 2117 ---
qpos:
[-2.08020869e-03, 8.61815213e-01,-2.35026066e-02, 4.54692332e-04,
 -2.74150534e-03, 8.57610935e-01,-2.68676061e-02, 3.08944842e-03,
 -1.27122891e-03, 8.68249283e-01,-1.89126000e-02,-2.12324580e-02,
  1.39637707e+00, 1.85775269e-02, 1.38004685e+00, 2.42329963e-02,
  4.69053575e-03,-5.67253838e-02, 8.02970051e-02, 7.09744105e-01,
 -6.56457406e-02,-7.00919287e-01,-2.58088273e-02]

qacc:
[-1.07351675e-01,-6.65886828e+00, 2.17381658e+01,-3.34533349e+01,
  7.07543026e-02,-3.48940764e+00, 6.27731735e+00, 2.24960810e+00,
 -1.58442778e-01,-4.28654669e+00, 1.28870635e+01,-1.69878683e+01,
  2.62328229e-01, 4.76375543e-02,-3.30548726e-01, 1.06502194e+00,
 -1.60476831e+00,-1.81321110e+00, 2.75779547e+00,-3.14154738e+00,
 -6.53214982e+01,-1.20612354e+02]

qfrc_actuator:
[ 0.00195709, 0.03134799, 0.00840575, 0.00160373,-0.00015008, 0.03170016,
  0.00845911, 0.00167076,-0.00245114, 0.0299857 , 0.00836912, 0.00154921,
  0.        ,-0.00140592, 0.        ,-0.00089313, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,  -6.56460524,  -5.61183882,  -6.56460524,
        28.2280815 , -22.91795933,  -5.61183882, -22.91795933,
        35.44528684,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002938871978089466
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88885911e-14, -2.83328867e-14,  1.00000000e+00,  5.35168313e-28,
        1.00000000e+00,  2.83328867e-14, -1.00000000e+00,  0.00000000e+00,
        1.88885911e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03830203, -0.03088771,  0.06174115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.97426391e-05,-3.29681721e-04,-4.66814865e-05,-5.35962788e-05,
  1.24234712e-05,-2.67780275e-04,-3.28853897e-05, 9.89881281e-06,
 -2.92180399e-05,-2.25501018e-04,-2.80099642e-05,-2.47748736e-05,
  3.93414487e-03, 4.56063955e-05, 8.75043454e-07, 5.21507515e-06,
  7.01947944e-04, 1.48616007e-03,-1.21681296e+00, 6.27174606e-04,
  7.72537276e-03, 1.74505845e-03]


--- Step 2118 ---
qpos:
[-2.08837332e-03, 8.61898561e-01,-2.35060535e-02, 4.54310350e-04,
 -2.74469982e-03, 8.57701110e-01,-2.68696636e-02, 3.09143678e-03,
 -1.27189781e-03, 8.68301996e-01,-1.89180747e-02,-2.12348548e-02,
  1.39636601e+00, 1.85766733e-02, 1.38013183e+00, 2.42316458e-02,
  4.70464064e-03,-5.66667738e-02, 8.04511859e-02, 7.10019163e-01,
 -6.67582600e-02,-7.00569401e-01,-2.48724454e-02]

qacc:
[ 5.14545002e-02,-3.09413061e+00, 6.64682662e+00,-6.47778846e+00,
 -3.95806758e-02,-1.08986509e+00,-4.58910293e+00, 2.31689930e+01,
  1.09349402e-01,-4.79388242e+00, 1.96496751e+01,-4.03140079e+01,
  2.70929298e-01,-1.76190189e-01, 3.05221403e+00,-1.05063349e+01,
 -1.44164351e+00,-1.64475767e+00, 1.55373377e+00,-3.06610587e+00,
 -5.90644359e+01,-1.08811796e+02]

qfrc_actuator:
[ 0.00197579, 0.03121413, 0.0083928 , 0.00159715,-0.00016325, 0.03157649,
  0.00845643, 0.00171886,-0.00241738, 0.029937  , 0.00838251, 0.00148777,
  0.        ,-0.00142154, 0.        ,-0.00094422, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,  -7.27879444,  -4.64821776,  -7.27879444,
        23.60319314, -23.43704214,  -4.64821776, -23.43704214,
        45.33718557,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0029378231699094676
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.44766720e-15, -1.41715008e-14,  1.00000000e+00,  1.33887623e-28,
        1.00000000e+00,  1.41715008e-14, -1.00000000e+00,  0.00000000e+00,
        9.44766720e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03832916, -0.0308674 ,  0.06174279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.10074371e-06,-3.32158760e-04,-8.92822590e-05,-2.34945848e-05,
 -7.32951575e-06,-2.81985803e-04,-6.24145679e-05, 3.55456309e-05,
  1.98797181e-05,-1.82873403e-04,-3.78693723e-05,-7.26104882e-05,
  3.90755459e-03, 1.48309048e-05, 2.55674628e-07,-5.08868021e-05,
  4.72448020e-04, 1.07111179e-03,-1.21674961e+00, 5.78237785e-04,
  7.71543250e-03, 1.74695307e-03]


--- Step 2119 ---
qpos:
[-2.09652920e-03, 8.61980266e-01,-2.35095153e-02, 4.53722353e-04,
 -2.74781282e-03, 8.57789405e-01,-2.68718692e-02, 3.09360286e-03,
 -1.27262410e-03, 8.68353601e-01,-1.89229941e-02,-2.12376916e-02,
  1.39635495e+00, 1.85756833e-02, 1.38021647e+00, 2.42323743e-02,
  4.71350323e-03,-5.66141949e-02, 8.06075492e-02, 7.10211948e-01,
 -6.77387494e-02,-7.00307724e-01,-2.40736958e-02]

qacc:
[ 5.16451482e-03,-2.55251765e+00, 6.82128994e+00,-9.15699279e+00,
  4.36556667e-02,-1.70335159e+00, 1.71956677e+00, 2.97364349e+00,
 -2.93024367e-02,-3.92289509e+00, 1.37146603e+01,-2.13961533e+01,
  2.88123175e-01,-3.76280755e-01,-6.83286132e+00, 2.30882017e+01,
 -1.31057122e+00,-1.50778346e+00, 5.45644023e-01,-2.98775513e+00,
 -5.38980567e+01,-9.90764772e+01]

qfrc_actuator:
[ 0.00197246, 0.03120851, 0.00842203, 0.00159341,-0.00015207, 0.03150308,
  0.00845561, 0.00172859,-0.00243249, 0.02992304, 0.00842815, 0.00147037,
  0.        ,-0.00144832, 0.        ,-0.00083173, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,  -8.00940677,  -3.23050771,  -8.00940677,
        16.27940534, -18.94941461,  -3.23050771, -18.94941461,
        55.6177001 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0029074947871725043
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.54621681e-15,  1.43193252e-14,  1.00000000e+00, -1.36695383e-28,
        1.00000000e+00, -1.43193252e-14, -1.00000000e+00,  0.00000000e+00,
        9.54621681e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03839169, -0.03081359,  0.06174672])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.85410723e-07,-2.12741878e-04,-5.18122495e-05,-2.16282475e-05,
  7.67338283e-06,-2.44618599e-04,-6.62147765e-05,-3.96171952e-06,
 -5.52427416e-06,-1.28347182e-04, 3.31131746e-07,-2.80261509e-05,
  3.88576358e-03,-1.12268778e-05,-6.71802923e-06, 1.09391619e-04,
  3.05333429e-04, 7.52186879e-04,-1.21669621e+00, 5.44291921e-04,
  7.70569118e-03, 1.74897302e-03]


--- Step 2120 ---
qpos:
[-2.10466955e-03, 8.62060567e-01,-2.35125387e-02, 4.53026982e-04,
 -2.75080393e-03, 8.57875371e-01,-2.68736187e-02, 3.09588177e-03,
 -1.27346802e-03, 8.68404234e-01,-1.89275199e-02,-2.12389977e-02,
  1.39634379e+00, 1.85747150e-02, 1.38030064e+00, 2.42377719e-02,
  4.71754357e-03,-5.65672037e-02, 8.07627246e-02, 7.10329398e-01,
 -6.85981590e-02,-7.00127706e-01,-2.34015760e-02]

qacc:
[ 8.93715117e-03,-3.29898551e+00, 9.52571454e+00,-1.10559318e+01,
  6.55646972e-02,-4.11508722e+00, 9.73413826e+00,-6.80330395e+00,
 -6.08832611e-02, 7.70998846e-01,-1.10593309e+01, 3.76089226e+01,
  3.23462765e-01,-3.49974160e-01,-1.48985344e+01, 5.09769798e+01,
 -1.20556620e+00,-1.39692000e+00,-2.96972703e-01,-2.91238496e+00,
 -4.96303892e+01,-9.10362535e+01]

qfrc_actuator:
[ 0.00197373, 0.03117345, 0.00845871, 0.00159153,-0.00014417, 0.03137158,
  0.00847385, 0.00173345,-0.00244123, 0.02989469, 0.00845717, 0.00155009,
  0.        ,-0.00144615, 0.        ,-0.00058825, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.48995142, -1.58350933, -8.48995142, 10.45020931,
       -9.72489483, -1.58350933, -9.72489483, 60.77617936,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002854030823809743
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.91751323e-14, -4.86252205e-15,  1.00000000e+00,  1.41864724e-28,
        1.00000000e+00,  4.86252205e-15, -1.00000000e+00,  0.00000000e+00,
        2.91751323e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03848136, -0.0307342 ,  0.06175242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.44055948e-06,-1.67557783e-04,-1.49981799e-05,-1.33249550e-05,
  1.14996609e-05,-2.84235290e-04,-4.12686970e-05,-8.12178604e-06,
 -1.12913542e-05,-1.02432513e-04, 1.22356822e-06, 7.36234350e-05,
  3.88498618e-03,-2.20988346e-06, 8.29358601e-06, 2.48523237e-04,
  1.86264169e-04, 5.07639196e-04,-1.21665113e+00, 5.21533688e-04,
  7.69611858e-03, 1.75112528e-03]


--- Step 2121 ---
qpos:
[-2.11276234e-03, 8.62139872e-01,-2.35159059e-02, 4.53003488e-04,
 -2.75367573e-03, 8.57959538e-01,-2.68753644e-02, 3.09850704e-03,
 -1.27404686e-03, 8.68454040e-01,-1.89322193e-02,-2.12400101e-02,
  1.39633263e+00, 1.85731049e-02, 1.38038514e+00, 2.42433581e-02,
  4.71709685e-03,-5.65254434e-02, 8.09139000e-02, 7.10377195e-01,
 -6.93455186e-02,-7.00023897e-01,-2.28469846e-02]

qacc:
[ 2.51917246e-02, 1.02754071e+00,-8.40919583e+00, 2.13194455e+01,
  6.37206457e-02,-1.67355769e+00, 1.05641392e+00, 6.25306725e+00,
  1.38857562e-01,-2.22747789e-03,-2.81483887e+00, 8.77853807e+00,
  3.67459556e-01,-7.62714381e-01,-1.36830703e-01, 1.05959381e+00,
 -1.12176202e+00,-1.30772684e+00,-9.99988465e-01,-2.84365439e+00,
 -4.61075055e+01,-8.43954293e+01]

qfrc_actuator:
[ 0.00197773, 0.03113888, 0.00844616, 0.00162625,-0.00013831, 0.03131295,
  0.00848522, 0.00175314,-0.00241056, 0.02984026, 0.00844065, 0.00156202,
  0.        ,-0.00149774, 0.        ,-0.00058915, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.63612379, -0.06436372, -8.63612379,  8.63916298,
       -0.37560737, -0.06436372, -0.37560737, 59.0341931 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0027825398023096776
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.99247209e-14, -3.49121743e-14,  1.00000000e+00,  1.04473707e-27,
        1.00000000e+00,  3.49121743e-14, -1.00000000e+00,  0.00000000e+00,
        2.99247209e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03859153, -0.03063556,  0.06175944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.50203489e-06,-1.33801137e-04,-5.00669769e-05, 2.66480239e-05,
  1.12671969e-05,-2.28494412e-04,-5.33744550e-05, 5.79493211e-06,
  2.53620023e-05,-1.09471272e-04,-3.53337191e-05, 8.95269563e-06,
  3.89033653e-03,-5.48406207e-05, 3.03709701e-05, 1.37484791e-05,
  1.04790379e-04, 3.21486482e-04,-1.21661303e+00, 5.07199911e-04,
  7.68668868e-03, 1.75341540e-03]


--- Step 2122 ---
qpos:
[-2.12096161e-03, 8.62217973e-01,-2.35193196e-02, 4.53054712e-04,
 -2.75625587e-03, 8.58042860e-01,-2.68774223e-02, 3.10089742e-03,
 -1.27393431e-03, 8.68502662e-01,-1.89362983e-02,-2.12419171e-02,
  1.39632189e+00, 1.85709062e-02, 1.38047013e+00, 2.42459179e-02,
  4.71242939e-03,-5.64886291e-02, 8.10587342e-02, 7.10359980e-01,
 -6.99882702e-02,-6.99991766e-01,-2.24024008e-02]

qacc:
[-5.56033867e-02,-1.30645320e+00, 2.03482423e+00, 2.16698930e-01,
  1.54221996e-01,-7.27711371e-01, 1.96578946e+00,-4.91046908e+00,
  3.62419195e-01,-5.14193664e+00, 1.98309771e+01,-3.54224146e+01,
  3.94344074e-01,-6.50591414e-01, 9.86566370e+00,-3.35377248e+01,
 -1.05518540e+00,-1.23650577e+00,-1.58532824e+00,-2.78363439e+00,
 -4.32047733e+01,-7.89155184e+01]

qfrc_actuator:
[ 0.00196559, 0.03106927, 0.00844018, 0.00162894,-0.00011596, 0.03133395,
  0.00849273, 0.00174594,-0.00235658, 0.02977042, 0.00846823, 0.00151615,
  0.        ,-0.00150991, 0.        ,-0.0007518 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.56459728,  1.11105815, -8.56459728,  9.39544614,
        5.85139126,  1.11105815,  5.85139126, 53.74184241,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002697264116326495
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02902699e-14,  1.54354048e-14,  1.00000000e+00, -1.58834480e-28,
        1.00000000e+00, -1.54354048e-14, -1.00000000e+00,  0.00000000e+00,
        1.02902699e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03871682, -0.03052279,  0.06176744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.01822220e-05,-1.55480869e-04,-3.94495643e-05,-4.37478732e-06,
  2.76488902e-05,-1.19559132e-04,-4.67096709e-05,-1.88497963e-05,
  6.61862200e-05,-1.39105166e-04, 5.75379988e-07,-5.16740056e-05,
  3.88989098e-03,-3.48657300e-05, 1.22328636e-05,-1.58759345e-04,
  5.32645345e-05, 1.81911709e-04,-1.21658080e+00, 4.99273755e-04,
  7.67737485e-03, 1.75584915e-03]


--- Step 2123 ---
qpos:
[-2.12906817e-03, 8.62294626e-01,-2.35226307e-02, 4.52466656e-04,
 -2.75873473e-03, 8.58125000e-01,-2.68792636e-02, 3.10214991e-03,
 -1.27315695e-03, 8.68549998e-01,-1.89397226e-02,-2.12433134e-02,
  1.39631173e+00, 1.85683264e-02, 1.38055535e+00, 2.42451936e-02,
  4.70375162e-03,-5.64565355e-02, 8.11952821e-02, 7.10281536e-01,
 -7.05325356e-02,-7.00027561e-01,-2.20616232e-02]

qacc:
[ 4.92974561e-02,-3.51560620e+00, 1.24564946e+01,-2.26215177e+01,
  5.40144910e-02,-4.50626672e+00, 1.86062506e+01,-3.77815264e+01,
  3.48616476e-01,-2.47566409e+00, 4.21017546e+00, 4.51753033e+00,
  3.97891702e-01,-4.90499409e-01, 1.02339827e+01,-3.54210347e+01,
 -1.00257954e+00,-1.18015972e+00,-2.07156061e+00,-2.73327115e+00,
 -4.08204011e+01,-7.44025307e+01]

qfrc_actuator:
[ 0.0019794 , 0.03097922, 0.00843799, 0.00159498,-0.00011945, 0.03126047,
  0.00849825, 0.00168755,-0.00232465, 0.02970978, 0.00850379, 0.00154319,
  0.        ,-0.00151598, 0.        ,-0.00091962, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.41856125,  1.92733063, -8.41856125, 10.72077664,
        9.10469553,  1.92733063,  9.10469553, 48.4055842 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0026017205580425584
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.13363234e-14, -2.66704043e-14,  1.00000000e+00,  5.69048370e-28,
        1.00000000e+00,  2.66704043e-14, -1.00000000e+00,  0.00000000e+00,
        2.13363234e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03885289, -0.03039997,  0.06177614])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.79230775e-06,-1.87136351e-04,-3.98985351e-05,-4.21826011e-05,
  9.57706305e-06,-1.52777938e-04,-2.62302493e-05,-6.56249272e-05,
  6.36395862e-05,-1.41626199e-04, 4.76739531e-06, 2.00269378e-05,
  3.86859623e-03,-1.14358740e-05,-1.44441688e-05,-1.75672494e-04,
  2.60784873e-05, 8.01404128e-05,-1.21655353e+00, 4.96279233e-04,
  7.66814780e-03, 1.75843319e-03]


--- Step 2124 ---
qpos:
[-2.13682578e-03, 8.62369918e-01,-2.35248567e-02, 4.51048895e-04,
 -2.76136481e-03, 8.58205390e-01,-2.68810609e-02, 3.10312193e-03,
 -1.27186822e-03, 8.68595950e-01,-1.89432355e-02,-2.12429304e-02,
  1.39630218e+00, 1.85655441e-02, 1.38064055e+00, 2.42417775e-02,
  4.69122878e-03,-5.64289862e-02, 8.13219324e-02, 7.10144919e-01,
 -7.09833358e-02,-7.00128179e-01,-2.18195547e-02]

qacc:
[  0.18464938, -6.53402726, 24.1944742 ,-39.29482561, -0.0792598 ,
  -3.0101596 ,  8.56398701,-12.20550128,  0.26797485,  2.08423981,
 -17.58120063, 49.50408759,  0.3921697 , -0.36759282,  8.11594177,
 -28.47816963, -0.96126492, -1.13608355, -2.47440589, -2.69272242,
 -38.87061996,-70.69748675]

qfrc_actuator:
[ 0.00200863, 0.03094867, 0.00850895, 0.00155747,-0.00013836, 0.03113098,
  0.00848442, 0.00167045,-0.00230621, 0.02961972, 0.0084906 , 0.00163067,
  0.        ,-0.00151836, 0.        ,-0.00105355, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.27986302,  2.45573722, -8.27986302, 11.78976431,
       10.63213336,  2.45573722, 10.63213336, 44.48409486,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0024988173393047305
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.22149696e-14, -1.11074848e-14,  1.00000000e+00,  2.46752437e-28,
        1.00000000e+00,  1.11074848e-14, -1.00000000e+00,  0.00000000e+00,
        2.22149696e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03899623, -0.03027041,  0.0617853 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.32250141e-05,-1.47030381e-04, 2.53615482e-05,-4.78375096e-05,
 -1.44014597e-05,-2.25112946e-04,-5.15309644e-05,-2.59553699e-05,
  4.89393612e-05,-1.68486561e-04,-4.15027349e-05, 8.19092695e-05,
  3.83969010e-03, 5.31289672e-06,-2.69809604e-05,-1.45789982e-04,
  1.91218800e-05, 9.64247390e-06,-1.21653049e+00, 4.97135810e-04,
  7.65897514e-03, 1.76117522e-03]


--- Step 2125 ---
qpos:
[-2.14439116e-03, 8.62444203e-01,-2.35263721e-02, 4.49169556e-04,
 -2.76417396e-03, 8.58284273e-01,-2.68838861e-02, 3.10323308e-03,
 -1.27004188e-03, 8.68640658e-01,-1.89465631e-02,-2.12425759e-02,
  1.39629347e+00, 1.85634058e-02, 1.38072535e+00, 2.42387524e-02,
  4.67498983e-03,-5.64058452e-02, 8.14373540e-02, 7.09952581e-01,
 -7.13447711e-02,-7.00291068e-01,-2.16720242e-02]

qacc:
[  0.10186755, -4.26372697, 15.22203069,-23.61001708, -0.09478363,
  -0.89189428,  3.92352095,-16.07018348,  0.28173288, -2.21933989,
   5.64911202, -5.52636088,  0.37384908,  0.21713797, -1.81592666,
   5.41477943, -0.92902901, -1.1020779 , -2.8071704 , -2.661603  ,
 -37.28604244,-67.66925425]

qfrc_actuator:
[ 0.0020113 , 0.03091878, 0.00855176, 0.00153603,-0.00014857, 0.03103993,
  0.00842356, 0.00162446,-0.00227821, 0.02956589, 0.00850189, 0.00162868,
  0.        ,-0.00144754, 0.        ,-0.00102441, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.17979299,  2.77087775, -8.17979299, 12.49259081,
       11.38380787,  2.77087775, 11.38380787, 42.24202943,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023909518283472403
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.48257651e-14, -1.16085884e-14,  1.00000000e+00,  4.04277973e-28,
        1.00000000e+00,  1.16085884e-14, -1.00000000e+00,  0.00000000e+00,
        3.48257651e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03914401, -0.03013676,  0.06179475])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.82957584e-05,-1.10665384e-04, 1.33481218e-05,-2.79009150e-05,
 -1.70457556e-05,-2.30604041e-04,-1.15231975e-04,-5.80398966e-05,
  5.14601968e-05,-1.54158857e-04,-2.61106342e-05,-9.10911165e-06,
  3.80884210e-03, 8.63369467e-05,-2.85215830e-05, 1.75474786e-05,
  2.93934477e-05,-3.44419655e-05,-1.21651106e+00, 5.01054378e-04,
  7.64982156e-03, 1.76408387e-03]


--- Step 2126 ---
qpos:
[-2.15181919e-03, 8.62516819e-01,-2.35273152e-02, 4.47141098e-04,
 -2.76693231e-03, 8.58361538e-01,-2.68877319e-02, 3.10280466e-03,
 -1.26816403e-03, 8.68684596e-01,-1.89504287e-02,-2.12436412e-02,
  1.39628536e+00, 1.85619368e-02, 1.38080968e+00, 2.42383924e-02,
  4.65513473e-03,-5.63870093e-02, 8.15404511e-02, 7.09706462e-01,
 -7.16201694e-02,-7.00514135e-01,-2.16156382e-02]

qacc:
[ 7.31706639e-02,-4.11029005e+00, 1.20853892e+01,-1.43577433e+01,
  2.67365896e-02,-3.97346967e-01, 5.91928650e-01,-7.10803555e+00,
  2.68069949e-02,-2.43944798e+00, 1.32042434e+01,-3.63294131e+01,
  3.52851736e-01, 1.90240349e-01,-8.78931291e+00, 2.96806926e+01,
 -9.04038347e-01,-1.07628057e+00,-3.08111607e+00,-2.63916440e+00,
 -3.60088756e+01,-6.52090726e+01]

qfrc_actuator:
[ 0.00201582, 0.03078298, 0.00855988, 0.00152419,-0.00013571, 0.03095465,
  0.00837103, 0.00159735,-0.00229797, 0.02953421, 0.00847438, 0.00155635,
  0.        ,-0.00142234, 0.        ,-0.00088169, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.12587725,  2.92521723, -8.12587725, 12.89944437,
       11.84228997,  2.92521723, 11.84228997, 41.53272209,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022800923857954278
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.65190145e-14, -2.43460097e-14,  1.00000000e+00,  8.89092279e-28,
        1.00000000e+00,  2.43460097e-14, -1.00000000e+00,  0.00000000e+00,
        3.65190145e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03929395, -0.03000113,  0.06180432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30464938e-05,-1.97860626e-04,-1.46265298e-05,-1.67644946e-05,
  4.76923094e-06,-2.42388116e-04,-1.16962989e-04,-4.22327940e-05,
  4.90871837e-06,-1.24688043e-04,-6.32000095e-05,-8.00735690e-05,
  3.76662406e-03, 7.94090885e-05,-9.67239958e-06, 1.40336776e-04,
  5.47192019e-05,-5.57198012e-05,-1.21649473e+00, 5.07462117e-04,
  7.64064942e-03, 1.76716842e-03]


--- Step 2127 ---
qpos:
[-2.15856587e-03, 8.62587150e-01,-2.35277776e-02, 4.45072302e-04,
 -2.76938684e-03, 8.58436497e-01,-2.68917212e-02, 3.10277093e-03,
 -1.26639239e-03, 8.68727208e-01,-1.89549897e-02,-2.12451373e-02,
  1.39627791e+00, 1.85611073e-02, 1.38089387e+00, 2.42400487e-02,
  4.63174055e-03,-5.63724019e-02, 8.16303252e-02, 7.09408072e-01,
 -7.18122096e-02,-7.00795672e-01,-2.16476571e-02]

qacc:
[ 3.59358592e-01,-4.44243162e+00, 1.16310608e+01,-1.14217169e+01,
  1.61255995e-01,-1.83207125e+00, 4.45966390e-01, 8.30829605e+00,
 -5.55400031e-02,-6.96495454e-01, 1.75610200e+00,-7.11918553e+00,
  3.39643683e-01, 2.01520927e-01,-6.33708494e+00, 2.18123322e+01,
 -8.84768354e-01,-1.05711087e+00,-3.30577428e+00,-2.62442633e+00,
 -3.49907616e+01,-6.32263168e+01]

qfrc_actuator:
[ 0.00207468, 0.0306202 , 0.00856478, 0.00151799,-0.00010916, 0.03082029,
  0.00835942, 0.00161707,-0.0023106 , 0.02942708, 0.00842424, 0.00153199,
  0.        ,-0.00138927, 0.        ,-0.00077975, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.11734925,  2.94879942, -8.11734925, 13.09153166,
       12.26402668,  2.94879942, 12.26402668, 42.39633625,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021678470319743265
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.56065813e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.56065813e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03944423, -0.02986522,  0.06181391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.48838178e-05,-2.78865676e-04,-3.88998578e-05,-1.56140189e-05,
  2.87698798e-05,-2.97689153e-04,-7.81279061e-05, 4.36289579e-06,
 -1.02162247e-05,-1.94338484e-04,-8.67582757e-05,-3.35105204e-05,
  3.73670861e-03, 7.90603667e-05, 1.18331869e-05, 1.08621713e-04,
  9.35461880e-05,-5.68513100e-05,-1.21648109e+00, 5.15947701e-04,
  7.63141936e-03, 1.77043857e-03]


--- Step 2128 ---
qpos:
[-2.16496830e-03, 8.62655725e-01,-2.35286223e-02, 4.42936308e-04,
 -2.77170852e-03, 8.58509304e-01,-2.68955802e-02, 3.10224213e-03,
 -1.26457110e-03, 8.68768081e-01,-1.89597002e-02,-2.12465533e-02,
  1.39627137e+00, 1.85608688e-02, 1.38097832e+00, 2.42409071e-02,
  4.60486658e-03,-5.63619673e-02, 8.17062423e-02, 7.09058547e-01,
 -7.19230239e-02,-7.01134296e-01,-2.17658902e-02]

qacc:
[ 1.81374905e-01,-1.38987857e+00, 1.87317893e+00,-1.13476382e+00,
  7.10044357e-02,-4.22403580e+00, 1.30259768e+01,-2.02242456e+01,
  2.64806873e-02,-1.71552811e+00, 2.44555765e+00, 4.53440207e-01,
  3.17068113e-01, 2.64264453e-01, 2.78768726e+00,-9.22561366e+00,
 -8.69946919e-01,-1.04322430e+00,-3.48921173e+00,-2.61627257e+00,
 -3.41910843e+01,-6.16451820e+01]

qfrc_actuator:
[ 0.00207677, 0.03054902, 0.00854987, 0.00151512,-0.00011019, 0.03072882,
  0.00837189, 0.00159318,-0.00230108, 0.0293288 , 0.00841415, 0.00153598,
  0.        ,-0.00135174, 0.        ,-0.00082698, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.15226368,  2.85085493, -8.15226368, 13.0831739 ,
       12.71603456,  2.85085493, 12.71603456, 44.99895288,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020555211663687567
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.70058767e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.70058767e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0395934 , -0.02973036,  0.06182342])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.27647021e-05,-2.37460705e-04,-7.83849375e-05,-1.65678868e-05,
  1.25487123e-05,-2.75640326e-04,-5.90537110e-05,-3.93722242e-05,
  4.70491008e-06,-2.27270213e-04,-6.23656479e-05,-8.04084293e-06,
  3.70379578e-03, 8.46683481e-05, 1.70113092e-05,-3.98250386e-05,
  1.44790243e-04,-3.97771129e-05,-1.21646977e+00, 5.26221023e-04,
  7.62209095e-03, 1.77390416e-03]


--- Step 2129 ---
qpos:
[-2.17172947e-03, 8.62723063e-01,-2.35296390e-02, 4.40353077e-04,
 -2.77433913e-03, 8.58580610e-01,-2.68990622e-02, 3.10167202e-03,
 -1.26341496e-03, 8.68808021e-01,-1.89651456e-02,-2.12483205e-02,
  1.39626628e+00, 1.85617372e-02, 1.38106310e+00, 2.42388668e-02,
  4.57455858e-03,-5.63556667e-02, 8.17676065e-02, 7.08658716e-01,
 -7.19542838e-02,-7.01528891e-01,-2.19686090e-02]

qacc:
[ -0.18829628, -2.07466906,  6.91293184,-13.46973634, -0.16239906,
  -3.11857309,  8.41848006, -8.63661908, -0.34798655,  0.09773825,
  -0.65547563, -3.55990479,  0.26670505,  0.76173798,  9.27934218,
 -31.72548429, -0.85850897, -1.03347525, -3.63825559, -2.61352029,
 -33.57562482,-60.40205894]

qfrc_actuator:
[ 0.00202713, 0.0305332 , 0.00855924, 0.00149654,-0.00014547, 0.03071713,
  0.00841634, 0.00159711,-0.00236713, 0.02932553, 0.00839232, 0.00152114,
  0.        ,-0.00125846, 0.        ,-0.00097945, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.22975101,  2.61877361, -8.22975101, 12.79368459,
       13.06478581,  2.61877361, 13.06478581, 49.69372486,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019441661556041934
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42763393e-14, -3.56908482e-14,  1.00000000e+00,  5.09534657e-28,
        1.00000000e+00,  3.56908482e-14, -1.00000000e+00,  0.00000000e+00,
        1.42763393e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03974031, -0.02959759,  0.06183278])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.42373303e-05,-1.67112124e-04,-5.04283594e-05,-3.18860105e-05,
 -2.93682141e-05,-1.81430822e-04,-2.16627351e-05,-1.07969533e-05,
 -6.37500040e-05,-1.44495219e-04,-7.70087005e-05,-2.69381438e-05,
  3.65768591e-03, 1.48416145e-04, 2.33612053e-06,-1.52807042e-04,
  2.07722711e-04,-5.88777254e-06,-1.21646046e+00, 5.38083346e-04,
  7.61262323e-03, 1.77757486e-03]


--- Step 2130 ---
qpos:
[-2.17931680e-03, 8.62788899e-01,-2.35307922e-02, 4.37941289e-04,
 -2.77751282e-03, 8.58650551e-01,-2.69026581e-02, 3.10116622e-03,
 -1.26317576e-03, 8.68847476e-01,-1.89711405e-02,-2.12503249e-02,
  1.39626231e+00, 1.85640564e-02, 1.38114751e+00, 2.42380353e-02,
  4.54085234e-03,-5.63534736e-02, 8.18139359e-02, 7.08209134e-01,
 -7.19072720e-02,-7.01978565e-01,-2.22544720e-02]

qacc:
[ -0.43386146, -1.24831291,  0.84978902,  3.43770827, -0.28642729,
  -1.35140629,  1.93152306,  0.36529195, -0.47968119,  0.40573909,
  -1.37655109, -1.4903926 ,  0.19674732,  0.95492764, -4.20693802,
  13.93667902, -0.84955977, -1.02688601, -3.75868383, -2.61496965,
 -33.1154833 ,-59.44343494]

qfrc_actuator:
[ 0.00196476, 0.03044425, 0.00854762, 0.00150445,-0.00018314, 0.03064698,
  0.00840867, 0.00159972,-0.00242458, 0.02934366, 0.00838184, 0.00151315,
  0.        ,-0.00118576, 0.        ,-0.0009086 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.34852053,  2.21110419, -8.34852053, 12.06154484,
       12.93254103,  2.21110419, 12.93254103, 57.46607723,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018346202835809247
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.51287849e-14, -3.78219622e-14,  1.00000000e+00,  5.72200330e-28,
        1.00000000e+00,  3.78219622e-14, -1.00000000e+00,  0.00000000e+00,
        1.51287849e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03988408, -0.02946774,  0.06184193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.88103398e-05,-1.95753294e-04,-5.39632216e-05,-1.71324453e-06,
 -5.15995448e-05,-1.78224232e-04,-4.87194552e-05,-6.22608115e-06,
 -8.78601447e-05,-8.06293972e-05,-5.10053478e-05,-1.74113475e-05,
  3.58517065e-03, 1.65791450e-04,-1.57776248e-05, 6.25848384e-05,
  2.81885514e-04, 4.38484606e-05,-1.21645288e+00, 5.51405036e-04,
  7.60297520e-03, 1.78146000e-03]


--- Step 2131 ---
qpos:
[-2.18728137e-03, 8.62852847e-01,-2.35319377e-02, 4.36372244e-04,
 -2.78097769e-03, 8.58718560e-01,-2.69063251e-02, 3.10041944e-03,
 -1.26335841e-03, 8.68885802e-01,-1.89762113e-02,-2.12520858e-02,
  1.39625837e+00, 1.85666933e-02, 1.38123149e+00, 2.42407067e-02,
  4.50377672e-03,-5.63553710e-02, 8.18448438e-02, 7.07710126e-01,
 -7.17829423e-02,-7.02482605e-01,-2.26224628e-02]

qacc:
[-1.97584078e-01,-7.80722571e-01,-4.39316236e+00, 2.03525381e+01,
 -1.53150194e-01,-2.84918097e+00, 7.47168209e+00,-1.01103932e+01,
 -2.19605327e-01,-3.57136058e+00, 9.54366994e+00,-5.98365242e+00,
  1.67787663e-01, 2.58732221e-02,-1.12541842e+01, 3.84158600e+01,
 -8.42345077e-01,-1.02262097e+00,-3.85538623e+00,-2.61943858e+00,
 -3.27862049e+01,-5.87241989e+01]

qfrc_actuator:
[ 0.00196637, 0.03032995, 0.00854119, 0.00154556,-0.0001864 , 0.03050672,
  0.00838782, 0.00158369,-0.00242309, 0.02928579, 0.00843153, 0.00152705,
  0.        ,-0.00125045, 0.        ,-0.00072447, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.49931904,  1.53243361, -8.49931904, 10.61982617,
       11.00085561,  1.53243361, 11.00085561, 69.65028361,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017275432978487437
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.81995021e-14, -4.81995021e-14,  1.00000000e+00,  2.32319200e-27,
        1.00000000e+00,  4.81995021e-14, -1.00000000e+00,  0.00000000e+00,
        4.81995021e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04002403, -0.02934141,  0.06185082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.60220928e-05,-2.36534590e-04,-5.40646605e-05, 3.07322529e-05,
 -2.77017841e-05,-2.51901896e-04,-6.43993876e-05,-2.55660680e-05,
 -4.04422181e-05,-1.15128708e-04, 2.59029970e-05, 8.30170261e-06,
  3.52908766e-03, 2.85355649e-05, 1.29654104e-06, 1.85889635e-04,
  3.67027032e-04, 1.08788705e-04,-1.21644677e+00, 5.66108832e-04,
  7.59310621e-03, 1.78556833e-03]


--- Step 2132 ---
qpos:
[-2.19463619e-03, 8.62915555e-01,-2.35339805e-02, 4.35285952e-04,
 -2.78458450e-03, 8.58784401e-01,-2.69095072e-02, 3.09913199e-03,
 -1.26354382e-03, 8.68922687e-01,-1.89802263e-02,-2.12526007e-02,
  1.39625499e+00, 1.85698088e-02, 1.38131567e+00, 2.42435360e-02,
  4.46335619e-03,-5.63613483e-02, 8.18600217e-02, 7.07161819e-01,
 -7.15819709e-02,-7.03040449e-01,-2.30718364e-02]

qacc:
[ 3.20406630e-01, 1.86021497e+00,-1.10507576e+01, 2.17550239e+01,
 -7.39009571e-02,-5.32764796e+00, 1.71258210e+01,-2.56712941e+01,
 -2.18070877e-04,-2.28597153e+00, 1.38529887e-01, 2.07762702e+01,
  1.66202529e-01, 2.56795980e-01,-1.92693341e-01, 1.08447201e+00,
 -8.36226941e-01,-1.01996508e+00,-3.93250040e+00,-2.62578643e+00,
 -3.25670655e+01,-5.82062611e+01]

qfrc_actuator:
[ 0.00204176, 0.03029018, 0.00850228, 0.00157035,-0.0001868 , 0.03039653,
  0.00841233, 0.00155677,-0.00240412, 0.02920091, 0.00848058, 0.00158921,
  0.        ,-0.00120174, 0.        ,-0.00072367, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.62796092,  0.38087689, -8.62796092,  8.79172343,
        3.51934782,  0.38087689,  3.51934782, 88.35974899,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016234455760700608
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.70967084e-14, -2.56450626e-14,  1.00000000e+00,  4.38446157e-28,
        1.00000000e+00,  2.56450626e-14, -1.00000000e+00,  0.00000000e+00,
        1.70967084e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04015963, -0.02921908,  0.06185942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.80985641e-05,-1.83386394e-04,-9.38438850e-05, 1.32918203e-05,
 -1.35368829e-05,-2.67058217e-04,-3.68476384e-05,-4.05382227e-05,
 -2.99587777e-07,-1.44422034e-04, 2.84899741e-05, 5.82405227e-05,
  3.52721057e-03, 6.13177807e-05, 2.05075806e-05, 1.11259386e-05,
  4.63053387e-04, 1.88541367e-04,-1.21644188e+00, 5.82157208e-04,
  7.58297630e-03, 1.78990785e-03]


--- Step 2133 ---
qpos:
[-2.20157338e-03, 8.62977046e-01,-2.35365725e-02, 4.34475701e-04,
 -2.78824505e-03, 8.58848621e-01,-2.69123568e-02, 3.09781491e-03,
 -1.26342499e-03, 8.68958632e-01,-1.89837256e-02,-2.12527399e-02,
  1.39625208e+00, 1.85730632e-02, 1.38140014e+00, 2.42447056e-02,
  4.41961301e-03,-5.63713988e-02, 8.18592255e-02, 7.06564164e-01,
 -7.13047985e-02,-7.03651654e-01,-2.36020745e-02]

qacc:
[ 2.19600292e-01, 4.95029405e-01,-5.26286976e+00, 1.18134663e+01,
 -2.75925925e-02,-3.12880211e+00, 8.17502219e+00,-8.03111919e+00,
  1.59746787e-01,-1.90971542e+00, 3.42205706e+00, 2.94072938e+00,
  1.46149910e-01, 5.56702416e-02, 5.45315278e+00,-1.84628765e+01,
 -8.30663852e-01,-1.01830558e+00,-3.99352672e+00,-2.63292946e+00,
 -3.24404827e+01,-5.78574202e+01]

qfrc_actuator:
[ 0.00205407, 0.03024198, 0.00848029, 0.00158537,-0.00018551, 0.03035863,
  0.00844577, 0.00155921,-0.0023749 , 0.0291716 , 0.00851098, 0.00160821,
  0.        ,-0.00120956, 0.        ,-0.00081318, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,  -8.43224512,  -1.86655271,  -8.43224512,
        11.7941897 , -14.26563701,  -1.86655271, -14.26563701,
        73.08209156,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0015227127650077332
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82277159e-14,  9.11385793e-15,  1.00000000e+00, -1.66124813e-28,
        1.00000000e+00, -9.11385793e-15, -1.00000000e+00,  0.00000000e+00,
        1.82277159e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04029053, -0.02910106,  0.06186772])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.97829229e-05,-1.71013752e-04,-7.14381548e-05, 4.08267470e-06,
 -5.14916765e-06,-1.98132615e-04,-2.81555646e-05,-1.11606733e-05,
  2.91238869e-05,-1.02533293e-04, 5.84234420e-06, 1.48886215e-05,
  3.49962053e-03, 2.95370882e-05, 8.96885722e-06,-8.66933259e-05,
  5.69991177e-04, 2.82909161e-04,-1.21643797e+00, 5.99542773e-04,
  7.57254648e-03, 1.79448568e-03]


--- Step 2134 ---
qpos:
[-2.20802307e-03, 8.63036532e-01,-2.35385680e-02, 4.34217179e-04,
 -2.79172026e-03, 8.58911483e-01,-2.69149406e-02, 3.09650464e-03,
 -1.26316482e-03, 8.68994134e-01,-1.89875543e-02,-2.12533474e-02,
  1.39624888e+00, 1.85753921e-02, 1.38148475e+00, 2.42441440e-02,
  4.37256905e-03,-5.63855177e-02, 8.18422636e-02, 7.05916962e-01,
 -7.09516667e-02,-7.04315867e-01,-2.42128469e-02]

qacc:
[  0.25734366, -3.17793765,  5.1601797 ,  4.90480942,  0.09852934,
  -2.52017379,  6.35622835, -5.66840803,  0.07383134, -0.62958319,
   3.37007512,-10.61775447,  0.14731714, -0.78072566,  5.42345598,
 -18.74175991, -0.8251945 , -1.01711669, -4.04142545, -2.6398501 ,
 -32.39152719,-57.65042804]

qfrc_actuator:
[ 0.00208173, 0.03011818, 0.00850397, 0.00161229,-0.00016548, 0.03031118,
  0.00846677, 0.00156122,-0.00237536, 0.02915795, 0.0084948 , 0.00158394,
  0.        ,-0.00132215, 0.        ,-0.00090187, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,   7.03414929,   5.01074052,   7.03414929,
        24.50930282, -22.28265929,   5.01074052, -22.28265929,
        39.91707979,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0014256266039055082
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.84071079e-14, -9.73451798e-15,  1.00000000e+00,  5.68565042e-28,
        1.00000000e+00,  9.73451798e-15, -1.00000000e+00,  0.00000000e+00,
        5.84071079e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04041645, -0.02898759,  0.06187569])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.64331554e-05,-2.35428846e-04,-2.07601297e-05, 1.71152631e-05,
  1.75617524e-05,-1.66056782e-04,-2.42575869e-05,-7.76397958e-06,
  1.35279388e-05,-6.99567106e-05,-3.63689538e-05,-2.82218398e-05,
  3.47562170e-03,-9.00452558e-05,-7.26867786e-06,-9.27966911e-05,
  6.87958818e-04, 3.91845017e-04,-1.21643479e+00, 6.18280934e-04,
  7.56177892e-03, 1.79930789e-03]


--- Step 2135 ---
qpos:
[-2.21404419e-03, 8.63094180e-01,-2.35405522e-02, 4.34301433e-04,
 -2.79515471e-03, 8.58973078e-01,-2.69173451e-02, 3.09591141e-03,
 -1.26265591e-03, 8.69029447e-01,-1.89922667e-02,-2.12542359e-02,
  1.39624535e+00, 1.85769740e-02, 1.38156919e+00, 2.42435219e-02,
  4.32224739e-03,-5.64037004e-02, 8.18089869e-02, 7.05219882e-01,
 -7.05226483e-02,-7.05032812e-01,-2.49039789e-02]

qacc:
[ 2.25908241e-01,-1.75495092e+00, 1.28453802e+00, 5.98062093e+00,
  2.21254870e-02,-6.99049906e-01,-2.96482234e+00, 1.60193928e+01,
  1.29546342e-01, 1.64105420e+00,-5.02809438e+00, 1.71990373e+00,
  1.73906501e-01,-7.11746125e-01,-9.67068677e-02,-1.01875762e-01,
 -8.19424428e-01,-1.01594658e+00,-4.07869880e+00,-2.64560179e+00,
 -3.24075154e+01,-5.75622120e+01]

qfrc_actuator:
[ 0.00210061, 0.03002131, 0.00850086, 0.00162822,-0.00016994, 0.03025837,
  0.00848025, 0.00159845,-0.00235807, 0.02915358, 0.00845132, 0.0015699 ,
  0.        ,-0.00135458, 0.        ,-0.00090056, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,  -3.39260928,  -7.94210168,  -3.39260928,
        61.73341537, -22.68134531,  -7.94210168, -22.68134531,
        18.32510168,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00133238252826752
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.08315368e-14,  1.04157684e-14,  1.00000000e+00, -2.16976462e-28,
        1.00000000e+00, -1.04157684e-14, -1.00000000e+00,  0.00000000e+00,
        2.08315368e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04053725, -0.02887881,  0.06188333])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.08153770e-05,-2.33454209e-04,-5.41429564e-05, 5.36828360e-06,
  3.83348895e-06,-1.52486289e-04,-2.45543089e-05, 2.90347951e-05,
  2.38215847e-05,-5.30148634e-05,-6.36319402e-05,-1.88915557e-05,
  3.48988422e-03,-7.62248045e-05,-1.60776858e-05,-5.32455440e-06,
  8.17144370e-04, 5.15417762e-04,-1.21643209e+00, 6.38404284e-04,
  7.55063719e-03, 1.80437939e-03]


--- Step 2136 ---
qpos:
[-2.21990763e-03, 8.63150379e-01,-2.35427709e-02, 4.35231663e-04,
 -2.79858394e-03, 8.59033685e-01,-2.69194558e-02, 3.09641310e-03,
 -1.26192272e-03, 8.69064192e-01,-1.89965446e-02,-2.12553298e-02,
  1.39624142e+00, 1.85776362e-02, 1.38165355e+00, 2.42428945e-02,
  4.26867367e-03,-5.64259408e-02, 8.17592803e-02, 7.04472473e-01,
 -7.00176732e-02,-7.05802262e-01,-2.56754236e-02]

qacc:
[ 8.32755404e-02, 4.82762081e-01,-8.06928301e+00, 2.41499705e+01,
  3.36379429e-03, 1.26898922e-01,-6.96974146e+00, 2.61762983e+01,
  1.17723076e-01,-2.38776918e+00, 8.28949407e+00,-1.21179773e+01,
  2.07033817e-01,-8.70239905e-01,-1.64808035e-01, 2.72758307e-01,
 -8.13014950e-01,-1.01440636e+00,-4.10746025e+00,-2.64931057e+00,
 -3.24776673e+01,-5.75732267e+01]

qfrc_actuator:
[ 0.00209634, 0.02997673, 0.00849979, 0.00167304,-0.00017127, 0.03023832,
  0.00850694, 0.0016561 ,-0.00234805, 0.02913694, 0.00848091, 0.001562  ,
  0.        ,-0.00140972, 0.        ,-0.00089949, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  0.36940788, -8.62845958,  0.36940788, 75.07568255,
        2.84444839, -8.62845958,  2.84444839,  8.75814223,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012431045541271418
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.23276277e-14,  2.23276277e-14,  1.00000000e+00, -4.98522957e-28,
        1.00000000e+00, -2.23276277e-14, -1.00000000e+00,  0.00000000e+00,
        2.23276277e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04065283, -0.0287748 ,  0.06189063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49945627e-05,-1.87407862e-04,-5.62114702e-05, 3.29667951e-05,
  4.69100791e-07,-1.10607400e-04,-7.29020750e-06, 5.07434066e-05,
  2.14756487e-05,-6.10223449e-05, 9.90598822e-06,-1.27857943e-05,
  3.50616249e-03,-9.40310219e-05,-9.55101813e-06,-1.62728518e-06,
  9.57788276e-04, 6.53785267e-04,-1.21642960e+00, 6.59958275e-04,
  7.53908638e-03, 1.80970386e-03]


--- Step 2137 ---
qpos:
[-2.22588664e-03, 8.63204717e-01,-2.35440581e-02, 4.37697264e-04,
 -2.80181785e-03, 8.59093772e-01,-2.69219412e-02, 3.09654920e-03,
 -1.26083793e-03, 8.69098127e-01,-1.90006588e-02,-2.12554250e-02,
  1.39623708e+00, 1.85773224e-02, 1.38173784e+00, 2.42422693e-02,
  4.21187725e-03,-5.64522298e-02, 8.16930558e-02, 7.03674182e-01,
 -6.94365497e-02,-7.06624028e-01,-2.65272385e-02]

qacc:
[ -0.05940503, -1.89806812, -3.27844854, 29.72508189,  0.10304985,
  -0.39227061,  1.94559373, -7.29153257,  0.18425313,  0.52883419,
  -7.64817604, 25.25019748,  0.2438652 , -0.94006251, -0.14410913,
   0.25887729, -0.80567405, -1.01216061, -4.12949308, -2.65017438,
 -32.59281846,-57.66691023]

qfrc_actuator:
[ 0.00207827, 0.02989287, 0.00855343, 0.00175231,-0.00015294, 0.03022039,
  0.00848812, 0.00163657,-0.00232471, 0.0290779 , 0.00848235, 0.00161108,
  0.        ,-0.00146027, 0.        ,-0.00089859, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  2.60123664, -8.23531085,  2.60123664, 63.07955033,
       17.19663221, -8.23531085, 17.19663221, 14.06815735,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001157857863187152
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.19144633e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.19144633e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04076316, -0.02867556,  0.06189759])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10712776e-05,-2.00159589e-04, 8.72782264e-06, 6.98563082e-05,
  1.85328433e-05,-8.05502011e-05,-4.12730705e-05,-2.36186123e-05,
  3.36675396e-05,-9.24495137e-05,-1.06121629e-05, 4.65145422e-05,
  3.52649843e-03,-9.85957222e-05,-6.61557392e-06,-8.61337168e-07,
  1.11016985e-03, 8.07173328e-04,-1.21642703e+00, 6.82997879e-04,
  7.52709323e-03, 1.81528360e-03]


--- Step 2138 ---
qpos:
[-2.23182357e-03, 8.63257517e-01,-2.35452388e-02, 4.39726112e-04,
 -2.80464408e-03, 8.59152783e-01,-2.69238271e-02, 3.09576233e-03,
 -1.25907425e-03, 8.69130850e-01,-1.90047308e-02,-2.12555620e-02,
  1.39623269e+00, 1.85763126e-02, 1.38182219e+00, 2.42406413e-02,
  4.15189224e-03,-5.64825545e-02, 8.16102461e-02, 7.02824362e-01,
 -6.87789831e-02,-7.07497943e-01,-2.74595647e-02]

qacc:
[ 2.27015657e-02,-3.22752125e+00, 1.04036936e+01,-1.70045161e+01,
  2.15935657e-01,-4.99228829e+00, 1.96365185e+01,-3.57833634e+01,
  3.55370086e-01,-1.80458692e+00, 4.28810857e+00,-4.18875197e+00,
  2.72493309e-01,-7.11329878e-01, 3.09396988e+00,-1.07797850e+01,
 -7.97148780e-01,-1.00891946e+00,-4.14629990e+00,-2.64746074e+00,
 -3.27451770e+01,-5.78292274e+01]

qfrc_actuator:
[ 0.00208765, 0.02980419, 0.00855006, 0.00172695,-0.00012302, 0.0301504 ,
  0.00851355, 0.00158951,-0.00227585, 0.02897613, 0.00846702, 0.00160446,
  0.        ,-0.00147214, 0.        ,-0.00095106, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  3.81862085, -7.74628373,  3.81862085, 50.73063573,
       20.75086208, -7.74628373, 20.75086208, 18.86574297,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010766594427644785
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28896727e-14, -1.03117381e-13,  1.00000000e+00,  1.32914929e-27,
        1.00000000e+00,  1.03117381e-13, -1.00000000e+00,  0.00000000e+00,
        1.28896727e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04086827, -0.02858109,  0.06190422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.96938957e-06,-1.97093931e-04,-4.16283421e-05,-3.23511774e-05,
  3.86896894e-05,-1.25985126e-04, 2.43408410e-06,-5.24832254e-05,
  6.50169242e-05,-1.54430389e-04,-3.43586397e-05,-1.00845989e-05,
  3.54645953e-03,-6.16339590e-05,-5.31382674e-06,-5.38405341e-05,
  1.27459664e-03, 9.75858965e-04,-1.21642406e+00, 7.07585016e-04,
  7.51462627e-03, 1.82111949e-03]


--- Step 2139 ---
qpos:
[-2.23709982e-03, 8.63309618e-01,-2.35478957e-02, 4.40746172e-04,
 -2.80726569e-03, 8.59210256e-01,-2.69254251e-02, 3.09449806e-03,
 -1.25724671e-03, 8.69162300e-01,-1.90088649e-02,-2.12561065e-02,
  1.39622854e+00, 1.85750205e-02, 1.38190654e+00, 2.42380532e-02,
  4.10129537e-03,-5.65244987e-02, 8.15265803e-02, 7.02141145e-01,
 -6.79695981e-02,-7.08212736e-01,-2.85073201e-02]

qacc:
[ 3.46417763e-01, 1.12142063e+00,-1.08439749e+00,-1.34955481e+01,
  1.08731967e-01,-3.81632058e+00, 1.26762606e+01,-2.02727442e+01,
  3.37765997e-02,-2.34809851e+00, 7.64905320e+00,-1.36639636e+01,
  2.79869962e-01,-3.95624417e-01, 2.86419071e+00,-1.01133290e+01,
  2.34703425e+00,-2.90488432e+00,-2.14009961e-01, 1.60625593e+01,
  1.20907430e+02,-8.65092849e+01]

qfrc_actuator:
[ 0.00214888, 0.02978404, 0.00847744, 0.00167569,-0.00012193, 0.0300322 ,
  0.00851145, 0.00156215,-0.0023009 , 0.0289027 , 0.00845942, 0.00158281,
  0.        ,-0.00146069, 0.        ,-0.00099904, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.54495376,  1.25321268, -8.54495376, 10.36895191,
       11.8135468 ,  1.25321268, 11.8135468 , 89.18630748,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011064621527478932
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05028606, -0.0144955 ,  0.06190141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.29873598e-05,-1.41584397e-04,-1.19980924e-04,-6.18621967e-05,
  1.93921466e-05,-1.91798557e-04,-3.00887305e-05,-3.37860322e-05,
  6.08300353e-06,-1.68036276e-04,-4.42957259e-05,-2.96855920e-05,
  3.54891204e-03,-1.53406272e-05,-1.02722595e-05,-5.20767571e-05,
  1.45139596e-03, 1.16015715e-03,-1.21642036e+00, 7.33786550e-04,
  7.50165591e-03, 1.82721089e-03]


--- Step 2140 ---
qpos:
[-2.24184589e-03, 8.63360965e-01,-2.35512523e-02, 4.41095128e-04,
 -2.80996084e-03, 8.59266941e-01,-2.69281699e-02, 3.09291821e-03,
 -1.25573826e-03, 8.69192855e-01,-1.90126926e-02,-2.12569817e-02,
  1.39622486e+00, 1.85738047e-02, 1.38199084e+00, 2.42345568e-02,
  4.05914569e-03,-5.65764942e-02, 8.14385435e-02, 7.01608461e-01,
 -6.70229986e-02,-7.08783198e-01,-2.96624893e-02]

qacc:
[ 2.78356910e-01,-4.23562638e-01, 2.89687368e+00,-1.28374250e+01,
 -3.92907149e-02, 1.51136262e+00,-5.56966668e+00, 2.52439869e+00,
 -1.66326258e-01,-2.71870405e+00, 9.37174047e+00,-1.49222024e+01,
  2.69916305e-01,-1.09653024e-01, 2.67202309e+00,-9.48281551e+00,
  2.11179911e+00,-2.51281960e+00,-1.09274916e+00, 1.31947232e+01,
  1.09581562e+02,-7.92476727e+01]

qfrc_actuator:
[ 0.00216958, 0.02976928, 0.00845357, 0.00164512,-0.00013811, 0.03001022,
  0.0084574 , 0.00154652,-0.00233445, 0.02890009, 0.00849206, 0.00157029,
  0.        ,-0.00143538, 0.        ,-0.00104397, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.42810366, -1.88516461,  8.42810366,  8.45665577,
       -0.8034293 , -1.88516461, -0.8034293 ,  5.04443039,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012046271026668331
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.60816058e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.60816058e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05000771, -0.01466155,  0.06189281])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.05440734e-05,-1.22562376e-04,-7.04238316e-05,-4.20622595e-05,
 -7.01466255e-06,-1.38255379e-04,-9.89817880e-05,-2.56260497e-05,
 -3.06019689e-05,-1.07699687e-04,-8.76064629e-06,-2.18699563e-05,
  3.53672552e-03, 2.41384381e-05,-1.15146363e-05,-4.93863316e-05,
  1.03459325e-03, 1.18678830e-03,-1.21640428e+00, 6.88917046e-04,
  7.50650430e-03, 1.80612023e-03]


--- Step 2141 ---
qpos:
[-2.24638026e-03, 8.63411702e-01,-2.35544755e-02, 4.40650250e-04,
 -2.81278128e-03, 8.59323112e-01,-2.69315503e-02, 3.09178076e-03,
 -1.25422575e-03, 8.69222724e-01,-1.90153678e-02,-2.12587791e-02,
  1.39622155e+00, 1.85726461e-02, 1.38207503e+00, 2.42308647e-02,
  4.02465115e-03,-5.66372585e-02, 8.13431457e-02, 7.01212737e-01,
 -6.59513716e-02,-7.09221531e-01,-3.09181784e-02]

qacc:
[ 1.11487425e-01,-2.81134782e+00, 1.22065205e+01,-2.57118149e+01,
 -6.63334510e-02, 2.00582352e+00,-1.00052892e+01, 1.90582436e+01,
  3.04410674e-03,-6.02743075e+00, 2.40592380e+01,-4.13447108e+01,
  2.53424062e-01,-1.33874304e-01, 3.92376506e-01,-1.68490376e+00,
  1.91378370e+00,-2.19220674e+00,-1.84027196e+00, 1.08667942e+01,
  1.00111503e+02,-7.31124449e+01]

qfrc_actuator:
[ 0.00216583, 0.02977584, 0.00847651, 0.00160929,-0.00014669, 0.03002808,
  0.00844451, 0.00157347,-0.00231949, 0.02890459, 0.00856624, 0.00152782,
  0.        ,-0.0014375 , 0.        ,-0.00105123, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.44287808, -1.81785219,  8.44287808,  8.48315057,
       -0.7115866 , -1.81785219, -0.7115866 ,  5.33145308,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012677237829355897
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.37880491e-14,  8.75760982e-14,  1.00000000e+00, -3.83478649e-27,
        1.00000000e+00, -8.75760982e-14, -1.00000000e+00,  0.00000000e+00,
        4.37880491e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04982405, -0.01476872,  0.06188713])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.01765419e-05,-7.94980669e-05,-1.28758640e-05,-4.44075910e-05,
 -1.19197682e-05,-8.23193254e-05,-5.49541798e-05, 1.70230617e-05,
  3.75317116e-07,-5.91609206e-05, 4.99035421e-05,-4.78501919e-05,
  3.51276185e-03, 1.82408812e-05,-1.12457353e-05,-1.16154214e-05,
  7.18218766e-04, 1.15754272e-03,-1.21639902e+00, 6.29199061e-04,
  7.51364517e-03, 1.79147748e-03]


--- Step 2142 ---
qpos:
[-2.25044874e-03, 8.63461971e-01,-2.35578055e-02, 4.39775183e-04,
 -2.81570257e-03, 8.59378540e-01,-2.69347984e-02, 3.09129365e-03,
 -1.25280870e-03, 8.69252404e-01,-1.90176074e-02,-2.12614334e-02,
  1.39621816e+00, 1.85714836e-02, 1.38215873e+00, 2.42304440e-02,
  3.99714050e-03,-5.67057375e-02, 8.12378414e-02, 7.00942464e-01,
 -6.47649191e-02,-7.09537816e-01,-3.22684727e-02]

qacc:
[ 2.44848649e-01,-1.20531104e+00, 5.21630950e+00,-1.21469897e+01,
 -5.28427174e-02,-1.38882798e-02,-4.12277454e+00, 1.57139272e+01,
 -4.96017967e-02,-3.23055449e+00, 1.47677433e+01,-3.01418593e+01,
  2.49428533e-01,-2.79510487e-01,-1.06600001e+01, 3.61669956e+01,
  1.74597411e+00,-1.92865304e+00,-2.47659618e+00, 8.96066085e+00,
  9.21723939e+01,-6.79236858e+01]

qfrc_actuator:
[ 0.00220077, 0.02975985, 0.00847374, 0.00158845,-0.00015063, 0.02999889,
  0.00845626, 0.00160759,-0.00232888, 0.02891351, 0.00859338, 0.00148585,
  0.        ,-0.0014561 , 0.        ,-0.00087647, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.46281342, -1.72266245,  8.46281342,  8.51186151,
       -0.6116336 , -1.72266245, -0.6116336 ,  5.63163045,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013020282988111809
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27903098e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.27903098e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04971654, -0.01482826,  0.06188382])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.44280849e-05,-6.61760170e-05,-2.26888299e-05,-2.56290465e-05,
 -9.60077585e-06,-8.71657915e-05,-1.18497850e-05, 2.89364481e-05,
 -9.15132163e-06,-1.65860758e-05, 1.92034461e-05,-4.37394943e-05,
  3.49453981e-03,-3.16546018e-06,-6.95589299e-06, 1.72547966e-04,
  4.79678547e-04, 1.08603656e-03,-1.21640072e+00, 5.57911014e-04,
  7.52193126e-03, 1.78148764e-03]


--- Step 2143 ---
qpos:
[-2.25424879e-03, 8.63511651e-01,-2.35611612e-02, 4.39356247e-04,
 -2.81849664e-03, 8.59432696e-01,-2.69367650e-02, 3.09051447e-03,
 -1.25168590e-03, 8.69281548e-01,-1.90194258e-02,-2.12631435e-02,
  1.39621476e+00, 1.85701651e-02, 1.38224236e+00, 2.42320934e-02,
  3.97604071e-03,-5.67810589e-02, 8.11204627e-02, 7.00787858e-01,
 -6.34722015e-02,-7.09740381e-01,-3.37083156e-02]

qacc:
[ 1.41234595e-01, 2.32466081e-01,-3.88404351e+00, 1.22525828e+01,
  6.84066178e-02,-5.85551520e+00, 1.96786517e+01,-2.58559494e+01,
 -1.53314821e-01, 5.90800151e-02,-5.21780341e+00, 2.12640816e+01,
  2.63352771e-01,-3.66723918e-01,-6.42237468e+00, 2.22114372e+01,
  1.60271437e+00,-1.71063835e+00,-3.01861435e+00, 7.38456104e+00,
  8.55045058e+01,-6.35351040e+01]

qfrc_actuator:
[ 0.00220533, 0.02973043, 0.00847347, 0.00161206,-0.00013402, 0.02992415,
  0.00851779, 0.00159235,-0.00235277, 0.02887159, 0.0086103 , 0.00153326,
  0.        ,-0.00146679, 0.        ,-0.00077341, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.48897473, -1.58873688,  8.48897473,  8.54160663,
       -0.50630775, -1.58873688, -0.50630775,  5.93104866,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001312829213415731
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26850813e-13, -8.45672090e-14,  1.00000000e+00,  1.07274193e-26,
        1.00000000e+00,  8.45672090e-14, -1.00000000e+00,  0.00000000e+00,
        1.26850813e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04967025, -0.01484931,  0.06188241])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.55889775e-05,-7.33648264e-05,-1.79852434e-05, 1.94189893e-05,
  1.20559377e-05,-1.25999822e-04, 4.26538492e-05,-1.88930486e-05,
 -2.82106887e-05,-4.97737016e-05, 1.41351081e-05, 4.64734605e-05,
  3.49823050e-03,-1.36201852e-05, 1.53918978e-05, 1.11645950e-04,
  3.02269291e-04, 9.82064882e-04,-1.21640695e+00, 4.77396331e-04,
  7.53060631e-03, 1.77487778e-03]


--- Step 2144 ---
qpos:
[-2.25825146e-03, 8.63560731e-01,-2.35642371e-02, 4.39547283e-04,
 -2.82111457e-03, 8.59485837e-01,-2.69385210e-02, 3.08890872e-03,
 -1.25067030e-03, 8.69309879e-01,-1.90205817e-02,-2.12639086e-02,
  1.39621163e+00, 1.85685993e-02, 1.38232628e+00, 2.42329673e-02,
  3.96085852e-03,-5.68624962e-02, 8.09891617e-02, 7.00740569e-01,
 -6.20804152e-02,-7.09836097e-01,-3.52334042e-02]

qacc:
[-1.06018538e-01,-3.18897785e-01,-2.58823948e+00, 1.31375867e+01,
  9.34061051e-02,-3.62937468e+00, 1.44843594e+01,-2.83835223e+01,
 -5.53020290e-02,-9.77528910e-01,-2.05439390e+00, 1.79316691e+01,
  2.68850792e-01,-3.57789477e-01, 2.74747217e+00,-9.06057027e+00,
  1.47939935e+00,-1.52892991e+00,-3.48059338e+00, 6.06687668e+00,
  7.98981407e+01,-5.98265067e+01]

qfrc_actuator:
[ 0.00217392, 0.02971101, 0.00849242, 0.00164387,-0.00012301, 0.0298584 ,
  0.00851922, 0.00154819,-0.00234962, 0.02881735, 0.00863868, 0.00157958,
  0.        ,-0.00147259, 0.        ,-0.00081999, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.52106376, -1.4065025 ,  8.52106376,  8.57031396,
       -0.40015107, -1.4065025 , -0.40015107,  6.21211428,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013045868977401148
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.25507502e-14,  4.25507502e-14,  1.00000000e+00, -1.81056634e-27,
        1.00000000e+00, -4.25507502e-14, -1.00000000e+00,  0.00000000e+00,
        4.25507502e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04967307, -0.01483934,  0.06188252])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93448122e-05,-6.44699588e-05, 1.89124132e-06, 2.83545463e-05,
  1.67035873e-05,-1.29485989e-04,-2.04052374e-05,-4.85261488e-05,
 -1.02946297e-05,-7.78331769e-05, 2.12384528e-05, 4.55397653e-05,
  3.49840483e-03,-1.15689078e-05, 1.75325138e-05,-3.88411865e-05,
  1.73548631e-04, 8.52671566e-04,-1.21641617e+00, 3.89324864e-04,
  7.53916792e-03, 1.77073514e-03]


--- Step 2145 ---
qpos:
[-2.26215871e-03, 8.63608546e-01,-2.35669580e-02, 4.39161451e-04,
 -2.82356958e-03, 8.59537869e-01,-2.69407619e-02, 3.08719169e-03,
 -1.24968939e-03, 8.69337935e-01,-1.90215400e-02,-2.12644958e-02,
  1.39620861e+00, 1.85669652e-02, 1.38241002e+00, 2.42353125e-02,
  3.95116532e-03,-5.69494378e-02, 8.08423622e-02, 7.00793459e-01,
 -6.05956177e-02,-7.09830618e-01,-3.68400997e-02]

qacc:
[ 5.07642126e-02,-3.84787506e+00, 1.37328131e+01,-2.33580573e+01,
  8.60642947e-02,-3.38849211e-01,-4.47601092e-01, 1.12373792e-01,
 -1.79035514e-02,-5.47931156e-01, 6.78732385e-01, 2.28180165e+00,
  2.63403816e-01,-2.84474458e-01,-4.74101350e+00, 1.61410137e+01,
  1.37224755e+00,-1.37611635e+00,-3.87459672e+00, 4.95148327e+00,
  7.51824556e+01,-5.66982147e+01]

qfrc_actuator:
[ 0.0021923 , 0.02959132, 0.0084871 , 0.00160926,-0.00011546, 0.02978055,
  0.00848514, 0.00154059,-0.00234808, 0.02882723, 0.00865577, 0.00158935,
  0.        ,-0.00147529, 0.        ,-0.0007413 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.55680445, -1.16956169,  8.55680445,  8.59579784,
       -0.29678948, -1.16956169, -0.29678948,  6.46497795,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012810645888862437
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.29996142e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.29996142e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04971513, -0.01480449,  0.06188386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.06797935e-06,-1.55269160e-04,-1.77807729e-05,-3.68271066e-05,
  1.54436108e-05,-1.57804021e-04,-6.54137999e-05,-1.48783087e-05,
 -3.33109194e-06,-2.79737927e-05, 4.99958686e-06, 8.02497552e-06,
  3.48517211e-03,-1.84732823e-06, 1.39017157e-06, 7.82136611e-05,
  8.41900967e-05, 7.02904541e-04,-1.21642744e+00, 2.94877509e-04,
  7.54727734e-03, 1.76839741e-03]


--- Step 2146 ---
qpos:
[-2.26533187e-03, 8.63654859e-01,-2.35697975e-02, 4.38083183e-04,
 -2.82589037e-03, 8.59588548e-01,-2.69436186e-02, 3.08612780e-03,
 -1.24853334e-03, 8.69365493e-01,-1.90230747e-02,-2.12638430e-02,
  1.39620562e+00, 1.85653240e-02, 1.38249354e+00, 2.42402488e-02,
  3.94658464e-03,-5.70413644e-02, 8.06787194e-02, 7.00940402e-01,
 -5.90229112e-02,-7.09728573e-01,-3.85253481e-02]

qacc:
[ 3.86028576e-01,-3.07875260e+00, 1.10195148e+01,-2.17103411e+01,
  7.09591138e-02, 1.27414078e+00,-9.89788534e+00, 2.31842832e+01,
  9.14167933e-02, 3.50592375e+00,-1.86804041e+01, 4.14087225e+01,
  2.66176880e-01,-2.69647173e-01,-8.22173021e+00, 2.81868973e+01,
  1.27813047e+00,-1.24623685e+00,-4.21083800e+00, 3.99423886e+00,
  7.12171105e+01,-5.40668735e+01]

qfrc_actuator:
[ 0.00225809, 0.02948339, 0.00846703, 0.00157124,-0.00011005, 0.02969594,
  0.00844814, 0.00157229,-0.00232977, 0.02876883, 0.00861303, 0.0016486 ,
  0.        ,-0.00147622, 0.        ,-0.00060715, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.591764  , -0.87656615,  8.591764  ,  8.61583578,
       -0.20120616, -0.87656615, -0.20120616,  6.66421827,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012454368487426204
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.33714892e-13, -4.45716307e-14,  1.00000000e+00,  5.95989078e-27,
        1.00000000e+00,  4.45716307e-14, -1.00000000e+00,  0.00000000e+00,
        1.33714892e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04978834, -0.01474983,  0.06188617])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.99914789e-05,-2.01112241e-04,-5.59546319e-05,-4.60713161e-05,
  1.27090371e-05,-1.88223692e-04,-7.85668883e-05, 2.23088473e-05,
  1.67686275e-05,-7.33123431e-05,-4.78316652e-05, 5.83425690e-05,
  3.47958668e-03, 6.95654335e-07, 8.14819921e-06, 1.38397405e-04,
  2.71685122e-05, 5.36354632e-04,-1.21644021e+00, 1.94878062e-04,
  7.55470001e-03, 1.76737741e-03]


--- Step 2147 ---
qpos:
[-2.26810656e-03, 8.63700233e-01,-2.35731151e-02, 4.36509337e-04,
 -2.82810442e-03, 8.59637581e-01,-2.69465112e-02, 3.08544821e-03,
 -1.24699894e-03, 8.69392464e-01,-1.90258451e-02,-2.12631179e-02,
  1.39620311e+00, 1.85636973e-02, 1.38257738e+00, 2.42440717e-02,
  3.94706023e-03,-5.71378758e-02, 8.04981615e-02, 7.01180978e-01,
 -5.73662773e-02,-7.09528937e-01,-4.02869004e-02]

qacc:
[ 2.09315568e-01,-9.24990432e-01, 3.58911604e+00,-1.07105269e+01,
  5.69095534e-02,-1.28123150e+00,-2.07609113e-01, 8.12452049e+00,
  1.97184259e-01, 2.82586778e+00,-1.15044624e+01, 1.51598126e+01,
  2.63569108e-01,-1.39058175e-01, 3.83243066e+00,-1.27591961e+01,
  1.26406813e+00,-1.14618292e+00,-4.22876260e+00, 3.21992828e+00,
  7.12982699e+01,-5.18415100e+01]

qfrc_actuator:
[ 0.00226289, 0.02947202, 0.00845619, 0.00154927,-0.00010596, 0.02960797,
  0.0084452 , 0.00159134,-0.0023016 , 0.02870532, 0.00853509, 0.00164764,
  0.        ,-0.00145836, 0.        ,-0.00067221, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.55805085, -1.16040622,  8.55805085,  8.60667031,
       -0.21898967, -1.16040622, -0.21898967,  7.02130442,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001206148186996013
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.30117459e-14, -4.60234918e-14,  1.00000000e+00,  1.05908090e-27,
        1.00000000e+00,  4.60234918e-14, -1.00000000e+00,  0.00000000e+00,
        2.30117459e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05012165, -0.01623597,  0.06188874])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.79891427e-05,-1.38423626e-04,-6.11983561e-05,-3.34788810e-05,
  1.00925981e-05,-2.09688750e-04,-5.11001057e-05, 8.63150114e-06,
  3.62367830e-05,-1.12523150e-04,-9.71582320e-05,-4.65830408e-06,
  3.47766390e-03, 1.89649630e-05, 1.77641822e-05,-5.66415469e-05,
 -2.82631820e-06, 3.55543627e-04,-1.21645419e+00, 8.98883273e-05,
  7.56126617e-03, 1.76731116e-03]


--- Step 2148 ---
qpos:
[-2.27121149e-03, 8.63744697e-01,-2.35763693e-02, 4.34640703e-04,
 -2.83042018e-03, 8.59684598e-01,-2.69486902e-02, 3.08499667e-03,
 -1.24548582e-03, 8.69418409e-01,-1.90290645e-02,-2.12630980e-02,
  1.39620101e+00, 1.85614091e-02, 1.38266184e+00, 2.42427601e-02,
  3.95236988e-03,-5.72400509e-02, 8.03315235e-02, 7.01510825e-01,
 -5.55912490e-02,-7.09234998e-01,-4.21650718e-02]

qacc:
[-1.73118355e-01,-1.98654671e+00, 6.58247191e+00,-1.11181811e+01,
 -5.24793227e-02,-4.18424915e+00, 1.00939063e+01,-5.81107281e+00,
 -1.10743860e-02,-1.55379468e+00, 6.54450841e+00,-1.72667538e+01,
  2.47200893e-01,-5.42989033e-01, 1.64460017e+01,-5.62563850e+01,
  1.20851252e+00,-1.41592554e+00, 3.47995083e+00, 7.96576772e-01,
  7.04615014e+01,-7.83849003e+01]

qfrc_actuator:
[ 0.00221339, 0.02944761, 0.00846906, 0.00153702,-0.00012043, 0.02950105,
  0.00848011, 0.00160281,-0.00232104, 0.02863902, 0.00850793, 0.00161123,
  0.        ,-0.00151801, 0.        ,-0.00094289, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012238529260500675
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.53576978e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.53576978e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01273466, -0.03431432,  0.06188626])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.15362305e-05,-1.16927829e-04,-2.47485911e-05,-2.10134544e-05,
 -9.71856351e-06,-2.35506600e-04,-1.47496451e-05, 8.19102571e-07,
 -2.07096115e-06,-1.50090257e-04,-6.27196336e-05,-4.47231516e-05,
  3.45351149e-03,-4.13615030e-05,-1.78984523e-07,-2.72067223e-04,
 -9.50682301e-06, 1.49300609e-04,-1.21646928e+00,-2.29959819e-05,
  7.56702042e-03, 1.76785302e-03]


--- Step 2149 ---
qpos:
[-2.27439876e-03, 8.63788629e-01,-2.35796804e-02, 4.32942246e-04,
 -2.83286532e-03, 8.59730438e-01,-2.69513260e-02, 3.08465778e-03,
 -1.24429534e-03, 8.69442616e-01,-1.90309120e-02,-2.12635501e-02,
  1.39619929e+00, 1.85586725e-02, 1.38274638e+00, 2.42375600e-02,
  3.96201537e-03,-5.73473541e-02, 8.01745822e-02, 7.01921603e-01,
 -5.37067938e-02,-7.08852803e-01,-4.41514074e-02]

qacc:
[-4.30859822e-02,-1.92149667e-01,-1.05169035e+00, 4.47836202e+00,
 -6.81318883e-02,-4.79446609e-02,-2.56231530e+00, 6.10847520e+00,
 -1.67191738e-01,-7.10145072e+00, 2.39765294e+01,-3.30563388e+01,
  2.27012366e-01,-4.07602367e-01, 1.18912081e+01,-4.14535150e+01,
  1.08396261e+00,-1.28203666e+00, 2.42420165e+00, 4.14067380e-01,
  6.49698368e+01,-7.25847743e+01]

qfrc_actuator:
[ 0.00222063, 0.02945123, 0.00847804, 0.00154835,-0.00012813, 0.02947256,
  0.00846601, 0.00160974,-0.00235106, 0.02855398, 0.00858195, 0.0015898 ,
  0.        ,-0.00153474, 0.        ,-0.0011372 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,   7.14630556,   4.84944262,   7.14630556,
        17.90356847, -13.656472  ,   4.84944262, -13.656472  ,
        28.76101079,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012547408482773206
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.84822572e-14,  8.84822572e-14,  1.00000000e+00, -7.82910984e-27,
        1.00000000e+00, -8.84822572e-14, -1.00000000e+00,  0.00000000e+00,
        8.84822572e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01269196, -0.0343605 ,  0.06188264])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.87207074e-06,-6.88016967e-05,-1.92613137e-05, 4.99227514e-06,
 -1.23302625e-05,-1.64302905e-04,-6.48927346e-05,-3.72392093e-06,
 -3.09672128e-05,-1.84424961e-04, 3.35761646e-05,-3.09350768e-05,
  3.43247201e-03,-2.49347402e-05,-3.27001480e-05,-2.10044827e-04,
  4.18120075e-06,-5.22517388e-05,-1.21648465e+00,-1.50233325e-04,
  7.56667730e-03, 1.76844902e-03]


--- Step 2150 ---
qpos:
[-2.27756667e-03, 8.63831683e-01,-2.35824825e-02, 4.31741409e-04,
 -2.83522256e-03, 8.59775612e-01,-2.69547137e-02, 3.08470226e-03,
 -1.24344980e-03, 8.69466399e-01,-1.90332469e-02,-2.12639521e-02,
  1.39619773e+00, 1.85563561e-02, 1.38283010e+00, 2.42353892e-02,
  3.97350283e-03,-5.74596143e-02, 8.00312666e-02, 7.02366125e-01,
 -5.17061517e-02,-7.08427016e-01,-4.62543421e-02]

qacc:
[ 1.08273476e-02,-1.55659386e+00, 1.76760456e+00, 6.67371248e+00,
  4.61586800e-02, 2.00918127e+00,-1.00592301e+01, 1.83887752e+01,
 -1.80430981e-01, 9.04920254e-01,-4.25012413e+00, 6.20689533e+00,
  2.06949097e-01, 8.07902235e-02,-1.04270345e+01, 3.46396852e+01,
  4.60491915e-01,-1.23925277e+00, 3.40639417e+00,-6.04996050e-01,
  3.29547103e+01,-8.01862494e+01]

qfrc_actuator:
[ 0.00222629, 0.02940064, 0.00850254, 0.00157347,-0.00011394, 0.02947334,
  0.00844111, 0.00163171,-0.00236935, 0.02858307, 0.00857302, 0.00159515,
  0.        ,-0.00149016, 0.        ,-0.00096533, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012692708230102046
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.37346784e-14,  2.18673392e-14,  1.00000000e+00, -9.56361047e-28,
        1.00000000e+00, -2.18673392e-14, -1.00000000e+00,  0.00000000e+00,
        4.37346784e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00113144, -0.03643932,  0.06188048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.82482995e-06,-9.38347684e-05, 7.77665555e-06, 2.15499838e-05,
  8.32892770e-06,-1.05734705e-04,-6.72901387e-05, 1.25544596e-05,
 -3.30747479e-05,-6.89785784e-05,-4.41228532e-05,-2.01229693e-06,
  3.41397386e-03, 4.21487747e-05,-3.88109023e-05, 1.55872271e-04,
  3.37083814e-05,-2.62811974e-04,-1.21650190e+00,-2.81324341e-04,
  7.56579594e-03, 1.76936616e-03]


--- Step 2151 ---
qpos:
[-2.28086342e-03, 8.63873530e-01,-2.35848094e-02, 4.31585648e-04,
 -2.83743917e-03, 8.59819930e-01,-2.69581030e-02, 3.08498005e-03,
 -1.24269950e-03, 8.69490379e-01,-1.90371556e-02,-2.12642927e-02,
  1.39619632e+00, 1.85545429e-02, 1.38291332e+00, 2.42372272e-02,
  3.98661882e-03,-5.75764456e-02, 7.98976868e-02, 7.02840585e-01,
 -4.95972830e-02,-7.07959230e-01,-4.84659805e-02]

qacc:
[-6.68853074e-02,-7.70390590e-01,-3.97795394e+00, 2.21902377e+01,
  7.45126036e-02,-6.47155691e-01,-3.20376839e-01, 4.99034805e+00,
 -5.08359019e-02, 4.78251756e+00,-1.69326382e+01, 2.03637399e+01,
  2.00547693e-01, 1.32563944e-01,-1.28925293e+01, 4.39928827e+01,
  4.07130827e-01,-1.14278616e+00, 2.43396865e+00,-6.94277358e-01,
  3.06673493e+01,-7.47323661e+01]

qfrc_actuator:
[ 0.0022132 , 0.02931809, 0.00851806, 0.00162423,-0.00010453, 0.02943839,
  0.00844574, 0.00164465,-0.0023627 , 0.02860902, 0.00849788, 0.0015985 ,
  0.        ,-0.00146273, 0.        ,-0.00075664, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,   4.67322722,   7.26276285,   4.67322722,
        50.13185115, -26.70028555,   7.26276285, -26.70028555,
        25.81667145,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012789920208426259
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.17011327e-14, -2.17011327e-14,  1.00000000e+00,  4.70939162e-28,
        1.00000000e+00,  2.17011327e-14, -1.00000000e+00,  0.00000000e+00,
        2.17011327e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00113877, -0.03646246,  0.06187879])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23268214e-05,-1.33487464e-04,-2.47231091e-06, 4.73723213e-05,
  1.33376915e-05,-1.08494821e-04,-2.54008499e-05, 6.26000888e-06,
 -9.13264836e-06,-2.23633708e-05,-9.50571662e-05,-1.20621542e-06,
  3.40558049e-03, 4.86295842e-05, 9.40171142e-07, 2.12710793e-04,
  4.66181154e-05,-3.43688006e-04,-1.21651996e+00,-3.88785174e-04,
  7.56151811e-03, 1.77070174e-03]


--- Step 2152 ---
qpos:
[-2.28391815e-03, 8.63914779e-01,-2.35877348e-02, 4.32725566e-04,
 -2.83933446e-03, 8.59862981e-01,-2.69606440e-02, 3.08471222e-03,
 -1.24158465e-03, 8.69513877e-01,-1.90412435e-02,-2.12639104e-02,
  1.39619556e+00, 1.85535383e-02, 1.38299661e+00, 2.42405267e-02,
  4.00118618e-03,-5.76975261e-02, 7.97705518e-02, 7.03341666e-01,
 -4.73868246e-02,-7.07450638e-01,-5.07797661e-02]

qacc:
[  0.12699942,  3.54749219,-19.26637388, 43.08978763,  0.17049477,
  -5.16270889, 18.28568282,-28.1599888 ,  0.19061526,  1.35473929,
  -8.79838427, 21.9391617 ,  0.18304476,  0.46523231, -4.33016576,
  15.28610023,  0.36284456, -1.06228925,  1.61120916, -0.78600792,
  28.75815414,-70.20065757]

qfrc_actuator:
[ 2.24224288e-03, 2.93058018e-02, 8.49250613e-03, 1.68963024e-03,
 -8.03347420e-05, 2.93646946e-02, 8.48537626e-03, 1.61665920e-03,
 -2.32344706e-03, 2.85793809e-02, 8.49081018e-03, 1.63610982e-03,
  0.00000000e+00,-1.39259344e-03, 0.00000000e+00,-6.87824569e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   4.94232365,   7.08238758,   4.94232365,
        50.12989079, -28.95555181,   7.08238758, -28.95555181,
        28.84250272,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001270999657406971
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.36751898e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.36751898e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00113844, -0.03646778,  0.06187872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.30737401e-05,-8.63847105e-05,-5.20924534e-05, 6.04570501e-05,
  3.05034151e-05,-1.40372144e-04, 1.39909218e-05,-3.34616791e-05,
  3.49279553e-05,-6.23668549e-05,-2.35968992e-05, 3.33110293e-05,
  3.39803636e-03, 9.36695319e-05, 2.37205688e-05, 8.06787410e-05,
  6.02692754e-05,-4.25299644e-04,-1.21653870e+00,-4.98317978e-04,
  7.55689363e-03, 1.77208096e-03]


--- Step 2153 ---
qpos:
[-2.28629270e-03, 8.63955652e-01,-2.35910093e-02, 4.33211467e-04,
 -2.84091878e-03, 8.59904788e-01,-2.69623509e-02, 3.08376263e-03,
 -1.24024126e-03, 8.69536513e-01,-1.90457912e-02,-2.12626667e-02,
  1.39619569e+00, 1.85534731e-02, 1.38308011e+00, 2.42436446e-02,
  4.02098481e-03,-5.78149844e-02, 7.96864966e-02, 7.03919125e-01,
 -4.52400399e-02,-7.06851208e-01,-5.30337036e-02]

qacc:
[  0.35708037, -0.8672477 ,  5.13252495,-15.61655545,  0.16499157,
  -5.37218755, 19.65218349,-31.87738623,  0.11948944,  1.91934546,
 -12.12579052, 28.38734446,  0.13931163,  0.64560019,  0.86083594,
  -2.5498034 ,  1.30781596,  0.90557205, 10.76994231, -1.71913331,
  55.9279057 , 47.66161772]

qfrc_actuator:
[ 2.29625109e-03, 2.93000411e-02, 8.47870537e-03, 1.65662503e-03,
 -6.52509593e-05, 2.93040199e-02, 8.52741837e-03, 1.58254504e-03,
 -2.31831383e-03, 2.84992258e-02, 8.45280463e-03, 1.67584266e-03,
  0.00000000e+00,-1.33284218e-03, 0.00000000e+00,-7.01990259e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013974594367985316
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.97229070e-14,  3.97229070e-14,  1.00000000e+00, -1.57790934e-27,
        1.00000000e+00, -3.97229070e-14, -1.00000000e+00,  0.00000000e+00,
        3.97229070e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00373716, -0.06281266,  0.06186664])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.48963920e-05,-6.31852161e-05,-3.62685445e-05,-3.73916001e-05,
  2.95194715e-05,-1.38720732e-04, 1.32953093e-05,-4.03565702e-05,
  2.18785562e-05,-1.18993510e-04,-5.27912688e-05, 3.68642045e-05,
  3.36497172e-03, 1.13037273e-04, 1.86036693e-05,-6.97307225e-06,
  7.44765087e-05,-5.07307990e-04,-1.21655807e+00,-6.09775439e-04,
  7.55179146e-03, 1.77346629e-03]


--- Step 2154 ---
qpos:
[-2.28837105e-03, 8.63995474e-01,-2.35930604e-02, 4.33274600e-04,
 -2.84225594e-03, 8.59945784e-01,-2.69637203e-02, 3.08273434e-03,
 -1.23913335e-03, 8.69557987e-01,-1.90502679e-02,-2.12619903e-02,
  1.39619678e+00, 1.85545885e-02, 1.38316366e+00, 2.42465897e-02,
  4.03855498e-03,-5.79207259e-02, 7.96523177e-02, 7.04416071e-01,
 -4.32911407e-02,-7.06321410e-01,-5.50812327e-02]

qacc:
[ 1.56670963e-01,-5.67430816e+00, 2.00036710e+01,-2.85091924e+01,
  1.30894881e-01,-2.17563586e+00, 6.53460949e+00,-7.84202301e+00,
 -1.22640052e-01,-2.90171303e+00, 1.05090630e+01,-1.95782814e+01,
  8.13917601e-02, 8.71866666e-01, 6.35722405e-01,-2.04006737e+00,
 -5.57114992e-01, 2.92917440e+00, 1.24690596e+01, 3.32753643e+00,
 -6.28799765e+01, 1.38875749e+02]

qfrc_actuator:
[ 2.29369247e-03, 2.92449552e-02, 8.54295470e-03, 1.63701995e-03,
 -5.57535350e-05, 2.92871434e-02, 8.55282595e-03, 1.58061807e-03,
 -2.35141364e-03, 2.84248434e-02, 8.44984889e-03, 1.64541018e-03,
  0.00000000e+00,-1.26202375e-03, 0.00000000e+00,-7.11627906e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001561726662571393
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.55447292e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.55447292e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02064123, -0.07855029,  0.0618515 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.82435136e-05,-1.00444634e-04, 4.51416178e-05,-2.43533046e-05,
  2.34678024e-05,-9.44138795e-05,-3.31817586e-06,-8.25523325e-06,
 -2.26046855e-05,-1.50740672e-04,-3.28999916e-05,-3.66655190e-05,
  3.32087421e-03, 1.36911252e-04, 6.72984770e-06,-7.94468748e-06,
  1.57980217e-04,-8.24830866e-04,-1.21654855e+00,-7.10573933e-04,
  7.54917377e-03, 1.77328276e-03]


--- Step 2155 ---
qpos:
[-2.29087650e-03, 8.64034057e-01,-2.35936127e-02, 4.33105780e-04,
 -2.84341194e-03, 8.59985862e-01,-2.69644539e-02, 3.08168207e-03,
 -1.23816290e-03, 8.69578512e-01,-1.90537536e-02,-2.12614305e-02,
  1.39619847e+00, 1.85564214e-02, 1.38324728e+00, 2.42490669e-02,
  4.05408129e-03,-5.80162984e-02, 7.96580337e-02, 7.04843352e-01,
 -4.15159215e-02,-7.05853547e-01,-5.69477567e-02]

qacc:
[-2.22908523e-01,-6.29861100e+00, 2.10648485e+01,-2.65717193e+01,
  9.62987999e-02,-3.03595145e+00, 9.16816868e+00,-9.92874341e+00,
 -7.08880724e-02,-4.26265618e+00, 1.38703150e+01,-1.67758897e+01,
  2.92438551e-02, 5.54245845e-01, 1.51746220e+00,-5.14695408e+00,
 -5.10962540e-01, 2.54226659e+00, 9.97375649e+00, 2.95023422e+00,
 -5.51183638e+01, 1.21829671e+02]

qfrc_actuator:
[ 2.23955301e-03, 2.91788530e-02, 8.61709599e-03, 1.62548532e-03,
 -4.96685171e-05, 2.92433535e-02, 8.58616839e-03, 1.57992042e-03,
 -2.35382277e-03, 2.84255792e-02, 8.52083402e-03, 1.64497306e-03,
  0.00000000e+00,-1.25619252e-03, 0.00000000e+00,-7.36237418e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.26714064,  5.94219867, -6.26714064, 38.50636629,
       31.5034077 ,  5.94219867, 31.5034077 , 41.86249716,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017428278739576863
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.18511954e-14, -3.18511954e-14,  1.00000000e+00,  1.01449865e-27,
        1.00000000e+00,  3.18511954e-14, -1.00000000e+00,  0.00000000e+00,
        3.18511954e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02054887, -0.07837083,  0.0618354 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.07886437e-05,-1.14912530e-04, 5.78190006e-05,-1.48066427e-05,
  1.71936266e-05,-9.85915767e-05, 1.28353222e-05,-5.07711150e-06,
 -1.31979136e-05,-9.23928000e-05, 3.43999498e-05,-8.76963745e-06,
  3.27247223e-03, 8.37136301e-05, 1.94248694e-06,-2.43222513e-05,
  1.10740102e-04,-6.11880932e-04,-1.21652819e+00,-6.29627429e-04,
  7.56157917e-03, 1.77692854e-03]


--- Step 2156 ---
qpos:
[-2.29409955e-03, 8.64072531e-01,-2.35942254e-02, 4.32416055e-04,
 -2.84443984e-03, 8.60024731e-01,-2.69652188e-02, 3.08174885e-03,
 -1.23709099e-03, 8.69598690e-01,-1.90569115e-02,-2.12609143e-02,
  1.39619992e+00, 1.85579069e-02, 1.38333087e+00, 2.42515697e-02,
  4.06772268e-03,-5.81029753e-02, 7.96952881e-02, 7.05209697e-01,
 -3.98947299e-02,-7.05441291e-01,-5.86538959e-02]

qacc:
[-3.76840390e-01,-1.04840646e+00, 5.72680071e+00,-1.45655038e+01,
  6.80527740e-02, 7.93053295e-01,-9.87025493e+00, 3.01776040e+01,
  5.33433951e-02,-1.46440897e+00, 4.73947653e+00,-5.76275112e+00,
  1.14341815e-02,-2.81177610e-01,-1.22917041e-01, 3.54745765e-01,
 -4.71233079e-01, 2.22387622e+00, 7.88457858e+00, 2.63980306e+00,
 -4.88182603e+01, 1.07994503e+02]

qfrc_actuator:
[ 2.19057515e-03, 2.92132650e-02, 8.62539714e-03, 1.60101860e-03,
 -4.56638001e-05, 2.91483413e-02, 8.57058052e-03, 1.63319502e-03,
 -2.33782132e-03, 2.84361329e-02, 8.54647219e-03, 1.64455688e-03,
  0.00000000e+00,-1.34262055e-03, 0.00000000e+00,-7.33960648e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.01847135,  5.03267689, -7.01847135, 28.39906861,
       27.5606763 ,  5.03267689, 27.5606763 , 47.07193604,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018693487369158615
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.96954496e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.96954496e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02048618, -0.07825078,  0.06182452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.84899353e-05,-1.94504958e-05,-9.11738073e-06,-2.77328346e-05,
  1.21398539e-05,-1.48661438e-04,-3.48551336e-05, 4.93377036e-05,
  9.71671260e-06,-3.48395023e-05, 1.03583053e-05,-3.37859159e-06,
  3.24229674e-03,-3.85981231e-05,-2.62411427e-06, 9.37402870e-07,
  7.61045791e-05,-4.48273637e-04,-1.21651111e+00,-5.71542590e-04,
  7.57138670e-03, 1.78000686e-03]


--- Step 2157 ---
qpos:
[-2.29776885e-03, 8.64110594e-01,-2.35946855e-02, 4.32151433e-04,
 -2.84537830e-03, 8.60062750e-01,-2.69668893e-02, 3.08350393e-03,
 -1.23643084e-03, 8.69619066e-01,-1.90597039e-02,-2.12608270e-02,
  1.39620079e+00, 1.85585787e-02, 1.38341440e+00, 2.42544115e-02,
  4.07416807e-03,-5.81816932e-02, 7.97484259e-02, 7.05417700e-01,
 -3.84004839e-02,-7.05184377e-01,-6.02184878e-02]

qacc:
[-2.34055974e-01,-9.13149391e-02,-2.25268750e+00, 9.66574445e+00,
  4.70027526e-02, 4.87812944e+00,-2.61538538e+01, 5.74528782e+01,
 -2.15040636e-01,-1.64188022e+00, 8.04251307e+00,-1.61898939e+01,
  3.20301671e-02,-6.69773437e-01,-1.13354940e+00, 3.78723370e+00,
 -1.79899829e+00, 1.98975619e+00, 3.97084062e+00, 6.56230884e+00,
 -1.17171153e+02, 8.69445504e+01]

qfrc_actuator:
[ 2.18066085e-03, 2.91830837e-02, 8.63065911e-03, 1.62243227e-03,
 -4.29266744e-05, 2.91120171e-02, 8.52604728e-03, 1.71771954e-03,
 -2.38196798e-03, 2.84878600e-02, 8.58067413e-03, 1.62637422e-03,
  0.00000000e+00,-1.41261578e-03, 0.00000000e+00,-7.15858439e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.59404201,  0.85394307,  8.59404201,  8.81284083,
       -1.77605798,  0.85394307, -1.77605798, 26.51052577,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019864428316016883
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39725016e-14,  3.49312540e-14,  1.00000000e+00, -4.88077001e-28,
        1.00000000e+00, -3.49312540e-14, -1.00000000e+00,  0.00000000e+00,
        1.39725016e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04579344, -0.08190132,  0.06181486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.26015449e-05,-4.50393311e-05,-1.13155054e-06, 1.96701467e-05,
  8.47124098e-06,-1.25462625e-04,-7.81255707e-05, 7.78515362e-05,
 -3.94631548e-05, 3.37909716e-05, 2.80329754e-05,-1.94084147e-05,
  3.25406223e-03,-9.12346994e-05,-3.16953389e-06, 1.73487485e-05,
  5.06988782e-05,-3.21350578e-04,-1.21649677e+00,-5.30054741e-04,
  7.57921381e-03, 1.78263142e-03]


--- Step 2158 ---
qpos:
[-2.30132333e-03, 8.64147389e-01,-2.35946341e-02, 4.31885764e-04,
 -2.84644050e-03, 8.60099797e-01,-2.69684732e-02, 3.08551291e-03,
 -1.23624393e-03, 8.69640434e-01,-1.90632782e-02,-2.12613278e-02,
  1.39620151e+00, 1.85588624e-02, 1.38349797e+00, 2.42567691e-02,
  4.07409584e-03,-5.82533964e-02, 7.98120223e-02, 7.05484201e-01,
 -3.70202317e-02,-7.05067413e-01,-6.16562012e-02]

qacc:
[ 6.10634017e-02,-3.10639078e+00, 8.64838870e+00,-8.55428271e+00,
 -6.48588102e-02,-1.00186208e+00, 6.38647370e-01, 4.33012890e+00,
 -2.48159312e-01, 2.28236821e+00,-3.76022022e+00,-5.88436234e+00,
  5.40575887e-02,-3.28215084e-01, 1.51508980e+00,-5.24246533e+00,
 -1.62940581e+00, 1.75368498e+00, 2.61465573e+00, 6.02668844e+00,
 -1.05122873e+02, 7.79970809e+01]

qfrc_actuator:
[ 2.21195300e-03, 2.90612317e-02, 8.63390879e-03, 1.61737863e-03,
 -5.87153145e-05, 2.90755252e-02, 8.53604421e-03, 1.73121397e-03,
 -2.40847298e-03, 2.85638842e-02, 8.54883509e-03, 1.59793446e-03,
  0.00000000e+00,-1.40113547e-03, 0.00000000e+00,-7.41842535e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.39570966,  4.45984927, -7.39570966, 22.34538443,
       22.7334897 ,  4.45984927, 22.7334897 , 46.33501196,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020638988292565885
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.362032e-15,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
        3.362032e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04567354, -0.08182466,  0.0618088 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09255585e-05,-1.47326956e-04,-5.80294181e-06,-6.69478260e-06,
 -1.17898538e-05,-1.20348451e-04,-2.31372515e-05, 6.87276938e-06,
 -4.53390812e-05, 9.94147845e-05,-2.22153373e-05,-2.64274379e-05,
  3.28292702e-03,-3.90607170e-05,-2.14323262e-06,-2.59987265e-05,
 -4.00203950e-06, 3.58492641e-05,-1.21648971e+00,-4.40313443e-04,
  7.59228881e-03, 1.78709564e-03]


--- Step 2159 ---
qpos:
[-2.30424105e-03, 8.64183016e-01,-2.35947902e-02, 4.31944607e-04,
 -2.84765565e-03, 8.60135429e-01,-2.69694487e-02, 3.08768782e-03,
 -1.23589094e-03, 8.69662045e-01,-1.90666623e-02,-2.12624826e-02,
  1.39620250e+00, 1.85592948e-02, 1.38358159e+00, 2.42581210e-02,
  4.06806250e-03,-5.83188532e-02, 7.98815128e-02, 7.05422989e-01,
 -3.57432687e-02,-7.05077623e-01,-6.29791294e-02]

qacc:
[ 3.34622144e-01,-2.95747328e-01,-2.55475564e+00, 9.36125968e+00,
 -7.97751562e-02,-3.22599964e+00, 8.09014762e+00,-5.15473063e+00,
  8.67951933e-02,-1.55814433e+00, 8.77616515e+00,-2.05668369e+01,
  4.94937335e-02, 1.08748005e-01, 3.11545006e+00,-1.07962142e+01,
 -1.49027599e+00, 1.56160347e+00, 1.47354683e+00, 5.58768962e+00,
 -9.51915781e+01, 7.06114812e+01]

qfrc_actuator:
[ 2.26758645e-03, 2.89919167e-02, 8.61777858e-03, 1.63220597e-03,
 -6.76893694e-05, 2.89861360e-02, 8.56037661e-03, 1.73835470e-03,
 -2.37090891e-03, 2.85470992e-02, 8.54938318e-03, 1.56367110e-03,
  0.00000000e+00,-1.35862271e-03, 0.00000000e+00,-7.93590784e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.01565715,  5.03659922, -7.01565715, 27.37978301,
       26.10837163,  5.03659922, 26.10837163, 45.0036377 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021040069727639027
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.96814820e-14, -2.63835396e-14,  1.00000000e+00,  7.83102556e-28,
        1.00000000e+00,  2.63835396e-14, -1.00000000e+00,  0.00000000e+00,
        2.96814820e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04561812, -0.08179107,  0.06180604])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.07404315e-05,-1.54049090e-04,-4.77914221e-05, 8.12992465e-06,
 -1.45762520e-05,-1.62050320e-04,-3.42023040e-06, 1.26103929e-06,
  1.59288721e-05, 3.26050655e-05, 1.72907303e-05,-3.13166430e-05,
  3.29058901e-03, 2.28685496e-05,-5.95057285e-06,-5.39460594e-05,
  4.57228117e-07, 3.03623778e-04,-1.21648344e+00,-3.74030033e-04,
  7.60280330e-03, 1.79026592e-03]


--- Step 2160 ---
qpos:
[-2.30687061e-03, 8.64218111e-01,-2.35954534e-02, 4.32463713e-04,
 -2.84880720e-03, 8.60170011e-01,-2.69699168e-02, 3.08919953e-03,
 -1.23522531e-03, 8.69683193e-01,-1.90685582e-02,-2.12640384e-02,
  1.39620361e+00, 1.85593209e-02, 1.38366550e+00, 2.42561551e-02,
  4.05652517e-03,-5.83786878e-02, 7.99530610e-02, 7.05245381e-01,
 -3.45607194e-02,-7.05204382e-01,-6.41972663e-02]

qacc:
[ 1.51185801e-01, 1.66112194e+00,-8.88586955e+00, 1.80549857e+01,
  3.42065582e-02,-4.16559029e+00, 1.56430419e+01,-2.71657013e+01,
  1.64443714e-01,-5.59456029e+00, 2.07497938e+01,-2.97237702e+01,
  3.67036905e-02,-2.49051849e-01, 1.04796429e+01,-3.60379449e+01,
 -1.37599942e+00, 1.40555633e+00, 5.14415954e-01, 5.23211519e+00,
 -8.69878404e+01, 6.44975465e+01]

qfrc_actuator:
[ 2.26624629e-03, 2.90077882e-02, 8.60828727e-03, 1.65863676e-03,
 -5.47433377e-05, 2.89546044e-02, 8.59275375e-03, 1.70616435e-03,
 -2.34861131e-03, 2.85104857e-02, 8.62196206e-03, 1.54396740e-03,
  0.00000000e+00,-1.40438773e-03, 0.00000000e+00,-9.66598084e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.40460237,  5.79377643, -6.40460237, 36.33322918,
       30.61688919,  5.79377643, 30.61688919, 42.48112856,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021139171832102524
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.56496287e-15, -2.62598515e-14,  1.00000000e+00, -1.72394950e-28,
        1.00000000e+00,  2.62598515e-14, -1.00000000e+00,  0.00000000e+00,
       -6.56496287e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04561362, -0.08179131,  0.06180588])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.74867476e-05,-8.06248107e-05,-4.71916079e-05, 1.82815207e-05,
  6.01770557e-06,-1.23651164e-04,-1.74668980e-06,-3.92822303e-05,
  2.99642318e-05,-1.66308668e-05, 8.02182749e-05,-1.83457218e-05,
  3.27672923e-03,-3.03151610e-05,-9.91943568e-06,-1.77070439e-04,
  4.81775676e-05, 5.03114582e-04,-1.21647820e+00,-3.25405638e-04,
  7.61133173e-03, 1.79241623e-03]


--- Step 2161 ---
qpos:
[-2.30954904e-03, 8.64253019e-01,-2.35967420e-02, 4.33257032e-04,
 -2.84946910e-03, 8.60204112e-01,-2.69699996e-02, 3.09059234e-03,
 -1.23446005e-03, 8.69704168e-01,-1.90704091e-02,-2.12661008e-02,
  1.39620464e+00, 1.85591566e-02, 1.38374916e+00, 2.42538013e-02,
  4.04369145e-03,-5.84295462e-02, 8.00342498e-02, 7.05030705e-01,
 -3.35502402e-02,-7.05372428e-01,-6.52366735e-02]

qacc:
[-2.59676990e-02, 2.06313008e+00,-8.87422045e+00, 1.47600070e+01,
  2.58670672e-01,-1.95645475e+00, 6.55501298e+00,-8.87691605e+00,
  5.21287857e-02,-1.39764028e+00, 6.78667457e+00,-1.54910809e+01,
  2.85494601e-02,-1.65077914e-01, 7.97040295e-01,-3.34370984e+00,
 -3.24096558e-01, 2.24402216e+00, 2.41012409e+00, 3.02942057e+00,
 -3.62411731e+01, 1.21793276e+02]

qfrc_actuator:
[ 2.24856849e-03, 2.90213446e-02, 8.58540944e-03, 1.67401143e-03,
 -1.10479959e-05, 2.89757400e-02, 8.62981554e-03, 1.70439601e-03,
 -2.35343922e-03, 2.84803356e-02, 8.61211700e-03, 1.51525551e-03,
  0.00000000e+00,-1.41386074e-03, 0.00000000e+00,-9.78862311e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021083788918407204
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.63288309e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.63288309e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.019983  , -0.09066553,  0.06180703])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.67271832e-06,-4.13122585e-05,-4.49806620e-05, 1.05904093e-05,
  4.65326710e-05,-5.08785406e-05, 9.67635411e-06,-7.94500515e-06,
  9.54643046e-06,-2.41455981e-05,-4.18064907e-06,-2.70325804e-05,
  3.27039857e-03,-1.94485777e-05,-2.61643626e-05,-2.38381092e-05,
  1.28095305e-04, 6.49714588e-04,-1.21647406e+00,-2.90200630e-04,
  7.61830601e-03, 1.79374566e-03]


--- Step 2162 ---
qpos:
[-2.31235095e-03, 8.64287255e-01,-2.35981011e-02, 4.33560457e-04,
 -2.84962345e-03, 8.60237964e-01,-2.69706224e-02, 3.09233056e-03,
 -1.23349553e-03, 8.69724844e-01,-1.90717298e-02,-2.12685082e-02,
  1.39620568e+00, 1.85592232e-02, 1.38383245e+00, 2.42529496e-02,
  4.02962267e-03,-5.84721965e-02, 8.01209973e-02, 7.04782642e-01,
 -3.26971949e-02,-7.05578794e-01,-6.61126815e-02]

qacc:
[-6.46641739e-02,-1.69932876e+00, 6.83835691e+00,-1.47109057e+01,
  2.67454224e-01, 1.88978643e+00,-8.67433665e+00, 1.57016440e+01,
  1.04543081e-01,-2.58808783e+00, 1.01060159e+01,-1.66984594e+01,
  2.59638245e-02, 1.13370335e-01,-5.09162857e+00, 1.70238415e+01,
 -3.08765160e-01, 2.05205092e+00, 1.38970755e+00, 2.82055597e+00,
 -3.31596019e+01, 1.11393720e+02]

qfrc_actuator:
[ 2.23906250e-03, 2.89623699e-02, 8.57257348e-03, 1.64724912e-03,
  1.51401746e-05, 2.89573176e-02, 8.59859662e-03, 1.72060186e-03,
 -2.33894922e-03, 2.84717115e-02, 8.64242848e-03, 1.49915726e-03,
  0.00000000e+00,-1.38385940e-03, 0.00000000e+00,-8.96283314e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002116740481574647
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01998224, -0.09066686,  0.06180711])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18074091e-05,-9.17280775e-05,-2.68068096e-05,-2.99344209e-05,
  4.82367664e-05,-4.60285170e-05,-4.10824152e-05, 1.41517024e-05,
  1.90964547e-05,-2.46214717e-05, 2.37288152e-05,-1.78292638e-05,
  3.27447540e-03, 2.00933941e-05,-1.53294864e-05, 7.77547216e-05,
  1.47490274e-04, 5.69724512e-04,-1.21646337e+00,-2.95895377e-04,
  7.62192841e-03, 1.79446127e-03]


--- Step 2163 ---
qpos:
[-2.31525958e-03, 8.64320497e-01,-2.35985802e-02, 4.32824957e-04,
 -2.84974799e-03, 8.60271634e-01,-2.69721495e-02, 3.09288450e-03,
 -1.23234987e-03, 8.69745531e-01,-1.90733968e-02,-2.12703789e-02,
  1.39620677e+00, 1.85593685e-02, 1.38391572e+00, 2.42523917e-02,
  4.01437062e-03,-5.85072626e-02, 8.02098872e-02, 7.04504162e-01,
 -3.19894976e-02,-7.05820973e-01,-6.68379463e-02]

qacc:
[-5.51775514e-02,-5.90713808e+00, 2.35459078e+01,-4.22085120e+01,
  1.51393391e-02,-1.52984816e-01, 5.19483693e+00,-2.41105157e+01,
  9.44506995e-02, 2.08725384e+00,-9.68234378e+00, 1.95066508e+01,
  2.26597650e-02, 3.70679099e-02,-9.29064445e-01, 3.19177532e+00,
 -2.95817680e-01, 1.89603475e+00, 5.35575989e-01, 2.64786790e+00,
 -3.06201453e+01, 1.02806961e+02]

qfrc_actuator:
[ 2.23455376e-03, 2.89136943e-02, 8.61871573e-03, 1.59585903e-03,
 -4.89497801e-06, 2.89328723e-02, 8.54493319e-03, 1.65841230e-03,
 -2.33076058e-03, 2.84761992e-02, 8.62532029e-03, 1.52617350e-03,
  0.00000000e+00,-1.38377633e-03, 0.00000000e+00,-8.82801897e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002101782854197952
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.64114588e-14, -2.64114588e-14,  1.00000000e+00,  6.97565155e-28,
        1.00000000e+00,  2.64114588e-14, -1.00000000e+00,  0.00000000e+00,
        2.64114588e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01999215, -0.09070368,  0.06180915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02118733e-05,-1.07586414e-04, 2.26021519e-05,-5.68797130e-05,
  2.82278592e-06,-5.88658085e-05,-6.80087320e-05,-6.53620157e-05,
  1.73632130e-05,-5.61278605e-06,-2.00338918e-05, 2.64099877e-05,
  3.27394176e-03, 8.65628807e-06, 1.10168649e-06, 1.57294365e-05,
  1.66011382e-04, 4.91242504e-04,-1.21645580e+00,-3.05427075e-04,
  7.62453523e-03, 1.79495957e-03]


--- Step 2164 ---
qpos:
[-2.31804945e-03, 8.64353528e-01,-2.35991488e-02, 4.32135080e-04,
 -2.84998454e-03, 8.60305038e-01,-2.69737949e-02, 3.09264451e-03,
 -1.23144206e-03, 8.69766053e-01,-1.90760268e-02,-2.12718460e-02,
  1.39620849e+00, 1.85605384e-02, 1.38399887e+00, 2.42526629e-02,
  3.99797921e-03,-5.85352501e-02, 8.02980632e-02, 7.04197661e-01,
 -3.14171634e-02,-7.06096853e-01,-6.74229196e-02]

qacc:
[ 6.23689153e-02, 6.45165394e-02,-8.28724963e-01, 1.91749153e+00,
 -5.90984913e-02,-1.65415447e+00, 8.74006572e+00,-2.20973424e+01,
 -1.24805738e-01, 3.30536839e+00,-1.37993942e+01, 2.24386981e+01,
 -1.55976609e-03, 7.77471097e-01,-2.66709067e+00, 9.12553246e+00,
 -2.84838175e-01, 1.76965593e+00,-1.78460315e-01, 2.50644269e+00,
 -2.85280618e+01, 9.57136200e+01]

qfrc_actuator:
[ 2.25082864e-03, 2.89427984e-02, 8.62831198e-03, 1.60144780e-03,
 -1.68841337e-05, 2.89403516e-02, 8.54939373e-03, 1.62158756e-03,
 -2.36191960e-03, 2.84351056e-02, 8.56267215e-03, 1.54280960e-03,
  0.00000000e+00,-1.27731610e-03, 0.00000000e+00,-8.39160866e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020683373140108208
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.68385388e-14, -8.05156164e-14,  1.00000000e+00,  2.16092149e-27,
        1.00000000e+00,  8.05156164e-14, -1.00000000e+00,  0.00000000e+00,
        2.68385388e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02001034, -0.09076793,  0.06181272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13307364e-05,-2.96054361e-05,-1.20619203e-05, 6.07098235e-07,
 -1.06565883e-05,-4.30788926e-05,-1.85946628e-05,-4.30227013e-05,
 -2.28114322e-05,-4.77069992e-05,-6.55061367e-05, 1.61903852e-05,
  3.27122169e-03, 1.11197207e-04, 6.55840830e-07, 4.42896848e-05,
  1.83780549e-04, 4.14307533e-04,-1.21645062e+00,-3.17438440e-04,
  7.62635469e-03, 1.79527252e-03]


--- Step 2165 ---
qpos:
[-2.32085620e-03, 8.64386287e-01,-2.35996009e-02, 4.31163586e-04,
 -2.84997467e-03, 8.60338141e-01,-2.69754401e-02, 3.09230467e-03,
 -1.23103002e-03, 8.69785887e-01,-1.90780283e-02,-2.12738356e-02,
  1.39621087e+00, 1.85628536e-02, 1.38408194e+00, 2.42537809e-02,
  3.98048593e-03,-5.85565669e-02, 8.03831411e-02, 7.03865059e-01,
 -3.09719475e-02,-7.06404653e-01,-6.78762280e-02]

qacc:
[-8.70913350e-03,-1.26346391e+00, 5.17373019e+00,-1.00353702e+01,
  1.30058116e-01,-6.03257500e-01, 1.99576041e+00,-3.50350865e+00,
 -2.58440604e-01,-3.74189553e+00, 1.42226868e+01,-2.37564936e+01,
 -4.68339814e-02, 9.04715921e-01,-2.64559863e+00, 9.16656720e+00,
 -2.75470236e-01, 1.66768268e+00,-7.74520395e-01, 2.39196380e+00,
 -2.68069822e+01, 8.98566530e+01]

qfrc_actuator:
[ 2.24388562e-03, 2.89294230e-02, 8.63435098e-03, 1.58729701e-03,
  1.15894647e-05, 2.89316372e-02, 8.55279923e-03, 1.61781770e-03,
 -2.39858807e-03, 2.84023387e-02, 8.59772354e-03, 1.51763062e-03,
  0.00000000e+00,-1.21452267e-03, 0.00000000e+00,-7.95829521e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020204226400339503
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.74750194e-14, -2.74750194e-14,  1.00000000e+00,  7.54876691e-28,
        1.00000000e+00,  2.74750194e-14, -1.00000000e+00,  0.00000000e+00,
        2.74750194e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02003491, -0.09085315,  0.06181745])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61912065e-06,-3.31679666e-05,-1.79268878e-06,-1.58726354e-05,
  2.34178167e-05,-3.92757504e-05,-9.52331554e-06,-7.14437658e-06,
 -4.75469707e-05,-7.27414346e-05, 1.75534841e-05,-2.91977459e-05,
  3.23951945e-03, 1.22762082e-04, 4.92413145e-06, 4.57701295e-05,
  2.00921808e-04, 3.38797127e-04,-1.21644732e+00,-3.30980914e-04,
  7.62755573e-03, 1.79542388e-03]


--- Step 2166 ---
qpos:
[-2.32370342e-03, 8.64418639e-01,-2.36001737e-02, 4.29718088e-04,
 -2.85004335e-03, 8.60370954e-01,-2.69773513e-02, 3.09228361e-03,
 -1.23108283e-03, 8.69804775e-01,-1.90789560e-02,-2.12750741e-02,
  1.39621315e+00, 1.85651574e-02, 1.38416508e+00, 2.42550782e-02,
  3.96192301e-03,-5.85715406e-02, 8.04631339e-02, 7.03507890e-01,
 -3.06470515e-02,-7.06742872e-01,-6.82049811e-02]

qacc:
[-2.11995103e-02,-1.17577579e+00, 5.41311648e+00,-1.31248442e+01,
 -4.14675230e-02, 1.01418544e+00,-5.52006164e+00, 1.16776713e+01,
 -2.41844162e-01,-2.70248533e+00, 4.65773783e+00, 7.30562675e+00,
 -7.13122120e-02, 3.85922689e-02,-4.45888743e-01, 1.70726896e+00,
 -2.67406842e-01, 1.58576524e+00,-1.27128432e+00, 2.30062990e+00,
 -2.53948423e+01, 8.50275139e+01]

qfrc_actuator:
[ 2.24085264e-03, 2.88907043e-02, 8.62033265e-03, 1.56161147e-03,
 -6.98344219e-06, 2.89133478e-02, 8.53774788e-03, 1.63350426e-03,
 -2.42045649e-03, 2.83574057e-02, 8.65468315e-03, 1.55689043e-03,
  0.00000000e+00,-1.28497567e-03, 0.00000000e+00,-7.88538605e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.55614797,   4.18227268,   7.55614797,
        28.32464448, -35.57098609,   4.18227268, -35.57098609,
        72.90276971,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019613774381717908
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.83021259e-14, -2.83021259e-14,  1.00000000e+00,  8.01010332e-28,
        1.00000000e+00,  2.83021259e-14, -1.00000000e+00,  0.00000000e+00,
        2.83021259e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02006429, -0.09095406,  0.06182305])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.87552597e-06,-5.90839347e-05,-2.18891305e-05,-2.75244992e-05,
 -7.47691186e-06,-4.33020863e-05,-2.48331174e-05, 1.34874356e-05,
 -4.45862322e-05,-8.36878500e-05, 4.29538053e-05, 3.61610142e-05,
  3.20618379e-03,-4.97893846e-06, 6.89600903e-06, 1.03197347e-05,
  2.17555875e-04, 2.64493402e-04,-1.21644549e+00,-3.45395048e-04,
  7.62826235e-03, 1.79543111e-03]


--- Step 2167 ---
qpos:
[-2.32676340e-03, 8.64450501e-01,-2.36011704e-02, 4.28353186e-04,
 -2.85063916e-03, 8.60403454e-01,-2.69791571e-02, 3.09242658e-03,
 -1.23112093e-03, 8.69822498e-01,-1.90793188e-02,-2.12750787e-02,
  1.39621533e+00, 1.85673589e-02, 1.38424832e+00, 2.42557903e-02,
  3.94231857e-03,-5.85804332e-02, 8.05363886e-02, 7.03127361e-01,
 -3.04368843e-02,-7.07110242e-01,-6.84150228e-02]

qacc:
[-1.11773352e-01, 7.00763289e-01,-3.78065614e+00, 6.21494996e+00,
 -2.77791880e-01,-3.67962334e-01, 2.26105601e-02, 2.87615126e+00,
  8.49465808e-03,-5.74419885e-01,-5.38283144e+00, 2.66687538e+01,
 -7.07211706e-02,-1.17424321e-02, 1.92741569e+00,-6.51206627e+00,
 -2.60382446e-01, 1.52027530e+00,-1.68452973e+00, 2.22908616e+00,
 -2.42408363e+01, 8.10557870e+01]

qfrc_actuator:
[ 2.22244339e-03, 2.88547762e-02, 8.59447060e-03, 1.56481538e-03,
 -5.35578551e-05, 2.89071763e-02, 8.54739374e-03, 1.64273336e-03,
 -2.39777226e-03, 2.82702005e-02, 8.67083302e-03, 1.61599635e-03,
  0.00000000e+00,-1.29265685e-03, 0.00000000e+00,-8.20295912e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.04755408,   3.13427029,   8.04755408,
        18.94591065, -26.47079842,   3.13427029, -26.47079842,
        76.60279979,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018939702117145227
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.93094109e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.93094109e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02009721, -0.09106642,  0.06182928])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.03281667e-05,-7.54234800e-05,-4.19595830e-05,-6.66011644e-07,
 -5.01239930e-05,-3.57088931e-05,-2.13532576e-06, 6.73001282e-06,
  1.37884931e-06,-1.24025024e-04, 5.27165706e-06, 5.76888281e-05,
  3.21145827e-03,-1.21141958e-05, 2.06895401e-06,-3.08108149e-05,
  2.33797127e-04, 1.91125897e-04,-1.21644481e+00,-3.60227145e-04,
  7.62856429e-03, 1.79530674e-03]


--- Step 2168 ---
qpos:
[-2.32984104e-03, 8.64481896e-01,-2.36016167e-02, 4.25929261e-04,
 -2.85177282e-03, 8.60435130e-01,-2.69802640e-02, 3.09166710e-03,
 -1.23063941e-03, 8.69839635e-01,-1.90796332e-02,-2.12747588e-02,
  1.39621751e+00, 1.85696249e-02, 1.38433155e+00, 2.42561184e-02,
  3.92169746e-03,-5.85834531e-02, 8.06015329e-02, 7.02724406e-01,
 -3.03368656e-02,-7.07505695e-01,-6.85111382e-02]

qacc:
[-8.81246947e-03,-4.33165578e+00, 1.90230166e+01,-3.78919380e+01,
 -2.82935047e-01,-4.89651587e+00, 1.96897550e+01,-3.58258976e+01,
  2.71748272e-01,-2.42040849e-01,-1.62970900e+00, 7.59556907e+00,
 -7.40848674e-02, 1.13217776e-01, 1.16419072e+00,-4.06142679e+00,
 -2.54166625e-01, 1.46817776e+00,-2.02758574e+00, 2.17436650e+00,
 -2.33031083e+01, 7.78013376e+01]

qfrc_actuator:
[ 2.23050212e-03, 2.88562748e-02, 8.63286420e-03, 1.51397743e-03,
 -8.09478975e-05, 2.88374022e-02, 8.57159297e-03, 1.59485730e-03,
 -2.34865003e-03, 2.82647447e-02, 8.68032921e-03, 1.63296882e-03,
  0.00000000e+00,-1.28033211e-03, 0.00000000e+00,-8.39283956e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.35131622,   2.20052137,   8.35131622,
        13.53384235, -18.58668314,   2.20052137, -18.58668314,
        79.17567798,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018204911637495769
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.52462018e-14, -6.09848071e-14,  1.00000000e+00,  9.29786674e-28,
        1.00000000e+00,  6.09848071e-14, -1.00000000e+00,  0.00000000e+00,
        1.52462018e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02013265, -0.09118678,  0.06183596])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.69641987e-06,-5.01149685e-05, 1.73857425e-05,-5.55780921e-05,
 -5.11559505e-05,-9.06662153e-05, 1.65509159e-05,-4.93950719e-05,
  4.98023756e-05,-7.16648101e-05,-1.36071002e-05, 1.29420586e-05,
  3.21582958e-03, 5.30325664e-06,-4.65434313e-06,-2.09349036e-05,
  2.49752090e-04, 1.18399221e-04,-1.21644505e+00,-3.75170650e-04,
  7.62852499e-03, 1.79505946e-03]


--- Step 2169 ---
qpos:
[-2.33267827e-03, 8.64513337e-01,-2.36024670e-02, 4.23949550e-04,
 -2.85351275e-03, 8.60465823e-01,-2.69817895e-02, 3.09078370e-03,
 -1.22979212e-03, 8.69856971e-01,-1.90802104e-02,-2.12743191e-02,
  1.39621916e+00, 1.85713901e-02, 1.38441463e+00, 2.42572160e-02,
  3.90008212e-03,-5.85807653e-02, 8.06574304e-02, 7.02299728e-01,
 -3.03432623e-02,-7.07928322e-01,-6.84972252e-02]

qacc:
[ 1.25940650e-01, 2.10321417e+00,-9.28669959e+00, 1.75886477e+01,
 -3.19614304e-01,-3.82959042e-01, 5.39896209e-03,-7.58460523e-01,
  1.90872480e-01, 1.24525226e+00,-4.56045720e+00, 6.90398352e+00,
 -6.57568481e-02,-3.68594203e-01,-2.55373095e+00, 8.60139292e+00,
 -2.48558883e-01, 1.42692762e+00,-2.31171597e+00, 2.13384471e+00,
 -2.25469848e+01, 7.51482995e+01]

qfrc_actuator:
[ 0.00225433, 0.0288804 , 0.00862024, 0.00153834,-0.00011436, 0.02874786,
  0.00853288, 0.00158473,-0.00233743, 0.02832598, 0.00868612, 0.00164283,
  0.        ,-0.00134489, 0.        ,-0.00079732, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,   8.53345282,   1.32927041,   8.53345282,
        10.42371274, -11.47415842,   1.32927041, -11.47415842,
        82.29646244,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0017428289535063313
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.59255879e-14, -3.18511757e-14,  1.00000000e+00,  5.07248697e-28,
        1.00000000e+00,  3.18511757e-14, -1.00000000e+00,  0.00000000e+00,
        1.59255879e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02016975, -0.09131237,  0.06184292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.29513610e-05,-3.42048345e-06,-2.29900303e-05, 2.16903714e-05,
 -5.76725352e-05,-1.39697255e-04,-5.73512266e-05,-1.44451438e-05,
  3.50717246e-05, 1.85096782e-05,-1.03661170e-05, 6.54689933e-06,
  3.21600544e-03,-6.25109338e-05,-6.07902891e-06, 3.98297671e-05,
  2.65518854e-04, 4.60106652e-05,-1.21644600e+00,-3.90024587e-04,
  7.62818760e-03, 1.79469500e-03]


--- Step 2170 ---
qpos:
[-2.33542721e-03, 8.64543840e-01,-2.36034045e-02, 4.23762701e-04,
 -2.85517971e-03, 8.60495814e-01,-2.69839498e-02, 3.09080082e-03,
 -1.22870512e-03, 8.69874776e-01,-1.90819812e-02,-2.12744266e-02,
  1.39622022e+00, 1.85723068e-02, 1.38449780e+00, 2.42577908e-02,
  3.87749324e-03,-5.85724999e-02, 8.07031421e-02, 7.01853833e-01,
 -3.04530545e-02,-7.08377351e-01,-6.83764367e-02]

qacc:
[ 4.67096242e-02, 2.69425734e+00,-1.89735181e+01, 5.08320977e+01,
  3.83716066e-02, 2.69681657e+00,-1.47654684e+01, 3.18855654e+01,
  1.24309232e-01, 2.82550664e+00,-6.87174520e+00,-1.02367006e+00,
 -3.43280652e-02,-6.23157637e-01, 1.68805465e+00,-5.76860324e+00,
 -2.43384328e-01, 1.39438620e+00,-2.54644131e+00, 2.10519287e+00,
 -2.19436051e+01, 7.30004211e+01]

qfrc_actuator:
[ 2.25186737e-03, 2.87757562e-02, 8.59550083e-03, 1.62448949e-03,
 -8.00870393e-05, 2.87357005e-02, 8.51051049e-03, 1.63233854e-03,
 -2.33126230e-03, 2.83379127e-02, 8.61897827e-03, 1.61299305e-03,
  0.00000000e+00,-1.40178770e-03, 0.00000000e+00,-8.26299816e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.62437366,  0.454924  ,  8.62437366,  8.85414806,
       -4.12872093,  0.454924  , -4.12872093, 86.90796881,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016625350099239364
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.33894630e-14, -5.00841945e-14,  1.00000000e+00,  1.67228436e-27,
        1.00000000e+00,  5.00841945e-14, -1.00000000e+00,  0.00000000e+00,
        3.33894630e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02020784, -0.09144092,  0.06185004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.40160845e-06,-1.11105226e-04,-2.77663177e-05, 8.55886068e-05,
  6.91347672e-06,-1.03465574e-04,-5.90143906e-05, 3.93160051e-05,
  2.29901475e-05, 2.00234997e-05,-6.45044015e-05,-2.93021434e-05,
  3.24235582e-03,-9.43837717e-05,-5.96170532e-07,-2.80253048e-05,
  2.81187061e-04,-2.63388036e-05,-1.21644750e+00,-4.04663884e-04,
  7.62757953e-03, 1.79421669e-03]


--- Step 2171 ---
qpos:
[-2.33832502e-03, 8.64572741e-01,-2.36044349e-02, 4.23315812e-04,
 -2.85640263e-03, 8.60525185e-01,-2.69859088e-02, 3.09131761e-03,
 -1.22728504e-03, 8.69892048e-01,-1.90844225e-02,-2.12751425e-02,
  1.39622102e+00, 1.85723347e-02, 1.38458132e+00, 2.42549993e-02,
  3.85916049e-03,-5.85585814e-02, 8.07456013e-02, 7.01481460e-01,
 -3.06827481e-02,-7.08758771e-01,-6.81420222e-02]

qacc:
[-7.76437180e-02,-2.39284712e+00, 6.55683306e+00,-9.73210190e+00,
  2.34515919e-01,-3.53707976e-01,-2.03812222e+00, 1.08201365e+01,
  1.73762372e-01,-8.31675679e-02, 1.84064708e+00,-1.08999110e+01,
 -7.22187398e-03,-5.91909531e-01, 1.07118404e+01,-3.67339064e+01,
  1.06403285e+00, 1.41328817e+00,-8.13117888e-01,-3.02357823e+00,
  4.39368282e+01, 8.58851637e+01]

qfrc_actuator:
[ 2.23368278e-03, 2.86303206e-02, 8.56333000e-03, 1.60416916e-03,
 -4.11485978e-05, 2.87345838e-02, 8.53384018e-03, 1.66035676e-03,
 -2.31038544e-03, 2.82489069e-02, 8.56236288e-03, 1.57770977e-03,
  0.00000000e+00,-1.43578205e-03, 0.00000000e+00,-1.00337781e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016097685080020269
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.89678683e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.89678683e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0182196 , -0.08583512,  0.06185481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.42605362e-05,-2.10342570e-04,-5.58063813e-05,-2.44190392e-05,
  4.22033545e-05,-7.01774601e-05,-4.17016198e-06, 2.22659688e-05,
  3.19165120e-05,-9.27863194e-05,-6.15645702e-05,-3.72535764e-05,
  3.27144589e-03,-8.59477831e-05,-6.37190653e-06,-1.79363764e-04,
  2.96838218e-04,-9.89379469e-05,-1.21644941e+00,-4.19018060e-04,
  7.62671590e-03, 1.79362606e-03]


--- Step 2172 ---
qpos:
[-2.34176736e-03, 8.64599742e-01,-2.36051499e-02, 4.23676080e-04,
 -2.85754036e-03, 8.60553891e-01,-2.69877870e-02, 3.09114260e-03,
 -1.22595271e-03, 8.69907858e-01,-1.90860077e-02,-2.12759154e-02,
  1.39622140e+00, 1.85718300e-02, 1.38466453e+00, 2.42524544e-02,
  3.84640380e-03,-5.85399368e-02, 8.07818227e-02, 7.01207543e-01,
 -3.10200205e-02,-7.09047071e-01,-6.78084889e-02]

qacc:
[-2.84886199e-01,-1.72679378e+00,-8.88925618e-01, 1.57467966e+01,
  4.51624444e-02,-2.52502532e+00, 1.06518465e+01,-2.22684727e+01,
 -4.48034969e-02,-4.44210975e+00, 1.32732570e+01,-1.45530986e+01,
  7.38895223e-03,-4.35747951e-01,-1.22284021e+00, 3.57248021e+00,
  1.39401573e+00, 1.18151048e+00,-1.55946594e+00,-4.26886638e+00,
  6.23664675e+01, 7.76718407e+01]

qfrc_actuator:
[ 2.18851520e-03, 2.85324609e-02, 8.58000065e-03, 1.64556963e-03,
 -5.30680593e-05, 2.86870328e-02, 8.53074814e-03, 1.62340328e-03,
 -2.33413248e-03, 2.81534082e-02, 8.60078305e-03, 1.57494391e-03,
  0.00000000e+00,-1.45565662e-03, 0.00000000e+00,-9.82219772e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.58599486, -0.93138024, -8.58599486,  9.0617328 ,
       -3.92129586, -0.93138024, -3.92129586, 44.785108  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001582819925320951
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03214974, -0.0838745 ,  0.06185738])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.20440179e-05,-2.28725089e-04,-3.47084248e-05, 2.99422018e-05,
  8.08043650e-06,-8.73846881e-05,-1.75476949e-05,-3.97140157e-05,
 -8.45117530e-06,-1.62072578e-04, 1.02709493e-05,-9.61601335e-06,
  3.28441777e-03,-6.13672351e-05,-2.57228545e-05, 9.72584274e-06,
  1.92817177e-04,-1.38001174e-04,-1.21645039e+00,-4.29409055e-04,
  7.62648283e-03, 1.79475102e-03]


--- Step 2173 ---
qpos:
[-2.34573555e-03, 8.64624422e-01,-2.36045945e-02, 4.24516705e-04,
 -2.85852198e-03, 8.60581877e-01,-2.69891218e-02, 3.09084620e-03,
 -1.22481576e-03, 8.69922687e-01,-1.90872721e-02,-2.12767409e-02,
  1.39622111e+00, 1.85708661e-02, 1.38474723e+00, 2.42531554e-02,
  3.83894826e-03,-5.85167817e-02, 8.08100070e-02, 7.01026745e-01,
 -3.14591825e-02,-7.09247208e-01,-6.73811591e-02]

qacc:
[-2.74346038e-01,-5.62423769e+00, 1.35783751e+01,-5.59646883e+00,
  8.29071507e-02,-2.71769682e+00, 8.82290404e+00,-1.12663745e+01,
 -1.01539884e-01,-2.30060426e+00, 6.54395583e+00,-7.24778371e+00,
  3.64111856e-02,-4.83216399e-01,-1.06187582e+01, 3.59792983e+01,
  1.32528565e+00, 1.12764350e+00,-2.00925906e+00,-4.01465283e+00,
  5.90135595e+01, 7.35321578e+01]

qfrc_actuator:
[ 2.16311831e-03, 2.84108257e-02, 8.64335770e-03, 1.66978151e-03,
 -4.20631209e-05, 2.86651705e-02, 8.56510103e-03, 1.61946891e-03,
 -2.34886098e-03, 2.81261683e-02, 8.62395550e-03, 1.57362770e-03,
  0.00000000e+00,-1.48481253e-03, 0.00000000e+00,-8.08881277e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.42803469, -5.76776793,  6.42803469, 36.71215362,
       31.28977345, -5.76776793, 31.28977345, 43.50804217,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001547743230834099
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.17317319e-14, -7.17317319e-14,  1.00000000e+00,  5.14544136e-27,
        1.00000000e+00,  7.17317319e-14, -1.00000000e+00,  0.00000000e+00,
        7.17317319e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03222247, -0.08391827,  0.06186057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.02696056e-05,-2.56055586e-04, 1.26742668e-05, 1.37563563e-05,
  1.48259904e-05,-7.67234476e-05, 1.25561645e-05,-9.09904763e-06,
 -1.87603979e-05,-1.16515688e-04,-9.47502982e-06,-8.10679482e-06,
  3.30550737e-03,-6.38609013e-05,-1.18887354e-05, 1.70348994e-04,
  9.21612093e-05,-1.26639461e-04,-1.21645245e+00,-4.27046744e-04,
  7.62775918e-03, 1.79576060e-03]


--- Step 2174 ---
qpos:
[-2.34990875e-03, 8.64647950e-01,-2.36044750e-02, 4.24226554e-04,
 -2.85935688e-03, 8.60608694e-01,-2.69895717e-02, 3.09122843e-03,
 -1.22368269e-03, 8.69937238e-01,-1.90891320e-02,-2.12776039e-02,
  1.39622059e+00, 1.85693299e-02, 1.38483015e+00, 2.42532155e-02,
  3.83656560e-03,-5.84892971e-02, 8.08286408e-02, 7.00934562e-01,
 -3.19955001e-02,-7.09363221e-01,-6.68644062e-02]

qacc:
[-1.07523724e-01,-2.63186216e+00, 1.19482244e+01,-2.99751023e+01,
  7.83746870e-02,-2.61700360e+00, 4.22754519e+00, 6.95810868e+00,
 -2.30454557e-03, 1.22031500e+00,-4.72413338e+00, 5.23193029e+00,
  7.04070613e-02,-4.74768316e-01, 2.25975609e+00,-7.46040255e+00,
  1.26822255e+00, 1.08237840e+00,-2.38763255e+00,-3.78301883e+00,
  5.62314046e+01, 7.01063901e+01]

qfrc_actuator:
[ 2.16753559e-03, 2.83826234e-02, 8.62712965e-03, 1.61267365e-03,
 -3.51611785e-05, 2.85880332e-02, 8.60367329e-03, 1.65280494e-03,
 -2.34028300e-03, 2.81399869e-02, 8.60266706e-03, 1.57319978e-03,
  0.00000000e+00,-1.50164495e-03, 0.00000000e+00,-8.49127164e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.6039862 , -6.57131003,  5.6039862 , 50.79244174,
       35.95053024, -6.57131003, 35.95053024, 39.29482815,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015028099804038006
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.38764740e-14, -7.38764740e-14,  1.00000000e+00,  5.45773341e-27,
        1.00000000e+00,  7.38764740e-14, -1.00000000e+00,  0.00000000e+00,
        7.38764740e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03231269, -0.08397296,  0.06186453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.96108283e-05,-1.68767012e-04,-6.72701728e-05,-6.74083817e-05,
  1.39218664e-05,-1.18494312e-04, 2.37476168e-05, 3.02663081e-05,
 -3.83082853e-07,-5.39770262e-05,-4.69024594e-05,-5.92090616e-06,
  3.33853307e-03,-5.76930298e-05, 1.19954808e-05,-3.25884400e-05,
  3.06367515e-05,-8.43282205e-05,-1.21645625e+00,-4.15443202e-04,
  7.63011388e-03, 1.79616006e-03]


--- Step 2175 ---
qpos:
[-2.35394781e-03, 8.64670874e-01,-2.36052200e-02, 4.24248351e-04,
 -2.86044945e-03, 8.60634580e-01,-2.69906969e-02, 3.09243054e-03,
 -1.22250227e-03, 8.69951647e-01,-1.90911140e-02,-2.12781714e-02,
  1.39622032e+00, 1.85674509e-02, 1.38491348e+00, 2.42497962e-02,
  3.83906529e-03,-5.84576362e-02, 8.08364513e-02, 7.00927187e-01,
 -3.26250394e-02,-7.09398378e-01,-6.62618056e-02]

qacc:
[ 7.00822240e-02, 2.25758932e+00,-1.05262684e+01, 1.77541420e+01,
 -1.35903107e-01, 2.34074183e+00,-1.35958930e+01, 2.95538806e+01,
  2.47245536e-02, 7.61517611e-01,-4.23325050e+00, 9.64168448e+00,
  7.55086280e-02,-2.19755102e-01, 1.11419037e+01,-3.81056112e+01,
  1.22058489e+00, 1.04405822e+00,-2.70583738e+00,-3.56907484e+00,
  5.39273876e+01, 6.72797191e+01]

qfrc_actuator:
[ 2.18973088e-03, 2.83924875e-02, 8.59985391e-03, 1.63246136e-03,
 -6.62793491e-05, 2.85139726e-02, 8.55545512e-03, 1.68999913e-03,
 -2.33558711e-03, 2.81603764e-02, 8.60874785e-03, 1.59106331e-03,
  0.00000000e+00,-1.49303403e-03, 0.00000000e+00,-1.03268792e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001450359776049251
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.82740560e-14, -3.82740560e-14,  1.00000000e+00,  1.46490336e-27,
        1.00000000e+00,  3.82740560e-14, -1.00000000e+00,  0.00000000e+00,
        3.82740560e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03241601, -0.08403584,  0.06186906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.27859955e-05,-1.01841686e-04,-7.29344441e-05, 8.88325541e-06,
 -2.45326599e-05,-1.34757417e-04,-6.89269319e-05, 3.34881059e-05,
  4.53546944e-06,-2.00583788e-05,-1.11459610e-05, 1.37963259e-05,
  3.35003105e-03,-2.04216617e-05,-1.07937395e-06,-1.84501154e-04,
  2.52611552e-06,-1.54429215e-05,-1.21646157e+00,-3.95744464e-04,
  7.63337273e-03, 1.79603285e-03]


--- Step 2176 ---
qpos:
[-2.35758207e-03, 8.64693392e-01,-2.36067663e-02, 4.24474863e-04,
 -2.86166769e-03, 8.60659737e-01,-2.69925246e-02, 3.09473553e-03,
 -1.22108961e-03, 8.69965960e-01,-1.90931106e-02,-2.12778448e-02,
  1.39622005e+00, 1.85656001e-02, 1.38499648e+00, 2.42468916e-02,
  3.84628691e-03,-5.84219301e-02, 8.08323682e-02, 7.01001398e-01,
 -3.33445390e-02,-7.09355296e-01,-6.55762604e-02]

qacc:
[ 2.12087553e-01, 2.12396236e+00,-9.21522524e+00, 1.43400534e+01,
 -6.63811327e-02, 3.26847305e+00,-1.77076740e+01, 3.84580759e+01,
  1.21395600e-01, 1.75680648e+00,-1.02135421e+01, 2.57669980e+01,
  6.31828123e-02,-4.46805116e-02,-2.05863674e+00, 6.46894935e+00,
  1.18048436e+00, 1.01129556e+00,-2.97337198e+00,-3.36866728e+00,
  5.20249451e+01, 6.49572017e+01]

qfrc_actuator:
[ 2.22233582e-03, 2.83895991e-02, 8.56655248e-03, 1.64413809e-03,
 -6.66059886e-05, 2.84952466e-02, 8.52737944e-03, 1.74684813e-03,
 -2.31551752e-03, 2.81669321e-02, 8.61326244e-03, 1.63733644e-03,
  0.00000000e+00,-1.48691012e-03, 0.00000000e+00,-9.97347941e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013923395186581783
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.97379525e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.97379525e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03252881, -0.08410468,  0.061874  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.86363359e-05,-7.50482471e-05,-6.31847715e-05, 4.92945192e-06,
 -1.19752984e-05,-1.07496571e-04,-6.34381235e-05, 4.93030922e-05,
  2.22657599e-05,-6.69249389e-06,-6.18731166e-07, 4.52792515e-05,
  3.33764750e-03, 2.90979612e-06,-2.31717740e-05, 2.44293788e-05,
  3.54324835e-06, 7.68271026e-05,-1.21646833e+00,-3.68801691e-04,
  7.63739358e-03, 1.79544453e-03]


--- Step 2177 ---
qpos:
[-2.36117842e-03, 8.64715973e-01,-2.36090011e-02, 4.24769842e-04,
 -2.86294162e-03, 8.60683867e-01,-2.69942931e-02, 3.09734294e-03,
 -1.21963244e-03, 8.69980332e-01,-1.90956829e-02,-2.12766023e-02,
  1.39621984e+00, 1.85637955e-02, 1.38507933e+00, 2.42443901e-02,
  3.85809384e-03,-5.83822924e-02, 8.08154922e-02, 7.01154460e-01,
 -3.41513023e-02,-7.09236041e-01,-6.48101048e-02]

qacc:
[ 1.94446465e-02, 2.14521623e+00,-7.81991994e+00, 1.00623906e+01,
 -2.89364800e-02,-8.99541740e-01,-3.86628104e-02, 5.93240693e+00,
  2.29114539e-02, 3.57217072e+00,-1.64838026e+01, 3.31990139e+01,
  6.20508847e-02,-2.22206240e-02,-1.44637688e+00, 4.72654327e+00,
  1.14632559e+00, 9.82923655e-01,-3.19826305e+00,-3.17825610e+00,
  5.04604586e+01, 6.30599321e+01]

qfrc_actuator:
[ 2.20760435e-03, 2.84323595e-02, 8.54767101e-03, 1.65093070e-03,
 -6.62392730e-05, 2.84388796e-02, 8.52943928e-03, 1.76162117e-03,
 -2.32193281e-03, 2.81651974e-02, 8.58127329e-03, 1.68218585e-03,
  0.00000000e+00,-1.48251232e-03, 0.00000000e+00,-9.75290918e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001330365373518938
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.34524896e-14, -4.17262448e-14,  1.00000000e+00,  3.48215901e-27,
        1.00000000e+00,  4.17262448e-14, -1.00000000e+00,  0.00000000e+00,
        8.34524896e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03264818, -0.08417766,  0.06187923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.61843679e-06,-1.25549169e-05,-4.21582535e-05, 1.45463122e-06,
 -5.32486559e-06,-1.28060003e-04,-2.64393544e-05, 8.89307527e-06,
  4.26618187e-06,-3.98362510e-06,-3.19764358e-05, 4.54036913e-05,
  3.33682942e-03, 5.96004072e-06,-8.27868096e-06, 2.03710384e-05,
  3.04853590e-05, 1.90179587e-04,-1.21647653e+00,-3.35243092e-04,
  7.64205735e-03, 1.79444721e-03]


--- Step 2178 ---
qpos:
[-2.36502081e-03, 8.64738269e-01,-2.36105336e-02, 4.24744661e-04,
 -2.86442059e-03, 8.60706925e-01,-2.69959538e-02, 3.09941826e-03,
 -1.21820021e-03, 8.69994774e-01,-1.90983101e-02,-2.12759060e-02,
  1.39621961e+00, 1.85616717e-02, 1.38516229e+00, 2.42408162e-02,
  3.87436779e-03,-5.83388228e-02, 8.07850669e-02, 7.01384046e-01,
 -3.50431087e-02,-7.09042210e-01,-6.39651905e-02]

qacc:
[-1.28590652e-01,-2.99657564e+00, 1.14905715e+01,-1.79479380e+01,
 -1.07683279e-01,-2.81067952e+00, 1.02142705e+01,-1.88105366e+01,
 -1.31132212e-02,-8.78882157e-01, 5.56989552e+00,-1.49781239e+01,
  6.34319222e-02,-2.63650309e-01, 3.39209651e+00,-1.16672803e+01,
  1.11675706e+00, 9.57957396e-01,-3.38729958e+00,-2.99481565e+00,
  4.91808269e+01, 6.15220395e+01]

qfrc_actuator:
[ 2.18242863e-03, 2.84311934e-02, 8.59090699e-03, 1.63709456e-03,
 -8.32288946e-05, 2.83782712e-02, 8.53134711e-03, 1.73375532e-03,
 -2.32639156e-03, 2.81761256e-02, 8.58120679e-03, 1.65479102e-03,
  0.00000000e+00,-1.51468484e-03, 0.00000000e+00,-1.03230850e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012657747082638962
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.77109502e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.77109502e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03277175, -0.08425333,  0.06188465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.34985293e-05,-1.73428304e-05, 3.53416064e-05,-1.58356120e-05,
 -1.95302711e-05,-1.37865244e-04,-2.76711398e-05,-3.41317929e-05,
 -2.38986992e-06, 3.72315766e-06,-3.34993758e-06,-2.78076625e-05,
  3.33398577e-03,-2.84684442e-05,-2.60215786e-06,-5.71851711e-05,
  8.09742202e-05, 3.22979013e-04,-1.21648629e+00,-2.95527242e-04,
  7.64726125e-03, 1.79308295e-03]


--- Step 2179 ---
qpos:
[-2.36893551e-03, 8.64760201e-01,-2.36109246e-02, 4.24531872e-04,
 -2.86609654e-03, 8.60728927e-01,-2.69967531e-02, 3.10108825e-03,
 -1.21644300e-03, 8.70008903e-01,-1.90998780e-02,-2.12766080e-02,
  1.39621908e+00, 1.85595213e-02, 1.38524477e+00, 2.42402695e-02,
  3.89500427e-03,-5.82916110e-02, 8.07404567e-02, 7.01688166e-01,
 -3.60181375e-02,-7.08774997e-01,-6.30429587e-02]

qacc:
[-3.71107712e-02,-4.05228153e+00, 1.45468990e+01,-1.93564391e+01,
 -1.02933938e-01,-4.63251130e+00, 1.62070706e+01,-2.38293473e+01,
  1.70481135e-01,-6.25341403e+00, 2.75880526e+01,-5.32309714e+01,
  6.88577116e-02,-1.61353265e-01,-9.88824469e+00, 3.35300374e+01,
  1.09063078e+00, 9.35561816e-01,-3.54622819e+00,-2.81575374e+00,
  4.81415505e+01, 6.02883202e+01]

qfrc_actuator:
[ 2.18676041e-03, 2.84217467e-02, 8.65254542e-03, 1.62899504e-03,
 -9.27080437e-05, 2.83510788e-02, 8.58634928e-03, 1.71652493e-03,
 -2.29411948e-03, 2.81591109e-02, 8.63550859e-03, 1.58514542e-03,
  0.00000000e+00,-1.51519471e-03, 0.00000000e+00,-8.69167162e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011996697357022704
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.25440554e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.25440554e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03289759, -0.08433046,  0.06189015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.90972693e-06,-1.30362477e-05, 6.17026240e-05,-7.95807307e-06,
 -1.87564913e-05,-1.12005729e-04, 2.17658923e-05,-2.47939973e-05,
  3.11574945e-05,-1.71339781e-05, 5.36035128e-05,-7.01626290e-05,
  3.33528976e-03,-1.29536523e-05,-9.48251943e-06, 1.59195424e-04,
  1.53262369e-04, 4.74092973e-04,-1.21649775e+00,-2.49982968e-04,
  7.65291357e-03, 1.79138636e-03]


--- Step 2180 ---
qpos:
[-2.37265529e-03, 8.64782380e-01,-2.36111242e-02, 4.25245931e-04,
 -2.86773096e-03, 8.60750837e-01,-2.69976122e-02, 3.10282160e-03,
 -1.21433732e-03, 8.70022507e-01,-1.91009537e-02,-2.12773817e-02,
  1.39621852e+00, 1.85574658e-02, 1.38532716e+00, 2.42416508e-02,
  3.91990862e-03,-5.82407390e-02, 8.06811268e-02, 7.02065110e-01,
 -3.70749051e-02,-7.08435256e-01,-6.20445012e-02]

qacc:
[ 1.02370765e-01, 1.69793250e+00,-9.49465100e+00, 2.50487925e+01,
  2.18866829e-02, 1.76153998e-01,-1.07191933e+00, 2.33214537e+00,
  1.82532128e-01,-2.21757395e+00, 7.19943383e+00,-8.83849776e+00,
  8.22897532e-02,-3.74876858e-02,-5.99165610e+00, 2.07289002e+01,
  1.06696899e+00, 9.15026605e-01,-3.67991627e+00,-2.63884476e+00,
  4.73052071e+01, 5.93123519e+01]

qfrc_actuator:
[ 2.20872137e-03, 2.84607814e-02, 8.67124745e-03, 1.67759091e-03,
 -7.98543483e-05, 2.83976068e-02, 8.60140075e-03, 1.72351453e-03,
 -2.27565409e-03, 2.81079324e-02, 8.65032856e-03, 1.57998314e-03,
  0.00000000e+00,-1.49687181e-03, 0.00000000e+00,-7.72879876e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.63446518,  0.18107423, -8.63446518,  8.66652531,
        1.4382496 ,  0.18107423,  1.4382496 , 77.21882266,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011329542681655716
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.89968155e-14, -4.89968155e-14,  1.00000000e+00,  2.40068793e-27,
        1.00000000e+00,  4.89968155e-14, -1.00000000e+00,  0.00000000e+00,
        4.89968155e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03302415, -0.0844081 ,  0.06189569])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.86218308e-05, 4.36371636e-05, 2.31700214e-05, 4.99863572e-05,
  3.94551317e-06,-1.31960463e-05,-6.42762971e-06, 2.42755034e-06,
  3.34017774e-05,-5.30057219e-05, 1.53604341e-05,-5.42550513e-06,
  3.34962033e-03, 6.76762328e-06, 1.24129506e-05, 1.03739832e-04,
  2.46086712e-04, 6.42769700e-04,-1.21651114e+00,-1.98839413e-04,
  7.65892971e-03, 1.78938660e-03]


--- Step 2181 ---
qpos:
[-2.37575846e-03, 8.64804741e-01,-2.36124254e-02, 4.26289253e-04,
 -2.86925805e-03, 8.60772913e-01,-2.69986997e-02, 3.10391099e-03,
 -1.21214518e-03, 8.70035834e-01,-1.91024928e-02,-2.12774860e-02,
  1.39621828e+00, 1.85556360e-02, 1.38540978e+00, 2.42425078e-02,
  3.94899272e-03,-5.81862841e-02, 8.06066270e-02, 7.02513400e-01,
 -3.82122109e-02,-7.08023541e-01,-6.09706109e-02]

qacc:
[ 3.22829212e-01, 3.99304705e+00,-1.52812762e+01, 2.26120358e+01,
  5.63381783e-02,-4.67605498e-01, 4.70457444e+00,-1.56067788e+01,
  4.50032276e-02, 2.30853068e+00,-1.15798339e+01, 2.40963420e+01,
  7.81297298e-02, 1.40141405e-01, 1.92796540e+00,-6.25094862e+00,
  1.04493673e+00, 8.95745279e-01,-3.79248849e+00,-2.46217425e+00,
  4.66402278e+01, 5.85549803e+01]

qfrc_actuator:
[ 2.25877417e-03, 2.84219251e-02, 8.59367048e-03, 1.68815407e-03,
 -7.15132753e-05, 2.84168148e-02, 8.59305858e-03, 1.69147167e-03,
 -2.28337885e-03, 2.80898524e-02, 8.62385035e-03, 1.61274347e-03,
  0.00000000e+00,-1.46736027e-03, 0.00000000e+00,-8.05580061e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.48633236,  1.60279131, -8.48633236, 10.32332466,
        8.93198747,  1.60279131,  8.93198747, 55.92874267,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010663647317060848
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.80846594e-14, -5.20564396e-14,  1.00000000e+00,  4.06480935e-27,
        1.00000000e+00,  5.20564396e-14, -1.00000000e+00,  0.00000000e+00,
        7.80846594e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03315019, -0.08448545,  0.06190121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.88823360e-05,-8.04514633e-06,-6.41512395e-05, 1.41732023e-05,
  1.02104782e-05, 1.00847554e-05,-1.19452568e-05,-3.28182642e-05,
  8.28030550e-06,-4.50827918e-05,-3.58160148e-05, 3.08988086e-05,
  3.35135818e-03, 3.15917360e-05, 1.53572690e-05,-2.57647677e-05,
  3.58557067e-04, 8.28545745e-04,-1.21652671e+00,-1.42248879e-04,
  7.66522903e-03, 1.78710891e-03]


--- Step 2182 ---
qpos:
[-2.37861637e-03, 8.64826585e-01,-2.36143208e-02, 4.27162185e-04,
 -2.87086235e-03, 8.60794450e-01,-2.69995736e-02, 3.10432252e-03,
 -1.21015458e-03, 8.70049057e-01,-1.91047301e-02,-2.12768574e-02,
  1.39621856e+00, 1.85540393e-02, 1.38549270e+00, 2.42409772e-02,
  3.97859311e-03,-5.81257226e-02, 8.05415809e-02, 7.02966733e-01,
 -3.94548858e-02,-7.07605948e-01,-5.97905217e-02]

qacc:
[ 1.28494790e-01, 6.26992466e-01,-2.50696410e+00, 8.89389224e-01,
 -4.04140020e-02,-2.70194652e+00, 1.14642638e+01,-2.31448622e+01,
 -1.05652648e-01, 3.32262937e+00,-1.51345469e+01, 2.89996492e+01,
  5.49910546e-02, 2.13485216e-01, 7.68724225e+00,-2.62229583e+01,
  1.29072337e-01, 1.52665647e+00, 2.36342960e+00, 5.01290268e-01,
 -1.39158212e+00, 7.48711175e+01]

qfrc_actuator:
[ 2.25417189e-03, 2.83540528e-02, 8.54830566e-03, 1.67612444e-03,
 -8.37148232e-05, 2.83483987e-02, 8.58862533e-03, 1.65444394e-03,
 -2.30669507e-03, 2.80915916e-02, 8.59110436e-03, 1.64979244e-03,
  0.00000000e+00,-1.44905674e-03, 0.00000000e+00,-9.31744204e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010338665692501484
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.36927616e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.36927616e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00828773, -0.07736223,  0.06190369])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.34027431e-05,-8.55223079e-05,-5.46050032e-05,-1.43526285e-05,
 -7.35764600e-06,-6.71709997e-05,-5.12660735e-06,-3.76818946e-05,
 -1.93325672e-05,-2.98408081e-05,-4.54895373e-05, 3.44634336e-05,
  3.33460338e-03, 3.86781489e-05, 2.18436330e-06,-1.26111968e-04,
  4.90070655e-04, 1.03117590e-03,-1.21654478e+00,-8.03043067e-05,
  7.67173243e-03, 1.78457586e-03]


--- Step 2183 ---
qpos:
[-2.38137648e-03, 8.64847858e-01,-2.36150900e-02, 4.28116402e-04,
 -2.87257279e-03, 8.60814739e-01,-2.70003984e-02, 3.10439123e-03,
 -1.20878337e-03, 8.70062215e-01,-1.91076682e-02,-2.12761405e-02,
  1.39621886e+00, 1.85522590e-02, 1.38557559e+00, 2.42382915e-02,
  4.00868485e-03,-5.80595257e-02, 8.04831372e-02, 7.03424271e-01,
 -4.07973112e-02,-7.07182076e-01,-5.85097004e-02]

qacc:
[ 5.22381480e-02,-3.73113024e+00, 1.18684921e+01,-1.18474509e+01,
 -5.54913144e-02,-2.49097260e+00, 7.93585085e+00,-1.30318372e+01,
 -3.23975601e-01, 2.05464464e+00,-7.82110269e+00, 1.05162210e+01,
  3.52385522e-02,-1.38615020e-01, 3.45597361e+00,-1.21554900e+01,
  1.22838362e-01, 1.40881755e+00, 1.65060918e+00, 4.73884091e-01,
 -1.27427787e+00, 7.09474054e+01]

qfrc_actuator:
[ 2.25240654e-03, 2.83759119e-02, 8.62871735e-03, 1.68641236e-03,
 -9.03477022e-05, 2.82280468e-02, 8.56843412e-03, 1.63246942e-03,
 -2.35686538e-03, 2.80874089e-02, 8.55501807e-03, 1.65357803e-03,
  0.00000000e+00,-1.49083373e-03, 0.00000000e+00,-9.87645191e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.63471291,  0.16884843, -8.63471291,  8.64827828,
        0.60930117,  0.16884843,  0.60930117, 39.79531948,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010377915334162796
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.67448468e-14, -5.34896937e-14,  1.00000000e+00,  1.43057367e-27,
        1.00000000e+00,  5.34896937e-14, -1.00000000e+00,  0.00000000e+00,
        2.67448468e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00828913, -0.07735701,  0.061903  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.32986480e-06,-3.83525926e-05, 5.53681351e-05, 4.42357664e-06,
 -1.01298176e-05,-1.61096484e-04,-3.61642304e-05,-2.57950372e-05,
 -5.93996397e-05,-2.90820012e-05,-4.67449939e-05, 1.58771867e-06,
  3.30911173e-03,-1.47002609e-05,-1.45317999e-05,-6.30166684e-05,
  5.20954039e-04, 1.17370773e-03,-1.21656449e+00,-4.12691410e-05,
  7.67555401e-03, 1.78369266e-03]


--- Step 2184 ---
qpos:
[-2.38371891e-03, 8.64868917e-01,-2.36149965e-02, 4.28465597e-04,
 -2.87436762e-03, 8.60834119e-01,-2.70016016e-02, 3.10487335e-03,
 -1.20802408e-03, 8.70075311e-01,-1.91113109e-02,-2.12760745e-02,
  1.39621896e+00, 1.85504254e-02, 1.38565811e+00, 2.42372803e-02,
  4.03704093e-03,-5.79875345e-02, 8.04291330e-02, 7.03843645e-01,
 -4.22378364e-02,-7.06793239e-01,-5.71262223e-02]

qacc:
[ 2.19758260e-01,-3.93865709e+00, 1.61859283e+01,-2.78814206e+01,
 -4.43815077e-02, 7.06643032e-01,-6.00822102e+00, 1.44377602e+01,
 -3.20101525e-01, 5.45135343e-01, 6.79655578e-01,-1.07630128e+01,
  3.60658084e-02,-1.20543867e-01,-5.63366087e+00, 1.88816199e+01,
 -4.33915244e-01, 1.44861700e+00, 1.10984769e+00, 2.04205739e+00,
 -3.07805112e+01, 6.89618640e+01]

qfrc_actuator:
[ 2.28789795e-03, 2.83808604e-02, 8.67659627e-03, 1.65664939e-03,
 -9.35795745e-05, 2.82017272e-02, 8.55661985e-03, 1.65496817e-03,
 -2.38714441e-03, 2.80796747e-02, 8.51720933e-03, 1.62000433e-03,
  0.00000000e+00,-1.49732503e-03, 0.00000000e+00,-8.95150120e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.50409288, -4.27496981,  7.50409288, 26.55341118,
       31.45079264, -4.27496981, 31.45079264, 63.84369372,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010385542124580482
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.06900825e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.06900825e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02091903, -0.07915113,  0.06190261])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.98869735e-05,-5.36690917e-06, 4.67717457e-05,-2.94357733e-05,
 -8.05502940e-06,-1.25456045e-04,-5.05879736e-05, 1.38141645e-05,
 -5.86830910e-05,-3.38751583e-05,-4.95971731e-05,-3.64212084e-05,
  3.30752333e-03,-1.19531935e-05,-1.49155094e-05, 8.68453723e-05,
  5.51137524e-04, 1.31559837e-03,-1.21658568e+00,-8.90388318e-07,
  7.67913375e-03, 1.78271075e-03]


--- Step 2185 ---
qpos:
[-2.38600437e-03, 8.64889808e-01,-2.36150850e-02, 4.27485642e-04,
 -2.87584178e-03, 8.60853605e-01,-2.70031801e-02, 3.10548808e-03,
 -1.20737591e-03, 8.70088207e-01,-1.91148495e-02,-2.12761049e-02,
  1.39621913e+00, 1.85488346e-02, 1.38574048e+00, 2.42376860e-02,
  4.06376136e-03,-5.79101531e-02, 8.03772629e-02, 7.04226250e-01,
 -4.37720237e-02,-7.06436868e-01,-5.56448589e-02]

qacc:
[ 2.97649564e-02,-2.44800890e+00, 1.40182043e+01,-3.66078000e+01,
  1.68767979e-01, 1.45991432e+00,-5.56339038e+00, 8.38284020e+00,
 -5.79166179e-02,-7.53624039e-01, 2.71027164e+00,-4.39757483e+00,
  4.08134035e-02, 1.19373122e-01,-4.52558757e+00, 1.54898187e+01,
 -4.08913899e-01, 1.34751206e+00, 5.33544910e-01, 1.78144152e+00,
 -2.91619886e+01, 6.58120483e+01]

qfrc_actuator:
[ 2.27437389e-03, 2.83400301e-02, 8.65151065e-03, 1.58575705e-03,
 -5.92448635e-05, 2.82852448e-02, 8.56799230e-03, 1.66802653e-03,
 -2.36974314e-03, 2.80875860e-02, 8.53190923e-03, 1.61797690e-03,
  0.00000000e+00,-1.46494916e-03, 0.00000000e+00,-8.22500559e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.60053641,  0.78584365, -8.60053641,  8.86894365,
        2.54543363,  0.78584365,  2.54543363, 36.49444302,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001030526790479977
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.38667716e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.38667716e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02092176, -0.07915759,  0.06190303])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.43425342e-06,-3.59243843e-05,-2.16160175e-05,-7.01093245e-05,
  3.04994449e-05, 3.05261775e-06,-2.04372210e-05, 6.17361673e-06,
 -1.06608793e-05,-2.31192446e-05, 2.61452517e-07,-5.91692541e-06,
  3.31740119e-03, 2.31437324e-05, 1.94275189e-06, 7.53883631e-05,
  5.04309073e-04, 1.37620938e-03,-1.21660495e+00, 1.74623696e-05,
  7.68006134e-03, 1.78270859e-03]


--- Step 2186 ---
qpos:
[-2.38889640e-03, 8.64910075e-01,-2.36155395e-02, 4.25736534e-04,
 -2.87694316e-03, 8.60873409e-01,-2.70048241e-02, 3.10620263e-03,
 -1.20704399e-03, 8.70100591e-01,-1.91177693e-02,-2.12765015e-02,
  1.39621940e+00, 1.85473515e-02, 1.38582291e+00, 2.42382839e-02,
  4.08893071e-03,-5.78277134e-02, 8.03255870e-02, 7.04573145e-01,
 -4.53962153e-02,-7.06110722e-01,-5.40695468e-02]

qacc:
[-3.18325885e-01,-1.38393308e+00, 6.98676712e+00,-1.92556051e+01,
  1.96348943e-01, 8.08137564e-01,-2.69311010e+00, 4.29236379e+00,
 -1.64650468e-01,-3.15813988e+00, 1.18228422e+01,-1.87679302e+01,
  3.64970042e-02, 5.47466909e-02,-4.88298234e-01, 1.84291516e+00,
 -3.87767767e-01, 1.26458953e+00, 4.85526251e-02, 1.55204071e+00,
 -2.78167766e+01, 6.32168374e+01]

qfrc_actuator:
[ 2.21388157e-03, 2.82717707e-02, 8.61885136e-03, 1.54441111e-03,
 -3.82467808e-05, 2.83274974e-02, 8.57567234e-03, 1.67553608e-03,
 -2.39500023e-03, 2.80517891e-02, 8.55983472e-03, 1.59907783e-03,
  0.00000000e+00,-1.46278557e-03, 0.00000000e+00,-8.15428557e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.59934055,  0.79882344, -8.59934055,  8.9105886 ,
        2.95203384,  0.79882344,  2.95203384, 40.41503105,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010124597850094813
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02092949, -0.07917401,  0.06190437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.79496271e-05,-9.63040428e-05,-4.53287725e-05,-4.50275113e-05,
  3.54631883e-05, 3.95512826e-05, 5.86256774e-06, 7.02434781e-06,
 -3.03375891e-05,-4.92006857e-05, 2.29060098e-05,-2.00090629e-05,
  3.31412059e-03, 1.32256342e-05, 7.98567790e-06, 1.12171709e-05,
  4.61905517e-04, 1.42831751e-03,-1.21662536e+00, 3.55875092e-05,
  7.68088517e-03, 1.78245829e-03]


--- Step 2187 ---
qpos:
[-2.39244193e-03, 8.64929553e-01,-2.36163142e-02, 4.23524351e-04,
 -2.87791961e-03, 8.60893364e-01,-2.70063029e-02, 3.10666063e-03,
 -1.20739090e-03, 8.70112663e-01,-1.91203813e-02,-2.12771255e-02,
  1.39621954e+00, 1.85456257e-02, 1.38590537e+00, 2.42389719e-02,
  4.11262040e-03,-5.77404889e-02, 8.02724739e-02, 7.04885103e-01,
 -4.71074189e-02,-7.05812832e-01,-5.24035169e-02]

qacc:
[-3.42836310e-01,-1.10233241e+00, 4.37052990e+00,-1.12926213e+01,
  6.58852976e-02,-7.89687545e-01, 4.18795023e+00,-9.00374457e+00,
 -3.54310060e-01,-1.74140891e+00, 6.56859848e+00,-1.07661088e+01,
  3.62229909e-02,-2.17028914e-01,-2.38992102e-01, 8.76168605e-01,
 -3.69915409e-01, 1.19622007e+00,-3.59288946e-01, 1.34624537e+00,
 -2.67001440e+01, 6.10930547e+01]

qfrc_actuator:
[ 2.17910693e-03, 2.82230819e-02, 8.59965715e-03, 1.52076469e-03,
 -4.31836807e-05, 2.83269836e-02, 8.58097717e-03, 1.66194347e-03,
 -2.44560277e-03, 2.80434164e-02, 8.57738669e-03, 1.58811668e-03,
  0.00000000e+00,-1.49646413e-03, 0.00000000e+00,-8.11539792e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63307522, -8.59251199,  0.83589793, -8.59251199,  8.96849974,
        3.44795591,  0.83589793,  3.44795591, 44.07592221,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009865490359958554
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.62680102e-14,  5.62680102e-14,  1.00000000e+00, -3.16608897e-27,
        1.00000000e+00, -5.62680102e-14, -1.00000000e+00,  0.00000000e+00,
        5.62680102e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02094113, -0.07919834,  0.06190643])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.24363392e-05,-1.14307285e-04,-4.63771600e-05,-3.02432735e-05,
  1.18867613e-05, 2.26554759e-05, 1.42929264e-05,-1.15880541e-05,
 -6.51038586e-05,-3.22825770e-05, 9.44770640e-06,-1.26778377e-05,
  3.30857575e-03,-2.57892411e-05, 3.05762750e-06, 5.10281316e-06,
  4.23210268e-04, 1.47318642e-03,-1.21664698e+00, 5.36910174e-05,
  7.68164942e-03, 1.78199016e-03]


--- Step 2188 ---
qpos:
[-2.39575518e-03, 8.64948077e-01,-2.36172681e-02, 4.21056947e-04,
 -2.87923783e-03, 8.60913058e-01,-2.70074639e-02, 3.10630399e-03,
 -1.20818821e-03, 8.70124182e-01,-1.91220881e-02,-2.12778872e-02,
  1.39621931e+00, 1.85434658e-02, 1.38598771e+00, 2.42407091e-02,
  4.12952110e-03,-5.76504028e-02, 8.02218903e-02, 7.05064053e-01,
 -4.88587791e-02,-7.05640009e-01,-5.06919926e-02]

qacc:
[ 1.22085008e-01,-1.28402749e+00, 3.82796933e+00,-7.25822977e+00,
 -1.79895079e-01,-2.90710549e+00, 1.33065664e+01,-2.77259409e+01,
 -2.34513062e-01,-3.54295312e+00, 1.21512323e+01,-1.55709088e+01,
  4.98985551e-02,-4.04961495e-01,-3.37056465e+00, 1.14932108e+01,
 -1.69724933e+00, 7.15376579e-01, 6.32347712e-01, 2.04642556e+00,
 -9.31421622e+01, 2.37748799e+01]

qfrc_actuator:
[ 2.23106298e-03, 2.81687990e-02, 8.58864261e-03, 1.50773955e-03,
 -8.13354585e-05, 2.82830978e-02, 8.58465256e-03, 1.61825337e-03,
 -2.45766559e-03, 2.80159990e-02, 8.62428329e-03, 1.58192614e-03,
  0.00000000e+00,-1.53358787e-03, 0.00000000e+00,-7.56277931e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009658138010254363
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.74760385e-14,  1.14952077e-13,  1.00000000e+00, -6.60699001e-27,
        1.00000000e+00, -1.14952077e-13, -1.00000000e+00,  0.00000000e+00,
        5.74760385e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0493609 , -0.06966255,  0.06190802])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.21555896e-05,-1.29528790e-04,-4.15232645e-05,-2.01391518e-05,
 -3.25114144e-05,-2.92279312e-05, 9.56676190e-06,-4.24795667e-05,
 -4.32011952e-05,-4.43329794e-05, 4.08824882e-05,-7.50515343e-06,
  3.31514456e-03,-5.07163167e-05,-1.34236517e-07, 5.54611160e-05,
  3.87654713e-04, 1.51179725e-03,-1.21666985e+00, 7.19056356e-05,
  7.68238732e-03, 1.78132701e-03]


--- Step 2189 ---
qpos:
[-2.39880539e-03, 8.64966340e-01,-2.36190440e-02, 4.19788666e-04,
 -2.88076441e-03, 8.60932418e-01,-2.70087778e-02, 3.10546933e-03,
 -1.20889995e-03, 8.70135436e-01,-1.91238292e-02,-2.12790344e-02,
  1.39621925e+00, 1.85414791e-02, 1.38607006e+00, 2.42427504e-02,
  4.14013716e-03,-5.75577211e-02, 8.01710292e-02, 7.05118554e-01,
 -5.06485085e-02,-7.05583191e-01,-4.89378531e-02]

qacc:
[ 1.37649493e-01, 4.41693730e+00,-2.13147044e+01, 4.35783297e+01,
 -1.09833117e-01,-9.96881063e-01, 4.93293065e+00,-1.27168766e+01,
  4.47512922e-02,-1.04916154e+00, 4.85720490e+00,-1.12762642e+01,
  5.85292254e-02, 8.57036443e-02,-9.20806210e-01, 3.21939625e+00,
 -1.57115764e+00, 6.48896739e-01,-6.93721600e-02, 1.40920024e+00,
 -8.68175143e+01, 2.25724638e+01]

qfrc_actuator:
[ 2.24566992e-03, 2.82004020e-02, 8.56477031e-03, 1.57207509e-03,
 -8.57415472e-05, 2.82490452e-02, 8.56937882e-03, 1.59267076e-03,
 -2.42880887e-03, 2.79952728e-02, 8.61705557e-03, 1.56084635e-03,
  0.00000000e+00,-1.48372723e-03, 0.00000000e+00,-7.42197859e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63591715, -8.62967307, -0.32834102, -8.62967307,  8.66201015,
       -0.68579321, -0.32834102, -0.68579321, 26.66038208,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000995044419601146
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.78938056e-14, -6.97345140e-14,  1.00000000e+00,  1.94516098e-27,
        1.00000000e+00,  6.97345140e-14, -1.00000000e+00,  0.00000000e+00,
        2.78938056e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04930235, -0.06964482,  0.06190511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.51103436e-05,-5.06850745e-05,-5.65691246e-05, 5.69349563e-05,
 -1.98287395e-05,-5.07066360e-05,-2.17477756e-05,-2.73577335e-05,
  8.19788576e-06,-3.76586356e-05,-1.16823008e-05,-2.17224263e-05,
  3.33327614e-03, 2.09094125e-05, 3.98104387e-06, 1.66803148e-05,
  2.15594743e-04, 1.22713819e-03,-1.21667812e+00, 2.05757592e-05,
  7.68059100e-03, 1.78219200e-03]


--- Step 2190 ---
qpos:
[-2.40218561e-03, 8.64985070e-01,-2.36215453e-02, 4.19543131e-04,
 -2.88166346e-03, 8.60952016e-01,-2.70103007e-02, 3.10495476e-03,
 -1.20938755e-03, 8.70146608e-01,-1.91260257e-02,-2.12800741e-02,
  1.39621988e+00, 1.85401087e-02, 1.38615263e+00, 2.42429330e-02,
  4.14103424e-03,-5.74691819e-02, 8.01326158e-02, 7.04997254e-01,
 -5.23373115e-02,-7.05693539e-01,-4.72895982e-02]

qacc:
[-1.73722921e-01, 4.74912633e+00,-2.03538912e+01, 3.88734889e+01,
  3.30558458e-01, 1.55537247e+00,-6.44237465e+00, 1.21436156e+01,
  1.16823471e-01, 1.38554744e+00,-5.55025410e+00, 8.19842250e+00,
  3.52813035e-02, 5.10787715e-01, 5.98584075e+00,-2.04057543e+01,
 -2.42974829e+00,-1.03559810e+00, 3.11195679e+00,-2.13431147e+00,
 -1.15805724e+02,-8.14717262e+01]

qfrc_actuator:
[ 2.20223844e-03, 2.82832266e-02, 8.55165051e-03, 1.62821688e-03,
 -1.66390201e-05, 2.83098329e-02, 8.57858458e-03, 1.61344712e-03,
 -2.41126148e-03, 2.79962474e-02, 8.59568331e-03, 1.56664141e-03,
  0.00000000e+00,-1.41761484e-03, 0.00000000e+00,-8.41264594e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010660191584585393
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.0414663e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.0414663e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05264573, -0.04431136,  0.06189841])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.15102388e-05, 4.48293841e-05,-2.87125077e-05, 5.30979589e-05,
  5.96923553e-05, 2.63153752e-05,-5.03463662e-06, 1.72929217e-05,
  2.14886212e-05,-2.36765696e-05,-3.14133268e-05, 3.34252785e-06,
  3.32492257e-03, 7.84246302e-05, 2.16630741e-06,-9.79934174e-05,
  9.91173507e-05, 9.44317819e-04,-1.21668712e+00,-2.66539459e-05,
  7.67988089e-03, 1.78273944e-03]


--- Step 2191 ---
qpos:
[-2.40579405e-03, 8.65003570e-01,-2.36239221e-02, 4.19311226e-04,
 -2.88220255e-03, 8.60972139e-01,-2.70116662e-02, 3.10531890e-03,
 -1.20947206e-03, 8.70157277e-01,-1.91274759e-02,-2.12810662e-02,
  1.39622090e+00, 1.85391762e-02, 1.38623517e+00, 2.42422686e-02,
  4.13319697e-03,-5.73844109e-02, 8.01019743e-02, 7.04717011e-01,
 -5.39357474e-02,-7.05955377e-01,-4.57370253e-02]

qacc:
[-1.19570741e-01,-6.25591618e-01, 1.72937795e+00,-1.52317737e+00,
  1.89690975e-01, 2.06030713e+00,-1.00517438e+01, 2.46248367e+01,
  2.11197382e-01,-2.65091031e+00, 8.28725212e+00,-8.28790530e+00,
 -2.08113313e-03, 3.64813483e-01, 2.52533031e+00,-8.87987803e+00,
 -2.18358503e+00,-9.42087971e-01, 1.94293901e+00,-2.48420394e+00,
 -1.04842107e+02,-7.33362124e+01]

qfrc_actuator:
[ 2.19548229e-03, 2.82363848e-02, 8.54521442e-03, 1.62588126e-03,
 -1.06996638e-05, 2.83738288e-02, 8.60259518e-03, 1.66143198e-03,
 -2.38291985e-03, 2.79746600e-02, 8.63726968e-03, 1.57046979e-03,
  0.00000000e+00,-1.41327426e-03, 0.00000000e+00,-8.81909847e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.73159228,  -3.84827983,  -7.73159228,
        13.89580999, -10.56677181,  -3.84827983, -10.56677181,
        29.86610135,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001170361052109617
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.74307917e-14, -2.37153958e-14,  1.00000000e+00,  1.12484000e-27,
        1.00000000e+00,  2.37153958e-14, -1.00000000e+00,  0.00000000e+00,
        4.74307917e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0524343 , -0.04437602,  0.0618888 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.18019112e-05,-2.58511786e-05, 9.98678221e-07,-3.98715973e-07,
  3.42543409e-05, 7.79621377e-05, 2.92801378e-05, 4.92467734e-05,
  3.86449297e-05,-4.14145643e-05, 3.28737178e-05, 1.78020029e-06,
  3.29010454e-03, 5.20052310e-05,-1.09032202e-05,-4.60989265e-05,
  3.37571363e-06, 3.98134164e-04,-1.21667203e+00,-9.49994596e-05,
  7.68244420e-03, 1.78450307e-03]


--- Step 2192 ---
qpos:
[-2.40935158e-03, 8.65021752e-01,-2.36265357e-02, 4.18744650e-04,
 -2.88290655e-03, 8.60991954e-01,-2.70115301e-02, 3.10626732e-03,
 -1.20900327e-03, 8.70167847e-01,-1.91285998e-02,-2.12813377e-02,
  1.39622234e+00, 1.85388648e-02, 1.38631758e+00, 2.42414376e-02,
  4.12719480e-03,-5.73080241e-02, 8.01009912e-02, 7.04486512e-01,
 -5.53850530e-02,-7.06162908e-01,-4.43305421e-02]

qacc:
[ 2.66498638e-02,-4.45076871e-01, 2.39319934e+00,-7.57390254e+00,
 -8.58208946e-02,-3.39424570e+00, 9.05084103e+00,-1.11958030e+00,
  2.89288650e-01, 4.41893197e-01,-4.80157874e+00, 1.68116382e+01,
 -3.07557585e-02, 5.08309753e-01, 3.45157683e-01,-1.42086178e+00,
  4.58774487e-01,-2.09602352e+00, 7.41462049e+00, 1.08051954e+00,
  4.40441865e+01,-1.01513698e+02]

qfrc_actuator:
[ 2.21076152e-03, 2.82010191e-02, 8.52447611e-03, 1.60681184e-03,
 -4.26416581e-05, 2.83328524e-02, 8.67071124e-03, 1.68955002e-03,
 -2.34837029e-03, 2.79932466e-02, 8.66235377e-03, 1.60864033e-03,
  0.00000000e+00,-1.37505433e-03, 0.00000000e+00,-8.87770324e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012593779833148105
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.40782291e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.40782291e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00121254, -0.03642145,  0.06188067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.85110297e-06,-5.00476138e-05,-2.60915813e-05,-2.01732826e-05,
 -1.56864481e-05, 1.03069603e-05, 8.93795115e-05, 3.34000848e-05,
  5.30605093e-05, 2.05933182e-06, 2.05713809e-05, 3.75566667e-05,
  3.27036944e-03, 6.83760190e-05,-1.07649823e-05,-9.99494820e-06,
  8.16984707e-06,-4.92722434e-05,-1.21666025e+00,-1.42010940e-04,
  7.68521810e-03, 1.78672357e-03]


--- Step 2193 ---
qpos:
[-2.41240294e-03, 8.65039508e-01,-2.36287794e-02, 4.17926078e-04,
 -2.88369954e-03, 8.61011309e-01,-2.70103574e-02, 3.10759766e-03,
 -1.20842897e-03, 8.70178657e-01,-1.91303893e-02,-2.12811252e-02,
  1.39622478e+00, 1.85398504e-02, 1.38640010e+00, 2.42388427e-02,
  4.12289055e-03,-5.72391288e-02, 8.01233578e-02, 7.04301459e-01,
 -5.66998448e-02,-7.06322005e-01,-4.30558702e-02]

qacc:
[ 2.65932643e-01,-2.11572138e+00, 7.78942787e+00,-1.24299754e+01,
 -4.60599542e-02,-2.71529907e+00, 7.18949841e+00,-1.90329879e+00,
  5.46267309e-02, 3.17428805e+00,-1.28969378e+01, 2.21558850e+01,
 -7.64947734e-02, 1.11604881e+00, 5.54118376e+00,-1.90529794e+01,
  4.24481503e-01,-1.87286442e+00, 5.83739893e+00, 1.02640199e+00,
  3.97387387e+01,-9.15755655e+01]

qfrc_actuator:
[ 2.25682680e-03, 2.81904689e-02, 8.54872595e-03, 1.59579762e-03,
 -4.36736774e-05, 2.82827719e-02, 8.71062546e-03, 1.70569089e-03,
 -2.36366533e-03, 2.80002300e-02, 8.62440014e-03, 1.63121896e-03,
  0.00000000e+00,-1.26360735e-03, 0.00000000e+00,-9.79617429e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013520114797488797
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.10581952e-14,  4.10581952e-14,  1.00000000e+00, -1.68577539e-27,
        1.00000000e+00, -4.10581952e-14, -1.00000000e+00,  0.00000000e+00,
        4.10581952e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00125477, -0.03650815,  0.06187245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.83352837e-05,-4.51914739e-05, 9.88170334e-06,-1.44761747e-05,
 -8.47267574e-06,-2.49067108e-05, 5.40517928e-05, 2.02944365e-05,
  1.01204768e-05, 1.37582088e-05,-3.37681850e-05, 2.40952633e-05,
  3.24977684e-03, 1.48794529e-04,-6.46643783e-06,-9.39035286e-05,
  1.22058732e-06, 1.93462655e-05,-1.21662239e+00,-5.35165888e-05,
  7.67729018e-03, 1.78350485e-03]


--- Step 2194 ---
qpos:
[-2.41491449e-03, 8.65056743e-01,-2.36306881e-02, 4.17340998e-04,
 -2.88435080e-03, 8.61030749e-01,-2.70096583e-02, 3.10880108e-03,
 -1.20790245e-03, 8.70188541e-01,-1.91312943e-02,-2.12802552e-02,
  1.39622810e+00, 1.85422080e-02, 1.38648253e+00, 2.42354922e-02,
  4.12016977e-03,-5.71769891e-02, 8.01637976e-02, 7.04158299e-01,
 -5.78921090e-02,-7.06437453e-01,-4.19013024e-02]

qacc:
[ 2.83617935e-01,-1.14382922e+00, 2.09304194e+00, 1.79470910e+00,
  7.43589978e-02, 1.17315928e+00,-3.48542864e+00, 1.98583026e+00,
 -2.40488371e-02,-2.34062718e+00, 3.79968050e+00, 6.83353223e+00,
 -1.43651215e-01, 1.19074805e+00, 2.19807034e+00,-7.77269938e+00,
  3.95864830e-01,-1.68892668e+00, 4.51833637e+00, 9.80128483e-01,
  3.62084173e+01,-8.34275324e+01]

qfrc_actuator:
[ 2.28538281e-03, 2.81595399e-02, 8.56395131e-03, 1.60742035e-03,
 -2.61696641e-05, 2.82807629e-02, 8.68022498e-03, 1.69686151e-03,
 -2.37313536e-03, 2.79111887e-02, 8.65600109e-03, 1.66214327e-03,
  0.00000000e+00,-1.19791162e-03, 0.00000000e+00,-1.01487676e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014120904729942457
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.96556638e-14,  3.93113276e-14,  1.00000000e+00, -7.72690240e-28,
        1.00000000e+00, -3.93113276e-14, -1.00000000e+00,  0.00000000e+00,
        1.96556638e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00128144, -0.03656198,  0.06186729])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.15467921e-05,-5.51693001e-05, 6.48918616e-06, 9.72448409e-06,
  1.34811602e-05,-4.38021550e-06,-2.83470356e-05,-7.66374654e-06,
 -4.60338911e-06,-8.75293924e-05, 3.10460071e-05, 3.07996974e-05,
  3.19875449e-03, 1.49645035e-04,-1.33049046e-05,-4.13499346e-05,
 -1.85981738e-06, 6.98695028e-05,-1.21659162e+00, 2.02851257e-05,
  7.67051391e-03, 1.78075022e-03]


--- Step 2195 ---
qpos:
[-2.41735433e-03, 8.65073350e-01,-2.36326737e-02, 4.18323168e-04,
 -2.88482251e-03, 8.61050005e-01,-2.70091859e-02, 3.10921661e-03,
 -1.20745966e-03, 8.70197235e-01,-1.91309989e-02,-2.12793540e-02,
  1.39623101e+00, 1.85446739e-02, 1.38656457e+00, 2.42344078e-02,
  4.11893752e-03,-5.71210008e-02, 8.02179036e-02, 7.04054097e-01,
 -5.89716957e-02,-7.06513167e-01,-4.08572176e-02]

qacc:
[ 3.78694077e-02, 2.61221511e+00,-1.71322071e+01, 4.48411713e+01,
  9.45053717e-02,-1.23209326e+00, 7.36521130e+00,-2.05038993e+01,
 -4.25741511e-02,-4.86197582e+00, 1.49213672e+01,-1.54283713e+01,
 -1.73156520e-01, 1.38426542e-01,-7.42090869e+00, 2.51623788e+01,
  3.72134852e-01,-1.53784230e+00, 3.41652009e+00, 9.41952129e-01,
  3.33088259e+01,-7.67323787e+01]

qfrc_actuator:
[ 2.26769188e-03, 2.81166491e-02, 8.55589639e-03, 1.68549845e-03,
 -1.54917890e-05, 2.82539779e-02, 8.66198927e-03, 1.65565339e-03,
 -2.37899933e-03, 2.78366135e-02, 8.71029810e-03, 1.66220275e-03,
  0.00000000e+00,-1.28452882e-03, 0.00000000e+00,-8.92217807e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014457624205405917
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  3.8395763e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -3.8395763e-14, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00129569, -0.0365897 ,  0.06186459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.82977880e-06,-7.23657621e-05,-1.84315048e-05, 7.61059117e-05,
  1.70723247e-05,-3.58888857e-05,-2.30601070e-05,-4.25589041e-05,
 -8.05873214e-06,-1.16016524e-04, 4.10398068e-05,-2.02850384e-06,
  3.15532115e-03,-5.59392806e-06,-1.02595034e-05, 1.18707732e-04,
 -2.02498813e-06, 1.06474367e-04,-1.21656631e+00, 8.22644982e-05,
  7.66466746e-03, 1.77837944e-03]


--- Step 2196 ---
qpos:
[-2.41967596e-03, 8.65089620e-01,-2.36345247e-02, 4.19490006e-04,
 -2.88495411e-03, 8.61068764e-01,-2.70093617e-02, 3.10920498e-03,
 -1.20690986e-03, 8.70205622e-01,-1.91308536e-02,-2.12795152e-02,
  1.39623300e+00, 1.85465805e-02, 1.38664634e+00, 2.42364534e-02,
  4.11911566e-03,-5.70706696e-02, 8.02819994e-02, 7.03986432e-01,
 -5.99467101e-02,-7.06552356e-01,-3.99156978e-02]

qacc:
[ 6.22313250e-02,-4.40828030e-01, 1.46872373e-01, 3.08075258e+00,
  1.78990128e-01, 2.75601221e-01,-1.31460812e-01,-5.85887425e+00,
  5.58668356e-02,-2.17396961e+00, 1.16404991e+01,-2.95455265e+01,
 -1.42161156e-01,-4.24856920e-01,-9.88957018e+00, 3.39918894e+01,
  3.52596131e-01,-1.41427260e+00, 2.49746035e+00, 9.11664573e-01,
  3.09253810e+01,-7.12231944e+01]

qfrc_actuator:
[ 2.27576287e-03, 2.81201533e-02, 8.56965652e-03, 1.69550683e-03,
  8.74852279e-06, 2.81948102e-02, 8.61548962e-03, 1.63123504e-03,
 -2.36489195e-03, 2.78423633e-02, 8.70653274e-03, 1.60860139e-03,
  0.00000000e+00,-1.35530319e-03, 0.00000000e+00,-7.30785158e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001458148921308175
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.61392069e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.61392069e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00130006, -0.03659678,  0.06186385])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12823561e-05,-3.78824922e-05,-9.37139932e-07, 7.72854402e-06,
  3.23348573e-05,-8.62854139e-05,-5.83833595e-05,-2.76133774e-05,
  1.02540758e-05,-5.09442283e-05,-2.28108376e-05,-5.72023473e-05,
  3.17542710e-03,-8.18192336e-05, 7.16176907e-06, 1.66450694e-04,
  5.30255933e-08, 1.32189740e-04,-1.21654526e+00, 1.34556723e-04,
  7.65958209e-03, 1.77633188e-03]


--- Step 2197 ---
qpos:
[-2.42188192e-03, 8.65105399e-01,-2.36355199e-02, 4.19700688e-04,
 -2.88477288e-03, 8.61086340e-01,-2.70098348e-02, 3.10965657e-03,
 -1.20603821e-03, 8.70213728e-01,-1.91314439e-02,-2.12788987e-02,
  1.39623462e+00, 1.85479327e-02, 1.38672848e+00, 2.42374005e-02,
  4.11413177e-03,-5.70264099e-02, 8.03442242e-02, 7.03834704e-01,
 -6.07925520e-02,-7.06676353e-01,-3.91089160e-02]

qacc:
[ 6.13464007e-02,-5.00623492e+00, 2.09457874e+01,-3.85049631e+01,
  1.65122734e-01, 2.19543429e-01,-5.00840609e+00, 1.43719301e+01,
  1.67776339e-01, 3.28591807e+00,-1.55310684e+01, 3.03606592e+01,
 -1.01909073e-01,-3.22434720e-01, 3.87309915e+00,-1.27557637e+01,
 -1.29050761e+00,-1.51787802e+00,-4.67748891e-01,-2.95893583e+00,
 -5.29329207e+01,-9.72801994e+01]

qfrc_actuator:
[ 2.28146319e-03, 2.80981970e-02, 8.61407742e-03, 1.64767642e-03,
  2.31412768e-05, 2.80988456e-02, 8.58804914e-03, 1.65235025e-03,
 -2.33895902e-03, 2.78248891e-02, 8.66880012e-03, 1.64815299e-03,
  0.00000000e+00,-1.36268955e-03, 0.00000000e+00,-7.96395411e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.60629633,  0.72002807,  8.60629633,  9.04048407,
       -4.83033972,  0.72002807, -4.83033972, 66.37207796,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014653943176690803
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.89406874e-14, -1.89406874e-14,  1.00000000e+00, -3.58749637e-28,
        1.00000000e+00,  1.89406874e-14, -1.00000000e+00,  0.00000000e+00,
       -1.89406874e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04031436, -0.02936633,  0.06186361])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10390941e-05,-4.33694824e-05, 3.66354772e-05,-4.93586556e-05,
  2.97211937e-05,-1.57898306e-04,-5.35577396e-05, 1.48317813e-05,
  3.08531454e-05,-5.33171507e-05,-5.31091478e-05, 3.54544025e-05,
  3.22120967e-03,-6.12584648e-05, 1.88198565e-05,-5.60548407e-05,
  3.90028857e-06, 1.49224927e-04,-1.21652757e+00, 1.78763574e-04,
  7.65512939e-03, 1.77456168e-03]


--- Step 2198 ---
qpos:
[-2.42380282e-03, 8.65120408e-01,-2.36358831e-02, 4.20769142e-04,
 -2.88435525e-03, 8.61102815e-01,-2.70103378e-02, 3.10963767e-03,
 -1.20504093e-03, 8.70221900e-01,-1.91334962e-02,-2.12781529e-02,
  1.39623621e+00, 1.85488518e-02, 1.38681103e+00, 2.42349060e-02,
  4.10432693e-03,-5.69878556e-02, 8.04021689e-02, 7.03604625e-01,
 -6.15179618e-02,-7.06880015e-01,-3.84280610e-02]

qacc:
[ 1.50256107e-01,-1.01663824e+00,-1.47166331e+00, 1.58704958e+01,
  1.24926979e-01,-2.33704201e+00, 8.21048129e+00,-1.54986441e+01,
  6.46887858e-02, 4.43817105e+00,-1.62419616e+01, 2.07670343e+01,
 -9.09670302e-02,-1.72625734e-01, 1.10469069e+01,-3.77325296e+01,
 -1.20523571e+00,-1.42633483e+00,-1.07001141e+00,-2.93635496e+00,
 -4.95368055e+01,-9.08226859e+01]

qfrc_actuator:
[ 2.30344899e-03, 2.80435013e-02, 8.64061459e-03, 1.69047813e-03,
  3.15167397e-05, 2.80526993e-02, 8.58970506e-03, 1.62905554e-03,
 -2.34169366e-03, 2.78290835e-02, 8.59358016e-03, 1.65341810e-03,
  0.00000000e+00,-1.36732960e-03, 0.00000000e+00,-9.77502490e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.30551751,  -2.36752102,  -8.30551751,
        12.71700974, -14.31534394,  -2.36752102, -14.31534394,
        58.85612463,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0014645304052073593
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.79037206e-14, -1.89518603e-14,  1.00000000e+00,  7.18346016e-28,
        1.00000000e+00,  1.89518603e-14, -1.00000000e+00,  0.00000000e+00,
        3.79037206e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04032258, -0.02936081,  0.06186408])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.72089863e-05,-7.38565943e-05, 2.02702225e-05, 4.12284512e-05,
  2.24548606e-05,-1.45279571e-04,-3.71764865e-05,-3.16510606e-05,
  1.20426720e-05,-3.52517296e-05,-9.16056230e-05, 1.82227261e-06,
  3.23962825e-03,-3.81870518e-05,-1.29207537e-06,-1.82641442e-04,
  2.59651791e-06,-9.18863377e-06,-1.21651176e+00, 1.79421726e-04,
  7.65492653e-03, 1.77510257e-03]


--- Step 2199 ---
qpos:
[-2.42544389e-03, 8.65134977e-01,-2.36367913e-02, 4.21690824e-04,
 -2.88377600e-03, 8.61118513e-01,-2.70109924e-02, 3.10930573e-03,
 -1.20382027e-03, 8.70229975e-01,-1.91366476e-02,-2.12790802e-02,
  1.39623735e+00, 1.85491211e-02, 1.38689347e+00, 2.42312762e-02,
  4.08998054e-03,-5.69547085e-02, 8.04538131e-02, 7.03300871e-01,
 -6.21301716e-02,-7.07159039e-01,-3.78658184e-02]

qacc:
[ 1.46604362e-01, 6.38692291e-01,-2.50190543e+00, 1.15799501e+00,
  8.53379943e-02,-1.24779552e+00, 4.28001558e+00,-8.88479166e+00,
  1.15947052e-01,-5.06539167e-01, 8.66759041e+00,-3.57694123e+01,
 -8.39592633e-02,-4.20468266e-01, 3.26615026e+00,-1.16800417e+01,
 -1.13539057e+00,-1.35181482e+00,-1.57514007e+00,-2.91653633e+00,
 -4.67289988e+01,-8.54713158e+01]

qfrc_actuator:
[ 2.31723780e-03, 2.80051425e-02, 8.60304507e-03, 1.67971184e-03,
  3.62331292e-05, 2.80368341e-02, 8.59091777e-03, 1.61536857e-03,
 -2.32605611e-03, 2.78105390e-02, 8.53239375e-03, 1.56743808e-03,
  0.00000000e+00,-1.42347933e-03, 0.00000000e+00,-1.02984594e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.44984464,  -1.78518976,  -8.44984464,
        10.9466131 , -10.93511152,  -1.78518976, -10.93511152,
        60.39556357,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0014485054631764305
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.74845791e-14,  9.58076318e-15,  1.00000000e+00, -5.50746139e-28,
        1.00000000e+00, -9.58076318e-15, -1.00000000e+00,  0.00000000e+00,
        5.74845791e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04035131, -0.02933638,  0.06186584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.67136744e-05,-7.40535286e-05,-4.90146397e-05,-1.24499581e-05,
  1.53512134e-05,-1.06524040e-04,-3.45943272e-05,-2.18380256e-05,
  2.14140649e-05,-5.72712608e-05,-7.97362496e-05,-9.06343917e-05,
  3.24084383e-03,-7.26802946e-05,-2.35612856e-05,-6.32779539e-05,
  2.95821992e-05,-1.19440865e-04,-1.21649918e+00, 1.86239567e-04,
  7.65407303e-03, 1.77596571e-03]


--- Step 2200 ---
qpos:
[-2.42667433e-03, 8.65148950e-01,-2.36378122e-02, 4.22467022e-04,
 -2.88328039e-03, 8.61133321e-01,-2.70114021e-02, 3.10983407e-03,
 -1.20240118e-03, 8.70237676e-01,-1.91396804e-02,-2.12807346e-02,
  1.39623733e+00, 1.85481986e-02, 1.38697548e+00, 2.42296974e-02,
  4.07308827e-03,-5.69272367e-02, 8.05046203e-02, 7.02959574e-01,
 -6.26321807e-02,-7.07477935e-01,-3.74168113e-02]

qacc:
[ 2.15550421e-01,-7.72786503e-01, 2.22555682e+00,-4.12475113e+00,
 -4.35592218e-02,-8.95435404e-02,-5.01950512e+00, 2.01711707e+01,
  1.03811713e-01,-2.32157544e+00, 1.06261455e+01,-2.31140181e+01,
 -4.21072130e-02,-9.64924361e-01,-6.88879811e+00, 2.30850972e+01,
 -6.36468080e-01,-1.41881847e+00,-2.09256406e-01,-1.69697731e+00,
 -2.16912314e+01,-8.07333773e+01]

qfrc_actuator:
[ 2.34375225e-03, 2.79765635e-02, 8.59894628e-03, 1.67297146e-03,
  2.09816556e-05, 2.80037497e-02, 8.60975076e-03, 1.66073488e-03,
 -2.31729587e-03, 2.78139940e-02, 8.55085974e-03, 1.53497752e-03,
  0.00000000e+00,-1.52789748e-03, 0.00000000e+00,-9.17097961e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014202970685061214
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.69638490e-07,  5.86262752e-14,  1.00000000e+00, -3.33957829e-20,
        1.00000000e+00, -5.86262752e-14, -1.00000000e+00, -6.01853108e-36,
        5.69638490e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02452524, -0.03223632,  0.06186862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.92064209e-05,-8.09784358e-05,-2.59706315e-05,-1.18736548e-05,
 -7.98163377e-06,-1.01098919e-04,-8.30429262e-06, 3.91578619e-05,
  1.90196371e-05,-4.90762843e-05,-6.35684021e-06,-3.94429946e-05,
  3.26364888e-03,-1.44592138e-04,-1.95600770e-05, 1.05852145e-04,
  7.99913108e-05,-1.89947041e-04,-1.21648936e+00, 1.97870151e-04,
  7.65263022e-03, 1.77713395e-03]


--- Step 2201 ---
qpos:
[-2.42735460e-03, 8.65162908e-01,-2.36389093e-02, 4.23422751e-04,
 -2.88292243e-03, 8.61148092e-01,-2.70122811e-02, 3.11153046e-03,
 -1.20083938e-03, 8.70244952e-01,-1.91414231e-02,-2.12821512e-02,
  1.39623643e+00, 1.85463619e-02, 1.38705724e+00, 2.42304486e-02,
  4.05757587e-03,-5.69049482e-02, 8.05599081e-02, 7.02651792e-01,
 -6.30425241e-02,-7.07766076e-01,-3.70578155e-02]

qacc:
[ 2.88582406e-01, 5.64415124e-01,-2.79663660e+00, 6.03634562e+00,
 -7.27588131e-02, 3.66506085e+00,-1.80704899e+01, 3.90675811e+01,
  7.55051992e-02,-3.67607273e+00, 1.12896601e+01,-8.92866112e+00,
  2.14764815e-02,-7.96171193e-01,-7.45879969e+00, 2.54793808e+01,
  3.44966713e-01,-1.29584339e+00, 1.12016067e+00, 8.52261083e-01,
  2.71991418e+01,-6.24728149e+01]

qfrc_actuator:
[ 2.37765934e-03, 2.80251956e-02, 8.61471562e-03, 1.68645668e-03,
  1.16827158e-05, 2.80495210e-02, 8.60331488e-03, 1.72273243e-03,
 -2.31272642e-03, 2.78309627e-02, 8.63409188e-03, 1.55210446e-03,
  0.00000000e+00,-1.55395907e-03, 0.00000000e+00,-7.96790295e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014027815244917544
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.95722001e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.95722001e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00126837, -0.03652066,  0.06187047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.25527731e-05,-2.83964459e-06,-4.66837598e-06, 8.86512954e-06,
 -1.30981891e-05,-1.11519546e-05,-2.70982321e-05, 5.81187776e-05,
  1.36813378e-05,-1.36253206e-05, 7.09157480e-05, 1.40331655e-05,
  3.32096478e-03,-1.11031881e-04, 4.36570897e-07, 1.23230868e-04,
  1.20894653e-04,-2.00155585e-04,-1.21647970e+00, 2.18909405e-04,
  7.64985888e-03, 1.77754371e-03]


--- Step 2202 ---
qpos:
[-2.42793236e-03, 8.65177025e-01,-2.36399290e-02, 4.24152498e-04,
 -2.88287575e-03, 8.61162997e-01,-2.70133315e-02, 3.11322161e-03,
 -1.19937312e-03, 8.70251971e-01,-1.91416279e-02,-2.12833924e-02,
  1.39623533e+00, 1.85443020e-02, 1.38713899e+00, 2.42322896e-02,
  4.04638383e-03,-5.68898259e-02, 8.06111919e-02, 7.02435289e-01,
 -6.33242969e-02,-7.07968275e-01,-3.68187461e-02]

qacc:
[ 5.37522268e-02,-4.73170253e-01, 2.94365263e+00,-7.09484800e+00,
 -1.64188462e-01, 6.43935851e-01,-2.01795707e+00, 2.10354312e+00,
 -4.88422394e-02,-4.27513402e+00, 1.40094026e+01,-1.32456869e+01,
  6.04378093e-02,-2.45822150e-01,-3.31371108e+00, 1.15589322e+01,
  1.08009255e+00,-1.79153392e+00,-1.00098517e+00, 4.01513376e+00,
  6.86578887e+01,-8.32319108e+01]

qfrc_actuator:
[ 2.36244034e-03, 2.80487995e-02, 8.62466184e-03, 1.67630517e-03,
 -1.17098718e-05, 2.80710970e-02, 8.60008658e-03, 1.72304630e-03,
 -2.32844773e-03, 2.78384884e-02, 8.71945939e-03, 1.56280460e-03,
  0.00000000e+00,-1.51505497e-03, 0.00000000e+00,-7.44056902e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.64786518,  5.51295432, -6.64786518,  8.86686666,
        0.27795496,  5.51295432,  0.27795496,  8.97153912,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013796021728180938
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.02370715e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.02370715e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02323396, -0.02006852,  0.06187282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.79620253e-06, 2.11149448e-05, 8.98879492e-06,-1.02837897e-05,
 -2.96080680e-05, 1.18819541e-05,-6.97132021e-06, 5.89800095e-09,
 -9.16201063e-06, 1.50019172e-05, 9.17348973e-05, 1.28379371e-05,
  3.36505850e-03,-2.63652960e-05, 1.11192731e-05, 5.90660697e-05,
  1.02789829e-04,-1.51440221e-04,-1.21646949e+00, 2.46661672e-04,
  7.64629859e-03, 1.77597822e-03]


--- Step 2203 ---
qpos:
[-2.42892680e-03, 8.65190303e-01,-2.36404311e-02, 4.25888791e-04,
 -2.88312232e-03, 8.61177321e-01,-2.70138121e-02, 3.11459833e-03,
 -1.19824156e-03, 8.70259359e-01,-1.91412776e-02,-2.12845090e-02,
  1.39623457e+00, 1.85424147e-02, 1.38722098e+00, 2.42330816e-02,
  4.03927650e-03,-5.68813765e-02, 8.06563322e-02, 7.02304649e-01,
 -6.34853230e-02,-7.08090002e-01,-3.66925374e-02]

qacc:
[-2.17909788e-01,-4.81286413e-01,-4.14004441e+00, 2.13472453e+01,
 -1.53987540e-01,-3.00333711e+00, 1.09251037e+01,-1.68552124e+01,
 -1.74587323e-01,-8.06971143e-01, 3.05909652e+00,-2.06274894e+00,
  6.28495983e-02, 1.23264676e-01, 3.51259834e+00,-1.17994793e+01,
  1.02117389e+00,-1.66821127e+00,-1.53589248e+00, 3.69462203e+00,
  6.44536616e+01,-7.82524655e+01]

qfrc_actuator:
[ 2.31797328e-03, 2.79507046e-02, 8.63099091e-03, 1.72331584e-03,
 -2.55773377e-05, 2.80069900e-02, 8.61642519e-03, 1.70480869e-03,
 -2.35616232e-03, 2.78758562e-02, 8.75208649e-03, 1.56961591e-03,
  0.00000000e+00,-1.47300195e-03, 0.00000000e+00,-8.02570225e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.96337934, -5.1086324 ,  6.96337934, 23.50873699,
       20.27195722, -5.1086324 , 20.27195722, 36.26828489,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013747944533690215
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00944456e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.00944456e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02324626, -0.0200523 ,  0.06187355])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.98247240e-05,-8.51978337e-05, 1.13378627e-05, 4.80050880e-05,
 -2.79117329e-05,-5.92576358e-05, 1.78216536e-05,-1.79931114e-05,
 -3.20853398e-05, 6.50908462e-05, 4.74197767e-05, 1.08699406e-05,
  3.37469188e-03, 2.69141767e-05, 9.33009449e-06,-5.43296064e-05,
  5.16628580e-05,-7.28325429e-05,-1.21645544e+00, 2.77764077e-04,
  7.64110078e-03, 1.77299299e-03]


--- Step 2204 ---
qpos:
[-2.43057827e-03, 8.65202122e-01,-2.36407051e-02, 4.27931211e-04,
 -2.88359250e-03, 8.61190849e-01,-2.70139223e-02, 3.11578809e-03,
 -1.19707586e-03, 8.70267393e-01,-1.91414479e-02,-2.12858417e-02,
  1.39623429e+00, 1.85408315e-02, 1.38730315e+00, 2.42318395e-02,
  4.03605846e-03,-5.68791978e-02, 8.06935301e-02, 7.02255315e-01,
 -6.35321018e-02,-7.08135730e-01,-3.66733111e-02]

qacc:
[-3.43981784e-01,-1.93292431e+00, 2.80477067e+00, 3.19812804e+00,
 -1.17330667e-01,-2.46963393e+00, 8.06992638e+00,-1.13155920e+01,
  1.72685611e-02, 1.86402114e+00,-4.49532640e+00, 1.11639476e+00,
  4.08478772e-02, 2.66563989e-01, 6.45453351e+00,-2.21431514e+01,
  9.72324392e-01,-1.56769548e+00,-1.98560451e+00, 3.42823456e+00,
  6.09654423e+01,-7.41117589e+01]

qfrc_actuator:
[ 2.27418820e-03, 2.78160295e-02, 8.61692606e-03, 1.73247117e-03,
 -3.36232349e-05, 2.79453917e-02, 8.62607877e-03, 1.69350409e-03,
 -2.33753762e-03, 2.78951005e-02, 8.71793160e-03, 1.55632194e-03,
  0.00000000e+00,-1.44711881e-03, 0.00000000e+00,-9.08376120e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.48953997, -5.69847768,  6.48953997, 31.05593461,
       25.53185433, -5.69847768, 25.53185433, 37.71254829,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013562640843215595
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.0232364e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.0232364e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02327916, -0.02001454,  0.06187542])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.28027669e-05,-1.78235018e-04,-2.87042928e-05, 6.81128929e-06,
 -2.12944524e-05,-9.21689585e-05,-1.12320391e-06,-1.35993186e-05,
  3.28960560e-06, 6.57231305e-05,-1.45522531e-05,-8.66424053e-06,
  3.35810380e-03, 4.42268415e-05,-3.59268030e-06,-1.08079022e-04,
  1.95644809e-05,-2.48046988e-05,-1.21644627e+00, 2.96233440e-04,
  7.63758398e-03, 1.77100005e-03]


--- Step 2205 ---
qpos:
[-2.43262145e-03, 8.65213385e-01,-2.36416727e-02, 4.28635086e-04,
 -2.88440279e-03, 8.61203841e-01,-2.70142666e-02, 3.11684177e-03,
 -1.19559716e-03, 8.70276285e-01,-1.91421692e-02,-2.12870027e-02,
  1.39623418e+00, 1.85397030e-02, 1.38738497e+00, 2.42320169e-02,
  4.03656694e-03,-5.68829613e-02, 8.07212732e-02, 7.02283446e-01,
 -6.34700299e-02,-7.08109102e-01,-3.67561832e-02]

qacc:
[-2.05796553e-01,-1.55213041e+00, 1.01180907e+01,-3.17656949e+01,
 -1.79181748e-01,-3.33926573e-01, 7.38101750e-01,-2.32540266e+00,
  1.62839933e-01, 3.02549449e+00,-9.86747893e+00, 1.30888493e+01,
  1.65873224e-02, 2.96927436e-01,-4.81880457e+00, 1.61074386e+01,
  9.31630099e-01,-1.48553751e+00,-2.36370493e+00, 3.20463057e+00,
  5.80729869e+01,-7.06711653e+01]

qfrc_actuator:
[ 2.26672458e-03, 2.78201350e-02, 8.59070724e-03, 1.66595320e-03,
 -5.58811597e-05, 2.79212520e-02, 8.61394013e-03, 1.68635760e-03,
 -2.30909693e-03, 2.79563030e-02, 8.69781918e-03, 1.56676093e-03,
  0.00000000e+00,-1.43113809e-03, 0.00000000e+00,-8.28121411e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.05062759, -6.16252243,  6.05062759, 40.1617423 ,
       30.95296255, -6.16252243, 30.95296255, 39.0273036 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013268842892590685
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.36714274e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.36714274e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02332801, -0.01996009,  0.06187817])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.74396566e-05,-1.01482698e-04,-6.64224419e-05,-7.50333640e-05,
 -3.23712897e-05,-7.68208322e-05,-3.18910096e-05,-1.14204193e-05,
  3.00397906e-05, 9.43936837e-05,-8.69028665e-06, 1.25703971e-05,
  3.33332090e-03, 4.50594132e-05,-1.47984708e-05, 7.34888330e-05,
  3.35001007e-06,-2.37959362e-06,-1.21644104e+00, 3.03810166e-04,
  7.63545435e-03, 1.76983820e-03]


--- Step 2206 ---
qpos:
[-2.43488764e-03, 8.65224768e-01,-2.36430968e-02, 4.28431261e-04,
 -2.88569590e-03, 8.61216539e-01,-2.70152044e-02, 3.11848572e-03,
 -1.19379867e-03, 8.70285741e-01,-1.91419438e-02,-2.12880972e-02,
  1.39623429e+00, 1.85388557e-02, 1.38746681e+00, 2.42321164e-02,
  4.04066537e-03,-5.68923971e-02, 8.07382898e-02, 7.02385793e-01,
 -6.33035841e-02,-7.08013068e-01,-3.69371056e-02]

qacc:
[-1.17356957e-01,-4.35683594e-01, 5.61387144e+00,-2.06805623e+01,
 -2.54666411e-01, 2.48238851e+00,-1.19088273e+01, 2.32932103e+01,
  1.67429724e-01,-1.76231043e+00, 7.08390646e+00,-7.86046604e+00,
  6.87579946e-03, 2.16957977e-01, 2.63579011e-01,-8.75569989e-01,
  8.97487565e-01,-1.41810130e+00,-2.68160952e+00, 3.01463009e+00,
  5.56780413e+01,-6.78171059e+01]

qfrc_actuator:
[ 2.26329871e-03, 2.78894371e-02, 8.59353185e-03, 1.62656399e-03,
 -8.64603763e-05, 2.79196453e-02, 8.58918244e-03, 1.71723514e-03,
 -2.29281179e-03, 2.80067061e-02, 8.75738135e-03, 1.57338570e-03,
  0.00000000e+00,-1.42137103e-03, 0.00000000e+00,-8.34149061e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.8055275 , -6.3939524 ,  5.8055275 , 49.0127015 ,
       36.66057007, -6.3939524 , 36.66057007, 41.92312189,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012890521521995435
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.22976563e-14, -8.61270836e-14,  1.00000000e+00,  2.78170295e-27,
        1.00000000e+00,  8.61270836e-14, -1.00000000e+00,  0.00000000e+00,
        3.22976563e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02338905, -0.01989291,  0.06188159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.13019844e-05,-4.63897657e-06,-2.89950309e-05,-4.75117422e-05,
 -4.59454378e-05,-5.19529349e-05,-4.50493170e-05, 2.62401286e-05,
  3.06927117e-05, 1.01733515e-04, 7.83595068e-05, 1.05988591e-05,
  3.32498700e-03, 3.21393341e-05, 1.15011500e-06,-3.89880222e-06,
  6.76075620e-07,-1.84204203e-06,-1.21643908e+00, 3.01804832e-04,
  7.63449011e-03, 1.76938618e-03]


--- Step 2207 ---
qpos:
[-2.43727105e-03, 8.65236506e-01,-2.36449753e-02, 4.27378623e-04,
 -2.88740242e-03, 8.61228808e-01,-2.70164184e-02, 3.12048143e-03,
 -1.19175422e-03, 8.70294769e-01,-1.91407772e-02,-2.12889756e-02,
  1.39623482e+00, 1.85385193e-02, 1.38754870e+00, 2.42314703e-02,
  4.04823800e-03,-5.69072826e-02, 8.07435107e-02, 7.02559607e-01,
 -6.30364702e-02,-7.07849995e-01,-3.72127355e-02]

qacc:
[-6.19413712e-02,-8.62634098e-03, 4.29446144e+00,-1.85181171e+01,
 -2.17848865e-01, 9.27976966e-01,-5.61676502e+00, 1.24625863e+01,
  1.29205733e-01,-2.75071835e+00, 8.07585555e+00,-5.53158361e+00,
 -1.24526649e-02, 4.28559642e-01, 2.36462979e+00,-8.10209088e+00,
  8.68548265e-01,-1.36240553e+00,-2.94892273e+00, 2.85076621e+00,
  5.36998322e+01,-6.54559608e+01]

qfrc_actuator:
[ 0.00226228, 0.02792639, 0.00857832, 0.0015858 ,-0.000104  , 0.02789603,
  0.00857506, 0.00173475,-0.00228395, 0.02790856, 0.00877471, 0.00157776,
  0.        ,-0.00137984, 0.        ,-0.00087326, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012447651545802463
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.57446027e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.57446027e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0234592 , -0.01981622,  0.0618855 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11894342e-05, 2.60819353e-05,-2.14651093e-05,-4.29012589e-05,
 -3.93441345e-05,-6.11549392e-05,-2.95905219e-05, 1.42209608e-05,
  2.35815326e-05,-2.48397044e-05, 4.82830200e-05, 1.16327517e-05,
  3.31397521e-03, 5.96520231e-05,-1.26247389e-06,-3.95104811e-05,
  9.79633351e-06,-2.04199522e-05,-1.21643994e+00, 2.91204350e-04,
  7.63452144e-03, 1.76955188e-03]


--- Step 2208 ---
qpos:
[-2.43989217e-03, 8.65248971e-01,-2.36472955e-02, 4.26140947e-04,
 -2.88940602e-03, 8.61241038e-01,-2.70182672e-02, 3.12264566e-03,
 -1.18973146e-03, 8.70303232e-01,-1.91400174e-02,-2.12896811e-02,
  1.39623570e+00, 1.85387223e-02, 1.38763053e+00, 2.42306917e-02,
  4.05918532e-03,-5.69274321e-02, 8.07360367e-02, 7.02802547e-01,
 -6.26717476e-02,-7.07621757e-01,-3.75803265e-02]

qacc:
[-1.25235875e-01, 1.81215784e+00,-4.28776618e+00, 1.25923080e+00,
 -1.56918528e-01, 2.06645841e+00,-8.15671509e+00, 1.21204107e+01,
 -1.13814553e-02, 7.48075524e-01,-4.47700528e+00, 8.53332626e+00,
 -3.89179673e-02, 4.50268091e-01, 3.20574323e-01,-1.22236066e+00,
  8.43674125e-01,-1.31599808e+00,-3.17373379e+00, 2.70693756e+00,
  5.20715983e+01,-6.35101482e+01]

qfrc_actuator:
[ 0.00224495, 0.02799692, 0.00857021, 0.00158003,-0.00011359, 0.02791271,
  0.00854948, 0.00174425,-0.00229735, 0.02782856, 0.00873081, 0.0015806 ,
  0.        ,-0.00135509, 0.        ,-0.00087827, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011956848981719906
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.28524753e-14, -9.28524753e-14,  1.00000000e+00,  8.62158217e-27,
        1.00000000e+00,  9.28524753e-14, -1.00000000e+00,  0.00000000e+00,
        9.28524753e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02353596, -0.01973263,  0.06188978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.26895877e-05, 7.85778739e-05,-6.92114625e-06,-6.24662508e-06,
 -2.82668740e-05,-2.33071504e-05,-4.14493328e-05, 6.11306523e-06,
 -2.09910935e-06,-8.36291242e-05,-4.27499793e-05, 3.66512105e-06,
  3.29236610e-03, 5.88856827e-05,-5.98179439e-06,-7.62959291e-06,
  2.94124317e-05,-5.60510351e-05,-1.21644334e+00, 2.72749976e-04,
  7.63541605e-03, 1.77026450e-03]


--- Step 2209 ---
qpos:
[-2.44272327e-03, 8.65262064e-01,-2.36492166e-02, 4.25486933e-04,
 -2.89122765e-03, 8.61253401e-01,-2.70199825e-02, 3.12448457e-03,
 -1.18799631e-03, 8.70311626e-01,-1.91393913e-02,-2.12911193e-02,
  1.39623630e+00, 1.85385508e-02, 1.38771237e+00, 2.42295149e-02,
  4.07148130e-03,-5.69524519e-02, 8.07313556e-02, 7.03078040e-01,
 -6.22176296e-02,-7.07363778e-01,-3.80357932e-02]

qacc:
[-1.10087144e-01, 9.15838796e-01,-4.52573069e+00, 1.35273336e+01,
  9.58992920e-02,-8.65522010e-01, 4.71575463e+00,-1.06586283e+01,
 -1.50300174e-01,-1.22797588e+00, 7.33238826e+00,-1.97383687e+01,
 -4.42927190e-02,-2.49961590e-01, 1.21703739e+00,-4.24462671e+00,
  3.37165592e-01,-1.21757300e+00, 6.98219209e-01, 7.83465386e-01,
  2.64016665e+01,-6.09650695e+01]

qfrc_actuator:
[ 2.23573361e-03, 2.80515611e-02, 8.60204846e-03, 1.61267850e-03,
 -8.28659319e-05, 2.79533568e-02, 8.57076415e-03, 1.73122974e-03,
 -2.32394407e-03, 2.78662826e-02, 8.73992397e-03, 1.54698422e-03,
  0.00000000e+00,-1.42940427e-03, 0.00000000e+00,-8.98642488e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011697183610073075
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.74568521e-14, -4.74568521e-14,  1.00000000e+00, -2.25215281e-27,
        1.00000000e+00,  4.74568521e-14, -1.00000000e+00,  0.00000000e+00,
       -4.74568521e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00116236, -0.03628883,  0.061892  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.00395603e-05, 9.66135133e-05, 4.69198949e-05, 3.56396483e-05,
  1.73156654e-05, 1.90307739e-05, 1.14862114e-05,-1.53525469e-05,
 -2.75863345e-05,-1.79168969e-05,-1.33703624e-05,-3.86206824e-05,
  3.27512536e-03,-4.23838227e-05,-4.35891920e-06,-2.17553277e-05,
  5.85642330e-05,-1.07210474e-04,-1.21644909e+00, 2.46995200e-04,
  7.63706851e-03, 1.77146879e-03]


--- Step 2210 ---
qpos:
[-2.44514165e-03, 8.65274919e-01,-2.36505673e-02, 4.24637789e-04,
 -2.89257609e-03, 8.61265914e-01,-2.70211815e-02, 3.12577735e-03,
 -1.18675561e-03, 8.70320316e-01,-1.91391801e-02,-2.12929782e-02,
  1.39623660e+00, 1.85381321e-02, 1.38779405e+00, 2.42291010e-02,
  4.08506838e-03,-5.69821343e-02, 8.07276561e-02, 7.03384556e-01,
 -6.16777568e-02,-7.07077041e-01,-3.85756093e-02]

qacc:
[ 2.16922735e-01,-2.30822507e+00, 8.59914630e+00,-1.27157191e+01,
  2.49588459e-01,-2.36590385e+00, 1.10313347e+01,-2.14223562e+01,
 -2.58621338e-01, 6.82644196e-01,-9.49744137e-02,-6.73285098e+00,
 -2.92885607e-02,-1.96064808e-01,-2.55084547e+00, 8.56890778e+00,
  3.22772175e-01,-1.16566396e+00, 2.45414013e-01, 7.31511312e-01,
  2.53367686e+01,-5.84974684e+01]

qfrc_actuator:
[ 2.28472287e-03, 2.79722184e-02, 8.60392620e-03, 1.59667317e-03,
 -4.60565841e-05, 2.79727199e-02, 8.60189112e-03, 1.70512491e-03,
 -2.35817219e-03, 2.79033508e-02, 8.72746680e-03, 1.52782737e-03,
  0.00000000e+00,-1.43819676e-03, 0.00000000e+00,-8.56895827e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011429869204514428
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00115106, -0.03626423,  0.06189429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.94236671e-05,-1.43923449e-05, 2.87611547e-05,-9.56428228e-06,
  4.50269218e-05, 3.14357830e-05, 3.58536140e-05,-2.52102192e-05,
 -4.74165604e-05, 2.24343180e-05,-1.92074947e-05,-2.11496561e-05,
  3.28889383e-03,-3.24305252e-05,-6.54449570e-06, 3.95105914e-05,
  7.18273132e-05,-1.45405668e-04,-1.21645462e+00, 2.20712994e-04,
  7.63832010e-03, 1.77244114e-03]


--- Step 2211 ---
qpos:
[-2.44686246e-03, 8.65287287e-01,-2.36516570e-02, 4.23659202e-04,
 -2.89365180e-03, 8.61278821e-01,-2.70229122e-02, 3.12644297e-03,
 -1.18652270e-03, 8.70328779e-01,-1.91400503e-02,-2.12949386e-02,
  1.39623684e+00, 1.85376489e-02, 1.38787575e+00, 2.42285041e-02,
  4.09989879e-03,-5.70163100e-02, 8.07234286e-02, 7.03720787e-01,
 -6.10551046e-02,-7.06762287e-01,-3.91969040e-02]

qacc:
[ 3.66231964e-01,-1.63858957e+00, 5.45533569e+00,-7.75590344e+00,
  1.43188459e-01, 7.13590593e-01, 8.56989953e-01,-1.11490079e+01,
 -5.26943578e-01, 2.51339978e+00,-8.96618847e+00, 9.10501488e+00,
 -1.76524857e-02,-3.23973879e-02, 5.85640626e-01,-2.00277529e+00,
  3.10836086e-01,-1.12330832e+00,-1.32027693e-01, 6.83000562e-01,
  2.44682201e+01,-5.64839249e+01]

qfrc_actuator:
[ 2.33258878e-03, 2.79196135e-02, 8.60525085e-03, 1.58752670e-03,
 -4.14681570e-05, 2.79792421e-02, 8.56747920e-03, 1.67151994e-03,
 -2.43216656e-03, 2.78331756e-02, 8.64914641e-03, 1.51732923e-03,
  0.00000000e+00,-1.42540376e-03, 0.00000000e+00,-8.67645221e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001109625056702035
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.00269446e-14, -6.25336807e-15,  1.00000000e+00,  3.12836898e-28,
        1.00000000e+00,  6.25336807e-15, -1.00000000e+00,  0.00000000e+00,
        5.00269446e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00113681, -0.03623333,  0.06189718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.66274439e-05,-5.54061777e-05, 1.47668912e-06,-8.97014757e-06,
  2.59547271e-05, 3.01381305e-05,-2.44670198e-05,-3.15280282e-05,
 -9.66700888e-05,-6.27096767e-05,-7.68503463e-05,-1.06242256e-05,
  3.30397992e-03,-7.24601615e-06,-3.48482234e-07,-9.76708403e-06,
  8.58144564e-05,-1.86646601e-04,-1.21646126e+00, 1.90683635e-04,
  7.63978941e-03, 1.77355338e-03]


--- Step 2212 ---
qpos:
[-2.44850524e-03, 8.65299705e-01,-2.36529659e-02, 4.23233553e-04,
 -2.89437966e-03, 8.61291628e-01,-2.70247899e-02, 3.12570242e-03,
 -1.18704432e-03, 8.70336368e-01,-1.91415728e-02,-2.12969539e-02,
  1.39623662e+00, 1.85363795e-02, 1.38795754e+00, 2.42271142e-02,
  4.11048398e-03,-5.70557526e-02, 8.07102163e-02, 7.03987862e-01,
 -6.03274729e-02,-7.06517769e-01,-3.99290294e-02]

qacc:
[ 4.08021371e-02, 1.81647922e+00,-8.71508662e+00, 1.85996194e+01,
  1.83152159e-01,-2.61567804e+00, 1.50697950e+01,-3.90994588e+01,
 -3.94168991e-01, 5.55331387e-01,-3.42284112e+00, 4.15648698e+00,
 -2.36913856e-03,-5.88778063e-01, 2.50649112e+00,-8.63204702e+00,
 -1.06130848e+00,-1.31671736e+00,-2.24617538e+00,-2.96195509e+00,
 -4.37109429e+01,-7.95942813e+01]

qfrc_actuator:
[ 2.30832021e-03, 2.79544061e-02, 8.60632493e-03, 1.61801319e-03,
 -2.06958145e-05, 2.79422510e-02, 8.54784334e-03, 1.59820911e-03,
 -2.45829904e-03, 2.77523156e-02, 8.60315102e-03, 1.51187540e-03,
  0.00000000e+00,-1.50625923e-03, 0.00000000e+00,-9.09251496e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010827545179391135
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56342275e-14, -1.28171137e-14,  1.00000000e+00,  3.28556809e-28,
        1.00000000e+00,  1.28171137e-14, -1.00000000e+00,  0.00000000e+00,
        2.56342275e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04089344, -0.02885868,  0.06189951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.45465524e-06, 3.45915672e-06,-1.05843466e-05, 2.79731720e-05,
  3.30908962e-05,-2.68356880e-05,-1.76074411e-05,-7.34988103e-05,
 -7.23955658e-05,-1.32452908e-04,-6.88353900e-05,-1.10120698e-05,
  3.30616739e-03,-8.48505777e-05,-3.06336081e-06,-4.26068793e-05,
  1.00487582e-04,-2.30725814e-04,-1.21646898e+00, 1.57111816e-04,
  7.64143845e-03, 1.77479329e-03]


--- Step 2213 ---
qpos:
[-2.45044293e-03, 8.65312133e-01,-2.36545906e-02, 4.23878032e-04,
 -2.89481051e-03, 8.61303970e-01,-2.70267319e-02, 3.12413097e-03,
 -1.18734331e-03, 8.70343545e-01,-1.91435941e-02,-2.12990889e-02,
  1.39623584e+00, 1.85344731e-02, 1.38803909e+00, 2.42269089e-02,
  4.11698647e-03,-5.71002512e-02, 8.06867947e-02, 7.04188231e-01,
 -5.94987621e-02,-7.06340444e-01,-4.07677639e-02]

qacc:
[-1.54835335e-01, 3.09722280e+00,-1.55420702e+01, 3.45618421e+01,
  1.56574272e-01,-2.14287203e+00, 1.02590009e+01,-2.41973504e+01,
  1.16095180e-01, 6.01825395e-01,-2.43199168e+00, 1.46239981e+00,
  2.79254228e-02,-5.53186860e-01,-3.94620716e+00, 1.32632782e+01,
 -1.02067212e+00,-1.26401655e+00,-2.55232052e+00,-2.75208788e+00,
 -4.19820951e+01,-7.65913512e+01]

qfrc_actuator:
[ 2.27661673e-03, 2.79525317e-02, 8.58987188e-03, 1.67164884e-03,
 -8.14997643e-06, 2.78972418e-02, 8.53690114e-03, 1.55536254e-03,
 -2.40230664e-03, 2.77722986e-02, 8.59430690e-03, 1.50944217e-03,
  0.00000000e+00,-1.53604027e-03, 0.00000000e+00,-8.44420385e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010554922785031076
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.25926644e-14, -5.25926644e-14,  1.00000000e+00,  2.76598835e-27,
        1.00000000e+00,  5.25926644e-14, -1.00000000e+00,  0.00000000e+00,
        5.25926644e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04093082, -0.02882486,  0.06190184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.81752178e-05,-1.20752627e-06,-1.61599754e-05, 5.39459441e-05,
  2.82437441e-05,-6.70868446e-05,-2.12838456e-05,-4.60523304e-05,
  2.13377164e-05,-6.89427499e-05,-4.51023771e-05,-1.07054048e-05,
  3.32958793e-03,-7.52684521e-05,-8.81711506e-06, 6.14876540e-05,
  4.48348830e-05,-1.65156530e-04,-1.21647380e+00, 1.41363344e-04,
  7.64017059e-03, 1.77446019e-03]


--- Step 2214 ---
qpos:
[-2.45233898e-03, 8.65324689e-01,-2.36564190e-02, 4.24446254e-04,
 -2.89520801e-03, 8.61315857e-01,-2.70283452e-02, 3.12375603e-03,
 -1.18718545e-03, 8.70350185e-01,-1.91457192e-02,-2.13015944e-02,
  1.39623496e+00, 1.85325255e-02, 1.38812053e+00, 2.42277944e-02,
  4.11954396e-03,-5.71496239e-02, 8.06521301e-02, 7.04323830e-01,
 -5.85721469e-02,-7.06227693e-01,-4.17096096e-02]

qacc:
[ 2.16661750e-02, 5.80418741e-01,-1.50326747e+00, 4.16155865e-01,
  1.80133180e-02, 9.43845278e-01,-9.28791727e+00, 2.98051848e+01,
  2.38698675e-01,-1.18357740e+00, 4.75059411e+00,-1.05966308e+01,
  5.14109835e-02,-1.00372955e-01,-3.49531354e+00, 1.19405251e+01,
 -9.86251445e-01,-1.21853082e+00,-2.81077149e+00,-2.55474069e+00,
 -4.05483603e+01,-7.41232206e+01]

qfrc_actuator:
[ 2.29405193e-03, 2.79641824e-02, 8.58083937e-03, 1.66742510e-03,
 -1.83809700e-05, 2.79010832e-02, 8.56665641e-03, 1.61954488e-03,
 -2.36872518e-03, 2.77461599e-02, 8.59010821e-03, 1.49115542e-03,
  0.00000000e+00,-1.49950638e-03, 0.00000000e+00,-7.88397718e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010219904969366173
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.4316700e-14, -5.4316700e-14,  1.0000000e+00,  2.9503039e-27,
        1.0000000e+00,  5.4316700e-14, -1.0000000e+00,  0.0000000e+00,
        5.4316700e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04097658, -0.02878336,  0.0619047 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.98105199e-06, 9.66614326e-06,-9.48978769e-06,-3.80134157e-06,
  3.16200835e-06,-4.03149247e-05, 1.16032637e-05, 5.96614573e-05,
  4.38009350e-05,-7.46111213e-05,-2.44005077e-05,-2.30125138e-05,
  3.35744499e-03,-6.83616375e-06, 7.93144290e-07, 5.78933296e-05,
  1.12986929e-05,-7.55744002e-05,-1.21647978e+00, 1.28751755e-04,
  7.63836311e-03, 1.77451025e-03]


--- Step 2215 ---
qpos:
[-2.45391239e-03, 8.65337311e-01,-2.36588721e-02, 4.24651312e-04,
 -2.89565283e-03, 8.61327490e-01,-2.70291177e-02, 3.12408975e-03,
 -1.18678724e-03, 8.70355882e-01,-1.91471587e-02,-2.13043024e-02,
  1.39623449e+00, 1.85306164e-02, 1.38820234e+00, 2.42259870e-02,
  4.11827458e-03,-5.72037114e-02, 8.06053486e-02, 7.04396161e-01,
 -5.75501884e-02,-7.06177257e-01,-4.27516753e-02]

qacc:
[ 1.68788898e-01, 1.08519499e+00,-2.20896362e+00,-3.12459159e+00,
 -2.42707249e-02,-1.22457636e+00, 8.88397819e-01, 1.02167449e+01,
  1.26273828e-01,-3.57793241e+00, 1.18035136e+01,-1.57103181e+01,
  4.94826229e-02, 7.50807628e-02, 8.72248422e+00,-2.96865374e+01,
 -9.56717100e-01,-1.17868330e+00,-3.02919669e+00,-2.36616236e+00,
 -3.93618287e+01,-7.21051298e+01]

qfrc_actuator:
[ 2.32299911e-03, 2.79483214e-02, 8.54076819e-03, 1.64695669e-03,
 -2.43805806e-05, 2.79166584e-02, 8.62046293e-03, 1.65748635e-03,
 -2.36666619e-03, 2.76926380e-02, 8.62400657e-03, 1.48140786e-03,
  0.00000000e+00,-1.47678221e-03, 0.00000000e+00,-9.33319134e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63158757,   8.11570775,   2.93931824,   8.11570775,
        17.51967502, -24.54076566,   2.93931824, -24.54076566,
        76.39072958,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0009837882284096655
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.64259153e-14, -5.64259153e-14,  1.00000000e+00,  3.18388392e-27,
        1.00000000e+00,  5.64259153e-14, -1.00000000e+00,  0.00000000e+00,
        5.64259153e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0410286 , -0.02873611,  0.06190795])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.08211037e-05,-1.28589622e-05,-3.94593254e-05,-2.04736993e-05,
 -4.50539367e-06,-2.28701653e-06, 4.88940993e-05, 3.77622302e-05,
  2.30293103e-05,-1.01397678e-04, 1.46557472e-05,-1.42379351e-05,
  3.36177321e-03, 1.80139981e-05, 5.20164593e-06,-1.41961112e-04,
 -2.53770263e-06, 3.58112592e-05,-1.21648667e+00, 1.18818625e-04,
  7.63611253e-03, 1.77489591e-03]


--- Step 2216 ---
qpos:
[-2.45495978e-03, 8.65348800e-01,-2.36613393e-02, 4.26104414e-04,
 -2.89615578e-03, 8.61338918e-01,-2.70292145e-02, 3.12487974e-03,
 -1.18626431e-03, 8.70361245e-01,-1.91484573e-02,-2.13064565e-02,
  1.39623449e+00, 1.85286526e-02, 1.38828450e+00, 2.42197918e-02,
  4.11833095e-03,-5.72626183e-02, 8.05595651e-02, 7.04498139e-01,
 -5.64406641e-02,-7.06095876e-01,-4.38797982e-02]

qacc:
[ 2.76359997e-01, 1.11055114e+00,-1.14018747e+01, 3.38577811e+01,
 -3.00979069e-02,-1.21918751e+00, 2.02789712e+00, 4.93730675e+00,
  6.53676282e-02, 3.05719372e-01,-4.06531310e+00, 1.36632880e+01,
  2.55604860e-02, 6.31949312e-02, 1.38178023e+01,-4.75626927e+01,
  3.31436557e-01,-1.20486772e+00, 2.49468320e-01, 6.46305915e-01,
  2.57149246e+01,-5.97035415e+01]

qfrc_actuator:
[ 2.35855584e-03, 2.78271996e-02, 8.51808150e-03, 1.70582205e-03,
 -2.77740236e-05, 2.79037503e-02, 8.65255145e-03, 1.67969255e-03,
 -2.36573429e-03, 2.77120693e-02, 8.64450994e-03, 1.51226933e-03,
  0.00000000e+00,-1.48015980e-03, 0.00000000e+00,-1.15995440e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009639858352032682
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.87925140e-14,  5.75850279e-14,  1.00000000e+00, -1.65801772e-27,
        1.00000000e+00, -5.75850279e-14, -1.00000000e+00,  0.00000000e+00,
        2.87925140e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00107544, -0.03609912,  0.06190953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.02214073e-05,-1.37612753e-04,-3.09919684e-05, 5.65343162e-05,
 -5.53256595e-06,-2.74517212e-06, 3.88608580e-05, 2.45185702e-05,
  1.19538893e-05,-3.49661946e-05, 8.46355395e-07, 2.67478472e-05,
  3.34161313e-03, 1.27731796e-05,-1.53311120e-05,-2.34335132e-04,
  1.50218942e-06, 1.67422216e-04,-1.21649424e+00, 1.11231074e-04,
  7.63349775e-03, 1.77557656e-03]


--- Step 2217 ---
qpos:
[-2.45553238e-03, 8.65359433e-01,-2.36638489e-02, 4.28563833e-04,
 -2.89670534e-03, 8.61350630e-01,-2.70291269e-02, 3.12659087e-03,
 -1.18567881e-03, 8.70366776e-01,-1.91503268e-02,-2.13078954e-02,
  1.39623473e+00, 1.85269638e-02, 1.38836633e+00, 2.42129267e-02,
  4.11965458e-03,-5.73261244e-02, 8.05132691e-02, 7.04628244e-01,
 -5.52464110e-02,-7.05984169e-01,-4.50912872e-02]

qacc:
[ 2.49354784e-01, 1.05772083e+00,-9.66178336e+00, 2.77755987e+01,
 -2.44950603e-02, 1.75648915e+00,-9.60608910e+00, 2.50458561e+01,
  3.22903292e-02, 3.29226111e+00,-1.44268739e+01, 2.75829202e+01,
 -1.25305423e-03, 2.25111587e-01, 1.55938285e+00,-6.12834062e+00,
  3.16816407e-01,-1.14978084e+00,-1.28098647e-01, 5.41842376e-01,
  2.48240254e+01,-5.78061149e+01]

qfrc_actuator:
[ 2.37999322e-03, 2.78038691e-02, 8.52321751e-03, 1.75756382e-03,
 -2.95740354e-05, 2.79448158e-02, 8.67143776e-03, 1.72793177e-03,
 -2.36545915e-03, 2.77395366e-02, 8.62174172e-03, 1.54906816e-03,
  0.00000000e+00,-1.46361534e-03, 0.00000000e+00,-1.18430889e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.57019346,  8.56375581,  0.33211798,  8.56375581,  8.67627014,
       -2.73521727,  0.33211798, -2.73521727, 79.09854135,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009394521344710943
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.90888553e-14,  5.90888553e-14,  1.00000000e+00, -3.49149282e-27,
        1.00000000e+00, -5.90888553e-14, -1.00000000e+00,  0.00000000e+00,
        5.90888553e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00106534, -0.03607693,  0.06191155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.53345480e-05,-1.04507532e-04,-2.52199565e-05, 4.58582014e-05,
 -4.42624533e-06, 4.83315412e-05, 2.38650352e-05, 4.99255022e-05,
  6.00259428e-06, 9.12426477e-06,-2.89876985e-05, 3.58490412e-05,
  3.31768601e-03, 3.21187255e-05,-3.43022438e-05,-3.96545675e-05,
 -2.10676793e-06, 1.52698163e-04,-1.21650565e+00, 6.59557476e-05,
  7.63511446e-03, 1.77685294e-03]


--- Step 2218 ---
qpos:
[-2.45593096e-03, 8.65370102e-01,-2.36660881e-02, 4.30449593e-04,
 -2.89728586e-03, 8.61363015e-01,-2.70295026e-02, 3.12817015e-03,
 -1.18506414e-03, 8.70371440e-01,-1.91512252e-02,-2.13081649e-02,
  1.39623497e+00, 1.85256094e-02, 1.38844773e+00, 2.42077776e-02,
  4.12219576e-03,-5.73940469e-02, 8.04651925e-02, 7.04785134e-01,
 -5.39697419e-02,-7.05842554e-01,-4.63839624e-02]

qacc:
[ 9.14013869e-02,-1.88704590e+00, 9.22054750e+00,-1.96090604e+01,
 -1.68464070e-02, 1.90976807e+00,-4.96435764e+00, 2.93096341e+00,
  1.61930725e-02,-1.45131598e+00,-1.41704826e+00, 2.07204658e+01,
 -1.23784697e-02, 2.13592815e-01,-5.84952236e+00, 1.95198274e+01,
  3.04386455e-01,-1.10412740e+00,-4.45161272e-01, 4.43807068e-01,
  2.40925892e+01,-5.62653084e+01]

qfrc_actuator:
[ 2.37504718e-03, 2.78748949e-02, 8.56283358e-03, 1.73376344e-03,
 -3.04062442e-05, 2.79823520e-02, 8.64711869e-03, 1.72013291e-03,
 -2.36556581e-03, 2.76649393e-02, 8.66242897e-03, 1.60679910e-03,
  0.00000000e+00,-1.45317817e-03, 0.00000000e+00,-1.08925788e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.49020136,  8.48224648,  0.3674422 ,  8.48224648,  8.63524053,
       -3.34816742,  0.3674422 , -3.34816742, 85.7812189 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000909610367035317
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00105285, -0.03604962,  0.06191406])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.66280160e-05, 9.11302751e-06, 1.64442808e-05,-2.82740281e-05,
 -2.92741582e-06, 7.13449367e-05,-9.76510093e-06,-3.95118757e-06,
  2.77764102e-06,-7.40588117e-05, 4.02153381e-05, 5.78130847e-05,
  3.30597699e-03, 2.88600149e-05,-1.98172338e-05, 8.85290321e-05,
 -4.40552292e-06, 1.34334983e-04,-1.21651770e+00, 1.71145221e-05,
  7.63671187e-03, 1.77824339e-03]


--- Step 2219 ---
qpos:
[-2.45627711e-03, 8.65379969e-01,-2.36669747e-02, 4.32411989e-04,
 -2.89788354e-03, 8.61375705e-01,-2.70306053e-02, 3.13005520e-03,
 -1.18425375e-03, 8.70375216e-01,-1.91509047e-02,-2.13084458e-02,
  1.39623522e+00, 1.85242612e-02, 1.38852915e+00, 2.42024274e-02,
  4.12591187e-03,-5.74662335e-02, 8.04142704e-02, 7.04967610e-01,
 -5.26125269e-02,-7.05671275e-01,-4.77560777e-02]

qacc:
[ 2.86380068e-02,-4.67784212e+00, 1.48211558e+01,-1.50736983e+01,
 -9.59820515e-03, 3.06140816e+00,-1.16231968e+01, 1.78573442e+01,
  1.03287237e-01,-4.60122187e+00, 1.47509556e+01,-1.62433675e+01,
 -1.13664015e-02, 1.88747171e-02, 6.57082648e-01,-2.22709685e+00,
  2.93734969e-01,-1.06601119e+00,-7.11363009e-01, 3.50181243e-01,
  2.34951278e+01,-5.50267108e+01]

qfrc_actuator:
[ 2.37213458e-03, 2.78067051e-02, 8.62284200e-03, 1.73682573e-03,
 -3.06547952e-05, 2.79640108e-02, 8.59745017e-03, 1.73265361e-03,
 -2.34814054e-03, 2.76188367e-02, 8.72212328e-03, 1.60533863e-03,
  0.00000000e+00,-1.46432743e-03, 0.00000000e+00,-1.10220777e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.36443185,  8.35444098,  0.40870051,  8.35444098,  8.5609034 ,
       -4.01616823,  0.40870051, -4.01616823, 90.46083201,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008758330882402271
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00103855, -0.03601844,  0.06191693])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.99337370e-06,-6.11447091e-05, 6.28689926e-05, 3.45561574e-06,
 -1.62853221e-06, 1.90706362e-05,-3.63715442e-05, 1.51413638e-05,
  1.87535734e-05,-7.68353282e-05, 5.13257839e-05,-2.11874837e-06,
  3.30564671e-03, 1.03676575e-06, 5.79654211e-07,-1.05837199e-05,
 -5.53755185e-06, 1.12643654e-04,-1.21653038e+00,-3.51667432e-05,
  7.63823884e-03, 1.77973066e-03]


--- Step 2220 ---
qpos:
[-2.45680133e-03, 8.65388719e-01,-2.36671555e-02, 4.34827475e-04,
 -2.89848819e-03, 8.61388357e-01,-2.70327428e-02, 3.13283301e-03,
 -1.18324542e-03, 8.70379079e-01,-1.91504661e-02,-2.13094819e-02,
  1.39623570e+00, 1.85233710e-02, 1.38861047e+00, 2.41976306e-02,
  4.12368408e-03,-5.75409393e-02, 8.03565493e-02, 7.05038320e-01,
 -5.11917212e-02,-7.05606260e-01,-4.91953379e-02]

qacc:
[-9.25377358e-02,-2.51415492e+00, 4.91056625e+00, 2.62073942e+00,
 -4.26446069e-03, 4.67385531e+00,-2.05106276e+01, 3.76506190e+01,
  1.03386568e-01,-1.77019047e+00, 9.66203838e+00,-2.29760628e+01,
 -2.02679449e-02, 3.54290415e-01,-1.82537920e+00, 6.17961333e+00,
 -1.48597798e+00,-6.29782134e-01,-1.69976533e+00,-1.67925316e+00,
 -7.36071167e+01,-5.15688066e+01]

qfrc_actuator:
[ 2.35274138e-03, 2.77090674e-02, 8.64063747e-03, 1.75558480e-03,
 -3.05545520e-05, 2.79299941e-02, 8.53302110e-03, 1.77473382e-03,
 -2.33812697e-03, 2.76612080e-02, 8.73932770e-03, 1.56907618e-03,
  0.00000000e+00,-1.41722346e-03, 0.00000000e+00,-1.07221171e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008833001950147787
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.71338778e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.71338778e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05303792, -0.04423874,  0.06191605])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.70416453e-05,-1.18925219e-04, 1.29590226e-05, 1.83663746e-05,
 -6.69864292e-07,-3.05143298e-05,-6.45425699e-05, 4.19124349e-05,
  1.89888714e-05, 9.82858208e-06, 7.55446069e-06,-3.78228775e-05,
  3.30480681e-03, 4.78832966e-05,-2.63471468e-06, 2.91040568e-05,
 -5.61274587e-06, 8.78481042e-05,-1.21654369e+00,-9.08066865e-05,
  7.63964718e-03, 1.78129951e-03]


--- Step 2221 ---
qpos:
[-2.45715775e-03, 8.65397356e-01,-2.36671043e-02, 4.35625903e-04,
 -2.89890629e-03, 8.61400588e-01,-2.70349134e-02, 3.13572832e-03,
 -1.18245521e-03, 8.70382983e-01,-1.91498797e-02,-2.13102506e-02,
  1.39623631e+00, 1.85230488e-02, 1.38869154e+00, 2.41948941e-02,
  4.11580389e-03,-5.76180364e-02, 8.02904591e-02, 7.05002138e-01,
 -4.97098960e-02,-7.05641950e-01,-5.06986170e-02]

qacc:
[ 8.81112231e-02,-4.12421568e+00, 2.13164221e+01,-4.95930188e+01,
  9.84226222e-02,-2.22420560e-01,-5.11306282e-01, 2.90778203e+00,
 -1.13825634e-01, 1.91069666e-01,-1.73187039e+00, 6.09262951e+00,
 -3.47335834e-02, 4.07129891e-01,-6.59782456e+00, 2.25723612e+01,
 -1.41309795e+00,-5.97847006e-01,-2.09226093e+00,-1.33433573e+00,
 -7.00724504e+01,-4.93027571e+01]

qfrc_actuator:
[ 2.37692726e-03, 2.77541714e-02, 8.66871625e-03, 1.67683903e-03,
 -1.24957321e-05, 2.79045463e-02, 8.53134479e-03, 1.78058254e-03,
 -2.36814620e-03, 2.76672800e-02, 8.74940408e-03, 1.58369166e-03,
  0.00000000e+00,-1.38887986e-03, 0.00000000e+00,-9.63864180e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.38275284,  8.23099608,  1.58784409,  8.23099608, 10.10357128,
       -8.92030266,  1.58784409, -8.92030266, 54.62342392,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000880213159391359
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.89196733e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.89196733e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05303916, -0.04423945,  0.06191612])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.60296819e-05,-1.81446188e-05, 5.67885779e-06,-8.30504730e-05,
  1.77374084e-05,-5.43355095e-05,-1.45676218e-05, 3.10314152e-06,
 -2.09195362e-05, 1.14202792e-05, 1.16963488e-05, 1.45559897e-05,
  3.29303598e-03, 5.33626582e-05, 1.10249963e-06, 1.09420121e-04,
  7.91229178e-06, 3.61932328e-04,-1.21654795e+00,-7.11005744e-05,
  7.63629407e-03, 1.78187185e-03]


--- Step 2222 ---
qpos:
[-2.45691062e-03, 8.65406572e-01,-2.36670846e-02, 4.35056634e-04,
 -2.89930799e-03, 8.61412255e-01,-2.70364703e-02, 3.13864389e-03,
 -1.18214416e-03, 8.70387172e-01,-1.91500937e-02,-2.13111493e-02,
  1.39623676e+00, 1.85228671e-02, 1.38877251e+00, 2.41941383e-02,
  4.10045795e-03,-5.76919887e-02, 8.02332964e-02, 7.04813133e-01,
 -4.82762264e-02,-7.05824583e-01,-5.21489318e-02]

qacc:
[ 3.16257920e-01,-1.96272301e+00, 1.38806560e+01,-3.79260537e+01,
  9.23316391e-03,-2.41509412e+00, 7.44750717e+00,-7.66734599e+00,
 -2.50842532e-01, 2.34581070e+00,-7.26730265e+00, 6.08699221e+00,
 -3.59014339e-02, 8.03299648e-02,-6.15243333e+00, 2.13010158e+01,
 -1.86643898e+00, 7.86212439e-01, 2.23186538e+00, 1.63846291e+00,
 -1.08253775e+02, 2.81341446e+01]

qfrc_actuator:
[ 2.42698594e-03, 2.78311042e-02, 8.68540383e-03, 1.61248980e-03,
 -1.93577617e-05, 2.78846384e-02, 8.56673242e-03, 1.78286315e-03,
 -2.40409557e-03, 2.76693379e-02, 8.70186872e-03, 1.57485523e-03,
  0.00000000e+00,-1.40759087e-03, 0.00000000e+00,-8.63492033e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009111093356997044
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04634960e-14,  1.52317480e-14,  1.00000000e+00, -4.64012295e-28,
        1.00000000e+00, -1.52317480e-14, -1.00000000e+00,  0.00000000e+00,
        3.04634960e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04943548, -0.06974196,  0.06191305])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.76800750e-05, 6.41978398e-05, 1.06960301e-05,-6.65611380e-05,
  1.54767410e-06,-5.34448001e-05, 2.23940028e-05,-5.10882759e-07,
 -4.59541421e-05, 1.13860475e-05,-4.32653261e-05,-7.66460120e-06,
  3.28665315e-03, 6.28088899e-06, 1.17689440e-05, 1.06400185e-04,
  6.06275941e-05, 6.43374024e-04,-1.21655212e+00,-4.92590818e-05,
  7.63322984e-03, 1.78280966e-03]


--- Step 2223 ---
qpos:
[-2.45643787e-03, 8.65415652e-01,-2.36669508e-02, 4.34837538e-04,
 -2.89993030e-03, 8.61423902e-01,-2.70380692e-02, 3.14119339e-03,
 -1.18173036e-03, 8.70391850e-01,-1.91512942e-02,-2.13121596e-02,
  1.39623717e+00, 1.85225670e-02, 1.38885371e+00, 2.41929242e-02,
  4.07825502e-03,-5.77630596e-02, 8.01812916e-02, 7.04483662e-01,
 -4.68861732e-02,-7.06142178e-01,-5.35507282e-02]

qacc:
[ 1.18466875e-01, 2.22536141e-01,-2.53179521e+00, 8.50925372e+00,
 -1.16268691e-01,-6.61892275e-01, 3.86722794e+00,-1.01214755e+01,
  5.28661178e-02, 3.17156911e+00,-9.90091395e+00, 9.18980294e+00,
 -2.78104347e-02,-5.48102359e-02, 1.73764888e+00,-5.57027660e+00,
 -1.71424832e+00, 7.20345078e-01, 1.28946160e+00, 1.88053273e+00,
 -9.94425640e+01, 2.55705972e+01]

qfrc_actuator:
[ 2.42105490e-03, 2.77844671e-02, 8.67767478e-03, 1.62818648e-03,
 -4.10767742e-05, 2.79038700e-02, 8.57046682e-03, 1.76530049e-03,
 -2.37224422e-03, 2.77042307e-02, 8.65616076e-03, 1.56999094e-03,
  0.00000000e+00,-1.41882910e-03, 0.00000000e+00,-8.92918019e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.62979567,  8.53268297, -1.29100529,  8.53268297, 10.02740987,
        9.23729673, -1.29100529,  9.23729673, 69.68215951,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009809868619396617
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.65870486e-14,  1.69761146e-13,  1.00000000e+00, -9.60628221e-27,
        1.00000000e+00, -1.69761146e-13, -1.00000000e+00,  0.00000000e+00,
        5.65870486e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04930101, -0.06969946,  0.06190647])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.15519705e-05,-1.15926424e-05, 4.47140250e-06, 1.75072599e-05,
 -2.09915322e-05,-6.32190699e-06,-4.64651671e-06,-1.91068931e-05,
  9.86355742e-06, 3.18956282e-05,-4.89802021e-05,-6.02736973e-06,
  3.29438652e-03,-1.19591194e-05, 1.52094811e-05,-2.24433696e-05,
  1.88481037e-04, 9.36560709e-04,-1.21654696e+00, 9.32687635e-06,
  7.63469235e-03, 1.78381127e-03]


--- Step 2224 ---
qpos:
[-2.45608423e-03, 8.65424599e-01,-2.36668398e-02, 4.34472605e-04,
 -2.90060373e-03, 8.61435787e-01,-2.70396844e-02, 3.14209533e-03,
 -1.18144064e-03, 8.70397019e-01,-1.91525935e-02,-2.13129380e-02,
  1.39623725e+00, 1.85218444e-02, 1.38893494e+00, 2.41917262e-02,
  4.05389630e-03,-5.78263375e-02, 8.01527384e-02, 7.04099644e-01,
 -4.56406731e-02,-7.06510677e-01,-5.48022194e-02]

qacc:
[-6.24425751e-02,-4.12366973e-01, 1.83023491e+00,-4.21975702e+00,
 -2.71280231e-02,-3.02950754e+00, 1.82151535e+01,-4.68820136e+01,
 -6.50172332e-02, 1.40344756e+00,-5.03872926e+00, 8.84688911e+00,
 -1.85934287e-02,-3.15833353e-01,-1.07184220e-02, 8.49079893e-02,
 -5.38946287e-01, 1.94825509e+00, 5.86292348e+00, 2.23497348e+00,
 -4.45832425e+01, 1.01327672e+02]

qfrc_actuator:
[ 2.39941918e-03, 2.77706868e-02, 8.67291530e-03, 1.61972940e-03,
 -3.59742638e-05, 2.79285149e-02, 8.57337235e-03, 1.68295221e-03,
 -2.38886585e-03, 2.77585073e-02, 8.66531335e-03, 1.58529610e-03,
  0.00000000e+00,-1.46088623e-03, 0.00000000e+00,-8.92060275e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010675471193346692
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02085661, -0.0791169 ,  0.06189843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13834845e-05,-1.88038994e-05,-6.06948332e-06,-8.47214134e-06,
 -4.85848275e-06, 1.90587900e-05, 2.82725741e-07,-8.31707747e-05,
 -1.18866327e-05, 6.16410737e-05, 9.47205686e-06, 1.48543501e-05,
  3.29667908e-03,-4.80697190e-05, 1.80916897e-06, 9.52908631e-07,
  3.63709493e-04, 1.18226512e-03,-1.21654314e+00, 5.78331593e-05,
  7.63663580e-03, 1.78470454e-03]


--- Step 2225 ---
qpos:
[-2.45592434e-03, 8.65434101e-01,-2.36673433e-02, 4.33270612e-04,
 -2.90145239e-03, 8.61446879e-01,-2.70408594e-02, 3.14279556e-03,
 -1.18186972e-03, 8.70402206e-01,-1.91541496e-02,-2.13134555e-02,
  1.39623716e+00, 1.85210058e-02, 1.38901608e+00, 2.41912167e-02,
  4.02756273e-03,-5.78825385e-02, 8.01422750e-02, 7.03666295e-01,
 -4.45263909e-02,-7.06926031e-01,-5.59171822e-02]

qacc:
[-1.02239289e-01, 7.26015528e-01, 2.00778494e+00,-1.59181374e+01,
 -9.17624594e-02,-2.69078351e+00, 8.92669649e+00,-1.25417519e+01,
 -3.75544401e-01, 1.27831961e+00,-5.62294639e+00, 1.05317401e+01,
 -4.16315235e-03,-1.07918001e-01,-2.23163138e+00, 7.58961698e+00,
 -4.93710892e-01, 1.76921048e+00, 4.52242386e+00, 2.19232650e+00,
 -4.06331444e+01, 9.19974043e+01]

qfrc_actuator:
[ 2.38636775e-03, 2.78299305e-02, 8.65227634e-03, 1.57938336e-03,
 -5.03653347e-05, 2.78318891e-02, 8.57577145e-03, 1.66967627e-03,
 -2.45213816e-03, 2.77176999e-02, 8.63587862e-03, 1.59465137e-03,
  0.00000000e+00,-1.45007267e-03, 0.00000000e+00,-8.55570898e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001150869966068238
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02081455, -0.07902988,  0.06189084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.84981905e-05, 4.68975441e-05,-2.56341721e-05,-4.15395738e-05,
 -1.66928663e-05,-8.97470254e-05, 3.40857563e-06,-1.40856579e-05,
 -6.89456904e-05,-3.85854702e-06,-1.50524075e-05, 1.26066781e-05,
  3.31257258e-03,-1.60954325e-05,-1.45432656e-06, 3.62508912e-05,
  4.21758010e-04, 1.10848482e-03,-1.21652466e+00, 5.05774699e-05,
  7.63893670e-03, 1.78546952e-03]


--- Step 2226 ---
qpos:
[-2.45593834e-03, 8.65444074e-01,-2.36692566e-02, 4.31660224e-04,
 -2.90247006e-03, 8.61456546e-01,-2.70416778e-02, 3.14445573e-03,
 -1.18229187e-03, 8.70407123e-01,-1.91561406e-02,-2.13141511e-02,
  1.39623710e+00, 1.85203236e-02, 1.38909714e+00, 2.41914743e-02,
  3.99940003e-03,-5.79322572e-02, 8.01454057e-02, 7.03187872e-01,
 -4.35323703e-02,-7.07384865e-01,-5.69069630e-02]

qacc:
[-9.22771936e-02, 3.71889686e+00,-1.06338520e+01, 5.47802251e+00,
 -8.82584179e-02,-9.00850912e-01,-3.57018786e+00, 2.06595211e+01,
  3.43317449e-03, 4.90791010e-01,-1.51745239e+00,-6.69558196e-01,
  7.34965395e-04, 9.94091217e-02,-2.43718339e+00, 8.36218230e+00,
 -4.57284246e-01, 1.62059017e+00, 3.39855894e+00, 2.14724067e+00,
 -3.73785595e+01, 8.43230854e+01]

qfrc_actuator:
[ 2.37858918e-03, 2.78258377e-02, 8.56945254e-03, 1.55615877e-03,
 -5.85553857e-05, 2.77166949e-02, 8.57741676e-03, 1.71480953e-03,
 -2.41848811e-03, 2.76733775e-02, 8.60124165e-03, 1.58256233e-03,
  0.00000000e+00,-1.42542684e-03, 0.00000000e+00,-8.16133880e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012052738053228845
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.60568802e-14,  9.21137604e-14,  1.00000000e+00,  4.24247242e-27,
        1.00000000e+00, -9.21137604e-14, -1.00000000e+00,  0.00000000e+00,
       -4.60568802e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02078743, -0.07897438,  0.06188598])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.66085516e-05, 1.48353527e-05,-7.78024759e-05,-2.29229904e-05,
 -1.61219836e-05,-1.65537675e-04,-1.70368375e-05, 4.11165010e-05,
  6.54563252e-07,-4.91676314e-05,-3.68786983e-05,-1.25334664e-05,
  3.32077531e-03, 1.43884645e-05, 1.62536550e-06, 4.08823955e-05,
  4.78177180e-04, 1.02970429e-03,-1.21651001e+00, 3.85855723e-05,
  7.64079628e-03, 1.78603309e-03]


--- Step 2227 ---
qpos:
[-2.45626875e-03, 8.65453793e-01,-2.36719570e-02, 4.30871399e-04,
 -2.90342781e-03, 8.61465237e-01,-2.70419747e-02, 3.14553900e-03,
 -1.18249856e-03, 8.70412306e-01,-1.91585510e-02,-2.13143655e-02,
  1.39623704e+00, 1.85194820e-02, 1.38917835e+00, 2.41908597e-02,
  3.97203707e-03,-5.79757764e-02, 8.01635167e-02, 7.02715007e-01,
 -4.26572707e-02,-7.07837458e-01,-5.77763677e-02]

qacc:
[-1.66308072e-01, 3.55228587e+00,-1.66233136e+01, 3.22905085e+01,
  3.22139422e-02,-3.93291250e+00, 1.45867430e+01,-2.46912558e+01,
  1.12186915e-01, 2.51457849e+00,-1.04824498e+01, 1.92780856e+01,
  2.10135752e-03,-9.91867458e-02, 2.86637533e+00,-9.70228899e+00,
  1.99934141e-01, 1.54986100e+00, 3.74505064e+00, 7.07716240e-01,
 -1.84435128e+00, 8.46789807e+01]

qfrc_actuator:
[ 2.35627935e-03, 2.77836043e-02, 8.52136942e-03, 1.59637110e-03,
 -4.52083058e-05, 2.76978238e-02, 8.61402267e-03, 1.68739156e-03,
 -2.39813337e-03, 2.77337428e-02, 8.59926948e-03, 1.61119932e-03,
  0.00000000e+00,-1.44596567e-03, 0.00000000e+00,-8.64045524e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001240839218057302
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.82893652e-14, -4.47367801e-14,  1.00000000e+00,  3.50241411e-27,
        1.00000000e+00,  4.47367801e-14, -1.00000000e+00,  0.00000000e+00,
        7.82893652e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00827506, -0.07714083,  0.06188289])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.02426246e-05,-5.12098192e-05,-5.54584669e-05, 3.76993413e-05,
  5.67599495e-06,-1.13422771e-04, 1.66959549e-06,-3.43144184e-05,
  2.06714763e-05, 2.46189751e-05,-1.71248981e-05, 2.50083055e-05,
  3.31934379e-03,-1.39419684e-05, 3.79179697e-06,-4.57739427e-05,
  5.33067218e-04, 9.47538125e-04,-1.21649832e+00, 2.33929936e-05,
  7.64225555e-03, 1.78641202e-03]


--- Step 2228 ---
qpos:
[-2.45688686e-03, 8.65462930e-01,-2.36745311e-02, 4.30549352e-04,
 -2.90408287e-03, 8.61473286e-01,-2.70414161e-02, 3.14587202e-03,
 -1.18247522e-03, 8.70417798e-01,-1.91607692e-02,-2.13146302e-02,
  1.39623675e+00, 1.85181154e-02, 1.38925966e+00, 2.41890141e-02,
  3.94540126e-03,-5.80135537e-02, 8.01928649e-02, 7.02247550e-01,
 -4.18925597e-02,-7.08284652e-01,-5.85341279e-02]

qacc:
[-1.50576598e-01,-1.60529770e-01,-2.51351028e+00, 1.08171233e+01,
  1.60193870e-01,-4.77777852e+00, 1.89764017e+01,-3.28634900e+01,
  1.20140406e-01,-2.32196610e-01, 1.63170628e+00,-3.03473599e+00,
  9.42761358e-03,-3.80944461e-01, 3.86474284e+00,-1.33316496e+01,
  1.81788115e-01, 1.43548059e+00, 2.80929544e+00, 6.86514347e-01,
 -1.75848274e+00, 7.85672446e+01]

qfrc_actuator:
[ 2.34321546e-03, 2.77545293e-02, 8.52957723e-03, 1.62032109e-03,
 -1.91002789e-05, 2.77013642e-02, 8.67129732e-03, 1.65310098e-03,
 -2.38596713e-03, 2.77677290e-02, 8.61705452e-03, 1.61042592e-03,
  0.00000000e+00,-1.49336183e-03, 0.00000000e+00,-9.27528639e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012649182364927875
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.38851695e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.38851695e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00827702, -0.07712036,  0.06188091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75040425e-05,-6.77609040e-05,-7.94969181e-06, 2.05617755e-05,
  2.87878536e-05,-6.12149301e-05, 3.27996404e-05,-3.97740972e-05,
  2.20737197e-05, 4.51854463e-05, 2.16035575e-05, 1.70665981e-07,
  3.31952187e-03,-5.33223188e-05,-5.48269424e-06,-6.60322920e-05,
  4.98196995e-04, 7.96668124e-04,-1.21648512e+00,-1.23128123e-05,
  7.64188788e-03, 1.78710871e-03]


--- Step 2229 ---
qpos:
[-2.45734844e-03, 8.65471910e-01,-2.36771370e-02, 4.29781703e-04,
 -2.90424230e-03, 8.61480966e-01,-2.70408657e-02, 3.14616053e-03,
 -1.18226714e-03, 8.70423651e-01,-1.91622013e-02,-2.13156418e-02,
  1.39623608e+00, 1.85162759e-02, 1.38934078e+00, 2.41877566e-02,
  3.91943149e-03,-5.80459648e-02, 8.02303274e-02, 7.01785363e-01,
 -4.12312164e-02,-7.08727125e-01,-5.91874374e-02]

qacc:
[ 8.21029317e-02,-1.03595758e+00, 5.27373569e+00,-1.28198886e+01,
  2.61237830e-01,-5.54976505e-01, 1.46038903e+00,-1.94680731e+00,
  9.68097667e-02,-3.25758321e+00, 1.54539503e+01,-2.98904091e+01,
  2.67009560e-02,-4.07699583e-01,-2.08947839e+00, 6.84643838e+00,
  1.66510425e-01, 1.34156885e+00, 2.02859287e+00, 6.67871916e-01,
 -1.68965294e+00, 7.35351160e+01]

qfrc_actuator:
[ 2.37130226e-03, 2.77692842e-02, 8.53545581e-03, 1.59903457e-03,
  1.43975808e-05, 2.76829009e-02, 8.66942005e-03, 1.65059621e-03,
 -2.37881474e-03, 2.78034912e-02, 8.66400284e-03, 1.57459268e-03,
  0.00000000e+00,-1.52093798e-03, 0.00000000e+00,-8.93131128e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001271414770558435
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00827722, -0.07711684,  0.06188056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49505979e-05,-2.40952170e-05,-8.43418589e-06,-2.40730563e-05,
  4.71510827e-05,-4.78173879e-05,-1.19242984e-05,-4.78014471e-06,
  1.77342766e-05, 6.53885563e-05, 5.89217284e-05,-3.31528330e-05,
  3.33059843e-03,-5.46067296e-05,-1.20414664e-05, 2.95377113e-05,
  4.66948353e-04, 6.65121103e-04,-1.21647479e+00,-4.44674755e-05,
  7.64149743e-03, 1.78769881e-03]


--- Step 2230 ---
qpos:
[-2.45774412e-03, 8.65480882e-01,-2.36795021e-02, 4.29071264e-04,
 -2.90414439e-03, 8.61488623e-01,-2.70410551e-02, 3.14642307e-03,
 -1.18266820e-03, 8.70430187e-01,-1.91632270e-02,-2.13164001e-02,
  1.39623512e+00, 1.85142268e-02, 1.38942164e+00, 2.41882372e-02,
  3.89643362e-03,-5.80734935e-02, 8.02756162e-02, 7.01373076e-01,
 -4.06690641e-02,-7.09120949e-01,-5.97437422e-02]

qacc:
[ 3.47188526e-02,-5.65063763e-01, 1.75792573e+00,-1.14732921e+00,
  1.35104917e-01, 1.98011557e+00,-6.99789506e+00, 7.75207413e+00,
 -3.18080658e-01, 2.87942019e-01,-7.86865845e-01, 4.01780965e+00,
  4.84185491e-02,-2.49392145e-01,-5.64922341e+00, 1.91889459e+01,
  7.42976817e-01, 1.22058194e+00, 1.95658089e+00,-8.41539002e-01,
  2.98182430e+01, 7.16675985e+01]

qfrc_actuator:
[ 2.37049242e-03, 2.77923920e-02, 8.55779695e-03, 1.60458972e-03,
  1.65100540e-05, 2.76867243e-02, 8.63257323e-03, 1.64900464e-03,
 -2.44572791e-03, 2.78578956e-02, 8.69227298e-03, 1.58945078e-03,
  0.00000000e+00,-1.51871149e-03, 0.00000000e+00,-8.01331955e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012675978055760595
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.47405011e-14, -8.75848017e-14,  1.00000000e+00,  4.79443593e-27,
        1.00000000e+00,  8.75848017e-14, -1.00000000e+00,  0.00000000e+00,
        5.47405011e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00460081, -0.07523225,  0.06188116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.29757068e-06, 6.67220147e-06, 1.54437024e-05, 3.75381364e-06,
  2.44814587e-05,-2.57654294e-05,-4.84233453e-05,-4.15945708e-06,
 -5.84049709e-05, 1.01594483e-04, 4.78520864e-05, 1.90454149e-05,
  3.34950205e-03,-2.86771999e-05,-3.88195406e-06, 9.15515519e-05,
  4.38664075e-04, 5.49338310e-04,-1.21646669e+00,-7.34303330e-05,
  7.64108926e-03, 1.78819319e-03]


--- Step 2231 ---
qpos:
[-2.45848382e-03, 8.65489146e-01,-2.36812666e-02, 4.28497600e-04,
 -2.90409974e-03, 8.61496508e-01,-2.70418632e-02, 3.14662314e-03,
 -1.18358851e-03, 8.70436787e-01,-1.91644734e-02,-2.13161604e-02,
  1.39623403e+00, 1.85120476e-02, 1.38950246e+00, 2.41897988e-02,
  3.88013419e-03,-5.80952552e-02, 8.03207931e-02, 7.01077700e-01,
 -4.02374139e-02,-7.09400873e-01,-6.01781547e-02]

qacc:
[-1.79784893e-01,-2.32987185e+00, 6.37502913e+00,-4.45118880e+00,
 -2.85310592e-02, 1.89910722e+00,-6.07199732e+00, 5.81494102e+00,
 -2.71281535e-01, 2.75779972e+00,-1.39129342e+01, 3.14728733e+01,
  6.52927278e-02,-1.77257852e-01,-3.36123703e+00, 1.16196066e+01,
  1.67460860e+00, 1.44174022e+00,-2.79988955e-02,-3.57218297e+00,
  7.50181564e+01, 9.48254071e+01]

qfrc_actuator:
[ 2.33461998e-03, 2.77139097e-02, 8.57200330e-03, 1.60817265e-03,
 -1.68653150e-07, 2.77214750e-02, 8.61098482e-03, 1.64796027e-03,
 -2.46759727e-03, 2.77987518e-02, 8.65614367e-03, 1.63402218e-03,
  0.00000000e+00,-1.51643017e-03, 0.00000000e+00,-7.47487561e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012903350705935346
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.30207258e-14, -8.60414516e-14,  1.00000000e+00,  3.70156569e-27,
        1.00000000e+00,  8.60414516e-14, -1.00000000e+00,  0.00000000e+00,
        4.30207258e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03270103, -0.08409808,  0.06187947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.28868359e-05,-7.15926509e-05, 1.75664164e-05, 4.46736309e-06,
 -5.06388400e-06, 9.98509399e-06,-3.30798336e-05,-3.91728224e-06,
 -4.98044998e-05, 8.21025976e-06,-8.63564311e-06, 5.09410805e-05,
  3.36389108e-03,-1.58527056e-05, 6.84085345e-06, 5.81031194e-05,
  3.43853992e-04, 4.11927082e-04,-1.21645824e+00,-1.10531738e-04,
  7.63966476e-03, 1.78904176e-03]


--- Step 2232 ---
qpos:
[-2.45979351e-03, 8.65496778e-01,-2.36824757e-02, 4.27275029e-04,
 -2.90399874e-03, 8.61504239e-01,-2.70425072e-02, 3.14611249e-03,
 -1.18451667e-03, 8.70442990e-01,-1.91658553e-02,-2.13153329e-02,
  1.39623328e+00, 1.85100558e-02, 1.38958348e+00, 2.41903202e-02,
  3.87007100e-03,-5.81116586e-02, 8.03631546e-02, 7.00891286e-01,
 -3.99271074e-02,-7.09575262e-01,-6.04994107e-02]

qacc:
[-2.98385698e-01,-3.72143681e+00, 1.47970790e+01,-2.64540919e+01,
  2.98033196e-02,-2.12333709e+00, 1.02766277e+01,-2.27281843e+01,
 -4.02372664e-03, 1.06621508e+00,-7.03773884e+00, 1.77092501e+01,
  6.51273247e-02, 1.32294591e-01, 3.45454297e+00,-1.16417544e+01,
  1.55905858e+00, 1.33958689e+00,-7.03845759e-01,-3.38232366e+00,
  6.97159889e+01, 8.81082345e+01]

qfrc_actuator:
[ 2.29584618e-03, 2.76816918e-02, 8.59862515e-03, 1.57496455e-03,
  7.59084432e-06, 2.77035293e-02, 8.61647879e-03, 1.61178584e-03,
 -2.44453395e-03, 2.77428342e-02, 8.63509701e-03, 1.66007041e-03,
  0.00000000e+00,-1.47860632e-03, 0.00000000e+00,-8.05217303e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013127794521939073
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.22852073e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.22852073e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03266272, -0.08407437,  0.06187779])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.44754676e-05,-6.86157820e-05, 1.41053255e-05,-3.55883776e-05,
  5.35821079e-06,-1.95453425e-05, 3.28840117e-06,-3.69789384e-05,
 -7.65685503e-07,-5.10834918e-05,-1.86940462e-05, 2.70848899e-05,
  3.37011173e-03, 2.85432643e-05, 7.62697368e-06,-5.40675886e-05,
  1.79135480e-04, 2.32181778e-04,-1.21644789e+00,-1.57530597e-04,
  7.63692241e-03, 1.79027619e-03]


--- Step 2233 ---
qpos:
[-2.46179541e-03, 8.65504278e-01,-2.36833038e-02, 4.25956374e-04,
 -2.90382279e-03, 8.61511612e-01,-2.70429824e-02, 3.14519842e-03,
 -1.18548542e-03, 8.70448944e-01,-1.91672115e-02,-2.13145745e-02,
  1.39623278e+00, 1.85084525e-02, 1.38966436e+00, 2.41914973e-02,
  3.86586305e-03,-5.81230389e-02, 8.04004258e-02, 7.00807167e-01,
 -3.97305226e-02,-7.09650984e-01,-6.07147509e-02]

qacc:
[-3.62748638e-01,-1.43480549e+00, 5.27085119e+00,-7.44846009e+00,
  3.96951840e-02,-1.77436201e+00, 7.34375620e+00,-1.43346513e+01,
 -2.10928817e-02,-5.43824040e-01, 1.75171853e+00,-2.80369241e+00,
  4.67351869e-02, 2.48917119e-01,-2.19080533e+00, 7.36918729e+00,
  1.46381135e+00, 1.25577163e+00,-1.27257047e+00,-3.21808654e+00,
  6.53150685e+01, 8.25288943e+01]

qfrc_actuator:
[ 2.25569513e-03, 2.77129459e-02, 8.63250129e-03, 1.57367069e-03,
  1.21723342e-05, 2.76720095e-02, 8.61993440e-03, 1.59071187e-03,
 -2.44807261e-03, 2.77425453e-02, 8.64085577e-03, 1.65726302e-03,
  0.00000000e+00,-1.45522780e-03, 0.00000000e+00,-7.68429079e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013166041003826526
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.21623715e-14,  4.21623715e-14,  1.00000000e+00, -1.77766557e-27,
        1.00000000e+00, -4.21623715e-14, -1.00000000e+00,  0.00000000e+00,
        4.21623715e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03266111, -0.08407332,  0.06187772])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.61419201e-05,-5.89968540e-06, 2.01639643e-05,-4.44461537e-06,
  7.12228348e-06,-4.35327604e-05,-1.51125790e-06,-2.25273722e-05,
 -3.89959961e-06,-3.16936116e-05,-6.19595782e-06,-5.12256818e-06,
  3.35302167e-03, 4.26102542e-05,-4.21653808e-06, 3.43410475e-05,
  7.38063274e-05, 1.10328760e-04,-1.21644178e+00,-1.89450804e-04,
  7.63541592e-03, 1.79089690e-03]


--- Step 2234 ---
qpos:
[-2.46399499e-03, 8.65510692e-01,-2.36833462e-02, 4.25762883e-04,
 -2.90377018e-03, 8.61518721e-01,-2.70434995e-02, 3.14507720e-03,
 -1.18630618e-03, 8.70454484e-01,-1.91687020e-02,-2.13138233e-02,
  1.39623249e+00, 1.85069910e-02, 1.38974532e+00, 2.41920877e-02,
  3.86719537e-03,-5.81296717e-02, 8.04306920e-02, 7.00819734e-01,
 -3.96413102e-02,-7.09633677e-01,-6.08301770e-02]

qacc:
[-1.02732143e-01,-1.31253803e+00,-2.15021196e+00, 2.11620958e+01,
 -6.48632824e-02, 1.40132416e+00,-8.84761223e+00, 2.28311866e+01,
  7.73414744e-02,-1.86508147e-01,-9.74391716e-02, 4.89152806e-01,
  3.51000546e-02, 1.02930327e-01, 1.89303266e+00,-6.45164598e+00,
  1.38506645e+00, 1.18687105e+00,-1.75124681e+00,-3.07505460e+00,
  6.16604297e+01, 7.78919241e+01]

qfrc_actuator:
[ 2.26832586e-03, 2.76045086e-02, 8.65292960e-03, 1.62673739e-03,
 -2.94675186e-06, 2.76681162e-02, 8.62209649e-03, 1.63193307e-03,
 -2.43203133e-03, 2.77046348e-02, 8.62708538e-03, 1.65531661e-03,
  0.00000000e+00,-1.45854507e-03, 0.00000000e+00,-8.00478257e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013054625893494862
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.25222076e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.25222076e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03268838, -0.08409011,  0.06187892])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89144394e-05,-1.07935608e-04, 2.14921559e-05, 5.34184736e-05,
 -1.17442527e-05,-2.96835328e-05,-7.84787886e-06, 3.88562882e-05,
  1.41822300e-05,-5.72652999e-05,-2.12938719e-05,-3.62567991e-06,
  3.34028328e-03, 1.99249993e-05, 1.08725726e-06,-3.08816859e-05,
  1.68706179e-05, 3.56642817e-05,-1.21643882e+00,-2.08818312e-04,
  7.63495159e-03, 1.79099813e-03]


--- Step 2235 ---
qpos:
[-2.46601342e-03, 8.65516318e-01,-2.36833631e-02, 4.25186505e-04,
 -2.90387089e-03, 8.61525491e-01,-2.70433954e-02, 3.14541402e-03,
 -1.18676816e-03, 8.70459937e-01,-1.91704346e-02,-2.13141718e-02,
  1.39623245e+00, 1.85053496e-02, 1.38982659e+00, 2.41896107e-02,
  3.87380641e-03,-5.81317843e-02, 8.04523414e-02, 7.00924267e-01,
 -3.96541795e-02,-7.09527953e-01,-6.08506598e-02]

qacc:
[ 9.52718770e-02,-1.90050480e+00, 6.88107725e+00,-1.29697060e+01,
 -8.02272123e-02,-1.24141852e+00, 1.84072010e+00, 5.34159233e+00,
  1.87190887e-01,-1.70456516e+00, 1.05432403e+01,-2.91059798e+01,
  2.45073429e-02,-6.90644992e-02, 9.76832588e+00,-3.34759615e+01,
  1.31968223e+00, 1.13007691e+00,-2.15419815e+00,-2.94936207e+00,
  5.86264987e+01, 7.40389854e+01]

qfrc_actuator:
[ 2.29465536e-03, 2.75552849e-02, 8.64697944e-03, 1.60472181e-03,
 -1.19652461e-05, 2.76630938e-02, 8.65913098e-03, 1.65623856e-03,
 -2.40441442e-03, 2.77154260e-02, 8.61949999e-03, 1.60059482e-03,
  0.00000000e+00,-1.47778855e-03, 0.00000000e+00,-9.61613013e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012824074158800658
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0327382 , -0.08412081,  0.06188109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72854296e-05,-1.03001650e-04,-2.37935359e-05,-2.48643409e-05,
 -1.45958478e-05,-2.17445499e-05, 3.12300630e-05, 2.35089192e-05,
  3.44101596e-05,-2.59032988e-05,-2.21938108e-05,-5.79885334e-05,
  3.32958722e-03,-6.35729512e-06,-4.42839948e-06,-1.63073493e-04,
  1.82931949e-07, 2.29434902e-07,-1.21643833e+00,-2.17519925e-04,
  7.63538014e-03, 1.79065112e-03]


--- Step 2236 ---
qpos:
[-2.46777332e-03, 8.65522497e-01,-2.36846014e-02, 4.23919027e-04,
 -2.90409988e-03, 8.61532184e-01,-2.70431486e-02, 3.14500207e-03,
 -1.18688594e-03, 8.70465638e-01,-1.91724606e-02,-2.13152136e-02,
  1.39623221e+00, 1.85034939e-02, 1.38990756e+00, 2.41875702e-02,
  3.88547767e-03,-5.81295645e-02, 8.04640170e-02, 7.01116780e-01,
 -3.97647229e-02,-7.09337566e-01,-6.07803077e-02]

qacc:
[ 1.34587589e-01, 2.71958453e+00,-5.71970151e+00,-4.69092832e+00,
 -6.75058057e-02,-2.03837431e+00, 1.02848362e+01,-2.34185988e+01,
  1.79443424e-01,-2.81787760e-01, 4.39960277e+00,-1.60989016e+01,
  1.82932662e-02,-1.98700029e-01,-1.77605052e+00, 5.54565305e+00,
  1.26505128e+00, 1.08307493e+00,-2.49345543e+00,-2.83762018e+00,
  5.61108038e+01, 7.08409188e+01]

qfrc_actuator:
[ 2.31115175e-03, 2.76482419e-02, 8.60789558e-03, 1.57422011e-03,
 -1.72440704e-05, 2.76575772e-02, 8.66318468e-03, 1.61715441e-03,
 -2.38787475e-03, 2.77552770e-02, 8.61578702e-03, 1.56856093e-03,
  0.00000000e+00,-1.50632280e-03, 0.00000000e+00,-9.31194147e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012499878667733971
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.4409352e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        4.4409352e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03280541, -0.08416223,  0.06188403])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47127361e-05, 2.92548974e-05,-6.41909241e-05,-3.62291059e-05,
 -1.22087433e-05,-1.03841286e-05, 4.16961289e-06,-3.84878926e-05,
  3.30207065e-05, 1.81891242e-05,-1.38324466e-05,-3.50458528e-05,
  3.31705276e-03,-2.58424870e-05,-2.19985094e-05, 2.03432369e-05,
  1.76990609e-05,-1.90734693e-06,-1.21643990e+00,-2.16968659e-04,
  7.63658511e-03, 1.78990981e-03]


--- Step 2237 ---
qpos:
[-2.46930083e-03, 8.65529477e-01,-2.36869054e-02, 4.22942130e-04,
 -2.90442121e-03, 8.61538764e-01,-2.70434079e-02, 3.14452084e-03,
 -1.18673686e-03, 8.70470836e-01,-1.91740380e-02,-2.13152054e-02,
  1.39623170e+00, 1.85015952e-02, 1.38998816e+00, 2.41878806e-02,
  3.90202492e-03,-5.81231689e-02, 8.04645760e-02, 7.01393907e-01,
 -3.99692720e-02,-7.09065552e-01,-6.06225052e-02]

qacc:
[ 1.20925997e-01, 4.63015132e+00,-1.62041794e+01, 2.23540224e+01,
 -4.89305429e-02, 1.12028125e+00,-3.92038650e+00, 3.61574804e+00,
  1.39860366e-01, 2.45399284e-01,-6.26231458e+00, 2.40681014e+01,
  3.13827032e-02,-1.26726872e-01,-7.69783051e+00, 2.60798367e+01,
  1.21900168e+00, 1.04394986e+00,-2.77913685e+00,-2.73685408e+00,
  5.40291985e+01, 6.81917084e+01]

qfrc_actuator:
[ 2.32159842e-03, 2.77189645e-02, 8.56792079e-03, 1.59234601e-03,
 -2.02427986e-05, 2.76338827e-02, 8.62992735e-03, 1.61207060e-03,
 -2.37811035e-03, 2.77057484e-02, 8.63229835e-03, 1.62118378e-03,
  0.00000000e+00,-1.50481983e-03, 0.00000000e+00,-8.05872737e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012103310865899733
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.17288696e-14, -4.58644348e-14,  1.00000000e+00,  4.20709276e-27,
        1.00000000e+00,  4.58644348e-14, -1.00000000e+00,  0.00000000e+00,
        9.17288696e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03288583, -0.08421181,  0.06188755])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.22204490e-05, 7.21435174e-05,-4.31310113e-05, 1.64465045e-05,
 -8.79320128e-06,-3.04518824e-05,-3.62745905e-05,-6.14330196e-06,
  2.55854612e-05,-4.38279734e-05, 1.73234125e-05, 5.22358363e-05,
  3.32703258e-03,-1.35643677e-05,-8.65913054e-06, 1.23462722e-04,
  6.49365223e-05, 2.48324416e-05,-1.21644332e+00,-2.08223157e-04,
  7.63847410e-03, 1.78881515e-03]


--- Step 2238 ---
qpos:
[-2.47064681e-03, 8.65535783e-01,-2.36888424e-02, 4.22625334e-04,
 -2.90480338e-03, 8.61545317e-01,-2.70438870e-02, 3.14464214e-03,
 -1.18621583e-03, 8.70474729e-01,-1.91749968e-02,-2.13137839e-02,
  1.39623111e+00, 1.84996185e-02, 1.39006876e+00, 2.41889954e-02,
  3.92329105e-03,-5.81127289e-02, 8.04530560e-02, 7.01752795e-01,
 -4.02647779e-02,-7.08714339e-01,-6.03800265e-02]

qacc:
[ 9.57063655e-02,-5.55859825e-01,-2.09535079e+00, 1.34266705e+01,
 -3.21451829e-02, 1.81659140e+00,-9.07464127e+00, 1.98764972e+01,
  1.95137941e-01,-5.38906816e-01,-6.53292955e+00, 3.09390297e+01,
  4.59058036e-02,-1.14311310e-01,-2.44000396e+00, 8.52185014e+00,
  1.17971818e+00, 1.01111061e+00,-3.01976262e+00,-2.64444895e+00,
  5.23121955e+01, 6.60038488e+01]

qfrc_actuator:
[ 2.32833800e-03, 2.76161051e-02, 8.56324960e-03, 1.62119059e-03,
 -2.18580981e-05, 2.76526073e-02, 8.62813294e-03, 1.64475963e-03,
 -2.35471883e-03, 2.75854907e-02, 8.64256688e-03, 1.68762954e-03,
  0.00000000e+00,-1.50313278e-03, 0.00000000e+00,-7.67719931e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011652094741196536
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.76404908e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.76404908e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03297603, -0.08426741,  0.06189149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73286031e-05,-7.08618002e-05, 5.44969379e-06, 3.07566363e-05,
 -5.79137731e-06,-6.21414692e-06,-1.28148351e-05, 3.00006299e-05,
  3.56434030e-05,-1.39058418e-04, 5.13041603e-06, 6.61802677e-05,
  3.34034162e-03,-9.67048490e-06, 8.65925655e-06, 4.36807510e-05,
  1.38582089e-04, 7.71605621e-05,-1.21644849e+00,-1.92074874e-04,
  7.64097220e-03, 1.78739833e-03]


--- Step 2239 ---
qpos:
[-2.47167357e-03, 8.65540646e-01,-2.36897832e-02, 4.22368525e-04,
 -2.90540927e-03, 8.61552120e-01,-2.70442881e-02, 3.14544150e-03,
 -1.18537486e-03, 8.70477514e-01,-1.91759792e-02,-2.13129374e-02,
  1.39623098e+00, 1.84980200e-02, 1.39014957e+00, 2.41888889e-02,
  3.94913990e-03,-5.80983559e-02, 8.04286459e-02, 7.02191020e-01,
 -4.06487120e-02,-7.08285843e-01,-6.00551302e-02]

qacc:
[ 1.68545924e-01,-4.56370049e+00, 1.32549475e+01,-1.27538720e+01,
 -1.17858104e-01, 1.50855372e+00,-7.76028268e+00, 1.91874248e+01,
  1.67419599e-01,-2.58383457e+00, 9.50951635e+00,-1.86006322e+01,
  3.90469572e-02, 3.04191474e-01, 4.02260384e+00,-1.35933435e+01,
  1.14567870e+00, 9.83230660e-01,-3.22251589e+00,-2.55810366e+00,
  5.09021242e+01, 6.42047541e+01]

qfrc_actuator:
[ 2.35056385e-03, 2.74990133e-02, 8.59650678e-03, 1.62047536e-03,
 -4.03905383e-05, 2.76967428e-02, 8.64513248e-03, 1.68171565e-03,
 -2.34111550e-03, 2.75125609e-02, 8.63098778e-03, 1.65506985e-03,
  0.00000000e+00,-1.44802514e-03, 0.00000000e+00,-8.34519939e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011160968968409943
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.46052848e-14, -4.97368565e-14,  1.00000000e+00,  3.71063235e-27,
        1.00000000e+00,  4.97368565e-14, -1.00000000e+00,  0.00000000e+00,
        7.46052848e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03307325, -0.08432733,  0.06189573])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.04655747e-05,-1.54402515e-04, 2.03247579e-05,-2.96964548e-06,
 -2.12818470e-05, 3.91452157e-05, 1.51273201e-05, 3.68208645e-05,
  3.06567105e-05,-1.46876470e-04,-3.74002728e-05,-3.70536486e-05,
  3.34423814e-03, 4.94004681e-05, 6.78363917e-06,-6.37259443e-05,
  2.36203491e-04, 1.52644859e-04,-1.21645545e+00,-1.69112343e-04,
  7.64401692e-03, 1.78568322e-03]


--- Step 2240 ---
qpos:
[-2.47240656e-03, 8.65544753e-01,-2.36902383e-02, 4.22052788e-04,
 -2.90642086e-03, 8.61559354e-01,-2.70442856e-02, 3.14628506e-03,
 -1.18467135e-03, 8.70479616e-01,-1.91772786e-02,-2.13125214e-02,
  1.39623137e+00, 1.84971477e-02, 1.39023031e+00, 2.41886620e-02,
  3.97554769e-03,-5.80780084e-02, 8.04125466e-02, 7.02635449e-01,
 -4.11357929e-02,-7.07853042e-01,-5.96266985e-02]

qacc:
[ 1.54620794e-01,-2.47672636e+00, 7.63003260e+00,-8.87261967e+00,
 -2.13609038e-01,-4.67236707e-01, 2.30482298e+00,-2.50253986e+00,
 -7.17624997e-02,-9.03272307e-01, 3.72579219e+00,-1.01623494e+01,
  7.39610515e-03, 5.61844800e-01, 2.79881781e-01,-1.08565826e+00,
  1.39736881e-01, 1.49364341e+00, 2.07767490e+00, 4.48834134e-01,
 -1.49301504e+00, 7.31533030e+01]

qfrc_actuator:
[ 2.36411852e-03, 2.74986890e-02, 8.63399227e-03, 1.62011296e-03,
 -6.88860413e-05, 2.77381046e-02, 8.67319839e-03, 1.68541004e-03,
 -2.36898712e-03, 2.75038596e-02, 8.62444740e-03, 1.63554043e-03,
  0.00000000e+00,-1.39679545e-03, 0.00000000e+00,-8.38319290e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011133070291993175
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.98614935e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.98614935e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00826322, -0.07729076,  0.06189582])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.80493366e-05,-8.26946661e-05, 7.96763989e-06,-6.33679209e-06,
 -3.85909807e-05, 6.77887340e-05, 3.92369651e-05, 6.60092806e-06,
 -1.32066783e-05,-1.00195261e-04,-4.27778119e-05,-2.78375100e-05,
  3.32104692e-03, 8.17746429e-05,-5.44277513e-06,-6.84419991e-06,
  3.56035708e-04, 2.49503522e-04,-1.21646432e+00,-1.39769012e-04,
  7.64755436e-03, 1.78368826e-03]


--- Step 2241 ---
qpos:
[-2.47291342e-03, 8.65548623e-01,-2.36902660e-02, 4.22706616e-04,
 -2.90798433e-03, 8.61566803e-01,-2.70435586e-02, 3.14717102e-03,
 -1.18421011e-03, 8.70481264e-01,-1.91785968e-02,-2.13113580e-02,
  1.39623190e+00, 1.84964857e-02, 1.39031101e+00, 2.41883799e-02,
  4.00249521e-03,-5.80520994e-02, 8.04021332e-02, 7.03085601e-01,
 -4.17206101e-02,-7.07415872e-01,-5.91000234e-02]

qacc:
[ 1.18992341e-01, 4.89495776e-01,-6.29099227e+00, 2.25606260e+01,
 -2.90343095e-01,-1.65057672e+00, 6.12134745e+00,-6.70784027e+00,
 -1.26335356e-01, 9.91267408e-01,-7.55524953e+00, 2.08424267e+01,
 -1.51322836e-02, 1.74885764e-01, 1.13283671e-01,-4.67838433e-01,
  1.34931463e-01, 1.39036823e+00, 1.42149580e+00, 4.21892786e-01,
 -1.37437958e+00, 6.93665944e+01]

qfrc_actuator:
[ 0.00237237, 0.02753281, 0.00867413, 0.00167332,-0.00010309, 0.02774202,
  0.00870755, 0.00168726,-0.00238591, 0.02751596, 0.00863899, 0.00167717,
  0.        ,-0.0014194 , 0.        ,-0.00084044, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.61995098, -0.53218596, -8.61995098,  8.82610707,
       -3.07332244, -0.53218596, -3.07332244, 58.41574628,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011105690222015172
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00826349, -0.07729424,  0.06189594])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.16029108e-05,-1.08337316e-05, 2.37897390e-05, 4.98067444e-05,
 -5.25080330e-05, 5.00256814e-05, 5.33539452e-05, 6.23141819e-06,
 -2.32520063e-05,-5.39926311e-05,-1.23930192e-05, 3.53186918e-05,
  3.29447736e-03, 2.28966623e-05,-3.66643217e-06,-3.32307943e-06,
  3.82101194e-04, 3.43640903e-04,-1.21647304e+00,-1.14864777e-04,
  7.65052495e-03, 1.78331309e-03]


--- Step 2242 ---
qpos:
[-2.47344585e-03, 8.65552294e-01,-2.36901033e-02, 4.24003275e-04,
 -2.90982859e-03, 8.61573875e-01,-2.70418263e-02, 3.14847477e-03,
 -1.18360104e-03, 8.70482696e-01,-1.91793187e-02,-2.13097803e-02,
  1.39623263e+00, 1.84961431e-02, 1.39039166e+00, 2.41880649e-02,
  4.02996744e-03,-5.80209641e-02, 8.03952081e-02, 7.03541022e-01,
 -4.23986937e-02,-7.06974210e-01,-5.84794617e-02]

qacc:
[-1.31847466e-02, 5.27978843e-01,-4.97868351e+00, 1.59462335e+01,
 -1.47116373e-01,-2.44367736e+00, 6.22899218e+00,-3.32287826e-01,
  7.76641643e-02,-1.09649963e+00, 1.75160373e+00, 4.61640349e+00,
 -2.67014812e-02, 2.67477650e-01, 4.81737665e-02,-2.33168984e-01,
  1.31178691e-01, 1.30659429e+00, 8.72078855e-01, 3.98487780e-01,
 -1.27156222e+00, 6.62436437e+01]

qfrc_actuator:
[ 0.00235963, 0.02751637, 0.00868021, 0.00170439,-0.0001049 , 0.027688  ,
  0.00874518, 0.00170575,-0.0023606 , 0.02754059, 0.00868375, 0.00170124,
  0.        ,-0.00139732, 0.        ,-0.00084156, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.61492172, -0.60819462, -8.61492172,  8.93562471,
       -4.23895679, -0.60819462, -4.23895679, 68.68010563,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001096621605837178
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.06201510e-14, -1.51860453e-13,  1.00000000e+00,  7.68719905e-27,
        1.00000000e+00,  1.51860453e-13, -1.00000000e+00,  0.00000000e+00,
        5.06201510e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00826253, -0.07730793,  0.06189708])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.44775938e-06,-1.55383228e-05, 8.46885290e-06, 3.23997335e-05,
 -2.67251690e-05,-1.49519836e-05, 5.46920270e-05, 2.25823553e-05,
  1.41771777e-05,-6.64387838e-06, 3.33082168e-05, 2.20110419e-05,
  3.28774159e-03, 3.44989751e-05,-3.30067174e-06,-2.07367441e-06,
  4.07700673e-04, 4.39441161e-04,-1.21648266e+00,-8.88089291e-05,
  7.65335732e-03, 1.78285949e-03]


--- Step 2243 ---
qpos:
[-2.47406820e-03, 8.65556124e-01,-2.36905129e-02, 4.24978651e-04,
 -2.91124837e-03, 8.61580742e-01,-2.70395721e-02, 3.14931135e-03,
 -1.18276650e-03, 8.70484842e-01,-1.91807499e-02,-2.13079567e-02,
  1.39623344e+00, 1.84963351e-02, 1.39047204e+00, 2.41897398e-02,
  4.05586583e-03,-5.79843076e-02, 8.03906733e-02, 7.03961816e-01,
 -4.31704106e-02,-7.06567559e-01,-5.77612559e-02]

qacc:
[-4.75880695e-02, 1.14748110e+00,-2.42992183e+00,-2.33107365e+00,
  2.23984072e-01,-2.68909128e+00, 1.11682437e+01,-1.99405771e+01,
  1.17058542e-01, 3.43128975e+00,-1.19010183e+01, 1.67619137e+01,
 -4.03283169e-02, 3.85671201e-01,-6.43793863e+00, 2.19346906e+01,
 -3.93462377e-01, 1.38026796e+00, 5.97562697e-01, 1.86812527e+00,
 -2.93640228e+01, 6.56918210e+01]

qfrc_actuator:
[ 2.35221943e-03, 2.75229141e-02, 8.64817463e-03, 1.68663022e-03,
 -5.18230169e-05, 2.76707372e-02, 8.76646989e-03, 1.68056037e-03,
 -2.34574056e-03, 2.76081778e-02, 8.65728583e-03, 1.71479768e-03,
  0.00000000e+00,-1.36637669e-03, 0.00000000e+00,-7.35572808e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010874511598365638
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02094059e-13,  5.10470293e-14,  1.00000000e+00, -5.21159840e-27,
        1.00000000e+00, -5.10470293e-14, -1.00000000e+00,  0.00000000e+00,
        1.02094059e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02085497, -0.07913731,  0.06189781])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.59039996e-06, 9.00012936e-07,-3.31109229e-05,-1.75123180e-05,
  4.03910071e-05,-1.35479747e-05, 2.56466979e-05,-2.35097663e-05,
  2.16437371e-05, 7.16687552e-05,-2.29818505e-05, 1.48528764e-05,
  3.27797661e-03, 4.95015711e-05,-2.88783478e-06, 1.05174472e-04,
  4.32961575e-04, 5.36880377e-04,-1.21649321e+00,-6.15233714e-05,
  7.65606978e-03, 1.78232788e-03]


--- Step 2244 ---
qpos:
[-2.47496287e-03, 8.65560831e-01,-2.36916435e-02, 4.24960551e-04,
 -2.91194218e-03, 8.61587363e-01,-2.70372715e-02, 3.14953307e-03,
 -1.18210611e-03, 8.70487784e-01,-1.91831756e-02,-2.13056307e-02,
  1.39623447e+00, 1.84967096e-02, 1.39055265e+00, 2.41903109e-02,
  4.08026760e-03,-5.79424438e-02, 8.03866199e-02, 7.04349333e-01,
 -4.40319232e-02,-7.06194000e-01,-5.69494639e-02]

qacc:
[-1.43625364e-01, 1.12616494e+00, 1.85765717e+00,-1.85406883e+01,
  3.82508911e-01,-1.71848004e+00, 8.25254410e+00,-1.87886208e+01,
 -9.18170241e-02, 4.86525309e+00,-1.79377233e+01, 2.76324429e+01,
 -4.83662447e-02, 2.11033011e-01, 3.71098064e+00,-1.24352644e+01,
 -3.74153692e-01, 1.30185558e+00, 1.20372774e-01, 1.69354562e+00,
 -2.80168801e+01, 6.29886563e+01]

qfrc_actuator:
[ 2.33032182e-03, 2.76139742e-02, 8.62946089e-03, 1.64026988e-03,
 -1.91102921e-06, 2.76400042e-02, 8.76027390e-03, 1.64764134e-03,
 -2.37280164e-03, 2.76474451e-02, 8.60689854e-03, 1.73980918e-03,
  0.00000000e+00,-1.36595940e-03, 0.00000000e+00,-7.98112788e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.58847909,  0.90818707, -8.58847909,  9.19851955,
        5.3161562 ,  0.90818707,  5.3161562 , 58.90981261,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010698753024603047
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.18856273e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.18856273e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02086331, -0.07915625,  0.06189932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.59998143e-05, 8.38857302e-05,-2.32410569e-05,-4.78151033e-05,
  6.90788649e-05,-3.41978609e-05,-6.72194183e-06,-3.30851577e-05,
 -1.66869571e-05, 7.51945919e-05,-3.79113992e-05, 2.75694888e-05,
  3.27296430e-03, 2.32027545e-05, 9.58735339e-06,-5.72467418e-05,
  3.94120712e-04, 6.00206350e-04,-1.21650249e+00,-4.44467111e-05,
  7.65753647e-03, 1.78265591e-03]


--- Step 2245 ---
qpos:
[-2.47630518e-03, 8.65565834e-01,-2.36925510e-02, 4.24049658e-04,
 -2.91216491e-03, 8.61593728e-01,-2.70358925e-02, 3.14977338e-03,
 -1.18169982e-03, 8.70490665e-01,-1.91847650e-02,-2.13026946e-02,
  1.39623562e+00, 1.84969868e-02, 1.39063351e+00, 2.41884705e-02,
  4.10323667e-03,-5.78956274e-02, 8.03814513e-02, 7.04704627e-01,
 -4.49800876e-02,-7.05851874e-01,-5.60474131e-02]

qacc:
[-2.34753351e-01,-2.06812165e+00, 1.17124866e+01,-2.77402351e+01,
  2.47654743e-01, 2.27238425e+00,-8.67346669e+00, 1.06604811e+01,
 -1.32121601e-01,-1.15999063e+00, 1.44876787e+00, 7.80677502e+00,
 -6.04157660e-02, 3.63803545e-02, 7.68276578e+00,-2.63162110e+01,
 -3.58173819e-01, 1.23812466e+00,-2.78817961e-01, 1.53916676e+00,
 -2.69026512e+01, 6.07737997e+01]

qfrc_actuator:
[ 2.29995189e-03, 2.76129436e-02, 8.63687008e-03, 1.59530437e-03,
  1.01254683e-05, 2.76013107e-02, 8.70235042e-03, 1.64592278e-03,
 -2.38919795e-03, 2.76338459e-02, 8.64924366e-03, 1.77133680e-03,
  0.00000000e+00,-1.38372088e-03, 0.00000000e+00,-9.23966175e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.56730775,  1.08996087, -8.56730775,  9.58838432,
        7.48307065,  1.08996087,  7.48307065, 67.4547772 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010444626619877176
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.31480476e-14, -5.31480476e-14,  1.00000000e+00,  2.82471496e-27,
        1.00000000e+00,  5.31480476e-14, -1.00000000e+00,  0.00000000e+00,
        5.31480476e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0208755 , -0.07918298,  0.06190153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.27622522e-05, 3.89243906e-05, 2.01889640e-05,-4.31121058e-05,
  4.48161336e-05,-6.07905158e-05,-6.70316077e-05,-4.07521033e-06,
 -2.43711043e-05, 2.17438668e-05, 5.41513056e-05, 3.39675933e-05,
  3.26254998e-03,-3.66503333e-06,-4.04185186e-06,-1.28302817e-04,
  3.58786566e-04, 6.55419677e-04,-1.21651245e+00,-2.81421269e-05,
  7.65878127e-03, 1.78279223e-03]


--- Step 2246 ---
qpos:
[-2.47767167e-03, 8.65571204e-01,-2.36936860e-02, 4.22974805e-04,
 -2.91227677e-03, 8.61599848e-01,-2.70356162e-02, 3.15138445e-03,
 -1.18114768e-03, 8.70493607e-01,-1.91855184e-02,-2.12997650e-02,
  1.39623667e+00, 1.84974039e-02, 1.39071406e+00, 2.41874808e-02,
  4.12482571e-03,-5.78440661e-02, 8.03738335e-02, 7.05028496e-01,
 -4.60123476e-02,-7.05539737e-01,-5.50578154e-02]

qacc:
[-1.29618763e-02, 7.81046944e-01,-1.39176641e+00,-1.35000005e+00,
  5.78708367e-02, 5.57284510e+00,-2.61324118e+01, 5.18077442e+01,
  7.66659545e-02,-2.26904445e+00, 8.23272810e+00,-9.72489687e+00,
 -6.87682005e-02, 1.27598277e-01,-3.02929417e+00, 9.94731427e+00,
 -3.45009188e-01, 1.18623494e+00,-6.12297382e-01, 1.39998203e+00,
 -2.59830624e+01, 5.89717856e+01]

qfrc_actuator:
[ 2.31804069e-03, 2.76278984e-02, 8.62379211e-03, 1.58697773e-03,
 -5.98813583e-07, 2.75934544e-02, 8.64984500e-03, 1.71579490e-03,
 -2.36354053e-03, 2.76423231e-02, 8.69253736e-03, 1.77096030e-03,
  0.00000000e+00,-1.37667773e-03, 0.00000000e+00,-8.73026630e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.53433893,  1.32356939, -8.53433893, 10.2548615 ,
       10.43602957,  1.32356939, 10.43602957, 75.92759449,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010130462344692254
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09592533e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.09592533e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0208906 , -0.07921571,  0.06190428])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.30134189e-06, 3.89307413e-05,-4.07291858e-06,-6.80370395e-06,
  1.05380323e-05,-5.60255173e-05,-7.35226610e-05, 6.48556861e-05,
  1.39966906e-05, 3.32111048e-05, 5.56163471e-05, 3.08374417e-06,
  3.25601918e-03, 8.25310079e-06,-1.80193074e-05, 4.28401323e-05,
  3.26424837e-04, 7.03649767e-04,-1.21652314e+00,-1.23485089e-05,
  7.65985613e-03, 1.78275828e-03]


--- Step 2247 ---
qpos:
[-2.47893038e-03, 8.65577040e-01,-2.36947783e-02, 4.22121774e-04,
 -2.91277696e-03, 8.61605560e-01,-2.70353864e-02, 3.15342151e-03,
 -1.18055353e-03, 8.70497148e-01,-1.91870260e-02,-2.12971668e-02,
  1.39623744e+00, 1.84977946e-02, 1.39079438e+00, 2.41880805e-02,
  4.14507796e-03,-5.77879295e-02, 8.03626529e-02, 7.05321525e-01,
 -4.71266433e-02,-7.05256320e-01,-5.39828656e-02]

qacc:
[ 5.63930143e-02, 9.52891606e-01,-3.44035826e+00, 6.86898327e+00,
 -2.04420457e-01, 4.67819996e-01,-4.24786202e+00, 1.19946615e+01,
  2.12459504e-02, 2.21631391e+00,-5.35653918e+00, 3.92658187e-01,
 -6.10834662e-02,-2.48187491e-02,-5.16230423e+00, 1.75531383e+01,
 -3.34197073e-01, 1.14382632e+00,-8.90708503e-01, 1.27196208e+00,
 -2.52257132e+01, 5.75179362e+01]

qfrc_actuator:
[ 2.32945508e-03, 2.76700092e-02, 8.63428848e-03, 1.60026269e-03,
 -4.25604268e-05, 2.75864403e-02, 8.65439817e-03, 1.73849865e-03,
 -2.36620707e-03, 2.76639492e-02, 8.64730281e-03, 1.75181380e-03,
  0.00000000e+00,-1.39045521e-03, 0.00000000e+00,-7.89319639e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.62687638, -8.4811781 ,  1.5788015 , -8.4811781 , 11.21002598,
       13.87644479,  1.5788015 , 13.87644479, 83.16987625,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009771451520594054
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13619049e-13, -5.68095243e-14,  1.00000000e+00,  6.45464410e-27,
        1.00000000e+00,  5.68095243e-14, -1.00000000e+00,  0.00000000e+00,
        1.13619049e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02090788, -0.07925295,  0.06190745])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03120087e-05, 6.26331219e-05, 1.77689086e-05, 1.46746713e-05,
 -3.69673535e-05,-5.08982550e-05,-1.38848659e-05, 1.90090196e-05,
  4.04341790e-06, 5.17496402e-05,-3.14393731e-05,-1.57479664e-05,
  3.26100116e-03,-1.25044655e-05,-4.22070514e-06, 8.36265063e-05,
  2.96611273e-04, 7.45776873e-04,-1.21653461e+00, 3.12059470e-06,
  7.66080123e-03, 1.78257050e-03]


--- Step 2248 ---
qpos:
[-2.48024731e-03, 8.65583235e-01,-2.36959810e-02, 4.21458371e-04,
 -2.91409471e-03, 8.61611438e-01,-2.70355646e-02, 3.15393852e-03,
 -1.18051377e-03, 8.70501253e-01,-1.91901444e-02,-2.12957889e-02,
  1.39623761e+00, 1.84975952e-02, 1.39087462e+00, 2.41900021e-02,
  4.15928276e-03,-5.77291704e-02, 8.03496811e-02, 7.05497429e-01,
 -4.82766768e-02,-7.05087079e-01,-5.28673058e-02]

qacc:
[-3.07164275e-02, 1.17391864e+00,-4.29645291e+00, 7.49116310e+00,
 -4.31062877e-01,-1.76932282e+00, 1.30434992e+01,-3.88220886e+01,
 -2.90762544e-01, 2.73165262e+00,-3.51558999e+00,-1.54243889e+01,
 -3.61271295e-02,-4.70281588e-01,-4.12727802e+00, 1.42445697e+01,
 -1.51186296e+00, 6.55634337e-01,-4.47802794e-01, 2.03884924e+00,
 -8.34881856e+01, 2.10720110e+01]

qfrc_actuator:
[ 0.00231899, 0.02767491, 0.00862324, 0.00160844,-0.00010281, 0.0276157 ,
  0.00863931, 0.00166229,-0.00242133, 0.0276574 , 0.00855021, 0.00168623,
  0.        ,-0.00145212, 0.        ,-0.00072254, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009635822378205594
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.76091475e-14,  5.76091475e-14,  1.00000000e+00, -3.31881387e-27,
        1.00000000e+00, -5.76091475e-14, -1.00000000e+00,  0.00000000e+00,
        5.76091475e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04935477, -0.06977356,  0.06190859])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.55317756e-06, 4.40967741e-05, 4.55405186e-06, 1.17568788e-05,
 -7.77998050e-05,-1.40418891e-06,-2.66992028e-05,-7.85139034e-05,
 -5.31714193e-05, 1.51429437e-05,-9.08457363e-05,-6.47725983e-05,
  3.27481416e-03,-7.28380203e-05, 5.80998641e-06, 7.05575823e-05,
  2.69008585e-04, 7.82486673e-04,-1.21654691e+00, 1.83962127e-05,
  7.66164854e-03, 1.78224153e-03]


--- Step 2249 ---
qpos:
[-2.48183767e-03, 8.65589688e-01,-2.36981005e-02, 4.21313688e-04,
 -2.91579655e-03, 8.61617627e-01,-2.70366065e-02, 3.15320551e-03,
 -1.18126586e-03, 8.70505658e-01,-1.91943914e-02,-2.12952059e-02,
  1.39623789e+00, 1.84976559e-02, 1.39095490e+00, 2.41923730e-02,
  4.16779550e-03,-5.76679815e-02, 8.03328640e-02, 7.05562447e-01,
 -4.94610887e-02,-7.05025514e-01,-5.17132320e-02]

qacc:
[-1.44024212e-01, 3.96662408e+00,-1.58421595e+01, 2.61003661e+01,
 -2.03057364e-01, 2.50673995e-01, 4.97975115e+00,-2.54607857e+01,
 -4.14344370e-01, 1.91117463e+00,-2.89039071e+00,-9.26970531e+00,
 -1.91049347e-02, 2.04897067e-01,-1.31117624e+00, 4.66570328e+00,
 -1.42301207e+00, 6.07426533e-01,-9.61304023e-01, 1.62058847e+00,
 -7.89134130e+01, 2.01753576e+01]

qfrc_actuator:
[ 0.00229552, 0.0276574 , 0.00856391, 0.00163125,-0.00010244, 0.0276308 ,
  0.00859507, 0.00159951,-0.00247184, 0.02766924, 0.00849416, 0.00164706,
  0.        ,-0.00138217, 0.        ,-0.00070178, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.62043139, -8.62012883,  0.07222455, -8.62012883,  8.62250684,
        0.2477075 ,  0.07222455,  0.2477075 , 38.18476164,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009703721129365739
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.14412091e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.14412091e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04934101, -0.06977056,  0.06190789])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.61241322e-05, 8.46079217e-06,-4.92985025e-05, 2.50808257e-05,
 -3.65483193e-05, 5.29137066e-06,-5.05821400e-05,-6.52950928e-05,
 -7.59532165e-05,-1.30781962e-06,-6.63577048e-05,-4.29304883e-05,
  3.30486673e-03, 2.66374194e-05, 7.74163235e-06, 2.48256148e-05,
  1.42671464e-04, 6.22770196e-04,-1.21654941e+00,-8.51659640e-06,
  7.66046985e-03, 1.78300204e-03]


--- Step 2250 ---
qpos:
[-2.48406904e-03, 8.65596154e-01,-2.37002548e-02, 4.21068912e-04,
 -2.91710908e-03, 8.61623935e-01,-2.70381962e-02, 3.15207389e-03,
 -1.18214958e-03, 8.70510137e-01,-1.91987712e-02,-2.12944469e-02,
  1.39623862e+00, 1.84983809e-02, 1.39103522e+00, 2.41946440e-02,
  4.17091311e-03,-5.76045222e-02, 8.03104701e-02, 7.05521699e-01,
 -5.06787767e-02,-7.05066155e-01,-5.05223834e-02]

qacc:
[-3.36182673e-01,-9.05171696e-02, 7.71762717e-01,-2.45877405e+00,
  2.04662092e-01, 8.66676514e-01,-1.17963639e+00,-4.92926506e+00,
 -6.88417722e-02, 8.31015833e-01,-3.56309198e+00, 6.76374768e+00,
 -3.60575213e-02, 5.46320112e-01, 3.93839424e-01,-1.22604077e+00,
 -1.34878657e+00, 5.67625040e-01,-1.39422200e+00, 1.25144050e+00,
 -7.51100348e+01, 1.94414152e+01]

qfrc_actuator:
[ 2.24673278e-03, 2.76619156e-02, 8.56520942e-03, 1.62693447e-03,
 -4.80430523e-05, 2.76372002e-02, 8.56946424e-03, 1.58064444e-03,
 -2.44810723e-03, 2.76921509e-02, 8.49841857e-03, 1.65930336e-03,
  0.00000000e+00,-1.32262661e-03, 0.00000000e+00,-7.08297923e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.61421176, -8.61390813,  0.07232555, -8.61390813,  8.61644736,
        0.26625857,  0.07232555,  0.26625857, 40.32537013,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009650524767943064
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.03312084e-14, -5.75213810e-14,  1.00000000e+00,  2.89512062e-27,
        1.00000000e+00,  5.75213810e-14, -1.00000000e+00,  0.00000000e+00,
        5.03312084e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04934928, -0.06977436,  0.06190828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.12518243e-05, 1.04376040e-09,-2.18935262e-06,-5.18031333e-06,
  3.70498165e-05,-4.02850351e-06,-3.30477269e-05,-2.16699391e-05,
 -1.26256733e-05, 6.55918628e-06,-5.67659576e-06, 9.05801116e-06,
  3.29887140e-03, 7.31938625e-05, 4.59602416e-06,-4.55237727e-06,
  5.91930462e-05, 4.57300266e-04,-1.21655297e+00,-3.40545043e-05,
  7.65975191e-03, 1.78350729e-03]


--- Step 2251 ---
qpos:
[-2.48652773e-03, 8.65603283e-01,-2.37026402e-02, 4.19667367e-04,
 -2.91770419e-03, 8.61629930e-01,-2.70399586e-02, 3.15109972e-03,
 -1.18257320e-03, 8.70514585e-01,-1.92024882e-02,-2.12939358e-02,
  1.39623929e+00, 1.84993812e-02, 1.39111535e+00, 2.41984996e-02,
  4.16618616e-03,-5.75443759e-02, 8.02903941e-02, 7.05340188e-01,
 -5.18147790e-02,-7.05243490e-01,-4.94172796e-02]

qacc:
[-1.19637679e-01,-8.60106962e-01, 9.22041721e+00,-2.93578939e+01,
  3.77915688e-01, 3.91858528e-01,-2.66329083e+00, 5.89581441e+00,
  2.40680375e-01,-2.40264507e+00, 9.55259053e+00,-1.48756037e+01,
 -5.31504567e-02, 2.05635569e-01,-5.07280558e+00, 1.73557336e+01,
 -1.96113673e+00,-8.28269675e-01, 5.79488206e-01,-1.52611585e+00,
 -9.36074008e+01,-6.60639573e+01]

qfrc_actuator:
[ 2.25424295e-03, 2.77330395e-02, 8.56687274e-03, 1.57124315e-03,
  2.63688092e-06, 2.76029396e-02, 8.55506341e-03, 1.58776769e-03,
 -2.39793218e-03, 2.77040643e-02, 8.53830857e-03, 1.64848949e-03,
  0.00000000e+00,-1.34084744e-03, 0.00000000e+00,-6.24293558e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000952740350162587
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.91323608e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.91323608e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0529272 , -0.04435512,  0.06190929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.17022694e-05, 7.03114902e-05, 1.18343132e-06,-5.58728383e-05,
  6.82638595e-05,-4.43989607e-05,-2.00908820e-05, 5.37897968e-06,
  4.41376613e-05, 1.47206024e-05, 4.08564260e-05,-1.05543689e-05,
  3.27673553e-03, 2.17674729e-05, 5.16146213e-07, 8.40540776e-05,
  1.21161423e-05, 2.86557300e-04,-1.21655742e+00,-5.84047471e-05,
  7.65946889e-03, 1.78385690e-03]


--- Step 2252 ---
qpos:
[-2.48885025e-03, 8.65610992e-01,-2.37047374e-02, 4.17237435e-04,
 -2.91782778e-03, 8.61635288e-01,-2.70414879e-02, 3.15092298e-03,
 -1.18301899e-03, 8.70519138e-01,-1.92056800e-02,-2.12946025e-02,
  1.39623983e+00, 1.84999839e-02, 1.39119580e+00, 2.42006454e-02,
  4.15423648e-03,-5.74873155e-02, 8.02696409e-02, 7.05028443e-01,
 -5.28757386e-02,-7.05547530e-01,-4.83914734e-02]

qacc:
[ 7.13242948e-02,-2.15415332e+00, 1.31353640e+01,-3.18220262e+01,
  2.48794202e-01, 1.48027217e-01,-5.11665268e+00, 1.90142085e+01,
 -1.13361785e-02,-3.75561616e+00, 1.85525016e+01,-3.98342351e+01,
 -4.57815922e-02,-2.24594349e-01, 5.64265261e+00,-1.90658651e+01,
 -1.80568556e+00,-7.71459741e-01,-1.69298962e-01,-1.74007536e+00,
 -8.67003349e+01,-6.09281465e+01]

qfrc_actuator:
[ 2.27762154e-03, 2.77724646e-02, 8.58671612e-03, 1.52133041e-03,
  1.50998014e-05, 2.75624205e-02, 8.56498407e-03, 1.62784210e-03,
 -2.42119167e-03, 2.77094510e-02, 8.56333154e-03, 1.58868753e-03,
  0.00000000e+00,-1.38785045e-03, 0.00000000e+00,-7.18405016e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.81097573,  -3.68448572,  -7.81097573,
        15.31285605, -14.15392111,  -3.68448572, -14.15392111,
        38.64216165,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0010028250094243074
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.76773867e-14, -5.53547735e-14,  1.00000000e+00,  1.53207547e-27,
        1.00000000e+00,  5.53547735e-14, -1.00000000e+00,  0.00000000e+00,
        2.76773867e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05282547, -0.04438661,  0.06190466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30289311e-05, 7.64470126e-05, 3.25438567e-05,-4.79518580e-05,
  4.48555106e-05,-6.93846286e-05,-1.57109278e-06, 3.75757654e-05,
 -2.12063157e-06, 2.15316035e-05, 3.27233351e-05,-5.79660128e-05,
  3.27915736e-03,-3.89995181e-05, 8.22054186e-06,-8.96890336e-05,
  1.69615986e-06,-2.56508147e-06,-1.21654964e+00,-8.70223223e-05,
  7.66048762e-03, 1.78499290e-03]


--- Step 2253 ---
qpos:
[-2.49113805e-03, 8.65618989e-01,-2.37065219e-02, 4.15299871e-04,
 -2.91802470e-03, 8.61640447e-01,-2.70424615e-02, 3.15045745e-03,
 -1.18417386e-03, 8.70523224e-01,-1.92080085e-02,-2.12955848e-02,
  1.39623997e+00, 1.84997939e-02, 1.39127638e+00, 2.42009970e-02,
  4.13558228e-03,-5.74331514e-02, 8.02456790e-02, 7.04595144e-01,
 -5.38671705e-02,-7.05969898e-01,-4.74395818e-02]

qacc:
[ 1.83337723e-02, 5.19493036e-01,-3.37929763e+00, 1.11887937e+01,
 -3.82218112e-02,-2.40702429e+00, 9.42314300e+00,-1.51674489e+01,
 -3.69592960e-01,-3.67815726e+00, 1.35498651e+01,-2.00452003e+01,
 -3.12383000e-02,-5.44473766e-01, 5.62253952e+00,-1.94056127e+01,
 -1.67612661e+00,-7.24103014e-01,-8.02172519e-01,-1.91620713e+00,
 -8.09568204e+01,-5.66529730e+01]

qfrc_actuator:
[ 2.27474339e-03, 2.77749348e-02, 8.59928818e-03, 1.54622966e-03,
 -1.31611854e-05, 2.75896064e-02, 8.60691364e-03, 1.61597372e-03,
 -2.48821364e-03, 2.76575415e-02, 8.59705968e-03, 1.57153236e-03,
  0.00000000e+00,-1.45156008e-03, 0.00000000e+00,-8.10209534e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.77556094,  -3.75864722,  -7.77556094,
        16.05185907, -15.34052899,  -3.75864722, -15.34052899,
        40.37150955,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0010315495556003085
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.69066818e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.69066818e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05276676, -0.04440486,  0.06190198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.32870701e-06, 4.97286774e-05, 3.06716931e-05, 2.83622532e-05,
 -6.98163457e-06,-1.04376257e-05, 2.86761678e-05,-1.41698820e-05,
 -6.80270581e-05,-3.56758225e-05, 4.01899919e-05,-1.62308526e-05,
  3.28562002e-03,-8.28246263e-05,-9.03642832e-06,-9.63939187e-05,
  5.39031278e-05,-2.38718011e-04,-1.21654439e+00,-1.04190322e-04,
  7.66152653e-03, 1.78646567e-03]


--- Step 2254 ---
qpos:
[-2.49323229e-03, 8.65627055e-01,-2.37083154e-02, 4.14417282e-04,
 -2.91843348e-03, 8.61646058e-01,-2.70434512e-02, 3.14877212e-03,
 -1.18570782e-03, 8.70526439e-01,-1.92099384e-02,-2.12963341e-02,
  1.39624034e+00, 1.85002153e-02, 1.39135659e+00, 2.42025766e-02,
  4.11862604e-03,-5.73863499e-02, 8.02421834e-02, 7.04206299e-01,
 -5.47280258e-02,-7.06346434e-01,-4.66159638e-02]

qacc:
[ 1.01522531e-01, 2.28658701e+00,-1.24756847e+01, 3.06992662e+01,
 -1.11835286e-01,-1.86850926e+00, 1.26773269e+01,-3.40961238e+01,
 -1.97392764e-01,-1.78532043e+00, 3.71327008e+00, 3.16377318e-01,
 -2.87549049e-02, 4.55037069e-01,-4.24297513e+00, 1.40951403e+01,
  4.24486997e-01,-1.84062392e+00, 5.11655520e+00, 8.33289610e-01,
  3.83903577e+01,-8.89932693e+01]

qfrc_actuator:
[ 2.29166340e-03, 2.77552930e-02, 8.58960487e-03, 1.59715408e-03,
 -2.99950085e-05, 2.76394784e-02, 8.61437469e-03, 1.55595428e-03,
 -2.49203416e-03, 2.75717832e-02, 8.59995733e-03, 1.57957416e-03,
  0.00000000e+00,-1.34721326e-03, 0.00000000e+00,-7.40088045e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010616036591250544
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.04579804e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.04579804e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00117905, -0.03621697,  0.06189917])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.84971729e-05, 1.55474535e-05, 5.30338975e-06, 5.46620776e-05,
 -2.01487769e-05, 4.92348496e-05, 8.31578238e-06,-5.97554264e-05,
 -3.63862688e-05,-9.81895123e-05,-9.30715224e-08, 7.58891453e-06,
  3.30555974e-03, 6.11764695e-05,-1.73670606e-05, 6.30456217e-05,
  1.56286696e-04,-4.32013288e-04,-1.21654114e+00,-1.12264964e-04,
  7.66250579e-03, 1.78828865e-03]


--- Step 2255 ---
qpos:
[-2.49493464e-03, 8.65634335e-01,-2.37091546e-02, 4.13159833e-04,
 -2.91867279e-03, 8.61652069e-01,-2.70444326e-02, 3.14742079e-03,
 -1.18688292e-03, 8.70528038e-01,-1.92111712e-02,-2.12958685e-02,
  1.39624135e+00, 1.85016523e-02, 1.39143676e+00, 2.42042754e-02,
  4.10325429e-03,-5.73462417e-02, 8.02544712e-02, 7.03858568e-01,
 -5.54690377e-02,-7.06681373e-01,-4.59101162e-02]

qacc:
[ 2.06358425e-01,-4.47203714e+00, 1.60253011e+01,-2.34661017e+01,
  8.91495315e-02, 1.19318457e+00,-4.89606459e+00, 1.03695686e+01,
  1.88440100e-01,-1.57786850e+00,-2.58838887e+00, 2.36655219e+01,
 -5.48230291e-02, 8.24647073e-01,-4.07288879e-01, 1.38659447e+00,
  3.96125275e-01,-1.67332906e+00, 3.94586456e+00, 7.59445362e-01,
  3.51830144e+01,-8.16962868e+01]

qfrc_actuator:
[ 2.32028961e-03, 2.76692303e-02, 8.62002297e-03, 1.57417089e-03,
 -4.29941244e-06, 2.76668869e-02, 8.61925693e-03, 1.57460652e-03,
 -2.44022754e-03, 2.74485549e-02, 8.61998129e-03, 1.63781710e-03,
  0.00000000e+00,-1.26738789e-03, 0.00000000e+00,-7.34888928e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001122922377794558
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.94345400e-14, -9.88690801e-14,  1.00000000e+00,  4.88754750e-27,
        1.00000000e+00,  9.88690801e-14, -1.00000000e+00,  0.00000000e+00,
        4.94345400e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00120704, -0.03627492,  0.06189366])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.74302273e-05,-7.41014439e-05, 3.61277204e-05,-2.10777605e-05,
  1.61397515e-05, 5.39705845e-05, 1.39730244e-05, 1.98818402e-05,
  3.43798417e-05,-1.77895085e-04,-1.23237338e-08, 5.41834833e-05,
  3.29361323e-03, 1.10447420e-04,-9.48584959e-07, 6.46254266e-06,
  1.28094840e-04,-3.41295391e-04,-1.21651781e+00,-5.01591104e-05,
  7.65779360e-03, 1.78590723e-03]


--- Step 2256 ---
qpos:
[-2.49626596e-03, 8.65641057e-01,-2.37093385e-02, 4.11629525e-04,
 -2.91866972e-03, 8.61658345e-01,-2.70450142e-02, 3.14629320e-03,
 -1.18755961e-03, 8.70528369e-01,-1.92116410e-02,-2.12947573e-02,
  1.39624253e+00, 1.85034285e-02, 1.39151695e+00, 2.42056849e-02,
  4.08937082e-03,-5.73122775e-02, 8.02786237e-02, 7.03549181e-01,
 -5.60990477e-02,-7.06978178e-01,-4.53133795e-02]

qacc:
[  0.19515936, -3.13001902, 11.24112805,-16.60306662,  0.12785006,
  -0.30710463,  0.6571273 ,  2.38099378,  0.26121715, -2.47769011,
   3.68084646,  7.19527301, -0.08317446,  0.33100041,  0.93511257,
  -3.16907399,  0.37206726, -1.53600317,  2.96618047,  0.69957123,
  32.54263047,-75.68309596]

qfrc_actuator:
[ 2.33791114e-03, 2.76506564e-02, 8.65578964e-03, 1.56110887e-03,
  1.11119878e-05, 2.76806868e-02, 8.64032645e-03, 1.58613800e-03,
 -2.40888884e-03, 2.74104522e-02, 8.66757581e-03, 1.67184770e-03,
  0.00000000e+00,-1.29168732e-03, 0.00000000e+00,-7.50273192e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011603737549224363
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.56780537e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.56780537e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00122378, -0.03630885,  0.0618904 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.54425154e-05,-5.36077672e-05, 2.41358828e-05,-1.54043966e-05,
  2.30776244e-05, 4.75842613e-05, 3.45875612e-05, 1.47082522e-05,
  4.77781878e-05,-1.35287567e-04, 1.27244964e-05, 2.74676282e-05,
  3.26183094e-03, 3.53630901e-05,-8.06365441e-08,-1.52770954e-05,
  1.04723901e-04,-2.67080109e-04,-1.21649928e+00, 9.31895389e-07,
  7.65386476e-03, 1.78390203e-03]


--- Step 2257 ---
qpos:
[-2.49749245e-03, 8.65647504e-01,-2.37097827e-02, 4.10671955e-04,
 -2.91845593e-03, 8.61664739e-01,-2.70451808e-02, 3.14429424e-03,
 -1.18798739e-03, 8.70528962e-01,-1.92127203e-02,-2.12940407e-02,
  1.39624365e+00, 1.85052609e-02, 1.39159714e+00, 2.42068981e-02,
  4.07689464e-03,-5.72840079e-02, 8.03113655e-02, 7.03275831e-01,
 -5.66253447e-02,-7.07239682e-01,-4.48186084e-02]

qacc:
[ 5.49277691e-02, 1.54326040e+00,-8.44638004e+00, 1.89774326e+01,
  1.11158691e-01,-2.79355401e+00, 1.38686762e+01,-2.97034640e+01,
  1.29482969e-01, 1.23553525e+00,-2.23965923e+00,-3.80341410e+00,
 -9.08017272e-02, 1.12764308e-01, 5.90700366e-01,-2.06224668e+00,
  3.51824880e-01,-1.42364596e+00, 2.14731683e+00, 6.50917979e-01,
  3.03669148e+01,-7.07236585e+01]

qfrc_actuator:
[ 2.33104132e-03, 2.76371590e-02, 8.64142473e-03, 1.58955276e-03,
  2.02121627e-05, 2.76685455e-02, 8.65296092e-03, 1.54011579e-03,
 -2.40786663e-03, 2.74947354e-02, 8.66035744e-03, 1.65592887e-03,
  0.00000000e+00,-1.30718101e-03, 0.00000000e+00,-7.59894016e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001178508581777593
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.35514412e-14,  4.71028825e-14,  1.00000000e+00, -1.10934077e-27,
        1.00000000e+00, -4.71028825e-14, -1.00000000e+00,  0.00000000e+00,
        2.35514412e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00123153, -0.03632362,  0.06188892])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00070064e-05,-3.92977135e-05,-2.30447190e-05, 2.66750478e-05,
  2.00582210e-05, 2.20988446e-05, 2.71887360e-05,-4.25076702e-05,
  2.38796735e-05, 1.24358258e-05,-3.26415548e-05,-2.07375727e-05,
  3.25320775e-03, 2.89134984e-06,-3.15733054e-06,-1.08243546e-05,
  8.52025408e-05,-2.06046753e-04,-1.21648449e+00, 4.28841035e-05,
  7.65056794e-03, 1.78221273e-03]


--- Step 2258 ---
qpos:
[-2.49833599e-03, 8.65652955e-01,-2.37103788e-02, 4.10839615e-04,
 -2.91808685e-03, 8.61670661e-01,-2.70443686e-02, 3.14248773e-03,
 -1.18828945e-03, 8.70529862e-01,-1.92134863e-02,-2.12932470e-02,
  1.39624442e+00, 1.85067157e-02, 1.39167730e+00, 2.42079819e-02,
  4.06575821e-03,-5.72610666e-02, 8.03499625e-02, 7.03036602e-01,
 -5.70539379e-02,-7.07468202e-01,-4.44199067e-02]

qacc:
[ 2.01121401e-01, 1.42399309e+00,-1.17379227e+01, 3.21881376e+01,
  8.26002648e-02,-2.95918402e+00, 8.83663788e+00,-6.72872981e+00,
  6.57437835e-02,-3.10361442e-01, 1.36978830e+00,-7.60724878e-01,
 -8.20463113e-02,-2.32993787e-01, 3.61340748e-01,-1.30894273e+00,
  3.34934423e-01,-1.33207238e+00, 1.46381080e+00, 6.11169213e-01,
  2.85737276e+01,-6.66331779e+01]

qfrc_actuator:
[ 2.36285241e-03, 2.75378829e-02, 8.61538696e-03, 1.64216374e-03,
  2.54603309e-05, 2.76231264e-02, 8.69586458e-03, 1.54933012e-03,
 -2.40723153e-03, 2.75449109e-02, 8.69232904e-03, 1.66408043e-03,
  0.00000000e+00,-1.35274917e-03, 0.00000000e+00,-7.66033919e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011811214193016492
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.69986831e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.69986831e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00123216, -0.0363232 ,  0.06188888])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.65640475e-05,-1.25011777e-04,-3.61148409e-05, 5.06416185e-05,
  1.47710259e-05,-2.94140576e-05, 4.92996978e-05, 1.02678706e-05,
  1.20703937e-05, 4.94957060e-05, 2.98033250e-05, 7.14973542e-06,
  3.25570733e-03,-4.55047043e-05,-4.32259413e-06,-7.53210550e-06,
  6.87995954e-05,-1.55703985e-04,-1.21647267e+00, 7.71143088e-05,
  7.64779015e-03, 1.78079358e-03]


--- Step 2259 ---
qpos:
[-2.49842459e-03, 8.65657175e-01,-2.37111489e-02, 4.12360182e-04,
 -2.91798652e-03, 8.61675976e-01,-2.70429257e-02, 3.14153840e-03,
 -1.18834169e-03, 8.70530651e-01,-1.92133908e-02,-2.12926925e-02,
  1.39624471e+00, 1.85075345e-02, 1.39175748e+00, 2.42086425e-02,
  4.05590562e-03,-5.72431563e-02, 8.03921363e-02, 7.02829898e-01,
 -5.73897775e-02,-7.07665629e-01,-4.41124133e-02]

qacc:
[ 3.96267597e-01, 1.64431528e+00,-1.39338479e+01, 3.85319217e+01,
 -1.40895849e-01,-7.99164463e-01,-1.93316591e+00, 1.62051355e+01,
  1.31017628e-01,-3.04658857e+00, 1.16569756e+01,-1.70891839e+01,
 -5.83167911e-02,-4.42129309e-01, 1.29359204e+00,-4.51662440e+00,
  3.20962555e-01,-1.25777371e+00, 8.94183119e-01, 5.78373219e-01,
  2.70966466e+01,-6.32621467e+01]

qfrc_actuator:
[ 2.41755197e-03, 2.74589822e-02, 8.60009395e-03, 1.70849340e-03,
 -7.13684247e-06, 2.75760364e-02, 8.72069453e-03, 1.59097112e-03,
 -2.38905245e-03, 2.75212139e-02, 8.72938308e-03, 1.65085491e-03,
  0.00000000e+00,-1.39819799e-03, 0.00000000e+00,-7.87826460e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011713725569768782
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.36949171e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.36949171e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00122721, -0.03631085,  0.06188996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.21050254e-05,-1.54213375e-04,-4.38468530e-05, 6.07023013e-05,
 -2.55910644e-05,-5.30599146e-05, 2.51339878e-05, 4.22794441e-05,
  2.39647717e-05, 1.04253018e-05, 5.11919708e-05,-9.93761561e-06,
  3.27337712e-03,-7.20818602e-05,-5.00073441e-06,-2.32477091e-05,
  5.49610711e-05,-1.14171057e-04,-1.21646325e+00, 1.04699090e-04,
  7.64544639e-03, 1.77960962e-03]


--- Step 2260 ---
qpos:
[-2.49800015e-03, 8.65660524e-01,-2.37121528e-02, 4.13240575e-04,
 -2.91821796e-03, 8.61680837e-01,-2.70420107e-02, 3.14115699e-03,
 -1.18834710e-03, 8.70531722e-01,-1.92132329e-02,-2.12922955e-02,
  1.39624495e+00, 1.85082098e-02, 1.39183769e+00, 2.42083575e-02,
  4.04729107e-03,-5.72300373e-02, 8.04359913e-02, 7.02654391e-01,
 -5.76369346e-02,-7.07833506e-01,-4.38921276e-02]

qacc:
[ 2.69146684e-01,-1.81624213e+00, 7.50640209e+00,-1.75712354e+01,
 -1.74895702e-01, 2.04218687e+00,-1.05506953e+01, 2.15600993e+01,
  2.43935916e-02,-1.26608759e-01, 1.65471862e+00,-4.68428708e+00,
 -4.13247538e-02,-5.69012304e-02, 2.91912939e+00,-1.01289073e+01,
  3.09509900e-01,-1.19780505e+00, 4.20313167e-01, 5.50884949e-01,
  2.58816212e+01,-6.04888358e+01]

qfrc_actuator:
[ 2.43220154e-03, 2.74284446e-02, 8.59133049e-03, 1.67586069e-03,
 -2.65740288e-05, 2.75282685e-02, 8.68137908e-03, 1.61582115e-03,
 -2.39602662e-03, 2.75422521e-02, 8.73330774e-03, 1.64284133e-03,
  0.00000000e+00,-1.37215539e-03, 0.00000000e+00,-8.36417562e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011518900462054588
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.63827258e-14, -4.81913629e-14,  1.00000000e+00,  4.64481492e-27,
        1.00000000e+00,  4.81913629e-14, -1.00000000e+00,  0.00000000e+00,
        9.63827258e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0012179 , -0.03628921,  0.06189192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.89984333e-05,-1.23313757e-04,-4.39447526e-05,-3.95832849e-05,
 -3.15906196e-05,-7.05762349e-05,-4.57653542e-05, 2.42614765e-05,
  4.50155312e-06, 3.69970039e-05, 1.20317514e-05,-5.99178033e-06,
  3.29703650e-03,-1.42433087e-05,-7.33799555e-06,-5.10628976e-05,
  4.32649819e-05,-8.00212458e-05,-1.21645580e+00, 1.26460315e-04,
  7.64347213e-03, 1.77863396e-03]


--- Step 2261 ---
qpos:
[-2.49743007e-03, 8.65663085e-01,-2.37121691e-02, 4.12590565e-04,
 -2.91853992e-03, 8.61685661e-01,-2.70417421e-02, 3.14068620e-03,
 -1.18818893e-03, 8.70533375e-01,-1.92137052e-02,-2.12923335e-02,
  1.39624527e+00, 1.85089465e-02, 1.39191789e+00, 2.42071464e-02,
  4.03987737e-03,-5.72215171e-02, 8.04799540e-02, 7.02508973e-01,
 -5.77987477e-02,-7.07973079e-01,-4.37557663e-02]

qacc:
[ 7.71871681e-02,-6.94697904e+00, 2.97226387e+01,-5.72145972e+01,
 -4.80850332e-02, 1.57156503e+00,-5.29869227e+00, 4.81507247e+00,
  8.48007985e-02, 1.63369266e+00,-2.87508821e+00,-4.06713950e+00,
 -4.28202008e-02, 1.02082916e-01, 2.79560336e+00,-9.78528246e+00,
  3.00212645e-01,-1.14969307e+00, 2.69117523e-02, 5.27317006e-01,
  2.48844225e+01,-5.82135718e+01]

qfrc_actuator:
[ 2.42276106e-03, 2.74270585e-02, 8.65762479e-03, 1.60305512e-03,
 -2.01920712e-05, 2.75511937e-02, 8.65774048e-03, 1.61279034e-03,
 -2.38248444e-03, 2.75720304e-02, 8.70005673e-03, 1.62021625e-03,
  0.00000000e+00,-1.35671377e-03, 0.00000000e+00,-8.82643446e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011248551864646156
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.93495980e-14,  2.46747990e-14,  1.00000000e+00, -1.21769141e-27,
        1.00000000e+00, -2.46747990e-14, -1.00000000e+00,  0.00000000e+00,
        4.93495980e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00120527, -0.03626047,  0.06189455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38996598e-05,-8.11803583e-05, 3.40213945e-05,-8.03850934e-05,
 -8.62002903e-06,-2.50788048e-05,-4.30582617e-05,-7.17368773e-06,
  1.57040977e-05, 5.26678850e-05,-2.43458915e-05,-2.07440882e-05,
  3.29949232e-03, 8.38413946e-06,-1.07049132e-05,-5.03869754e-05,
  3.33886007e-05,-5.21684858e-05,-1.21645001e+00, 1.43027302e-04,
  7.64181790e-03, 1.77784576e-03]


--- Step 2262 ---
qpos:
[-2.49703896e-03, 8.65664951e-01,-2.37117339e-02, 4.11442566e-04,
 -2.91904939e-03, 8.61690827e-01,-2.70414409e-02, 3.13973989e-03,
 -1.18768416e-03, 8.70535049e-01,-1.92146415e-02,-2.12925808e-02,
  1.39624532e+00, 1.85093457e-02, 1.39199799e+00, 2.42057119e-02,
  4.03363465e-03,-5.72174423e-02, 8.05227209e-02, 7.02392720e-01,
 -5.78779448e-02,-7.08085351e-01,-4.37006464e-02]

qacc:
[-9.33440823e-02,-3.20290814e+00, 1.21913771e+01,-2.10238250e+01,
 -9.88878443e-02,-6.17152158e-01, 4.86482847e+00,-1.33993454e+01,
  1.80681127e-01, 8.92287852e-01,-2.26042359e+00,-6.30847656e-01,
 -3.94464585e-02,-2.31237755e-01, 5.28979668e-01,-2.06851370e+00,
  2.92742615e-01,-1.11135983e+00,-2.98923135e-01, 5.06498399e-01,
  2.40686818e+01,-5.63543358e+01]

qfrc_actuator:
[ 2.39902872e-03, 2.73901696e-02, 8.67906272e-03, 1.57830265e-03,
 -3.39324266e-05, 2.76162994e-02, 8.67934307e-03, 1.59346118e-03,
 -2.35676791e-03, 2.75356286e-02, 8.66292046e-03, 1.60691745e-03,
  0.00000000e+00,-1.40103832e-03, 0.00000000e+00,-8.91586228e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010920742362645064
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.5415466e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.5415466e-14, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00119014, -0.03622638,  0.06189769])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.71199090e-05,-7.87595755e-05, 6.06140380e-06,-2.86204053e-05,
 -1.78340405e-05, 4.17643084e-05, 1.08300859e-05,-2.20403863e-05,
  3.32450074e-05,-1.29001200e-05,-2.99855032e-05,-1.22925235e-05,
  3.29512246e-03,-3.90117918e-05,-1.17290641e-05,-1.34013260e-05,
  2.50844492e-05,-2.97844062e-05,-1.21644563e+00, 1.54882534e-04,
  7.64044525e-03, 1.77722875e-03]


--- Step 2263 ---
qpos:
[-2.49688293e-03, 8.65667099e-01,-2.37128603e-02, 4.10020827e-04,
 -2.91954460e-03, 8.61696236e-01,-2.70406043e-02, 3.13820009e-03,
 -1.18722698e-03, 8.70536698e-01,-1.92159798e-02,-2.12933285e-02,
  1.39624538e+00, 1.85095875e-02, 1.39207817e+00, 2.42028207e-02,
  4.02853914e-03,-5.72176918e-02, 8.05632156e-02, 7.02304856e-01,
 -5.78767425e-02,-7.08171118e-01,-4.37245873e-02]

qacc:
[-1.24361238e-01, 4.16881094e+00,-1.31707182e+01, 1.07279064e+01,
  7.72212357e-03,-2.39433943e+00, 1.15102744e+01,-2.28198138e+01,
 -2.51120662e-02, 6.01112199e-02, 1.84748115e+00,-9.83952583e+00,
 -2.94411579e-02,-6.15110525e-02, 4.53709446e+00,-1.56868483e+01,
  2.86806258e-01,-1.08105936e+00,-5.68080541e-01, 4.87439892e-01,
  2.34043667e+01,-5.48433448e+01]

qfrc_actuator:
[ 2.38474025e-03, 2.74209646e-02, 8.60271741e-03, 1.56420916e-03,
 -2.41077249e-05, 2.76353383e-02, 8.70991718e-03, 1.56477488e-03,
 -2.37725312e-03, 2.75308583e-02, 8.64129164e-03, 1.58141000e-03,
  0.00000000e+00,-1.39208493e-03, 0.00000000e+00,-9.67254601e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001055038631879987
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05230557e-13, -5.26152783e-14,  1.00000000e+00,  5.53673502e-27,
        1.00000000e+00,  5.26152783e-14, -1.00000000e+00,  0.00000000e+00,
        1.05230557e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00117319, -0.03618841,  0.0619012 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24638726e-05,-1.32689109e-05,-9.28718047e-05,-1.78161905e-05,
  1.36559105e-06, 4.35581463e-05, 3.97293457e-05,-2.69580120e-05,
 -4.56720854e-06,-1.87293051e-05,-2.84175592e-05,-2.73379449e-05,
  3.30863744e-03,-1.31701896e-05,-8.52768520e-06,-7.82762781e-05,
  1.81625071e-05,-1.22369780e-05,-1.21644248e+00, 1.62395618e-04,
  7.63932378e-03, 1.77677012e-03]


--- Step 2264 ---
qpos:
[-2.49674214e-03, 8.65669452e-01,-2.37147747e-02, 4.09433119e-04,
 -2.91978260e-03, 8.61701917e-01,-2.70393639e-02, 3.13564289e-03,
 -1.18692232e-03, 8.70538330e-01,-1.92173536e-02,-2.12940571e-02,
  1.39624551e+00, 1.85098022e-02, 1.39215834e+00, 2.41986997e-02,
  4.02457221e-03,-5.72221705e-02, 8.06005512e-02, 7.02244730e-01,
 -5.77969298e-02,-7.08231001e-01,-4.38258309e-02]

qacc:
[-8.51972756e-03, 4.18708496e+00,-1.80593796e+01, 3.36071566e+01,
  1.35587211e-01,-2.86105680e+00, 1.50187479e+01,-3.34756598e+01,
 -7.96587588e-02, 1.14062051e-01,-5.21780797e-01, 9.21105875e-01,
 -3.21647063e-02, 3.34910899e-02, 3.71017160e+00,-1.29949024e+01,
  2.82142868e-01,-1.05732470e+00,-7.89751700e-01, 4.69304930e-01,
  2.28665868e+01,-5.36243738e+01]

qfrc_actuator:
[ 2.39399844e-03, 2.74561659e-02, 8.57605027e-03, 1.60974391e-03,
 -2.70730898e-07, 2.76444522e-02, 8.72760573e-03, 1.51302985e-03,
 -2.38969857e-03, 2.75451036e-02, 8.64684355e-03, 1.58445749e-03,
  0.00000000e+00,-1.38671515e-03, 0.00000000e+00,-1.02837780e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010149756003366567
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.3673026e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.3673026e-14, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00115498, -0.03614772,  0.06190496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45540634e-06, 7.79426961e-06,-4.14718545e-05, 4.14061353e-05,
  2.44904119e-05, 4.03871421e-05, 3.05992315e-05,-4.90359353e-05,
 -1.46311154e-05,-3.29378364e-06,-2.76363349e-06, 7.30680797e-07,
  3.30800582e-03, 8.67184743e-08,-1.42273129e-05,-6.69351590e-05,
  1.24769015e-05, 9.55289272e-07,-1.21644044e+00, 1.65848794e-04,
  7.63842885e-03, 1.77645967e-03]


--- Step 2265 ---
qpos:
[-2.49673671e-03, 8.65671458e-01,-2.37160072e-02, 4.09708476e-04,
 -2.91993531e-03, 8.61707686e-01,-2.70381348e-02, 3.13322904e-03,
 -1.18658392e-03, 8.70540402e-01,-1.92180597e-02,-2.12948532e-02,
  1.39624516e+00, 1.85094475e-02, 1.39223831e+00, 2.41948658e-02,
  4.02171933e-03,-5.72308048e-02, 8.06339988e-02, 7.02211790e-01,
 -5.76399395e-02,-7.08265472e-01,-4.40029711e-02]

qacc:
[-7.03831910e-02,-5.85630030e-01,-2.21829476e+00, 1.63173193e+01,
  4.48929195e-02, 4.42724406e-01,-2.01482686e+00, 4.44945001e+00,
  1.78767710e-02,-1.42135304e+00, 6.19646335e+00,-8.75194263e+00,
 -2.25941678e-02,-4.39018021e-01,-1.16634395e+00, 3.63737422e+00,
  2.78511307e-01,-1.03888354e+00,-9.72021976e-01, 4.51368744e-01,
  2.24338241e+01,-5.26487017e+01]

qfrc_actuator:
[ 2.38175355e-03, 2.74407176e-02, 8.61454652e-03, 1.65455205e-03,
 -3.78030194e-06, 2.76297326e-02, 8.71972787e-03, 1.51912142e-03,
 -2.37944356e-03, 2.76240197e-02, 8.70400330e-03, 1.58656600e-03,
  0.00000000e+00,-1.45457339e-03, 0.00000000e+00,-1.00940747e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009728907301661538
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.70579506e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.70579506e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00113594, -0.03610526,  0.06190888])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.29413872e-05,-1.79218351e-05, 3.64270671e-05, 4.45129001e-05,
  8.11958298e-06, 1.19438253e-05, 2.48472576e-06, 7.91923674e-06,
  3.25224133e-06, 7.65070434e-05, 5.61638803e-05, 1.88707314e-06,
  3.30456396e-03,-6.63995621e-05,-1.51138352e-05, 1.31668844e-05,
  7.91585577e-06, 1.01578520e-05,-1.21643940e+00, 1.65456241e-04,
  7.63773991e-03, 1.77628913e-03]


--- Step 2266 ---
qpos:
[-2.49687212e-03, 8.65673883e-01,-2.37170492e-02, 4.10107737e-04,
 -2.92025595e-03, 8.61713126e-01,-2.70371464e-02, 3.13235878e-03,
 -1.18579661e-03, 8.70542666e-01,-1.92179554e-02,-2.12959424e-02,
  1.39624429e+00, 1.85086103e-02, 1.39231803e+00, 2.41926031e-02,
  4.01996913e-03,-5.72435373e-02, 8.06629563e-02, 7.02205558e-01,
 -5.74069156e-02,-7.08274880e-01,-4.42548889e-02]

qacc:
[-7.38681382e-02, 2.77794110e-01,-7.08489629e-01, 2.23965073e+00,
 -8.84003954e-02, 3.41195071e+00,-1.93152092e+01, 4.66609728e+01,
  2.34843284e-01,-2.61468260e+00, 1.09254889e+01,-1.74321289e+01,
  7.80824658e-03,-4.28275325e-01,-5.15833249e+00, 1.74478574e+01,
  2.75672705e-01,-1.02456730e+00,-1.12252185e+00, 4.32977635e-01,
  2.20860908e+01,-5.18708614e+01]

qfrc_actuator:
[ 2.37448566e-03, 2.75018647e-02, 8.63772806e-03, 1.66305632e-03,
 -2.36287666e-05, 2.75830350e-02, 8.69676362e-03, 1.59466641e-03,
 -2.33794089e-03, 2.76170181e-02, 8.73818105e-03, 1.57043731e-03,
  0.00000000e+00,-1.47705226e-03, 0.00000000e+00,-9.25653525e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009296052923450371
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.97147539e-14,  5.97147539e-14,  1.00000000e+00, -3.56585183e-27,
        1.00000000e+00, -5.97147539e-14, -1.00000000e+00,  0.00000000e+00,
        5.97147539e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00111644, -0.03606182,  0.0619129 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.34445619e-05, 6.05156898e-05, 2.55022624e-05, 9.86237956e-06,
 -1.59933423e-05,-3.93097556e-05,-1.99692207e-05, 7.62896753e-05,
  4.30718687e-05, 4.74179400e-05, 5.69525178e-05,-1.08739007e-05,
  3.32828420e-03,-6.03885647e-05,-7.19315149e-06, 8.21978629e-05,
  4.39414679e-06, 1.56462046e-05,-1.21643928e+00, 1.61378963e-04,
  7.63723914e-03, 1.77625169e-03]


--- Step 2267 ---
qpos:
[-2.49693325e-03, 8.65677224e-01,-2.37183354e-02, 4.10571109e-04,
 -2.92096551e-03, 8.61718048e-01,-2.70360688e-02, 3.13309307e-03,
 -1.18417052e-03, 8.70544629e-01,-1.92174718e-02,-2.12960859e-02,
  1.39624342e+00, 1.85080318e-02, 1.39239755e+00, 2.41923445e-02,
  4.01931278e-03,-5.72603240e-02, 8.06869278e-02, 7.02225619e-01,
 -5.70987591e-02,-7.08259467e-01,-4.45807076e-02]

qacc:
[ 3.84772137e-02, 2.02217597e+00,-5.72722793e+00, 6.55641297e+00,
 -2.04519747e-01, 2.36916267e+00,-1.62136678e+01, 4.42237338e+01,
  4.38380908e-01, 4.91137886e-01,-6.31305746e+00, 2.22810204e+01,
  2.72206581e-02, 1.24630678e-01,-6.37310097e+00, 2.18526453e+01,
  2.73459723e-01,-1.01353970e+00,-1.24648735e+00, 4.13639810e-01,
  2.18096947e+01,-5.12598875e+01]

qfrc_actuator:
[ 2.38801623e-03, 2.75728360e-02, 8.63418691e-03, 1.66792484e-03,
 -5.30614630e-05, 2.75530382e-02, 8.70048668e-03, 1.67492062e-03,
 -2.27811829e-03, 2.75585383e-02, 8.74040709e-03, 1.61462964e-03,
  0.00000000e+00,-1.41890460e-03, 0.00000000e+00,-8.22180835e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008857913517243479
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25336855e-13, -3.13342138e-14,  1.00000000e+00,  3.92733182e-27,
        1.00000000e+00,  3.13342138e-14, -1.00000000e+00,  0.00000000e+00,
        1.25336855e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00109676, -0.03601802,  0.06191695])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.12320839e-06, 1.10448697e-04, 1.24293351e-05, 8.53296566e-06,
 -3.70293928e-05,-5.29727044e-05,-4.26474106e-06, 7.93558430e-05,
  8.04532501e-05,-2.07142106e-05, 1.86413241e-05, 4.79789949e-05,
  3.35397014e-03, 2.19232810e-05, 3.99971441e-06, 1.06745979e-04,
  1.84724016e-06, 1.76265531e-05,-1.21644004e+00, 1.53736981e-04,
  7.63691042e-03, 1.77634156e-03]


--- Step 2268 ---
qpos:
[-2.49706005e-03, 8.65681422e-01,-2.37196315e-02, 4.10389229e-04,
 -2.92203972e-03, 8.61722307e-01,-2.70351171e-02, 3.13481746e-03,
 -1.18215096e-03, 8.70546911e-01,-1.92168809e-02,-2.12957592e-02,
  1.39624314e+00, 1.85079158e-02, 1.39247745e+00, 2.41899705e-02,
  4.01974335e-03,-5.72811312e-02, 8.07055066e-02, 7.02271605e-01,
 -5.67161647e-02,-7.08219381e-01,-4.49797576e-02]

qacc:
[-3.47785336e-02,-1.69079220e-01, 4.96845769e+00,-1.67489866e+01,
 -1.91857286e-01, 1.51220092e+00,-1.08442870e+01, 2.86706591e+01,
  2.05438689e-01, 1.09011198e+00,-5.25707632e+00, 1.29831117e+01,
  1.72634396e-02, 4.12090451e-01, 6.99069152e+00,-2.35926331e+01,
  2.71732299e-01,-1.00511951e+00,-1.34816616e+00, 3.92946350e-01,
  2.15936139e+01,-5.07908676e+01]

qfrc_actuator:
[ 2.37836181e-03, 2.76135333e-02, 8.63272321e-03, 1.63511687e-03,
 -7.02039033e-05, 2.74978764e-02, 8.68448342e-03, 1.72181670e-03,
 -2.27888370e-03, 2.76116088e-02, 8.75907436e-03, 1.64063499e-03,
  0.00000000e+00,-1.36618728e-03, 0.00000000e+00,-9.38722641e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.20403528,  -6.23124306,  -5.33645994,  -6.23124306,
        41.22031023, -38.55223063,  -5.33645994, -38.55223063,
        53.22045486,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008419958441845538
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31856117e-13, -1.15374102e-13,  1.00000000e+00,  1.52127811e-26,
        1.00000000e+00,  1.15374102e-13, -1.00000000e+00,  0.00000000e+00,
        1.31856117e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00107715, -0.03597435,  0.06192099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.25121096e-06, 1.05321907e-04, 2.31572272e-05,-2.74842975e-05,
 -3.47255785e-05,-8.23964220e-05,-2.47705077e-05, 4.60141855e-05,
  3.77530677e-05, 4.73546895e-05, 1.83273279e-05, 2.66935181e-05,
  3.35425958e-03, 6.17313887e-05, 1.24011999e-05,-1.10383204e-04,
  2.26008102e-07, 1.62528614e-05,-1.21644165e+00, 1.42618413e-04,
  7.63673845e-03, 1.77655367e-03]


--- Step 2269 ---
qpos:
[-2.49764946e-03, 8.65686496e-01,-2.37212560e-02, 4.10180544e-04,
 -2.92320176e-03, 8.61726013e-01,-2.70346333e-02, 3.13675537e-03,
 -1.18051366e-03, 8.70548829e-01,-1.92157868e-02,-2.12947178e-02,
  1.39624315e+00, 1.85082880e-02, 1.39255720e+00, 2.41879169e-02,
  4.02125541e-03,-5.73059333e-02, 8.07183610e-02, 7.02343184e-01,
 -5.62596512e-02,-7.08154687e-01,-4.54515460e-02]

qacc:
[-2.43087959e-01, 2.02014345e+00,-5.40873376e+00, 4.82675268e+00,
 -4.63453415e-02, 1.01564271e+00,-5.58263280e+00, 1.04338086e+01,
 -1.99136982e-01,-4.14678429e-01,-2.23077057e+00, 1.40502469e+01,
 -1.29059108e-02, 3.76891729e-01,-1.17630460e+00, 3.82800243e+00,
  2.70369643e-01,-9.98738588e-01,-1.43111566e+00, 3.70550144e-01,
  2.14286874e+01,-5.04430849e+01]

qfrc_actuator:
[ 2.33715403e-03, 2.76535116e-02, 8.61461678e-03, 1.63364462e-03,
 -6.20882550e-05, 2.74634738e-02, 8.65682370e-03, 1.73091790e-03,
 -2.33364475e-03, 2.75535838e-02, 8.76997396e-03, 1.67357798e-03,
  0.00000000e+00,-1.35254050e-03, 0.00000000e+00,-9.17665629e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007986600736009652
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.95053541e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.95053541e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00105779, -0.03593124,  0.06192497])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.41829677e-05, 1.02387957e-04, 5.52533615e-06, 3.30190499e-06,
 -8.37700449e-06,-8.37377607e-05,-4.61795418e-05, 5.59976030e-06,
 -3.66762608e-05,-2.66678539e-05, 2.38386741e-05, 3.61191394e-05,
  3.32408019e-03, 5.22849523e-05,-8.28838608e-06, 1.60803005e-05,
 -5.06649985e-07, 1.16381601e-05,-1.21644407e+00, 1.28085846e-04,
  7.63670803e-03, 1.77688337e-03]


--- Step 2270 ---
qpos:
[-2.49889854e-03, 8.65691919e-01,-2.37223084e-02, 4.09961392e-04,
 -2.92434903e-03, 8.61729606e-01,-2.70344129e-02, 3.13837093e-03,
 -1.17977636e-03, 8.70550273e-01,-1.92146602e-02,-2.12939322e-02,
  1.39624316e+00, 1.85088650e-02, 1.39263681e+00, 2.41867833e-02,
  4.02384453e-03,-5.73347112e-02, 8.07252221e-02, 7.02440053e-01,
 -5.57295880e-02,-7.08065377e-01,-4.59957322e-02]

qacc:
[-3.45670944e-01,-1.15822131e+00, 4.84345420e+00,-6.19760300e+00,
  7.63419366e-03,-7.72772896e-02, 1.41860533e+00,-6.49249445e+00,
 -4.69785378e-01,-1.24409993e+00, 4.60516597e+00,-8.73347867e+00,
 -2.31750001e-02, 1.47889351e-01,-2.99669504e+00, 1.01819694e+01,
  2.69267206e-01,-9.93920764e-01,-1.49833579e+00, 3.46154282e-01,
  2.13072403e+01,-5.01991717e+01]

qfrc_actuator:
[ 2.29519006e-03, 2.76571898e-02, 8.64010497e-03, 1.63286083e-03,
 -5.67013571e-05, 2.74949389e-02, 8.65806762e-03, 1.71772271e-03,
 -2.40243220e-03, 2.75004677e-02, 8.75802154e-03, 1.65699318e-03,
  0.00000000e+00,-1.36254699e-03, 0.00000000e+00,-8.68897011e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007561360102637943
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.34142409e-14,  3.67071205e-14,  1.00000000e+00, -2.69482539e-27,
        1.00000000e+00, -3.67071205e-14, -1.00000000e+00,  0.00000000e+00,
        7.34142409e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00103883, -0.03588899,  0.06192886])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.30259319e-05, 6.21027062e-05, 4.74038018e-05, 3.85354070e-06,
  1.40095933e-06,-2.47530519e-05,-2.15821417e-05,-1.82809436e-05,
 -8.63457256e-05,-6.16152070e-05,-1.32968262e-05,-1.62035911e-05,
  3.30984811e-03, 1.78738155e-05,-2.60426554e-06, 4.84545978e-05,
 -3.78363036e-07, 3.86314901e-06,-1.21644729e+00, 1.10181277e-04,
  7.63680367e-03, 1.77732628e-03]


--- Step 2271 ---
qpos:
[-2.50071627e-03, 8.65697418e-01,-2.37228873e-02, 4.10122251e-04,
 -2.92545058e-03, 8.61732943e-01,-2.70341409e-02, 3.13912061e-03,
 -1.17971269e-03, 8.70551860e-01,-1.92138995e-02,-2.12940934e-02,
  1.39624350e+00, 1.85099388e-02, 1.39271645e+00, 2.41855600e-02,
  4.02750698e-03,-5.73674500e-02, 8.07258736e-02, 7.02561928e-01,
 -5.51262161e-02,-7.07951375e-01,-4.66121064e-02]

qacc:
[-2.97880335e-01,-4.40520552e-01, 1.12033789e-01, 5.65053583e+00,
  2.41583217e-02,-2.26468697e+00, 1.12390571e+01,-2.61214225e+01,
 -3.52079555e-01,-7.38838273e-01, 6.89836447e+00,-2.27893261e+01,
 -3.17584218e-02, 4.11857292e-01, 3.35098330e-01,-1.06527583e+00,
  2.68334177e-01,-9.90265044e-01,-1.55237320e+00, 3.19502804e-01,
  2.12227931e+01,-5.00444539e+01]

qfrc_actuator:
[ 2.27090711e-03, 2.76392657e-02, 8.65547561e-03, 1.65023713e-03,
 -5.30191728e-05, 2.74769435e-02, 8.65888399e-03, 1.67384752e-03,
 -2.42570697e-03, 2.75393157e-02, 8.75037994e-03, 1.61137631e-03,
  0.00000000e+00,-1.31564658e-03, 0.00000000e+00,-8.75239633e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007147000117579821
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.16505842e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.16505842e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00102038, -0.03584788,  0.06193265])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.43352529e-05, 2.66328573e-05, 3.41381636e-05, 2.17470820e-05,
  4.34461901e-06,-3.71672076e-05,-7.62038973e-06,-4.60467180e-05,
 -6.46167760e-05, 9.01434087e-07,-2.25846744e-05,-4.90341307e-05,
  3.30931739e-03, 5.45476958e-05, 2.95121760e-06,-4.26032528e-06,
  5.90713467e-07,-7.01708544e-06,-1.21645132e+00, 8.89299927e-05,
  7.63700912e-03, 1.77787814e-03]


--- Step 2272 ---
qpos:
[-2.50238913e-03, 8.65702989e-01,-2.37240200e-02, 4.10217575e-04,
 -2.92650292e-03, 8.61736284e-01,-2.70342320e-02, 3.13864305e-03,
 -1.17974307e-03, 8.70553924e-01,-1.92140643e-02,-2.12941144e-02,
  1.39624415e+00, 1.85117525e-02, 1.39279592e+00, 2.41856101e-02,
  4.03223941e-03,-5.74041386e-02, 8.07201436e-02, 7.02708539e-01,
 -5.44496669e-02,-7.07812545e-01,-4.73005719e-02]

qacc:
[ 7.55826331e-02, 1.50755793e+00,-4.96048874e+00, 4.66060532e+00,
  2.56124537e-02,-1.50431277e+00, 1.05543501e+01,-3.12181402e+01,
 -4.98435315e-02, 3.50583565e+00,-1.21746241e+01, 1.57287633e+01,
 -5.40267508e-02, 5.75789868e-01,-4.09604597e+00, 1.40004023e+01,
  2.67491431e-01,-9.87432114e-01,-1.59540252e+00, 2.90373390e-01,
  2.11698373e+01,-4.99664462e+01]

qfrc_actuator:
[ 2.31066352e-03, 2.76085141e-02, 8.61138750e-03, 1.64261792e-03,
 -5.03966796e-05, 2.74827184e-02, 8.64148129e-03, 1.61223681e-03,
 -2.40378785e-03, 2.75796563e-02, 8.71020494e-03, 1.62014397e-03,
  0.00000000e+00,-1.27048134e-03, 0.00000000e+00,-8.07491533e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000674564452206719
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.17188814e-14, -3.29167367e-13,  1.00000000e+00,  2.03158417e-26,
        1.00000000e+00,  3.29167367e-13, -1.00000000e+00,  0.00000000e+00,
        6.17188814e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00100253, -0.03580808,  0.06193631])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38424836e-05,-8.00584110e-06,-3.36658844e-05,-4.88011998e-06,
  4.68081993e-06,-1.86371507e-05,-2.76411838e-05,-6.43696745e-05,
 -9.01197154e-06, 3.40305501e-05,-4.44849984e-05, 7.06740657e-06,
  3.29299228e-03, 7.48690768e-05,-3.14321035e-07, 6.75986169e-05,
  2.38631605e-06,-2.09677579e-05,-1.21645615e+00, 6.43436686e-05,
  7.63730711e-03, 1.77853465e-03]


--- Step 2273 ---
qpos:
[-2.50392300e-03, 8.65708121e-01,-2.37248615e-02, 4.09883943e-04,
 -2.92751129e-03, 8.61739718e-01,-2.70346697e-02, 3.13810880e-03,
 -1.17968066e-03, 8.70556700e-01,-1.92154218e-02,-2.12947329e-02,
  1.39624477e+00, 1.85137015e-02, 1.39287541e+00, 2.41861288e-02,
  4.03803851e-03,-5.74447678e-02, 8.07078964e-02, 7.02879622e-01,
 -5.36999783e-02,-7.07648696e-01,-4.80611293e-02]

qacc:
[ 7.31993085e-02,-2.27493064e+00, 9.08259972e+00,-1.66517646e+01,
  2.29033317e-02, 9.72974916e-01,-3.05357071e+00, 2.56032511e+00,
  4.74292394e-02, 3.04058057e+00,-6.95952430e+00,-1.98838263e+00,
 -6.43319337e-02, 1.38743980e-01,-1.38125088e+00, 4.89508059e+00,
  2.66669847e-01,-9.85133590e-01,-1.62928976e+00, 2.58571575e-01,
  2.11436614e+01,-4.99544614e+01]

qfrc_actuator:
[ 2.31734695e-03, 2.75700385e-02, 8.62122534e-03, 1.62029496e-03,
 -4.84317671e-05, 2.75025965e-02, 8.63129400e-03, 1.61170301e-03,
 -2.39056781e-03, 2.76205008e-02, 8.65121593e-03, 1.58982354e-03,
  0.00000000e+00,-1.29780951e-03, 0.00000000e+00,-7.85379416e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006358876385373913
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74594214e-13, -8.72971070e-14,  1.00000000e+00,  1.52415698e-26,
        1.00000000e+00,  8.72971070e-14, -1.00000000e+00,  0.00000000e+00,
        1.74594214e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00098535, -0.03576974,  0.06193984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.32718746e-05,-5.02327754e-05, 3.83379161e-06,-2.39329395e-05,
  4.18564875e-06, 9.12498740e-07,-1.96950900e-05,-3.54617848e-06,
  8.91419847e-06, 5.09406217e-05,-5.72110216e-05,-3.02681705e-05,
  3.27743837e-03, 1.05292129e-05, 6.69393959e-06, 2.56595075e-05,
  4.99880680e-06,-3.79701328e-05,-1.21646180e+00, 3.64228630e-05,
  7.63767901e-03, 1.77929144e-03]


--- Step 2274 ---
qpos:
[-2.50552894e-03, 8.65712802e-01,-2.37255667e-02, 4.09643528e-04,
 -2.92829585e-03, 8.61742808e-01,-2.70343189e-02, 3.13892988e-03,
 -1.17930672e-03, 8.70559412e-01,-1.92164130e-02,-2.12953731e-02,
  1.39624522e+00, 1.85155622e-02, 1.39295492e+00, 2.41869153e-02,
  4.04490085e-03,-5.74893294e-02, 8.06890266e-02, 7.03074914e-01,
 -5.28771082e-02,-7.07459587e-01,-4.88938638e-02]

qacc:
[-3.75464537e-02,-7.86118838e-01, 1.54237830e+00, 1.84749423e-01,
  1.18581999e-01, 1.32582307e-01,-6.85319105e+00, 2.93011017e+01,
  1.62923809e-01,-1.15316062e+00, 4.07927144e+00,-4.99221484e+00,
 -6.02302928e-02,-3.26674175e-02,-7.79375834e-01, 2.77510943e+00,
  2.65808917e-01,-9.83123392e-01,-1.65564193e+00, 2.23926186e-01,
  2.11402167e+01,-4.99993084e+01]

qfrc_actuator:
[ 2.30413453e-03, 2.75451630e-02, 8.62728986e-03, 1.62504464e-03,
 -2.91232206e-05, 2.74953417e-02, 8.67882265e-03, 1.68264097e-03,
 -2.36496378e-03, 2.76079651e-02, 8.67033907e-03, 1.58998987e-03,
  0.00000000e+00,-1.31506715e-03, 0.00000000e+00,-7.72600814e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005987823088486194
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.27067323e-14, -9.27067323e-14,  1.00000000e+00,  8.59453822e-27,
        1.00000000e+00,  9.27067323e-14, -1.00000000e+00,  0.00000000e+00,
        9.27067323e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00096887, -0.03573298,  0.06194321])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.90063046e-06,-5.33081263e-05,-4.69842284e-06, 2.25868519e-06,
  2.12956734e-05,-1.10414262e-05, 4.51447132e-05, 7.02225136e-05,
  2.98838829e-05, 2.78537616e-06, 2.15381755e-05,-2.23523287e-07,
  3.27879004e-03,-1.35117769e-05, 4.00570911e-06, 1.46254199e-05,
  8.42214817e-06,-5.80180840e-05,-1.21646827e+00, 5.15905297e-06,
  7.63810464e-03, 1.78014388e-03]


--- Step 2275 ---
qpos:
[-2.50668788e-03, 8.65717253e-01,-2.37262852e-02, 4.09443241e-04,
 -2.92885056e-03, 8.61745571e-01,-2.70333389e-02, 3.14060266e-03,
 -1.17862678e-03, 8.70561465e-01,-1.92166269e-02,-2.12952677e-02,
  1.39624549e+00, 1.85172677e-02, 1.39303443e+00, 2.41878518e-02,
  4.05282261e-03,-5.75378158e-02, 8.06634534e-02, 7.03294150e-01,
 -5.19809461e-02,-7.07244926e-01,-4.97989331e-02]

qacc:
[ 2.34460986e-01,-1.83346863e-01, 4.44873894e-02, 8.39947424e-01,
  1.21623765e-01,-4.35117057e-01,-2.66967976e+00, 1.66434062e+01,
  1.60530852e-01,-1.50583263e+00, 9.64190592e-01, 1.11693099e+01,
 -5.06591483e-02,-8.86907001e-02,-4.46944635e-01, 1.57484903e+00,
  2.64855589e-01,-9.81190785e-01,-1.67584631e+00, 1.86285708e-01,
  2.11560108e+01,-5.00930553e+01]

qfrc_actuator:
[ 2.35015060e-03, 2.75463897e-02, 8.63112892e-03, 1.62793469e-03,
 -1.73585564e-05, 2.74722067e-02, 8.70672629e-03, 1.72406212e-03,
 -2.34993786e-03, 2.75461397e-02, 8.69974224e-03, 1.62586402e-03,
  0.00000000e+00,-1.32611306e-03, 0.00000000e+00,-7.65408912e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000563322943791647
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47813484e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.47813484e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00095314, -0.03569786,  0.06194644])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.27102876e-05,-2.95585403e-05,-7.70106272e-06, 4.82493590e-07,
  2.18696483e-05,-1.70527880e-05, 3.35873282e-05, 4.38707801e-05,
  2.93381212e-05,-5.58802949e-05, 3.26112828e-05, 3.67323538e-05,
  3.28674445e-03,-2.01648926e-05, 1.36704643e-06, 8.04619633e-06,
  1.26530651e-05,-8.11152866e-05,-1.21647560e+00,-2.94636923e-05,
  7.63856201e-03, 1.78108710e-03]


--- Step 2276 ---
qpos:
[-2.50734268e-03, 8.65720796e-01,-2.37260751e-02, 4.08955659e-04,
 -2.92940752e-03, 8.61747651e-01,-2.70322997e-02, 3.14215470e-03,
 -1.17826624e-03, 8.70562985e-01,-1.92172729e-02,-2.12946643e-02,
  1.39624549e+00, 1.85190632e-02, 1.39311365e+00, 2.41912112e-02,
  4.06179942e-03,-5.75902188e-02, 8.06311159e-02, 7.03537058e-01,
 -5.10113241e-02,-7.07004381e-01,-5.07765576e-02]

qacc:
[ 2.65233826e-01,-4.38305920e+00, 1.51021473e+01,-2.08959012e+01,
 -9.05979428e-04,-1.31496940e+00, 3.89061391e+00,-5.57485132e+00,
 -1.66839869e-01, 1.52919553e+00,-8.57105525e+00, 1.82621513e+01,
 -4.02338046e-02, 2.76354895e-02,-7.77988356e+00, 2.65734859e+01,
  2.63763291e-01,-9.79154722e-01,-1.69110174e+00, 1.45515363e-01,
  2.11880243e+01,-5.02288420e+01]

qfrc_actuator:
[ 2.37795561e-03, 2.74744724e-02, 8.66923298e-03, 1.61197212e-03,
 -2.79684125e-05, 2.73864061e-02, 8.68719381e-03, 1.71222941e-03,
 -2.39463577e-03, 2.74908661e-02, 8.66374545e-03, 1.64689897e-03,
  0.00000000e+00,-1.31557713e-03, 0.00000000e+00,-6.37289951e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005295520731873615
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04826615e-13, -1.04826615e-13,  1.00000000e+00,  1.09886192e-26,
        1.00000000e+00,  1.04826615e-13, -1.00000000e+00,  0.00000000e+00,
        1.04826615e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00093817, -0.03566442,  0.0619495 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.81561257e-05,-9.01078854e-05, 3.10384463e-05,-1.74917445e-05,
 -2.32608927e-07,-8.65940546e-05,-1.74300799e-05,-1.05553314e-05,
 -3.06554710e-05,-7.82551941e-05,-4.22631702e-05, 2.04832426e-05,
  3.29593511e-03,-1.88867862e-06,-5.23358083e-07, 1.28281419e-04,
  1.76903555e-05,-1.07272906e-04,-1.21648379e+00,-6.74673270e-05,
  7.63902721e-03, 1.78211587e-03]


--- Step 2277 ---
qpos:
[-2.50758297e-03, 8.65723329e-01,-2.37255103e-02, 4.07643873e-04,
 -2.92984364e-03, 8.61749398e-01,-2.70312640e-02, 3.14247771e-03,
 -1.17833779e-03, 8.70564625e-01,-1.92194465e-02,-2.12941658e-02,
  1.39624549e+00, 1.85208513e-02, 1.39319303e+00, 2.41943915e-02,
  4.07358289e-03,-5.76416010e-02, 8.06089779e-02, 7.03829985e-01,
 -5.00651483e-02,-7.06711145e-01,-5.17319162e-02]

qacc:
[ 2.17876774e-01,-4.02049554e+00, 1.58789456e+01,-2.99705282e+01,
  6.36860827e-02,-2.95907146e+00, 1.51002933e+01,-3.61229352e+01,
 -2.26632675e-01, 4.21075514e+00,-1.43399565e+01, 1.48808982e+01,
 -2.83903877e-02, 2.29814793e-02, 7.94176928e-01,-2.40953702e+00,
  7.01663452e-01, 2.55203207e-01, 2.54991274e+00,-4.38526086e-01,
  3.50535432e+01, 1.87346044e+01]

qfrc_actuator:
[ 2.39459805e-03, 2.73949441e-02, 8.67370157e-03, 1.56725673e-03,
 -1.63575709e-05, 2.73877608e-02, 8.69277565e-03, 1.65132352e-03,
 -2.42140710e-03, 2.75106715e-02, 8.58940714e-03, 1.64122720e-03,
  0.00000000e+00,-1.31002773e-03, 0.00000000e+00,-6.51979206e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004977374743145022
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.39937237e-07, -3.39937510e-07,  1.00000000e+00, -1.15557418e-13,
        1.00000000e+00,  3.39937510e-07, -1.00000000e+00,  2.52435490e-29,
       -3.39937237e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00377647, -0.05990818,  0.06195239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.95837413e-05,-1.24331632e-04,-1.09518426e-05,-4.78471637e-05,
  1.14901111e-05,-5.11790621e-05,-1.48420770e-05,-6.54312897e-05,
 -4.14545189e-05,-3.18390355e-05,-9.50039334e-05,-1.00873634e-05,
  3.30892998e-03,-8.54973963e-07, 1.25617014e-05,-7.94504381e-06,
  2.35343184e-05,-1.36507687e-04,-1.21649288e+00,-1.08878678e-04,
  7.63947415e-03, 1.78322456e-03]


--- Step 2278 ---
qpos:
[-2.50770861e-03, 8.65724992e-01,-2.37246575e-02, 4.06139228e-04,
 -2.92996178e-03, 8.61751395e-01,-2.70304853e-02, 3.14200970e-03,
 -1.17822546e-03, 8.70566174e-01,-1.92219340e-02,-2.12944871e-02,
  1.39624522e+00, 1.85223662e-02, 1.39327240e+00, 2.41980611e-02,
  4.08827827e-03,-5.76911290e-02, 8.05961673e-02, 7.04173717e-01,
 -4.91585945e-02,-7.06364540e-01,-5.26492732e-02]

qacc:
[ 6.05961988e-02,-2.35121490e+00, 7.52901030e+00,-1.06893772e+01,
  1.67181218e-01,-5.79244345e-01, 5.88472501e+00,-1.93483426e+01,
  9.58208238e-02,-9.32190069e-01, 6.60355796e+00,-2.02115221e+01,
 -2.11404720e-02,-2.10739217e-01,-1.51914641e+00, 5.25449018e+00,
  7.27976539e-01, 4.63564509e-01, 2.33181418e+00,-6.24184415e-01,
  3.47575739e+01, 3.00240357e+01]

qfrc_actuator:
[ 2.38667830e-03, 2.73645725e-02, 8.69369667e-03, 1.55919936e-03,
  8.46351833e-06, 2.74413331e-02, 8.69571262e-03, 1.61538819e-03,
 -2.38392413e-03, 2.75218263e-02, 8.58209536e-03, 1.60218235e-03,
  0.00000000e+00,-1.34291410e-03, 0.00000000e+00,-6.26452160e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000529538658968362
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.09658541e-13, -1.04829270e-13,  1.00000000e+00,  2.19783518e-26,
        1.00000000e+00,  1.04829270e-13, -1.00000000e+00,  0.00000000e+00,
        2.09658541e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00435568, -0.06300893,  0.06194936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09332624e-05,-1.04264348e-04,-8.71128801e-06,-1.46970535e-05,
  3.02697567e-05, 1.90368830e-05,-1.17489338e-05,-3.99200022e-05,
  1.76354588e-05,-2.67284630e-05,-2.59353950e-05,-4.38914249e-05,
  3.30907959e-03,-3.33859529e-05, 2.51901580e-06, 2.61426479e-05,
  5.02062346e-05,-2.17916711e-04,-1.21649146e+00,-1.45830181e-04,
  7.63880750e-03, 1.78414298e-03]


--- Step 2279 ---
qpos:
[-2.50782968e-03, 8.65726368e-01,-2.37241582e-02, 4.05208723e-04,
 -2.92996051e-03, 8.61753565e-01,-2.70302763e-02, 3.14114541e-03,
 -1.17779223e-03, 8.70567278e-01,-1.92230287e-02,-2.12950028e-02,
  1.39624460e+00, 1.85239783e-02, 1.39335135e+00, 2.42053573e-02,
  4.10575962e-03,-5.77388935e-02, 8.05906720e-02, 7.04566177e-01,
 -4.82897948e-02,-7.05966770e-01,-5.35305329e-02]

qacc:
[ 2.30205212e-03, 1.79143316e+00,-9.35960453e+00, 2.00729782e+01,
  6.24497566e-02, 1.00273396e+00,-1.57255585e+00,-4.49988549e+00,
  1.68580140e-01,-4.88109427e+00, 1.73659307e+01,-2.26241234e+01,
 -4.83431628e-03,-2.60411235e-02,-1.16083062e+01, 3.96946537e+01,
  6.96494315e-01, 4.40859794e-01, 1.82885761e+00,-6.92973598e-01,
  3.33430579e+01, 2.85838555e+01]

qfrc_actuator:
[ 2.38190791e-03, 2.73817122e-02, 8.68742709e-03, 1.59058778e-03,
  5.46001102e-06, 2.74370221e-02, 8.66181228e-03, 1.59448882e-03,
 -2.36158961e-03, 2.75279541e-02, 8.66765490e-03, 1.59712855e-03,
  0.00000000e+00,-1.32758270e-03, 0.00000000e+00,-4.35371025e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005499213886976939
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02831381e-13, -1.00943794e-13,  1.00000000e+00,  3.05689485e-26,
        1.00000000e+00,  1.00943794e-13, -1.00000000e+00,  0.00000000e+00,
        3.02831381e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00434095, -0.06300321,  0.06194742])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.26167244e-07,-4.36340073e-05,-2.94028880e-05, 2.63327732e-05,
  1.13672791e-05, 2.14781471e-06,-3.28197341e-05,-2.12715584e-05,
  3.07770039e-05,-1.60676469e-05, 7.53334793e-05,-7.94861896e-06,
  3.32247339e-03,-4.40869960e-06, 1.88223105e-06, 1.92363303e-04,
  8.80650492e-05,-2.95908743e-04,-1.21648885e+00,-1.78337017e-04,
  7.63779234e-03, 1.78491454e-03]


--- Step 2280 ---
qpos:
[-2.50779242e-03, 8.65727942e-01,-2.37245452e-02, 4.04290138e-04,
 -2.92973579e-03, 8.61756087e-01,-2.70305792e-02, 3.13966503e-03,
 -1.17706954e-03, 8.70568438e-01,-1.92241160e-02,-2.12951994e-02,
  1.39624415e+00, 1.85257142e-02, 1.39343059e+00, 2.42121916e-02,
  4.12135248e-03,-5.77799851e-02, 8.05974892e-02, 7.04914067e-01,
 -4.75427113e-02,-7.05612391e-01,-5.42862899e-02]

qacc:
[ 8.23899004e-02, 2.75825941e+00,-9.51006651e+00, 1.09922475e+01,
  1.17207394e-01, 6.25400645e-01, 1.04404895e+00,-1.11454462e+01,
  1.51146811e-01, 7.12563716e-01,-3.77466058e+00, 9.23640764e+00,
  8.20845871e-03, 1.09671660e-01, 1.83470943e+00,-5.78190190e+00,
 -4.72123128e-01, 1.66822090e+00, 3.07808707e+00, 1.50707418e+00,
 -3.73063161e+01, 8.49357185e+01]

qfrc_actuator:
[ 2.39684399e-03, 2.74093695e-02, 8.64817254e-03, 1.59169591e-03,
  2.13383824e-05, 2.74689691e-02, 8.64173027e-03, 1.56478004e-03,
 -2.34855472e-03, 2.75314571e-02, 8.66533482e-03, 1.61217169e-03,
  0.00000000e+00,-1.30133439e-03, 0.00000000e+00,-4.67837869e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000622428580812559
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.91847723e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.91847723e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02106195, -0.07965062,  0.06194067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.51308579e-05,-1.72156540e-06,-5.09906841e-05,-1.26749667e-06,
  2.12749258e-05, 2.54078071e-05,-2.44361145e-05,-3.11692700e-05,
  2.77685597e-05, 9.72377652e-06, 3.36712003e-06, 1.68079046e-05,
  3.33976846e-03, 1.69628053e-05, 2.08288233e-05,-2.18463424e-05,
  1.33787063e-04,-3.64725769e-04,-1.21648716e+00,-2.08241320e-04,
  7.63666552e-03, 1.78557880e-03]


--- Step 2281 ---
qpos:
[-2.50740125e-03, 8.65729319e-01,-2.37249849e-02, 4.02693765e-04,
 -2.92912081e-03, 8.61759117e-01,-2.70310077e-02, 3.13813744e-03,
 -1.17594656e-03, 8.70570152e-01,-1.92264909e-02,-2.12962235e-02,
  1.39624404e+00, 1.85269866e-02, 1.39351059e+00, 2.42132571e-02,
  4.13517347e-03,-5.78148644e-02, 8.06133770e-02, 7.05220753e-01,
 -4.69091790e-02,-7.05298852e-01,-5.49249199e-02]

qacc:
[ 1.85576414e-01,-1.50596787e+00, 7.85560950e+00,-1.93580715e+01,
  2.05285366e-01, 9.25882150e-01,-2.12649496e+00, 1.13737651e+00,
  2.07990141e-01, 2.62252001e+00,-4.80428766e+00,-7.85006883e+00,
 -2.90194165e-05,-1.90941170e-01, 1.86014588e+01,-6.34270674e+01,
 -4.42965578e-01, 1.55309601e+00, 2.26768355e+00, 1.43021649e+00,
 -3.47976918e+01, 7.92546532e+01]

qfrc_actuator:
[ 2.42344838e-03, 2.73897114e-02, 8.64305892e-03, 1.55721581e-03,
  4.83940757e-05, 2.75224231e-02, 8.64786196e-03, 1.56566921e-03,
 -2.32344391e-03, 2.75508128e-02, 8.59336283e-03, 1.56782696e-03,
  0.00000000e+00,-1.33961205e-03, 0.00000000e+00,-7.73816660e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000679551988887403
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.08439326e-14, -1.63375730e-13,  1.00000000e+00, -6.67290731e-27,
        1.00000000e+00,  1.63375730e-13, -1.00000000e+00,  0.00000000e+00,
       -4.08439326e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02103323, -0.07959011,  0.0619354 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.38161766e-05,-3.12373832e-05,-1.18033238e-05,-3.63439554e-05,
  3.71578965e-05, 6.12263630e-05, 7.27383003e-06, 5.23644768e-07,
  3.84080122e-05, 2.61942346e-05,-6.89675340e-05,-4.34847382e-05,
  3.33099731e-03,-2.75256778e-05, 4.60097376e-06,-3.05139714e-04,
  1.08292422e-04,-2.83637467e-04,-1.21647720e+00,-1.88966878e-04,
  7.63708332e-03, 1.78613713e-03]


--- Step 2282 ---
qpos:
[-2.50667814e-03, 8.65730349e-01,-2.37252065e-02, 4.01733421e-04,
 -2.92852794e-03, 8.61762073e-01,-2.70314490e-02, 3.13738994e-03,
 -1.17485211e-03, 8.70572044e-01,-1.92290445e-02,-2.12984897e-02,
  1.39624417e+00, 1.85280430e-02, 1.39359067e+00, 2.42103388e-02,
  4.14312992e-03,-5.78442426e-02, 8.06284881e-02, 7.05412432e-01,
 -4.63741482e-02,-7.05100837e-01,-5.54576394e-02]

qacc:
[ 1.74336100e-01, 2.40910097e-01,-4.21012608e+00, 1.51242493e+01,
 -1.15862633e-02, 1.54173913e+00,-8.93417703e+00, 2.25120818e+01,
 -1.51288833e-02,-1.82459075e+00, 1.20805495e+01,-3.34041973e+01,
 -2.00241747e-02,-4.74094920e-02, 1.22001289e+01,-4.24756312e+01,
 -1.46613669e+00, 1.37524154e+00,-1.94200726e-01, 3.09177073e+00,
 -8.64812933e+01, 6.62137106e+01]

qfrc_actuator:
[ 2.43904219e-03, 2.73774829e-02, 8.65795093e-03, 1.59083087e-03,
  2.86420769e-05, 2.74819671e-02, 8.63403519e-03, 1.60234734e-03,
 -2.34457206e-03, 2.75614090e-02, 8.58740737e-03, 1.50662096e-03,
  0.00000000e+00,-1.34505676e-03, 0.00000000e+00,-9.72121441e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.45804591, -7.22456916,  1.85149919, -7.22456916, 10.23811481,
       10.84785784,  1.85149919, 10.84785784, 49.78650033,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000727129342126695
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.33600048e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.33600048e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04797754, -0.08366403,  0.06193108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.17114754e-05,-3.37140461e-05, 5.72279475e-06, 3.11614098e-05,
 -2.10729075e-06,-4.75725393e-06,-2.86404735e-07, 3.95607036e-05,
 -2.73313197e-06, 9.12537667e-06,-1.05394487e-05,-6.33159679e-05,
  3.31401627e-03,-9.79243457e-06,-3.46881937e-05,-2.15388561e-04,
  8.69482432e-05,-2.16814396e-04,-1.21646880e+00,-1.74032775e-04,
  7.63726392e-03, 1.78658521e-03]


--- Step 2283 ---
qpos:
[-2.50626145e-03, 8.65731576e-01,-2.37255225e-02, 4.01824657e-04,
 -2.92807226e-03, 8.61764397e-01,-2.70320364e-02, 3.13751569e-03,
 -1.17427769e-03, 8.70573021e-01,-1.92309161e-02,-2.13013905e-02,
  1.39624430e+00, 1.85294836e-02, 1.39367008e+00, 2.42090433e-02,
  4.14558931e-03,-5.78684842e-02, 8.06404412e-02, 7.05496798e-01,
 -4.59311787e-02,-7.05011175e-01,-5.58913014e-02]

qacc:
[-1.60738659e-01, 2.68728712e+00,-1.36441921e+01, 3.18512914e+01,
 -7.20751858e-02, 1.36947517e+00,-9.78211092e+00, 2.55955411e+01,
 -2.70828697e-01,-4.42046647e+00, 1.66817056e+01,-2.80734735e+01,
 -3.47191232e-02, 2.64354594e-01,-5.89876991e+00, 1.92132926e+01,
 -1.37426555e+00, 1.28418843e+00,-7.89472326e-01, 2.96841201e+00,
 -8.08997579e+01, 6.19064003e+01]

qfrc_actuator:
[ 2.39465218e-03, 2.74232002e-02, 8.66684397e-03, 1.64650769e-03,
  1.65670011e-05, 2.74032980e-02, 8.60817068e-03, 1.64193780e-03,
 -2.39317487e-03, 2.74603874e-02, 8.60271538e-03, 1.47154917e-03,
  0.00000000e+00,-1.31311130e-03, 0.00000000e+00,-8.74515242e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007733275302652248
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.17821997e-14, -1.43564399e-13,  1.00000000e+00,  1.03053684e-26,
        1.00000000e+00,  1.43564399e-13, -1.00000000e+00,  0.00000000e+00,
        7.17821997e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04789655, -0.08360723,  0.0619269 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.92768579e-05, 2.93630368e-05, 3.70779476e-06, 5.50369200e-05,
 -1.30764921e-05,-7.97601476e-05,-2.55318000e-05, 4.01441515e-05,
 -4.99073143e-05,-1.00825493e-04, 1.37125473e-05,-3.62741734e-05,
  3.30189114e-03, 3.29506687e-05,-4.04154848e-05, 8.10331533e-05,
  2.71417369e-05,-9.48753792e-05,-1.21646127e+00,-1.47934302e-04,
  7.63826152e-03, 1.78690953e-03]


--- Step 2284 ---
qpos:
[-2.50701267e-03, 8.65733901e-01,-2.37272629e-02, 4.02212098e-04,
 -2.92775888e-03, 8.61766022e-01,-2.70322658e-02, 3.13774439e-03,
 -1.17407032e-03, 8.70573171e-01,-1.92325819e-02,-2.13039753e-02,
  1.39624453e+00, 1.85310488e-02, 1.39374945e+00, 2.42071801e-02,
  4.14285943e-03,-5.78878911e-02, 8.06472165e-02, 7.05480224e-01,
 -4.55748821e-02,-7.05023820e-01,-5.62316401e-02]

qacc:
[-6.13647942e-01, 6.03834424e+00,-2.06754576e+01, 2.72768022e+01,
 -7.44659604e-02,-1.71092799e+00, 4.32576632e+00,-2.60444910e+00,
 -1.91231733e-01,-1.01652705e+00, 7.07463175e-01, 5.03433141e+00,
 -3.53371855e-02, 1.35701333e-01, 1.67742062e+00,-5.92101352e+00,
 -1.29731764e+00, 1.20865309e+00,-1.29447617e+00, 2.86409387e+00,
 -7.62359130e+01, 5.83019813e+01]

qfrc_actuator:
[ 2.29702482e-03, 2.75032801e-02, 8.60135230e-03, 1.66149370e-03,
  9.22199825e-06, 2.73732988e-02, 8.62847982e-03, 1.64736519e-03,
 -2.40450168e-03, 2.74176846e-02, 8.61223961e-03, 1.48755239e-03,
  0.00000000e+00,-1.31250345e-03, 0.00000000e+00,-9.05170038e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008019760718464553
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.38435929e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.38435929e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04784677, -0.0835724 ,  0.06192434])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11585868e-04, 9.95912993e-05,-5.70728109e-05, 1.74423608e-05,
 -1.35619669e-05,-7.82052514e-05, 2.06651092e-06, 1.90568834e-06,
 -3.52323130e-05,-9.78118878e-05,-1.08518616e-05, 1.14616361e-05,
  3.30185155e-03, 1.43352466e-05,-8.67758286e-06,-3.11261637e-05,
  1.67447491e-06,-1.20699855e-05,-1.21645554e+00,-1.30124339e-04,
  7.63886071e-03, 1.78695180e-03]


--- Step 2285 ---
qpos:
[-2.50873729e-03, 8.65736449e-01,-2.37291719e-02, 4.02111508e-04,
 -2.92811937e-03, 8.61767047e-01,-2.70319962e-02, 3.13801332e-03,
 -1.17410830e-03, 8.70573196e-01,-1.92341698e-02,-2.13060850e-02,
  1.39624472e+00, 1.85323070e-02, 1.39382898e+00, 2.42032778e-02,
  4.13519869e-03,-5.79027141e-02, 8.06471035e-02, 7.05367968e-01,
 -4.53007556e-02,-7.05133669e-01,-5.64834480e-02]

qacc:
[-5.10600770e-01,-2.40009478e-01, 3.34153221e+00,-1.16813787e+01,
 -3.54389292e-01,-2.10157722e+00, 6.17590274e+00,-5.84010479e+00,
 -1.28007933e-01, 5.95022550e-01,-4.36425940e+00, 1.25468922e+01,
 -3.65467206e-02,-1.55602777e-01, 6.40872833e+00,-2.20792055e+01,
 -1.23271319e+00, 1.14597157e+00,-1.72206299e+00, 2.77616683e+00,
 -7.23446739e+01, 5.52890836e+01]

qfrc_actuator:
[ 2.25720227e-03, 2.74787278e-02, 8.58136065e-03, 1.63464735e-03,
 -4.84828719e-05, 2.73550694e-02, 8.65829495e-03, 1.65046838e-03,
 -2.41116048e-03, 2.74635098e-02, 8.63624965e-03, 1.51575126e-03,
  0.00000000e+00,-1.34834480e-03, 0.00000000e+00,-1.01124021e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008163114126373827
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.36004839e-13, -6.80024196e-14,  1.00000000e+00,  9.24865815e-27,
        1.00000000e+00,  6.80024196e-14, -1.00000000e+00,  0.00000000e+00,
        1.36004839e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04782207, -0.08355519,  0.06192307])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.30164703e-05, 2.00429690e-05,-5.85388053e-06,-2.42156576e-05,
 -6.41518928e-05,-6.14906760e-05, 1.39730767e-05,-1.40621986e-07,
 -2.35399631e-05,-1.06098082e-05, 2.88625283e-06, 2.38659991e-05,
  3.29674752e-03,-2.77456264e-05,-8.61025255e-06,-1.09184042e-04,
  4.64401679e-06, 3.83253026e-05,-1.21645143e+00,-1.18901140e-04,
  7.63912825e-03, 1.78673793e-03]


--- Step 2286 ---
qpos:
[-2.51060545e-03, 8.65739134e-01,-2.37307277e-02, 4.02010236e-04,
 -2.92915767e-03, 8.61767362e-01,-2.70318271e-02, 3.13802791e-03,
 -1.17448893e-03, 8.70573655e-01,-1.92363164e-02,-2.13078699e-02,
  1.39624458e+00, 1.85333054e-02, 1.39390822e+00, 2.42001378e-02,
  4.12282516e-03,-5.79131617e-02, 8.06386556e-02, 7.05164355e-01,
 -4.51050406e-02,-7.05336419e-01,-5.66507267e-02]

qacc:
[-7.50938042e-02,-8.05028349e-01, 3.13921274e+00,-3.81878966e+00,
 -3.56818109e-01,-1.17810959e+00, 3.91598641e+00,-7.63720494e+00,
 -1.79403214e-01, 2.80532277e+00,-1.05356514e+01, 1.67253384e+01,
 -2.96489446e-02,-2.07944861e-01,-2.74347898e+00, 8.96046434e+00,
 -1.17819896e+00, 1.09384396e+00,-2.08371878e+00, 2.70205806e+00,
 -6.91026545e+01, 5.27730876e+01]

qfrc_actuator:
[ 2.28784052e-03, 2.74983496e-02, 8.60573576e-03, 1.63662523e-03,
 -8.25572744e-05, 2.72908236e-02, 8.64027144e-03, 1.63444595e-03,
 -2.43274598e-03, 2.75088233e-02, 8.61573883e-03, 1.53322939e-03,
  0.00000000e+00,-1.37016875e-03, 0.00000000e+00,-9.65582144e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000819053247502026
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.77747770e-14, -3.38873885e-14,  1.00000000e+00,  2.29671020e-27,
        1.00000000e+00,  3.38873885e-14, -1.00000000e+00,  0.00000000e+00,
        6.77747770e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04781739, -0.08355204,  0.06192283])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.37120633e-05, 2.85300945e-05, 2.69528754e-05, 2.16327608e-06,
 -6.45326511e-05,-9.57850986e-05,-2.90159885e-05,-1.81770975e-05,
 -3.28586999e-05, 4.10106551e-05,-2.15047849e-05, 1.75945312e-05,
  3.29847344e-03,-3.42297648e-05,-1.79354209e-05, 3.80678411e-05,
  3.16684610e-05, 6.13719453e-05,-1.21644875e+00,-1.12989253e-04,
  7.63911307e-03, 1.78628771e-03]


--- Step 2287 ---
qpos:
[-2.51234109e-03, 8.65742304e-01,-2.37326882e-02, 4.01941075e-04,
 -2.93053743e-03, 8.61767352e-01,-2.70323089e-02, 3.13784020e-03,
 -1.17497990e-03, 8.70574723e-01,-1.92386156e-02,-2.13084466e-02,
  1.39624427e+00, 1.85341803e-02, 1.39398734e+00, 2.41975351e-02,
  4.10592429e-03,-5.79194081e-02, 8.06206497e-02, 7.04872924e-01,
 -4.49846042e-02,-7.05628429e-01,-5.67368147e-02]

qacc:
[ 6.90692248e-02, 1.83486525e+00,-5.75193007e+00, 6.60158893e+00,
 -1.80152661e-01, 9.69568810e-01,-3.22953146e+00, 1.01024390e+00,
 -5.78725608e-02, 3.71888133e+00,-1.71831235e+01, 3.78697584e+01,
 -1.32619761e-02,-1.03562712e-01,-1.80785511e+00, 6.05896781e+00,
 -1.13183443e+00, 1.05030732e+00,-2.38950348e+00, 2.63935399e+00,
 -6.64057818e+01, 5.06742679e+01]

qfrc_actuator:
[ 2.30705686e-03, 2.75267180e-02, 8.58526588e-03, 1.63785287e-03,
 -8.44272839e-05, 2.72880804e-02, 8.61169745e-03, 1.62497925e-03,
 -2.42758682e-03, 2.75710716e-02, 8.62237882e-03, 1.59749323e-03,
  0.00000000e+00,-1.36575395e-03, 0.00000000e+00,-9.37388689e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008124835617694531
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02484199e-13, -6.83227992e-14,  1.00000000e+00,  7.00200733e-27,
        1.00000000e+00,  6.83227992e-14, -1.00000000e+00,  0.00000000e+00,
        1.02484199e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04782859, -0.08356003,  0.06192341])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26772356e-05, 4.99319944e-05,-1.11892408e-05, 3.42363805e-06,
 -3.25124930e-05,-6.30920066e-05,-5.25633054e-05,-1.49278546e-05,
 -1.05683262e-05, 8.14963862e-05, 1.30853580e-05, 6.56236992e-05,
  3.31459441e-03,-1.68259771e-05,-5.13589358e-06, 2.77832854e-05,
  7.95038415e-05, 6.08772288e-05,-1.21644727e+00,-1.11433828e-04,
  7.63885002e-03, 1.78561598e-03]


--- Step 2288 ---
qpos:
[-2.51351477e-03, 8.65745100e-01,-2.37339189e-02, 4.01228405e-04,
 -2.93208322e-03, 8.61767374e-01,-2.70333848e-02, 3.13783494e-03,
 -1.17511853e-03, 8.70575986e-01,-1.92395248e-02,-2.13086495e-02,
  1.39624389e+00, 1.85347863e-02, 1.39406658e+00, 2.41939386e-02,
  4.08750111e-03,-5.79202039e-02, 8.06049239e-02, 7.04547231e-01,
 -4.49598761e-02,-7.05956259e-01,-5.67236131e-02]

qacc:
[ 2.95204931e-01,-3.85467211e+00, 1.57473811e+01,-2.77807872e+01,
 -8.78246373e-02, 2.07661546e+00,-8.11357798e+00, 1.22003549e+01,
  1.84805961e-01,-2.85572246e+00, 8.97864833e+00,-4.87689121e+00,
 -2.69011538e-03,-1.78191367e-01, 3.18080854e+00,-1.08825281e+01,
 -3.80578205e-01, 1.36267138e+00, 5.70009982e-01, 1.54517123e+00,
 -2.96607214e+01, 6.69828245e+01]

qfrc_actuator:
[ 2.35470667e-03, 2.74711707e-02, 8.60951635e-03, 1.60309259e-03,
 -8.47925094e-05, 2.73221397e-02, 8.59513624e-03, 1.63724834e-03,
 -2.38872346e-03, 2.75898757e-02, 8.69838455e-03, 1.61780478e-03,
  0.00000000e+00,-1.38113355e-03, 0.00000000e+00,-9.90764455e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008049150529060439
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.37930459e-13, -1.03447844e-13,  1.00000000e+00,  1.42686086e-26,
        1.00000000e+00,  1.03447844e-13, -1.00000000e+00,  0.00000000e+00,
        1.37930459e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02097059, -0.07946432,  0.06192405])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.36952221e-05,-2.98451227e-05, 3.32946055e-05,-3.29436444e-05,
 -1.58046644e-05,-1.27150511e-05,-3.65797327e-05, 7.45798949e-06,
  3.38128864e-05, 6.98780611e-05, 9.67294984e-05, 2.55340554e-05,
  3.32294312e-03,-2.60298252e-05,-8.15969123e-07,-5.28226997e-05,
  1.45758752e-04, 3.97006796e-05,-1.21644677e+00,-1.13521388e-04,
  7.63836288e-03, 1.78473367e-03]


--- Step 2289 ---
qpos:
[-2.51411998e-03, 8.65747247e-01,-2.37338134e-02, 4.00099048e-04,
 -2.93370275e-03, 8.61768054e-01,-2.70353017e-02, 3.13791187e-03,
 -1.17466198e-03, 8.70577803e-01,-1.92398428e-02,-2.13089438e-02,
  1.39624376e+00, 1.85358532e-02, 1.39414567e+00, 2.41907323e-02,
  4.06761748e-03,-5.79158138e-02, 8.05897428e-02, 7.04188593e-01,
 -4.50269787e-02,-7.06318422e-01,-5.66152203e-02]

qacc:
[ 2.99121862e-01,-5.44716286e+00, 1.99366540e+01,-2.88117762e+01,
 -3.96032300e-02, 3.38493390e+00,-1.11575139e+01, 1.34455800e+01,
  3.10955809e-01,-1.10838184e+00, 5.39853756e+00,-8.33146123e+00,
 -8.11605490e-03, 3.49826498e-01,-1.40041365e+00, 4.59237161e+00,
 -3.65111480e-01, 1.29644799e+00, 1.36203007e-01, 1.48401669e+00,
 -2.84677081e+01, 6.42414572e+01]

qfrc_actuator:
[ 2.38342886e-03, 2.74369472e-02, 8.67737880e-03, 1.58290759e-03,
 -8.42937107e-05, 2.73958047e-02, 8.56823369e-03, 1.64450242e-03,
 -2.34780878e-03, 2.76182890e-02, 8.72576502e-03, 1.61209582e-03,
  0.00000000e+00,-1.31943179e-03, 0.00000000e+00,-9.67497106e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008035515872246018
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.38164499e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.38164499e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0209709 , -0.0794663 ,  0.06192414])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.43151478e-05,-4.54939003e-05, 6.46491308e-05,-2.09543418e-05,
 -7.00433456e-06, 5.93259354e-05,-3.37688302e-05, 5.59031920e-06,
  5.71119989e-05, 8.85384828e-05, 5.46079016e-05, 1.12650497e-06,
  3.32678613e-03, 4.91254789e-05,-8.26922501e-06, 1.97759707e-05,
  1.69431473e-04,-9.46001707e-06,-1.21644473e+00,-1.22750111e-04,
  7.63712590e-03, 1.78426761e-03]


--- Step 2290 ---
qpos:
[-2.51446085e-03, 8.65749543e-01,-2.37332161e-02, 3.99382072e-04,
 -2.93497403e-03, 8.61769898e-01,-2.70372608e-02, 3.13691644e-03,
 -1.17404023e-03, 8.70580187e-01,-1.92406171e-02,-2.13092324e-02,
  1.39624401e+00, 1.85381051e-02, 1.39422426e+00, 2.41911581e-02,
  4.04632554e-03,-5.79064562e-02, 8.05736479e-02, 7.03798047e-01,
 -4.51827069e-02,-7.06713645e-01,-5.64150330e-02]

qacc:
[ 1.38878697e-01,-3.26769962e-01,-2.88049683e-01, 6.52764130e+00,
  1.82921152e-01,-5.51548156e-01, 8.72541257e+00,-2.80735750e+01,
  8.57786726e-02, 2.03695864e+00,-6.19809542e+00, 6.61056522e+00,
 -3.10408810e-02, 8.35465277e-01,-1.17090255e+01, 3.99518784e+01,
 -3.52077360e-01, 1.24187492e+00,-2.28465163e-01, 1.43104571e+00,
 -2.74846166e+01, 6.19717057e+01]

qfrc_actuator:
[ 2.38281053e-03, 2.74869552e-02, 8.71725240e-03, 1.60700362e-03,
 -4.77971063e-05, 2.75103476e-02, 8.58886886e-03, 1.59551689e-03,
 -2.35930495e-03, 2.76165253e-02, 8.68870793e-03, 1.60884308e-03,
  0.00000000e+00,-1.22985617e-03, 0.00000000e+00,-7.74962075e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007942429996745659
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.98918986e-14,  6.98918986e-14,  1.00000000e+00, -4.88487750e-27,
        1.00000000e+00, -6.98918986e-14, -1.00000000e+00,  0.00000000e+00,
        6.98918986e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02097518, -0.07947641,  0.06192495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.52682567e-05, 3.69809523e-05, 3.77010563e-05, 2.39744067e-05,
  3.31796098e-05, 1.40979815e-04, 2.89300876e-05,-4.75022339e-05,
  1.58606619e-05, 5.90387253e-05,-1.20180191e-05, 2.44671453e-06,
  3.31365016e-03, 1.15651835e-04,-2.18891203e-06, 1.92433896e-04,
  1.93781809e-04,-6.24003275e-05,-1.21644337e+00,-1.32355247e-04,
  7.63578422e-03, 1.78371577e-03]


--- Step 2291 ---
qpos:
[-2.51449428e-03, 8.65752804e-01,-2.37330754e-02, 3.98918771e-04,
 -2.93584679e-03, 8.61772828e-01,-2.70387373e-02, 3.13531357e-03,
 -1.17396983e-03, 8.70582196e-01,-1.92410696e-02,-2.13101792e-02,
  1.39624449e+00, 1.85411088e-02, 1.39430280e+00, 2.41938659e-02,
  4.02366959e-03,-5.78923112e-02, 8.05554145e-02, 7.03376391e-01,
 -4.54244226e-02,-7.07140837e-01,-5.61258568e-02]

qacc:
[ 1.60586422e-01, 3.07170961e+00,-1.01738429e+01, 1.45876051e+01,
  2.09783005e-01,-1.16290718e+00, 8.79331911e+00,-2.08777901e+01,
 -2.87595851e-01,-2.75069558e+00, 1.18614136e+01,-2.34821205e+01,
 -4.93562182e-02, 5.57616379e-01,-6.97686851e+00, 2.43284727e+01,
 -3.41004141e-01, 1.19688346e+00,-5.34622069e-01, 1.38481766e+00,
 -2.66786047e+01, 6.00996299e+01]

qfrc_actuator:
[ 2.40016992e-03, 2.75692097e-02, 8.70513732e-03, 1.62150059e-03,
 -2.55995846e-05, 2.75776372e-02, 8.61981148e-03, 1.56716716e-03,
 -2.41980837e-03, 2.75431620e-02, 8.68480980e-03, 1.57149814e-03,
  0.00000000e+00,-1.21322788e-03, 0.00000000e+00,-6.61790501e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000778697735337272
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02098258, -0.07949288,  0.06192634])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.94057271e-05, 1.11692668e-04, 9.75540765e-07, 1.78490266e-05,
  3.79645016e-05, 1.50039075e-04, 6.19809001e-05,-2.22325664e-05,
 -5.28982366e-05,-4.27740717e-05, 6.88684314e-06,-3.51879018e-05,
  3.29465376e-03, 7.30004803e-05, 2.06244353e-05, 1.23631970e-04,
  2.18813516e-04,-1.18857280e-04,-1.21644255e+00,-1.42170021e-04,
  7.63434541e-03, 1.78308039e-03]


--- Step 2292 ---
qpos:
[-2.51445973e-03, 8.65756967e-01,-2.37336457e-02, 3.98313031e-04,
 -2.93676226e-03, 8.61776777e-01,-2.70406290e-02, 3.13345427e-03,
 -1.17453870e-03, 8.70584050e-01,-1.92413458e-02,-2.13112378e-02,
  1.39624519e+00, 1.85441150e-02, 1.39438187e+00, 2.41942453e-02,
  4.00166229e-03,-5.78733733e-02, 8.05398546e-02, 7.02959864e-01,
 -4.57529131e-02,-7.07563490e-01,-5.57495142e-02]

qacc:
[ 3.48738700e-02, 2.88241271e+00,-7.94969270e+00, 5.96219513e+00,
 -2.31384773e-02, 1.97737424e+00,-4.01454437e+00,-5.06711974e-01,
 -3.33646366e-01,-9.28828602e-01, 3.48480309e+00,-5.58778954e+00,
 -5.94607139e-02, 1.17632509e-01, 7.85223345e+00,-2.62951778e+01,
  1.62163758e-01, 1.19818159e+00, 6.68366790e-01, 2.90924154e-01,
 -1.00492806e+00, 6.15834402e+01]

qfrc_actuator:
[ 2.39266183e-03, 2.75989260e-02, 8.66258070e-03, 1.61247926e-03,
 -4.76763451e-05, 2.75984350e-02, 8.58542023e-03, 1.55116293e-03,
 -2.45580777e-03, 2.75518233e-02, 8.70021149e-03, 1.56761745e-03,
  0.00000000e+00,-1.24040865e-03, 0.00000000e+00,-7.91618944e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007615183134635703
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.46715196e-14, -7.28953595e-14,  1.00000000e+00,  3.98530008e-27,
        1.00000000e+00,  7.28953595e-14, -1.00000000e+00,  0.00000000e+00,
        5.46715196e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00821759, -0.07608843,  0.06192786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.51895581e-06, 9.30646832e-05,-1.87769492e-05,-3.86042015e-06,
 -4.03829279e-06, 1.16492951e-04, 3.45327719e-06,-7.86468632e-06,
 -6.13264428e-05,-1.53897452e-05, 6.18870593e-06,-6.15891953e-06,
  3.28304194e-03, 8.19285928e-06, 2.16096050e-05,-1.20691653e-04,
  2.44549292e-04,-1.78677072e-04,-1.21644216e+00,-1.52086157e-04,
  7.63281240e-03, 1.78236276e-03]


--- Step 2293 ---
qpos:
[-2.51462611e-03, 8.65761225e-01,-2.37344244e-02, 3.98364549e-04,
 -2.93801931e-03, 8.61780753e-01,-2.70424574e-02, 3.13151425e-03,
 -1.17544743e-03, 8.70586017e-01,-1.92410157e-02,-2.13124005e-02,
  1.39624625e+00, 1.85474785e-02, 1.39446109e+00, 2.41927687e-02,
  3.98027430e-03,-5.78498446e-02, 8.05255288e-02, 7.02548094e-01,
 -4.61654408e-02,-7.07981692e-01,-5.52887996e-02]

qacc:
[ -0.1054841 ,  2.06037735, -9.93846377, 21.57776718, -0.17987644,
  -0.30811209,  1.48963896, -3.00759108, -0.17713104, -1.75728203,
   6.92220213, -9.77381944, -0.07975722,  0.38556537,  5.85315713,
 -20.1177577 ,  0.15482621,  1.14772397,  0.30852656,  0.29664261,
  -1.0256076 , 59.62031531]

qfrc_actuator:
[ 2.37034973e-03, 2.75612919e-02, 8.63770146e-03, 1.64289948e-03,
 -7.82832121e-05, 2.75377117e-02, 8.56579127e-03, 1.54245797e-03,
 -2.45904367e-03, 2.75918775e-02, 8.74496244e-03, 1.56577965e-03,
  0.00000000e+00,-1.20466326e-03, 0.00000000e+00,-8.86023282e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007520785350747239
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.38103119e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.38103119e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00821637, -0.07609746,  0.0619287 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.92003897e-05, 1.02699202e-05,-8.13275929e-06, 3.36771958e-05,
 -3.25092016e-05, 4.71580123e-06, 4.56965824e-06,-3.74844575e-06,
 -3.25954916e-05, 3.24144837e-05, 4.21116362e-05,-2.40237854e-06,
  3.27200214e-03, 4.37673129e-05,-6.47637313e-06,-9.90498165e-05,
  2.26189700e-04,-2.19565277e-04,-1.21644145e+00,-1.58372641e-04,
  7.63143109e-03, 1.78216826e-03]


--- Step 2294 ---
qpos:
[-2.51465473e-03, 8.65764489e-01,-2.37341374e-02, 3.99178536e-04,
 -2.93943737e-03, 8.61784347e-01,-2.70440352e-02, 3.13056218e-03,
 -1.17634810e-03, 8.70588123e-01,-1.92401387e-02,-2.13139217e-02,
  1.39624710e+00, 1.85510471e-02, 1.39453990e+00, 2.41931814e-02,
  3.95948148e-03,-5.78218898e-02, 8.05112302e-02, 7.02140717e-01,
 -4.66597604e-02,-7.08395479e-01,-5.47460070e-02]

qacc:
[ 7.32949054e-02,-2.71872934e+00, 4.57224626e+00, 7.64596430e+00,
 -8.44496430e-02, 8.29207363e-01,-7.85833082e+00, 2.48367423e+01,
  4.48760743e-03,-2.08334472e+00, 9.20385632e+00,-1.63778339e+01,
 -9.31197993e-02, 1.65711101e-01,-6.30964065e+00, 2.12271315e+01,
  1.48794105e-01, 1.10653191e+00, 6.80942277e-03, 3.02816758e-01,
 -1.04920127e+00, 5.80088597e+01]

qfrc_actuator:
[ 2.39265485e-03, 2.74659405e-02, 8.67646831e-03, 1.67848929e-03,
 -7.81869350e-05, 2.74996719e-02, 8.57245996e-03, 1.59131733e-03,
 -2.44266517e-03, 2.75973020e-02, 8.77131723e-03, 1.54745184e-03,
  0.00000000e+00,-1.22028103e-03, 0.00000000e+00,-7.81188030e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007370005155860407
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.53203696e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.53203696e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0082146 , -0.07611135,  0.06193005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31429999e-05,-8.99427239e-05, 4.10245110e-05, 3.63987683e-05,
 -1.53340871e-05,-3.47013365e-05, 8.06228241e-06, 4.91467483e-05,
  7.80305454e-07, 3.20909349e-05, 3.81370671e-05,-1.55309751e-05,
  3.25400231e-03, 1.02389475e-05,-1.51259891e-05, 9.82099685e-05,
  2.09127894e-04,-2.54356015e-04,-1.21644137e+00,-1.62429326e-04,
  7.63011358e-03, 1.78189481e-03]


--- Step 2295 ---
qpos:
[-2.51447847e-03, 8.65767001e-01,-2.37333394e-02, 4.00075748e-04,
 -2.94055128e-03, 8.61787796e-01,-2.70458535e-02, 3.13020704e-03,
 -1.17713857e-03, 8.70590033e-01,-1.92393303e-02,-2.13152186e-02,
  1.39624714e+00, 1.85535951e-02, 1.39461875e+00, 2.41938137e-02,
  3.94164763e-03,-5.77919838e-02, 8.05052220e-02, 7.01783022e-01,
 -4.71913398e-02,-7.08759061e-01,-5.41678944e-02]

qacc:
[ 0.10800698,-2.24977326, 6.22782406,-5.05326882, 0.16012522, 1.70730204,
 -8.88733512,19.71230977, 0.0575744 , 0.39401746,-2.7265216 , 6.85803101,
 -0.06330722,-0.75265086,-0.62137798, 2.21863613, 0.73974279, 0.48778551,
  2.07259789,-0.78574647,33.37878322,28.1283325 ]

qfrc_actuator:
[ 2.40596670e-03, 2.74257727e-02, 8.69897416e-03, 1.68130746e-03,
 -4.19600773e-05, 2.74933919e-02, 8.55918923e-03, 1.62042101e-03,
 -2.43248264e-03, 2.75463731e-02, 8.75094583e-03, 1.55503131e-03,
  0.00000000e+00,-1.33771797e-03, 0.00000000e+00,-7.72843380e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007220963757109955
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00422955, -0.06297787,  0.06193139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.95592613e-05,-8.05093530e-05, 1.02146498e-05, 1.08688900e-06,
  2.89431610e-05,-2.19877883e-05,-1.77573481e-05, 2.88514590e-05,
  1.05644862e-05,-2.58291821e-05,-9.60511889e-06, 9.96826020e-06,
  3.26396952e-03,-1.17508950e-04, 3.24529652e-06, 1.17152922e-05,
  1.93194012e-04,-2.83710882e-04,-1.21644183e+00,-1.64393419e-04,
  7.62883819e-03, 1.78154353e-03]


--- Step 2296 ---
qpos:
[-2.51430891e-03, 8.65769320e-01,-2.37332995e-02, 4.00670820e-04,
 -2.94147619e-03, 8.61790962e-01,-2.70472035e-02, 3.13017187e-03,
 -1.17799496e-03, 8.70591585e-01,-1.92386694e-02,-2.13160417e-02,
  1.39624630e+00, 1.85547107e-02, 1.39469779e+00, 2.41932084e-02,
  3.92661788e-03,-5.77602409e-02, 8.05055439e-02, 7.01472896e-01,
 -4.77588437e-02,-7.09074511e-01,-5.35556440e-02]

qacc:
[-3.93231620e-03, 1.24082493e+00,-3.51875508e+00,-3.54647765e-01,
  9.99525441e-02,-1.02206284e+00, 1.75250170e+00, 3.24264681e+00,
 -3.43642245e-02, 9.15817442e-01,-5.94705041e+00, 1.46378712e+01,
 -9.34520314e-03,-1.06900968e+00, 3.98898745e+00,-1.36342136e+01,
  7.01022520e-01, 4.59213053e-01, 1.58249888e+00,-6.89019740e-01,
  3.19676458e+01, 2.71336266e+01]

qfrc_actuator:
[ 2.39600776e-03, 2.74188719e-02, 8.65859403e-03, 1.66483691e-03,
 -3.77135241e-05, 2.74883316e-02, 8.58760370e-03, 1.63766711e-03,
 -2.44387568e-03, 2.75151700e-02, 8.73844082e-03, 1.57771583e-03,
  0.00000000e+00,-1.42633967e-03, 0.00000000e+00,-8.39231798e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007271712402696362
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.29015457e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.29015457e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00422674, -0.06297745,  0.06193092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.48955055e-07,-4.98292083e-05,-5.57394762e-05,-1.95513242e-05,
  1.79819784e-05,-1.98509081e-05, 2.26713596e-05, 1.62487933e-05,
 -6.33390836e-06,-4.72528644e-05,-1.86973488e-05, 2.14380470e-05,
  3.30456453e-03,-1.55141034e-04,-5.33781823e-07,-6.60327018e-05,
  1.37807645e-04,-2.49557681e-04,-1.21644127e+00,-1.48053443e-04,
  7.62887204e-03, 1.78172033e-03]


--- Step 2297 ---
qpos:
[-2.51439142e-03, 8.65771087e-01,-2.37342081e-02, 4.01469645e-04,
 -2.94246857e-03, 8.61794261e-01,-2.70483884e-02, 3.13065576e-03,
 -1.17895023e-03, 8.70593017e-01,-1.92379848e-02,-2.13166292e-02,
  1.39624442e+00, 1.85546854e-02, 1.39477642e+00, 2.41951676e-02,
  3.91426477e-03,-5.77267509e-02, 8.05105505e-02, 7.01208565e-01,
 -4.83611722e-02,-7.09343537e-01,-5.29102224e-02]

qacc:
[ -0.13256161,  2.338003  ,-10.25677424, 15.70834538, -0.03544125,
   0.78295905, -4.72780083, 13.34991233, -0.05156413,  0.26121956,
  -2.15285312,  6.2762681 ,  0.04812912, -0.99661796, -8.41148335,
  28.45140563,  0.66916202,  0.4367936 ,  1.17119581, -0.60338901,
  30.79432234, 26.315901  ]

qfrc_actuator:
[ 2.37221595e-03, 2.73606612e-02, 8.59929958e-03, 1.67265047e-03,
 -5.26616510e-05, 2.75197038e-02, 8.60491138e-03, 1.66558949e-03,
 -2.45032940e-03, 2.75315472e-02, 8.74851463e-03, 1.59137150e-03,
  0.00000000e+00,-1.47909941e-03, 0.00000000e+00,-7.00553838e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000724131815951129
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53317808e-13, -7.66589038e-14,  1.00000000e+00,  1.17531751e-26,
        1.00000000e+00,  7.66589038e-14, -1.00000000e+00,  0.00000000e+00,
        1.53317808e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00422954, -0.0629791 ,  0.06193121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.41112210e-05,-9.84804378e-05,-7.71491450e-05, 3.36479729e-06,
 -6.41564849e-06, 2.55874320e-05, 1.65491316e-05, 2.81700045e-05,
 -9.48849398e-06,-1.30320528e-05,-1.26262825e-06, 1.14010306e-05,
  3.34819779e-03,-1.36283769e-04,-1.12467850e-05, 1.34151917e-04,
  9.33768317e-05,-2.11510785e-04,-1.21644122e+00,-1.29873628e-04,
  7.62888850e-03, 1.78178078e-03]


--- Step 2298 ---
qpos:
[-2.51474148e-03, 8.65771784e-01,-2.37353595e-02, 4.02719706e-04,
 -2.94376914e-03, 8.61797844e-01,-2.70497258e-02, 3.13181784e-03,
 -1.17980359e-03, 8.70594694e-01,-1.92376295e-02,-2.13174169e-02,
  1.39624189e+00, 1.85538587e-02, 1.39485492e+00, 2.41990795e-02,
  3.90448402e-03,-5.76915836e-02, 8.05188649e-02, 7.00988544e-01,
 -4.89974269e-02,-7.09567536e-01,-5.22324091e-02]

qacc:
[ -0.1400374 ,  0.19410913, -4.64756496, 13.63145286, -0.1624824 ,
   2.19493401,-10.14644069, 21.92150181,  0.05291058,  0.83031234,
  -1.64868191, -1.46563953,  0.10777784, -0.75232882, -6.14559715,
  21.12865701,  0.64308985,  0.41932099,  0.82696149, -0.5260096 ,
  29.82134267, 25.65026197]

qfrc_actuator:
[ 2.35812512e-03, 2.72898542e-02, 8.58240802e-03, 1.69464946e-03,
 -7.89457355e-05, 2.75371275e-02, 8.59791835e-03, 1.69959056e-03,
 -2.43600757e-03, 2.75586249e-02, 8.73651816e-03, 1.58190589e-03,
  0.00000000e+00,-1.49230801e-03, 0.00000000e+00,-6.01916847e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007146790976522155
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.76728344e-14,  7.76728344e-14,  1.00000000e+00, -6.03306921e-27,
        1.00000000e+00, -7.76728344e-14, -1.00000000e+00,  0.00000000e+00,
        7.76728344e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00423675, -0.06298239,  0.0619321 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.56013617e-05,-1.41703794e-04,-4.66269072e-05, 1.51735744e-05,
 -2.93268568e-05, 3.62850443e-05, 1.28804954e-06, 3.62144514e-05,
  9.78059841e-06, 1.99764446e-05,-1.44649597e-05,-9.84752247e-06,
  3.40033079e-03,-9.24363422e-05, 7.37738756e-06, 1.04177958e-04,
  5.85687177e-05,-1.69849499e-04,-1.21644164e+00,-1.09987487e-04,
  7.62887400e-03, 1.78174113e-03]


--- Step 2299 ---
qpos:
[-2.51511862e-03, 8.65771123e-01,-2.37362897e-02, 4.04228863e-04,
 -2.94556064e-03, 8.61800989e-01,-2.70504833e-02, 3.13273011e-03,
 -1.18033053e-03, 8.70596459e-01,-1.92373711e-02,-2.13186534e-02,
  1.39623932e+00, 1.85525654e-02, 1.39493367e+00, 2.42021348e-02,
  3.89719079e-03,-5.76547931e-02, 8.05293379e-02, 7.00811588e-01,
 -4.96668810e-02,-7.09747644e-01,-5.15228220e-02]

qacc:
[-1.35683289e-02,-1.87772476e+00, 2.99855750e+00, 2.12830655e+00,
 -2.58046491e-01,-2.70920257e+00, 9.87830243e+00,-1.48114160e+01,
  1.70334466e-01,-5.37566621e-01, 3.97697243e+00,-1.16481466e+01,
  1.40980216e-01,-4.33063073e-01, 2.94289016e+00,-9.81047338e+00,
  6.21879317e-01, 4.05818797e-01, 5.39637127e-01,-4.54626321e-01,
  2.90170612e+01, 2.51151931e+01]

qfrc_actuator:
[ 0.00236772, 0.02721223, 0.00859063, 0.00170708,-0.00011176, 0.02747497,
  0.0086121 , 0.00168361,-0.00240938, 0.0275563 , 0.00872938, 0.00155891,
  0.        ,-0.00148167, 0.        ,-0.00065199, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007002340699397563
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.92751361e-14, -1.58550272e-13,  1.00000000e+00,  1.25690944e-26,
        1.00000000e+00,  1.58550272e-13, -1.00000000e+00,  0.00000000e+00,
        7.92751361e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00424738, -0.06298698,  0.06193346])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.62592463e-06,-1.65856393e-04,-2.62594791e-05, 5.03926546e-06,
 -4.67345684e-05,-4.01330755e-05, 2.30699181e-05,-1.36772541e-05,
  3.13149813e-05, 5.39653233e-06,-5.15486776e-06,-2.28361146e-05,
  3.43239834e-03,-4.16944940e-05, 1.22484888e-05,-4.39204656e-05,
  3.23546753e-05,-1.24753552e-04,-1.21644248e+00,-8.84925957e-05,
  7.62881610e-03, 1.78161415e-03]


--- Step 2300 ---
qpos:
[-2.51581841e-03, 8.65770076e-01,-2.37377579e-02, 4.04766286e-04,
 -2.94740834e-03, 8.61803708e-01,-2.70512664e-02, 3.13348587e-03,
 -1.18071953e-03, 8.70598107e-01,-1.92360080e-02,-2.13202134e-02,
  1.39623685e+00, 1.85511041e-02, 1.39501243e+00, 2.42049208e-02,
  3.89231650e-03,-5.76164205e-02, 8.05410129e-02, 7.00676654e-01,
 -5.03689548e-02,-7.09884772e-01,-5.07819384e-02]

qacc:
[ -0.16942941, -1.00711906,  6.95305029,-22.62654767, -0.02948007,
  -0.81449602,  2.74660852, -5.10141913,  0.07274652, -3.90660037,
  15.06692394,-22.33906477,  0.14653998, -0.22631658,  0.81125138,
  -2.86146549,  0.60473527,  0.39549868,  0.30049676, -0.38745437,
  28.3548509 , 24.6922133 ]

qfrc_actuator:
[ 2.33814486e-03, 2.72377416e-02, 8.57805314e-03, 1.66051824e-03,
 -9.49380139e-05, 2.74366763e-02, 8.60281394e-03, 1.67381334e-03,
 -2.41114378e-03, 2.75719013e-02, 8.79605562e-03, 1.54587496e-03,
  0.00000000e+00,-1.47448835e-03, 0.00000000e+00,-6.64984371e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006819800184562075
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.03492587e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.03492587e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00426059, -0.06299259,  0.06193518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.08492220e-05,-7.24163492e-05,-4.98837359e-05,-5.44751811e-05,
 -5.36297781e-06,-5.66308966e-05,-1.52267181e-05,-1.09921350e-05,
  1.32353849e-05, 1.65360006e-05, 6.63544070e-05,-1.34279340e-05,
  3.43442042e-03,-1.11367650e-05,-1.85553235e-06,-1.44751961e-05,
  1.39434546e-05,-7.63279880e-05,-1.21644372e+00,-6.54587164e-05,
  7.62870289e-03, 1.78141005e-03]


--- Step 2301 ---
qpos:
[-2.51666740e-03, 8.65769906e-01,-2.37397461e-02, 4.03884938e-04,
 -2.94898214e-03, 8.61806431e-01,-2.70523802e-02, 3.13477468e-03,
 -1.18160805e-03, 8.70600428e-01,-1.92347503e-02,-2.13215910e-02,
  1.39623459e+00, 1.85495748e-02, 1.39509123e+00, 2.42068530e-02,
  3.88980612e-03,-5.75764970e-02, 8.05530962e-02, 7.00582867e-01,
 -5.11031938e-02,-7.09979647e-01,-5.00101138e-02]

qacc:
[ -0.07893031, -0.31070464,  8.77584411,-33.14138092,  0.14407806,
   2.02590642, -9.46594554, 19.21940826, -0.26112648,  1.55894104,
  -5.03657248,  7.8641199 ,  0.14490098, -0.13113066,  2.64977256,
  -9.18867215,  0.59097923,  0.38772532,  0.10208598, -0.32308293,
  27.81234922, 24.36550566]

qfrc_actuator:
[ 2.33862363e-03, 2.73779684e-02, 8.58916851e-03, 1.59744515e-03,
 -6.63171798e-05, 2.74661280e-02, 8.59756991e-03, 1.70322970e-03,
 -2.46538613e-03, 2.76339298e-02, 8.79935029e-03, 1.55662515e-03,
  0.00000000e+00,-1.46949459e-03, 0.00000000e+00,-7.09240870e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006608988354664322
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.19967083e-14,  2.09983542e-14,  1.00000000e+00, -8.81861754e-28,
        1.00000000e+00, -2.09983542e-14, -1.00000000e+00,  0.00000000e+00,
        4.19967083e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00427571, -0.06299897,  0.06193716])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.42346233e-05, 8.71300136e-05,-1.18522612e-05,-6.89585427e-05,
  2.60684909e-05,-5.89130337e-06,-1.92127419e-05, 2.62453840e-05,
 -4.79001140e-05, 8.43573163e-05, 1.43973135e-05, 1.34904244e-05,
  3.42975457e-03, 2.30750906e-06,-3.91256546e-06,-4.56499234e-05,
  2.72947897e-06,-2.46217943e-05,-1.21644538e+00,-4.09340163e-05,
  7.62852260e-03, 1.78113716e-03]


--- Step 2302 ---
qpos:
[-2.51720853e-03, 8.65770633e-01,-2.37412399e-02, 4.02523537e-04,
 -2.95042704e-03, 8.61808638e-01,-2.70527967e-02, 3.13640092e-03,
 -1.18288297e-03, 8.70603393e-01,-1.92349579e-02,-2.13210040e-02,
  1.39623279e+00, 1.85481683e-02, 1.39517016e+00, 2.42068924e-02,
  3.89135753e-03,-5.75419050e-02, 8.05696704e-02, 7.00566198e-01,
 -5.17360171e-02,-7.09997319e-01,-4.93375482e-02]

qacc:
[ 1.61381060e-01,-1.18407575e+00, 7.96839052e+00,-1.77274603e+01,
  6.85377322e-02,-1.93497516e+00, 4.48468785e+00, 6.17753617e-01,
 -2.02813716e-01, 8.99154591e+00,-3.91016490e+01, 7.49419799e+01,
  1.31959078e-01, 5.48548876e-02, 5.91245065e+00,-2.04269456e+01,
  1.01544617e+00,-1.33286614e+00, 1.12272369e+00, 3.29189515e-01,
  5.94912309e+01,-6.68701337e+01]

qfrc_actuator:
[ 2.37484526e-03, 2.74616469e-02, 8.63245029e-03, 1.57855772e-03,
 -6.64321341e-05, 2.74294488e-02, 8.63057272e-03, 1.72004416e-03,
 -2.47952379e-03, 2.76343095e-02, 8.71212402e-03, 1.65228006e-03,
  0.00000000e+00,-1.44809325e-03, 0.00000000e+00,-8.07066031e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006756557448071646
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.46476782e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.46476782e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01322841, -0.03366287,  0.06193583])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.94481824e-05, 1.27019136e-04, 5.74490226e-05,-1.69026390e-05,
  1.22582041e-05,-4.28723091e-05, 3.03122038e-05, 1.64031597e-05,
 -3.70557681e-05, 5.10311485e-05,-6.75902334e-05, 1.00024421e-04,
  3.41846558e-03, 2.71573716e-05,-8.12328539e-06,-1.01177835e-04,
 -1.74716582e-06, 3.03581716e-05,-1.21644744e+00,-1.49498262e-05,
  7.62826321e-03, 1.78080240e-03]


--- Step 2303 ---
qpos:
[-2.51737502e-03, 8.65771735e-01,-2.37417086e-02, 4.00975331e-04,
 -2.95143315e-03, 8.61810167e-01,-2.70520600e-02, 3.13716880e-03,
 -1.18405324e-03, 8.70606264e-01,-1.92356213e-02,-2.13192493e-02,
  1.39623142e+00, 1.85469754e-02, 1.39524908e+00, 2.42054142e-02,
  3.89672537e-03,-5.75123725e-02, 8.05884912e-02, 7.00622882e-01,
 -5.22728492e-02,-7.09942051e-01,-4.87587013e-02]

qacc:
[ 1.96941722e-01,-2.74984246e+00, 1.13156026e+01,-1.64669057e+01,
  2.32016499e-01,-5.87757812e+00, 2.32871959e+01,-3.94967000e+01,
  5.44479823e-02, 3.55600564e+00,-1.77769552e+01, 3.87647255e+01,
  1.08852797e-01, 1.28665509e-01, 4.57774287e+00,-1.60415742e+01,
  9.54105401e-01,-1.26486210e+00, 5.61638978e-01, 4.52237455e-01,
  5.63825855e+01,-6.32085085e+01]

qfrc_actuator:
[ 2.39660999e-03, 2.74577673e-02, 8.67647280e-03, 1.56805786e-03,
 -3.04952314e-05, 2.73891165e-02, 8.68562790e-03, 1.67602200e-03,
 -2.45175931e-03, 2.75974601e-02, 8.67850311e-03, 1.70825944e-03,
  0.00000000e+00,-1.43476344e-03, 0.00000000e+00,-8.82393719e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007031051671571864
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.89514198e-14, -7.89514198e-14,  1.00000000e+00,  6.23332669e-27,
        1.00000000e+00,  7.89514198e-14, -1.00000000e+00,  0.00000000e+00,
        7.89514198e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01319939, -0.03369321,  0.06193336])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.58205253e-05, 7.82893691e-05, 7.67568620e-05,-3.39657263e-06,
  4.17496190e-05,-5.73930698e-05, 5.04866438e-05,-4.44956735e-05,
  1.00347011e-05,-1.80668704e-05,-2.79693734e-05, 5.77680592e-05,
  3.39559883e-03, 3.44024747e-05,-1.58536009e-05,-8.22338944e-05,
  3.99626215e-06, 8.92646524e-05,-1.21644203e+00, 2.66548015e-05,
  7.62899763e-03, 1.78078476e-03]


--- Step 2304 ---
qpos:
[-2.51722773e-03, 8.65772800e-01,-2.37419106e-02, 3.99420696e-04,
 -2.95200293e-03, 8.61810985e-01,-2.70508100e-02, 3.13676211e-03,
 -1.18499534e-03, 8.70608372e-01,-1.92351249e-02,-2.13189347e-02,
  1.39623040e+00, 1.85462169e-02, 1.39532774e+00, 2.42043609e-02,
  3.90570789e-03,-5.74876729e-02, 8.06076627e-02, 7.00749747e-01,
 -5.27182246e-02,-7.09817363e-01,-4.82689558e-02]

qacc:
[  0.16470149, -0.80850215,  2.83722611, -3.34787324,  0.23031342,
  -4.78850906, 20.67050329,-41.30187626,  0.120062  , -7.21508956,
  30.3289664 ,-56.52296777,  0.0860136 ,  0.25917177, -1.67283536,
   5.29247736,  0.90367194, -1.20825227,  0.08769192,  0.55177593,
  53.78928613,-60.15237841]

qfrc_actuator:
[ 2.40951063e-03, 2.74015150e-02, 8.66695357e-03, 1.56248931e-03,
 -8.79391415e-06, 2.73292059e-02, 8.69992178e-03, 1.61431129e-03,
 -2.43469531e-03, 2.75387527e-02, 8.72987995e-03, 1.63392879e-03,
  0.00000000e+00,-1.40866401e-03, 0.00000000e+00,-8.55078038e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007179375915727093
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01318435, -0.03370937,  0.06193205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.99868698e-05, 3.21746650e-06, 1.59860343e-05, 3.76470231e-07,
  4.15117781e-05,-8.35213116e-05, 7.10145177e-06,-6.32932489e-05,
  2.18714135e-05,-7.21796650e-05, 4.61785984e-05,-7.49534496e-05,
  3.37352334e-03, 4.98620808e-05,-1.68209803e-05, 2.05878106e-05,
  2.19389605e-05, 1.26371448e-04,-1.21643865e+00, 5.86568468e-05,
  7.62976486e-03, 1.78100121e-03]


--- Step 2305 ---
qpos:
[-2.51703814e-03, 8.65773769e-01,-2.37426690e-02, 3.97878168e-04,
 -2.95260212e-03, 8.61811073e-01,-2.70499736e-02, 3.13706840e-03,
 -1.18534873e-03, 8.70609476e-01,-1.92335083e-02,-2.13201691e-02,
  1.39622947e+00, 1.85457263e-02, 1.39540613e+00, 2.42049520e-02,
  3.91813932e-03,-5.74676187e-02, 8.06255870e-02, 7.00944123e-01,
 -5.30759280e-02,-7.09626151e-01,-4.78644689e-02]

qacc:
[ 2.18630152e-02, 1.45329714e+00,-5.41561668e+00, 6.58638705e+00,
 -1.54540074e-02, 1.65715201e+00,-1.03196496e+01, 2.38597671e+01,
  3.08380915e-01,-7.64932335e+00, 3.18721688e+01,-5.97108536e+01,
  7.37712185e-02, 1.06577243e-01,-5.38673953e+00, 1.82483026e+01,
  8.62228068e-01,-1.16132672e+00,-3.11809046e-01, 6.33046496e-01,
  5.16314817e+01,-5.76052212e+01]

qfrc_actuator:
[ 2.39925120e-03, 2.73673606e-02, 8.62565748e-03, 1.55977389e-03,
 -3.13122723e-05, 2.72756066e-02, 8.67218483e-03, 1.64916281e-03,
 -2.38871170e-03, 2.74676374e-02, 8.77756424e-03, 1.55456330e-03,
  0.00000000e+00,-1.41071413e-03, 0.00000000e+00,-7.67511750e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007225577959338869
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.68258976e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.68258976e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01318049, -0.03371421,  0.06193168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.03672854e-06,-2.90554163e-05,-3.86539450e-05,-2.01639760e-06,
 -2.82313239e-06,-1.01570949e-04,-4.63182945e-05, 3.02842509e-05,
  5.64516400e-05,-1.05201898e-04, 3.58507137e-05,-8.23219849e-05,
  3.35624039e-03, 2.61334205e-05,-5.41911532e-06, 8.65385469e-05,
  5.04250726e-05, 1.44817727e-04,-1.21643702e+00, 8.22364932e-05,
  7.63060941e-03, 1.78144976e-03]


--- Step 2306 ---
qpos:
[-2.51689379e-03, 8.65774405e-01,-2.37440896e-02, 3.96354662e-04,
 -2.95316815e-03, 8.61810909e-01,-2.70497352e-02, 3.13843168e-03,
 -1.18531997e-03, 8.70610132e-01,-1.92321474e-02,-2.13209397e-02,
  1.39622825e+00, 1.85444581e-02, 1.39548476e+00, 2.42042287e-02,
  3.93388331e-03,-5.74520547e-02, 8.06409192e-02, 7.01203762e-01,
 -5.33491129e-02,-7.09370785e-01,-4.75420479e-02]

qacc:
[-2.40173811e-02, 1.44743978e+00,-5.88202264e+00, 7.51732325e+00,
  1.72399040e-02, 3.51000927e+00,-1.74636075e+01, 3.69032884e+01,
  1.99556142e-01, 1.08022615e+00,-6.66143494e+00, 1.54184776e+01,
  8.53993774e-02,-6.23165003e-01, 4.32668143e+00,-1.46556805e+01,
  8.28138749e-01,-1.12255606e+00,-6.48018938e-01, 6.99931629e-01,
  4.98412264e+01,-5.54856158e+01]

qfrc_actuator:
[ 2.39299433e-03, 2.73287844e-02, 8.58376441e-03, 1.55875438e-03,
 -2.68133292e-05, 2.72971078e-02, 8.65545631e-03, 1.70502869e-03,
 -2.37908604e-03, 2.74606353e-02, 8.76935078e-03, 1.57937777e-03,
  0.00000000e+00,-1.50067189e-03, 0.00000000e+00,-8.40463376e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007189842004180907
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.54415497e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.54415497e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01318553, -0.03371007,  0.06193205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.33644815e-06,-6.29077855e-05,-5.27254622e-05,-3.63929741e-06,
  3.14645222e-06,-4.35730255e-05,-4.23719977e-05, 5.04992719e-05,
  3.66448069e-05,-6.19794811e-05,-2.83925661e-05, 1.99451593e-05,
  3.35185867e-03,-7.71921899e-05, 6.40826113e-06,-6.90033829e-05,
  8.82358888e-05, 1.46977282e-04,-1.21643695e+00, 9.83008556e-05,
  7.63156288e-03, 1.78212780e-03]


--- Step 2307 ---
qpos:
[-2.51681036e-03, 8.65773670e-01,-2.37450110e-02, 3.95230326e-04,
 -2.95368793e-03, 8.61810527e-01,-2.70497362e-02, 3.13973264e-03,
 -1.18560585e-03, 8.70610923e-01,-1.92317621e-02,-2.13210871e-02,
  1.39622668e+00, 1.85424838e-02, 1.39556335e+00, 2.42033212e-02,
  3.95282738e-03,-5.74408530e-02, 8.06525290e-02, 7.01526770e-01,
 -5.35404016e-02,-7.09053183e-01,-4.72990454e-02]

qacc:
[-3.11280897e-02,-2.38407647e+00, 4.18704948e+00, 2.92840957e+00,
  2.42769784e-02, 2.53058432e-01,-1.05598656e+00, 5.20478040e-01,
 -1.64915024e-01, 4.18690356e+00,-1.72960648e+01, 2.95328682e+01,
  1.07189898e-01,-6.19847992e-01, 4.55367195e-01,-1.76780253e+00,
  8.00021154e-01,-1.09059438e+00,-9.30608440e-01, 7.55288078e-01,
  4.83610832e+01,-5.37252558e+01]

qfrc_actuator:
[ 2.38920961e-03, 2.72168213e-02, 8.59509941e-03, 1.57649330e-03,
 -2.39074547e-05, 2.72924731e-02, 8.64568264e-03, 1.70186344e-03,
 -2.42680933e-03, 2.74919445e-02, 8.72852650e-03, 1.61204900e-03,
  0.00000000e+00,-1.53592015e-03, 0.00000000e+00,-8.47651175e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007089073547746072
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.83052268e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.83052268e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01319757, -0.03369889,  0.061933  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.85944399e-06,-1.58187832e-04,-8.27085235e-06, 1.31519890e-05,
  4.39383737e-06,-3.55869651e-05,-2.22481196e-05,-5.51765771e-06,
 -3.01836604e-05,-8.37851250e-06,-5.64465417e-05, 2.94212643e-05,
  3.36588226e-03,-7.35201001e-05,-7.60583782e-06,-1.08463330e-05,
  1.34482624e-04, 1.34639823e-04,-1.21643831e+00, 1.07546485e-04,
  7.63264786e-03, 1.78303274e-03]


--- Step 2308 ---
qpos:
[-2.51659411e-03, 8.65772220e-01,-2.37457363e-02, 3.94263895e-04,
 -2.95416561e-03, 8.61810133e-01,-2.70499753e-02, 3.14095895e-03,
 -1.18615264e-03, 8.70611685e-01,-1.92309883e-02,-2.13219525e-02,
  1.39622503e+00, 1.85402809e-02, 1.39564179e+00, 2.42029893e-02,
  3.97487830e-03,-5.74339085e-02, 8.06594673e-02, 7.01911551e-01,
 -5.36519695e-02,-7.08674887e-01,-4.71332734e-02]

qacc:
[ 7.00259953e-02,-1.16534967e+00, 2.12003849e+00, 8.23112726e-01,
  2.20219783e-02, 4.93577254e-01,-1.47073264e+00, 5.70084058e-01,
 -1.36018522e-01,-2.60344515e+00, 1.22512771e+01,-2.52662380e+01,
  1.24751775e-01,-2.83702817e-01,-1.97824372e+00, 6.56063868e+00,
  7.76712249e-01,-1.06427042e+00,-1.16788129e+00, 8.01199958e-01,
  4.71427056e+01,-5.22670381e+01]

qfrc_actuator:
[ 2.40469459e-03, 2.72217713e-02, 8.61972202e-03, 1.58734688e-03,
 -2.19837634e-05, 2.73077278e-02, 8.63996242e-03, 1.69948130e-03,
 -2.43738755e-03, 2.75103331e-02, 8.75772109e-03, 1.57807887e-03,
  0.00000000e+00,-1.52035043e-03, 0.00000000e+00,-8.15985079e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006937402030950252
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.00172038e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.00172038e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01321504, -0.03368226,  0.06193441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26740725e-05,-8.46250360e-05,-8.59724896e-06, 4.05132950e-06,
  4.00532716e-06,-9.46813903e-06,-1.60010326e-05,-4.78554091e-06,
 -2.50284616e-05, 3.28011662e-06, 2.15203330e-05,-3.57104623e-05,
  3.38327685e-03,-2.25841775e-05,-6.67011662e-06, 2.96593527e-05,
  1.88525690e-04, 1.09148468e-04,-1.21644105e+00, 1.10507111e-04,
  7.63388043e-03, 1.78416226e-03]


--- Step 2309 ---
qpos:
[-2.51621945e-03, 8.65771711e-01,-2.37472364e-02, 3.93287067e-04,
 -2.95442295e-03, 8.61809717e-01,-2.70500187e-02, 3.14177200e-03,
 -1.18633148e-03, 8.70612692e-01,-1.92299917e-02,-2.13235884e-02,
  1.39622364e+00, 1.85379595e-02, 1.39572041e+00, 2.42010127e-02,
  3.99825967e-03,-5.74318349e-02, 8.06666038e-02, 7.02326303e-01,
 -5.36757308e-02,-7.08267336e-01,-4.70538002e-02]

qacc:
[ 8.22372171e-02, 3.38457068e+00,-1.02214034e+01, 1.05921359e+01,
  1.16158219e-01,-1.42416597e+00, 6.78314885e+00,-1.42347122e+01,
  1.92147402e-01,-1.88483408e+00, 1.04376179e+01,-2.42968389e+01,
  1.27102868e-01,-1.33995668e-01, 5.24152637e+00,-1.79681674e+01,
  3.32612946e-01,-1.21773557e+00, 4.95651031e-02, 3.51857153e-01,
  2.52710356e+01,-5.99091673e+01]

qfrc_actuator:
[ 2.41381938e-03, 2.73677707e-02, 8.61691550e-03, 1.59415086e-03,
 -2.91110336e-06, 2.73170465e-02, 8.65452147e-03, 1.67985365e-03,
 -2.39010131e-03, 2.75388319e-02, 8.77469518e-03, 1.54072113e-03,
  0.00000000e+00,-1.50999026e-03, 0.00000000e+00,-9.03713806e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006885947768337786
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20922681e-13, -4.03075605e-14,  1.00000000e+00,  4.87409830e-27,
        1.00000000e+00,  4.03075605e-14, -1.00000000e+00,  0.00000000e+00,
        1.20922681e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00096727, -0.03584422,  0.06193488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.51612120e-05, 9.71192494e-05,-2.11850306e-05, 2.96474397e-06,
  2.09730152e-05, 5.24737210e-07, 1.04696043e-05,-2.06811871e-05,
  3.53056489e-05, 3.32216913e-05, 1.90559812e-05,-3.71687203e-05,
  3.38714552e-03,-7.28724376e-07,-1.04437052e-06,-8.72209229e-05,
  2.49914004e-04, 7.15039367e-05,-1.21644516e+00, 1.07590090e-04,
  7.63527178e-03, 1.78551430e-03]


--- Step 2310 ---
qpos:
[-2.51608611e-03, 8.65772233e-01,-2.37487253e-02, 3.93021110e-04,
 -2.95464235e-03, 8.61809451e-01,-2.70496582e-02, 3.14161568e-03,
 -1.18641000e-03, 8.70613876e-01,-1.92290784e-02,-2.13252840e-02,
  1.39622276e+00, 1.85361879e-02, 1.39579887e+00, 2.41990038e-02,
  4.02292907e-03,-5.74344633e-02, 8.06727690e-02, 7.02770194e-01,
 -5.36142331e-02,-7.07831263e-01,-4.70581676e-02]

qacc:
[-1.26847552e-01, 2.79236389e+00,-1.09823834e+01, 2.25115666e+01,
  2.01278874e-02,-2.92297981e+00, 1.48038329e+01,-3.23402280e+01,
  5.22644121e-02, 3.42335515e-01,-6.31486665e-01,-3.96025690e-01,
  1.05793464e-01, 3.49466644e-01,-1.23478914e-01, 1.13823831e-01,
  3.22005565e-01,-1.17551937e+00,-2.42848746e-01, 3.60064009e-01,
  2.45910342e+01,-5.81837571e+01]

qfrc_actuator:
[ 2.38354409e-03, 2.74550090e-02, 8.63404907e-03, 1.63413548e-03,
 -9.24941255e-06, 2.73405693e-02, 8.68090944e-03, 1.63249454e-03,
 -2.39738407e-03, 2.75376279e-02, 8.76659478e-03, 1.53717580e-03,
  0.00000000e+00,-1.44951657e-03, 0.00000000e+00,-9.01315682e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006789575654348456
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.08796912e-14, -2.04398456e-14,  1.00000000e+00,  8.35574576e-28,
        1.00000000e+00,  2.04398456e-14, -1.00000000e+00,  0.00000000e+00,
        4.08796912e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00096284, -0.03583398,  0.06193576])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.30320633e-05, 1.37323693e-04, 3.47011267e-05, 4.34736580e-05,
  3.61739058e-06, 2.51041360e-05, 2.70726104e-05,-4.73776808e-05,
  9.62786090e-06, 1.96919324e-05,-1.92050845e-07,-2.18855567e-06,
  3.37405463e-03, 6.57396601e-05,-1.17070429e-05,-2.95281418e-06,
  2.75300518e-04, 1.54235411e-05,-1.21644945e+00, 9.58746162e-05,
  7.63728424e-03, 1.78638904e-03]


--- Step 2311 ---
qpos:
[-2.51607092e-03, 8.65772709e-01,-2.37492871e-02, 3.94001330e-04,
 -2.95506961e-03, 8.61809605e-01,-2.70488788e-02, 3.14154706e-03,
 -1.18685641e-03, 8.70615266e-01,-1.92288727e-02,-2.13262782e-02,
  1.39622204e+00, 1.85348015e-02, 1.39587706e+00, 2.41986918e-02,
  4.04885122e-03,-5.74416561e-02, 8.06769821e-02, 7.03242510e-01,
 -5.34695804e-02,-7.07367222e-01,-4.71443541e-02]

qacc:
[ -0.0612843 , -0.08309433, -5.04903518, 25.16488925, -0.10935502,
  -0.43466902,  1.98526001, -1.44729946, -0.19257454,  3.69427283,
 -15.73111372, 28.83807167,  0.08457683,  0.18824403, -5.56503267,
  18.84597036,  0.3131892 , -1.14106925, -0.48799507,  0.36625867,
  24.03747911,-56.76131748]

qfrc_actuator:
[ 2.38322300e-03, 2.74000095e-02, 8.66267069e-03, 1.69331138e-03,
 -3.07400322e-05, 2.73902045e-02, 8.71410835e-03, 1.64022847e-03,
 -2.43728777e-03, 2.75363263e-02, 8.72591386e-03, 1.57126788e-03,
  0.00000000e+00,-1.44835890e-03, 0.00000000e+00,-8.10290744e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006645982430776298
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.67051754e-13, -2.50577632e-13,  1.00000000e+00,  4.18594330e-26,
        1.00000000e+00,  2.50577632e-13, -1.00000000e+00,  0.00000000e+00,
        1.67051754e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00095632, -0.03581919,  0.06193707])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12872206e-05, 3.08151582e-05, 6.27713729e-05, 6.71078860e-05,
 -1.97700646e-05, 6.72386108e-05, 4.00788018e-05, 8.82419771e-06,
 -3.52887770e-05, 9.54483229e-06,-3.67274842e-05, 3.48850597e-05,
  3.34863543e-03, 3.94620625e-05,-5.75401810e-06, 8.93208255e-05,
  3.01172378e-04,-4.32892266e-05,-1.21645482e+00, 8.02348245e-05,
  7.63938163e-03, 1.78737652e-03]


--- Step 2312 ---
qpos:
[-2.51611342e-03, 8.65773348e-01,-2.37499638e-02, 3.95039720e-04,
 -2.95554137e-03, 8.61810205e-01,-2.70483297e-02, 3.14264870e-03,
 -1.18735426e-03, 8.70617100e-01,-1.92301248e-02,-2.13268341e-02,
  1.39622157e+00, 1.85335628e-02, 1.39595535e+00, 2.41981136e-02,
  4.07599651e-03,-5.74533007e-02, 8.06784226e-02, 7.03742633e-01,
 -5.32435013e-02,-7.06875613e-01,-4.73107090e-02]

qacc:
[-3.03701542e-02, 6.53858348e-01,-2.26703566e+00, 3.33897144e+00,
 -2.36695503e-02, 3.63820423e+00,-1.70606786e+01, 3.73593796e+01,
 -2.79040732e-02, 5.56259889e+00,-2.08274095e+01, 3.04101077e+01,
  7.62792236e-02, 7.03920032e-02, 9.54857022e-01,-3.12738419e+00,
  3.05783890e-01,-1.11298325e+00,-6.93166786e-01, 3.70638862e-01,
  2.35912845e+01,-5.55955890e+01]

qfrc_actuator:
[ 2.38309516e-03, 2.73845989e-02, 8.64400693e-03, 1.69217186e-03,
 -2.55861471e-05, 2.74019195e-02, 8.69795928e-03, 1.69810156e-03,
 -2.42532543e-03, 2.75526183e-02, 8.64858972e-03, 1.59170000e-03,
  0.00000000e+00,-1.44734087e-03, 0.00000000e+00,-8.27579624e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006466274056986521
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.58471985e-14, -8.58471985e-14,  1.00000000e+00,  7.36974148e-27,
        1.00000000e+00,  8.58471985e-14, -1.00000000e+00,  0.00000000e+00,
        8.58471985e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00094819, -0.03580095,  0.06193871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.50839899e-06, 1.76498320e-05,-2.24396177e-06, 3.65815625e-06,
 -4.22289598e-06, 5.79563466e-05, 2.97394036e-06, 6.23114017e-05,
 -4.92937628e-06, 1.54997764e-05,-7.86807226e-05, 2.02485978e-05,
  3.33980898e-03, 2.12681875e-05, 6.77613616e-06,-1.31824329e-05,
  3.27579109e-04,-1.04622601e-04,-1.21646126e+00, 6.08260575e-05,
  7.64156547e-03, 1.78847479e-03]


--- Step 2313 ---
qpos:
[-2.51636956e-03, 8.65774678e-01,-2.37515749e-02, 3.95010201e-04,
 -2.95581300e-03, 8.61811486e-01,-2.70489177e-02, 3.14481370e-03,
 -1.18779938e-03, 8.70618615e-01,-1.92306661e-02,-2.13268478e-02,
  1.39622187e+00, 1.85329926e-02, 1.39603388e+00, 2.41953273e-02,
  4.10433970e-03,-5.74693057e-02, 8.06764047e-02, 7.04270029e-01,
 -5.29374062e-02,-7.06356705e-01,-4.75558961e-02]

qacc:
[-1.12909746e-01, 1.32543126e+00, 1.10749807e+00,-1.86013088e+01,
  1.04500176e-01, 6.26096234e+00,-2.55101899e+01, 4.52390617e+01,
  2.81110534e-02,-1.29095036e+00, 1.70506405e+00, 6.76997790e+00,
  4.91603579e-02, 5.47627388e-01, 7.06795091e+00,-2.41555769e+01,
  2.99475763e-01,-1.09008043e+00,-8.64591655e-01, 3.73286603e-01,
  2.32363080e+01,-5.46476464e+01]

qfrc_actuator:
[ 2.36531743e-03, 2.74282581e-02, 8.59764295e-03, 1.63777999e-03,
 -4.52578730e-06, 2.74261942e-02, 8.63493054e-03, 1.74943524e-03,
 -2.41791802e-03, 2.75436407e-02, 8.69233392e-03, 1.62167131e-03,
  0.00000000e+00,-1.37531267e-03, 0.00000000e+00,-9.44077718e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006259675212028429
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.86805615e-14, -1.77361123e-13,  1.00000000e+00,  1.57284840e-26,
        1.00000000e+00,  1.77361123e-13, -1.00000000e+00,  0.00000000e+00,
        8.86805615e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00093886, -0.03578015,  0.06194059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.04030156e-05, 5.32098941e-05,-4.28697542e-05,-5.36436814e-05,
  1.90620336e-05, 5.99450966e-05,-4.85468651e-05, 5.51288852e-05,
  5.05275104e-06,-1.57270352e-05, 3.79497087e-05, 2.83062838e-05,
  3.32793538e-03, 8.59574565e-05, 5.75649222e-08,-1.16740042e-04,
  3.54572060e-04,-1.68600475e-04,-1.21646880e+00, 3.77598010e-05,
  7.64383583e-03, 1.78968209e-03]


--- Step 2314 ---
qpos:
[-2.51646499e-03, 8.65775527e-01,-2.37528037e-02, 3.95770867e-04,
 -2.95585693e-03, 8.61813133e-01,-2.70498806e-02, 3.14756528e-03,
 -1.18854134e-03, 8.70619247e-01,-1.92300941e-02,-2.13264581e-02,
  1.39622258e+00, 1.85329492e-02, 1.39611228e+00, 2.41921756e-02,
  4.13385891e-03,-5.74895962e-02, 8.06703566e-02, 7.04824224e-01,
 -5.25524353e-02,-7.05810648e-01,-4.78788471e-02]

qacc:
[ 8.47187888e-02,-7.78158791e-02,-3.98169761e+00, 1.73992697e+01,
  1.19584227e-01, 2.73613648e+00,-1.15322915e+01, 2.20181353e+01,
 -1.53975768e-01,-3.44435009e+00, 8.89052333e+00,-3.04985133e+00,
  8.47101606e-03, 4.09119251e-01, 9.28840924e-01,-3.49538657e+00,
  2.94005651e-01,-1.07136774e+00,-1.00757397e+00, 3.74201610e-01,
  2.29588983e+01,-5.38847332e+01]

qfrc_actuator:
[ 2.39038671e-03, 2.73647430e-02, 8.60653491e-03, 1.67680795e-03,
  8.09900138e-06, 2.74398375e-02, 8.61578337e-03, 1.77873143e-03,
 -2.44883243e-03, 2.74668296e-02, 8.73612306e-03, 1.63933418e-03,
  0.00000000e+00,-1.36777402e-03, 0.00000000e+00,-9.58279363e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000603381802677383
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.20000421e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.20000421e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00092866, -0.03575752,  0.06194264])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.53472652e-05,-4.49339154e-05, 1.27459216e-05, 3.87801740e-05,
  2.16803396e-05, 3.94716681e-05,-1.08493974e-05, 3.12522623e-05,
 -2.84952853e-05,-7.65879753e-05, 4.61876707e-05, 1.88525080e-05,
  3.28879602e-03, 6.01065992e-05,-1.36835100e-05,-2.09019086e-05,
  3.82202660e-04,-2.35271876e-04,-1.21647745e+00, 1.11132257e-05,
  7.64619129e-03, 1.79099672e-03]


--- Step 2315 ---
qpos:
[-2.51632688e-03, 8.65775364e-01,-2.37530604e-02, 3.97366250e-04,
 -2.95571433e-03, 8.61814494e-01,-2.70499454e-02, 3.15064196e-03,
 -1.18961388e-03, 8.70619596e-01,-1.92302201e-02,-2.13265005e-02,
  1.39622325e+00, 1.85329528e-02, 1.39619052e+00, 2.41895253e-02,
  4.15612173e-03,-5.75137696e-02, 8.06624965e-02, 7.05250718e-01,
 -5.20975370e-02,-7.05390891e-01,-4.82800503e-02]

qacc:
[ 1.23455548e-01,-2.33109234e+00, 2.85215030e+00, 1.07791996e+01,
  9.89346243e-02,-2.21480462e+00, 5.97941030e+00,-1.58255498e+00,
 -1.72974523e-01, 6.85545695e-01,-1.16679277e+00,-4.98036624e+00,
 -6.69814181e-03, 2.41984938e-02,-1.76002524e+00, 5.80682603e+00,
 -1.81409781e+00,-9.70740703e-01,-4.52981285e-01,-3.30428303e+00,
 -8.58461152e+01,-5.86305616e+01]

qfrc_actuator:
[ 2.40537001e-03, 2.72910785e-02, 8.64763751e-03, 1.71719899e-03,
  1.55548337e-05, 2.74116398e-02, 8.65816309e-03, 1.79485656e-03,
 -2.46690619e-03, 2.74387718e-02, 8.69048927e-03, 1.61402878e-03,
  0.00000000e+00,-1.39905476e-03, 0.00000000e+00,-9.29815129e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006028481570040309
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05364461, -0.0440863 ,  0.06194265])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.22936786e-05,-9.45066067e-05, 3.47365332e-05, 3.96614280e-05,
  1.77515798e-05,-7.06130821e-06, 5.02666550e-05, 1.80432646e-05,
 -3.17253270e-05,-6.05631928e-05,-5.51187506e-05,-2.66207587e-05,
  3.26836618e-03, 2.51029269e-06,-8.84016922e-06, 2.54758174e-05,
  4.10521263e-04,-3.04703235e-04,-1.21648727e+00,-1.90634574e-05,
  7.64862878e-03, 1.79241692e-03]


--- Step 2316 ---
qpos:
[-2.51617129e-03, 8.65774582e-01,-2.37522766e-02, 3.98342239e-04,
 -2.95543792e-03, 8.61815580e-01,-2.70496581e-02, 3.15323430e-03,
 -1.19058122e-03, 8.70620173e-01,-1.92314045e-02,-2.13275765e-02,
  1.39622362e+00, 1.85328657e-02, 1.39626849e+00, 2.41888943e-02,
  4.17159016e-03,-5.75414866e-02, 8.06506439e-02, 7.05557324e-01,
 -5.15762918e-02,-7.05089858e-01,-4.87548976e-02]

qacc:
[ 1.00118937e-02,-4.99891727e+00, 1.92520332e+01,-3.11845633e+01,
  7.07620047e-02,-2.34289932e+00, 9.87142277e+00,-1.86171047e+01,
  5.41460725e-02, 1.12805827e+00, 7.69432279e-01,-1.71164787e+01,
 -2.66343106e-04,-1.29300924e-01,-6.51880124e+00, 2.22110131e+01,
 -1.69859995e+00,-8.85886819e-01,-9.98118422e-01,-2.83524052e+00,
 -8.06290195e+01,-5.53558140e+01]

qfrc_actuator:
[ 2.39641200e-03, 2.72830564e-02, 8.70732379e-03, 1.68703673e-03,
  1.98593662e-05, 2.73765951e-02, 8.66532531e-03, 1.76760064e-03,
 -2.44161781e-03, 2.74752255e-02, 8.64582558e-03, 1.56361646e-03,
  0.00000000e+00,-1.41785289e-03, 0.00000000e+00,-8.23214191e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.84024995,  6.83996704,  0.06221133,  6.83996704,  6.84190776,
       -0.18227098,  0.06221133, -0.18227098, 26.88045103,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006491307125968959
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.55161374e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.55161374e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05354959, -0.04411116,  0.06193834])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.65941429e-06,-5.19893448e-05, 4.58204634e-05,-3.22384930e-05,
  1.27290506e-05,-2.78735353e-05, 1.25065650e-05,-2.54743070e-05,
  1.00930701e-05,-9.94776477e-06,-6.48841717e-05,-5.54308632e-05,
  3.27033178e-03,-1.86228423e-05,-2.33080994e-06, 1.06643584e-04,
  2.21405913e-04,-2.55420484e-04,-1.21648337e+00,-2.95393735e-05,
  7.64933010e-03, 1.78898496e-03]


--- Step 2317 ---
qpos:
[-2.51606454e-03, 8.65774004e-01,-2.37514166e-02, 3.99254515e-04,
 -2.95525925e-03, 8.61816067e-01,-2.70496221e-02, 3.15521973e-03,
 -1.19133656e-03, 8.70620445e-01,-1.92324823e-02,-2.13285705e-02,
  1.39622350e+00, 1.85322810e-02, 1.39634639e+00, 2.41898688e-02,
  4.18065261e-03,-5.75724683e-02, 8.06329394e-02, 7.05750537e-01,
 -5.09917113e-02,-7.04901116e-01,-4.92995058e-02]

qacc:
[-2.56391679e-02,-7.37206904e-02, 9.24028605e-01,-2.29898655e+00,
 -5.14574477e-02,-1.33847331e+00, 6.18549333e+00,-1.58478369e+01,
  1.10877653e-01,-5.31921562e-01, 9.66584078e-01, 5.03810312e-01,
  2.34013700e-02,-4.46098929e-01,-4.98988842e+00, 1.72529579e+01,
 -1.60149292e+00,-8.16184352e-01,-1.46297630e+00,-2.43737963e+00,
 -7.62470242e+01,-5.25986618e+01]

qfrc_actuator:
[ 2.39096446e-03, 2.73321860e-02, 8.72444505e-03, 1.68667324e-03,
  4.49861098e-06, 2.73020414e-02, 8.63379121e-03, 1.73274813e-03,
 -2.42612097e-03, 2.74612251e-02, 8.65564141e-03, 1.56992489e-03,
  0.00000000e+00,-1.46454779e-03, 0.00000000e+00,-7.42460096e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.08420318,  7.08391332,  0.06408435,  7.08391332,  7.0860583 ,
       -0.20506593,  0.06408435, -0.20506593, 29.75228517,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006791487923374015
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05348778, -0.04412691,  0.06193553])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.66183763e-06, 2.81513223e-05, 1.09115801e-05,-1.63376107e-06,
 -9.32174221e-06,-8.86790216e-05,-3.66464892e-05,-3.61157939e-05,
  2.03299423e-05,-3.53392811e-05,-2.14399095e-06, 2.56001814e-06,
  3.28501614e-03,-6.07637066e-05, 9.28146151e-06, 8.60682781e-05,
  9.64635115e-05,-1.83242626e-04,-1.21648151e+00,-3.39094763e-05,
  7.64953994e-03, 1.78650682e-03]


--- Step 2318 ---
qpos:
[-2.51582975e-03, 8.65774077e-01,-2.37511517e-02, 4.00143413e-04,
 -2.95541047e-03, 8.61816015e-01,-2.70499536e-02, 3.15642821e-03,
 -1.19189176e-03, 8.70620572e-01,-1.92321291e-02,-2.13295954e-02,
  1.39622313e+00, 1.85310653e-02, 1.39642456e+00, 2.41898004e-02,
  4.18363665e-03,-5.76064848e-02, 8.06078002e-02, 7.05835732e-01,
 -5.03463124e-02,-7.04819197e-01,-4.99106057e-02]

qacc:
[ 6.65293232e-02, 2.47331394e+00,-7.47321653e+00, 7.54441631e+00,
 -1.73827825e-01,-1.28362129e+00, 6.82464206e+00,-1.92889070e+01,
  1.05442312e-01,-4.25275900e+00, 1.50148253e+01,-1.77302816e+01,
  5.03277686e-02,-4.91081125e-01, 3.54116851e+00,-1.18485633e+01,
 -1.51960289e+00,-7.58689447e-01,-1.85866959e+00,-2.09461159e+00,
 -7.25715346e+01,-5.02849082e+01]

qfrc_actuator:
[ 2.40543518e-03, 2.73795248e-02, 8.69882282e-03, 1.68612847e-03,
 -2.24832973e-05, 2.72752268e-02, 8.61500716e-03, 1.69365397e-03,
 -2.41664794e-03, 2.75061570e-02, 8.75066122e-03, 1.57405839e-03,
  0.00000000e+00,-1.49203227e-03, 0.00000000e+00,-8.01876551e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.21694083e+00,  7.21691917e+00,  1.76804349e-02,  7.21691917e+00,
        7.21709370e+00, -6.23982634e-02,  1.76804349e-02, -6.23982634e-02,
        3.26870849e+01,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00])
  dim: 3
  dist: -0.0006958406755497998
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.98878315e-14,  7.97756630e-14,  1.00000000e+00, -3.18207820e-27,
        1.00000000e+00, -7.97756630e-14, -1.00000000e+00,  0.00000000e+00,
        3.98878315e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05345283, -0.04413525,  0.06193394])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.22517423e-05, 6.52689008e-05,-1.85239204e-05, 1.00524247e-06,
 -3.14166692e-05,-8.55334623e-05,-4.28708648e-05,-4.48680949e-05,
  1.92021450e-05, 2.48422458e-05, 8.75530826e-05, 2.59863375e-06,
  3.30949756e-03,-6.33382746e-05, 1.12313487e-05,-5.40017338e-05,
  2.53210254e-05,-9.16599424e-05,-1.21648150e+00,-3.32498589e-05,
  7.64941715e-03, 1.78477740e-03]


--- Step 2319 ---
qpos:
[-2.51488761e-03, 8.65774945e-01,-2.37515791e-02, 4.00661458e-04,
 -2.95588595e-03, 8.61816259e-01,-2.70500355e-02, 3.15562577e-03,
 -1.19247607e-03, 8.70621274e-01,-1.92308718e-02,-2.13316573e-02,
  1.39622287e+00, 1.85298682e-02, 1.39650273e+00, 2.41893727e-02,
  4.18081999e-03,-5.76433452e-02, 8.05738805e-02, 7.05817340e-01,
 -4.96421828e-02,-7.04839449e-01,-5.05854478e-02]

qacc:
[ 3.70152140e-01, 2.21927624e+00,-4.82564103e+00,-1.06639187e+00,
 -1.70837029e-01,-4.44212075e+00, 2.48980661e+01,-6.03231282e+01,
 -1.48794335e-02,-3.90141123e+00, 1.93826338e+01,-3.91800323e+01,
  5.52727159e-02,-1.51396568e-02, 1.07846151e+00,-3.79073936e+00,
 -1.45017392e+00,-7.10978842e-01,-2.19515872e+00,-1.79411228e+00,
 -6.94927972e+01,-4.83500688e+01]

qfrc_actuator:
[ 2.46720477e-03, 2.74252608e-02, 8.66594797e-03, 1.66770744e-03,
 -3.84140210e-05, 2.73659977e-02, 8.65734767e-03, 1.59916972e-03,
 -2.42861475e-03, 2.75686576e-02, 8.80667327e-03, 1.52370911e-03,
  0.00000000e+00,-1.45440017e-03, 0.00000000e+00,-8.19120724e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.26281345,  7.26196139, -0.11124691,  7.26196139,  7.26943142,
        0.432007  , -0.11124691,  0.432007  , 35.46331165,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007016864915622145
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.91110445e-14, -7.91110445e-14,  1.00000000e+00,  6.25855736e-27,
        1.00000000e+00,  7.91110445e-14, -1.00000000e+00,  0.00000000e+00,
        7.91110445e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0534395 , -0.0441376 ,  0.06193332])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.76190024e-05, 7.84462822e-05,-2.16464663e-05,-1.62487226e-05,
 -3.08529727e-05, 3.21648026e-05, 1.78421419e-05,-1.00506338e-04,
 -2.77085782e-06, 9.45814102e-05, 7.20147827e-05,-4.62047934e-05,
  3.32179849e-03, 5.88772242e-06,-3.82067249e-06,-1.94753920e-05,
  1.11479054e-07, 1.67849413e-05,-1.21648312e+00,-2.83534915e-05,
  7.64907760e-03, 1.78364071e-03]


--- Step 2320 ---
qpos:
[-2.51360040e-03, 8.65776965e-01,-2.37529098e-02, 4.00923001e-04,
 -2.95661184e-03, 8.61817123e-01,-2.70496115e-02, 3.15398046e-03,
 -1.19314629e-03, 8.70621923e-01,-1.92294877e-02,-2.13338253e-02,
  1.39622308e+00, 1.85290096e-02, 1.39658101e+00, 2.41873909e-02,
  4.17141289e-03,-5.76778831e-02, 8.05401361e-02, 7.05675666e-01,
 -4.89794456e-02,-7.04982055e-01,-5.12168996e-02]

qacc:
[ 1.79937998e-01, 3.51461280e+00,-9.24328723e+00, 5.40616424e+00,
 -1.31832574e-01,-2.32755716e+00, 1.30467469e+01,-2.89018626e+01,
 -4.47647934e-02,-6.45004873e-01, 2.64198861e+00,-4.64019441e+00,
  4.00299651e-02, 2.77753257e-01, 4.88600191e+00,-1.68235209e+01,
 -1.64761202e+00, 5.80605809e-01, 4.38652082e-02, 7.18534059e-01,
 -8.87513441e+01, 2.37451728e+01]

qfrc_actuator:
[ 2.46795999e-03, 2.75051362e-02, 8.62905683e-03, 1.65667012e-03,
 -4.75877099e-05, 2.74379376e-02, 8.70038760e-03, 1.56175933e-03,
 -2.43554365e-03, 2.74990154e-02, 8.78597714e-03, 1.51269907e-03,
  0.00000000e+00,-1.41360059e-03, 0.00000000e+00,-9.00091069e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007365488826519134
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.59457349e-14, -7.53665541e-14,  1.00000000e+00,  4.97010280e-27,
        1.00000000e+00,  7.53665541e-14, -1.00000000e+00,  0.00000000e+00,
        6.59457349e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04980627, -0.06986622,  0.06193002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.30046671e-05, 1.18562697e-04,-2.39245139e-05,-8.74497302e-06,
 -2.38138099e-05, 8.92972836e-05, 4.84027528e-05,-3.73699186e-05,
 -8.24230962e-06,-3.88485976e-06, 6.09640717e-06,-5.36846271e-06,
  3.31578365e-03, 4.58020982e-05,-5.22041765e-06,-8.28497555e-05,
  1.48779175e-05, 1.40261381e-04,-1.21648607e+00,-1.98002881e-05,
  7.64860717e-03, 1.78297593e-03]


--- Step 2321 ---
qpos:
[-2.51252284e-03, 8.65779248e-01,-2.37540624e-02, 4.00743917e-04,
 -2.95732317e-03, 8.61818320e-01,-2.70491821e-02, 3.15300619e-03,
 -1.19334230e-03, 8.70622032e-01,-1.92281304e-02,-2.13346519e-02,
  1.39622326e+00, 1.85281631e-02, 1.39665910e+00, 2.41857901e-02,
  4.15584477e-03,-5.77102099e-02, 8.05043155e-02, 7.05417849e-01,
 -4.83552602e-02,-7.05239963e-01,-5.18075438e-02]

qacc:
[-1.09921948e-01,-1.05540576e+00, 6.12956280e+00,-1.42349955e+01,
  7.59381559e-03, 1.80564854e+00,-8.63191232e+00, 1.99932076e+01,
  2.47838547e-01, 2.12704498e+00,-1.42676591e+01, 3.79009578e+01,
  2.27101350e-02,-2.11518435e-02,-1.44021851e+00, 4.61915826e+00,
 -1.54025241e+00, 5.52787780e-01,-5.19065407e-01, 8.90166861e-01,
 -8.36084657e+01, 2.21897143e+01]

qfrc_actuator:
[ 2.43218593e-03, 2.74805522e-02, 8.62574898e-03, 1.63234438e-03,
 -3.48986852e-05, 2.74271266e-02, 8.69023325e-03, 1.59373483e-03,
 -2.38612346e-03, 2.74392511e-02, 8.77292985e-03, 1.57803449e-03,
  0.00000000e+00,-1.44223842e-03, 0.00000000e+00,-8.75937631e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.75344799,  6.48635647, -4.24772122,  6.48635647, 21.16205871,
       20.47522058, -4.24772122, 20.47522058, 39.01952521,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007680864590433739
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.03400108e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.03400108e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04974656, -0.06984556,  0.06192703])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.00257952e-05, 3.63617716e-05, 1.79217861e-05,-2.02472233e-05,
  1.39601093e-06, 4.74929647e-05, 1.29507258e-05, 3.67496173e-05,
  4.54753931e-05,-6.09325457e-05,-1.32972471e-05, 6.52757825e-05,
  3.29277779e-03, 2.76296918e-07,-1.25108525e-05, 1.86411095e-05,
  7.37319237e-05, 2.46221852e-04,-1.21648273e+00,-3.59558996e-07,
  7.64808478e-03, 1.78222052e-03]


--- Step 2322 ---
qpos:
[-2.51158714e-03, 8.65781190e-01,-2.37546492e-02, 4.00326922e-04,
 -2.95775810e-03, 8.61819554e-01,-2.70486556e-02, 3.15176487e-03,
 -1.19318953e-03, 8.70622369e-01,-1.92277712e-02,-2.13350649e-02,
  1.39622269e+00, 1.85268185e-02, 1.39673667e+00, 2.41881557e-02,
  4.13447701e-03,-5.77404213e-02, 8.04645065e-02, 7.05049805e-01,
 -4.77672471e-02,-7.05607215e-01,-5.23595432e-02]

qacc:
[-7.39220992e-02,-2.52083809e+00, 9.33845522e+00,-1.41120571e+01,
  1.45604935e-01,-7.72308102e-01, 3.95113564e+00,-8.75557406e+00,
  1.81429177e-01, 3.93954568e+00,-1.53540636e+01, 2.39335382e+01,
  4.09409890e-02,-5.30970822e-01,-1.28066549e+01, 4.36216891e+01,
 -1.44991154e+00, 5.28861263e-01,-9.97111545e-01, 1.03604196e+00,
 -7.93058702e+01, 2.08865246e+01]

qfrc_actuator:
[ 2.42816889e-03, 2.74292248e-02, 8.64187109e-03, 1.61808494e-03,
 -9.25684560e-06, 2.74022081e-02, 8.68396557e-03, 1.57740196e-03,
 -2.37443009e-03, 2.74746821e-02, 8.72906928e-03, 1.59900885e-03,
  0.00000000e+00,-1.51234766e-03, 0.00000000e+00,-6.65754841e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.86657225,  6.44161377, -4.51537051,  6.44161377, 23.99440888,
       23.00792245, -4.51537051, 23.00792245, 40.68960409,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007849295743357423
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.95613354e-14,  7.07211870e-14,  1.00000000e+00, -5.62667208e-27,
        1.00000000e+00, -7.07211870e-14, -1.00000000e+00,  0.00000000e+00,
        7.95613354e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04971391, -0.06983406,  0.06192539])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.35648597e-05,-2.82101195e-05, 2.51301095e-05,-1.24769421e-05,
  2.63096610e-05, 5.85701356e-06, 6.39705040e-06,-1.31357899e-05,
  3.34592982e-05, 1.40046659e-06,-5.58342653e-05, 1.91751267e-05,
  3.29368150e-03,-7.04000900e-05,-4.58326030e-06, 2.09412811e-04,
  1.69311637e-04, 3.29133294e-04,-1.21648126e+00, 1.53596672e-05,
  7.64785120e-03, 1.78157326e-03]


--- Step 2323 ---
qpos:
[-2.51111908e-03, 8.65783579e-01,-2.37556322e-02, 4.00053165e-04,
 -2.95808657e-03, 8.61820763e-01,-2.70484430e-02, 3.15072046e-03,
 -1.19279947e-03, 8.70622998e-01,-1.92283341e-02,-2.13352374e-02,
  1.39622174e+00, 1.85248330e-02, 1.39681443e+00, 2.41909877e-02,
  4.10761504e-03,-5.77685993e-02, 8.04190880e-02, 7.04576412e-01,
 -4.72134094e-02,-7.06078777e-01,-5.28747060e-02]

qacc:
[-2.45590158e-01, 1.99176225e+00,-6.85005591e+00, 9.63579244e+00,
  5.58880828e-02, 1.24806927e+00,-5.33025259e+00, 9.26022132e+00,
  1.23235362e-01, 3.45821968e+00,-1.27826017e+01, 1.82021753e+01,
  8.27068633e-02,-5.62795008e-01,-1.16808047e+00, 4.41791639e+00,
 -1.37355336e+00, 5.08346659e-01,-1.40236183e+00, 1.16304896e+00,
 -7.57140766e+01, 1.97936724e+01]

qfrc_actuator:
[ 2.38996425e-03, 2.74866199e-02, 8.63368692e-03, 1.62759146e-03,
 -1.16162436e-05, 2.73867417e-02, 8.66218348e-03, 1.58601162e-03,
 -2.36768445e-03, 2.74956703e-02, 8.68545554e-03, 1.61151059e-03,
  0.00000000e+00,-1.53582385e-03, 0.00000000e+00,-6.49487012e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.89857038,  6.26240724, -4.8134883 ,  6.26240724, 27.49327519,
       25.49295095, -4.8134883 , 25.49295095, 41.0652118 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007898506303884167
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.02805684e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.02805684e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04970305, -0.0698299 ,  0.06192482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.46795846e-05, 4.62317265e-05,-1.13566740e-05, 8.92362165e-06,
  1.01301687e-05,-1.14614469e-05,-2.02513463e-05, 8.82509902e-06,
  2.27670667e-05, 1.10556381e-05,-4.95439872e-05, 1.10019818e-05,
  3.33131057e-03,-6.89278872e-05, 1.94416897e-05, 2.69801610e-05,
  2.96007903e-04, 3.92732211e-04,-1.21648121e+00, 2.81092604e-05,
  7.64784494e-03, 1.78096476e-03]


--- Step 2324 ---
qpos:
[-2.51129876e-03, 8.65786707e-01,-2.37571431e-02, 3.99175259e-04,
 -2.95856516e-03, 8.61821775e-01,-2.70481593e-02, 3.15012833e-03,
 -1.19207163e-03, 8.70623522e-01,-1.92281972e-02,-2.13353210e-02,
  1.39622075e+00, 1.85226971e-02, 1.39689222e+00, 2.41943538e-02,
  4.07874966e-03,-5.77903978e-02, 8.03834172e-02, 7.04061667e-01,
 -4.67738701e-02,-7.06591467e-01,-5.32716880e-02]

qacc:
[-3.40247629e-01, 1.20747959e+00,-3.37575756e-01,-9.81642142e+00,
 -7.89201841e-02, 4.73135613e-01,-3.97235835e+00, 1.18307456e+01,
  1.76853950e-01,-1.90956603e+00, 6.23364897e+00,-5.73782559e+00,
  9.88275806e-02,-1.99121473e-01,-1.57925727e+00, 5.56591417e+00,
 -5.00851623e-01, 1.59486591e+00, 2.43692610e+00, 1.56771610e+00,
 -3.48999271e+01, 7.99213992e+01]

qfrc_actuator:
[ 2.34938218e-03, 2.75375859e-02, 8.61165479e-03, 1.59781366e-03,
 -3.07169997e-05, 2.73769934e-02, 8.66697015e-03, 1.60922967e-03,
 -2.34618283e-03, 2.75078361e-02, 8.73107624e-03, 1.61893628e-03,
  0.00000000e+00,-1.51322562e-03, 0.00000000e+00,-6.23386389e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008037194197018233
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.90678238e-14, -6.90678238e-14,  1.00000000e+00, -4.77036428e-27,
        1.00000000e+00,  6.90678238e-14, -1.00000000e+00,  0.00000000e+00,
       -6.90678238e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02102711, -0.07942857,  0.06192343])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.18840946e-05, 7.47996809e-05,-1.35844873e-05,-2.80178352e-05,
 -1.42934241e-05,-1.99894784e-05, 2.20046145e-07, 2.21971798e-05,
  3.24049485e-05, 8.58044457e-06, 4.21812991e-05, 6.39857232e-06,
  3.35011137e-03,-1.42296216e-05, 8.70355060e-06, 2.93723946e-05,
  4.49749212e-04, 4.39881203e-04,-1.21648214e+00, 3.84703062e-05,
  7.64801697e-03, 1.78034270e-03]


--- Step 2325 ---
qpos:
[-2.51185142e-03, 8.65789974e-01,-2.37581409e-02, 3.97952286e-04,
 -2.95923256e-03, 8.61822920e-01,-2.70476270e-02, 3.14872782e-03,
 -1.19160788e-03, 8.70623901e-01,-1.92271320e-02,-2.13363623e-02,
  1.39622018e+00, 1.85210945e-02, 1.39696999e+00, 2.41983463e-02,
  4.04804137e-03,-5.78062479e-02, 8.03545375e-02, 7.03508037e-01,
 -4.64414832e-02,-7.07142977e-01,-5.35578292e-02]

qacc:
[ -0.19530773, -1.95946145,  8.71019187,-15.60669911, -0.09937876,
  -2.1822583 , 11.44866533,-25.93692853, -0.13730927, -4.75940561,
  20.7247632 ,-38.66304293,  0.09037864,  0.3328972 , -1.94477153,
   6.73673095, -0.46072727,  1.48709747,  1.69777771,  1.56318959,
 -32.84945314, 74.93225955]

qfrc_actuator:
[ 2.34324609e-03, 2.75309650e-02, 8.63486181e-03, 1.58066064e-03,
 -4.18959498e-05, 2.74063623e-02, 8.68743868e-03, 1.56986810e-03,
 -2.38703356e-03, 2.74972356e-02, 8.77572662e-03, 1.57011384e-03,
  0.00000000e+00,-1.44546417e-03, 0.00000000e+00,-5.91640215e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008370554088899806
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.63171764e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.63171764e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02101059, -0.0793932 ,  0.06192028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.56383514e-05, 3.11316605e-05, 3.60017479e-05,-1.49645601e-05,
 -1.79666050e-05, 1.91602199e-05, 1.71264020e-05,-3.97790537e-05,
 -2.53340593e-05, 3.17468926e-06, 5.18349781e-05,-4.68720219e-05,
  3.35174310e-03, 6.11167745e-05, 5.26874873e-06, 3.40308858e-05,
  4.98187392e-04, 3.48735330e-04,-1.21647438e+00, 2.03644400e-05,
  7.64678843e-03, 1.78007359e-03]


--- Step 2326 ---
qpos:
[-2.51261568e-03, 8.65792724e-01,-2.37582897e-02, 3.97630816e-04,
 -2.96005605e-03, 8.61824208e-01,-2.70471363e-02, 3.14653970e-03,
 -1.19171153e-03, 8.70624796e-01,-1.92263842e-02,-2.13372885e-02,
  1.39622055e+00, 1.85201796e-02, 1.39704818e+00, 2.41990018e-02,
  4.01796344e-03,-5.78163862e-02, 8.03365063e-02, 7.02960344e-01,
 -4.62128831e-02,-7.07688623e-01,-5.37395339e-02]

qacc:
[-1.10179656e-01,-1.19798652e+00,-5.24041933e-01, 1.51461406e+01,
 -8.23289825e-02,-1.31456970e+00, 8.28742958e+00,-2.19587304e+01,
 -2.96641593e-01, 1.80596888e+00,-5.93467928e+00, 8.05365975e+00,
  5.52778526e-02, 5.91938981e-01, 1.07793200e+01,-3.67116164e+01,
  1.57591306e-01, 1.42797171e+00, 2.71210136e+00, 3.99188929e-01,
 -1.04268053e+00, 7.37272141e+01]

qfrc_actuator:
[ 2.34000930e-03, 2.74723446e-02, 8.66662992e-03, 1.62432295e-03,
 -4.82230681e-05, 2.74056936e-02, 8.68160498e-03, 1.52954374e-03,
 -2.42932368e-03, 2.75440691e-02, 8.76602850e-03, 1.57731684e-03,
  0.00000000e+00,-1.38673361e-03, 0.00000000e+00,-7.69844319e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008689100822533227
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.38859559e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.38859559e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00828408, -0.07598374,  0.0619173 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.02317326e-05,-3.44887865e-05, 4.21002328e-05, 4.59496517e-05,
 -1.48528363e-05, 1.18465637e-05,-1.15422374e-06,-3.96852550e-05,
 -5.44180197e-05, 5.72893179e-05,-4.28830038e-06, 8.21978068e-06,
  3.33069292e-03, 9.32362563e-05, 5.28864112e-06,-1.75884963e-04,
  5.46068921e-04, 2.55591973e-04,-1.21646819e+00, 1.45937060e-06,
  7.64548980e-03, 1.77968841e-03]


--- Step 2327 ---
qpos:
[-2.51349671e-03, 8.65795270e-01,-2.37586609e-02, 3.98215220e-04,
 -2.96080249e-03, 8.61825388e-01,-2.70466318e-02, 3.14425971e-03,
 -1.19234735e-03, 8.70626312e-01,-1.92264206e-02,-2.13377574e-02,
  1.39622132e+00, 1.85195668e-02, 1.39712637e+00, 2.41978698e-02,
  3.98849102e-03,-5.78211875e-02, 8.03265027e-02, 7.02418184e-01,
 -4.60821846e-02,-7.08228945e-01,-5.38227582e-02]

qacc:
[-6.12485237e-02, 2.21583176e+00,-1.21158157e+01, 2.83000721e+01,
  4.06239032e-02,-3.70449071e-01, 1.50109136e+00,-3.03382724e+00,
 -2.78558620e-01, 3.95387126e+00,-1.48322844e+01, 2.35373772e+01,
  9.58661066e-03, 2.74070729e-01, 5.41998301e+00,-1.89401475e+01,
  1.51376389e-01, 1.33422713e+00, 2.00691470e+00, 4.21013909e-01,
 -1.07729528e+00, 6.95274904e+01]

qfrc_actuator:
[ 2.33849988e-03, 2.74541354e-02, 8.64973572e-03, 1.66786065e-03,
 -3.38436563e-05, 2.73869386e-02, 8.67793351e-03, 1.52444958e-03,
 -2.45431585e-03, 2.75715018e-02, 8.72459579e-03, 1.59969271e-03,
  0.00000000e+00,-1.40479975e-03, 0.00000000e+00,-8.57274162e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008892653235848882
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.24236094e-14,  6.24236094e-14,  1.00000000e+00, -3.89670701e-27,
        1.00000000e+00, -6.24236094e-14, -1.00000000e+00,  0.00000000e+00,
        6.24236094e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00828641, -0.07596654,  0.06191541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11670505e-05,-2.68957824e-05,-1.72591906e-05, 4.44087988e-05,
  7.33107413e-06,-1.41023608e-05,-2.75121527e-06,-5.39827233e-06,
 -5.10378124e-05, 5.89014990e-05,-2.98559064e-05, 2.48397811e-05,
  3.28381420e-03, 4.08316645e-05,-1.81523697e-05,-9.68419673e-05,
  5.13431309e-04, 1.51366668e-04,-1.21646077e+00,-2.30022001e-05,
  7.64368617e-03, 1.77996135e-03]


--- Step 2328 ---
qpos:
[-2.51425279e-03, 8.65797713e-01,-2.37594986e-02, 3.98630813e-04,
 -2.96104613e-03, 8.61826854e-01,-2.70463886e-02, 3.14259516e-03,
 -1.19375819e-03, 8.70627721e-01,-1.92269157e-02,-2.13382277e-02,
  1.39622201e+00, 1.85187517e-02, 1.39720443e+00, 2.41960103e-02,
  3.96208676e-03,-5.78238293e-02, 8.03284379e-02, 7.01929542e-01,
 -4.59911751e-02,-7.08715710e-01,-5.38681052e-02]

qacc:
[ 6.52496836e-02, 8.18806924e-01,-2.40533994e+00, 3.06830922e-01,
  2.64571709e-01, 2.37246942e+00,-1.05105554e+01, 2.13725671e+01,
 -4.04921797e-01, 1.13781581e+00,-4.25473246e+00, 5.04043033e+00,
 -4.75720188e-03,-1.37710688e-01, 2.00612427e+00,-7.30708147e+00,
  7.67038652e-01, 5.39894302e-01, 2.98470351e+00,-7.34381622e-01,
  3.58206332e+01, 3.00315953e+01]

qfrc_actuator:
[ 2.35576933e-03, 2.74423139e-02, 8.62212842e-03, 1.65770072e-03,
  1.05415968e-05, 2.74285366e-02, 8.67552062e-03, 1.55786547e-03,
 -2.50424278e-03, 2.75159715e-02, 8.68246850e-03, 1.59527874e-03,
  0.00000000e+00,-1.45108091e-03, 0.00000000e+00,-8.90454201e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008987313092772564
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.17661259e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.17661259e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00407422, -0.06295291,  0.06191455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19360874e-05,-2.85813511e-05,-3.37686803e-05,-1.10488573e-05,
  4.78635744e-05, 3.28849343e-05,-5.86119168e-06, 3.26122661e-05,
 -7.43530721e-05,-2.77385967e-05,-3.27917547e-05,-2.44275166e-06,
  3.26333043e-03,-2.05256652e-05,-1.95127894e-05,-4.10182233e-05,
  4.83746400e-04, 5.98197180e-05,-1.21645496e+00,-4.41707650e-05,
  7.64201341e-03, 1.78012741e-03]


--- Step 2329 ---
qpos:
[-2.51502425e-03, 8.65799853e-01,-2.37605775e-02, 3.98586702e-04,
 -2.96096004e-03, 8.61828853e-01,-2.70466448e-02, 3.14201843e-03,
 -1.19584161e-03, 8.70628949e-01,-1.92273071e-02,-2.13387757e-02,
  1.39622229e+00, 1.85174641e-02, 1.39728227e+00, 2.41947447e-02,
  3.93856589e-03,-5.78244759e-02, 8.03396626e-02, 7.01491650e-01,
 -4.59378694e-02,-7.09151886e-01,-5.38774498e-02]

qacc:
[-8.13246827e-03,-6.71493537e-01, 3.75497111e+00,-1.11027428e+01,
  1.73218710e-01, 4.33560801e+00,-1.90315337e+01, 3.82703765e+01,
 -3.51066691e-01,-6.89970230e-01, 2.43817561e+00,-3.81182084e+00,
  6.50239943e-03,-3.91821833e-01,-2.14678458e+00, 6.99085359e+00,
  7.20848781e-01, 4.98777832e-01, 2.32238948e+00,-6.70531040e-01,
  3.38950432e+01, 2.85264205e+01]

qfrc_actuator:
[ 2.34860584e-03, 2.74165530e-02, 8.60617897e-03, 1.63378719e-03,
  1.92158973e-05, 2.74704900e-02, 8.65637965e-03, 1.61371681e-03,
 -2.53316959e-03, 2.75176590e-02, 8.69317074e-03, 1.59281940e-03,
  0.00000000e+00,-1.49615483e-03, 0.00000000e+00,-8.55923988e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009093924393312816
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.10420197e-14,  6.10420197e-14,  1.00000000e+00, -3.72612817e-27,
        1.00000000e+00, -6.10420197e-14, -1.00000000e+00,  0.00000000e+00,
        6.10420197e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00406774, -0.06295151,  0.06191363])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47971368e-06,-4.92396708e-05,-2.64080327e-05,-2.65248347e-05,
  3.13980918e-05, 6.04998258e-05,-1.19544133e-05, 5.76912285e-05,
 -6.45267036e-05,-2.07405321e-05, 8.43328705e-07,-4.82899404e-06,
  3.26748092e-03,-5.54491052e-05,-1.45126674e-05, 2.95265180e-05,
  3.87773459e-04, 2.59714158e-05,-1.21645052e+00,-5.49754114e-05,
  7.64135896e-03, 1.78090551e-03]


--- Step 2330 ---
qpos:
[-2.51565869e-03, 8.65800576e-01,-2.37607833e-02, 3.98323459e-04,
 -2.96066518e-03, 8.61831280e-01,-2.70467955e-02, 3.14139583e-03,
 -1.19804511e-03, 8.70630658e-01,-1.92284806e-02,-2.13386828e-02,
  1.39622248e+00, 1.85159568e-02, 1.39736008e+00, 2.41932050e-02,
  3.91777581e-03,-5.78232598e-02, 8.03579637e-02, 7.01102215e-01,
 -4.59206271e-02,-7.09539925e-01,-5.38523446e-02]

qacc:
[ 7.28738545e-02,-4.76141331e+00, 1.51860883e+01,-1.93372324e+01,
  1.09859177e-01, 1.76096949e-01, 3.86094879e-01,-1.66313266e+00,
 -6.33230605e-02, 4.14144163e+00,-1.65426310e+01, 2.85198216e+01,
  2.30023854e-02,-1.79715222e-01, 7.95982022e-01,-2.84019495e+00,
  6.82696973e-01, 4.65685396e-01, 1.76907538e+00,-6.17735610e-01,
  3.23029988e+01, 2.72813685e+01]

qfrc_actuator:
[ 2.36237818e-03, 2.72939058e-02, 8.63269095e-03, 1.61973253e-03,
  2.41881935e-05, 2.74945424e-02, 8.66304986e-03, 1.61130036e-03,
 -2.51378350e-03, 2.75715476e-02, 8.66418109e-03, 1.62711474e-03,
  0.00000000e+00,-1.48689534e-03, 0.00000000e+00,-8.70561159e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009089196828601237
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.10737695e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.10737695e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00406906, -0.06295295,  0.06191375])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30578028e-05,-1.56812277e-04, 1.21631735e-05,-1.75956678e-05,
  1.98832774e-05, 5.78438717e-05, 1.96755135e-05, 8.82201839e-07,
 -1.15089451e-05, 4.22214034e-05,-3.33424116e-05, 3.33428149e-05,
  3.28764506e-03,-2.25184520e-05,-4.87474417e-06,-1.51679704e-05,
  3.06677783e-04,-1.13024438e-07,-1.21644701e+00,-6.30076360e-05,
  7.64078285e-03, 1.78156747e-03]


--- Step 2331 ---
qpos:
[-2.51613950e-03, 8.65799805e-01,-2.37605423e-02, 3.98279931e-04,
 -2.96024220e-03, 8.61833183e-01,-2.70458040e-02, 3.13976428e-03,
 -1.19980474e-03, 8.70632687e-01,-1.92299753e-02,-2.13385370e-02,
  1.39622286e+00, 1.85145118e-02, 1.39743797e+00, 2.41904868e-02,
  3.89959131e-03,-5.78202870e-02, 8.03814966e-02, 7.00759341e-01,
 -4.59380966e-02,-7.09881846e-01,-5.37940701e-02]

qacc:
[ 8.13641667e-02,-2.76876033e+00, 6.08098926e+00,-1.89715784e+00,
  6.83270050e-02,-5.95528158e+00, 2.44926070e+01,-4.34032942e+01,
  2.31452691e-01, 1.42947078e+00,-4.70530011e+00, 5.89865484e+00,
  2.09682013e-02, 6.60624654e-02, 3.68324867e+00,-1.27171902e+01,
  6.51394786e-01, 4.39170075e-01, 1.30796076e+00,-5.73525927e-01,
  3.09889617e+01, 2.62548435e+01]

qfrc_actuator:
[ 2.37081315e-03, 2.72031264e-02, 8.64815652e-03, 1.62928914e-03,
  2.69283706e-05, 2.74189831e-02, 8.70255423e-03, 1.55686916e-03,
 -2.46569313e-03, 2.75851558e-02, 8.64772602e-03, 1.62951769e-03,
  0.00000000e+00,-1.46285232e-03, 0.00000000e+00,-9.31821108e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008996193158821719
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.17051571e-14, -1.85115471e-13,  1.00000000e+00,  1.14225792e-26,
        1.00000000e+00,  1.85115471e-13, -1.00000000e+00,  0.00000000e+00,
        6.17051571e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00407651, -0.06295662,  0.0619147 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.46406537e-05,-1.76719887e-04,-1.60349830e-05, 2.91720789e-06,
  1.21853489e-05,-3.91665947e-05, 5.38880223e-05,-5.12579304e-05,
  4.25878078e-05, 3.17217603e-05,-1.06946031e-05, 3.70480588e-06,
  3.29248207e-03, 1.25566943e-05,-5.55764726e-06,-6.30928756e-05,
  2.38201237e-04,-1.95451556e-05,-1.21644422e+00,-6.86079952e-05,
  7.64026962e-03, 1.78213082e-03]


--- Step 2332 ---
qpos:
[-2.51649331e-03, 8.65798583e-01,-2.37609019e-02, 3.99670601e-04,
 -2.96011661e-03, 8.61834377e-01,-2.70450316e-02, 3.13864967e-03,
 -1.20104642e-03, 8.70634584e-01,-1.92305993e-02,-2.13390788e-02,
  1.39622328e+00, 1.85131247e-02, 1.39751574e+00, 2.41877184e-02,
  3.88391038e-03,-5.78156421e-02, 8.04087277e-02, 7.00461463e-01,
 -4.59891685e-02,-7.10179308e-01,-5.37036775e-02]

qacc:
[ 6.64488868e-02, 4.03439296e+00,-2.13028062e+01, 4.74181252e+01,
 -1.56479854e-01, 7.38527694e-01,-6.17619687e+00, 1.59959259e+01,
  2.71011612e-01,-4.02311445e+00, 1.69880239e+01,-3.01724411e+01,
  1.06354324e-02, 3.58096887e-02,-2.70133584e-02,-1.64768411e-01,
  6.25893454e-01, 4.18034488e-01, 9.24551463e-01,-5.35905543e-01,
  2.99065298e+01, 2.54118066e+01]

qfrc_actuator:
[ 2.37597429e-03, 2.72386270e-02, 8.63931877e-03, 1.70591922e-03,
 -7.17884775e-06, 2.73376955e-02, 8.67191701e-03, 1.57872632e-03,
 -2.43640138e-03, 2.75745641e-02, 8.69190141e-03, 1.59536413e-03,
  0.00000000e+00,-1.46563850e-03, 0.00000000e+00,-9.31277342e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008834121843728782
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.28372035e-14,  6.28372035e-14,  1.00000000e+00, -3.94851415e-27,
        1.00000000e+00, -6.28372035e-14, -1.00000000e+00,  0.00000000e+00,
        6.28372035e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0040887 , -0.06296204,  0.06191629])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21219568e-05,-6.64853212e-05,-4.72061941e-05, 6.85624489e-05,
 -2.83277517e-05,-9.43046526e-05,-3.38813055e-05, 2.10446503e-05,
  4.96895405e-05, 5.06124472e-06, 4.95311621e-05,-3.30954066e-05,
  3.28247123e-03, 6.70708324e-06,-1.08398017e-05,-3.97738290e-06,
  1.80603934e-04,-3.31689772e-05,-1.21644202e+00,-7.20381630e-05,
  7.63980743e-03, 1.78260917e-03]


--- Step 2333 ---
qpos:
[-2.51619632e-03, 8.65797338e-01,-2.37613223e-02, 4.01183633e-04,
 -2.96034604e-03, 8.61835641e-01,-2.70452259e-02, 3.13775791e-03,
 -1.20204004e-03, 8.70636498e-01,-1.92298770e-02,-2.13400784e-02,
  1.39622430e+00, 1.85125517e-02, 1.39759346e+00, 2.41846187e-02,
  3.87065057e-03,-5.78093920e-02, 8.04383848e-02, 7.00207290e-01,
 -4.60729365e-02,-7.10433672e-01,-5.35820247e-02]

qacc:
[ 3.41197199e-01, 3.89062534e-01,-1.95101821e+00, 4.18453336e+00,
 -1.87598534e-01, 3.24977926e+00,-1.23949507e+01, 1.77500294e+01,
  1.30332133e-01,-4.68328131e+00, 1.86569963e+01,-2.87368649e+01,
 -9.13917452e-03, 6.44623091e-01, 9.41871657e-01,-3.36366448e+00,
  6.05280853e-01, 4.01292690e-01, 6.06496823e-01,-5.03262867e-01,
  2.90171646e+01, 2.47229565e+01]

qfrc_actuator:
[ 2.43239418e-03, 2.72784386e-02, 8.65227299e-03, 1.71497522e-03,
 -2.75149823e-05, 2.73776343e-02, 8.63560462e-03, 1.59197630e-03,
 -2.43639307e-03, 2.76030343e-02, 8.77139179e-03, 1.57550130e-03,
  0.00000000e+00,-1.37802696e-03, 0.00000000e+00,-9.47566285e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008618943723298078
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.44059794e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.44059794e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00410451, -0.06296878,  0.06191837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.21938668e-05,-4.14644218e-06,-4.20964030e-06, 5.90891207e-06,
 -3.37944703e-05,-1.89264813e-05,-5.92483787e-05, 8.44622153e-06,
  2.38031128e-05, 4.00769562e-05, 8.54811835e-05,-1.85785692e-05,
  3.27996565e-03, 9.14706301e-05,-6.39372568e-06,-1.81182937e-05,
  1.32544621e-04,-4.16239168e-05,-1.21644031e+00,-7.34990189e-05,
  7.63938702e-03, 1.78301311e-03]


--- Step 2334 ---
qpos:
[-2.51524032e-03, 8.65796706e-01,-2.37615747e-02, 4.01312210e-04,
 -2.96086901e-03, 8.61836880e-01,-2.70453796e-02, 3.13731850e-03,
 -1.20291209e-03, 8.70638277e-01,-1.92292205e-02,-2.13405002e-02,
  1.39622589e+00, 1.85131403e-02, 1.39767090e+00, 2.41830077e-02,
  3.85974585e-03,-5.78015894e-02, 8.04694154e-02, 6.99995761e-01,
 -4.61886645e-02,-7.10646043e-01,-5.34298056e-02]

qacc:
[  0.34535167, -2.50728321, 15.96185003,-40.64327176, -0.15453582,
   0.78296561, -4.75113691, 12.53449358,  0.06351158,  1.19580263,
  -6.9573074 , 17.1540171 , -0.05046101,  0.89047415, -4.87782501,
  16.55570204,  0.58877145,  0.38813552,  0.34335486, -0.47429761,
  28.28896055, 24.16388795]

qfrc_actuator:
[ 2.46573684e-03, 2.73560964e-02, 8.67800277e-03, 1.64871966e-03,
 -3.94118813e-05, 2.74010494e-02, 8.64998016e-03, 1.61790190e-03,
 -2.43613946e-03, 2.75483307e-02, 8.74697876e-03, 1.59976340e-03,
  0.00000000e+00,-1.30796660e-03, 0.00000000e+00,-8.67137813e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008363888175659667
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.63700304e-14, -6.63700304e-14,  1.00000000e+00,  4.40498093e-27,
        1.00000000e+00,  6.63700304e-14, -1.00000000e+00,  0.00000000e+00,
        6.63700304e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.004123  , -0.06297653,  0.06192082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.29996553e-05, 7.47604181e-05, 2.45690502e-05,-6.64645839e-05,
 -2.79404624e-05, 9.25862210e-07, 3.45236273e-06, 2.32287716e-05,
  1.16586921e-05,-1.54837586e-05,-6.26934266e-06, 2.85712198e-05,
  3.25039768e-03, 1.20862417e-04,-5.17776649e-06, 7.85199561e-05,
  9.29895493e-05,-4.53925136e-05,-1.21643898e+00,-7.31444289e-05,
  7.63900096e-03, 1.78335096e-03]


--- Step 2335 ---
qpos:
[-2.51376890e-03, 8.65796831e-01,-2.37619452e-02, 4.00991589e-04,
 -2.96141560e-03, 8.61837603e-01,-2.70454877e-02, 3.13829132e-03,
 -1.20390643e-03, 8.70639934e-01,-1.92296712e-02,-2.13398647e-02,
  1.39622748e+00, 1.85141120e-02, 1.39774822e+00, 2.41830269e-02,
  3.85114391e-03,-5.77922752e-02, 8.05009512e-02, 6.99826004e-01,
 -4.63357594e-02,-7.10817317e-01,-5.32475754e-02]

qacc:
[ 2.69875395e-01, 4.04507576e-01, 1.90375854e+00,-1.00440089e+01,
 -1.21510060e-02, 2.09817590e+00,-1.44308042e+01, 3.91799951e+01,
 -6.44549347e-02, 5.11171353e+00,-2.29110398e+01, 4.30503216e+01,
 -7.40769197e-02, 3.03297703e-01,-5.11427451e+00, 1.76452190e+01,
  5.75693170e-01, 3.77900249e-01, 1.26336980e-01,-4.47960241e-01,
  2.76955303e+01, 2.37143042e+01]

qfrc_actuator:
[ 2.48496463e-03, 2.74025749e-02, 8.67568811e-03, 1.62749820e-03,
 -2.84120756e-05, 2.73436082e-02, 8.64088994e-03, 1.68661952e-03,
 -2.45346405e-03, 2.75148782e-02, 8.67884988e-03, 1.64964788e-03,
  0.00000000e+00,-1.33787336e-03, 0.00000000e+00,-7.83624324e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008079888948722483
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.37405728e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.37405728e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00414342, -0.06298498,  0.06192353])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.92780350e-05, 9.05328643e-05, 1.38575911e-05,-1.84622953e-05,
 -2.26352507e-06,-5.52466549e-05,-7.67720359e-06, 6.93283620e-05,
 -1.17406572e-05,-4.22290925e-05,-7.11291963e-05, 4.95576647e-05,
  3.22151797e-03, 3.28812110e-05, 6.54749102e-06, 8.72337537e-05,
  6.11431116e-05,-4.48364700e-05,-1.21643800e+00,-7.10917330e-05,
  7.63864297e-03, 1.78362932e-03]


--- Step 2336 ---
qpos:
[-2.51286909e-03, 8.65797265e-01,-2.37621802e-02, 4.00804539e-04,
 -2.96190163e-03, 8.61837766e-01,-2.70452803e-02, 3.13903199e-03,
 -1.20506271e-03, 8.70641016e-01,-1.92290889e-02,-2.13387261e-02,
  1.39622892e+00, 1.85150904e-02, 1.39782559e+00, 2.41837138e-02,
  3.84480386e-03,-5.77814808e-02, 8.05322793e-02, 6.99697306e-01,
 -4.65137491e-02,-7.10948210e-01,-5.30357711e-02]

qacc:
[ -0.29971508,  0.30398215, -1.05626277,  2.92434344,  0.03228522,
  -2.09927518,  7.39025849,-11.5022733 , -0.08369077, -2.61075592,
   6.08384198,  1.38632514, -0.07312993,  0.04045359, -1.93928239,
   6.90976142,  0.56547354,  0.37004464, -0.05193895, -0.42340257,
  27.21503603, 23.3573179 ]

qfrc_actuator:
[ 2.40684033e-03, 2.73944527e-02, 8.67451841e-03, 1.63291572e-03,
 -2.15793781e-05, 2.73091628e-02, 8.65320434e-03, 1.67335573e-03,
 -2.46338770e-03, 2.75119688e-02, 8.74533295e-03, 1.67869003e-03,
  0.00000000e+00,-1.35643591e-03, 0.00000000e+00,-7.52254640e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007775950584043567
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.13882510e-14, -2.14164753e-13,  1.00000000e+00,  1.52888472e-26,
        1.00000000e+00,  2.14164753e-13, -1.00000000e+00,  0.00000000e+00,
        7.13882510e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00416514, -0.06299393,  0.06192642])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.46168445e-05, 4.45766953e-05, 1.85972669e-05, 9.41585372e-06,
  5.75046217e-06,-6.39718476e-05, 2.35188685e-06,-1.45490514e-05,
 -1.55467422e-05,-3.91309029e-05, 5.07040279e-05, 2.57350587e-05,
  3.22146070e-03,-4.83520862e-06, 1.12184426e-05, 3.67255088e-05,
  3.63949909e-05,-4.02239401e-05,-1.21643731e+00,-6.74297403e-05,
  7.63830755e-03, 1.78385348e-03]


--- Step 2337 ---
qpos:
[-2.51291827e-03, 8.65798010e-01,-2.37618593e-02, 4.00999723e-04,
 -2.96250088e-03, 8.61837845e-01,-2.70439545e-02, 3.13845398e-03,
 -1.20598272e-03, 8.70642141e-01,-1.92290212e-02,-2.13379124e-02,
  1.39623055e+00, 1.85164142e-02, 1.39790308e+00, 2.41841116e-02,
  3.84069431e-03,-5.77692299e-02, 8.05628168e-02, 6.99609089e-01,
 -4.67222631e-02,-7.11039288e-01,-5.27947289e-02]

qacc:
[ -0.49731563, -0.35423919,  0.24753573,  5.24813928, -0.0589656 ,
  -5.94266558, 26.60183487,-51.15974004,  0.12301399,  0.82664484,
  -1.49374689, -3.3334125 , -0.07680882,  0.3316576 ,  1.05344261,
  -3.41082754,  0.55762631,  0.36412519, -0.19767247, -0.39993788,
  26.82937032, 23.07885256]

qfrc_actuator:
[ 2.34219615e-03, 2.74247263e-02, 8.70933460e-03, 1.65391354e-03,
 -3.50743222e-05, 2.73597780e-02, 8.73133119e-03, 1.61198258e-03,
 -2.43327695e-03, 2.75101365e-02, 8.71335956e-03, 1.65985277e-03,
  0.00000000e+00,-1.31471102e-03, 0.00000000e+00,-7.69613480e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007459455908073315
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00418766, -0.06300318,  0.06192942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.06817950e-05, 5.94275660e-05, 4.66385831e-05, 2.37349655e-05,
 -1.07729690e-05, 1.47001233e-05, 6.46970958e-05,-6.43171604e-05,
  2.26640532e-05,-1.21763423e-05,-3.29333963e-05,-1.82608484e-05,
  3.22875330e-03, 3.65475278e-05, 6.94854376e-06,-1.43918273e-05,
  1.82797649e-05,-3.17502517e-05,-1.21643689e+00,-6.22248434e-05,
  7.63798965e-03, 1.78402771e-03]


--- Step 2338 ---
qpos:
[-2.51326239e-03, 8.65799267e-01,-2.37617384e-02, 4.01471254e-04,
 -2.96323585e-03, 8.61838540e-01,-2.70428608e-02, 3.13714738e-03,
 -1.20659896e-03, 8.70643725e-01,-1.92306301e-02,-2.13379930e-02,
  1.39623241e+00, 1.85181466e-02, 1.39798061e+00, 2.41839710e-02,
  3.83879172e-03,-5.77555398e-02, 8.05920899e-02, 6.99560881e-01,
 -4.69610170e-02,-7.11090988e-01,-5.25246985e-02]

qacc:
[ -0.15493355,  1.80409682, -6.61694762, 11.34390268, -0.07188318,
  -0.03944837,  4.39482502,-17.08534065,  0.15736681,  3.44694723,
  -7.64256647, -5.47780999, -0.09422826,  0.3980803 ,  1.73524294,
  -5.89878095,  0.55173919,  0.35977901, -0.31607559, -0.37700878,
  26.52347715, 22.86714194]

qfrc_actuator:
[ 2.35725661e-03, 2.74424059e-02, 8.69425714e-03, 1.66620482e-03,
 -4.28636568e-05, 2.74079173e-02, 8.72374811e-03, 1.57618110e-03,
 -2.41498425e-03, 2.75263130e-02, 8.62344668e-03, 1.61291459e-03,
  0.00000000e+00,-1.29041282e-03, 0.00000000e+00,-7.97767099e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007136424043849426
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.77856681e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.77856681e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00421056, -0.06301257,  0.06193247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.81731225e-05, 6.15279496e-05, 3.75618826e-06, 1.69126079e-05,
 -1.29012282e-05, 6.69527644e-05, 1.18797651e-06,-3.41855200e-05,
  2.91458194e-05, 1.75714876e-06,-9.71278481e-05,-4.89582927e-05,
  3.21922445e-03, 4.35705233e-05,-9.59112320e-08,-2.84637984e-05,
  6.44589512e-06,-1.95537183e-05,-1.21643671e+00,-5.55257190e-05,
  7.63768436e-03, 1.78415553e-03]


--- Step 2339 ---
qpos:
[-2.51383494e-03, 8.65800517e-01,-2.37618086e-02, 4.01808446e-04,
 -2.96408025e-03, 8.61839490e-01,-2.70426323e-02, 3.13654857e-03,
 -1.20732457e-03, 8.70644925e-01,-1.92328093e-02,-2.13379124e-02,
  1.39623423e+00, 1.85199094e-02, 1.39805818e+00, 2.41831589e-02,
  3.83907898e-03,-5.77404230e-02, 8.06197168e-02, 6.99552303e-01,
 -4.72297993e-02,-7.11103636e-01,-5.22258555e-02]

qacc:
[ -0.11988692,  0.24816353, -0.33075275, -1.68344602, -0.05823363,
   4.20851136,-17.50614077, 30.95668751, -0.05732228,  1.41795283,
  -6.4717449 , 10.45474414, -0.10602644,  0.1161976 ,  2.0954562 ,
  -7.22886309,  0.54746302,  0.35670903, -0.41153844, -0.35416159,
  26.28479628, 22.71231773]

qfrc_actuator:
[ 2.34885487e-03, 2.73989454e-02, 8.66752967e-03, 1.65547254e-03,
 -4.71618409e-05, 2.73828963e-02, 8.66564211e-03, 1.60891791e-03,
 -2.43944966e-03, 2.74818523e-02, 8.58890113e-03, 1.62082584e-03,
  0.00000000e+00,-1.31227726e-03, 0.00000000e+00,-8.32032611e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006811727154019537
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.14935037e-14,  8.14935037e-14,  1.00000000e+00, -6.64119115e-27,
        1.00000000e+00, -8.14935037e-14, -1.00000000e+00,  0.00000000e+00,
        8.14935037e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00423352, -0.06302199,  0.06193553])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.18305209e-05,-7.58921721e-06,-1.29828005e-05,-7.63972974e-06,
 -1.04135124e-05, 1.11734449e-05,-4.53274081e-05, 3.49800660e-05,
 -1.05061776e-05,-6.56552950e-05,-4.78421021e-05, 3.67147987e-06,
  3.20752066e-03, 1.26159507e-06,-4.52093448e-06,-3.61782937e-05,
  6.31786181e-07,-3.72777851e-06,-1.21643677e+00,-4.73669633e-05,
  7.63738677e-03, 1.78423986e-03]


--- Step 2340 ---
qpos:
[-2.51437949e-03, 8.65801363e-01,-2.37614870e-02, 4.03062389e-04,
 -2.96518593e-03, 8.61840433e-01,-2.70424370e-02, 3.13632348e-03,
 -1.20806681e-03, 8.70645837e-01,-1.92357759e-02,-2.13370443e-02,
  1.39623575e+00, 1.85216369e-02, 1.39813552e+00, 2.41836113e-02,
  3.84154425e-03,-5.77238874e-02, 8.06453927e-02, 6.99583054e-01,
 -4.75284602e-02,-7.11077465e-01,-5.18983112e-02]

qacc:
[ 1.51117196e-02, 2.58778481e-01,-5.56747918e+00, 2.11035550e+01,
 -1.37603397e-01, 8.52034798e-01,-4.62958409e+00, 1.11566861e+01,
 -9.03858994e-03, 3.44223454e+00,-1.61410675e+01, 3.12262904e+01,
 -1.03434082e-01, 6.60343130e-03,-4.17296044e+00, 1.41052193e+01,
  5.44502372e-01, 3.54671823e-01,-4.87767434e-01,-3.31025793e-01,
  2.61028129e+01, 2.26060739e+01]

qfrc_actuator:
[ 2.36193253e-03, 2.73723728e-02, 8.68714113e-03, 1.70223679e-03,
 -6.70899622e-05, 2.73851028e-02, 8.66671151e-03, 1.62837484e-03,
 -2.43602041e-03, 2.74726793e-02, 8.55163507e-03, 1.66094879e-03,
  0.00000000e+00,-1.32611927e-03, 0.00000000e+00,-7.63100938e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006489272870151969
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  8.5542945e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -8.5542945e-14, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00425628, -0.06303133,  0.06193857])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.66537724e-06,-3.38560061e-05, 1.61710444e-05, 4.58392012e-05,
 -2.48698847e-05, 5.66633404e-07,-1.00538159e-06, 1.90468848e-05,
 -1.60747694e-06,-5.56232804e-05,-5.65843360e-05, 3.57295218e-05,
  3.20923652e-03,-1.41177875e-05,-7.74093455e-06, 6.59654812e-05,
  6.47184849e-07, 1.56696208e-05,-1.21643707e+00,-3.77719225e-05,
  7.63709179e-03, 1.78428321e-03]


--- Step 2341 ---
qpos:
[-2.51426934e-03, 8.65802103e-01,-2.37604088e-02, 4.03766432e-04,
 -2.96634861e-03, 8.61842024e-01,-2.70430540e-02, 3.13561197e-03,
 -1.20842249e-03, 8.70647157e-01,-1.92389339e-02,-2.13368701e-02,
  1.39623690e+00, 1.85230648e-02, 1.39821284e+00, 2.41845332e-02,
  3.84617995e-03,-5.77059380e-02, 8.06688770e-02, 6.99652891e-01,
 -4.78569025e-02,-7.11012629e-01,-5.15421219e-02]

qacc:
[  0.34375134, -3.38473679, 14.1875665 ,-24.83933184, -0.03079176,
   2.12184761, -4.27227645, -3.32019961,  0.20154359, -0.35683566,
   4.97623739,-16.96728021, -0.08616701, -0.18430475, -1.44750743,
   5.02626554,  0.54260742,  0.35346774, -0.54789938, -0.30729774,
  25.96869433, 22.54139492]

qfrc_actuator:
[ 2.42323804e-03, 2.73918389e-02, 8.73404964e-03, 1.67598581e-03,
 -6.06951605e-05, 2.74393115e-02, 8.63178966e-03, 1.60440954e-03,
 -2.39815073e-03, 2.75557460e-02, 8.56643967e-03, 1.63094494e-03,
  0.00000000e+00,-1.35284694e-03, 0.00000000e+00,-7.40434289e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006172158202321087
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.24844979e-14,  8.99379916e-14,  1.00000000e+00, -2.02221058e-27,
        1.00000000e+00, -8.99379916e-14, -1.00000000e+00,  0.00000000e+00,
        2.24844979e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00427863, -0.06304051,  0.06194155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.25692281e-05, 5.81485262e-06, 4.34842676e-05,-2.62529221e-05,
 -5.41093378e-06, 5.51070274e-05,-3.42778107e-05,-2.36060930e-05,
  3.70934597e-05, 4.18058889e-05,-2.40233434e-06,-3.36457536e-05,
  3.22429733e-03,-3.90995413e-05, 2.32883036e-06, 2.50306839e-05,
  6.35862927e-06, 3.86087180e-05,-1.21643760e+00,-2.67549142e-05,
  7.63679403e-03, 1.78428774e-03]


--- Step 2342 ---
qpos:
[-2.51328114e-03, 8.65803396e-01,-2.37592210e-02, 4.02037797e-04,
 -2.96730605e-03, 8.61843422e-01,-2.70440985e-02, 3.13539160e-03,
 -1.20854232e-03, 8.70649050e-01,-1.92415164e-02,-2.13371337e-02,
  1.39623789e+00, 1.85238816e-02, 1.39829057e+00, 2.41823707e-02,
  3.85298192e-03,-5.76865768e-02, 8.06899830e-02, 6.99761628e-01,
 -4.82150732e-02,-7.10909208e-01,-5.11572955e-02]

qacc:
[ 4.60125657e-01,-4.58284255e+00, 2.76686503e+01,-7.03529685e+01,
  1.07919406e-01, 1.94805474e+00,-9.39157183e+00, 1.87202398e+01,
  1.23292533e-01,-1.75221122e+00, 9.19088037e+00,-1.81012858e+01,
 -6.87417178e-02,-3.35093821e-01, 9.94737863e+00,-3.39178486e+01,
  5.41567089e-01, 3.52932901e-01,-5.94595025e-01,-2.82727641e-01,
  2.58749977e+01, 2.25123371e+01]

qfrc_actuator:
[ 2.47733710e-03, 2.74387915e-02, 8.74355679e-03, 1.55376776e-03,
 -3.86063747e-05, 2.73820486e-02, 8.59381815e-03, 1.62611208e-03,
 -2.39327121e-03, 2.76225665e-02, 8.61220581e-03, 1.61328931e-03,
  0.00000000e+00,-1.38702759e-03, 0.00000000e+00,-9.05011069e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005862799705186675
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.73418452e-14, -1.89367381e-13,  1.00000000e+00,  8.96500123e-27,
        1.00000000e+00,  1.89367381e-13, -1.00000000e+00,  0.00000000e+00,
        4.73418452e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00430041, -0.06304948,  0.06194445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.39310162e-05, 5.80407103e-05, 1.51405944e-05,-1.20979746e-04,
  1.95278738e-05,-3.45716109e-05,-3.16375044e-05, 2.24169681e-05,
  2.26459480e-05, 8.82578148e-05, 5.29528929e-05,-1.66022859e-05,
  3.24244835e-03,-5.83138316e-05, 1.54243951e-06,-1.63394151e-04,
  1.76779877e-05, 6.50822079e-05,-1.21643839e+00,-1.43229815e-05,
  7.63648773e-03, 1.78425537e-03]


--- Step 2343 ---
qpos:
[-2.51228704e-03, 8.65804328e-01,-2.37582071e-02, 4.00722940e-04,
 -2.96802394e-03, 8.61844031e-01,-2.70450135e-02, 3.13547229e-03,
 -1.20870450e-03, 8.70650845e-01,-1.92435664e-02,-2.13364820e-02,
  1.39623862e+00, 1.85242500e-02, 1.39836822e+00, 2.41789361e-02,
  3.86194870e-03,-5.76658040e-02, 8.07085684e-02, 6.99909116e-01,
 -4.86029572e-02,-7.10767226e-01,-5.07437985e-02]

qacc:
[ 3.12727894e-03, 8.60809564e-01,-5.50747229e+00, 1.32122573e+01,
  1.26538665e-01,-7.83454482e-01, 1.12158183e-02, 5.57095128e+00,
 -2.17090980e-02, 2.68863912e-01,-5.00270157e+00, 2.00497179e+01,
 -6.08409987e-02,-2.73179635e-01, 3.75377902e+00,-1.32772048e+01,
  5.41203193e-01, 3.52932651e-01,-6.30115709e-01,-2.57109177e-01,
  2.58154347e+01, 2.25138513e+01]

qfrc_actuator:
[ 2.43786390e-03, 2.73595987e-02, 8.71321499e-03, 1.57135115e-03,
 -2.50932761e-05, 2.73117426e-02, 8.58946219e-03, 1.63892707e-03,
 -2.40818971e-03, 2.75727942e-02, 8.62260052e-03, 1.65632194e-03,
  0.00000000e+00,-1.40749602e-03, 0.00000000e+00,-9.65536288e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005563043814905411
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.48391794e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.48391794e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0043215 , -0.06305817,  0.06194727])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.51562785e-07,-4.88220914e-05,-2.06949527e-05, 1.82362429e-05,
  2.27786292e-05,-9.52337299e-05,-1.46207826e-05, 1.06748334e-05,
 -4.06334561e-06, 9.78282536e-06, 3.45754779e-05, 4.83212890e-05,
  3.25020481e-03,-4.82244577e-05,-2.03209631e-05,-7.00630931e-05,
  3.45533713e-05, 9.51007185e-05,-1.21643945e+00,-4.77287718e-07,
  7.63616665e-03, 1.78418786e-03]


--- Step 2344 ---
qpos:
[-2.51154216e-03, 8.65804785e-01,-2.37571597e-02, 3.99285034e-04,
 -2.96835513e-03, 8.61844612e-01,-2.70459682e-02, 3.13492911e-03,
 -1.20879409e-03, 8.70652182e-01,-1.92460140e-02,-2.13355519e-02,
  1.39623942e+00, 1.85245607e-02, 1.39844588e+00, 2.41737666e-02,
  3.87308095e-03,-5.76436177e-02, 8.07245283e-02, 7.00095243e-01,
 -4.90205708e-02,-7.10586650e-01,-5.03015608e-02]

qacc:
[ -0.13048423, -0.97350832,  3.08085156, -4.91590205,  0.20360093,
  -1.20985632,  6.8934407 ,-17.60727005,  0.03782725,  1.07828448,
  -5.89605588, 11.68046586, -0.05567559,  0.03949272,  5.26162591,
 -18.38776861,  0.54136551,  0.35335633, -0.6563861 , -0.23027122,
  25.78468126, 22.54164021]

qfrc_actuator:
[ 2.41377880e-03, 2.73296791e-02, 8.71246129e-03, 1.56442623e-03,
  9.10640438e-07, 2.73585516e-02, 8.60488948e-03, 1.61089788e-03,
 -2.39929790e-03, 2.74890136e-02, 8.57607996e-03, 1.66357903e-03,
  0.00000000e+00,-1.38415014e-03, 0.00000000e+00,-1.05297217e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005274260558314203
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.57873745e-13,  1.05249164e-13,  1.00000000e+00, -1.66160797e-26,
        1.00000000e+00, -1.05249164e-13, -1.00000000e+00,  0.00000000e+00,
        1.57873745e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00434181, -0.06306656,  0.06194997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.38305032e-05,-6.07429863e-05,-1.27694549e-05,-9.37868996e-06,
  3.68050319e-05,-9.01039540e-06,-5.67087941e-06,-3.24070646e-05,
  6.94872107e-06,-6.91293370e-05,-3.85678824e-05, 9.81284545e-06,
  3.26331879e-03,-2.44876790e-06,-1.85577993e-05,-9.42449993e-05,
  5.69618853e-05, 1.28689221e-04,-1.21644081e+00, 1.47857674e-05,
  7.63582399e-03, 1.78408686e-03]


--- Step 2345 ---
qpos:
[-2.51106927e-03, 8.65806214e-01,-2.37569989e-02, 3.96270778e-04,
 -2.96852648e-03, 8.61845303e-01,-2.70465661e-02, 3.13366202e-03,
 -1.20842324e-03, 8.70652863e-01,-1.92483082e-02,-2.13345531e-02,
  1.39624032e+00, 1.85249947e-02, 1.39852343e+00, 2.41675640e-02,
  3.88638090e-03,-5.76200149e-02, 8.07377881e-02, 7.00319923e-01,
 -4.94679578e-02,-7.10367405e-01,-4.98304803e-02]

qacc:
[ -0.14359056,  0.51444475,  6.68128486,-33.25691257,  0.08433506,
  -2.33893375, 11.60945891,-24.79313405,  0.24074065, -1.15281783,
   2.56354665, -1.1374765 , -0.06411521,  0.16472527,  2.98258803,
 -10.63458238,  0.5419276 ,  0.35411294, -0.67504575, -0.20207117,
  25.77822337, 22.59204157]

qfrc_actuator:
[ 2.39917932e-03, 2.74538504e-02, 8.69381741e-03, 1.48990974e-03,
 -1.33917541e-06, 2.73864217e-02, 8.63230424e-03, 1.57691933e-03,
 -2.35846526e-03, 2.74562384e-02, 8.58489049e-03, 1.66739429e-03,
  0.00000000e+00,-1.37023230e-03, 0.00000000e+00,-1.10232491e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004997423255532346
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11079547e-13,  8.33096604e-14,  1.00000000e+00, -9.25399935e-27,
        1.00000000e+00, -8.33096604e-14, -1.00000000e+00,  0.00000000e+00,
        1.11079547e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00436128, -0.06307463,  0.06195256])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.59707760e-05, 8.71444704e-05,-3.30968802e-05,-7.77429044e-05,
  1.52207588e-05, 2.02712784e-05, 2.37368124e-05,-3.51907824e-05,
  4.41528696e-05,-7.89888828e-05,-9.87030744e-06,-2.87630880e-07,
  3.25973746e-03, 1.43650355e-05,-2.00007875e-05,-5.71971063e-05,
  8.49038186e-05, 1.65884166e-04,-1.21644250e+00, 3.14736514e-05,
  7.63545238e-03, 1.78395393e-03]


--- Step 2346 ---
qpos:
[-2.51081786e-03, 8.65807997e-01,-2.37575432e-02, 3.93143740e-04,
 -2.96900927e-03, 8.61845551e-01,-2.70466064e-02, 3.13240017e-03,
 -1.20758112e-03, 8.70653205e-01,-1.92494921e-02,-2.13339698e-02,
  1.39624066e+00, 1.85250327e-02, 1.39860059e+00, 2.41631363e-02,
  3.90185212e-03,-5.75949915e-02, 8.07482999e-02, 7.00583094e-01,
 -4.99451860e-02,-7.10109369e-01,-4.93304254e-02]

qacc:
[ -0.11669375,  2.20366648, -6.70464765,  5.62293024, -0.16351575,
  -2.13091953,  6.72719457, -7.2051945 ,  0.24686125, -4.40681783,
  16.81124658,-25.52185965, -0.05689563, -0.32233094, -5.95700696,
  19.98589925,  0.54281652,  0.35514914, -0.6869651 , -0.17240253,
  25.79371328, 22.66323307]

qfrc_actuator:
[ 2.39039368e-03, 2.74384354e-02, 8.64759340e-03, 1.48285662e-03,
 -3.82217058e-05, 2.73317902e-02, 8.64877811e-03, 1.57522602e-03,
 -2.33439029e-03, 2.74899519e-02, 8.66201300e-03, 1.65148996e-03,
  0.00000000e+00,-1.43313965e-03, 0.00000000e+00,-1.00456727e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004733176367511735
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.17280969e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.17280969e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00437986, -0.06308234,  0.06195503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.11593709e-05, 2.31139683e-05,-3.50021188e-05,-5.97644122e-06,
 -2.96546059e-05,-3.99095948e-05, 2.23680101e-05,-6.86796076e-07,
  4.52058479e-05,-1.24994753e-05, 5.95946906e-05,-1.96326833e-05,
  3.25443539e-03,-5.46945297e-05,-1.61988541e-05, 9.18715500e-05,
  1.18397966e-04, 2.06731193e-04,-1.21644455e+00, 4.95969765e-05,
  7.63504379e-03, 1.78379060e-03]


--- Step 2347 ---
qpos:
[-2.51054085e-03, 8.65808995e-01,-2.37578583e-02, 3.90039436e-04,
 -2.96949531e-03, 8.61845269e-01,-2.70469650e-02, 3.13258234e-03,
 -1.20655440e-03, 8.70653726e-01,-1.92505032e-02,-2.13339303e-02,
  1.39623998e+00, 1.85238309e-02, 1.39867766e+00, 2.41598851e-02,
  3.92067742e-03,-5.75744480e-02, 8.07555173e-02, 7.00910562e-01,
 -5.03382518e-02,-7.09787320e-01,-4.89122128e-02]

qacc:
[ 1.38420781e-02,-1.62889902e+00, 4.20898241e+00,-3.60702246e+00,
 -1.64228548e-03, 3.15906448e+00,-1.83780112e+01, 4.42723605e+01,
  9.64086265e-02,-1.36534599e+00, 7.50474955e+00,-1.73172087e+01,
 -9.00970750e-03,-9.86746000e-01,-3.72886145e+00, 1.27722896e+01,
  8.38519474e-01,-1.11995995e+00,-8.23615612e-01, 4.49672449e-01,
  4.93724197e+01,-5.53663895e+01]

qfrc_actuator:
[ 2.40290724e-03, 2.73394981e-02, 8.63825243e-03, 1.47994324e-03,
 -2.44659731e-05, 2.72814256e-02, 8.62283876e-03, 1.64572216e-03,
 -2.33831754e-03, 2.75102473e-02, 8.67258864e-03, 1.62421074e-03,
  0.00000000e+00,-1.54167221e-03, 0.00000000e+00,-9.45206595e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046863630968868586
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.36905037e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.36905037e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01351394, -0.03347763,  0.06195547])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.42490828e-06,-9.35338486e-05,-9.09125104e-06,-3.24788261e-06,
 -3.26346046e-07,-6.80982858e-05,-3.14488312e-05, 6.95493804e-05,
  1.77152004e-05, 2.47803858e-05, 1.46616621e-05,-2.61344383e-05,
  3.28261256e-03,-1.43413340e-04, 1.41974026e-06, 6.21380281e-05,
  1.57480258e-04, 2.51285961e-04,-1.21644701e+00, 6.91695340e-05,
  7.63458951e-03, 1.78359843e-03]


--- Step 2348 ---
qpos:
[-2.51036024e-03, 8.65809515e-01,-2.37580559e-02, 3.86548423e-04,
 -2.96970766e-03, 8.61844697e-01,-2.70479673e-02, 3.13325497e-03,
 -1.20565407e-03, 8.70653526e-01,-1.92513163e-02,-2.13327214e-02,
  1.39623847e+00, 1.85215027e-02, 1.39875469e+00, 2.41577041e-02,
  3.94275209e-03,-5.75582793e-02, 8.07585334e-02, 7.01300830e-01,
 -5.06493412e-02,-7.09402846e-01,-4.85735831e-02]

qacc:
[-5.03278083e-02,-1.75520041e+00, 6.97466070e+00,-1.35050951e+01,
  1.43862451e-01, 2.42181060e+00,-1.12644564e+01, 2.09991957e+01,
 -6.55684243e-02, 9.02132022e-01,-9.52852836e+00, 2.99639526e+01,
  5.10032038e-02,-9.37136906e-01,-3.35127500e+00, 1.15301077e+01,
  8.12342117e-01,-1.09369832e+00,-1.05034884e+00, 5.39469070e-01,
  4.81722228e+01,-5.38761758e+01]

qfrc_actuator:
[ 2.39253658e-03, 2.73334649e-02, 8.65038902e-03, 1.46167066e-03,
  1.73646345e-06, 2.72693903e-02, 8.58985698e-03, 1.66932793e-03,
 -2.35894797e-03, 2.74155918e-02, 8.66148210e-03, 1.67916427e-03,
  0.00000000e+00,-1.58781448e-03, 0.00000000e+00,-8.91242913e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004701261785732061
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.18077133e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.18077133e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01351284, -0.03347954,  0.06195533])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.22711939e-06,-6.03691334e-05,-8.41445108e-06,-2.26535740e-05,
  2.60384774e-05,-5.36205285e-05,-4.85086012e-05, 2.09545820e-05,
 -1.21448554e-05,-7.88899598e-05,-5.08300940e-06, 5.60134160e-05,
  3.33293806e-03,-1.27525785e-04, 4.27455623e-06, 5.69286332e-05,
  2.16969193e-04, 2.35282237e-04,-1.21644621e+00, 8.16640694e-05,
  7.63481227e-03, 1.78402647e-03]


--- Step 2349 ---
qpos:
[-2.51066252e-03, 8.65809962e-01,-2.37580375e-02, 3.82805769e-04,
 -2.96999903e-03, 8.61844612e-01,-2.70494247e-02, 3.13305536e-03,
 -1.20494623e-03, 8.70652457e-01,-1.92517929e-02,-2.13311982e-02,
  1.39623699e+00, 1.85188532e-02, 1.39883194e+00, 2.41541745e-02,
  3.96798831e-03,-5.75463979e-02, 8.07565816e-02, 7.01752623e-01,
 -5.08802819e-02,-7.08957221e-01,-4.83126542e-02]

qacc:
[-2.53029929e-01,-1.21752565e+00, 5.26375144e+00,-9.91175865e+00,
 -4.21243139e-02, 1.19706085e-01, 4.18954601e+00,-1.89154794e+01,
 -9.99779999e-02,-1.43913575e+00, 2.14376448e+00, 3.38848615e+00,
  8.49049896e-02,-2.67819447e-01, 4.40765101e+00,-1.49613946e+01,
  7.90388764e-01,-1.07183714e+00,-1.24193943e+00, 6.16601466e-01,
  4.71797102e+01,-5.26318067e+01]

qfrc_actuator:
[ 2.35079452e-03, 2.73654291e-02, 8.67543217e-03, 1.45233554e-03,
 -1.81266111e-05, 2.73513356e-02, 8.58860765e-03, 1.62967016e-03,
 -2.37161053e-03, 2.73593123e-02, 8.67277731e-03, 1.69319847e-03,
  0.00000000e+00,-1.54288227e-03, 0.00000000e+00,-9.65150230e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046696826446816775
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.7831346e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.7831346e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01351677, -0.03347633,  0.06195562])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.61491021e-05,-4.50845007e-06, 1.07570446e-05,-1.26484360e-05,
 -7.50904820e-06, 4.28651594e-05,-1.75637115e-05,-4.32248564e-05,
 -1.84885447e-05,-9.90351173e-05,-3.67798364e-06, 1.15717769e-05,
  3.37485956e-03,-2.62147805e-05, 5.15408473e-06,-7.08469041e-05,
  2.84092326e-04, 2.06332887e-04,-1.21644681e+00, 8.78872797e-05,
  7.63512724e-03, 1.78467620e-03]


--- Step 2350 ---
qpos:
[-2.51182427e-03, 8.65810064e-01,-2.37574224e-02, 3.80369196e-04,
 -2.97026502e-03, 8.61845520e-01,-2.70514974e-02, 3.13198089e-03,
 -1.20422676e-03, 8.70651632e-01,-1.92525628e-02,-2.13303089e-02,
  1.39623582e+00, 1.85164908e-02, 1.39890911e+00, 2.41504645e-02,
  3.99462101e-03,-5.75394188e-02, 8.07551050e-02, 7.02234560e-01,
 -5.10213547e-02,-7.08481455e-01,-4.81401276e-02]

qacc:
[-4.50065916e-01, 5.66995273e-01,-8.19391550e+00, 3.00949995e+01,
  1.25690876e-02, 1.22903116e+00, 1.21458045e+00,-1.61005726e+01,
  5.77477781e-03,-1.65173520e-01, 3.72680004e+00,-1.43987710e+01,
  7.75339863e-02, 1.70737005e-01, 4.30111180e-01,-1.67334231e+00,
  3.49118462e-01,-1.22557079e+00, 1.18791666e-01, 2.34557823e-01,
  2.56810360e+01,-6.13795464e+01]

qfrc_actuator:
[ 2.29065467e-03, 2.73489674e-02, 8.70807374e-03, 1.51939304e-03,
 -1.21278692e-05, 2.74357495e-02, 8.57096148e-03, 1.58872606e-03,
 -2.36162308e-03, 2.74330085e-02, 8.67954314e-03, 1.66531588e-03,
  0.00000000e+00,-1.49691771e-03, 0.00000000e+00,-9.71768329e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047152145612146257
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.17727731e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.17727731e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00083046, -0.03563913,  0.06195517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.21454656e-05,-1.73128989e-05, 3.26007827e-05, 6.69961542e-05,
  2.44039955e-06, 1.02917049e-04,-1.24409255e-05,-4.05543764e-05,
  1.12078512e-06, 1.80796783e-05,-1.37289897e-05,-3.20238462e-05,
  3.37277001e-03, 3.58899120e-05,-7.66502447e-06,-1.03851548e-05,
  3.58542990e-04, 1.65236442e-04,-1.21644884e+00, 8.81823611e-05,
  7.63555721e-03, 1.78554962e-03]


--- Step 2351 ---
qpos:
[-2.51339165e-03, 8.65809997e-01,-2.37567505e-02, 3.79460539e-04,
 -2.97048001e-03, 8.61846749e-01,-2.70538545e-02, 3.13083287e-03,
 -1.20325740e-03, 8.70651253e-01,-1.92528832e-02,-2.13298403e-02,
  1.39623471e+00, 1.85146873e-02, 1.39898577e+00, 2.41503726e-02,
  4.02260090e-03,-5.75371925e-02, 8.07530046e-02, 7.02745890e-01,
 -5.10750871e-02,-7.07976276e-01,-4.80535322e-02]

qacc:
[-2.12502863e-01, 2.76286853e+00,-1.66252652e+01, 4.31029502e+01,
  2.65626587e-02, 1.06539000e+00,-2.87543733e+00, 1.82373093e+00,
  1.30585738e-01,-1.53381536e+00, 8.09424500e+00,-1.64118458e+01,
  6.48679941e-02, 2.80928103e-01,-1.17235488e+01, 3.98972879e+01,
  3.36798643e-01,-1.18817733e+00,-1.55959334e-01, 2.68236552e-01,
  2.50345202e+01,-5.96536265e+01]

qfrc_actuator:
[ 2.29105640e-03, 2.73392562e-02, 8.70930190e-03, 1.59532378e-03,
 -8.43744784e-06, 2.74144278e-02, 8.54381930e-03, 1.58286694e-03,
 -2.33817274e-03, 2.74951627e-02, 8.71959181e-03, 1.64861102e-03,
  0.00000000e+00,-1.46856620e-03, 0.00000000e+00,-7.78868024e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047612316134221233
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.16589899e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.16589899e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00083242, -0.03564372,  0.06195472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.87704325e-05,-9.80042603e-06, 3.98768082e-06, 7.76255365e-05,
  4.86233377e-06, 3.19170859e-05,-8.81285860e-06,-2.66699742e-06,
  2.39876958e-05, 6.80834249e-05, 4.09945776e-05,-1.70284343e-05,
  3.35725833e-03, 4.99590131e-05,-5.32262009e-06, 1.91183038e-04,
  3.89227847e-04, 9.81979439e-05,-1.21645084e+00, 7.77294508e-05,
  7.63652399e-03, 1.78613137e-03]


--- Step 2352 ---
qpos:
[-2.51495522e-03, 8.65810454e-01,-2.37568842e-02, 3.79094329e-04,
 -2.97101985e-03, 8.61847738e-01,-2.70556953e-02, 3.12964096e-03,
 -1.20221232e-03, 8.70651026e-01,-1.92525294e-02,-2.13309358e-02,
  1.39623384e+00, 1.85128220e-02, 1.39906285e+00, 2.41485470e-02,
  4.05188675e-03,-5.75395946e-02, 8.07493510e-02, 7.03285964e-01,
 -5.10435882e-02,-7.07442241e-01,-4.80508170e-02]

qacc:
[ 1.33624581e-03, 4.05628348e+00,-1.57512898e+01, 2.60463607e+01,
 -1.70669511e-01,-1.84780980e+00, 6.31588797e+00,-7.72791302e+00,
  3.98363909e-02,-4.90415438e+00, 2.43683095e+01,-5.26044292e+01,
  6.51665735e-02,-3.83353596e-02, 5.87232972e+00,-1.96428715e+01,
  3.26489535e-01,-1.15713114e+00,-3.88290126e-01, 2.96135355e-01,
  2.45036731e+01,-5.82166175e+01]

qfrc_actuator:
[ 2.30992040e-03, 2.73868157e-02, 8.67423080e-03, 1.62257631e-03,
 -4.16730629e-05, 2.73831987e-02, 8.56415282e-03, 1.57985479e-03,
 -2.34239284e-03, 2.74790819e-02, 8.74347949e-03, 1.56764247e-03,
  0.00000000e+00,-1.48667461e-03, 0.00000000e+00,-8.78293545e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047548171226115266
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.16747185e-13,  3.50241554e-13,  1.00000000e+00, -4.08897153e-26,
        1.00000000e+00, -3.50241554e-13, -1.00000000e+00,  0.00000000e+00,
        1.16747185e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00083206, -0.03564308,  0.06195476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.75023774e-07, 4.62243356e-05,-3.39190380e-05, 2.84830014e-05,
 -3.09234033e-05,-1.53245354e-05, 2.57577134e-05,-1.99841983e-06,
  7.27212502e-06, 2.97426519e-05, 4.24139067e-05,-7.69666687e-05,
  3.35454606e-03, 3.95368994e-06, 1.86126316e-05,-8.95135147e-05,
  4.20378089e-04, 2.86785616e-05,-1.21645399e+00, 6.32265301e-05,
  7.63756771e-03, 1.78683560e-03]


--- Step 2353 ---
qpos:
[-2.51620637e-03, 8.65811779e-01,-2.37579224e-02, 3.78674290e-04,
 -2.97173236e-03, 8.61847706e-01,-2.70563066e-02, 3.12847407e-03,
 -1.20153216e-03, 8.70650606e-01,-1.92525147e-02,-2.13328764e-02,
  1.39623318e+00, 1.85106326e-02, 1.39914026e+00, 2.41435681e-02,
  4.08244368e-03,-5.75465222e-02, 8.07433596e-02, 7.03854214e-01,
 -5.09286105e-02,-7.06879762e-01,-4.81302886e-02]

qacc:
[ 1.62928192e-01, 3.56260315e+00,-1.08115746e+01, 1.06919372e+01,
 -8.98002215e-02,-4.72730033e+00, 1.47968225e+01,-1.55858186e+01,
 -1.90723934e-01,-1.04870994e+00, 6.92951043e+00,-2.08583030e+01,
  5.50435400e-02,-1.99331188e-01, 1.00495925e+01,-3.44350873e+01,
  3.17770585e-01,-1.13136665e+00,-5.84460374e-01, 3.19221944e-01,
  2.40718946e+01,-5.70257269e+01]

qfrc_actuator:
[ 2.33961458e-03, 2.74503601e-02, 8.63597223e-03, 1.62099621e-03,
 -4.34509617e-05, 2.72931990e-02, 8.61228470e-03, 1.57855062e-03,
 -2.38089363e-03, 2.74161744e-02, 8.70400814e-03, 1.52043807e-03,
  0.00000000e+00,-1.51450903e-03, 0.00000000e+00,-1.04269418e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004706607114190117
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.17943032e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.17943032e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00082985, -0.03563829,  0.06195518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.98778981e-05, 8.36010904e-05,-3.19057789e-05,-2.19227334e-07,
 -1.64592369e-05,-9.33458697e-05, 4.80804105e-05,-1.10444166e-06,
 -3.50151407e-05,-4.08044722e-05,-3.07664030e-05,-4.59606185e-05,
  3.34167615e-03,-2.07277344e-05,-3.94220212e-06,-1.67587336e-04,
  4.52056041e-04,-4.33564799e-05,-1.21645829e+00, 4.48296417e-05,
  7.63869497e-03, 1.78766007e-03]


--- Step 2354 ---
qpos:
[-2.51693292e-03, 8.65813135e-01,-2.37588159e-02, 3.77928354e-04,
 -2.97234743e-03, 8.61846688e-01,-2.70564958e-02, 3.12735365e-03,
 -1.20126811e-03, 8.70650191e-01,-1.92536433e-02,-2.13346449e-02,
  1.39623217e+00, 1.85085621e-02, 1.39921693e+00, 2.41426902e-02,
  4.11424179e-03,-5.75578897e-02, 8.07343689e-02, 7.04450142e-01,
 -5.07316025e-02,-7.06289122e-01,-4.82905593e-02]

qacc:
[ 2.75116160e-01,-1.03452830e+00, 5.12325590e+00,-1.10179372e+01,
  5.19438331e-02,-2.38509558e+00, 6.41826875e+00,-5.56679527e+00,
 -2.17974402e-01, 3.55488421e+00,-1.33896247e+01, 1.81890881e+01,
  5.21409074e-02,-6.92799077e-02,-1.35544748e+01, 4.57569774e+01,
  3.10296445e-01,-1.10997027e+00,-7.49834606e-01, 3.38195371e-01,
  2.37250985e+01,-5.60449715e+01]

qfrc_actuator:
[ 2.37549672e-03, 2.74164248e-02, 8.63172783e-03, 1.60249584e-03,
 -2.63764549e-05, 2.72220716e-02, 8.62291806e-03, 1.57821985e-03,
 -2.40404722e-03, 2.74142190e-02, 8.64501773e-03, 1.52890399e-03,
  0.00000000e+00,-1.51238679e-03, 0.00000000e+00,-8.17903608e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.32813747,  0.19161534, -5.32469083,  0.19161534, 11.28619153,
        0.21440767, -5.32469083,  0.21440767,  5.33585318,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004625516625531151
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20010705e-13, -2.40021410e-13,  1.00000000e+00,  2.88051387e-26,
        1.00000000e+00,  2.40021410e-13, -1.00000000e+00,  0.00000000e+00,
        1.20010705e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00082617, -0.03563024,  0.0619559 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.01371388e-05, 6.19741883e-06, 9.08226763e-06,-1.60277714e-05,
  9.24926479e-06,-1.13436307e-04,-2.75205893e-06,-2.68384462e-06,
 -3.99236825e-05,-3.30837754e-05,-7.27907524e-05, 4.76354092e-06,
  3.33172478e-03,-2.33434278e-06,-2.23360103e-05, 2.14525148e-04,
  4.84323875e-04,-1.17967811e-04,-1.21646378e+00, 2.26529282e-05,
  7.63990946e-03, 1.78860270e-03]


--- Step 2355 ---
qpos:
[-2.51718418e-03, 8.65813957e-01,-2.37591970e-02, 3.77360206e-04,
 -2.97299340e-03, 8.61845758e-01,-2.70575312e-02, 3.12584267e-03,
 -1.20116158e-03, 8.70649731e-01,-1.92552925e-02,-2.13356445e-02,
  1.39623099e+00, 1.85064879e-02, 1.39929347e+00, 2.41441230e-02,
  4.14725504e-03,-5.75736258e-02, 8.07218220e-02, 7.05073308e-01,
 -5.04537526e-02,-7.05670489e-01,-4.85305027e-02]

qacc:
[ 2.49717453e-01,-1.77119341e+00, 4.54067415e+00,-1.89209542e+00,
 -1.68671911e-02, 1.67589369e+00,-4.15792233e+00,-1.31089698e+00,
 -8.25264486e-02, 2.97909897e+00,-1.39479122e+01, 2.81087514e+01,
  7.33395211e-02,-1.17355622e-01,-7.19548796e+00, 2.48721072e+01,
  3.03782482e-01,-1.09215710e+00,-8.89030664e-01, 3.53548973e-01,
  2.34512507e+01,-5.52438885e+01]

qfrc_actuator:
[ 2.39700187e-03, 2.73599974e-02, 8.64720436e-03, 1.60964215e-03,
 -3.36968289e-05, 2.72691575e-02, 8.59361519e-03, 1.56068905e-03,
 -2.40004270e-03, 2.74309614e-02, 8.62851341e-03, 1.57009295e-03,
  0.00000000e+00,-1.51035665e-03, 0.00000000e+00,-7.02891375e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.25735173,  0.24434586, -5.25167043,  0.24434586, 15.6036293 ,
        0.48138399, -5.25167043,  0.48138399,  5.27974921,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045189912686478817
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.22839696e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.22839696e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00082136, -0.03561968,  0.06195685])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.54101592e-05,-5.17891264e-05, 1.73180483e-05, 7.41392602e-06,
 -2.94375104e-06,-1.69996183e-05,-5.31511750e-05,-2.25342589e-05,
 -1.51157923e-05,-1.65690522e-05,-3.21231867e-05, 3.73520644e-05,
  3.34883713e-03,-6.19403435e-06, 1.36327101e-05, 1.24123094e-04,
  5.17242463e-04,-1.95234228e-04,-1.21647048e+00,-3.22268855e-06,
  7.64121245e-03, 1.78966144e-03]


--- Step 2356 ---
qpos:
[-2.51688999e-03, 8.65814252e-01,-2.37593221e-02, 3.76899520e-04,
 -2.97369727e-03, 8.61844830e-01,-2.70590206e-02, 3.12480739e-03,
 -1.20129007e-03, 8.70649429e-01,-1.92567408e-02,-2.13358751e-02,
  1.39623031e+00, 1.85045755e-02, 1.39937049e+00, 2.41432462e-02,
  4.17267037e-03,-5.75931878e-02, 8.07093867e-02, 7.05561550e-01,
 -5.01000030e-02,-7.05185241e-01,-4.88535051e-02]

qacc:
[ 2.86341161e-01,-1.18761017e+00, 2.77335468e+00,-9.37192727e-01,
 -3.07556694e-02, 2.24617381e+00,-1.00176089e+01, 1.89789975e+01,
 -1.22606607e-01, 1.23132615e+00,-7.32827526e+00, 2.01892816e+01,
  7.31620768e-02, 1.45623313e-01, 7.70684266e+00,-2.59231649e+01,
 -1.89948050e+00,-9.56477525e-01, 2.79106599e-02,-2.71581556e+00,
 -9.06921635e+01,-6.27003163e+01]

qfrc_actuator:
[ 2.42747292e-03, 2.73261332e-02, 8.65633519e-03, 1.61405053e-03,
 -3.78121221e-05, 2.72799747e-02, 8.57695538e-03, 1.58651455e-03,
 -2.41534071e-03, 2.74767234e-02, 8.65508822e-03, 1.61249745e-03,
  0.00000000e+00,-1.47280136e-03, 0.00000000e+00,-8.31122511e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005112330522816233
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08582868e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.08582868e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05381621, -0.04393768,  0.06195127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.21153587e-05,-5.89390517e-05, 8.21932636e-07, 2.93314020e-06,
 -5.51375704e-06,-1.05985668e-05,-2.74814924e-05, 2.28243272e-05,
 -2.25397466e-05, 3.14855856e-05, 2.05067672e-05, 4.13158909e-05,
  3.35675739e-03, 3.16092517e-05, 1.81076793e-05,-1.20013808e-04,
  5.50870549e-04,-2.75246795e-04,-1.21647845e+00,-3.27426955e-05,
  7.64260300e-03, 1.79083424e-03]


--- Step 2357 ---
qpos:
[-2.51652055e-03, 8.65814027e-01,-2.37595831e-02, 3.76522500e-04,
 -2.97426470e-03, 8.61843683e-01,-2.70603636e-02, 3.12407551e-03,
 -1.20180993e-03, 8.70649555e-01,-1.92576857e-02,-2.13363439e-02,
  1.39622972e+00, 1.85027523e-02, 1.39944740e+00, 2.41425490e-02,
  4.19099321e-03,-5.76162612e-02, 8.06946254e-02, 7.05923814e-01,
 -4.96748612e-02,-7.04824796e-01,-4.92542834e-02]

qacc:
[ 3.95480251e-02,-1.37379948e-01,-8.63436906e-01, 2.91208595e+00,
  7.20444158e-02,-7.19379778e-02,-1.44199994e+00, 6.61900979e+00,
 -2.04196609e-01,-1.32987141e+00, 6.56832023e+00,-1.18076329e+01,
  5.32302680e-02, 2.44094332e-02,-7.10688825e-01, 2.24050188e+00,
 -1.77312103e+00,-8.77839413e-01,-5.81525361e-01,-2.34457541e+00,
 -8.47547252e+01,-5.88137269e+01]

qfrc_actuator:
[ 2.40980533e-03, 2.72882591e-02, 8.64395761e-03, 1.61681535e-03,
 -2.22123762e-05, 2.72690836e-02, 8.58558022e-03, 1.60213855e-03,
 -2.44207975e-03, 2.75219597e-02, 8.68924448e-03, 1.60206566e-03,
  0.00000000e+00,-1.48510559e-03, 0.00000000e+00,-8.17561559e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.22600866,  6.18356543,  0.72574271,  6.18356543,  6.71841369,
       -4.19545199,  0.72574271, -4.19545199, 41.97263279,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005752638148374331
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.82484295e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.82484295e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05368384, -0.04397555,  0.06194528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.17421798e-06,-7.05359169e-05,-2.43490945e-05, 3.25223296e-07,
  1.29811024e-05,-2.14805403e-05, 3.86077712e-06, 1.46684242e-05,
 -3.75296952e-05, 6.88619018e-05, 4.46287598e-05,-7.56629788e-06,
  3.33233778e-03, 1.12733154e-05,-7.25722330e-06, 8.66352995e-06,
  3.16027585e-04,-2.53215115e-04,-1.21647229e+00,-4.87270313e-05,
  7.64301910e-03, 1.78804766e-03]


--- Step 2358 ---
qpos:
[-2.51641408e-03, 8.65813933e-01,-2.37608443e-02, 3.76157659e-04,
 -2.97466755e-03, 8.61842516e-01,-2.70616920e-02, 3.12386545e-03,
 -1.20249454e-03, 8.70649375e-01,-1.92578796e-02,-2.13365108e-02,
  1.39622880e+00, 1.85008672e-02, 1.39952389e+00, 2.41450197e-02,
  4.20265065e-03,-5.76425852e-02, 8.06754511e-02, 7.06167559e-01,
 -4.91821188e-02,-7.04581852e-01,-4.97283731e-02]

qacc:
[-1.38549359e-01, 2.99164736e+00,-1.04672821e+01, 1.21837727e+01,
  8.67212365e-02, 1.00471942e+00,-5.82586743e+00, 1.48500627e+01,
 -8.54345861e-02,-1.88165913e+00, 4.84803837e+00,-6.03645536e-01,
  5.80624448e-02,-1.81044104e-01,-1.02333413e+01, 3.48556596e+01,
 -1.66634852e+00,-8.12635610e-01,-1.10324829e+00,-2.02543537e+00,
 -7.97549708e+01,-5.55366398e+01]

qfrc_actuator:
[ 2.38125923e-03, 2.73191958e-02, 8.60121171e-03, 1.61857486e-03,
 -1.27074200e-05, 2.72808909e-02, 8.59120458e-03, 1.62937629e-03,
 -2.43992777e-03, 2.74600301e-02, 8.70981412e-03, 1.61388968e-03,
  0.00000000e+00,-1.50956497e-03, 0.00000000e+00,-6.49480153e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.60154047,  6.56454119,  0.69795097,  6.56454119,  7.04289867,
       -4.15117138,  0.69795097, -4.15117138, 45.64516466,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006202774326309474
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.94940688e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.94940688e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05359084, -0.04400204,  0.06194107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51328976e-05,-1.35125203e-05,-6.02983415e-05,-2.09729080e-06,
  1.56640737e-05, 1.26248379e-06, 2.19216874e-06, 2.67414442e-05,
 -1.58096610e-05,-1.45314363e-05, 4.00339206e-05, 1.61715577e-05,
  3.32725088e-03,-1.75871545e-05,-3.35163331e-06, 1.67402786e-04,
  1.54990014e-04,-2.03363800e-04,-1.21646842e+00,-5.73173625e-05,
  7.64295638e-03, 1.78611436e-03]


--- Step 2359 ---
qpos:
[-2.51642521e-03, 8.65813652e-01,-2.37620249e-02, 3.76127439e-04,
 -2.97493173e-03, 8.61841384e-01,-2.70629909e-02, 3.12432016e-03,
 -1.20305564e-03, 8.70649171e-01,-1.92586962e-02,-2.13361290e-02,
  1.39622830e+00, 1.84992950e-02, 1.39960068e+00, 2.41464469e-02,
  4.20749353e-03,-5.76665044e-02, 8.06579657e-02, 7.06283172e-01,
 -4.87324709e-02,-7.04466792e-01,-5.01574139e-02]

qacc:
[-6.15222874e-02, 2.16865344e-01,-2.54415550e+00, 8.34384590e+00,
  7.30791701e-02, 1.33228971e+00,-7.48920522e+00, 1.89226651e+01,
  6.41299760e-02, 2.83889349e+00,-1.24782767e+01, 2.29786179e+01,
  6.40647805e-02, 2.31624574e-01, 3.60420989e+00,-1.19594270e+01,
 -1.70364237e+00, 6.01162567e-01, 4.22228581e-01, 6.83167227e-01,
 -9.24732661e+01, 2.47571581e+01]

qfrc_actuator:
[ 2.38199940e-03, 2.73199637e-02, 8.61217397e-03, 1.63752182e-03,
 -6.94204872e-06, 2.72884549e-02, 8.59510171e-03, 1.66324250e-03,
 -2.42051126e-03, 2.74408815e-02, 8.66852509e-03, 1.63862236e-03,
  0.00000000e+00,-1.45243889e-03, 0.00000000e+00,-7.11294038e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006708319526793557
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03437141e-14, -8.27497125e-14,  1.00000000e+00, -8.55939365e-28,
        1.00000000e+00,  8.27497125e-14, -1.00000000e+00,  0.00000000e+00,
       -1.03437141e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04996283, -0.06983125,  0.06193635])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12433887e-05,-1.93220244e-05, 6.81481159e-07, 1.62433182e-05,
  1.32007193e-05, 9.90891885e-06, 5.37344378e-06, 3.45205960e-05,
  1.18438703e-05,-1.83114256e-05,-3.87959202e-05, 2.58119146e-05,
  3.34395041e-03, 4.26881584e-05, 1.58832264e-05,-5.31844028e-05,
  5.50584464e-05,-1.30431725e-04,-1.21646667e+00,-5.99188386e-05,
  7.64256786e-03, 1.78485436e-03]


--- Step 2360 ---
qpos:
[-2.51648684e-03, 8.65812765e-01,-2.37629149e-02, 3.77054247e-04,
 -2.97509357e-03, 8.61840493e-01,-2.70643011e-02, 3.12480788e-03,
 -1.20361979e-03, 8.70649394e-01,-1.92604792e-02,-2.13358325e-02,
  1.39622849e+00, 1.84985695e-02, 1.39967748e+00, 2.41474804e-02,
  4.20596788e-03,-5.76881432e-02, 8.06397221e-02, 7.06278679e-01,
 -4.83229404e-02,-7.04471860e-01,-5.05442332e-02]

qacc:
[-2.60375820e-02, 3.57898681e-01,-6.47711230e+00, 2.30199973e+01,
  5.38113080e-02, 4.18319113e-01,-1.16799992e+00, 1.58031152e+00,
 -2.34371637e-03, 3.08795783e+00,-9.83218477e+00, 9.58881770e+00,
  3.06532691e-02, 6.44533744e-01, 1.23594940e+00,-4.24268868e+00,
 -1.59213241e+00, 5.70115858e-01,-1.89523212e-01, 7.90827554e-01,
 -8.67621406e+01, 2.31016300e+01]

qfrc_actuator:
[ 2.38251850e-03, 2.72673912e-02, 8.61917527e-03, 1.68420658e-03,
 -3.46035994e-06, 2.73111773e-02, 8.59794192e-03, 1.66522885e-03,
 -2.42646365e-03, 2.74827458e-02, 8.62669920e-03, 1.63522739e-03,
  0.00000000e+00,-1.38221686e-03, 0.00000000e+00,-7.30574551e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.3693011 ,  6.89742941, -2.59462255,  6.89742941, 15.44193832,
       21.4599404 , -2.59462255, 21.4599404 , 64.41745397,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007154399913346862
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.84938918e-14, -1.55180454e-13,  1.00000000e+00,  7.52530413e-27,
        1.00000000e+00,  1.55180454e-13, -1.00000000e+00,  0.00000000e+00,
        4.84938918e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04987929, -0.06980294,  0.06193221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.84316056e-06,-6.25258390e-05, 3.66850080e-06, 4.61992588e-05,
  9.74860055e-06, 3.08901565e-05, 6.76195808e-06, 3.27158928e-06,
 -2.84620902e-07, 2.47287602e-05,-4.94865296e-05,-5.01809672e-06,
  3.32215694e-03, 9.73174866e-05,-4.86285836e-07,-2.06646900e-05,
  6.39619603e-06,-3.14296988e-05,-1.21646078e+00,-4.36588402e-05,
  7.64193883e-03, 1.78402078e-03]


--- Step 2361 ---
qpos:
[-2.51638297e-03, 8.65811489e-01,-2.37642859e-02, 3.78214376e-04,
 -2.97555784e-03, 8.61839738e-01,-2.70654700e-02, 3.12428274e-03,
 -1.20440516e-03, 8.70649251e-01,-1.92616849e-02,-2.13348938e-02,
  1.39622945e+00, 1.84988460e-02, 1.39975433e+00, 2.41475980e-02,
  4.19844833e-03,-5.77076079e-02, 8.06186390e-02, 7.06160753e-01,
 -4.79510368e-02,-7.04590502e-01,-5.08912018e-02]

qacc:
[ 8.66246794e-02, 1.30952363e+00,-6.40051416e+00, 1.14950788e+01,
 -1.59297282e-01,-2.29883033e+00, 1.27338358e+01,-3.05919762e+01,
 -1.14995051e-01,-7.73259041e-01,-6.50111322e-01, 1.10994706e+01,
 -1.44259310e-02, 8.10697023e-01, 2.87525083e+00,-9.88392381e+00,
 -1.49847436e+00, 5.43543924e-01,-7.09919723e-01, 8.78852358e-01,
 -8.19762106e+01, 2.17157114e+01]

qfrc_actuator:
[ 2.40063756e-03, 2.72365661e-02, 8.58805241e-03, 1.69351986e-03,
 -3.68732857e-05, 2.73072693e-02, 8.60017691e-03, 1.61294787e-03,
 -2.44756023e-03, 2.74542613e-02, 8.65615466e-03, 1.66862828e-03,
  0.00000000e+00,-1.32254881e-03, 0.00000000e+00,-7.77825260e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.57890255,  7.0279088 , -2.83694585,  7.0279088 , 17.78632204,
       25.28663464, -2.83694585, 25.28663464, 70.22097305,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007434534337208212
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.39999418e-14, -1.49333230e-13,  1.00000000e+00,  1.25439826e-26,
        1.00000000e+00,  1.49333230e-13, -1.00000000e+00,  0.00000000e+00,
        8.39999418e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04982668, -0.06978496,  0.06192959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.58037069e-05,-6.30255452e-05,-4.19728359e-05, 7.66249892e-06,
 -2.87816780e-05, 1.49339023e-05, 9.57754932e-06,-5.06575157e-05,
 -2.12298624e-05,-2.50844796e-05, 2.83040981e-05, 3.26511236e-05,
  3.28839594e-03, 1.14687719e-04,-2.90441914e-06,-4.85992326e-05,
  4.01440621e-06, 4.31105157e-05,-1.21645725e+00,-3.10444788e-05,
  7.64152760e-03, 1.78334979e-03]


--- Step 2362 ---
qpos:
[-2.51608790e-03, 8.65809771e-01,-2.37651583e-02, 3.79070815e-04,
 -2.97618585e-03, 8.61838874e-01,-2.70665072e-02, 3.12351348e-03,
 -1.20505365e-03, 8.70648811e-01,-1.92625043e-02,-2.13335582e-02,
  1.39623086e+00, 1.84996773e-02, 1.39983124e+00, 2.41464735e-02,
  4.18525013e-03,-5.77249891e-02, 8.05929496e-02, 7.05934920e-01,
 -4.76146772e-02,-7.04817183e-01,-5.12003034e-02]

qacc:
[ 1.00698996e-01,-2.60093707e+00, 9.70949492e+00,-1.54401607e+01,
 -8.61288491e-02,-1.01446646e+00, 4.43821772e+00,-8.79453890e+00,
  7.18326189e-02,-6.52717111e-01, 8.66529602e-02, 6.37738007e+00,
 -5.59464285e-02, 5.02132690e-01, 3.86822411e+00,-1.33563285e+01,
 -1.41966109e+00, 5.20868831e-01,-1.15153395e+00, 9.52479564e-01,
 -7.79741295e+01, 2.05559210e+01]

qfrc_actuator:
[ 2.41136813e-03, 2.72365673e-02, 8.62347360e-03, 1.68075115e-03,
 -3.88012404e-05, 2.72873925e-02, 8.60190066e-03, 1.60014968e-03,
 -2.42426603e-03, 2.74374475e-02, 8.67396380e-03, 1.68790803e-03,
  0.00000000e+00,-1.32296511e-03, 0.00000000e+00,-8.41178480e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000757918958200085
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.74655773e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.74655773e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04979906, -0.0697753 ,  0.06192821])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.82622407e-05,-4.35409513e-05, 1.75172209e-05,-1.67700654e-05,
 -1.55878603e-05,-1.16936131e-05, 4.25112040e-06,-1.28088468e-05,
  1.31245642e-05,-2.35902027e-05, 1.72541128e-05, 1.98220575e-05,
  3.24913730e-03, 6.41836602e-05,-6.92923495e-06,-6.65272197e-05,
  4.02883603e-05, 9.73007386e-05,-1.21645568e+00,-2.13116210e-05,
  7.64129443e-03, 1.78277744e-03]


--- Step 2363 ---
qpos:
[-2.51545112e-03, 8.65808366e-01,-2.37662271e-02, 3.79717386e-04,
 -2.97652705e-03, 8.61837844e-01,-2.70669578e-02, 3.12326312e-03,
 -1.20585922e-03, 8.70648252e-01,-1.92634007e-02,-2.13323374e-02,
  1.39623207e+00, 1.85003910e-02, 1.39990800e+00, 2.41455968e-02,
  4.16663968e-03,-5.77403641e-02, 8.05611575e-02, 7.05605736e-01,
 -4.73121181e-02,-7.05147232e-01,-5.14731961e-02]

qacc:
[ 1.78918252e-01, 5.30050500e-01,-4.04307829e-01,-3.14282069e+00,
  1.51511373e-01,-7.89077716e-01, 3.05534449e-01, 7.85772160e+00,
 -8.20268807e-02,-1.79765069e-01, 8.95459511e-01,-2.67110345e+00,
 -7.06068976e-02,-5.16559074e-02,-9.74383268e-01, 3.08653015e+00,
 -1.35306412e+00, 5.01532728e-01,-1.52570208e+00, 1.01558274e+00,
 -7.46345070e+01, 1.95854859e+01]

qfrc_actuator:
[ 2.43532637e-03, 2.72907782e-02, 8.62702343e-03, 1.67292956e-03,
 -4.10329864e-06, 2.72936305e-02, 8.63877603e-03, 1.62843021e-03,
 -2.44561750e-03, 2.74277127e-02, 8.66699263e-03, 1.68095081e-03,
  0.00000000e+00,-1.37713813e-03, 0.00000000e+00,-8.24737430e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007614042214598993
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.20195678e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.20195678e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04979151, -0.06977231,  0.06192782])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.26647464e-05, 3.28110352e-05,-3.84642873e-06,-9.40459750e-06,
  2.72972365e-05, 5.67368711e-08, 3.45572404e-05, 2.76817204e-05,
 -1.50721656e-05,-1.84990514e-05,-9.02443198e-06,-6.98441294e-06,
  3.22638601e-03,-1.77214224e-05,-1.12942916e-05, 1.16581373e-05,
  1.09555945e-04, 1.34273575e-04,-1.21645571e+00,-1.38773671e-05,
  7.64120750e-03, 1.78225666e-03]


--- Step 2364 ---
qpos:
[-2.51450579e-03, 8.65807413e-01,-2.37676841e-02, 3.80950389e-04,
 -2.97670035e-03, 8.61836968e-01,-2.70670576e-02, 3.12298249e-03,
 -1.20705427e-03, 8.70647591e-01,-1.92643631e-02,-2.13315576e-02,
  1.39623323e+00, 1.85010206e-02, 1.39998479e+00, 2.41438973e-02,
  4.14284356e-03,-5.77537991e-02, 8.05219956e-02, 7.05176941e-01,
 -4.70419001e-02,-7.05576706e-01,-5.17112631e-02]

qacc:
[ 1.61401297e-01, 2.88738095e+00,-1.19054144e+01, 2.23456808e+01,
  8.85922011e-02,-8.36771882e-01, 3.40915686e+00,-4.60908715e+00,
 -2.03393512e-01,-8.58378635e-01, 4.72323483e+00,-1.21671813e+01,
 -6.44961982e-02, 2.39322918e-03, 2.56320152e+00,-8.85676513e+00,
 -1.29641789e+00, 4.85017416e-01,-1.84242816e+00, 1.07100812e+00,
 -7.18540753e+01, 1.87735317e+01]

qfrc_actuator:
[ 2.44924157e-03, 2.73236787e-02, 8.61194611e-03, 1.70360917e-03,
 -1.07276902e-06, 2.73156378e-02, 8.66072952e-03, 1.62743470e-03,
 -2.47576455e-03, 2.74221674e-02, 8.66321470e-03, 1.65860447e-03,
  0.00000000e+00,-1.37435166e-03, 0.00000000e+00,-8.67928693e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007560686410310463
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.34207825e-14, -7.34207825e-14,  1.00000000e+00,  5.39061130e-27,
        1.00000000e+00,  7.34207825e-14, -1.00000000e+00,  0.00000000e+00,
        7.34207825e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04979996, -0.06977462,  0.06192822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.94980539e-05, 5.00940035e-05,-9.08262989e-06, 3.17711385e-05,
  1.59873787e-05, 3.03937702e-05, 2.71929227e-05, 7.44088148e-07,
 -3.73671537e-05,-1.80374429e-05,-8.94259064e-06,-2.35861269e-05,
  3.23670243e-03,-9.05608493e-06,-5.24402196e-06,-4.42859182e-05,
  2.07633144e-04, 1.56414883e-04,-1.21645701e+00,-8.29687657e-06,
  7.64124026e-03, 1.78175206e-03]


--- Step 2365 ---
qpos:
[-2.51333170e-03, 8.65806163e-01,-2.37681597e-02, 3.82542592e-04,
 -2.97696180e-03, 8.61836687e-01,-2.70673807e-02, 3.12302037e-03,
 -1.20806184e-03, 8.70647063e-01,-1.92657651e-02,-2.13310559e-02,
  1.39623430e+00, 1.85018522e-02, 1.40006135e+00, 2.41433609e-02,
  4.11405628e-03,-5.77653506e-02, 8.04743922e-02, 7.04651577e-01,
 -4.68028007e-02,-7.06102271e-01,-5.19156563e-02]

qacc:
[ 1.20685876e-01,-2.39413633e+00, 6.45100877e+00,-1.58802527e+00,
 -4.67553044e-02, 2.06349677e+00,-7.56339810e+00, 1.29983212e+01,
  9.75580382e-02, 8.30567966e-01,-1.53440148e+00,-2.66984550e+00,
 -6.61026838e-02, 1.66535374e-01,-3.87831198e+00, 1.30577311e+01,
 -1.24778866e+00, 4.70853349e-01,-2.11040593e+00, 1.12083087e+00,
 -6.95455845e+01, 1.80942725e+01]

qfrc_actuator:
[ 2.45702743e-03, 2.72902712e-02, 8.65697331e-03, 1.72117187e-03,
 -1.70385014e-05, 2.73646046e-02, 8.65597843e-03, 1.64472044e-03,
 -2.43988317e-03, 2.74369183e-02, 8.64361988e-03, 1.64514928e-03,
  0.00000000e+00,-1.35512841e-03, 0.00000000e+00,-8.03906879e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007437249244829497
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49278717e-13,  1.49278717e-13,  1.00000000e+00, -2.22841353e-26,
        1.00000000e+00, -1.49278717e-13, -1.00000000e+00,  0.00000000e+00,
        1.49278717e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04982104, -0.0697811 ,  0.06192925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.18595614e-05,-5.87697927e-06, 5.53698199e-05, 2.00138958e-05,
 -8.37332078e-06, 7.16343779e-05, 4.91016084e-06, 1.95451100e-05,
  1.79865332e-05, 1.82321287e-06,-2.52265808e-05,-1.49944727e-05,
  3.23905158e-03, 1.43840783e-05,-8.98401946e-06, 6.05133045e-05,
  3.31449343e-04, 1.65540381e-04,-1.21645925e+00,-4.23058954e-06,
  7.64136961e-03, 1.78123626e-03]


--- Step 2366 ---
qpos:
[-2.51182017e-03, 8.65804476e-01,-2.37676141e-02, 3.83657711e-04,
 -2.97717755e-03, 8.61836803e-01,-2.70671599e-02, 3.12358195e-03,
 -1.20819705e-03, 8.70646565e-01,-1.92671150e-02,-2.13307405e-02,
  1.39623524e+00, 1.85027145e-02, 1.40013783e+00, 2.41435748e-02,
  4.08346928e-03,-5.77710095e-02, 8.04325187e-02, 7.04088046e-01,
 -4.66689254e-02,-7.06666022e-01,-5.20112360e-02]

qacc:
[ 1.77693815e-01,-4.40984664e+00, 1.69021942e+01,-2.64750196e+01,
  2.43027983e-02, 8.33558329e-02,-1.74623254e+00, 9.64750248e+00,
  4.55514888e-01,-4.90193438e-01, 2.58889135e+00,-5.91431120e+00,
 -6.19587547e-02, 4.59388825e-02,-2.37066531e+00, 8.15542470e+00,
 -4.49931131e-01, 1.47315963e+00, 1.43249166e+00, 1.44157225e+00,
 -3.22063338e+01, 7.36030203e+01]

qfrc_actuator:
[ 2.47884469e-03, 2.72531528e-02, 8.70134368e-03, 1.69535183e-03,
 -8.70784562e-06, 2.73937404e-02, 8.68889627e-03, 1.67263825e-03,
 -2.36480591e-03, 2.74459002e-02, 8.65044011e-03, 1.63704237e-03,
  0.00000000e+00,-1.36180101e-03, 0.00000000e+00,-7.65976981e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007331240868697006
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.78593148e-14, -7.57186297e-14,  1.00000000e+00,  2.86665544e-27,
        1.00000000e+00,  7.57186297e-14, -1.00000000e+00,  0.00000000e+00,
        3.78593148e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02110991, -0.07948376,  0.0619301 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.22411815e-05,-2.80804367e-05, 5.06809780e-05,-2.37661186e-05,
  4.36442848e-06, 7.10515294e-05, 4.89984860e-05, 3.15378710e-05,
  8.36878915e-05, 4.17239770e-06, 3.58366394e-06,-9.19206110e-06,
  3.24303747e-03,-2.39337333e-06, 1.63763490e-06, 3.99315845e-05,
  4.78773830e-04, 1.63029472e-04,-1.21646213e+00,-1.41939932e-06,
  7.64157465e-03, 1.78068741e-03]


--- Step 2367 ---
qpos:
[-2.51094810e-03, 8.65803018e-01,-2.37675542e-02, 3.83783767e-04,
 -2.97750502e-03, 8.61837564e-01,-2.70668998e-02, 3.12447641e-03,
 -1.20782008e-03, 8.70646219e-01,-1.92681474e-02,-2.13309049e-02,
  1.39623598e+00, 1.85033550e-02, 1.40021439e+00, 2.41435702e-02,
  4.05205214e-03,-5.77709969e-02, 8.03970247e-02, 7.03503374e-01,
 -4.66371252e-02,-7.07250831e-01,-5.20023370e-02]

qacc:
[-3.35713259e-01,-3.76757062e-01, 5.95710323e+00,-2.24656268e+01,
 -5.90308011e-02, 1.42608507e+00,-5.25501301e+00, 1.04810301e+01,
  2.67555407e-01,-1.67471909e+00, 8.28392567e+00,-1.71991368e+01,
 -5.34128175e-02,-1.26777343e-01, 7.73372636e-01,-2.54342565e+00,
 -2.07535849e-01, 1.41789105e+00, 1.59489313e+00, 1.03518313e+00,
 -1.99763330e+01, 7.18063616e+01]

qfrc_actuator:
[ 2.40236480e-03, 2.72673239e-02, 8.67387705e-03, 1.64419474e-03,
 -2.14032065e-05, 2.74286898e-02, 8.69047966e-03, 1.68885010e-03,
 -2.35573414e-03, 2.74692235e-02, 8.67279366e-03, 1.61441121e-03,
  0.00000000e+00,-1.38392053e-03, 0.00000000e+00,-7.79260143e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.63982003,  3.22626401, -6.92517658,  3.22626401, 48.90798384,
       19.22579013, -6.92517658, 19.22579013, 16.5966277 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007518914388771898
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.24996027e-07,  7.38286784e-14,  1.00000000e+00,  3.87597629e-20,
        1.00000000e+00, -7.38286784e-14, -1.00000000e+00,  6.01853108e-36,
       -5.24996027e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01601509, -0.07812311,  0.06192826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.11075785e-05, 7.95309784e-06,-2.78388603e-05,-5.10691408e-05,
 -1.06159592e-05, 8.61453705e-05, 2.33824903e-05, 2.15639361e-05,
  4.91396915e-05, 2.60345788e-05, 2.33513008e-05,-2.25064203e-05,
  3.24981231e-03,-2.60469100e-05, 3.45853724e-06,-1.12394265e-05,
  5.24784073e-04, 6.85167991e-05,-1.21645885e+00,-2.03307753e-05,
  7.64060179e-03, 1.78032225e-03]


--- Step 2368 ---
qpos:
[-2.51104640e-03, 8.65801692e-01,-2.37684031e-02, 3.83683759e-04,
 -2.97796348e-03, 8.61838993e-01,-2.70668405e-02, 3.12453604e-03,
 -1.20751592e-03, 8.70645450e-01,-1.92681051e-02,-2.13309727e-02,
  1.39623658e+00, 1.85037286e-02, 1.40029104e+00, 2.41427407e-02,
  4.02395065e-03,-5.77686093e-02, 8.03772265e-02, 7.02976470e-01,
 -4.66485458e-02,-7.07777483e-01,-5.19521957e-02]

qacc:
[-5.09410552e-01, 2.24702247e+00,-6.80494541e+00, 4.25066463e+00,
 -6.93942318e-02,-2.73606608e-01, 5.78269723e+00,-2.04024676e+01,
 -3.71933933e-02,-3.36105500e+00, 1.07674071e+01,-1.05067219e+01,
 -4.42564557e-02,-1.51940353e-01, 2.62722994e+00,-9.00289589e+00,
  8.28913281e-01, 5.93718661e-01, 3.92393007e+00,-7.83740053e-01,
  3.88004934e+01, 3.26492760e+01]

qfrc_actuator:
[ 2.33875909e-03, 2.72585198e-02, 8.62215928e-03, 1.63179614e-03,
 -2.88223912e-05, 2.74489686e-02, 8.67354947e-03, 1.64476179e-03,
 -2.38625444e-03, 2.74300066e-02, 8.72193348e-03, 1.61893878e-03,
  0.00000000e+00,-1.39731534e-03, 0.00000000e+00,-8.22602282e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007836920382882778
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00414033, -0.06300756,  0.06192525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.27376172e-05,-1.22695424e-05,-5.52615736e-05,-1.40128166e-05,
 -1.24484289e-05, 7.41790916e-05, 4.47904643e-06,-3.91717213e-05,
 -6.99081231e-06,-2.07767413e-05, 5.66247280e-05, 6.01364251e-06,
  3.25924249e-03,-2.83464586e-05,-1.86424439e-06,-4.40171451e-05,
  5.41616985e-04,-2.77553430e-05,-1.21645556e+00,-4.03963735e-05,
  7.63944831e-03, 1.78007918e-03]


--- Step 2369 ---
qpos:
[-2.51125718e-03, 8.65800583e-01,-2.37700436e-02, 3.84798326e-04,
 -2.97834151e-03, 8.61840784e-01,-2.70671516e-02, 3.12446473e-03,
 -1.20688324e-03, 8.70644740e-01,-1.92684109e-02,-2.13312937e-02,
  1.39623731e+00, 1.85041908e-02, 1.40036773e+00, 2.41407245e-02,
  3.99894657e-03,-5.77640449e-02, 8.03699214e-02, 7.02503892e-01,
 -4.67007306e-02,-7.08249631e-01,-5.18631175e-02]

qacc:
[-5.94841109e-02, 4.99693793e+00,-2.25294120e+01, 4.46600969e+01,
  4.19876252e-02, 1.24084065e+00,-3.18103251e+00, 1.24400048e+00,
  1.71290644e-01, 5.27029028e-01,-7.02014597e-01,-3.15992801e+00,
 -4.46048407e-02, 1.31775582e-01, 3.68226772e+00,-1.27444257e+01,
  7.74355157e-01, 5.44227897e-01, 3.12327368e+00,-6.97482515e-01,
  3.64151329e+01, 3.07942387e+01]

qfrc_actuator:
[ 2.37222773e-03, 2.72891935e-02, 8.59201337e-03, 1.69554314e-03,
 -1.52592989e-05, 2.74424099e-02, 8.64573543e-03, 1.63653849e-03,
 -2.35138671e-03, 2.74247898e-02, 8.69749779e-03, 1.60387192e-03,
  0.00000000e+00,-1.36983635e-03, 0.00000000e+00,-8.83286184e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008153941712900348
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.80789159e-14,  6.80789159e-14,  1.00000000e+00, -4.63473879e-27,
        1.00000000e+00, -6.80789159e-14, -1.00000000e+00,  0.00000000e+00,
        6.80789159e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00411851, -0.0630002 ,  0.06192231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07471357e-05, 1.18264103e-05,-3.99547980e-05, 6.10408515e-05,
  7.66367864e-06, 3.41311707e-05,-1.33098447e-05,-5.65525956e-06,
  3.15156802e-05,-4.86551568e-06,-2.15369975e-05,-1.38782640e-05,
  3.26651654e-03, 1.24825512e-05,-7.76638892e-06,-6.38240267e-05,
  4.31735248e-04,-5.60308540e-05,-1.21645080e+00,-4.86452731e-05,
  7.63906521e-03, 1.78072054e-03]


--- Step 2370 ---
qpos:
[-2.51149563e-03, 8.65799791e-01,-2.37723818e-02, 3.85957181e-04,
 -2.97878128e-03, 8.61842980e-01,-2.70684344e-02, 3.12536811e-03,
 -1.20625009e-03, 8.70644642e-01,-1.92703692e-02,-2.13321179e-02,
  1.39623812e+00, 1.85046982e-02, 1.40044442e+00, 2.41376512e-02,
  3.97685714e-03,-5.77574634e-02, 8.03724141e-02, 7.02082770e-01,
 -4.67916361e-02,-7.08670310e-01,-5.17370236e-02]

qacc:
[-1.50595338e-02, 2.45758780e+00,-8.34294043e+00, 9.99441359e+00,
 -3.32178015e-02, 5.25230665e+00,-2.20681003e+01, 4.01993846e+01,
 -1.02784236e-03, 4.38932299e+00,-1.23545502e+01, 5.84487926e+00,
 -5.34784011e-02, 9.96483552e-02, 3.19716156e+00,-1.11820319e+01,
  7.28659715e-01, 5.04254301e-01, 2.44943675e+00,-6.25781840e-01,
  3.44322723e+01, 2.92500042e+01]

qfrc_actuator:
[ 2.37470808e-03, 2.73079110e-02, 8.55730448e-03, 1.69711151e-03,
 -2.47711191e-05, 2.74552948e-02, 8.59388846e-03, 1.68496949e-03,
 -2.36642152e-03, 2.74574144e-02, 8.61215692e-03, 1.57735940e-03,
  0.00000000e+00,-1.37133956e-03, 0.00000000e+00,-9.35930610e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008325987419921937
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.33344307e-13, -6.66721536e-14,  1.00000000e+00,  8.89035214e-27,
        1.00000000e+00,  6.66721536e-14, -1.00000000e+00,  0.00000000e+00,
        1.33344307e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00410704, -0.06299666,  0.06192074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.63968112e-06, 1.97301321e-05,-3.50560653e-05, 1.88299210e-06,
 -5.86950106e-06, 2.89397408e-05,-4.66453844e-05, 4.93200812e-05,
  5.28467075e-08, 2.48867302e-05,-8.94705665e-05,-2.77347165e-05,
  3.25969039e-03, 6.56372879e-06,-1.19283110e-05,-5.74865900e-05,
  3.39856920e-04,-7.56440782e-05,-1.21644716e+00,-5.37567760e-05,
  7.63875149e-03, 1.78122941e-03]


--- Step 2371 ---
qpos:
[-2.51173032e-03, 8.65798473e-01,-2.37741867e-02, 3.86458924e-04,
 -2.97949461e-03, 8.61845646e-01,-2.70706647e-02, 3.12648955e-03,
 -1.20589829e-03, 8.70644134e-01,-1.92719045e-02,-2.13329201e-02,
  1.39623899e+00, 1.85052146e-02, 1.40052112e+00, 2.41332834e-02,
  3.95753037e-03,-5.77489935e-02, 8.03824439e-02, 7.01710714e-01,
 -4.69195691e-02,-7.09042026e-01,-5.15755074e-02]

qacc:
[ 2.46043564e-03,-3.53670055e+00, 1.43755284e+01,-2.62162974e+01,
 -1.44829243e-01, 3.71487242e+00,-1.32662037e+01, 1.82140702e+01,
 -1.46493408e-01,-1.67936289e+00, 5.10669245e+00,-5.10031967e+00,
 -5.99222181e-02, 8.26740725e-02, 3.94281692e+00,-1.37518318e+01,
  6.90664554e-01, 4.72112541e-01, 1.88430451e+00,-5.65374755e-01,
  3.27874740e+01, 2.79696040e+01]

qfrc_actuator:
[ 2.37630827e-03, 2.72482574e-02, 8.57333818e-03, 1.66205715e-03,
 -4.80178954e-05, 2.74796566e-02, 8.54612374e-03, 1.69532929e-03,
 -2.39344857e-03, 2.74234027e-02, 8.63373779e-03, 1.57983618e-03,
  0.00000000e+00,-1.37247160e-03, 0.00000000e+00,-1.00115897e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000838114812934998
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.62333494e-14, -1.98700048e-13,  1.00000000e+00,  1.31605697e-26,
        1.00000000e+00,  1.98700048e-13, -1.00000000e+00,  0.00000000e+00,
        6.62333494e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00410385, -0.06299621,  0.06192027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.47500874e-07,-5.57449019e-05, 1.58777883e-05,-3.53827708e-05,
 -2.60295132e-05, 3.29790203e-05,-4.58366163e-05, 1.09423731e-05,
 -2.69988062e-05,-3.97401877e-05, 1.47569519e-05,-8.96728815e-08,
  3.25588318e-03, 3.17783450e-06,-1.29980834e-05,-7.02127025e-05,
  2.63021448e-04,-8.79556413e-05,-1.21644440e+00,-5.61569426e-05,
  7.63848880e-03, 1.78162773e-03]


--- Step 2372 ---
qpos:
[-2.51195226e-03, 8.65796992e-01,-2.37756437e-02, 3.86848351e-04,
 -2.98047969e-03, 8.61848857e-01,-2.70729052e-02, 3.12592490e-03,
 -1.20585003e-03, 8.70643286e-01,-1.92720462e-02,-2.13341094e-02,
  1.39624010e+00, 1.85062693e-02, 1.40059760e+00, 2.41291524e-02,
  3.94084076e-03,-5.77387381e-02, 8.03981206e-02, 7.01385743e-01,
 -4.70831314e-02,-7.09366849e-01,-5.13798837e-02]

qacc:
[ 6.95077046e-03,-1.41786512e+00, 5.21789386e+00,-7.59978480e+00,
 -1.43415184e-01,-2.72260925e+00, 1.78688625e+01,-4.74366749e+01,
 -1.57527355e-01,-5.13862540e+00, 1.93023740e+01,-2.79755206e+01,
 -7.34596739e-02, 4.56541335e-01,-1.01214808e+00, 3.13150962e+00,
  6.59291269e-01, 4.46392644e-01, 1.41169967e+00,-5.13628108e-01,
  3.14258238e+01, 2.69124332e+01]

qfrc_actuator:
[ 2.37736001e-03, 2.72665664e-02, 8.60111310e-03, 1.65897074e-03,
 -6.15164932e-05, 2.75284298e-02, 8.55443086e-03, 1.61220259e-03,
 -2.40963672e-03, 2.74389511e-02, 8.71805718e-03, 1.56387725e-03,
  0.00000000e+00,-1.32010485e-03, 0.00000000e+00,-9.84514195e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008342964722133084
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.65364808e-14, -6.65364808e-14,  1.00000000e+00,  4.42710328e-27,
        1.00000000e+00,  6.65364808e-14, -1.00000000e+00,  0.00000000e+00,
        6.65364808e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00410721, -0.06299821,  0.06192068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21483643e-06,-1.10536308e-05, 1.70172942e-05,-5.60957567e-06,
 -2.58499935e-05, 5.81655149e-05, 9.84447202e-06,-8.30894253e-05,
 -2.91221553e-05,-3.60688435e-06, 7.79447683e-05,-1.71464629e-05,
  3.25244048e-03, 5.51043436e-05,-1.49249471e-05, 1.08150699e-05,
  1.98945345e-04,-9.39912516e-05,-1.21644234e+00,-5.61721972e-05,
  7.63826321e-03, 1.78193227e-03]


--- Step 2373 ---
qpos:
[-2.51197505e-03, 8.65795917e-01,-2.37767519e-02, 3.87122916e-04,
 -2.98129995e-03, 8.61852453e-01,-2.70747835e-02, 3.12505280e-03,
 -1.20604687e-03, 8.70642731e-01,-1.92708580e-02,-2.13355595e-02,
  1.39624119e+00, 1.85078121e-02, 1.40067374e+00, 2.41272355e-02,
  3.92668542e-03,-5.77267789e-02, 8.04178671e-02, 7.01106208e-01,
 -4.72811740e-02,-7.09646480e-01,-5.11512309e-02]

qacc:
[  0.10449254, -0.67320369,  3.66517281, -6.51035252,  0.08687682,
  -1.13310622,  6.07970179,-12.26540955, -0.12725969, -3.86453576,
  15.4399042 ,-22.2904712 , -0.08624712,  0.37217965, -7.20079377,
  24.48393278,  0.63356838,  0.42592472,  1.017485  , -0.4684242 ,
  30.30103004, 26.04386351]

qfrc_actuator:
[ 2.39582481e-03, 2.73315001e-02, 8.63590470e-03, 1.65703051e-03,
 -3.35533063e-05, 2.75560836e-02, 8.57807001e-03, 1.59906937e-03,
 -2.41918678e-03, 2.75020807e-02, 8.80337458e-03, 1.55500989e-03,
  0.00000000e+00,-1.30718227e-03, 0.00000000e+00,-8.66501330e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008231107505186352
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.7440683e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        6.7440683e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0041157 , -0.06300216,  0.06192178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.90465886e-05, 6.20735753e-05, 3.44336822e-05,-1.93008147e-06,
  1.57007972e-05, 5.85909394e-05, 3.39823856e-05,-1.19183995e-05,
 -2.34967164e-05, 7.64951722e-05, 9.35907034e-05,-6.65451203e-06,
  3.24021847e-03, 4.11097617e-05,-5.92673730e-06, 1.16635401e-04,
  1.45867440e-04,-9.45212188e-05,-1.21644085e+00,-5.40521888e-05,
  7.63806380e-03, 1.78215597e-03]


--- Step 2374 ---
qpos:
[-2.51160226e-03, 8.65794863e-01,-2.37764471e-02, 3.87346530e-04,
 -2.98167650e-03, 8.61855492e-01,-2.70762546e-02, 3.12518477e-03,
 -1.20604834e-03, 8.70642623e-01,-1.92689951e-02,-2.13363891e-02,
  1.39624202e+00, 1.85091187e-02, 1.40074999e+00, 2.41253891e-02,
  3.91498064e-03,-5.77131807e-02, 8.04403717e-02, 7.00870748e-01,
 -4.75127577e-02,-7.09882312e-01,-5.08904265e-02]

qacc:
[ 2.08289955e-01,-4.02301505e+00, 1.46011847e+01,-1.77621788e+01,
  2.34198186e-01, 1.93067115e-01,-5.99553297e+00, 2.31318534e+01,
  1.02307372e-01,-1.73777633e-02,-1.69708462e+00, 1.10187828e+01,
 -7.85988354e-02,-1.26900753e-01,-4.62560108e-02, 4.06694411e-01,
  6.12637441e-01, 4.09743743e-01, 6.89484375e-01,-4.28063518e-01,
  2.93743449e+01, 2.53346237e+01]

qfrc_actuator:
[ 2.42454595e-03, 2.73351409e-02, 8.71027158e-03, 1.65582547e-03,
  1.20645298e-06, 2.74644897e-02, 8.57503490e-03, 1.64498063e-03,
 -2.38918576e-03, 2.75222513e-02, 8.83553919e-03, 1.58593123e-03,
  0.00000000e+00,-1.35359664e-03, 0.00000000e+00,-8.67265747e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008061968443747805
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.88555799e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.88555799e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00412816, -0.06300762,  0.06192342])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.78128653e-05, 4.54163245e-05, 9.13789956e-05, 2.61080073e-06,
  4.22197536e-05,-5.23915687e-05, 1.28273847e-05, 4.93638547e-05,
  1.87586136e-05, 8.19910802e-05, 5.92584458e-05, 3.73069396e-05,
  3.24130066e-03,-2.97268757e-05, 9.54989003e-06, 4.81724301e-06,
  1.02429674e-04,-9.01210552e-05,-1.21643983e+00,-4.99873544e-05,
  7.63788173e-03, 1.78230889e-03]


--- Step 2375 ---
qpos:
[-2.51086453e-03, 8.65793944e-01,-2.37757597e-02, 3.87610947e-04,
 -2.98162439e-03, 8.61857496e-01,-2.70770749e-02, 3.12487645e-03,
 -1.20576966e-03, 8.70642581e-01,-1.92676558e-02,-2.13360178e-02,
  1.39624255e+00, 1.85100111e-02, 1.40082637e+00, 2.41228918e-02,
  3.90565885e-03,-5.76979944e-02, 8.04645454e-02, 7.00678233e-01,
 -4.77771200e-02,-7.10075479e-01,-5.05981774e-02]

qacc:
[  0.1915395 , -0.8063846 ,  2.9616822 , -2.96716283,  0.22651016,
  -4.08870825, 14.45536203,-22.36009653,  0.14598788,  4.02443369,
 -19.28241259, 40.83865319, -0.06324878, -0.25633036,  2.14739196,
  -7.25870964,  0.59574978,  0.39705689,  0.41731067, -0.39118373,
  28.6134711 , 24.76010294]

qfrc_actuator:
[ 2.44139217e-03, 2.73199820e-02, 8.71841670e-03, 1.65504356e-03,
  2.19466992e-05, 2.73731468e-02, 8.59131060e-03, 1.61861426e-03,
 -2.37130178e-03, 2.74631187e-02, 8.78267745e-03, 1.63994893e-03,
  0.00000000e+00,-1.38182615e-03, 0.00000000e+00,-9.02533456e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007849170371659608
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.07223166e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.07223166e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0041436 , -0.06301425,  0.06192545])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.48819880e-05, 2.92476903e-05, 2.88782424e-05, 4.37726318e-06,
  4.07741793e-05,-1.15931356e-04, 8.73136476e-06,-2.72090827e-05,
  2.68749565e-05, 5.41569226e-07,-2.73508660e-05, 6.03032851e-05,
  3.25408636e-03,-4.61543722e-05, 2.37390747e-06,-3.43347354e-05,
  6.75857243e-05,-8.12173909e-05,-1.21643921e+00,-4.41223433e-05,
  7.63770946e-03, 1.78239894e-03]


--- Step 2376 ---
qpos:
[-2.50985250e-03, 8.65793760e-01,-2.37760485e-02, 3.88227290e-04,
 -2.98105456e-03, 8.61858942e-01,-2.70780694e-02, 3.12356112e-03,
 -1.20543278e-03, 8.70642145e-01,-1.92672372e-02,-2.13349123e-02,
  1.39624293e+00, 1.85104787e-02, 1.40090290e+00, 2.41186551e-02,
  3.89866610e-03,-5.76812591e-02, 8.04894878e-02, 7.00527731e-01,
 -4.80736475e-02,-7.10226895e-01,-5.02750453e-02]

qacc:
[ 1.42968228e-01, 4.42097886e+00,-1.58412987e+01, 2.29570491e+01,
  2.72685550e-01,-2.32270526e+00, 1.14628940e+01,-2.82041820e+01,
  2.99787420e-02, 3.56367229e+00,-1.65541663e+01, 3.10081291e+01,
 -4.92696568e-02,-2.44955565e-01, 5.50972271e+00,-1.89240172e+01,
  5.82258266e-01, 3.87214545e-01, 1.92155687e-01,-3.56693185e-01,
  2.79915408e+01, 2.42996646e+01]

qfrc_actuator:
[ 2.45098584e-03, 2.73644314e-02, 8.66954138e-03, 1.67219680e-03,
  5.18654392e-05, 2.73536656e-02, 8.58326102e-03, 1.56767667e-03,
 -2.37860360e-03, 2.73921111e-02, 8.71523359e-03, 1.67149036e-03,
  0.00000000e+00,-1.39887231e-03, 0.00000000e+00,-9.93315102e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007604000785780829
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27754477e-13, -2.19007676e-13,  1.00000000e+00,  2.79792111e-26,
        1.00000000e+00,  2.19007676e-13, -1.00000000e+00,  0.00000000e+00,
        1.27754477e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00416125, -0.06302173,  0.06192779])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.62302098e-05, 6.69747532e-05,-3.91249337e-05, 1.94901552e-05,
  4.92599009e-05,-8.37056049e-05,-3.18677702e-05,-5.61332140e-05,
  5.56606541e-06,-7.37778577e-05,-6.86251880e-05, 3.17895098e-05,
  3.26841089e-03,-4.24931750e-05,-5.17073131e-06,-9.29213962e-05,
  4.05311043e-05,-6.81226788e-05,-1.21643895e+00,-3.65662590e-05,
  7.63754022e-03, 1.78243244e-03]


--- Step 2377 ---
qpos:
[-2.50884104e-03, 8.65793624e-01,-2.37758181e-02, 3.88683724e-04,
 -2.98024259e-03, 8.61859818e-01,-2.70785945e-02, 3.12091144e-03,
 -1.20530071e-03, 8.70641936e-01,-1.92678590e-02,-2.13345441e-02,
  1.39624302e+00, 1.85104985e-02, 1.40097936e+00, 2.41136954e-02,
  3.89395977e-03,-5.76630051e-02, 8.05144565e-02, 7.00418474e-01,
 -4.84018529e-02,-7.10337293e-01,-4.99214677e-02]

qacc:
[ 2.63933965e-06,-1.71472492e+00, 6.88309810e+00,-1.05185060e+01,
  1.27952669e-01,-4.80730434e+00, 2.16838074e+01,-4.51143644e+01,
 -1.07706975e-01, 1.68776215e+00,-2.47561394e+00,-8.77533075e+00,
 -3.76693344e-02,-3.03012568e-01, 2.08093386e+00,-7.44228459e+00,
  5.71606984e-01, 3.79685255e-01, 6.57505640e-03,-3.23716794e-01,
  2.74862093e+01, 2.39360163e+01]

qfrc_actuator:
[ 2.43842002e-03, 2.73552282e-02, 8.69417536e-03, 1.66427842e-03,
  5.15254956e-05, 2.73417336e-02, 8.61443887e-03, 1.50273921e-03,
 -2.40090699e-03, 2.74386807e-02, 8.67515226e-03, 1.63627470e-03,
  0.00000000e+00,-1.42678486e-03, 0.00000000e+00,-1.02729313e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007335779273312804
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.45897313e-14, -7.56717850e-14,  1.00000000e+00,  7.15777381e-27,
        1.00000000e+00,  7.56717850e-14, -1.00000000e+00,  0.00000000e+00,
        9.45897313e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00418045, -0.06302982,  0.06193034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.01863044e-08, 2.10090306e-05, 3.43224168e-05,-6.02485722e-06,
  2.30343448e-05,-6.77430032e-05, 8.01896993e-06,-7.07183147e-05,
 -1.96473486e-05,-7.48997600e-06,-6.26727237e-05,-4.01316316e-05,
  3.27645675e-03,-4.91614178e-05,-1.48226177e-05,-4.02748511e-05,
  2.06496732e-05,-5.10614354e-05,-1.21643901e+00,-2.74004783e-05,
  7.63736767e-03, 1.78241448e-03]


--- Step 2378 ---
qpos:
[-2.50791315e-03, 8.65794200e-01,-2.37754852e-02, 3.87603566e-04,
 -2.97988232e-03, 8.61860145e-01,-2.70782332e-02, 3.11781689e-03,
 -1.20540558e-03, 8.70641898e-01,-1.92676970e-02,-2.13343766e-02,
  1.39624285e+00, 1.85103259e-02, 1.40105561e+00, 2.41093489e-02,
  3.89150673e-03,-5.76432550e-02, 8.05388423e-02, 7.00349831e-01,
 -4.87613555e-02,-7.10407245e-01,-4.95377757e-02]

qacc:
[-4.40827253e-02,-2.50966532e+00, 1.67976362e+01,-4.40782821e+01,
 -2.37157308e-01,-4.11382321e+00, 1.54966729e+01,-2.42155215e+01,
 -1.23288849e-01,-2.37669191e+00, 9.64802449e+00,-1.44977711e+01,
 -2.26320175e-02,-1.53999540e-01,-2.18052909e+00, 7.15400473e+00,
  5.63320447e-01, 3.74034584e-01,-1.45714167e-01,-2.91552441e-01,
  2.70788746e+01, 2.36546575e+01]

qfrc_actuator:
[ 2.43047629e-03, 2.74207418e-02, 8.70855201e-03, 1.58843024e-03,
 -2.40644421e-06, 2.73345659e-02, 8.66857926e-03, 1.48338984e-03,
 -2.41421895e-03, 2.75020751e-02, 8.74073953e-03, 1.63319297e-03,
  0.00000000e+00,-1.42551888e-03, 0.00000000e+00,-9.92004445e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007052167739143023
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.57430037e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.57430037e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00420066, -0.06303833,  0.06193302])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.96542041e-06, 8.40906337e-05, 2.27336140e-05,-7.38785556e-05,
 -4.30050468e-05,-4.64312138e-05, 3.86910230e-05,-2.33471788e-05,
 -2.27192385e-05, 4.45520778e-05, 5.49375562e-05,-6.35175247e-06,
  3.29092242e-03,-2.54816272e-05,-1.28662673e-05, 3.08178464e-05,
  7.47260595e-06,-3.01901299e-05,-1.21643936e+00,-1.66846381e-05,
  7.63718556e-03, 1.78234927e-03]


--- Step 2379 ---
qpos:
[-2.50745005e-03, 8.65796244e-01,-2.37759433e-02, 3.85586383e-04,
 -2.98007515e-03, 8.61860198e-01,-2.70776580e-02, 3.11556096e-03,
 -1.20533522e-03, 8.70642384e-01,-1.92666345e-02,-2.13346487e-02,
  1.39624267e+00, 1.85099915e-02, 1.40113193e+00, 2.41040936e-02,
  3.89128166e-03,-5.76220253e-02, 8.05621481e-02, 7.00321284e-01,
 -4.91518650e-02,-7.10437194e-01,-4.91242094e-02]

qacc:
[-2.44763161e-01, 2.22058409e+00,-1.14687395e+00,-1.48820671e+01,
 -2.91011568e-01, 7.66027343e-01,-6.79713422e+00, 2.11708296e+01,
  9.18545249e-02,-2.73028949e+00, 1.25892958e+01,-2.20142243e+01,
 -1.14718860e-02,-9.17373519e-02, 2.85835982e+00,-9.84569604e+00,
  5.56993160e-01, 3.69907434e-01,-2.70014534e-01,-2.59635986e-01,
  2.67540209e+01, 2.34434065e+01]

qfrc_actuator:
[ 2.38988377e-03, 2.75304039e-02, 8.68147812e-03, 1.54427535e-03,
 -3.46386988e-05, 2.73304639e-02, 8.68263450e-03, 1.52654285e-03,
 -2.38651677e-03, 2.75577765e-02, 8.79730945e-03, 1.61364474e-03,
  0.00000000e+00,-1.42457486e-03, 0.00000000e+00,-1.04047104e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006759432001263374
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.2123988e-14, -4.1061994e-14,  1.0000000e+00,  3.3721747e-27,
        1.0000000e+00,  4.1061994e-14, -1.0000000e+00,  0.0000000e+00,
        8.2123988e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00422147, -0.06304708,  0.06193579])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.43807515e-05, 1.58196907e-04,-9.46868220e-06,-4.12037247e-05,
 -5.26523837e-05,-2.30859506e-05, 8.42488538e-06, 4.20530243e-05,
  1.68292455e-05, 9.16841034e-05, 7.23174374e-05,-1.58635714e-05,
  3.30307058e-03,-1.49017734e-05,-3.69450070e-06,-4.86487856e-05,
  6.46808998e-07,-5.61232096e-06,-1.21644001e+00,-4.46123895e-06,
  7.63698754e-03, 1.78224034e-03]


--- Step 2380 ---
qpos:
[-2.50746237e-03, 8.65799252e-01,-2.37764254e-02, 3.84793381e-04,
 -2.98035655e-03, 8.61860687e-01,-2.70778182e-02, 3.11450429e-03,
 -1.20482401e-03, 8.70643718e-01,-1.92663891e-02,-2.13354211e-02,
  1.39624237e+00, 1.85098370e-02, 1.40120793e+00, 2.41006380e-02,
  3.89577134e-03,-5.76049350e-02, 8.05797420e-02, 7.00382985e-01,
 -4.94627083e-02,-7.10377960e-01,-4.87879916e-02]

qacc:
[-2.49560281e-01, 3.85801353e+00,-1.70778576e+01, 3.75967500e+01,
 -4.72032462e-02, 5.09539700e+00,-2.23977211e+01, 4.40149717e+01,
  2.29357949e-01, 2.37300396e+00,-4.72695113e+00,-3.23807584e+00,
 -1.01969222e-02, 9.17290719e-02,-5.92760570e+00, 2.00438468e+01,
  1.17868887e+00,-1.03486352e+00,-1.42796338e+00, 4.47786199e-01,
  6.71438526e+01,-5.09748480e+01]

qfrc_actuator:
[ 2.36562190e-03, 2.75767491e-02, 8.68364426e-03, 1.60791466e-03,
 -1.80637977e-05, 2.73814041e-02, 8.65520390e-03, 1.58833912e-03,
 -2.35227611e-03, 2.75729367e-02, 8.74152296e-03, 1.58453582e-03,
  0.00000000e+00,-1.40602505e-03, 0.00000000e+00,-9.42635176e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006586809333329197
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.68552476e-13, -8.42762382e-14,  1.00000000e+00,  1.42049686e-26,
        1.00000000e+00,  8.42762382e-14, -1.00000000e+00,  0.00000000e+00,
        1.68552476e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02629995, -0.03180797,  0.06193744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.54065722e-05, 1.31037058e-04, 3.22370136e-05, 6.92874671e-05,
 -8.42249296e-06, 4.15636057e-05,-2.97057196e-05, 6.19207692e-05,
  4.23104074e-05, 8.06664314e-05,-2.85043629e-05,-2.29923759e-05,
  3.30429320e-03, 1.17591252e-05,-8.78828566e-06, 9.42879114e-05,
 -8.95121257e-08, 2.26097605e-05,-1.21644095e+00, 9.24079663e-06,
  7.63676700e-03, 1.78209072e-03]


--- Step 2381 ---
qpos:
[-2.50729334e-03, 8.65802732e-01,-2.37760805e-02, 3.84772578e-04,
 -2.98057385e-03, 8.61861775e-01,-2.70784403e-02, 3.11415556e-03,
 -1.20407740e-03, 8.70645644e-01,-1.92673600e-02,-2.13350925e-02,
  1.39624218e+00, 1.85100113e-02, 1.40128385e+00, 2.40983561e-02,
  3.90479854e-03,-5.75918617e-02, 8.05904815e-02, 7.00531976e-01,
 -4.96966168e-02,-7.10232637e-01,-4.85262677e-02]

qacc:
[ 9.54804206e-02,-9.51969541e-02,-2.01240389e+00, 1.37050908e+01,
  3.32984964e-02, 3.53703560e+00,-1.44528172e+01, 2.70073263e+01,
  1.22003261e-01, 6.44805461e+00,-2.64931875e+01, 4.70388377e+01,
 -7.88959072e-03, 2.27271148e-01,-3.67490602e+00, 1.26864581e+01,
  1.13437823e+00,-1.00424015e+00,-1.71362587e+00, 5.41180908e-01,
  6.48712958e+01,-4.91550571e+01]

qfrc_actuator:
[ 2.40461285e-03, 2.75850228e-02, 8.72065638e-03, 1.64568094e-03,
 -7.95314729e-06, 2.74292636e-02, 8.63925089e-03, 1.62512000e-03,
 -2.34995333e-03, 2.75809901e-02, 8.67293793e-03, 1.63869006e-03,
  0.00000000e+00,-1.37718862e-03, 0.00000000e+00,-8.83631252e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006577280433629068
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.68796668e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.68796668e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02630312, -0.03180682,  0.06193758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73495452e-05, 9.11013516e-05, 7.04271167e-05, 4.58420245e-05,
  6.11712753e-06, 6.76086309e-05,-8.88680986e-06, 3.87397474e-05,
  2.25938496e-05, 4.62631575e-05,-5.62441982e-05, 5.61716256e-05,
  3.30926058e-03, 3.16248231e-05, 5.64168426e-06, 6.29596346e-05,
  1.47609953e-05, 5.66984022e-05,-1.21643923e+00, 3.00756699e-05,
  7.63704253e-03, 1.78233183e-03]


--- Step 2382 ---
qpos:
[-2.50679475e-03, 8.65805910e-01,-2.37747197e-02, 3.83220573e-04,
 -2.98069633e-03, 8.61862797e-01,-2.70784051e-02, 3.11391276e-03,
 -1.20320799e-03, 8.70647637e-01,-1.92686750e-02,-2.13341102e-02,
  1.39624189e+00, 1.85101833e-02, 1.40135978e+00, 2.40968014e-02,
  3.91812512e-03,-5.75827675e-02, 8.05939192e-02, 7.00764121e-01,
 -4.98548182e-02,-7.10005359e-01,-4.83376974e-02]

qacc:
[ 1.73462436e-01,-6.38758594e+00, 2.86603854e+01,-5.65671589e+01,
  5.03811989e-02,-1.70390964e+00, 5.50297709e+00,-4.67465931e+00,
  6.39096408e-02, 2.39776243e+00,-1.11736438e+01, 2.29789841e+01,
 -7.40468540e-03,-1.52805477e-02,-2.19161100e+00, 7.68088301e+00,
  1.07484602e+00,-9.94785677e-01,-1.82541110e+00, 6.17418405e-01,
  6.18898078e+01,-4.84540693e+01]

qfrc_actuator:
[ 2.42783100e-03, 2.74995479e-02, 8.74222950e-03, 1.56136992e-03,
 -1.83830462e-06, 2.74039263e-02, 8.66571034e-03, 1.62915062e-03,
 -2.34899955e-03, 2.75669439e-02, 8.65065766e-03, 1.67039067e-03,
  0.00000000e+00,-1.39565903e-03, 0.00000000e+00,-8.48020369e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.84922554, -6.35924527,  2.54399096, -6.35924527, 14.60623329,
       19.390287  ,  2.54399096, 19.390287  , 55.31936268,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000650223614726661
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.27459785e-07, -5.27459886e-07,  1.00000000e+00, -2.78213878e-13,
        1.00000000e+00,  5.27459886e-07, -1.00000000e+00,  1.00974196e-28,
       -5.27459785e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0249448 , -0.03200139,  0.06193829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.14925988e-05,-1.81070409e-05, 5.06214617e-05,-7.70847003e-05,
  9.02649151e-06, 1.22721982e-05, 4.06650190e-05, 7.37305321e-06,
  1.17803500e-05, 2.57818120e-06,-1.77183072e-05, 3.28263983e-05,
  3.30454032e-03,-3.27188225e-06, 8.24439286e-06, 3.95336957e-05,
  4.85808208e-05, 7.01513184e-05,-1.21643913e+00, 4.32941361e-05,
  7.63741587e-03, 1.78285160e-03]


--- Step 2383 ---
qpos:
[-2.50618307e-03, 8.65808427e-01,-2.37733684e-02, 3.80790810e-04,
 -2.98054881e-03, 8.61863735e-01,-2.70779528e-02, 3.11339453e-03,
 -1.20246294e-03, 8.70648452e-01,-1.92687932e-02,-2.13333918e-02,
  1.39624149e+00, 1.85100315e-02, 1.40143589e+00, 2.40943533e-02,
  3.93468278e-03,-5.75781405e-02, 8.05938915e-02, 7.01060296e-01,
 -4.99300596e-02,-7.09714983e-01,-4.82295909e-02]

qacc:
[ 5.94714362e-02,-2.65210550e+00, 1.18955710e+01,-2.65873058e+01,
  1.42476055e-01,-1.84298174e+00, 7.57230921e+00,-1.29460653e+01,
 -6.37913815e-02,-5.44512824e+00, 1.82657906e+01,-2.38783178e+01,
  1.39292884e-03,-2.23637998e-01, 2.97866060e+00,-1.00285168e+01,
  8.07768734e-01,-1.11680388e+00,-8.66391484e-01, 5.73841305e-01,
  4.88500406e+01,-5.45236988e+01]

qfrc_actuator:
[ 2.42361207e-03, 2.74116683e-02, 8.71851428e-03, 1.51232283e-03,
  1.95753354e-05, 2.73883547e-02, 8.68117755e-03, 1.61384992e-03,
 -2.36660136e-03, 2.74511622e-02, 8.69127984e-03, 1.65312056e-03,
  0.00000000e+00,-1.42456133e-03, 0.00000000e+00,-8.97478734e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006450562977008134
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01333961, -0.03371633,  0.06193876])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.07879412e-05,-9.09328019e-05,-2.39201635e-05,-4.95762750e-05,
  2.56993446e-05,-1.83610093e-08, 2.32591648e-05,-1.32253471e-05,
 -1.19580690e-05,-1.16628984e-04, 4.01016403e-05,-1.71362582e-05,
  3.30863029e-03,-3.20451460e-05, 6.23067860e-06,-4.66356357e-05,
  9.83717209e-05, 6.41008441e-05,-1.21644053e+00, 4.92753127e-05,
  7.63792492e-03, 1.78363525e-03]


--- Step 2384 ---
qpos:
[-2.50554736e-03, 8.65810736e-01,-2.37730718e-02, 3.78498797e-04,
 -2.98014045e-03, 8.61864615e-01,-2.70772505e-02, 3.11201488e-03,
 -1.20188975e-03, 8.70647738e-01,-1.92673256e-02,-2.13321761e-02,
  1.39624141e+00, 1.85093641e-02, 1.40151267e+00, 2.40859812e-02,
  3.95437450e-03,-5.75778582e-02, 8.05894272e-02, 7.01418809e-01,
 -4.99245607e-02,-7.09363077e-01,-4.81997663e-02]

qacc:
[ 1.20128709e-02, 2.95206393e+00,-1.15095676e+01, 1.57369310e+01,
  1.37497295e-01,-2.54532171e+00, 1.26037413e+01,-2.78729016e+01,
 -8.81939865e-02,-5.42448907e+00, 1.43148244e+01,-7.12826821e+00,
  2.92662851e-03,-2.30860038e-01, 1.89414107e+01,-6.48064366e+01,
  7.83516889e-01,-1.08617167e+00,-1.10912114e+00, 5.95499763e-01,
  4.75905796e+01,-5.30520994e+01]

qfrc_actuator:
[ 2.42076820e-03, 2.74115878e-02, 8.66824510e-03, 1.51989840e-03,
  3.22025098e-05, 2.73786878e-02, 8.69002670e-03, 1.56953679e-03,
 -2.37738585e-03, 2.73643222e-02, 8.76824022e-03, 1.67813479e-03,
  0.00000000e+00,-1.44164769e-03, 0.00000000e+00,-1.20968067e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006348046072074398
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01335123, -0.03370508,  0.06193969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.28405056e-06,-5.80590221e-05,-7.37397505e-05, 1.88494159e-06,
  2.48264177e-05,-5.46219181e-06, 1.12428156e-05,-4.37680200e-05,
 -1.65225451e-05,-1.44527347e-04, 5.72152936e-05, 2.10734874e-05,
  3.31424868e-03,-3.29203090e-05,-4.68799490e-06,-3.14524775e-04,
  1.45791941e-04, 3.48774236e-05,-1.21644305e+00, 4.66011729e-05,
  7.63877424e-03, 1.78449901e-03]


--- Step 2385 ---
qpos:
[-2.50492107e-03, 8.65813295e-01,-2.37736836e-02, 3.76245179e-04,
 -2.97953199e-03, 8.61865269e-01,-2.70763573e-02, 3.11014131e-03,
 -1.20146786e-03, 8.70646469e-01,-1.92652960e-02,-2.13300341e-02,
  1.39624141e+00, 1.85084665e-02, 1.40158931e+00, 2.40749503e-02,
  3.97711838e-03,-5.75818188e-02, 8.05797089e-02, 7.01838221e-01,
 -4.98401614e-02,-7.08950881e-01,-4.82464257e-02]

qacc:
[-5.59019938e-03, 2.94683856e+00,-1.01900477e+01, 1.21262595e+01,
  1.05560099e-01,-1.84747047e+00, 8.23977052e+00,-1.69290697e+01,
 -7.84110350e-02,-3.95850480e-01,-3.55557856e+00, 1.90788444e+01,
 -1.35597649e-02,-1.02526889e-01, 7.86511233e+00,-2.77837196e+01,
  7.63038557e-01,-1.06070828e+00,-1.31351221e+00, 6.10875103e-01,
  4.65549585e+01,-5.18354976e+01]

qfrc_actuator:
[ 2.41879318e-03, 2.74639994e-02, 8.63859768e-03, 1.52527790e-03,
  3.94589743e-05, 2.73548173e-02, 8.69490525e-03, 1.54401762e-03,
 -2.38398270e-03, 2.73844314e-02, 8.81287800e-03, 1.72786383e-03,
  0.00000000e+00,-1.45132314e-03, 0.00000000e+00,-1.33684066e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006202860348009792
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.71196208e-14, -1.78985655e-13,  1.00000000e+00,  1.20134493e-26,
        1.00000000e+00,  1.78985655e-13, -1.00000000e+00,  0.00000000e+00,
        6.71196208e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01336744, -0.03368929,  0.061941  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.96788150e-07, 4.74253909e-06,-5.06755062e-05, 3.76365418e-07,
  1.90412865e-05,-2.64993541e-05, 3.61004538e-06,-2.62166604e-05,
 -1.45265221e-05,-4.79861424e-05, 2.25603404e-05, 4.59294947e-05,
  3.29837772e-03,-1.67802076e-05,-3.95012814e-05,-1.45808562e-04,
  2.00870726e-04,-6.68038326e-06,-1.21644699e+00, 3.79941806e-05,
  7.63977161e-03, 1.78557225e-03]


--- Step 2386 ---
qpos:
[-2.50468568e-03, 8.65815584e-01,-2.37742612e-02, 3.74419496e-04,
 -2.97897313e-03, 8.61865755e-01,-2.70755388e-02, 3.11005964e-03,
 -1.20134568e-03, 8.70645185e-01,-1.92629769e-02,-2.13273651e-02,
  1.39624096e+00, 1.85076349e-02, 1.40166510e+00, 2.40677863e-02,
  4.00118637e-03,-5.75906564e-02, 8.05700669e-02, 7.02287460e-01,
 -4.96673960e-02,-7.08508888e-01,-4.83800533e-02]

qacc:
[-2.04818649e-01, 4.27945487e-01,-3.85066611e+00, 1.14006569e+01,
 -2.60071669e-02, 3.67262651e+00,-2.09839651e+01, 5.22436046e+01,
 -1.56289934e-01, 2.57668696e-01,-3.16719483e+00, 1.18279966e+01,
 -1.08301257e-02,-6.25517113e-02,-1.29988591e+01, 4.35956310e+01,
  3.31028443e-01,-1.21926628e+00, 1.90864331e-02, 2.05720929e-01,
  2.53280772e+01,-6.03803922e+01]

qfrc_actuator:
[ 2.38185803e-03, 2.74410143e-02, 8.63935168e-03, 1.54713664e-03,
  2.56967725e-05, 2.73581217e-02, 8.69736054e-03, 1.63626769e-03,
 -2.40577142e-03, 2.74150907e-02, 8.83851162e-03, 1.75628878e-03,
  0.00000000e+00,-1.45663134e-03, 0.00000000e+00,-1.12308686e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000617456150396406
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79805971e-13, -8.99029853e-14,  1.00000000e+00,  1.61650935e-26,
        1.00000000e+00,  8.99029853e-14, -1.00000000e+00,  0.00000000e+00,
        1.79805971e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00087288, -0.03580609,  0.06194121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.73661103e-05,-3.08370637e-05,-4.50908192e-06, 2.03157206e-05,
 -4.72629455e-06,-1.19084719e-05,-3.48976719e-06, 9.07297390e-05,
 -2.87516294e-05, 1.04619006e-05, 2.00833844e-05, 2.80416163e-05,
  3.29409653e-03,-1.05471676e-05,-3.44672484e-05, 2.00573857e-04,
  2.63237172e-04,-5.98151996e-05,-1.21645235e+00, 2.37606199e-05,
  7.64091328e-03, 1.78684875e-03]


--- Step 2387 ---
qpos:
[-2.50505277e-03, 8.65817060e-01,-2.37742820e-02, 3.72903609e-04,
 -2.97871311e-03, 8.61865973e-01,-2.70743178e-02, 3.11037222e-03,
 -1.20150199e-03, 8.70643968e-01,-1.92597862e-02,-2.13254644e-02,
  1.39624018e+00, 1.85067514e-02, 1.40174062e+00, 2.40635031e-02,
  4.02653530e-03,-5.76042042e-02, 8.05593692e-02, 7.02765644e-01,
 -4.94087128e-02,-7.08037735e-01,-4.85983024e-02]

qacc:
[-3.15232431e-01,-1.98865296e+00, 4.22836727e+00, 8.36708149e-01,
 -1.57011628e-01,-6.65203962e-01, 1.96354076e-01, 6.17832163e+00,
 -1.44921282e-01,-3.92806521e+00, 1.73712983e+01,-3.20973782e+01,
  1.62991817e-02,-1.32510817e-01,-9.12978188e+00, 3.13399748e+01,
  3.20235048e-01,-1.17754664e+00,-2.63927483e-01, 2.05388810e-01,
  2.46729944e+01,-5.87267057e+01]

qfrc_actuator:
[ 2.34208470e-03, 2.73732123e-02, 8.65776721e-03, 1.56072539e-03,
 -5.06965419e-07, 2.73422583e-02, 8.71630387e-03, 1.65507000e-03,
 -2.41871369e-03, 2.74340087e-02, 8.88829567e-03, 1.71870204e-03,
  0.00000000e+00,-1.45952313e-03, 0.00000000e+00,-9.76536512e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006112722229938208
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.08124877e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.08124877e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00087027, -0.03579971,  0.06194174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.75981252e-05,-8.51586735e-05, 1.21839738e-05, 1.25078814e-05,
 -2.84500681e-05,-1.93748955e-05, 1.91841312e-05, 1.99356827e-05,
 -2.67084690e-05, 3.01210196e-05, 5.53773113e-05,-3.59030307e-05,
  3.31626300e-03,-1.67008158e-05, 6.91434989e-06, 1.53449632e-04,
  2.89275157e-04,-1.21580557e-04,-1.21645805e+00, 2.80395622e-06,
  7.64242388e-03, 1.78776081e-03]


--- Step 2388 ---
qpos:
[-2.50558003e-03, 8.65817800e-01,-2.37740406e-02, 3.71573956e-04,
 -2.97875937e-03, 8.61866067e-01,-2.70728217e-02, 3.10951726e-03,
 -1.20187016e-03, 8.70642970e-01,-1.92571035e-02,-2.13249881e-02,
  1.39623979e+00, 1.85057264e-02, 1.40181683e+00, 2.40553106e-02,
  4.05312861e-03,-5.76223244e-02, 8.05466622e-02, 7.03272004e-01,
 -4.90661369e-02,-7.07537890e-01,-4.88992436e-02]

qacc:
[-8.35479636e-02,-1.32244616e+00, 2.51658536e+00, 8.27451763e-01,
 -1.61151128e-01,-3.33450109e+00, 1.65804653e+01,-3.71393052e+01,
 -1.11077158e-01,-1.22711259e+00, 1.07959741e+01,-3.47759397e+01,
  2.59439364e-02,-9.73959044e-03, 1.28607433e+01,-4.35024878e+01,
  3.11093821e-01,-1.14310476e+00,-5.02331765e-01, 2.02799881e-01,
  2.41383910e+01,-5.73627752e+01]

qfrc_actuator:
[ 2.35423428e-03, 2.73324273e-02, 8.66849082e-03, 1.56929913e-03,
 -1.61539136e-05, 2.73328131e-02, 8.72693988e-03, 1.59497927e-03,
 -2.42624944e-03, 2.74103003e-02, 8.84535637e-03, 1.64259270e-03,
  0.00000000e+00,-1.44312114e-03, 0.00000000e+00,-1.19041627e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006003572866488949
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.24635254e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.24635254e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00086552, -0.0357887 ,  0.0619427 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.53276594e-05,-8.53908373e-05,-4.93847415e-06, 5.59194589e-06,
 -2.91550382e-05,-1.54820983e-05, 9.67677143e-06,-5.98709085e-05,
 -2.03202067e-05, 3.03133498e-06,-3.11576268e-05,-7.36081695e-05,
  3.33297166e-03, 2.32339237e-06, 1.84930687e-05,-2.04811403e-04,
  3.15804019e-04,-1.85917612e-04,-1.21646490e+00,-2.20163622e-05,
  7.64399162e-03, 1.78877656e-03]


--- Step 2389 ---
qpos:
[-2.50610436e-03, 8.65818430e-01,-2.37739154e-02, 3.69957372e-04,
 -2.97904760e-03, 8.61866410e-01,-2.70716946e-02, 3.10863621e-03,
 -1.20238394e-03, 8.70642002e-01,-1.92557372e-02,-2.13249999e-02,
  1.39623972e+00, 1.85052122e-02, 1.40189280e+00, 2.40473375e-02,
  4.08201344e-03,-5.76387753e-02, 8.05390820e-02, 7.03825700e-01,
 -4.87602234e-02,-7.06989834e-01,-4.91650196e-02]

qacc:
[ 1.48749023e-03,-4.11616654e-01, 2.46736514e+00,-7.16627561e+00,
 -1.27761100e-01, 1.30625754e+00,-4.06925316e+00, 4.02579961e+00,
 -7.68831794e-02, 2.71134266e+00,-7.55368891e+00, 1.19802740e+00,
 -1.11574744e-04, 3.83574124e-01,-1.00470117e+00, 3.03167581e+00,
  5.72882085e-01, 4.17325069e-01, 1.28170863e+00,-4.68954970e-01,
  3.19390430e+01, 2.76754853e+01]

qfrc_actuator:
[ 2.36183104e-03, 2.73613606e-02, 8.67467108e-03, 1.55711085e-03,
 -2.53398100e-05, 2.73626889e-02, 8.71480536e-03, 1.59547261e-03,
 -2.43049651e-03, 2.73785907e-02, 8.76556659e-03, 1.61534395e-03,
  0.00000000e+00,-1.39727968e-03, 0.00000000e+00,-1.17110051e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005921609102758213
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.37433564e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.37433564e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00426847, -0.06306782,  0.0619434 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.76294535e-07,-1.96142681e-05,-1.18756459e-05,-1.59074051e-05,
 -2.30268516e-05, 2.06359073e-05,-1.62228601e-05,-1.00104263e-06,
 -1.39745577e-05,-3.96016761e-05,-8.55630639e-05,-2.96337158e-05,
  3.31288298e-03, 5.52870340e-05,-1.70966679e-05, 9.64424191e-06,
  3.42870684e-04,-2.52834196e-04,-1.21647291e+00,-5.05712683e-05,
  7.64560992e-03, 1.78989224e-03]


--- Step 2390 ---
qpos:
[-2.50657760e-03, 8.65819527e-01,-2.37740952e-02, 3.69180646e-04,
 -2.97950589e-03, 8.61867075e-01,-2.70710787e-02, 3.10776798e-03,
 -1.20317605e-03, 8.70641081e-01,-1.92549252e-02,-2.13243570e-02,
  1.39623930e+00, 1.85053041e-02, 1.40196789e+00, 2.40459902e-02,
  4.11317961e-03,-5.76536068e-02, 8.05352533e-02, 7.04425191e-01,
 -4.84897319e-02,-7.06394970e-01,-4.93967861e-02]

qacc:
[ 2.64752292e-02, 3.19721903e+00,-1.40498148e+01, 2.87312839e+01,
 -8.99927757e-02, 1.87773022e+00,-6.13417197e+00, 6.93966900e+00,
 -1.45669061e-01, 2.95980100e+00,-1.32198471e+01, 2.53896219e+01,
 -7.39040430e-03, 2.80373712e-01,-2.13903826e+01, 7.29041351e+01,
  5.70332692e-01, 4.04853940e-01, 9.37883538e-01,-4.77410310e-01,
  3.09615233e+01, 2.67568491e+01]

qfrc_actuator:
[ 2.36659707e-03, 2.74317929e-02, 8.67839890e-03, 1.60387458e-03,
 -3.05908678e-05, 2.73803271e-02, 8.68954260e-03, 1.59613669e-03,
 -2.45050451e-03, 2.74131924e-02, 8.75344128e-03, 1.65255010e-03,
  0.00000000e+00,-1.38762832e-03, 0.00000000e+00,-8.19153434e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005917391219872059
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.38101761e-14,  9.38101761e-14,  1.00000000e+00, -8.80034914e-27,
        1.00000000e+00, -9.38101761e-14, -1.00000000e+00,  0.00000000e+00,
        9.38101761e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00426708, -0.06306774,  0.06194339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.89458283e-06, 5.63178376e-05,-2.33992171e-06, 4.52042098e-05,
 -1.61790751e-05, 2.57653176e-05,-2.30444135e-05, 9.66531559e-07,
 -2.67032481e-05,-6.47221788e-06,-3.18726503e-05, 3.19722301e-05,
  3.29716885e-03, 3.94230286e-05,-6.78221120e-06, 3.50297672e-04,
  4.23246155e-04,-2.56922373e-04,-1.21647380e+00,-5.51035221e-05,
  7.64417490e-03, 1.79064482e-03]


--- Step 2391 ---
qpos:
[-2.50662326e-03, 8.65820649e-01,-2.37747126e-02, 3.70416886e-04,
 -2.98007479e-03, 8.61867383e-01,-2.70708087e-02, 3.10768176e-03,
 -1.20422155e-03, 8.70640083e-01,-1.92539818e-02,-2.13236519e-02,
  1.39623845e+00, 1.85053298e-02, 1.40204293e+00, 2.40484980e-02,
  4.14661752e-03,-5.76668609e-02, 8.05340195e-02, 7.05069196e-01,
 -4.82536269e-02,-7.05754421e-01,-4.95954985e-02]

qacc:
[ 2.24003486e-01, 5.39869089e+00,-2.76981997e+01, 6.32202320e+01,
 -5.83086856e-02, 2.10185397e+00,-1.14823799e+01, 2.58350642e+01,
 -1.32189143e-01,-3.40367100e-01, 8.03361488e-01, 1.20713565e-01,
  2.09709596e-02,-1.66959744e-01,-1.17634876e+01, 4.10102399e+01,
  5.67935815e-01, 3.94344764e-01, 6.48708429e-01,-4.85852006e-01,
  3.01619853e+01, 2.59943550e+01]

qfrc_actuator:
[ 2.40512059e-03, 2.74023225e-02, 8.64538521e-03, 1.70275012e-03,
 -3.34561611e-05, 2.73194405e-02, 8.65669267e-03, 1.63238000e-03,
 -2.46202546e-03, 2.74165408e-02, 8.76392653e-03, 1.65647128e-03,
  0.00000000e+00,-1.41774315e-03, 0.00000000e+00,-6.29174389e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005858003902582953
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.84283617e-13, -4.73806028e-14,  1.00000000e+00,  1.34695291e-26,
        1.00000000e+00,  4.73806028e-14, -1.00000000e+00,  0.00000000e+00,
        2.84283617e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00426994, -0.0630693 ,  0.06194391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.08615530e-05, 3.45275116e-06,-2.01117899e-05, 1.02086748e-04,
 -1.05419980e-05,-5.12185203e-05,-3.03432132e-05, 3.65678510e-05,
 -2.43083840e-05,-5.47469203e-06, 6.32850745e-06, 3.16318024e-06,
  3.31453649e-03,-2.09811400e-05, 3.58140494e-05, 2.08634619e-04,
  5.09217055e-04,-2.55709311e-04,-1.21647541e+00,-5.78337709e-05,
  7.64274578e-03, 1.79131470e-03]


--- Step 2392 ---
qpos:
[-2.50659705e-03, 8.65821009e-01,-2.37744214e-02, 3.71801511e-04,
 -2.98071114e-03, 8.61867120e-01,-2.70705249e-02, 3.10803390e-03,
 -1.20508450e-03, 8.70639499e-01,-1.92533664e-02,-2.13239731e-02,
  1.39623729e+00, 1.85050753e-02, 1.40211816e+00, 2.40529683e-02,
  4.17259338e-03,-5.76777377e-02, 8.05384402e-02, 7.05571945e-01,
 -4.80656550e-02,-7.05254118e-01,-4.97448672e-02]

qacc:
[ 3.85279310e-02,-3.23937388e+00, 9.46227681e+00,-7.78964029e+00,
 -3.52829985e-02, 1.11065956e-01,-3.33904588e+00, 1.13229139e+01,
  9.49221983e-02,-6.50827246e-01, 7.43907958e+00,-2.49653728e+01,
  4.87971647e-02,-2.96919864e-01,-5.67874534e+00, 2.02348319e+01,
 -1.86551333e+00, 5.94335951e-01, 1.41361722e+00, 5.13459535e-01,
 -1.01671688e+02, 2.74939086e+01]

qfrc_actuator:
[ 2.39249116e-03, 2.73309176e-02, 8.67934440e-03, 1.70711527e-03,
 -3.48813989e-05, 2.72830001e-02, 8.65483485e-03, 1.65369127e-03,
 -2.43286253e-03, 2.74545006e-02, 8.75200885e-03, 1.60524663e-03,
  0.00000000e+00,-1.43578260e-03, 0.00000000e+00,-5.36255706e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006689482834726784
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.14913623e-14,  8.29827247e-14,  1.00000000e+00,  3.44306630e-27,
        1.00000000e+00, -8.29827247e-14, -1.00000000e+00,  0.00000000e+00,
       -4.14913623e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04998247, -0.0697687 ,  0.06193616])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.85115226e-06,-6.92733872e-05, 3.57213944e-05, 5.80093332e-06,
 -6.43598734e-06,-6.97913844e-05,-1.49129903e-05, 1.87781509e-05,
  1.75221165e-05, 3.63508859e-05,-1.21603065e-05,-5.11792010e-05,
  3.33542624e-03,-3.56957613e-05, 3.65162256e-05, 1.08431992e-04,
  6.00579297e-04,-2.49656951e-04,-1.21647777e+00,-5.88699791e-05,
  7.64131501e-03, 1.79190568e-03]


--- Step 2393 ---
qpos:
[-2.50735961e-03, 8.65821120e-01,-2.37735227e-02, 3.72146908e-04,
 -2.98101251e-03, 8.61866741e-01,-2.70703812e-02, 3.10720970e-03,
 -1.20530506e-03, 8.70639099e-01,-1.92523550e-02,-2.13238906e-02,
  1.39623595e+00, 1.85043142e-02, 1.40219376e+00, 2.40568895e-02,
  4.19166799e-03,-5.76863505e-02, 8.05454429e-02, 7.05943889e-01,
 -4.79220103e-02,-7.04884273e-01,-4.98484522e-02]

qacc:
[-4.13139375e-01,-4.16350256e+00, 1.87566360e+01,-3.75344863e+01,
  1.76308035e-01,-2.18402074e+00, 1.25285889e+01,-3.25790759e+01,
  3.35623946e-01,-3.17193799e-02,-1.23546939e+00, 7.44727577e+00,
  7.06813762e-02,-4.17794302e-01, 2.19136846e+00,-6.91529244e+00,
 -1.72530988e+00, 5.66002706e-01, 6.45516089e-01, 6.07654088e-01,
 -9.43521789e+01, 2.53941037e+01]

qfrc_actuator:
[ 2.31384937e-03, 2.73416467e-02, 8.71681095e-03, 1.65583358e-03,
  6.37281161e-08, 2.72970880e-02, 8.65359837e-03, 1.59506362e-03,
 -2.37962387e-03, 2.74772612e-02, 8.78031411e-03, 1.62851402e-03,
  0.00000000e+00,-1.46408900e-03, 0.00000000e+00,-5.72233339e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.53037885,  7.35897044, -1.59754802,  7.35897044,  9.70646019,
       10.02393548, -1.59754802, 10.02393548, 53.70479363,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007368373948530016
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.70856525e-14, -7.53370440e-14,  1.00000000e+00,  3.54729387e-27,
        1.00000000e+00,  7.53370440e-14, -1.00000000e+00,  0.00000000e+00,
        4.70856525e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04985591, -0.06972529,  0.0619299 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.53851848e-05,-2.03933408e-05, 2.77538214e-05,-5.29030876e-05,
  3.18812573e-05,-2.72106257e-05,-1.68382881e-05,-6.17684806e-05,
  6.16326123e-05, 3.83946566e-05, 3.25427389e-05, 2.34061865e-05,
  3.35122997e-03,-4.99719509e-05, 2.53125082e-05,-2.60552435e-05,
  3.66673609e-04,-1.51263541e-04,-1.21646542e+00,-4.63899334e-05,
  7.63999246e-03, 1.78968083e-03]


--- Step 2394 ---
qpos:
[-2.50861244e-03, 8.65821557e-01,-2.37732562e-02, 3.71541390e-04,
 -2.98093540e-03, 8.61866241e-01,-2.70705825e-02, 3.10570378e-03,
 -1.20488808e-03, 8.70638483e-01,-1.92502533e-02,-2.13235276e-02,
  1.39623472e+00, 1.85036526e-02, 1.40226934e+00, 2.40613908e-02,
  4.20430877e-03,-5.76927979e-02, 8.05524123e-02, 7.06193727e-01,
 -4.78195324e-02,-7.04636630e-01,-4.99092367e-02]

qacc:
[-2.57619266e-01, 2.40159777e-01, 3.78412229e+00,-1.94696559e+01,
  1.99104452e-01,-5.97487743e-01, 4.77887538e+00,-1.59380558e+01,
  3.33655865e-01,-2.75390161e+00, 8.22172650e+00,-4.95451040e+00,
  7.60264247e-02, 8.44133023e-03,-1.78461361e+00, 6.19623056e+00,
 -1.60846069e+00, 5.41332201e-01,-8.33757627e-03, 6.74061734e-01,
 -8.82205629e+01, 2.36447986e+01]

qfrc_actuator:
[ 2.30294784e-03, 2.73659419e-02, 8.68530900e-03, 1.60779732e-03,
  2.09503551e-05, 2.72880105e-02, 8.63513045e-03, 1.56092252e-03,
 -2.34797788e-03, 2.74554619e-02, 8.83216045e-03, 1.64219931e-03,
  0.00000000e+00,-1.42720652e-03, 0.00000000e+00,-5.41801052e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.85555025,  7.7023019 , -1.54409039,  7.7023019 , 10.01430839,
       10.76841554, -1.54409039, 10.76841554, 61.57105035,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007832517419417012
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.65772556e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.65772556e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04977023, -0.06969561,  0.06192565])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.68494978e-05, 1.63396284e-05,-3.41324232e-05,-4.89799150e-05,
  3.60184042e-05,-3.04034412e-05,-2.82974860e-05,-3.70907578e-05,
  6.11589755e-05, 7.40116849e-06, 6.45884851e-05, 1.69089632e-05,
  3.35986831e-03, 1.22744304e-05, 5.35090747e-06, 3.14528842e-05,
  2.01038574e-04,-8.19706785e-05,-1.21645576e+00,-3.77963757e-05,
  7.63888725e-03, 1.78780606e-03]


--- Step 2395 ---
qpos:
[-2.50997327e-03, 8.65821733e-01,-2.37732034e-02, 3.71102876e-04,
 -2.98073603e-03, 8.61864971e-01,-2.70705590e-02, 3.10557163e-03,
 -1.20415883e-03, 8.70638410e-01,-1.92488288e-02,-2.13243593e-02,
  1.39623427e+00, 1.85036241e-02, 1.40234524e+00, 2.40635398e-02,
  4.21090451e-03,-5.76971654e-02, 8.05571302e-02, 7.06328682e-01,
 -4.77556000e-02,-7.04504237e-01,-4.99297147e-02]

qacc:
[-5.66550301e-02, 5.94273909e-01,-3.32700498e+00, 6.75250414e+00,
  6.48854918e-02, 1.18158090e+00,-1.14898626e+01, 3.54741001e+01,
  1.62384941e-01, 1.47360874e-01, 5.54767272e+00,-2.55194915e+01,
  5.67434317e-02, 5.18069845e-01, 7.60521691e+00,-2.58902627e+01,
 -1.51125823e+00, 5.19997505e-01,-5.62863185e-01, 7.19567766e-01,
 -8.30956068e+01, 2.21899426e+01]

qfrc_actuator:
[ 2.31495485e-03, 2.73268897e-02, 8.66668049e-03, 1.61529358e-03,
  1.54717770e-05, 2.72295776e-02, 8.64208980e-03, 1.63021242e-03,
 -2.34729223e-03, 2.74782636e-02, 8.79076281e-03, 1.57908641e-03,
  0.00000000e+00,-1.35161423e-03, 0.00000000e+00,-6.67711247e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.03652221,  7.91241434, -1.40690744,  7.91241434, 10.03834889,
       11.25822614, -1.40690744, 11.25822614, 71.35252092,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000812058763158513
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.69033572e-14, -6.83585397e-14,  1.00000000e+00,  5.25700120e-27,
        1.00000000e+00,  6.83585397e-14, -1.00000000e+00,  0.00000000e+00,
        7.69033572e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04971756, -0.06967701,  0.06192303])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.03295141e-05,-3.90775826e-05,-2.11573689e-05, 6.06215183e-06,
  1.16164953e-05,-8.28465888e-05,-4.08268308e-06, 6.62889001e-05,
  2.99680973e-05, 4.10087413e-05,-3.13403336e-05,-6.02352719e-05,
  3.35462625e-03, 8.29219846e-05, 4.45122150e-06,-1.23840448e-04,
  9.09794655e-05,-3.62679237e-05,-1.21644855e+00,-3.21675279e-05,
  7.63796489e-03, 1.78618259e-03]


--- Step 2396 ---
qpos:
[-2.51167531e-03, 8.65821457e-01,-2.37730396e-02, 3.71450317e-04,
 -2.98051478e-03, 8.61863024e-01,-2.70704361e-02, 3.10626759e-03,
 -1.20346579e-03, 8.70638760e-01,-1.92482091e-02,-2.13255702e-02,
  1.39623451e+00, 1.85037998e-02, 1.40242157e+00, 2.40608255e-02,
  4.21177866e-03,-5.76995264e-02, 8.05577203e-02, 7.06354730e-01,
 -4.77280425e-02,-7.04481245e-01,-4.99119678e-02]

qacc:
[-1.78632964e-01, 7.11235701e-01,-6.71859926e+00, 2.04745854e+01,
  1.18710130e-02, 5.31509011e-01,-6.68997551e+00, 2.13615784e+01,
 -1.95685326e-02, 2.02603872e+00,-4.81421727e+00,-7.67392363e-01,
  1.45086816e-02, 2.84094031e-01, 1.53864665e+01,-5.28550497e+01,
 -1.43039697e+00, 5.01610293e-01,-1.03195798e+00, 7.49235422e-01,
 -7.88199740e+01, 2.09817043e+01]

qfrc_actuator:
[ 2.28726292e-03, 2.73035456e-02, 8.67336320e-03, 1.65537180e-03,
  1.20315216e-05, 2.71954879e-02, 8.64612120e-03, 1.67101496e-03,
 -2.36511253e-03, 2.74916485e-02, 8.74800817e-03, 1.56002075e-03,
  0.00000000e+00,-1.35988519e-03, 0.00000000e+00,-9.20231974e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.12022808,  8.02015104, -1.27093717,  8.02015104, 10.00996103,
       11.92501413, -1.27093717, 11.92501413, 83.37211068,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008265175437959654
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.39533771e-15, -1.34325403e-13,  1.00000000e+00,  1.12770712e-27,
        1.00000000e+00,  1.34325403e-13, -1.00000000e+00,  0.00000000e+00,
        8.39533771e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04969144, -0.0696673 ,  0.06192172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.26221841e-05,-4.93079087e-05,-3.78491235e-06, 3.77906500e-05,
  2.06294112e-06,-7.83871473e-05,-1.12772403e-05, 3.84045187e-05,
 -3.46485964e-06, 2.72619763e-05,-4.02398752e-05,-1.95687704e-05,
  3.31534838e-03, 4.30194148e-05,-1.26846613e-05,-2.59123291e-04,
  2.69389599e-05,-1.00219196e-05,-1.21644350e+00,-2.88216616e-05,
  7.63719958e-03, 1.78474014e-03]


--- Step 2397 ---
qpos:
[-2.51314749e-03, 8.65821289e-01,-2.37735892e-02, 3.72260324e-04,
 -2.98011969e-03, 8.61861618e-01,-2.70715599e-02, 3.10600214e-03,
 -1.20290409e-03, 8.70639085e-01,-1.92477240e-02,-2.13262983e-02,
  1.39623486e+00, 1.85042568e-02, 1.40249743e+00, 2.40584520e-02,
  4.20720085e-03,-5.76999443e-02, 8.05525978e-02, 7.06276803e-01,
 -4.77350646e-02,-7.04562736e-01,-4.98577307e-02]

qacc:
[ 1.20057770e-01, 3.08630286e+00,-1.27522018e+01, 2.18226767e+01,
  9.05185944e-02, 2.21613545e+00,-2.80816735e+00,-1.22314280e+01,
 -6.86358553e-02, 1.33856951e+00,-6.85340336e+00, 1.54343133e+01,
 -1.82621767e-02, 2.10257258e-01,-1.70303840e+00, 4.99035844e+00,
 -1.36299132e+00, 4.85767601e-01,-1.42814670e+00, 7.66788142e-01,
 -7.52589564e+01, 1.99796837e+01]

qfrc_actuator:
[ 2.32479121e-03, 2.73254255e-02, 8.64173533e-03, 1.67880818e-03,
  2.76183762e-05, 2.72649826e-02, 8.59517332e-03, 1.62371070e-03,
 -2.37606020e-03, 2.74815328e-02, 8.74034296e-03, 1.58479853e-03,
  0.00000000e+00,-1.36504059e-03, 0.00000000e+00,-8.90214340e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000829367649601051
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.52983857e-14, -1.33863797e-13,  1.00000000e+00,  1.00797278e-26,
        1.00000000e+00,  1.33863797e-13, -1.00000000e+00,  0.00000000e+00,
        7.52983857e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04968656, -0.0696647 ,  0.06192146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.19672686e-05,-4.85064328e-06,-4.09679102e-05, 2.19291607e-05,
  1.65560498e-05, 2.50234284e-05,-6.71836651e-05,-5.03032727e-05,
 -1.26015321e-05,-4.02969608e-06,-7.67442585e-06, 2.41717483e-05,
  3.28019991e-03, 2.76701077e-05,-3.55766266e-05, 1.37110443e-05,
  1.73330618e-06,-1.35818851e-07,-1.21644036e+00,-2.72558140e-05,
  7.63657123e-03, 1.78342851e-03]


--- Step 2398 ---
qpos:
[-2.51426980e-03, 8.65821493e-01,-2.37749335e-02, 3.72625441e-04,
 -2.97936016e-03, 8.61860941e-01,-2.70732876e-02, 3.10579283e-03,
 -1.20229023e-03, 8.70639279e-01,-1.92464507e-02,-2.13267746e-02,
  1.39623541e+00, 1.85053623e-02, 1.40257292e+00, 2.40577339e-02,
  4.19739680e-03,-5.76984739e-02, 8.05404255e-02, 7.06098949e-01,
 -4.77751840e-02,-7.04744569e-01,-4.97684465e-02]

qacc:
[ 1.82782182e-01, 1.79541427e+00,-3.81049876e+00,-2.88956746e+00,
  1.91294206e-01, 2.76241472e+00,-8.69246439e+00, 1.00980627e+01,
  2.77881442e-02,-1.85806586e+00, 5.31035814e+00,-2.11998081e+00,
 -2.99990114e-02, 4.69950904e-01,-5.56309064e+00, 1.86765994e+01,
 -1.30655940e+00, 4.72079244e-01,-1.76245650e+00, 7.74963515e-01,
 -7.22984265e+01, 1.91500277e+01]

qfrc_actuator:
[ 2.34775913e-03, 2.73563089e-02, 8.60565397e-03, 1.65676321e-03,
  5.44607772e-05, 2.73424223e-02, 8.58355472e-03, 1.63151644e-03,
 -2.36502205e-03, 2.74931005e-02, 8.78888851e-03, 1.59966677e-03,
  0.00000000e+00,-1.31522751e-03, 0.00000000e+00,-8.00448293e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008229074866040673
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.5296503e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.5296503e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04969852, -0.06966773,  0.06192204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.34425660e-05, 2.06619640e-05,-4.13663980e-05,-2.32440809e-05,
  3.47062428e-05, 7.54472590e-05,-1.64492173e-05, 5.57717776e-06,
  5.00480788e-06, 8.75359011e-06, 4.75998061e-05, 1.49009915e-05,
  3.27529629e-03, 6.34273748e-05,-1.42845115e-05, 8.60864244e-05,
  9.97225730e-06,-4.29246294e-06,-1.21643886e+00,-2.70999976e-05,
  7.63606347e-03, 1.78221164e-03]


--- Step 2399 ---
qpos:
[-2.51544993e-03, 8.65821312e-01,-2.37761129e-02, 3.72064285e-04,
 -2.97863694e-03, 8.61860742e-01,-2.70743138e-02, 3.10596345e-03,
 -1.20158514e-03, 8.70639113e-01,-1.92447317e-02,-2.13270163e-02,
  1.39623621e+00, 1.85068534e-02, 1.40264847e+00, 2.40567257e-02,
  4.18255679e-03,-5.76951628e-02, 8.05200754e-02, 7.05824479e-01,
 -4.78471793e-02,-7.05023259e-01,-4.96453137e-02]

qacc:
[-3.01214437e-02,-2.87721715e+00, 1.34287528e+01,-2.94410828e+01,
 -1.88240920e-02,-5.44386396e-01, 1.25573546e+00, 3.84492752e+00,
  4.80484921e-02,-1.23647789e+00, 2.73078234e+00, 8.78390273e-01,
 -4.36005263e-02, 3.37304788e-01, 9.83773208e-01,-3.27483583e+00,
 -1.25898891e+00, 4.60182504e-01,-2.04443557e+00, 7.75772157e-01,
 -6.98424310e+01, 1.84645348e+01]

qfrc_actuator:
[ 2.32627363e-03, 2.73035228e-02, 8.60277230e-03, 1.60815185e-03,
  3.45384797e-05, 2.73887203e-02, 8.63089489e-03, 1.65400256e-03,
 -2.35867600e-03, 2.74467853e-02, 8.79928092e-03, 1.60862719e-03,
  0.00000000e+00,-1.30392360e-03, 0.00000000e+00,-8.18305235e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008090622132460035
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57293956e-14, -6.86117215e-14,  1.00000000e+00,  1.76533812e-27,
        1.00000000e+00,  6.86117215e-14, -1.00000000e+00,  0.00000000e+00,
        2.57293956e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04972374, -0.06967519,  0.06192327])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.53558663e-06,-5.07599444e-05,-4.50651545e-06,-4.96096076e-05,
 -3.43792035e-06, 8.53625661e-05, 6.11072231e-05, 2.52608243e-05,
  8.74372804e-06,-3.09641346e-05, 1.85690953e-05, 1.12710865e-05,
  3.26466991e-03, 4.23018770e-05, 3.04678825e-06,-1.49006847e-05,
  4.76214400e-05,-2.07617650e-05,-1.21643875e+00,-2.80831732e-05,
  7.63566228e-03, 1.78106355e-03]


--- Step 2400 ---
qpos:
[-2.51641569e-03, 8.65820803e-01,-2.37773438e-02, 3.71278366e-04,
 -2.97805924e-03, 8.61860720e-01,-2.70748333e-02, 3.10576339e-03,
 -1.20061513e-03, 8.70638844e-01,-1.92437185e-02,-2.13281364e-02,
  1.39623697e+00, 1.85082874e-02, 1.40272407e+00, 2.40551813e-02,
  4.16284281e-03,-5.76900527e-02, 8.04905963e-02, 7.05456072e-01,
 -4.79500477e-02,-7.05395867e-01,-4.94893249e-02]

qacc:
[ 1.12464935e-01,-7.50457283e-01, 2.99768434e+00,-6.56502748e+00,
 -7.64041313e-02,-1.94213542e+00, 8.83165551e+00,-1.61905916e+01,
  1.37878175e-01, 2.69749574e-02, 3.40916823e+00,-1.73957191e+01,
 -5.26958880e-02, 7.79036245e-03, 1.70399805e+00,-5.84005415e+00,
 -1.21849475e+00, 4.49748638e-01,-2.28225580e+00, 7.70686795e-01,
 -6.78107081e+01, 1.78998020e+01]

qfrc_actuator:
[ 2.34939433e-03, 2.72899083e-02, 8.60141604e-03, 1.59751789e-03,
  2.23175955e-05, 2.73630337e-02, 8.64153596e-03, 1.63169275e-03,
 -2.33745252e-03, 2.74192782e-02, 8.75130342e-03, 1.56070139e-03,
  0.00000000e+00,-1.33347428e-03, 0.00000000e+00,-8.46194735e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007894418491909069
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.91065804e-14, -1.40633921e-13,  1.00000000e+00,  1.11250686e-26,
        1.00000000e+00,  1.40633921e-13, -1.00000000e+00,  0.00000000e+00,
        7.91065804e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04975922, -0.06968607,  0.061925  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.04770575e-05,-4.50381587e-05,-1.40995930e-05,-1.39268699e-05,
 -1.38435453e-05, 3.57606713e-05, 3.66835035e-05,-1.60446388e-05,
  2.54065750e-05,-4.05107052e-05,-5.17060709e-05,-4.83913307e-05,
  3.25197984e-03,-6.53949166e-06,-1.57566392e-06,-2.86431788e-05,
  1.11673538e-04,-4.82567186e-05,-1.21643980e+00,-3.00080511e-05,
  7.63535504e-03, 1.77996556e-03]


--- Step 2401 ---
qpos:
[-2.51713138e-03, 8.65819940e-01,-2.37783260e-02, 3.70698724e-04,
 -2.97744251e-03, 8.61860495e-01,-2.70752478e-02, 3.10537635e-03,
 -1.19957648e-03, 8.70639058e-01,-1.92433047e-02,-2.13302498e-02,
  1.39623764e+00, 1.85099164e-02, 1.40279944e+00, 2.40549859e-02,
  4.13839452e-03,-5.76831807e-02, 8.04511858e-02, 7.04995882e-01,
 -4.80829690e-02,-7.05859913e-01,-4.93012994e-02]

qacc:
[ 1.31409614e-01,-7.36894857e-01, 1.07894276e+00, 2.35259812e+00,
  2.06799467e-02,-9.46172549e-01, 3.77396357e+00,-7.02983198e+00,
  3.52546416e-02, 2.65598046e-01, 4.16266021e+00,-2.07321525e+01,
 -5.30089413e-02, 1.47173815e-01,-4.42007677e+00, 1.49823608e+01,
 -1.18357495e+00, 4.40484392e-01,-2.48285732e+00, 7.60780553e-01,
 -6.61363119e+01, 1.74364471e+01]

qfrc_actuator:
[ 2.36352444e-03, 2.72821393e-02, 8.61887822e-03, 1.60933937e-03,
  3.25939324e-05, 2.73120186e-02, 8.63007178e-03, 1.61860930e-03,
 -2.34301801e-03, 2.74917057e-02, 8.74028783e-03, 1.51516843e-03,
  0.00000000e+00,-1.31623878e-03, 0.00000000e+00,-7.73225760e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007653905543986012
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.06582119e-15,  7.25265695e-14,  1.00000000e+00, -6.57512910e-28,
        1.00000000e+00, -7.25265695e-14, -1.00000000e+00,  0.00000000e+00,
        9.06582119e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04980251, -0.06969957,  0.06192712])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.38908259e-05,-3.64347052e-05, 5.95649389e-06, 9.13674372e-06,
  3.70901934e-06,-2.41265966e-05,-1.09448266e-07,-1.05928280e-05,
  6.59550686e-06, 3.70302467e-05,-2.74296221e-05,-4.99986090e-05,
  3.25408585e-03, 1.35375999e-05,-5.63270793e-06, 7.07847586e-05,
  1.99901700e-04,-8.58258957e-05,-1.21644175e+00,-3.27324640e-05,
  7.63512995e-03, 1.77890426e-03]


--- Step 2402 ---
qpos:
[-2.51745193e-03, 8.65818839e-01,-2.37791557e-02, 3.70602043e-04,
 -2.97693196e-03, 8.61860548e-01,-2.70759913e-02, 3.10514994e-03,
 -1.19891471e-03, 8.70639974e-01,-1.92436058e-02,-2.13315328e-02,
  1.39623847e+00, 1.85118397e-02, 1.40287487e+00, 2.40546430e-02,
  4.10933437e-03,-5.76745801e-02, 8.04011668e-02, 7.04445607e-01,
 -4.82452769e-02,-7.06413297e-01,-4.90819107e-02]

qacc:
[ 2.07377585e-01, 2.51861375e-01,-3.39544751e+00, 1.16858016e+01,
 -5.62117625e-02, 1.61520659e+00,-5.90627169e+00, 9.01053610e+00,
 -1.97435039e-01, 4.63426125e+00,-1.86769936e+01, 3.36623909e+01,
 -5.48852616e-02, 2.70926378e-01, 5.49135090e-01,-1.75945544e+00,
 -1.15296841e+00, 4.32130652e-01,-2.65210690e+00, 7.46828426e-01,
 -6.47634518e+01, 1.70584235e+01]

qfrc_actuator:
[ 2.38989136e-03, 2.72780351e-02, 8.62959925e-03, 1.63429298e-03,
  2.07369997e-05, 2.73526319e-02, 8.62329602e-03, 1.62877887e-03,
 -2.38231921e-03, 2.75525397e-02, 8.71611996e-03, 1.56030046e-03,
  0.00000000e+00,-1.28891346e-03, 0.00000000e+00,-7.83433460e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007380281811139033
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50430980e-13, -9.40193624e-14,  1.00000000e+00,  1.41434248e-26,
        1.00000000e+00,  9.40193624e-14, -1.00000000e+00,  0.00000000e+00,
        1.50430980e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0498516 , -0.069715  ,  0.06192953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.77563842e-05,-2.28227770e-05, 4.26171703e-06, 2.37802798e-05,
 -1.00990844e-05, 2.66556218e-05,-1.21330269e-05, 8.92756633e-06,
 -3.61373141e-05, 7.37331039e-05,-2.16306441e-05, 4.47967311e-05,
  3.25841573e-03, 3.10957312e-05, 4.20999498e-06,-7.22969535e-06,
  3.10674561e-04,-1.32773134e-04,-1.21644436e+00,-3.61555957e-05,
  7.63497552e-03, 1.77787012e-03]


--- Step 2403 ---
qpos:
[-2.51686247e-03, 8.65817823e-01,-2.37797323e-02, 3.71100944e-04,
 -2.97673462e-03, 8.61861193e-01,-2.70772269e-02, 3.10398113e-03,
 -1.19830938e-03, 8.70641337e-01,-1.92447206e-02,-2.13318809e-02,
  1.39623926e+00, 1.85137377e-02, 1.40295036e+00, 2.40538512e-02,
  4.08367873e-03,-5.76631310e-02, 8.03682017e-02, 7.03954666e-01,
 -4.84522752e-02,-7.06906476e-01,-4.88204696e-02]

qacc:
[ 4.77284387e-01, 6.32421780e-01,-4.60391171e+00, 1.44435850e+01,
 -1.65531091e-01, 2.16964985e-01, 4.34001808e+00,-2.02983493e+01,
 -3.00949957e-02, 4.79075506e+00,-2.01624288e+01, 3.73023404e+01,
 -6.10319515e-02, 3.58756094e-02, 1.44521835e+00,-4.92569300e+00,
  8.51131306e-01, 7.12129079e-01, 4.26346324e+00,-9.33998059e-01,
  4.00517168e+01, 3.35052165e+01]

qfrc_actuator:
[ 2.45886055e-03, 2.73116621e-02, 8.65402486e-03, 1.66676668e-03,
 -4.27031238e-06, 2.73945649e-02, 8.60197277e-03, 1.58161690e-03,
 -2.37043325e-03, 2.75527480e-02, 8.66666333e-03, 1.60514734e-03,
  0.00000000e+00,-1.30896946e-03, 0.00000000e+00,-8.07085147e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007192431380048103
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.71799525e-14, -1.54359905e-13,  1.00000000e+00,  1.19134901e-26,
        1.00000000e+00,  1.54359905e-13, -1.00000000e+00,  0.00000000e+00,
        7.71799525e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00417236, -0.06305924,  0.06193113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.69717964e-05, 2.28018550e-05, 2.10750952e-05, 3.21089882e-05,
 -2.97979971e-05, 5.47186071e-05,-1.69981523e-05,-4.62647195e-05,
 -5.40630763e-06, 3.88683976e-05,-3.53455463e-05, 4.81288415e-05,
  3.25034089e-03,-3.69774180e-06,-3.87556033e-07,-2.38710771e-05,
  4.42817166e-04,-1.88597381e-04,-1.21644740e+00,-4.02077835e-05,
  7.63488027e-03, 1.77685652e-03]


--- Step 2404 ---
qpos:
[-2.51615733e-03, 8.65816891e-01,-2.37794560e-02, 3.71942686e-04,
 -2.97646933e-03, 8.61862019e-01,-2.70785673e-02, 3.10193727e-03,
 -1.19784390e-03, 8.70642957e-01,-1.92462934e-02,-2.13327242e-02,
  1.39623947e+00, 1.85150803e-02, 1.40302568e+00, 2.40541236e-02,
  4.06119983e-03,-5.76491227e-02, 8.03489047e-02, 7.03519352e-01,
 -4.87014588e-02,-7.07343325e-01,-4.85191601e-02]

qacc:
[ 6.11820838e-02,-1.56495906e+00, 4.29451842e+00, 2.11374515e-01,
  3.56068892e-02,-1.26893990e+00, 8.56525883e+00,-2.36761012e+01,
 -7.34213488e-02, 5.99443998e-01, 4.43432056e-01,-8.46444069e+00,
 -4.71276410e-02,-4.27472183e-01,-3.47697011e+00, 1.17836527e+01,
  7.94181867e-01, 6.39808290e-01, 3.41701501e+00,-7.84085597e-01,
  3.74926124e+01, 3.16657978e+01]

qfrc_actuator:
[ 2.42844975e-03, 2.73321928e-02, 8.70426418e-03, 1.68569398e-03,
  1.63395564e-05, 2.73836060e-02, 8.58996830e-03, 1.53660005e-03,
 -2.38126258e-03, 2.75520593e-02, 8.63792348e-03, 1.57837577e-03,
  0.00000000e+00,-1.37500488e-03, 0.00000000e+00,-7.49679459e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.69569006, -7.68178283,  0.46244778, -7.68178283,  7.84590228,
        2.49519566,  0.46244778,  2.49519566, 49.14372367,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007597743396176859
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46125365e-13, -7.30626823e-14,  1.00000000e+00,  1.06763111e-26,
        1.00000000e+00,  7.30626823e-14, -1.00000000e+00,  0.00000000e+00,
        1.46125365e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00414372, -0.06305053,  0.0619273 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10633600e-05, 3.90464239e-05, 5.86666224e-05, 2.12588016e-05,
  6.47255531e-06, 1.41384832e-05,-4.39250095e-06,-4.41585843e-05,
 -1.34113658e-05, 1.57841705e-05,-2.34021674e-05,-2.53932307e-05,
  3.25228771e-03,-6.84850830e-05,-4.58756292e-06, 5.56295729e-05,
  3.41128839e-04,-1.92435485e-04,-1.21644343e+00,-3.93794946e-05,
  7.63446044e-03, 1.77752399e-03]


--- Step 2405 ---
qpos:
[-2.51559165e-03, 8.65816340e-01,-2.37791979e-02, 3.72681410e-04,
 -2.97567028e-03, 8.61862671e-01,-2.70799461e-02, 3.10044742e-03,
 -1.19788435e-03, 8.70644867e-01,-1.92471197e-02,-2.13343150e-02,
  1.39623914e+00, 1.85159258e-02, 1.40310084e+00, 2.40560746e-02,
  4.04170581e-03,-5.76327866e-02, 8.03404142e-02, 7.03136558e-01,
 -4.89907304e-02,-7.07727062e-01,-4.81798208e-02]

qacc:
[-7.32726241e-02, 3.40441018e-01,-5.07057600e-02,-1.98216319e+00,
  2.81173883e-01, 1.01798970e+00,-6.30118803e+00, 1.60797097e+01,
 -2.63832693e-01,-3.24283439e+00, 1.52665655e+01,-2.95981195e+01,
 -1.35213863e-02,-4.21993071e-01,-5.34346696e+00, 1.83006767e+01,
  7.46220977e-01, 5.81943527e-01, 2.70163341e+00,-6.60847927e-01,
  3.53591316e+01, 3.01227506e+01]

qfrc_actuator:
[ 2.40985180e-03, 2.73448337e-02, 8.69828035e-03, 1.67875533e-03,
  6.40638531e-05, 2.73588394e-02, 8.58336471e-03, 1.56419042e-03,
 -2.42336771e-03, 2.76041012e-02, 8.69259402e-03, 1.54519471e-03,
  0.00000000e+00,-1.39707741e-03, 0.00000000e+00,-6.62725711e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.86406958, -7.83862765,  0.63206557, -7.83862765,  8.18706786,
        4.00569716,  0.63206557,  4.00569716, 57.54114404,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007845478481591228
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06133395e-13, -1.41511194e-13,  1.00000000e+00,  1.50190634e-26,
        1.00000000e+00,  1.41511194e-13, -1.00000000e+00,  0.00000000e+00,
        1.06133395e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00412646, -0.06304577,  0.06192498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.33174553e-05, 4.75206771e-05, 1.00473373e-05,-2.82226797e-06,
  5.07992440e-05,-1.96647392e-05,-5.74613363e-06, 2.71882421e-05,
 -4.85216621e-05, 5.49226706e-05, 5.41701246e-05,-3.38082241e-05,
  3.28065237e-03,-6.28076424e-05, 1.93778103e-06, 8.90067299e-05,
  2.57812308e-04,-1.88779798e-04,-1.21644057e+00,-3.56061037e-05,
  7.63408956e-03, 1.77801406e-03]


--- Step 2406 ---
qpos:
[-2.51502488e-03, 8.65815790e-01,-2.37782518e-02, 3.72986079e-04,
 -2.97451006e-03, 8.61862527e-01,-2.70813977e-02, 3.10007411e-03,
 -1.19824201e-03, 8.70647173e-01,-1.92468466e-02,-2.13352952e-02,
  1.39623866e+00, 1.85166481e-02, 1.40317602e+00, 2.40587111e-02,
  4.02414338e-03,-5.76217199e-02, 8.03398113e-02, 7.02788874e-01,
 -4.91743431e-02,-7.08075463e-01,-4.79460189e-02]

qacc:
[ 9.80228864e-04,-2.81154806e+00, 1.18623846e+01,-2.04789422e+01,
  1.90511331e-01, 1.44743557e+00,-1.14033619e+01, 3.14313778e+01,
 -1.65052079e-01,-1.28996504e+00, 2.78558796e+00, 5.72516126e+00,
  1.09808092e-02,-1.20168331e-01,-2.05476944e+00, 7.21397928e+00,
  4.82898962e-01,-1.31734719e+00, 1.97189764e+00,-1.90705000e-01,
  2.99772045e+01,-7.27810777e+01]

qfrc_actuator:
[ 2.41630307e-03, 2.73346584e-02, 8.73010297e-03, 1.65660583e-03,
  7.43059255e-05, 2.72728118e-02, 8.56222445e-03, 1.61651343e-03,
 -2.43055843e-03, 2.76521413e-02, 8.76078425e-03, 1.57962882e-03,
  0.00000000e+00,-1.37485556e-03, 0.00000000e+00,-6.30093594e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008145902412931144
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.81461039e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.81461039e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00093844, -0.03604373,  0.06192221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.07854062e-07, 1.83587471e-05, 4.27782724e-05,-1.98216054e-05,
  3.43534706e-05,-9.70419192e-05,-2.49610966e-05, 5.18135832e-05,
 -3.04129859e-05, 8.84492401e-05, 8.50303584e-05, 3.80031183e-05,
  3.30808219e-03,-1.57294900e-05, 8.51819585e-06, 3.73444097e-05,
  1.89799204e-04,-1.78775924e-04,-1.21643857e+00,-2.92753181e-05,
  7.63374256e-03, 1.77836108e-03]


--- Step 2407 ---
qpos:
[-2.51497691e-03, 8.65815758e-01,-2.37765273e-02, 3.72258940e-04,
 -2.97312092e-03, 8.61861182e-01,-2.70819863e-02, 3.09997367e-03,
 -1.19860777e-03, 8.70649474e-01,-1.92461382e-02,-2.13343764e-02,
  1.39623831e+00, 1.85173582e-02, 1.40325138e+00, 2.40603859e-02,
  4.00834984e-03,-5.76156853e-02, 8.03446186e-02, 7.02474587e-01,
 -4.92579956e-02,-7.08390524e-01,-4.78118234e-02]

qacc:
[-2.71753224e-01,-3.61176304e+00, 1.82291451e+01,-3.77153728e+01,
  1.21553668e-01,-3.43284315e+00, 8.78792806e+00,-4.56672975e+00,
 -3.87814349e-03, 2.68927144e+00,-1.76001584e+01, 4.97448978e+01,
  1.52205253e-02, 9.38882875e-03, 3.18672611e+00,-1.07496420e+01,
  4.42220904e-01,-1.25800820e+00, 1.35257229e+00,-1.17102539e-01,
  2.83850409e+01,-6.87704354e+01]

qfrc_actuator:
[ 2.36668858e-03, 2.73997824e-02, 8.78391052e-03, 1.60794944e-03,
  7.97703801e-05, 2.72039784e-02, 8.60342244e-03, 1.62963400e-03,
 -2.41678684e-03, 2.76087947e-02, 8.76542417e-03, 1.67132549e-03,
  0.00000000e+00,-1.36173738e-03, 0.00000000e+00,-6.82990853e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.15718705, -5.56250775,  5.9664234 , -5.56250775, 37.09755172,
       26.98115639,  5.9664234 , 26.98115639, 33.31176988,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008332032705783629
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00094507, -0.03606341,  0.06192052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.95606526e-05, 8.33798176e-05, 6.21795779e-05,-4.67763735e-05,
  2.17595301e-05,-1.26012599e-04, 1.98870505e-05, 9.11062194e-06,
 -7.76092436e-07, 2.52399969e-05, 3.46775346e-05, 9.91638016e-05,
  3.31499779e-03, 3.55382570e-06, 5.97310188e-06,-5.02051285e-05,
  1.65805905e-04,-1.15532317e-04,-1.21643817e+00,-3.81795329e-06,
  7.63589706e-03, 1.77835778e-03]


--- Step 2408 ---
qpos:
[-2.51511339e-03, 8.65817061e-01,-2.37753844e-02, 3.70942666e-04,
 -2.97159608e-03, 8.61859149e-01,-2.70819415e-02, 3.09963547e-03,
 -1.19888967e-03, 8.70651968e-01,-1.92458820e-02,-2.13326736e-02,
  1.39623810e+00, 1.85181489e-02, 1.40332676e+00, 2.40614235e-02,
  3.99419306e-03,-5.76144840e-02, 8.03527530e-02, 7.02192236e-01,
 -4.92464123e-02,-7.08673874e-01,-4.77723287e-02]

qacc:
[-9.75816639e-02, 2.17227053e+00,-2.70342907e+00,-7.54004350e+00,
  7.20947097e-02,-3.16382766e+00, 1.09693586e+01,-1.55957386e+01,
  4.34774253e-02, 3.13399478e+00,-1.41055965e+01, 2.82406801e+01,
  7.74234333e-03, 7.37472226e-02, 1.96120601e+00,-6.81214767e+00,
  4.09190870e-01,-1.20835218e+00, 8.31754524e-01,-6.37560441e-02,
  2.70587468e+01,-6.54500484e+01]

qfrc_actuator:
[ 2.37271723e-03, 2.74918161e-02, 8.76178036e-03, 1.57966554e-03,
  8.23560390e-05, 2.71994424e-02, 8.64561155e-03, 1.61963018e-03,
 -2.40837271e-03, 2.75996225e-02, 8.73215836e-03, 1.70708389e-03,
  0.00000000e+00,-1.35414330e-03, 0.00000000e+00,-7.14821989e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.1918243 , -5.72339924,  5.86077524, -5.72339924, 40.74156509,
       31.78677806,  5.86077524, 31.78677806, 39.23352339,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008396668962870196
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.61109203e-14, -1.32221841e-13,  1.00000000e+00,  8.74130756e-27,
        1.00000000e+00,  1.32221841e-13, -1.00000000e+00,  0.00000000e+00,
        6.61109203e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00094645, -0.03607042,  0.06191997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.75936055e-05, 1.49478607e-04, 1.12052337e-06,-2.34713745e-05,
  1.28989661e-05,-7.04620578e-05, 1.89451510e-05,-1.45334853e-05,
  8.04905399e-06, 1.62861736e-05,-2.03749165e-05, 3.99640100e-05,
  3.30853929e-03, 1.17545564e-05,-4.74497013e-06,-3.43114644e-05,
  1.44527968e-04,-6.14251106e-05,-1.21643921e+00, 1.50766106e-05,
  7.63799748e-03, 1.77846236e-03]


--- Step 2409 ---
qpos:
[-2.51548379e-03, 8.65818841e-01,-2.37747850e-02, 3.70096376e-04,
 -2.97018430e-03, 8.61856487e-01,-2.70816987e-02, 3.09954776e-03,
 -1.19889304e-03, 8.70654586e-01,-1.92453499e-02,-2.13319779e-02,
  1.39623760e+00, 1.85185766e-02, 1.40340203e+00, 2.40627357e-02,
  3.98156608e-03,-5.76179509e-02, 8.03624663e-02, 7.01940573e-01,
 -4.91435005e-02,-7.08926838e-01,-4.78234874e-02]

qacc:
[-1.23127729e-01, 3.11628209e+00,-1.21799387e+01, 2.08342922e+01,
 -5.91783016e-02,-8.68396285e-01, 8.33057093e-01, 3.64696516e+00,
  1.45514030e-01,-2.68097068e+00, 1.40397059e+01,-3.19832851e+01,
  1.09740600e-02,-2.97653320e-01,-1.00098523e+00, 3.24585416e+00,
  3.82450064e-01,-1.16702918e+00, 3.94726189e-01,-2.68692883e-02,
  2.59560223e+01,-6.27079465e+01]

qfrc_actuator:
[ 2.35874706e-03, 2.74569523e-02, 8.71288876e-03, 1.59908045e-03,
  6.54634522e-05, 2.71624407e-02, 8.65277449e-03, 1.63165844e-03,
 -2.38550916e-03, 2.76107581e-02, 8.74787301e-03, 1.65637699e-03,
  0.00000000e+00,-1.40320934e-03, 0.00000000e+00,-6.98448158e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.17443952, -5.91066601,  5.64672372, -5.91066601, 44.11517994,
       37.62070245,  5.64672372, 37.62070245, 47.55362971,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008363973007531333
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.63693572e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.63693572e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00094366, -0.03606738,  0.06192031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.23437765e-05, 4.79081194e-05,-1.87107185e-05, 2.53985926e-05,
 -1.07781701e-05,-7.30618727e-05,-5.54192945e-06, 9.38601158e-06,
  2.67245962e-05, 1.76824571e-05, 1.79268382e-05,-4.99435370e-05,
  3.30176094e-03,-4.13362207e-05,-7.24658510e-06, 1.35544187e-05,
  1.25566482e-04,-1.50692269e-05,-1.21644148e+00, 2.81600755e-05,
  7.64007567e-03, 1.77867516e-03]


--- Step 2410 ---
qpos:
[-2.51642167e-03, 8.65819968e-01,-2.37740005e-02, 3.70622440e-04,
 -2.96893801e-03, 8.61853648e-01,-2.70815346e-02, 3.09922051e-03,
 -1.19880656e-03, 8.70656543e-01,-1.92442700e-02,-2.13318121e-02,
  1.39623691e+00, 1.85184780e-02, 1.40347742e+00, 2.40628802e-02,
  3.97038255e-03,-5.76259489e-02, 8.03722942e-02, 7.01718530e-01,
 -4.89524818e-02,-7.09150484e-01,-4.79619701e-02]

qacc:
[-2.97116358e-01, 1.44570872e+00,-1.21982137e+01, 3.61322234e+01,
 -8.71597149e-02,-5.07201669e-01, 2.47969123e+00,-6.36966330e+00,
  4.74656163e-02,-3.49742078e+00, 1.34336463e+01,-2.29888587e+01,
  2.91141588e-02,-3.93682946e-01, 3.69233809e+00,-1.27023646e+01,
  3.60861301e-01,-1.13279506e+00, 2.86321029e-02,-3.54492585e-03,
  2.50410218e+01,-6.04500935e+01]

qfrc_actuator:
[ 2.31514820e-03, 2.73640247e-02, 8.70139285e-03, 1.66404382e-03,
  5.48310206e-05, 2.71771872e-02, 8.65685627e-03, 1.62100756e-03,
 -2.38970944e-03, 2.75275542e-02, 8.75692342e-03, 1.62627871e-03,
  0.00000000e+00,-1.43260223e-03, 0.00000000e+00,-7.60324085e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008254143636671207
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.72524658e-14, -6.72524658e-14,  1.00000000e+00,  4.52289415e-27,
        1.00000000e+00,  6.72524658e-14, -1.00000000e+00,  0.00000000e+00,
        6.72524658e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00093759, -0.03605641,  0.06192137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.42509716e-05,-6.89622388e-05,-3.04434923e-06, 6.68604845e-05,
 -1.57577910e-05,-2.67898356e-05,-1.13458639e-05,-1.37858314e-05,
  8.60385624e-06,-7.18159660e-05, 1.31561457e-05,-2.96997729e-05,
  3.31552705e-03,-5.25709631e-05,-3.48489500e-06,-6.24202642e-05,
  1.08603906e-04, 2.46189208e-05,-1.21644482e+00, 3.60130555e-05,
  7.64215220e-03, 1.77899537e-03]


--- Step 2411 ---
qpos:
[-2.51752499e-03, 8.65820797e-01,-2.37728877e-02, 3.72213379e-04,
 -2.96802820e-03, 8.61851400e-01,-2.70822502e-02, 3.09837883e-03,
 -1.19851903e-03, 8.70657648e-01,-1.92437876e-02,-2.13312120e-02,
  1.39623619e+00, 1.85182937e-02, 1.40355269e+00, 2.40629484e-02,
  3.96057293e-03,-5.76383651e-02, 8.03810116e-02, 7.01525182e-01,
 -4.86760036e-02,-7.09345661e-01,-4.81850483e-02]

qacc:
[-8.63788566e-02, 8.80930575e-01,-8.20748449e+00, 2.63306772e+01,
 -1.78006004e-01, 2.17646225e+00,-4.45859519e+00,-3.46902873e+00,
  1.04919053e-01, 1.44005058e+00,-8.59617958e+00, 1.76877999e+01,
  3.69889084e-02,-9.28078352e-02, 5.85123548e-02,-4.60918262e-01,
  3.43477669e-01,-1.10453322e+00,-2.77594592e-01, 8.43612371e-03,
  2.42836085e+01,-5.85980009e+01]

qfrc_actuator:
[ 2.32520978e-03, 2.73792192e-02, 8.72957566e-03, 1.71974064e-03,
  3.02997119e-05, 2.72405351e-02, 8.62378171e-03, 1.59713902e-03,
 -2.37456547e-03, 2.74417412e-02, 8.70833505e-03, 1.64397674e-03,
  0.00000000e+00,-1.41437754e-03, 0.00000000e+00,-7.61301548e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008084028761679921
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.37335363e-13, -6.86676815e-14,  1.00000000e+00,  9.43050097e-27,
        1.00000000e+00,  6.86676815e-14, -1.00000000e+00,  0.00000000e+00,
        1.37335363e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.000929  , -0.03603929,  0.06192299])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.58184816e-05,-2.11709010e-05, 1.58644897e-05, 5.39360368e-05,
 -3.20143677e-05, 4.54991614e-05,-4.04605223e-05,-2.56723858e-05,
  1.92598417e-05,-1.24578843e-04,-6.28508854e-05, 1.44954730e-05,
  3.32542259e-03,-8.01642773e-06,-1.06497319e-05,-5.37173111e-06,
  9.33872956e-05, 5.84879615e-05,-1.21644910e+00, 3.90838036e-05,
  7.64423922e-03, 1.77942142e-03]


--- Step 2412 ---
qpos:
[-2.51826697e-03, 8.65821618e-01,-2.37714842e-02, 3.73042414e-04,
 -2.96762095e-03, 8.61849640e-01,-2.70836791e-02, 3.09691332e-03,
 -1.19785791e-03, 8.70657855e-01,-1.92432811e-02,-2.13307859e-02,
  1.39623539e+00, 1.85182353e-02, 1.40362764e+00, 2.40649949e-02,
  3.95305669e-03,-5.76489428e-02, 8.03957393e-02, 7.01379846e-01,
 -4.84363166e-02,-7.09492989e-01,-4.83728619e-02]

qacc:
[ 1.89598338e-01,-2.39104586e+00, 1.17255743e+01,-2.53715120e+01,
 -2.65337817e-01, 1.35346050e+00,-1.25573780e+00,-8.75790184e+00,
  1.95381869e-01,-1.61302438e+00, 4.76264595e+00,-7.15247277e+00,
  4.00578453e-02, 1.05238763e-02,-6.47046581e+00, 2.19338732e+01,
  5.73344955e-01, 4.59619121e-01, 1.50256298e+00,-3.81885039e-01,
  3.20676242e+01, 2.77396302e+01]

qfrc_actuator:
[ 2.36729259e-03, 2.73881833e-02, 8.74584323e-03, 1.68087290e-03,
 -2.33374071e-06, 2.72613365e-02, 8.58699839e-03, 1.56571060e-03,
 -2.34796211e-03, 2.74080747e-02, 8.71485294e-03, 1.63634220e-03,
  0.00000000e+00,-1.40331747e-03, 0.00000000e+00,-6.55353669e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007965895977380469
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.48430053e-14, -1.39372021e-13,  1.00000000e+00,  4.85614009e-27,
        1.00000000e+00,  1.39372021e-13, -1.00000000e+00,  0.00000000e+00,
        3.48430053e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0041144 , -0.06305168,  0.06192411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.45340122e-05, 2.68222625e-06, 1.56997139e-05,-3.81806275e-05,
 -4.78239499e-05, 3.68444545e-05,-3.32351279e-05,-3.13731821e-05,
  3.58132041e-05,-1.15715287e-04,-2.64640080e-05,-1.48641567e-05,
  3.32615336e-03, 7.35687463e-06,-6.56513771e-06, 1.04035306e-04,
  7.97149380e-05, 8.72032463e-05,-1.21645424e+00, 3.77178524e-05,
  7.64634233e-03, 1.77995121e-03]


--- Step 2413 ---
qpos:
[-2.51857158e-03, 8.65822190e-01,-2.37697609e-02, 3.73083090e-04,
 -2.96765655e-03, 8.61848390e-01,-2.70853988e-02, 3.09608629e-03,
 -1.19722685e-03, 8.70657670e-01,-1.92429727e-02,-2.13301599e-02,
  1.39623451e+00, 1.85182947e-02, 1.40370246e+00, 2.40689445e-02,
  3.94780767e-03,-5.76577741e-02, 8.04148625e-02, 7.01280768e-01,
 -4.82320910e-02,-7.09594331e-01,-4.85266500e-02]

qacc:
[ 2.29565762e-01,-2.84356602e+00, 1.29913122e+01,-2.69659233e+01,
 -2.33559189e-01, 2.79834248e+00,-1.16967805e+01, 2.28401689e+01,
 -1.56792764e-02, 4.46969782e-01,-3.18761518e+00, 7.24865772e+00,
  4.76881739e-02, 4.93437261e-03,-5.98667197e+00, 2.06125211e+01,
  5.66806628e-01, 4.36599119e-01, 1.09886126e+00,-3.57502514e-01,
  3.08547032e+01, 2.67447023e+01]

qfrc_actuator:
[ 2.39262227e-03, 2.73577334e-02, 8.75486797e-03, 1.63992515e-03,
 -2.17751784e-05, 2.73097331e-02, 8.58368056e-03, 1.60107195e-03,
 -2.36799395e-03, 2.74238361e-02, 8.71854658e-03, 1.64944813e-03,
  0.00000000e+00,-1.39673371e-03, 0.00000000e+00,-5.58285286e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  7.89327089,  -2.84241986,  -7.36372017,  -2.84241986,
        68.58851356, -23.42856049,  -7.36372017, -23.42856049,
        16.93677122,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000789030307958391
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.51768181e-14,  1.75884090e-14,  1.00000000e+00, -6.18704266e-28,
        1.00000000e+00, -1.75884090e-14, -1.00000000e+00,  0.00000000e+00,
        3.51768181e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00411882, -0.06305463,  0.06192487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.17940178e-05,-2.73691038e-05, 1.01728459e-05,-4.10377257e-05,
 -4.21376419e-05, 6.08410075e-05,-8.61187533e-07, 3.51864780e-05,
 -2.89703859e-06,-5.50492288e-05,-2.39843654e-05, 6.94466821e-06,
  3.33082533e-03, 7.65661279e-06, 7.69052928e-06, 1.01818710e-04,
  4.73103636e-05, 5.79355494e-05,-1.21645114e+00, 2.67694669e-05,
  7.64544821e-03, 1.78073154e-03]


--- Step 2414 ---
qpos:
[-2.51851015e-03, 8.65822726e-01,-2.37682895e-02, 3.72645632e-04,
 -2.96764890e-03, 8.61847334e-01,-2.70864859e-02, 3.09566497e-03,
 -1.19692307e-03, 8.70657539e-01,-1.92436911e-02,-2.13297279e-02,
  1.39623394e+00, 1.85184958e-02, 1.40377756e+00, 2.40716826e-02,
  3.94480290e-03,-5.76649334e-02, 8.04370354e-02, 7.01226502e-01,
 -4.80622298e-02,-7.09651212e-01,-4.86474360e-02]

qacc:
[ 1.91748885e-01,-3.28971305e-01, 3.12038929e+00,-1.09647517e+01,
  2.31295890e-02,-6.75305932e-01, 1.06756461e+00, 4.79842806e+00,
 -1.71548398e-01, 2.54084443e+00,-8.13747584e+00, 6.38461418e+00,
  4.70719563e-02, 1.14875736e-01, 4.10491164e+00,-1.37248170e+01,
  5.61061057e-01, 4.18002710e-01, 7.62439980e-01,-3.38547960e-01,
  2.98589638e+01, 2.59237627e+01]

qfrc_actuator:
[ 2.40767950e-03, 2.73571362e-02, 8.74164893e-03, 1.61581325e-03,
  2.34516956e-06, 2.73212123e-02, 8.61805746e-03, 1.62223647e-03,
 -2.39800007e-03, 2.74336024e-02, 8.66750030e-03, 1.63918871e-03,
  0.00000000e+00,-1.37512526e-03, 0.00000000e+00,-6.27034388e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007753826518450413
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.43183888e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.43183888e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00412779, -0.06305923,  0.0619262 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.49801199e-05,-1.55799197e-05,-1.90570515e-05,-2.57351718e-05,
  4.12498741e-06, 4.68691786e-05, 4.80792412e-05, 2.44323594e-05,
 -3.13997303e-05,-2.56699175e-05,-6.51306308e-05,-1.33118935e-05,
  3.33410577e-03, 2.33915005e-05, 1.32901436e-05,-6.24618369e-05,
  2.41924109e-05, 3.49775844e-05,-1.21644859e+00, 1.80092510e-05,
  7.64458988e-03, 1.78144354e-03]


--- Step 2415 ---
qpos:
[-2.51799660e-03, 8.65823737e-01,-2.37675519e-02, 3.72234972e-04,
 -2.96746895e-03, 8.61846360e-01,-2.70870310e-02, 3.09517593e-03,
 -1.19696288e-03, 8.70657266e-01,-1.92444379e-02,-2.13298119e-02,
  1.39623389e+00, 1.85188189e-02, 1.40385304e+00, 2.40709170e-02,
  3.94402290e-03,-5.76704803e-02, 8.04611398e-02, 7.01215857e-01,
 -4.79258311e-02,-7.09664874e-01,-4.87360608e-02]

qacc:
[ 2.36422100e-01, 2.73241526e+00,-8.94456066e+00, 1.02348831e+01,
  9.10598242e-02,-1.54320665e+00, 5.94754285e+00,-8.04903590e+00,
 -1.79392974e-01,-1.17099208e+00, 6.07790461e+00,-1.48511331e+01,
  2.60915332e-02, 1.75909297e-01, 1.11903066e+01,-3.82960860e+01,
  5.56191870e-01, 4.03077928e-01, 4.82877525e-01,-3.23744403e-01,
  2.90447847e+01, 2.52491039e+01]

qfrc_actuator:
[ 2.43422227e-03, 2.74098435e-02, 8.71552753e-03, 1.61956061e-03,
  1.67883746e-05, 2.73106534e-02, 8.63873887e-03, 1.61710766e-03,
 -2.41592889e-03, 2.74394821e-02, 8.67328133e-03, 1.61522403e-03,
  0.00000000e+00,-1.36232557e-03, 0.00000000e+00,-8.10673275e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007570504285711738
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.6662783e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        3.6662783e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00414025, -0.06306507,  0.06192796])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.32186049e-05, 3.89375507e-05,-3.25932819e-05, 1.91653166e-06,
  1.64060817e-05, 2.66605508e-05, 3.71482056e-05,-9.77473841e-07,
 -3.29658019e-05,-2.24900944e-05,-7.99751219e-06,-2.75756469e-05,
  3.31853646e-03, 2.91255578e-05,-2.83712916e-06,-1.85898671e-04,
  9.35394256e-06, 1.76433664e-05,-1.21644652e+00, 1.12457202e-05,
  7.64375940e-03, 1.78209494e-03]


--- Step 2416 ---
qpos:
[-2.51729155e-03, 8.65824998e-01,-2.37671707e-02, 3.72910703e-04,
 -2.96730466e-03, 8.61846067e-01,-2.70875454e-02, 3.09458794e-03,
 -1.19672187e-03, 8.70656782e-01,-1.92449122e-02,-2.13288137e-02,
  1.39623389e+00, 1.85190596e-02, 1.40392840e+00, 2.40689684e-02,
  3.94545173e-03,-5.76744625e-02, 8.04862494e-02, 7.01247859e-01,
 -4.78221564e-02,-7.09636318e-01,-4.87932114e-02]

qacc:
[ 1.00147342e-01, 3.55920292e+00,-1.68012543e+01, 3.59931069e+01,
 -8.48025131e-03, 6.08857004e-01,-4.49375445e-01,-1.81160115e+00,
  1.46919353e-01, 1.18827611e+00,-9.20274977e+00, 2.76347255e+01,
  4.80584543e-03,-3.93542301e-02, 3.39816752e+00,-1.21554112e+01,
  5.52210322e-01, 3.91194345e-01, 2.51292426e-01,-3.12049372e-01,
  2.83825503e+01, 2.46975867e+01]

qfrc_actuator:
[ 2.43191861e-03, 2.74230248e-02, 8.69999986e-03, 1.67521510e-03,
  7.52629733e-06, 2.73756687e-02, 8.65104056e-03, 1.61426663e-03,
 -2.37320621e-03, 2.74432039e-02, 8.69481823e-03, 1.67219894e-03,
  0.00000000e+00,-1.39035349e-03, 0.00000000e+00,-8.65190242e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000735198794824303
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.43811926e-14, -7.55049541e-14,  1.00000000e+00,  7.12624761e-27,
        1.00000000e+00,  7.55049541e-14, -1.00000000e+00,  0.00000000e+00,
        9.43811926e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00415533, -0.06307185,  0.06193005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.83063892e-05, 2.82800959e-05,-1.14490661e-05, 5.62289691e-05,
 -1.47148438e-06, 8.75837688e-05, 2.23635797e-05,-4.29384928e-07,
  2.69353130e-05,-1.16780107e-05, 1.49612813e-05, 5.52005135e-05,
  3.29275025e-03,-4.99185202e-06,-2.33867154e-05,-6.55864101e-05,
  2.03411417e-06, 5.40839809e-06,-1.21644484e+00, 6.33188621e-06,
  7.64295044e-03, 1.78269177e-03]


--- Step 2417 ---
qpos:
[-2.51669961e-03, 8.65826694e-01,-2.37678688e-02, 3.73583388e-04,
 -2.96683377e-03, 8.61846394e-01,-2.70876338e-02, 3.09394991e-03,
 -1.19608210e-03, 8.70656639e-01,-1.92455991e-02,-2.13278699e-02,
  1.39623410e+00, 1.85194180e-02, 1.40400370e+00, 2.40656750e-02,
  3.94907690e-03,-5.76769174e-02, 8.05115995e-02, 7.01321711e-01,
 -4.77506051e-02,-7.09566346e-01,-4.88194437e-02]

qacc:
[-6.01363131e-02, 3.58340585e+00,-1.19292866e+01, 1.32855179e+01,
  1.61526134e-01,-4.72823467e-01, 3.08719754e+00,-5.09148698e+00,
  2.07948582e-01, 9.32910173e-01,-2.44305824e+00, 1.59360987e+00,
 -3.09061767e-03, 1.26471306e-01, 3.99666128e+00,-1.40855185e+01,
  5.49081594e-01, 3.81824983e-01, 6.01483559e-02,-3.02609676e-01,
  2.78476498e+01, 2.42499071e+01]

qfrc_actuator:
[ 2.41238686e-03, 2.74302805e-02, 8.63748681e-03, 1.67218040e-03,
  3.74180023e-05, 2.74143871e-02, 8.67636155e-03, 1.61285656e-03,
 -2.34783750e-03, 2.74812633e-02, 8.69001404e-03, 1.66983006e-03,
  0.00000000e+00,-1.37171182e-03, 0.00000000e+00,-9.31916410e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007107914936472365
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.76220729e-14, -7.80976584e-14,  1.00000000e+00,  7.62405530e-27,
        1.00000000e+00,  7.80976584e-14, -1.00000000e+00,  0.00000000e+00,
        9.76220729e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00417232, -0.06307928,  0.06193237])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08031113e-05, 2.30803381e-05,-5.61513767e-05,-1.12885328e-06,
  2.92037143e-05, 9.23052667e-05, 4.61571614e-05, 3.10968402e-06,
  3.82617689e-05, 3.69996669e-05,-3.45687492e-06,-1.27652963e-06,
  3.28972225e-03, 1.77828672e-05,-1.86190479e-05,-7.35111483e-05,
  1.66169810e-06,-2.12634040e-06,-1.21644352e+00, 3.15545008e-06,
  7.64215777e-03, 1.78323873e-03]


--- Step 2418 ---
qpos:
[-2.51628608e-03, 8.65828981e-01,-2.37697220e-02, 3.74200661e-04,
 -2.96584628e-03, 8.61847424e-01,-2.70880091e-02, 3.09368414e-03,
 -1.19509790e-03, 8.70656610e-01,-1.92456343e-02,-2.13283741e-02,
  1.39623442e+00, 1.85197920e-02, 1.40407894e+00, 2.40612463e-02,
  3.95488903e-03,-5.76778742e-02, 8.05365620e-02, 7.01436764e-01,
 -4.77106919e-02,-7.09455588e-01,-4.88152028e-02]

qacc:
[-9.44715357e-02, 3.89028994e+00,-1.25079914e+01, 1.29665502e+01,
  2.71658984e-01, 2.49472954e+00,-9.12035395e+00, 1.55081949e+01,
  1.80148547e-01,-4.65316145e+00, 2.29099526e+01,-4.90740629e+01,
 -1.39921239e-02, 4.96920207e-02, 3.35018886e+00,-1.18429734e+01,
  5.46742854e-01, 3.74530181e-01,-9.69352094e-02,-2.94725109e-01,
  2.74196177e+01, 2.38899546e+01]

qfrc_actuator:
[ 2.40049890e-03, 2.74691987e-02, 8.58315312e-03, 1.67009234e-03,
  7.27333353e-05, 2.74371151e-02, 8.65582865e-03, 1.63004840e-03,
 -2.33311143e-03, 2.74861987e-02, 8.72303906e-03, 1.59705325e-03,
  0.00000000e+00,-1.37849343e-03, 0.00000000e+00,-9.87580500e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006846224017790364
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01353591e-13, -8.10828730e-14,  1.00000000e+00,  8.21804036e-27,
        1.00000000e+00,  8.10828730e-14, -1.00000000e+00,  0.00000000e+00,
        1.01353591e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00419062, -0.06308717,  0.06193486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.70386675e-05, 4.01405305e-05,-5.65330121e-05,-3.06721195e-06,
  4.91886605e-05, 8.40062359e-05, 4.32388304e-06, 2.28042908e-05,
  3.30497382e-05, 2.48694442e-05, 4.02011176e-05,-7.13379820e-05,
  3.27904723e-03, 5.12629952e-06,-1.72954498e-05,-6.22797572e-05,
  7.81207840e-06,-5.26194893e-06,-1.21644253e+00, 1.63128500e-06,
  7.64137690e-03, 1.78373950e-03]


--- Step 2419 ---
qpos:
[-2.51621830e-03, 8.65830439e-01,-2.37710982e-02, 3.74857941e-04,
 -2.96439810e-03, 8.61848233e-01,-2.70884890e-02, 3.09407962e-03,
 -1.19404793e-03, 8.70656570e-01,-1.92455323e-02,-2.13286585e-02,
  1.39623437e+00, 1.85201182e-02, 1.40415367e+00, 2.40595113e-02,
  3.96288163e-03,-5.76773552e-02, 8.05606230e-02, 7.01592494e-01,
 -4.77020290e-02,-7.09304532e-01,-4.87808387e-02]

qacc:
[-1.80692524e-01,-2.34381891e+00, 6.60042694e+00,-6.06407840e+00,
  2.42685177e-01, 1.35994861e+00,-8.06536610e+00, 1.98412274e+01,
  3.44420466e-02, 5.57184025e-02,-1.14521550e+00, 4.73561722e+00,
 -1.19396732e-02,-1.10373802e-01,-8.90959051e+00, 3.00690961e+01,
  5.45115599e-01, 3.68943564e-01,-2.25356066e-01,-2.87819266e-01,
  2.70814095e+01, 2.36042664e+01]

qfrc_actuator:
[ 2.37555512e-03, 2.73670124e-02, 8.58749246e-03, 1.66862584e-03,
  9.32175878e-05, 2.73611549e-02, 8.62607858e-03, 1.65799908e-03,
 -2.34262877e-03, 2.74713504e-02, 8.72472456e-03, 1.60771560e-03,
  0.00000000e+00,-1.40047404e-03, 0.00000000e+00,-8.41000050e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.90753553,  0.73256919,  6.86857988,  0.73256919, 20.56701704,
       -1.4568536 ,  6.86857988, -1.4568536 ,  7.06291642,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006573422068828286
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.33359048e-14, -1.68895746e-13,  1.00000000e+00,  1.06971649e-26,
        1.00000000e+00,  1.68895746e-13, -1.00000000e+00,  0.00000000e+00,
        6.33359048e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00420977, -0.06309532,  0.06193744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.30660514e-05,-9.15912499e-05, 5.55409206e-06,-1.76472531e-06,
  4.38433548e-05,-2.71312593e-05,-1.10840083e-05, 3.21415613e-05,
  6.31026412e-06, 4.31416488e-06, 9.30644384e-06, 1.17295527e-05,
  3.27370579e-03,-1.76262442e-05,-1.56477666e-05, 1.40723164e-04,
  2.01744899e-05,-4.22276653e-06,-1.21644185e+00, 1.69565254e-06,
  7.64060375e-03, 1.78419696e-03]


--- Step 2420 ---
qpos:
[-2.51628434e-03, 8.65830880e-01,-2.37716211e-02, 3.74455741e-04,
 -2.96261082e-03, 8.61847792e-01,-2.70882316e-02, 3.09522866e-03,
 -1.19340100e-03, 8.70657281e-01,-1.92471612e-02,-2.13280900e-02,
  1.39623428e+00, 1.85209499e-02, 1.40422808e+00, 2.40611816e-02,
  3.97305068e-03,-5.76753772e-02, 8.05833653e-02, 7.01788479e-01,
 -4.77243109e-02,-7.09113540e-01,-4.87166207e-02]

qacc:
[-6.93200611e-02,-5.90541615e+00, 2.35813540e+01,-4.25394283e+01,
  1.79541770e-01,-2.15753791e+00, 2.11741092e+00, 1.06615109e+01,
 -2.11753951e-01, 7.58400688e+00,-2.91941318e+01, 4.61561519e+01,
  5.98497166e-04, 2.93694856e-01,-1.08055999e+01, 3.70884527e+01,
  5.44114037e-01, 3.64760039e-01,-3.29681695e-01,-2.81416051e-01,
  2.68188003e+01, 2.33815695e+01]

qfrc_actuator:
[ 0.00237852, 0.02730561, 0.00862587, 0.0016142 , 0.00010465, 0.02724438,
  0.00864399, 0.00169197,-0.0023843 , 0.02751572, 0.00863685, 0.0016496 ,
  0.        ,-0.00134275, 0.        ,-0.00066521, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 6.67799191,  0.25621556,  6.67307497,  0.25621556, 39.34243529,
       -1.25416525,  6.67307497, -1.25416525,  6.72614612,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006294809517630728
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.32278390e-13,  8.81855933e-14,  1.00000000e+00, -1.16650483e-26,
        1.00000000e+00, -8.81855933e-14, -1.00000000e+00,  0.00000000e+00,
        1.32278390e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00422937, -0.06310361,  0.06194007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.28132882e-05,-1.11571186e-04, 2.00786384e-05,-5.81909684e-05,
  3.22430363e-05,-1.32871755e-04, 1.20496511e-05, 3.30461074e-05,
 -3.86535808e-05, 4.92109333e-05,-8.54311611e-05, 4.26200351e-05,
  3.29217891e-03, 4.24978123e-05, 7.74933297e-06, 1.81482750e-04,
  3.85269387e-05, 8.27311152e-07,-1.21644148e+00, 3.30173133e-06,
  7.63983448e-03, 1.78461335e-03]


--- Step 2421 ---
qpos:
[-2.51658042e-03, 8.65831268e-01,-2.37726306e-02, 3.73373351e-04,
 -2.96060042e-03, 8.61847285e-01,-2.70887025e-02, 3.09603534e-03,
 -1.19302269e-03, 8.70658085e-01,-1.92495806e-02,-2.13280400e-02,
  1.39623448e+00, 1.85220530e-02, 1.40430281e+00, 2.40622611e-02,
  3.98539434e-03,-5.76719523e-02, 8.06044525e-02, 7.02024382e-01,
 -4.77773009e-02,-7.08882872e-01,-4.86227484e-02]

qacc:
[-1.20933814e-01,-1.10639908e-01, 3.16445650e+00,-1.41188385e+01,
  1.17051492e-01, 1.24044356e+00,-3.10635524e+00,-1.60340780e+00,
 -1.40799794e-01, 1.26291089e+00,-2.14025211e+00,-5.62926216e+00,
 -1.73021746e-03, 2.33714155e-01, 2.27924371e+00,-7.25345739e+00,
  5.43650710e-01, 3.61725651e-01,-4.13780291e-01,-2.75120766e-01,
  2.66198900e+01, 2.32124030e+01]

qfrc_actuator:
[ 0.00236266, 0.02734022, 0.00861308, 0.00158234, 0.00011059, 0.02728175,
  0.00861868, 0.00167593,-0.00239157, 0.02748835, 0.00858581, 0.00162073,
  0.        ,-0.00132651, 0.        ,-0.00070447, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006014670920025667
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.92196863e-14,  9.22929151e-14,  1.00000000e+00, -6.38848663e-27,
        1.00000000e+00, -9.22929151e-14, -1.00000000e+00,  0.00000000e+00,
        6.92196863e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00424912, -0.06311191,  0.06194272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.19891017e-05,-2.61360231e-05,-3.53659008e-05,-3.70745015e-05,
  2.12309771e-05,-3.30085134e-05,-5.01182938e-05,-2.06697375e-05,
 -2.57698500e-05,-1.56791971e-05,-4.99135951e-05,-2.88848470e-05,
  3.29344711e-03, 3.34616674e-05, 2.26914379e-05,-2.84042325e-05,
  6.27168960e-05, 9.77218374e-06,-1.21644141e+00, 6.41614172e-06,
  7.63906523e-03, 1.78499045e-03]


--- Step 2422 ---
qpos:
[-2.51745450e-03, 8.65831230e-01,-2.37742709e-02, 3.72321005e-04,
 -2.95864312e-03, 8.61847163e-01,-2.70903144e-02, 3.09626818e-03,
 -1.19263314e-03, 8.70658282e-01,-1.92517572e-02,-2.13283171e-02,
  1.39623487e+00, 1.85229984e-02, 1.40437793e+00, 2.40605525e-02,
  3.99991256e-03,-5.76670888e-02, 8.06236159e-02, 7.02299937e-01,
 -4.78608210e-02,-7.08612696e-01,-4.84993619e-02]

qacc:
[-3.03293601e-01, 1.25901173e+00,-5.43536822e+00, 7.27916768e+00,
 -2.88636987e-02, 2.51214192e+00,-5.79962447e+00,-2.58599961e+00,
  6.21299184e-03,-2.15316078e+00, 7.89210476e+00,-1.34892639e+01,
 -1.47833472e-02,-2.97892414e-02, 9.03759879e+00,-3.07487698e+01,
  5.43640189e-01, 3.59629060e-01,-4.80931642e-01,-2.68604864e-01,
  2.64746987e+01, 2.30888078e+01]

qfrc_actuator:
[ 2.31788758e-03, 2.72898493e-02, 8.57060154e-03, 1.58182162e-03,
  9.54698486e-05, 2.73221729e-02, 8.56862107e-03, 1.64843945e-03,
 -2.37817242e-03, 2.74360472e-02, 8.59214103e-03, 1.60370517e-03,
  0.00000000e+00,-1.35287317e-03, 0.00000000e+00,-8.52370627e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005736436210635465
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00426877, -0.06312013,  0.06194534])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.52554174e-05,-7.38799646e-05,-5.35112034e-05,-3.58360410e-06,
 -5.05011209e-06, 1.07439563e-05,-6.37641568e-05,-3.10426813e-05,
  1.06143589e-06,-7.26189224e-05,-4.04672302e-06,-1.99868758e-05,
  3.27938858e-03,-6.47459286e-06, 4.91805029e-06,-1.47129843e-04,
  9.26463481e-05, 2.25336879e-05,-1.21644167e+00, 1.10162290e-05,
  7.63829207e-03, 1.78532965e-03]


--- Step 2423 ---
qpos:
[-2.51869215e-03, 8.65830382e-01,-2.37751235e-02, 3.70876241e-04,
 -2.95718721e-03, 8.61846881e-01,-2.70918294e-02, 3.09615338e-03,
 -1.19234127e-03, 8.70658126e-01,-1.92531240e-02,-2.13285231e-02,
  1.39623501e+00, 1.85234654e-02, 1.40445301e+00, 2.40577719e-02,
  4.01660678e-03,-5.76607922e-02, 8.06406437e-02, 7.02614936e-01,
 -4.79747426e-02,-7.08303104e-01,-4.83465494e-02]

qacc:
[-1.89864807e-01,-4.07519210e+00, 1.46377700e+01,-2.20981805e+01,
 -2.63959407e-01,-1.19628691e+00, 5.42738798e+00,-1.14828852e+01,
 -5.03680721e-02,-2.58240787e+00, 8.23194690e+00,-8.04109142e+00,
 -1.72219051e-02,-3.30496853e-01, 3.17322802e+00,-1.12145495e+01,
  5.44001424e-01, 3.58294444e-01,-5.33920060e-01,-2.61593671e-01,
  2.63748375e+01, 2.30040728e+01]

qfrc_actuator:
[ 2.30947564e-03, 2.72598983e-02, 8.61715861e-03, 1.56415914e-03,
  5.01384518e-05, 2.73107380e-02, 8.57541804e-03, 1.63219567e-03,
 -2.38804710e-03, 2.74582075e-02, 8.64991974e-03, 1.61154760e-03,
  0.00000000e+00,-1.40447986e-03, 0.00000000e+00,-9.03249685e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000546281730676626
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01616342e-13, -1.01616342e-13,  1.00000000e+00,  1.03258810e-26,
        1.00000000e+00,  1.01616342e-13, -1.00000000e+00,  0.00000000e+00,
        1.01616342e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00428812, -0.06312821,  0.06194791])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.47659744e-05,-8.24581056e-05, 2.45979186e-05,-2.27439936e-05,
 -4.77259872e-05,-1.99111811e-05, 9.84506574e-08,-1.85924262e-05,
 -9.37600217e-06,-2.01242033e-05, 4.16074546e-05, 4.20783896e-06,
  3.26946963e-03,-5.01966082e-05,-1.63134585e-05,-5.89537240e-05,
  1.28260151e-04, 3.90638702e-05,-1.21644227e+00, 1.70879276e-05,
  7.63751079e-03, 1.78563205e-03]


--- Step 2424 ---
qpos:
[-2.51996301e-03, 8.65829753e-01,-2.37758610e-02, 3.69144036e-04,
 -2.95625805e-03, 8.61846571e-01,-2.70933601e-02, 3.09652578e-03,
 -1.19178858e-03, 8.70658052e-01,-1.92534602e-02,-2.13280161e-02,
  1.39623483e+00, 1.85236118e-02, 1.40452783e+00, 2.40557192e-02,
  4.03547964e-03,-5.76530652e-02, 8.06553710e-02, 7.02969218e-01,
 -4.81189785e-02,-7.07954121e-01,-4.81643549e-02]

qacc:
[-1.74271165e-02,-6.24092799e-01, 3.85780472e+00,-9.17748453e+00,
 -2.77391768e-01, 1.00955181e+00,-5.70965220e+00, 1.41877508e+01,
  1.36830506e-01,-1.30296888e+00, 1.79643055e+00, 8.82613736e+00,
 -2.01535071e-03,-2.70978883e-01,-2.59627408e+00, 8.50461801e+00,
  5.44659143e-01, 3.57575580e-01,-5.75111861e-01,-2.53856485e-01,
  2.63132397e+01, 2.29525283e+01]

qfrc_actuator:
[ 2.32289431e-03, 2.73315153e-02, 8.64496128e-03, 1.55437502e-03,
  2.26580758e-05, 2.73218384e-02, 8.58004414e-03, 1.65820916e-03,
 -2.35852479e-03, 2.75072829e-02, 8.72015304e-03, 1.65179818e-03,
  0.00000000e+00,-1.41759104e-03, 0.00000000e+00,-8.61011068e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005195923979036676
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06835957e-13, -1.06835957e-13,  1.00000000e+00,  1.14139218e-26,
        1.00000000e+00,  1.06835957e-13, -1.00000000e+00,  0.00000000e+00,
        1.06835957e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00430702, -0.06313608,  0.06195042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.16611791e-06, 2.96412382e-05, 1.30326324e-05,-1.29023263e-05,
 -5.01374515e-05,-7.96505344e-07,-1.02427663e-07, 2.48056662e-05,
  2.50287560e-05, 4.66094100e-05, 7.13607937e-05, 4.09137142e-05,
  3.28177250e-03,-3.93833110e-05,-1.55486653e-05, 3.65438010e-05,
  1.69536905e-04, 5.93388981e-05,-1.21644325e+00, 2.46240721e-05,
  7.63671690e-03, 1.78589855e-03]


--- Step 2425 ---
qpos:
[-2.52115998e-03, 8.65829719e-01,-2.37770497e-02, 3.67297448e-04,
 -2.95575271e-03, 8.61846066e-01,-2.70944759e-02, 3.09719813e-03,
 -1.19093022e-03, 8.70657884e-01,-1.92533401e-02,-2.13276598e-02,
  1.39623467e+00, 1.85238017e-02, 1.40460258e+00, 2.40538228e-02,
  4.05653468e-03,-5.76439089e-02, 8.06676723e-02, 7.03362662e-01,
 -4.82934768e-02,-7.07565712e-01,-4.79527832e-02]

qacc:
[ 3.82373636e-02, 1.80975466e+00,-4.83062416e+00, 3.13730452e+00,
 -2.22866143e-01,-7.98125002e-01, 1.20735710e+00, 3.46176013e+00,
  1.59912712e-01,-1.70828438e+00, 6.54692497e+00,-9.81337113e+00,
  9.39626006e-03, 2.12473306e-02,-5.76830103e-01, 1.86759681e+00,
  5.45546462e-01, 3.57352131e-01,-6.06490280e-01,-2.45199485e-01,
  2.62840265e+01, 2.29294494e+01]

qfrc_actuator:
[ 2.33147377e-03, 2.73746060e-02, 8.62636360e-03, 1.54936989e-03,
  6.11423376e-06, 2.73108867e-02, 8.60119415e-03, 1.67337598e-03,
 -2.34118897e-03, 2.74656988e-02, 8.72630388e-03, 1.63981264e-03,
  0.00000000e+00,-1.38981871e-03, 0.00000000e+00,-8.53036250e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004937362246839189
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12430785e-13, -2.24861570e-13,  1.00000000e+00,  2.52813627e-26,
        1.00000000e+00,  2.24861570e-13, -1.00000000e+00,  0.00000000e+00,
        1.12430785e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00432536, -0.0631437 ,  0.06195285])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.07550560e-06, 6.18300193e-05,-1.13024757e-05,-3.53056984e-06,
 -4.03439020e-05,-1.03428948e-05, 2.18461217e-05, 1.56149913e-05,
  2.93233683e-05, 9.75443257e-07, 2.59855047e-05,-6.72433643e-06,
  3.29788854e-03, 4.43107311e-06,-4.25652412e-06, 7.77145016e-06,
  2.16481773e-04, 8.33542382e-05,-1.21644464e+00, 3.36230564e-05,
  7.63590545e-03, 1.78612987e-03]


--- Step 2426 ---
qpos:
[-2.52207735e-03, 8.65829402e-01,-2.37775577e-02, 3.65785269e-04,
 -2.95555232e-03, 8.61845451e-01,-2.70953121e-02, 3.09770030e-03,
 -1.19037745e-03, 8.70656764e-01,-1.92531797e-02,-2.13279983e-02,
  1.39623479e+00, 1.85242993e-02, 1.40467737e+00, 2.40513555e-02,
  4.07909639e-03,-5.76392397e-02, 8.06773597e-02, 7.03783880e-01,
 -4.83850274e-02,-7.07149251e-01,-4.78233838e-02]

qacc:
[ 1.47144634e-01,-1.58684407e+00, 3.70381531e+00, 1.20157822e+00,
 -1.60396608e-01,-1.27641579e+00, 5.05829767e+00,-8.37110438e+00,
 -1.59236577e-01,-2.80253007e+00, 1.10934985e+01,-2.24728515e+01,
  1.93886143e-03, 2.51650311e-01, 1.78722732e+00,-6.15973806e+00,
  3.76665272e-01,-1.12178372e+00,-6.53503134e-01, 9.80819666e-02,
  2.36644166e+01,-5.69006323e+01]

qfrc_actuator:
[ 2.35480854e-03, 2.73291066e-02, 8.65145643e-03, 1.56492671e-03,
 -3.75990844e-06, 2.73046343e-02, 8.61408146e-03, 1.66427453e-03,
 -2.38457212e-03, 2.73343554e-02, 8.69416728e-03, 1.59706394e-03,
  0.00000000e+00,-1.35550467e-03, 0.00000000e+00,-8.83091906e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004699309138925384
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.18126196e-13,  1.18126196e-13,  1.00000000e+00, -1.39537982e-26,
        1.00000000e+00, -1.18126196e-13, -1.00000000e+00,  0.00000000e+00,
        1.18126196e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00075218, -0.03568702,  0.06195508])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.67174664e-05,-1.33944440e-05, 3.63611076e-05, 1.77502246e-05,
 -2.90266412e-05,-6.84027300e-06, 1.39957209e-05,-8.48237832e-06,
 -2.93434649e-05,-1.25711511e-04,-2.89668019e-05,-4.19394071e-05,
  3.29679866e-03, 3.65875066e-05,-2.33864420e-06,-3.04501183e-05,
  2.69120971e-04, 1.11120916e-04,-1.21644648e+00, 4.40877912e-05,
  7.63507105e-03, 1.78632662e-03]


--- Step 2427 ---
qpos:
[-2.52289843e-03, 8.65828414e-01,-2.37775537e-02, 3.65569729e-04,
 -2.95537139e-03, 8.61844938e-01,-2.70960470e-02, 3.09772919e-03,
 -1.19005773e-03, 8.70654825e-01,-1.92532062e-02,-2.13271190e-02,
  1.39623483e+00, 1.85251019e-02, 1.40475180e+00, 2.40512229e-02,
  4.10309341e-03,-5.76389792e-02, 8.06838265e-02, 7.04232552e-01,
 -4.83949592e-02,-7.06705039e-01,-4.77747615e-02]

qacc:
[ 5.11097817e-02, 3.54311774e-01,-8.02023803e+00, 3.01333415e+01,
 -1.02466852e-02,-1.12148506e+00, 6.19309474e+00,-1.46224520e+01,
 -1.21460654e-01, 1.95040233e+00,-1.36522869e+01, 3.56068943e+01,
 -8.91762498e-03, 1.72751738e-01,-7.59114549e+00, 2.58021774e+01,
  3.58828303e-01,-1.10218355e+00,-8.05122278e-01, 1.60907584e-01,
  2.33779978e+01,-5.59553477e+01]

qfrc_actuator:
[ 2.35125596e-03, 2.72665989e-02, 8.66630693e-03, 1.62792292e-03,
  8.17104830e-06, 2.73189482e-02, 8.62198060e-03, 1.64096228e-03,
 -2.39288713e-03, 2.73098270e-02, 8.69254962e-03, 1.66073014e-03,
  0.00000000e+00,-1.35305257e-03, 0.00000000e+00,-7.57774693e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.31880055,  0.39291047, -5.30426816,  0.39291047, 15.0273565 ,
        0.71915543, -5.30426816,  0.71915543,  5.37207156,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046117546754306793
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.2036883e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.2036883e-13, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00074697, -0.03567787,  0.0619559 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.18573551e-06,-6.17085427e-05, 1.71872571e-05, 6.40296916e-05,
 -1.84848658e-06, 1.30330349e-05, 7.92840197e-06,-2.32840911e-05,
 -2.23810698e-05,-1.02577679e-04,-3.25903754e-05, 5.64678031e-05,
  3.28274462e-03, 2.36606483e-05,-5.50567037e-06, 1.23072535e-04,
  2.93774725e-04, 5.68692139e-05,-1.21644914e+00, 3.47264950e-05,
  7.63616411e-03, 1.78684599e-03]


--- Step 2428 ---
qpos:
[-2.52387899e-03, 8.65827610e-01,-2.37782070e-02, 3.65737220e-04,
 -2.95493856e-03, 8.61844320e-01,-2.70963193e-02, 3.09747981e-03,
 -1.18990173e-03, 8.70652688e-01,-1.92527391e-02,-2.13252671e-02,
  1.39623440e+00, 1.85255960e-02, 1.40482607e+00, 2.40535799e-02,
  4.12846776e-03,-5.76430636e-02, 8.06865650e-02, 7.04708392e-01,
 -4.83243646e-02,-7.06233280e-01,-4.78057811e-02]

qacc:
[-8.40772652e-02, 2.86627623e+00,-1.14853723e+01, 1.90327987e+01,
  1.32977579e-01,-2.00056918e+00, 8.11012176e+00,-1.35920034e+01,
 -8.50678965e-02, 3.61473837e-01,-5.76940366e+00, 2.19452949e+01,
  7.09435969e-03,-3.11410172e-01,-7.80839088e+00, 2.69113456e+01,
  3.44332291e-01,-1.08622322e+00,-9.32085235e-01, 2.12322619e-01,
  2.31507628e+01,-5.51818421e+01]

qfrc_actuator:
[ 2.33164243e-03, 2.73009019e-02, 8.63940319e-03, 1.64727625e-03,
  3.30215556e-05, 2.73099279e-02, 8.64470588e-03, 1.62724733e-03,
 -2.39786420e-03, 2.73673866e-02, 8.74495968e-03, 1.71560014e-03,
  0.00000000e+00,-1.40534326e-03, 0.00000000e+00,-6.30674306e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.24589896,  0.59105472, -5.21249559,  0.59105472, 22.21592405,
        1.92426319, -5.21249559,  1.92426319,  5.4640948 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045012665436294785
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.46646808e-13, -1.23323404e-13,  1.00000000e+00,  3.04173239e-26,
        1.00000000e+00,  1.23323404e-13, -1.00000000e+00,  0.00000000e+00,
        2.46646808e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00074093, -0.03566648,  0.06195693])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52402153e-05, 6.11576908e-06,-3.53064159e-05, 1.85529481e-05,
  2.39749068e-05,-1.07469903e-06, 2.55977709e-05,-1.33335675e-05,
 -1.57098123e-05,-4.06996447e-06, 2.91797940e-05, 5.04524532e-05,
  3.28618818e-03,-4.38814696e-05, 1.04075560e-05, 1.33079190e-04,
  3.19231761e-04,-2.47534251e-07,-1.21645280e+00, 2.15799226e-05,
  7.63730158e-03, 1.78748599e-03]


--- Step 2429 ---
qpos:
[-2.52468222e-03, 8.65827429e-01,-2.37797009e-02, 3.65745851e-04,
 -2.95423291e-03, 8.61843590e-01,-2.70963398e-02, 3.09811992e-03,
 -1.18985504e-03, 8.70650821e-01,-1.92523199e-02,-2.13248690e-02,
  1.39623396e+00, 1.85256004e-02, 1.40490085e+00, 2.40534262e-02,
  4.14711448e-03,-5.76506964e-02, 8.06854643e-02, 7.05062393e-01,
 -4.81851328e-02,-7.05882167e-01,-4.79122126e-02]

qacc:
[ 9.22221272e-02, 2.84246133e+00,-8.27222416e+00, 6.41272352e+00,
  1.43941131e-01, 9.76543934e-01,-7.45538694e+00, 2.25316472e+01,
 -5.72581758e-02,-2.50234757e+00, 1.55680574e+01,-4.08288521e+01,
  2.98795420e-02,-3.21476852e-01, 8.35594340e+00,-2.81460522e+01,
 -1.68190788e+00,-8.87086996e-01,-9.59795198e-01,-2.50464990e+00,
 -8.20710234e+01,-5.66359911e+01]

qfrc_actuator:
[ 2.35586750e-03, 2.73572000e-02, 8.60616398e-03, 1.64083880e-03,
  4.76075936e-05, 2.73048248e-02, 8.65817246e-03, 1.67254297e-03,
 -2.40081460e-03, 2.73851447e-02, 8.74041746e-03, 1.64068196e-03,
  0.00000000e+00,-1.41897759e-03, 0.00000000e+00,-7.69882156e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044672599525892587
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.48524383e-13,  1.24262192e-13,  1.00000000e+00, -3.08821845e-26,
        1.00000000e+00, -1.24262192e-13, -1.00000000e+00,  0.00000000e+00,
        2.48524383e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05390089, -0.04373015,  0.06195724])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.69612353e-05, 5.32450032e-05,-3.56717568e-05,-7.03398099e-06,
  2.59663076e-05,-9.68270177e-07, 1.59441673e-05, 4.58774320e-05,
 -1.04777161e-05, 2.37106891e-05,-3.17595822e-08,-7.31001458e-05,
  3.30994090e-03,-4.20859612e-05, 1.72635496e-05,-1.30971028e-04,
  3.45521086e-04,-6.02853526e-05,-1.21645749e+00, 4.71701629e-06,
  7.63850052e-03, 1.78824600e-03]


--- Step 2430 ---
qpos:
[-2.52487494e-03, 8.65827479e-01,-2.37814945e-02, 3.65689847e-04,
 -2.95349719e-03, 8.61843447e-01,-2.70964709e-02, 3.09888649e-03,
 -1.18969363e-03, 8.70649435e-01,-1.92528762e-02,-2.13260237e-02,
  1.39623379e+00, 1.85254061e-02, 1.40497591e+00, 2.40499639e-02,
  4.15938421e-03,-5.76616185e-02, 8.06787252e-02, 7.05301207e-01,
 -4.79805197e-02,-7.05645391e-01,-4.80901109e-02]

qacc:
[ 3.19821892e-01, 1.00858138e+00,-2.88143744e+00, 2.07385976e+00,
  1.55605186e-02, 1.34616026e+00,-4.20563106e+00, 6.13976639e+00,
  5.90506814e-02, 1.58783245e-01, 6.89536953e+00,-3.25390228e+01,
  2.43333732e-02,-7.76671287e-02, 1.04514749e+01,-3.59342926e+01,
 -1.59424556e+00,-8.22341508e-01,-1.40961220e+00,-2.21076292e+00,
 -7.76732537e+01,-5.37841818e+01]

qfrc_actuator:
[ 2.40612269e-03, 2.73551724e-02, 8.58732237e-03, 1.63706819e-03,
  3.81606238e-05, 2.73731342e-02, 8.66610949e-03, 1.68117798e-03,
 -2.38478531e-03, 2.73963830e-02, 8.68429530e-03, 1.56093882e-03,
  0.00000000e+00,-1.40911342e-03, 0.00000000e+00,-9.40602181e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.53632963,  5.33670445,  1.47327234,  5.33670445,  7.95509983,
       -8.7616263 ,  1.47327234, -8.7616263 , 37.27398513,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004911927851524375
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.26025923e-13,  2.26025923e-13,  1.00000000e+00, -5.10877177e-26,
        1.00000000e+00, -2.26025923e-13, -1.00000000e+00,  0.00000000e+00,
        2.26025923e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0538083 , -0.0437561 ,  0.06195307])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.83511670e-05, 2.00970721e-05,-1.24696698e-05,-2.85890533e-06,
  2.87783236e-06, 7.30459705e-05, 1.12941173e-05, 1.00382014e-05,
  1.10129927e-05, 2.13996693e-05,-5.37482634e-05,-8.01509299e-05,
  3.30970530e-03,-7.71498601e-06,-9.77406473e-06,-1.76516117e-04,
  1.80827741e-04,-7.65098130e-05,-1.21645318e+00,-9.79006893e-06,
  7.63952624e-03, 1.78607563e-03]


--- Step 2431 ---
qpos:
[-2.52409249e-03, 8.65827449e-01,-2.37828566e-02, 3.66269072e-04,
 -2.95243726e-03, 8.61844896e-01,-2.70975525e-02, 3.09933315e-03,
 -1.18919337e-03, 8.70648176e-01,-1.92532567e-02,-2.13271238e-02,
  1.39623336e+00, 1.85250063e-02, 1.40505056e+00, 2.40474928e-02,
  4.16548806e-03,-5.76704894e-02, 8.06694298e-02, 7.05424180e-01,
 -4.78150308e-02,-7.05524315e-01,-4.82274910e-02]

qacc:
[ 5.11618978e-01,-3.18873407e-03,-2.82308667e+00, 1.31852254e+01,
  1.69563914e-01, 4.09448848e+00,-1.02021680e+01, 5.02144601e+00,
  1.76994404e-01,-2.08763467e-01, 7.59913366e-01,-1.88864125e-01,
  1.88379442e-02,-2.07176984e-01,-3.61817673e+00, 1.17533023e+01,
 -1.54147063e+00, 5.12807867e-01,-6.39068867e-01, 5.01535492e-01,
 -8.35861199e+01, 2.25316106e+01]

qfrc_actuator:
[ 2.47149186e-03, 2.73537973e-02, 8.61241990e-03, 1.67037227e-03,
  6.76853817e-05, 2.75025865e-02, 8.63548527e-03, 1.66822386e-03,
 -2.35754849e-03, 2.74211457e-02, 8.70468769e-03, 1.56774450e-03,
  0.00000000e+00,-1.43850335e-03, 0.00000000e+00,-8.79890391e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005312099747879773
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.53121575e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.53121575e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05028231, -0.06976533,  0.06194931])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.31959972e-05, 7.18535752e-06, 2.76261034e-05, 3.36796363e-05,
  3.08994983e-05, 1.73064098e-04,-1.37984199e-05,-9.23947469e-06,
  3.25108847e-05, 2.22381135e-05, 1.54339954e-05, 4.30555515e-06,
  3.29664338e-03,-2.71542288e-05,-2.55926703e-05, 4.92861520e-05,
  7.36076138e-05,-6.72939597e-05,-1.21645065e+00,-1.80288899e-05,
  7.64008742e-03, 1.78456900e-03]


--- Step 2432 ---
qpos:
[-2.52262989e-03, 8.65827599e-01,-2.37837733e-02, 3.68243778e-04,
 -2.95085721e-03, 8.61847475e-01,-2.70988884e-02, 3.09928574e-03,
 -1.18854995e-03, 8.70647343e-01,-1.92527361e-02,-2.13278790e-02,
  1.39623249e+00, 1.85239789e-02, 1.40512511e+00, 2.40453887e-02,
  4.16574504e-03,-5.76773676e-02, 8.06558644e-02, 7.05436951e-01,
 -4.76865157e-02,-7.05513480e-01,-4.83263146e-02]

qacc:
[ 3.56899597e-01, 1.86471673e+00,-1.21959215e+01, 3.55035737e+01,
  2.73344075e-01, 1.18685634e+00, 2.12738618e-02,-8.99501929e+00,
  7.51856952e-02,-1.24479410e+00, 3.80030538e+00, 4.10153919e-01,
  4.21059144e-02,-5.25330157e-01,-1.28913681e+00, 4.23200736e+00,
 -1.46171823e+00, 4.98175896e-01,-1.06749573e+00, 5.83896068e-01,
 -7.95716086e+01, 2.13493699e+01]

qfrc_actuator:
[ 0.00249206, 0.02738854, 0.00864552, 0.001743  , 0.00010253, 0.02754322,
  0.00861811, 0.00164271,-0.00235936, 0.02748969, 0.00877023, 0.00158999,
  0.        ,-0.00149136, 0.        ,-0.00086082, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 6.1069629 ,  5.90957824, -1.54009123,  5.90957824,  9.70402301,
       13.80249928, -1.54009123, 13.80249928, 59.06937693,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005609722429755423
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.36063475e-13, -1.97910510e-13,  1.00000000e+00,  2.69283917e-26,
        1.00000000e+00,  1.97910510e-13, -1.00000000e+00,  0.00000000e+00,
        1.36063475e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05022613, -0.06974572,  0.06194652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.50094480e-05, 4.59266078e-05, 3.91586521e-05, 7.45468132e-05,
  4.95380522e-05, 1.34137190e-04, 1.63465524e-05,-1.87572689e-05,
  1.37515989e-05, 8.43878264e-05, 7.21972152e-05, 2.38170066e-05,
  3.30954348e-03,-6.97034020e-05,-6.73502127e-06, 1.84468468e-05,
  1.75863910e-05,-2.43638472e-05,-1.21644618e+00,-1.18498471e-05,
  7.63948269e-03, 1.78356653e-03]


--- Step 2433 ---
qpos:
[-2.52165315e-03, 8.65828423e-01,-2.37844240e-02, 3.69984948e-04,
 -2.94937976e-03, 8.61850160e-01,-2.70998650e-02, 3.09729702e-03,
 -1.18785292e-03, 8.70647043e-01,-1.92517580e-02,-2.13280009e-02,
  1.39623145e+00, 1.85226325e-02, 1.40519960e+00, 2.40435157e-02,
  4.16042412e-03,-5.76823053e-02, 8.06365694e-02, 7.05344212e-01,
 -4.75931826e-02,-7.05608256e-01,-4.83882300e-02]

qacc:
[-2.54820350e-01,-3.31815567e-01, 3.46311414e+00,-8.42679525e+00,
 -5.39593099e-02,-4.85755690e+00, 2.57190882e+01,-5.99747169e+01,
  2.81170827e-02, 7.30890109e-01,-4.25308935e+00, 1.40823774e+01,
  6.41288010e-02,-2.98071931e-01,-7.97989461e-01, 2.63534918e+00,
 -1.39447533e+00, 4.85122088e-01,-1.43240683e+00, 6.46423840e-01,
 -7.62005912e+01, 2.03612526e+01]

qfrc_actuator:
[ 2.41464882e-03, 2.74447193e-02, 8.66547470e-03, 1.73169124e-03,
  6.92417743e-05, 2.74771247e-02, 8.60837758e-03, 1.53895718e-03,
 -2.36079409e-03, 2.75131378e-02, 8.79105020e-03, 1.62118149e-03,
  0.00000000e+00,-1.48678009e-03, 0.00000000e+00,-8.48759908e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000579089791665606
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.99120724e-14, -1.91718632e-13,  1.00000000e+00, -1.14862605e-26,
        1.00000000e+00,  1.91718632e-13, -1.00000000e+00,  0.00000000e+00,
       -5.99120724e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05019175, -0.06973345,  0.06194481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.64120313e-05, 9.31498465e-05, 3.68487029e-05,-6.53777787e-06,
 -9.76121108e-06, 1.14396253e-05, 1.93211747e-05,-9.78105904e-05,
  5.15999383e-06, 8.65875235e-05, 4.79718879e-05, 3.77702303e-05,
  3.33105010e-03,-3.37153796e-05,-2.97529254e-06, 1.18169223e-05,
  4.15928146e-07, 1.24523828e-06,-1.21644353e+00,-7.74032400e-06,
  7.63902896e-03, 1.78270703e-03]


--- Step 2434 ---
qpos:
[-2.52158086e-03, 8.65829775e-01,-2.37847445e-02, 3.71246116e-04,
 -2.94816637e-03, 8.61852766e-01,-2.71008054e-02, 3.09412878e-03,
 -1.18714233e-03, 8.70646996e-01,-1.92506067e-02,-2.13280368e-02,
  1.39623046e+00, 1.85213079e-02, 1.40527401e+00, 2.40421276e-02,
  4.14975313e-03,-5.76853491e-02, 8.06103033e-02, 7.05149840e-01,
 -4.75335396e-02,-7.05804711e-01,-4.84146198e-02]

qacc:
[-4.74213481e-01,-1.21237772e+00, 7.36232657e+00,-1.65874249e+01,
 -1.39088075e-01,-2.63158176e+00, 1.42128490e+01,-3.46300086e+01,
  7.10928337e-03, 2.71079455e-02, 2.55529593e-02, 9.98937711e-01,
  7.12164611e-02,-4.72543629e-02,-1.59775495e+00, 5.39433788e+00,
 -1.33751783e+00, 4.73488781e-01,-1.74277560e+00, 6.93537008e-01,
 -7.33760744e+01, 1.95364273e+01]

qfrc_actuator:
[ 2.35034872e-03, 2.74599414e-02, 8.67755008e-03, 1.70659712e-03,
  4.87367990e-05, 2.74540841e-02, 8.60271108e-03, 1.47866455e-03,
 -2.36196405e-03, 2.74915031e-02, 8.78512537e-03, 1.62181384e-03,
  0.00000000e+00,-1.46554997e-03, 0.00000000e+00,-8.23159336e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005877008754919255
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.36136926e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.36136926e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.050175  , -0.06972709,  0.06194396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.64208310e-05, 7.46153284e-05, 3.56232260e-05,-1.99581164e-05,
 -2.51358532e-05,-1.68982349e-05,-4.31914930e-06,-6.10371886e-05,
  1.30991548e-06, 3.83087121e-05, 1.91689580e-05, 6.73400696e-06,
  3.33953482e-03, 3.51262281e-06,-1.71013043e-06, 2.55141344e-05,
  1.70552867e-05, 1.18764856e-05,-1.21644246e+00,-5.30092055e-06,
  7.63870282e-03, 1.78194576e-03]


--- Step 2435 ---
qpos:
[-2.52178090e-03, 8.65831740e-01,-2.37852266e-02, 3.72565623e-04,
 -2.94702453e-03, 8.61855343e-01,-2.71016759e-02, 3.09232581e-03,
 -1.18680566e-03, 8.70647208e-01,-1.92499953e-02,-2.13287051e-02,
  1.39622976e+00, 1.85204546e-02, 1.40534830e+00, 2.40417171e-02,
  4.13392643e-03,-5.76865405e-02, 8.05760112e-02, 7.04857028e-01,
 -4.75063468e-02,-7.06099508e-01,-4.84066410e-02]

qacc:
[-1.43097317e-01, 1.38170318e+00,-3.99685316e+00, 4.81499784e+00,
 -3.75470921e-02, 2.57674094e+00,-1.50055736e+01, 3.85457419e+01,
 -1.95702258e-01, 5.47820668e-01, 1.20829817e+00,-1.14710683e+01,
  6.34305480e-02, 2.91138169e-01,-3.14226123e+00, 1.07314801e+01,
 -1.28892717e+00, 4.63093223e-01,-2.00651641e+00, 7.28576775e-01,
 -7.10153388e+01, 1.88490030e+01]

qfrc_actuator:
[ 2.36554031e-03, 2.74859697e-02, 8.66697270e-03, 1.70907682e-03,
  5.38595282e-05, 2.74747701e-02, 8.61741818e-03, 1.55097977e-03,
 -2.39846367e-03, 2.74783894e-02, 8.74550072e-03, 1.58665074e-03,
  0.00000000e+00,-1.41678986e-03, 0.00000000e+00,-7.72029420e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005886101720746564
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41463282e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.41463282e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0501724 , -0.06972547,  0.06194382])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.60093338e-05, 7.42119427e-05, 8.52219563e-06, 6.51822099e-06,
 -6.80997300e-06, 7.67687555e-06, 8.56434003e-06, 7.02563956e-05,
 -3.58674825e-05, 1.25485463e-05,-2.91268889e-05,-3.27301501e-05,
  3.33714460e-03, 5.12275314e-05, 8.22351265e-07, 5.20509235e-05,
  6.36862934e-05, 9.31391994e-06,-1.21644273e+00,-4.23085893e-06,
  7.63848501e-03, 1.78125033e-03]


--- Step 2436 ---
qpos:
[-2.52201275e-03, 8.65833789e-01,-2.37858456e-02, 3.73626643e-04,
 -2.94588850e-03, 8.61857160e-01,-2.71020957e-02, 3.09285219e-03,
 -1.18687529e-03, 8.70647460e-01,-1.92503361e-02,-2.13297313e-02,
  1.39622934e+00, 1.85203508e-02, 1.40542232e+00, 2.40439247e-02,
  4.11311148e-03,-5.76859169e-02, 8.05327969e-02, 7.04468378e-01,
 -4.75105757e-02,-7.06489810e-01,-4.83652596e-02]

qacc:
[-1.68067546e-02,-4.08798695e-02, 1.39495079e+00,-5.71006676e+00,
 -2.37321131e-03, 2.52922837e+00,-2.03109822e+01, 6.04660989e+01,
 -2.12766861e-01, 1.97605042e+00,-5.46011445e+00, 7.64906649e-01,
  4.55605436e-02, 4.72033895e-01,-8.33047005e+00, 2.85656501e+01,
 -1.24706004e+00, 4.53744286e-01,-2.23053069e+00, 7.54064327e-01,
 -6.90481327e+01, 1.82772893e+01]

qfrc_actuator:
[ 2.37489867e-03, 2.74471744e-02, 8.64316347e-03, 1.69224921e-03,
  5.65193543e-05, 2.73974041e-02, 8.62654874e-03, 1.66528145e-03,
 -2.42027374e-03, 2.74525284e-02, 8.68630010e-03, 1.56619968e-03,
  0.00000000e+00,-1.36972266e-03, 0.00000000e+00,-6.35258074e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005833377568177645
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.51612519e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.51612519e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05018106, -0.06972762,  0.06194423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.03844139e-06, 4.69433682e-06,-7.21974411e-06,-1.32305989e-05,
 -5.72993402e-07,-6.83478128e-05, 1.41922625e-05, 1.16294790e-04,
 -3.89801127e-05,-2.62729593e-05,-6.13344712e-05,-2.15588737e-05,
  3.32231745e-03, 7.47636592e-05, 5.42592695e-06, 1.39587610e-04,
  1.37431279e-04,-5.08811814e-06,-1.21644410e+00,-4.30444511e-06,
  7.63835897e-03, 1.78059713e-03]


--- Step 2437 ---
qpos:
[-2.52238553e-03, 8.65835556e-01,-2.37865255e-02, 3.74175537e-04,
 -2.94492972e-03, 8.61858415e-01,-2.71029062e-02, 3.09443301e-03,
 -1.18690278e-03, 8.70647210e-01,-1.92512016e-02,-2.13306079e-02,
  1.39622910e+00, 1.85205162e-02, 1.40549645e+00, 2.40467442e-02,
  4.09548019e-03,-5.76828233e-02, 8.05036104e-02, 7.04136476e-01,
 -4.75577405e-02,-7.06823058e-01,-4.82830097e-02]

qacc:
[-7.38596282e-02,-1.25493650e+00, 6.09752446e+00,-1.46572102e+01,
 -9.33415491e-02, 2.51688056e+00,-1.45048681e+01, 3.37949121e+01,
  2.18569280e-02, 1.11087051e+00,-5.55256168e+00, 9.34464597e+00,
  3.45244957e-02, 1.70630685e-01,-1.67569321e+00, 6.12114193e+00,
  7.95912274e-01, 6.17494723e-01, 3.50695682e+00,-7.18635499e-01,
  3.81337042e+01, 3.22898709e+01]

qfrc_actuator:
[ 2.36287288e-03, 2.74052758e-02, 8.62920761e-03, 1.66413069e-03,
  3.99116938e-05, 2.73507142e-02, 8.59641933e-03, 1.71450166e-03,
 -2.39758290e-03, 2.74013816e-02, 8.65148733e-03, 1.57230686e-03,
  0.00000000e+00,-1.37739571e-03, 0.00000000e+00,-6.08907093e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000588401701490493
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.43422684e-14, -4.71711342e-14,  1.00000000e+00,  4.45023180e-27,
        1.00000000e+00,  4.71711342e-14, -1.00000000e+00,  0.00000000e+00,
        9.43422684e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00425137, -0.06312625,  0.06194366])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.34776783e-05,-4.13767378e-05,-1.43463498e-05,-2.84285442e-05,
 -1.68899658e-05,-7.70365170e-05,-3.84830042e-05, 4.90443540e-05,
  4.02543054e-06,-7.94343042e-05,-4.85374613e-05, 2.44229370e-06,
  3.30804498e-03, 2.96393090e-05, 1.74718559e-05, 3.46686006e-05,
  2.36137263e-04,-3.03062893e-05,-1.21644631e+00,-5.35327513e-06,
  7.63830973e-03, 1.77996881e-03]


--- Step 2438 ---
qpos:
[-2.52271271e-03, 8.65836330e-01,-2.37859329e-02, 3.74728156e-04,
 -2.94453579e-03, 8.61859352e-01,-2.71040666e-02, 3.09483139e-03,
 -1.18639811e-03, 8.70646120e-01,-1.92526518e-02,-2.13306654e-02,
  1.39622924e+00, 1.85210659e-02, 1.40557077e+00, 2.40488731e-02,
  4.08085400e-03,-5.76774643e-02, 8.04856632e-02, 7.03858258e-01,
 -4.76456683e-02,-7.07102452e-01,-4.81618631e-02]

qacc:
[ 2.50599242e-02,-4.85591857e+00, 1.53984682e+01,-1.66447486e+01,
 -2.97658272e-01,-1.87472231e+00, 1.10677971e+01,-3.07408353e+01,
  2.77820809e-01, 2.21138206e+00,-1.29453484e+01, 2.86605842e+01,
  1.96591921e-02, 3.05007964e-01, 2.37680330e+00,-7.89167844e+00,
  7.51276246e-01, 5.66353187e-01, 2.80981021e+00,-6.28381970e-01,
  3.60229016e+01, 3.06769346e+01]

qfrc_actuator:
[ 2.37364372e-03, 2.73440933e-02, 8.69215319e-03, 1.66509992e-03,
 -5.83532299e-06, 2.73402883e-02, 8.57890021e-03, 1.65400565e-03,
 -2.34847742e-03, 2.73355894e-02, 8.61350812e-03, 1.61173739e-03,
  0.00000000e+00,-1.34672197e-03, 0.00000000e+00,-6.47849314e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006243386690920269
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.89119223e-14,  1.77823845e-13,  1.00000000e+00,  1.58106599e-26,
        1.00000000e+00, -1.77823845e-13, -1.00000000e+00,  0.00000000e+00,
       -8.89119223e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00422564, -0.06311755,  0.06194026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.33667362e-06,-8.85387263e-05, 5.16396398e-05,-1.85535707e-06,
 -5.37741531e-05,-5.93777321e-05,-3.64788437e-05,-6.41762432e-05,
  5.10226034e-05,-1.20114970e-04,-6.02685044e-05, 3.44007768e-05,
  3.29899557e-03, 4.68661093e-05, 9.94924010e-06,-3.52339786e-05,
  1.66819364e-04,-4.45618658e-05,-1.21644324e+00,-8.89729858e-06,
  7.63795234e-03, 1.78043050e-03]


--- Step 2439 ---
qpos:
[-2.52276360e-03, 8.65835766e-01,-2.37840868e-02, 3.76024765e-04,
 -2.94451005e-03, 8.61860258e-01,-2.71053208e-02, 3.09410148e-03,
 -1.18552210e-03, 8.70644275e-01,-1.92543332e-02,-2.13299395e-02,
  1.39622978e+00, 1.85223929e-02, 1.40564492e+00, 2.40522062e-02,
  4.06908208e-03,-5.76700056e-02, 8.04765898e-02, 7.03631142e-01,
 -4.77725348e-02,-7.07330663e-01,-4.80034782e-02]

qacc:
[ 1.46155983e-01,-3.73687032e+00, 7.61932837e+00, 4.23146795e+00,
 -1.94021748e-01,-2.10042304e+00, 1.21932498e+01,-3.15498367e+01,
  1.94052855e-01, 1.26100919e+00,-9.24595193e+00, 2.37154353e+01,
 -7.02567042e-03, 5.68930077e-01,-3.89177182e+00, 1.32745464e+01,
  7.13567388e-01, 5.24930749e-01, 2.21845693e+00,-5.53084660e-01,
  3.42559603e+01, 2.93220220e+01]

qfrc_actuator:
[ 2.39796236e-03, 2.72544114e-02, 8.74667259e-03, 1.70096345e-03,
 -1.53495661e-05, 2.73693539e-02, 8.58681555e-03, 1.60050552e-03,
 -2.33728792e-03, 2.73148063e-02, 8.60940401e-03, 1.65267982e-03,
  0.00000000e+00,-1.29326297e-03, 0.00000000e+00,-5.82888630e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006470482753015011
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.57913595e-14, -8.57913595e-14,  1.00000000e+00,  7.36015737e-27,
        1.00000000e+00,  8.57913595e-14, -1.00000000e+00,  0.00000000e+00,
        8.57913595e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0042095 , -0.06311236,  0.06193811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.63729000e-05,-1.28628064e-04, 4.25198573e-05, 3.38190132e-05,
 -3.50460761e-05,-1.44405255e-05,-1.10616753e-05,-5.85550363e-05,
  3.56014722e-05,-9.88781613e-05,-3.51242554e-05, 3.43878162e-05,
  3.27985432e-03, 8.11146822e-05,-8.70480364e-07, 6.38942634e-05,
  1.12321626e-04,-5.11187175e-05,-1.21644105e+00,-9.64844381e-06,
  7.63764158e-03, 1.78077902e-03]


--- Step 2440 ---
qpos:
[-2.52253185e-03, 8.65835082e-01,-2.37830998e-02, 3.77040531e-04,
 -2.94453035e-03, 8.61861130e-01,-2.71063013e-02, 3.09340024e-03,
 -1.18440441e-03, 8.70641874e-01,-1.92556338e-02,-2.13284528e-02,
  1.39623024e+00, 1.85239837e-02, 1.40571888e+00, 2.40576234e-02,
  4.06003801e-03,-5.76605809e-02, 8.04743916e-02, 7.03452964e-01,
 -4.79368149e-02,-7.07509905e-01,-4.78092409e-02]

qacc:
[ 1.47677197e-01, 1.66248613e+00,-4.97366663e+00, 1.57795262e+00,
 -2.40624489e-02,-7.49566733e-01, 2.48770208e+00,-2.40574758e+00,
  1.26649904e-01,-2.29617194e-01,-3.45106282e+00, 1.64059204e+01,
 -2.04193270e-02, 1.59339869e-01,-6.58282652e+00, 2.26378415e+01,
  6.81960630e-01, 4.91512348e-01, 1.71879992e+00,-4.89395490e-01,
  3.27812140e+01, 2.81896044e+01]

qfrc_actuator:
[ 2.41240812e-03, 2.72726416e-02, 8.70688312e-03, 1.68601126e-03,
 -3.09486587e-06, 2.73864498e-02, 8.60987536e-03, 1.60487964e-03,
 -2.33114743e-03, 2.73212811e-02, 8.64325819e-03, 1.69423756e-03,
  0.00000000e+00,-1.31544263e-03, 0.00000000e+00,-4.74957459e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006589934887904492
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.42362666e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.42362666e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00420111, -0.06311004,  0.06193699])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.70039117e-05,-4.34655688e-05,-5.99585333e-05,-1.83365769e-05,
 -4.38204777e-06, 4.21326650e-06, 1.66921850e-05, 2.23502352e-06,
  2.31695237e-05,-5.45355743e-05, 1.03237399e-05, 3.67827667e-05,
  3.26012717e-03, 2.00625388e-05, 6.28893825e-06, 1.11243646e-04,
  7.04190268e-05,-5.10502121e-05,-1.21643957e+00,-7.93827221e-06,
  7.63736056e-03, 1.78103285e-03]


--- Step 2441 ---
qpos:
[-2.52207753e-03, 8.65834686e-01,-2.37822951e-02, 3.77423745e-04,
 -2.94449474e-03, 8.61861456e-01,-2.71067447e-02, 3.09245871e-03,
 -1.18332409e-03, 8.70639705e-01,-1.92573969e-02,-2.13272143e-02,
  1.39623029e+00, 1.85248393e-02, 1.40579311e+00, 2.40622851e-02,
  4.05361658e-03,-5.76492974e-02, 8.04773855e-02, 7.03321910e-01,
 -4.81372399e-02,-7.07642009e-01,-4.75803020e-02]

qacc:
[ 1.16441962e-01,-4.13739827e-01, 4.69541704e+00,-1.55618986e+01,
  2.99661058e-02,-2.71288501e+00, 9.64410518e+00,-1.42642572e+01,
 -1.98879558e-02, 1.08662843e+00,-2.38448433e+00,-1.33783916e+00,
 -3.99559628e-03,-5.38051039e-01, 2.67415158e+00,-8.80924698e+00,
  6.55662296e-01, 4.64665128e-01, 1.29802832e+00,-4.34623416e-01,
  3.15539747e+01, 2.72482217e+01]

qfrc_actuator:
[ 2.42081330e-03, 2.73371831e-02, 8.71863543e-03, 1.65904952e-03,
  4.29370092e-06, 2.73253683e-02, 8.62393919e-03, 1.59001477e-03,
 -2.34580785e-03, 2.73619645e-02, 8.62835717e-03, 1.68261570e-03,
  0.00000000e+00,-1.40055551e-03, 0.00000000e+00,-5.20131963e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006622530893208439
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04777071e-13, -8.38216569e-14,  1.00000000e+00,  8.78258771e-27,
        1.00000000e+00,  8.38216569e-14, -1.00000000e+00,  0.00000000e+00,
        1.04777071e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00419894, -0.06311003,  0.06193669])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.12776128e-05, 2.70773403e-05,-5.25076007e-06,-3.12582248e-05,
  5.30872508e-06,-5.51950479e-05, 1.70699750e-05,-1.40618182e-05,
 -3.57982341e-06, 1.39647647e-05,-2.35919622e-05,-1.28797605e-05,
  3.26363941e-03,-7.82544903e-05, 1.38160619e-05,-3.85195715e-05,
  3.93964290e-05,-4.51679396e-05,-1.21643868e+00,-4.02149082e-06,
  7.63709611e-03, 1.78120609e-03]


--- Step 2442 ---
qpos:
[-2.52165341e-03, 8.65834534e-01,-2.37809065e-02, 3.78121608e-04,
 -2.94438663e-03, 8.61861700e-01,-2.71071610e-02, 3.09132294e-03,
 -1.18272796e-03, 8.70638320e-01,-1.92596112e-02,-2.13268881e-02,
  1.39622988e+00, 1.85250191e-02, 1.40586734e+00, 2.40670638e-02,
  4.04880135e-03,-5.76429151e-02, 8.04830121e-02, 7.03222756e-01,
 -4.82433649e-02,-7.07742402e-01,-4.74449777e-02]

qacc:
[-1.55319528e-02,-6.58653309e-01, 1.49192950e+00, 2.83783137e+00,
  3.82191612e-02,-5.85134394e-01, 2.74721140e+00,-6.09182867e+00,
 -2.53413432e-01, 4.17601518e-01, 3.85933448e+00,-1.94894741e+01,
  2.17869713e-02,-5.39481590e-01,-3.89032091e-01, 1.29307549e+00,
  4.01549777e-01,-1.22527263e+00, 6.58182181e-01, 5.22691948e-02,
  2.69348997e+01,-6.47638287e+01]

qfrc_actuator:
[ 2.40778851e-03, 2.73758944e-02, 8.76097958e-03, 1.67860398e-03,
  8.67905030e-06, 2.73421736e-02, 8.63223262e-03, 1.58161664e-03,
 -2.39051908e-03, 2.74403611e-02, 8.62039929e-03, 1.63979084e-03,
  0.00000000e+00,-1.43377176e-03, 0.00000000e+00,-5.13142692e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000667876803178577
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.31158546e-14, -8.31158546e-14,  1.00000000e+00,  6.90824528e-27,
        1.00000000e+00,  8.31158546e-14, -1.00000000e+00,  0.00000000e+00,
        8.31158546e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00082965, -0.03590715,  0.06193618])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.87508271e-06, 5.14332091e-05, 4.62033433e-05, 1.99226087e-05,
  6.89852911e-06,-1.11376687e-05,-1.48695694e-06,-1.04439275e-05,
 -4.64285512e-05, 8.08466461e-05,-8.39625471e-06,-4.32899522e-05,
  3.28415540e-03,-7.47155279e-05,-1.22531244e-06, 5.87336600e-06,
  1.79350438e-05,-3.40809008e-05,-1.21643829e+00, 1.90718036e-06,
  7.63683750e-03, 1.78130961e-03]


--- Step 2443 ---
qpos:
[-2.52151270e-03, 8.65834410e-01,-2.37794731e-02, 3.79458746e-04,
 -2.94421744e-03, 8.61862107e-01,-2.71076318e-02, 3.09041397e-03,
 -1.18245774e-03, 8.70637533e-01,-1.92613806e-02,-2.13267716e-02,
  1.39622948e+00, 1.85251083e-02, 1.40594157e+00, 2.40715478e-02,
  4.04549844e-03,-5.76412698e-02, 8.04897248e-02, 7.03154418e-01,
 -4.82587108e-02,-7.07812288e-01,-4.73996524e-02]

qacc:
[-1.48545305e-01, 1.22583093e+00,-7.01840181e+00, 1.79914115e+01,
  3.20874586e-02, 8.34326182e-01,-3.61982379e+00, 7.51328790e+00,
 -1.70114179e-01,-8.86309524e-01, 5.18803357e+00,-9.96396536e+00,
  3.80871077e-02,-8.84512099e-02, 9.02406767e-01,-3.14752904e+00,
  3.78077524e-01,-1.18424896e+00, 2.71507761e-01, 9.05090070e-02,
  2.59561745e+01,-6.23017952e+01]

qfrc_actuator:
[ 2.38206946e-03, 2.73457765e-02, 8.74997496e-03, 1.70762136e-03,
  1.12235144e-05, 2.73699618e-02, 8.63735889e-03, 1.59490124e-03,
 -2.39954112e-03, 2.74874821e-02, 8.65228628e-03, 1.63226550e-03,
  0.00000000e+00,-1.40011004e-03, 0.00000000e+00,-5.28683527e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000671239465823259
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.26994747e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.26994747e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00083019, -0.03591073,  0.06193589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.70853113e-05, 9.02883855e-06, 5.98880172e-06, 3.32045954e-05,
  5.81792760e-06, 2.08058405e-05, 2.28437470e-06, 1.25546223e-05,
 -3.12455628e-05, 8.87863123e-05, 4.60795093e-05,-5.19207971e-06,
  3.30683595e-03,-7.25142007e-06,-2.26708227e-06,-1.59001708e-05,
  1.17795930e-05,-1.61255250e-05,-1.21643821e+00, 1.19291985e-05,
  7.63788534e-03, 1.78134582e-03]


--- Step 2444 ---
qpos:
[-2.52166742e-03, 8.65834334e-01,-2.37781556e-02, 3.81487739e-04,
 -2.94437745e-03, 8.61863056e-01,-2.71082178e-02, 3.08928041e-03,
 -1.18221396e-03, 8.70636963e-01,-1.92622790e-02,-2.13270730e-02,
  1.39622940e+00, 1.85250633e-02, 1.40601614e+00, 2.40727905e-02,
  4.04363163e-03,-5.76442250e-02, 8.04962220e-02, 7.03115962e-01,
 -4.81861982e-02,-7.07852636e-01,-4.74413365e-02]

qacc:
[-1.54946155e-01, 1.81270204e+00,-9.28941450e+00, 2.14130944e+01,
 -1.73655365e-01, 5.75150553e-01,-6.35289064e-02,-4.03741597e+00,
 -1.33576741e-02,-3.00676547e+00, 1.28974466e+01,-2.16740271e+01,
  3.29790598e-02,-3.45637380e-02, 1.03263128e+01,-3.53818121e+01,
  3.59026684e-01,-1.15014786e+00,-5.38656954e-02, 1.16897658e-01,
  2.51420414e+01,-6.02633217e+01]

qfrc_actuator:
[ 2.36675181e-03, 2.73454924e-02, 8.74277199e-03, 1.74186599e-03,
 -2.28593928e-05, 2.74218793e-02, 8.64065572e-03, 1.58534688e-03,
 -2.38711426e-03, 2.74802063e-02, 8.68961190e-03, 1.61007693e-03,
  0.00000000e+00,-1.39764702e-03, 0.00000000e+00,-6.99398475e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006674157541741998
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.49519812e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.49519812e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0008276 , -0.03590694,  0.06193627])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.82329204e-05, 7.40997970e-06,-3.46321412e-06, 3.54814038e-05,
 -3.13188508e-05, 6.45572878e-05, 8.31158918e-06,-8.33823837e-06,
 -2.52588627e-06, 5.16943637e-05, 6.11786452e-05,-1.68898316e-05,
  3.30595066e-03,-2.45604449e-07,-4.31336976e-06,-1.72254032e-04,
  7.10187085e-06,-3.56232607e-06,-1.21643932e+00, 1.69850444e-05,
  7.63899220e-03, 1.78150235e-03]


--- Step 2445 ---
qpos:
[-2.52224261e-03, 8.65834920e-01,-2.37772082e-02, 3.83849714e-04,
 -2.94490588e-03, 8.61864636e-01,-2.71085457e-02, 3.08765756e-03,
 -1.18209101e-03, 8.70636470e-01,-1.92623240e-02,-2.13272727e-02,
  1.39622933e+00, 1.85246950e-02, 1.40609070e+00, 2.40719824e-02,
  4.04313910e-03,-5.76516679e-02, 8.05014106e-02, 7.03106581e-01,
 -4.80282397e-02,-7.07864218e-01,-4.75675688e-02]

qacc:
[-2.20898728e-01, 2.59181241e+00,-9.38028286e+00, 1.52510205e+01,
 -1.94119400e-01,-8.93138451e-01, 6.46159091e+00,-1.58082607e+01,
 -6.25758635e-02,-2.07292764e+00, 7.10974173e+00,-6.77252627e+00,
  2.11081414e-02,-2.11133129e-01, 6.19445957e+00,-2.16973912e+01,
  3.43572188e-01,-1.12189970e+00,-3.27141833e-01, 1.33475122e-01,
  2.44673753e+01,-5.85823284e+01]

qfrc_actuator:
[ 2.34004773e-03, 2.74163330e-02, 8.73799275e-03, 1.76118606e-03,
 -4.30476111e-05, 2.74700776e-02, 8.66068993e-03, 1.56244981e-03,
 -2.39749241e-03, 2.74759383e-02, 8.72959663e-03, 1.61488767e-03,
  0.00000000e+00,-1.43157591e-03, 0.00000000e+00,-8.00379659e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006579080109765101
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.43752475e-14,  8.43752475e-14,  1.00000000e+00, -7.11918238e-27,
        1.00000000e+00, -8.43752475e-14, -1.00000000e+00,  0.00000000e+00,
        8.43752475e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00082255, -0.03589735,  0.06193717])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.01667764e-05, 7.57740736e-05,-2.45983078e-06, 2.02037839e-05,
 -3.50469723e-05, 8.56363238e-05, 3.41016589e-05,-2.00045557e-05,
 -1.15836652e-05, 3.65708477e-05, 5.76245025e-05, 8.81484139e-06,
  3.29020612e-03,-2.74420713e-05,-2.27793119e-05,-1.11527977e-04,
  3.75177592e-06, 4.17075524e-06,-1.21644150e+00, 1.74429031e-05,
  7.64016597e-03, 1.78177624e-03]


--- Step 2446 ---
qpos:
[-2.52336653e-03, 8.65835810e-01,-2.37770079e-02, 3.85806111e-04,
 -2.94517209e-03, 8.61865766e-01,-2.71078976e-02, 3.08655334e-03,
 -1.18209053e-03, 8.70635981e-01,-1.92620747e-02,-2.13270193e-02,
  1.39622927e+00, 1.85243701e-02, 1.40616497e+00, 2.40712793e-02,
  4.04397070e-03,-5.76635050e-02, 8.05043742e-02, 7.03125572e-01,
 -4.77868194e-02,-7.07847633e-01,-4.77763337e-02]

qacc:
[-2.88302940e-01, 1.65314790e+00,-3.59978686e+00,-2.44661808e+00,
  1.38911650e-01,-2.25166988e+00, 4.97759158e+00, 2.76547536e+00,
 -6.37474007e-02, 1.17675370e-01,-2.32038753e+00, 9.68312257e+00,
  1.80337193e-02, 1.12216106e-02,-7.47032324e-01, 1.98879197e+00,
  3.31029338e-01,-1.09855464e+00,-5.56266047e-01, 1.41788610e-01,
  2.39108590e+01,-5.72032530e+01]

qfrc_actuator:
[ 2.30675500e-03, 2.73871960e-02, 8.68171045e-03, 1.73612826e-03,
 -1.47022277e-06, 2.73914698e-02, 8.69043935e-03, 1.58515954e-03,
 -2.40369599e-03, 2.74557759e-02, 8.73534082e-03, 1.63554563e-03,
  0.00000000e+00,-1.41608672e-03, 0.00000000e+00,-7.88404239e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006439714996805471
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.62012546e-14, -8.62012546e-14,  1.00000000e+00,  7.43065630e-27,
        1.00000000e+00,  8.62012546e-14, -1.00000000e+00,  0.00000000e+00,
        8.62012546e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00081559, -0.03588327,  0.06193848])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.24383375e-05, 1.35633162e-05,-4.02510431e-05,-2.15089488e-05,
  2.49513976e-05,-2.45731924e-05, 5.09378038e-05, 2.71702328e-05,
 -1.17472648e-05, 1.25762676e-05, 2.07050210e-05, 2.43907250e-05,
  3.28953699e-03, 4.23542610e-06,-2.38048645e-05, 2.62759813e-06,
  1.61231275e-06, 7.50692427e-06,-1.21644469e+00, 1.35866991e-05,
  7.64140957e-03, 1.78216433e-03]


--- Step 2447 ---
qpos:
[-2.52476696e-03, 8.65835829e-01,-2.37761363e-02, 3.87847005e-04,
 -2.94523871e-03, 8.61866338e-01,-2.71067448e-02, 3.08646856e-03,
 -1.18200162e-03, 8.70635321e-01,-1.92615782e-02,-2.13271839e-02,
  1.39622930e+00, 1.85245577e-02, 1.40623881e+00, 2.40730286e-02,
  4.04717347e-03,-5.76736102e-02, 8.05117490e-02, 7.03191196e-01,
 -4.75811730e-02,-7.07784504e-01,-4.79507044e-02]

qacc:
[-1.44242883e-01,-2.84955930e+00, 8.13637882e+00,-7.11067072e+00,
  1.05686960e-01,-4.86723784e-02,-5.19970146e+00, 2.24459461e+01,
  4.63687802e-02,-1.77899223e+00, 7.77519445e+00,-1.52743126e+01,
  1.27330541e-02, 3.12563258e-01,-8.06810361e+00, 2.72978370e+01,
  5.92793159e-01, 4.32971151e-01, 1.10280159e+00,-4.01488328e-01,
  3.11908655e+01, 2.69789614e+01]

qfrc_actuator:
[ 2.30531081e-03, 2.72981647e-02, 8.70156701e-03, 1.73830700e-03,
  5.67272491e-06, 2.73441233e-02, 8.70744422e-03, 1.63442116e-03,
 -2.38959222e-03, 2.74261186e-02, 8.73851108e-03, 1.61206182e-03,
  0.00000000e+00,-1.37118394e-03, 0.00000000e+00,-6.56732277e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006411287571740018
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.65834680e-14, -2.59750404e-13,  1.00000000e+00,  2.24900908e-26,
        1.00000000e+00,  2.59750404e-13, -1.00000000e+00,  0.00000000e+00,
        8.65834680e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00421161, -0.06311968,  0.06193875])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.64477472e-05,-9.07111624e-05, 1.69443324e-05, 9.44277384e-07,
  1.89830181e-05,-4.94307775e-05, 1.91336416e-05, 5.04994912e-05,
  8.47939536e-06,-1.72970336e-05, 9.16374473e-06,-2.17537645e-05,
  3.28870442e-03, 4.69965006e-05,-1.09112504e-05, 1.28701831e-04,
  5.92607424e-07, 6.77865522e-06,-1.21644882e+00, 5.63409974e-06,
  7.64272194e-03, 1.78266334e-03]


--- Step 2448 ---
qpos:
[-2.52574357e-03, 8.65835387e-01,-2.37748538e-02, 3.89863747e-04,
 -2.94535321e-03, 8.61867049e-01,-2.71061901e-02, 3.08696211e-03,
 -1.18178313e-03, 8.70634695e-01,-1.92613649e-02,-2.13279628e-02,
  1.39622944e+00, 1.85250425e-02, 1.40631264e+00, 2.40756430e-02,
  4.05271484e-03,-5.76820480e-02, 8.05222654e-02, 7.03302075e-01,
 -4.74102321e-02,-7.07676233e-01,-4.80916854e-02]

qacc:
[ 2.22633074e-01,-1.80679386e+00, 5.66021469e+00,-6.39786408e+00,
 -2.56088537e-02, 3.04216056e+00,-1.30248933e+01, 2.38928362e+01,
  6.74467670e-02,-4.29885511e-01, 4.18576706e+00,-1.43791478e+01,
  8.20978436e-03, 2.00776944e-01,-2.62658300e+00, 9.18285902e+00,
  5.84651106e-01, 4.16828068e-01, 7.85402633e-01,-3.91610943e-01,
  3.02610450e+01, 2.61807102e+01]

qfrc_actuator:
[ 2.35842827e-03, 2.72985183e-02, 8.73048226e-03, 1.73874719e-03,
 -7.88723704e-06, 2.73690795e-02, 8.68137790e-03, 1.66340038e-03,
 -2.38121857e-03, 2.74264440e-02, 8.72231369e-03, 1.58053564e-03,
  0.00000000e+00,-1.36237753e-03, 0.00000000e+00,-6.15405527e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006355804722835839
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.73392964e-14, -1.74678593e-13,  1.00000000e+00,  1.52563054e-26,
        1.00000000e+00,  1.74678593e-13, -1.00000000e+00,  0.00000000e+00,
        8.73392964e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00421489, -0.06312165,  0.06193928])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.04942703e-05,-4.68411173e-05, 1.22920285e-05,-2.84463686e-06,
 -4.55600861e-06, 3.41016860e-06,-3.21834649e-05, 2.85041680e-05,
  1.24305494e-05,-8.37230082e-06,-1.93920584e-05,-3.23727779e-05,
  3.28461859e-03, 3.01849830e-05, 9.15525388e-06, 4.70470357e-05,
  3.29888464e-06,-1.01365117e-05,-1.21644727e+00,-1.52080788e-06,
  7.64200820e-03, 1.78320720e-03]


--- Step 2449 ---
qpos:
[-2.52599759e-03, 8.65835242e-01,-2.37744089e-02, 3.91858449e-04,
 -2.94557515e-03, 8.61867974e-01,-2.71063281e-02, 3.08814109e-03,
 -1.18163710e-03, 8.70634339e-01,-1.92609929e-02,-2.13281390e-02,
  1.39622979e+00, 1.85252673e-02, 1.40638695e+00, 2.40750570e-02,
  4.06056741e-03,-5.76888711e-02, 8.05348619e-02, 7.03457070e-01,
 -4.72731120e-02,-7.07523960e-01,-4.82001055e-02]

qacc:
[ 3.78222008e-01, 2.68502728e+00,-8.91394160e+00, 9.65758137e+00,
 -5.70595659e-02, 3.62696150e+00,-1.54157161e+01, 2.82321999e+01,
 -3.78090924e-02, 1.15635441e+00,-6.14278384e+00, 1.61109265e+01,
  2.49022833e-03,-1.07918050e-01, 1.04109368e+01,-3.53750823e+01,
  5.77798936e-01, 4.03694144e-01, 5.20021688e-01,-3.84134797e-01,
  2.94982705e+01, 2.55210496e+01]

qfrc_actuator:
[ 2.40818772e-03, 2.73346893e-02, 8.69381389e-03, 1.73821910e-03,
 -1.59486900e-05, 2.73836859e-02, 8.64812253e-03, 1.69799612e-03,
 -2.39411217e-03, 2.74801273e-02, 8.74818501e-03, 1.61555794e-03,
  0.00000000e+00,-1.39297110e-03, 0.00000000e+00,-7.87453253e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006252228256266035
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.87861878e-14, -8.87861878e-14,  1.00000000e+00,  7.88298715e-27,
        1.00000000e+00,  8.87861878e-14, -1.00000000e+00,  0.00000000e+00,
        8.87861878e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00422177, -0.06312496,  0.06194027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.90620286e-05, 1.23994823e-05,-4.49361147e-05,-2.16936726e-06,
 -1.02237354e-05, 1.10648926e-05,-3.55405763e-05, 3.41801113e-05,
 -6.94351415e-06, 4.36272618e-05, 2.06375677e-05, 3.33640480e-05,
  3.27812452e-03,-1.52553390e-05, 7.90929511e-06,-1.68621306e-04,
  1.36394177e-05,-2.15242875e-05,-1.21644618e+00,-6.72854285e-06,
  7.64131046e-03, 1.78369293e-03]


--- Step 2450 ---
qpos:
[-2.52596939e-03, 8.65834284e-01,-2.37734128e-02, 3.93877953e-04,
 -2.94589716e-03, 8.61868573e-01,-2.71066528e-02, 3.08976040e-03,
 -1.18123649e-03, 8.70634088e-01,-1.92591709e-02,-2.13276192e-02,
  1.39622975e+00, 1.85250051e-02, 1.40646104e+00, 2.40747835e-02,
  4.07070858e-03,-5.76941219e-02, 8.05486537e-02, 7.03655238e-01,
 -4.71690827e-02,-7.07328600e-01,-4.82766442e-02]

qacc:
[ 1.48599041e-01,-2.56196250e+00, 7.47261832e+00,-7.32983734e+00,
 -5.26799245e-02, 9.95663027e-01,-6.03621921e+00, 1.41973988e+01,
  1.33835113e-01,-2.47865449e+00, 6.10444874e+00, 3.53683279e+00,
  2.19432696e-03,-3.90385285e-01,-1.29581045e+00, 4.01377509e+00,
  5.72151943e-01, 3.93089616e-01, 2.98834215e-01,-3.78437848e-01,
  2.88764564e+01, 2.49787027e+01]

qfrc_actuator:
[ 2.40220618e-03, 2.72497563e-02, 8.70764280e-03, 1.73711759e-03,
 -2.06323237e-05, 2.73386925e-02, 8.62864005e-03, 1.71787072e-03,
 -2.36635799e-03, 2.75123170e-02, 8.83447436e-03, 1.65403286e-03,
  0.00000000e+00,-1.44676648e-03, 0.00000000e+00,-7.64258757e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00061115938057512
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.08292550e-14,  9.08292550e-14,  1.00000000e+00, -8.24995357e-27,
        1.00000000e+00, -9.08292550e-14, -1.00000000e+00,  0.00000000e+00,
        9.08292550e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0042314, -0.0631293,  0.0619416])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.69508164e-05,-8.73672582e-05, 1.07723959e-05,-2.17230180e-06,
 -9.53543528e-06,-4.47060719e-05,-2.04011528e-05, 1.97809457e-05,
  2.44337149e-05, 6.22806096e-05, 9.89963906e-05, 4.17068895e-05,
  3.26815947e-03,-5.60408182e-05,-1.75855303e-05, 1.42442731e-05,
  3.10321047e-05,-2.78607646e-05,-1.21644553e+00,-1.01177114e-05,
  7.64062414e-03, 1.78412434e-03]


--- Step 2451 ---
qpos:
[-2.52621768e-03, 8.65832911e-01,-2.37720839e-02, 3.95832774e-04,
 -2.94629427e-03, 8.61868950e-01,-2.71066613e-02, 3.09121171e-03,
 -1.18054367e-03, 8.70634189e-01,-1.92568652e-02,-2.13272986e-02,
  1.39622934e+00, 1.85245679e-02, 1.40653477e+00, 2.40767683e-02,
  4.08312016e-03,-5.76978342e-02, 8.05629059e-02, 7.03895803e-01,
 -4.70975447e-02,-7.07090884e-01,-4.83218541e-02]

qacc:
[-1.44608660e-01,-1.60979983e+00, 5.21855130e+00,-6.56692228e+00,
 -3.92843160e-02,-1.52078343e+00, 5.70813305e+00,-8.96086573e+00,
  1.52748527e-01,-1.29654832e+00, 6.13690359e+00,-1.06127931e+01,
  2.34473220e-02,-2.17926002e-01,-7.38205040e+00, 2.50238118e+01,
  5.67600522e-01, 3.84604287e-01, 1.15113626e-01,-3.73991121e-01,
  2.83736494e+01, 2.45357419e+01]

qfrc_actuator:
[ 2.36293139e-03, 2.72529254e-02, 8.73296354e-03, 1.73563400e-03,
 -2.32536590e-05, 2.73471584e-02, 8.65269780e-03, 1.71113092e-03,
 -2.35001848e-03, 2.75139159e-02, 8.84914398e-03, 1.64098699e-03,
  0.00000000e+00,-1.44314132e-03, 0.00000000e+00,-6.43904456e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005943079257759928
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.34046962e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.34046962e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00424312, -0.06313441,  0.0619432 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.64337154e-05,-4.35381118e-05, 8.52491612e-06,-4.89910911e-06,
 -7.15327723e-06,-1.99141048e-05, 1.29913017e-05,-8.97874356e-06,
  2.80445029e-05, 5.86496298e-05, 4.11568500e-05,-6.14503611e-06,
  3.28750280e-03,-2.80425981e-05,-7.80382495e-06, 1.18615179e-04,
  5.50494890e-05,-2.95080843e-05,-1.21644528e+00,-1.17862471e-05,
  7.63994511e-03, 1.78450436e-03]


--- Step 2452 ---
qpos:
[-2.52684186e-03, 8.65832282e-01,-2.37715355e-02, 3.97336044e-04,
 -2.94674155e-03, 8.61869711e-01,-2.71072196e-02, 3.09255240e-03,
 -1.17998345e-03, 8.70634351e-01,-1.92544389e-02,-2.13277632e-02,
  1.39622909e+00, 1.85242843e-02, 1.40660858e+00, 2.40788153e-02,
  4.09778783e-03,-5.77000350e-02, 8.05770106e-02, 7.04178128e-01,
 -4.70580089e-02,-7.06811377e-01,-4.83361794e-02]

qacc:
[-1.97860991e-01, 2.23260376e+00,-4.62911577e+00,-2.48198023e+00,
 -2.69125264e-02, 1.81337154e+00,-5.26494250e+00, 3.95047587e+00,
 -6.92185913e-02,-1.87479321e+00, 1.01090765e+01,-2.39242251e+01,
  3.46355695e-02, 9.46796558e-02,-6.44930933e-02, 4.05676792e-01,
  5.64023739e-01, 3.77888937e-01,-3.69003504e-02,-3.70343781e-01,
  2.79713833e+01, 2.41770739e+01]

qfrc_actuator:
[ 2.33963171e-03, 2.73443882e-02, 8.71191955e-03, 1.71624809e-03,
 -2.46225537e-05, 2.73877252e-02, 8.63144080e-03, 1.70660732e-03,
 -2.37617249e-03, 2.74791182e-02, 8.83898059e-03, 1.59764548e-03,
  0.00000000e+00,-1.40518114e-03, 0.00000000e+00,-6.44851259e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.22738348,  0.5098432 ,  6.20647766,  0.5098432 , 16.35538432,
       -0.83198435,  6.20647766, -0.83198435,  6.29572846,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005754286480629811
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.64692172e-14,  1.92938434e-13,  1.00000000e+00, -1.86126197e-26,
        1.00000000e+00, -1.92938434e-13, -1.00000000e+00,  0.00000000e+00,
        9.64692172e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00425637, -0.06314007,  0.06194498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.59076165e-05, 6.86843419e-05,-2.91573625e-05,-2.10537309e-05,
 -4.76699272e-06, 3.17176607e-05,-2.40849175e-05,-5.10446337e-06,
 -1.27181823e-05, 6.21832954e-06, 6.78697892e-06,-3.95305778e-05,
  3.30529284e-03, 1.86876701e-05, 8.39987093e-06, 4.39486718e-06,
  8.53837238e-05,-2.67389585e-05,-1.21644542e+00,-1.18079359e-05,
  7.63926954e-03, 1.78483523e-03]


--- Step 2453 ---
qpos:
[-2.52722920e-03, 8.65831998e-01,-2.37716723e-02, 3.97603486e-04,
 -2.94703250e-03, 8.61870621e-01,-2.71082204e-02, 3.09316035e-03,
 -1.17946668e-03, 8.70634478e-01,-1.92523448e-02,-2.13286983e-02,
  1.39622908e+00, 1.85242941e-02, 1.40668242e+00, 2.40808447e-02,
  4.11470070e-03,-5.77007452e-02, 8.05904668e-02, 7.04501690e-01,
 -4.70500796e-02,-7.06490509e-01,-4.83199719e-02]

qacc:
[ 1.23561270e-01,-1.74352926e-01, 6.49898164e+00,-2.70434168e+01,
  8.19564498e-02,-7.46568836e-02, 3.64594883e+00,-1.57294910e+01,
 -2.29007342e-02,-8.73869118e-02, 2.22599237e+00,-9.80317552e+00,
  2.34992022e-02, 2.10719890e-01, 9.30579893e-02,-2.62652298e-01,
  5.61298186e-01, 3.72647234e-01,-1.62128539e-01,-3.67110638e-01,
  2.76541214e+01, 2.38899910e+01]

qfrc_actuator:
[ 2.37938502e-03, 2.73280604e-02, 8.66403679e-03, 1.65102828e-03,
 -7.48224560e-06, 2.73760257e-02, 8.60148718e-03, 1.66791799e-03,
 -2.37425679e-03, 2.74581384e-02, 8.81408696e-03, 1.57229757e-03,
  0.00000000e+00,-1.38238377e-03, 0.00000000e+00,-6.46275431e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.05856457,  0.10890127,  6.05758576,  0.10890127, 27.26221968,
       -0.38119228,  6.05758576, -0.38119228,  6.06541752,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005551482275487352
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00427068, -0.06314611,  0.06194689])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.26414876e-05, 1.51607277e-05,-3.80189405e-05,-6.36980949e-05,
  1.48817572e-05, 8.26962088e-07,-2.65509059e-05,-3.82658909e-05,
 -4.17045077e-06,-1.78157371e-05,-2.41603039e-05,-2.56196260e-05,
  3.29761602e-03, 3.38287962e-05, 2.68168707e-06,-5.00618396e-07,
  1.21819716e-04,-1.97556871e-05,-1.21644598e+00,-1.02374835e-05,
  7.63859366e-03, 1.78511864e-03]


--- Step 2454 ---
qpos:
[-2.52669650e-03, 8.65831457e-01,-2.37716094e-02, 3.97449812e-04,
 -2.94714091e-03, 8.61871328e-01,-2.71085683e-02, 3.09257899e-03,
 -1.17933075e-03, 8.70634744e-01,-1.92506977e-02,-2.13292535e-02,
  1.39622952e+00, 1.85249025e-02, 1.40675629e+00, 2.40825050e-02,
  4.13385078e-03,-5.76999808e-02, 8.06028639e-02, 7.04866066e-01,
 -4.70734397e-02,-7.06128592e-01,-4.82735040e-02]

qacc:
[ 4.82576414e-01,-1.76439130e+00, 7.57520115e+00,-1.49941299e+01,
  9.65530134e-02,-4.53740216e+00, 2.08118452e+01,-4.22953398e+01,
 -1.99169387e-01, 2.21572010e+00,-9.23245080e+00, 1.64127136e+01,
  2.64902766e-03, 4.69589519e-01, 1.17363045e+00,-4.01070566e+00,
  5.59303604e-01, 3.68628354e-01,-2.64768771e-01,-3.63961676e-01,
  2.74087814e+01, 2.36637871e+01]

qfrc_actuator:
[ 2.45650773e-03, 2.73004175e-02, 8.67127825e-03, 1.63028354e-03,
  2.82452168e-06, 2.73685519e-02, 8.63743873e-03, 1.60939559e-03,
 -2.40879328e-03, 2.74810264e-02, 8.79851260e-03, 1.59325038e-03,
  0.00000000e+00,-1.33337999e-03, 0.00000000e+00,-6.65683861e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000533980398301992
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.03957283e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.03957283e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00428567, -0.06315238,  0.06194888])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.79226700e-05,-2.97351200e-05, 3.48687653e-06,-2.26511239e-05,
  1.73720440e-05,-1.41469402e-05, 3.15261172e-05,-6.01518257e-05,
 -3.65331434e-05, 6.82216808e-06,-2.31319098e-05, 1.88532647e-05,
  3.28564402e-03, 6.81841304e-05,-5.33436509e-08,-1.93970814e-05,
  1.64214465e-04,-8.70495245e-06,-1.21644695e+00,-7.11446460e-06,
  7.63791362e-03, 1.78535585e-03]


--- Step 2455 ---
qpos:
[-2.52524892e-03, 8.65830625e-01,-2.37709159e-02, 3.97713381e-04,
 -2.94728482e-03, 8.61871562e-01,-2.71083801e-02, 3.09203425e-03,
 -1.17959136e-03, 8.70635118e-01,-1.92489633e-02,-2.13302778e-02,
  1.39623051e+00, 1.85258573e-02, 1.40683046e+00, 2.40812367e-02,
  4.14711793e-03,-5.76972467e-02, 8.06117419e-02, 7.05117408e-01,
 -4.71345608e-02,-7.05879397e-01,-4.81876631e-02]

qacc:
[ 4.80192842e-01,-1.28681120e+00, 2.26939489e+00, 4.15586443e+00,
 -1.81851748e-02,-2.04531643e+00, 6.23260582e+00,-6.11083929e+00,
 -2.07057808e-01,-1.06770927e+00, 5.99022479e+00,-1.43204595e+01,
 -2.66392350e-02, 3.68417679e-01, 9.34748678e+00,-3.19871732e+01,
 -1.47073211e+00, 4.92452949e-01,-8.79766917e-01, 6.53223478e-01,
 -8.14733072e+01, 2.18270766e+01]

qfrc_actuator:
[ 2.50201625e-03, 2.73019552e-02, 8.71098344e-03, 1.65365610e-03,
 -8.81020781e-06, 2.73284017e-02, 8.65875707e-03, 1.61073355e-03,
 -2.42934104e-03, 2.74945689e-02, 8.80652989e-03, 1.57031095e-03,
  0.00000000e+00,-1.32233286e-03, 0.00000000e+00,-8.19792523e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005589754476994085
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.93087469e-14, -7.44815601e-14,  1.00000000e+00,  7.39667040e-27,
        1.00000000e+00,  7.44815601e-14, -1.00000000e+00,  0.00000000e+00,
        9.93087469e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05023935, -0.06971142,  0.06194657])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.74299718e-05,-1.53175366e-05, 3.32120514e-05, 2.17781465e-05,
 -3.38959905e-06,-4.41378227e-05, 2.01968350e-05, 6.52320416e-07,
 -3.80369861e-05, 1.33648400e-05, 7.21564905e-06,-2.30822765e-05,
  3.26252733e-03, 4.93073505e-05,-2.93690848e-06,-1.55404931e-04,
  2.12481106e-04, 6.31063003e-06,-1.21644837e+00,-2.46641183e-06,
  7.63722542e-03, 1.78554778e-03]


--- Step 2456 ---
qpos:
[-2.52383438e-03, 8.65830226e-01,-2.37703309e-02, 3.98211818e-04,
 -2.94751813e-03, 8.61871507e-01,-2.71080050e-02, 3.09220107e-03,
 -1.18016686e-03, 8.70636132e-01,-1.92482575e-02,-2.13312149e-02,
  1.39623147e+00, 1.85264359e-02, 1.40690475e+00, 2.40771328e-02,
  4.15477143e-03,-5.76925880e-02, 8.06155285e-02, 7.05260951e-01,
 -4.72315555e-02,-7.05737913e-01,-4.80642270e-02]

qacc:
[-1.75333018e-02, 1.35903325e+00,-5.00596802e+00, 8.92636890e+00,
 -4.68213382e-02, 5.60178215e-01,-5.55528209e+00, 1.77840159e+01,
 -1.65279576e-01, 3.89892379e+00,-1.30411405e+01, 1.57228827e+01,
 -4.69943489e-02,-1.81112737e-01, 8.77700104e+00,-3.04266370e+01,
 -1.40341388e+00, 4.81128757e-01,-1.27283495e+00, 6.75926909e-01,
 -7.77710160e+01, 2.07800107e+01]

qfrc_actuator:
[ 2.45718287e-03, 2.73566433e-02, 8.71639815e-03, 1.66732386e-03,
 -1.57121834e-05, 2.73222546e-02, 8.67115121e-03, 1.64723751e-03,
 -2.44132752e-03, 2.75379853e-02, 8.75733622e-03, 1.57499111e-03,
  0.00000000e+00,-1.38730492e-03, 0.00000000e+00,-9.63251205e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005821109683891851
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.76809013e-14, -2.38404506e-14,  1.00000000e+00,  1.13673417e-27,
        1.00000000e+00,  2.38404506e-14, -1.00000000e+00,  0.00000000e+00,
        4.76809013e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.050196  , -0.06969616,  0.06194443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.14603893e-06, 5.39366937e-05, 7.09527397e-06, 1.45833438e-05,
 -8.51671163e-06,-2.66355580e-05, 5.78712927e-06, 3.53251793e-05,
 -3.01945243e-05, 5.13658323e-05,-4.63580567e-05, 5.05137697e-06,
  3.23549963e-03,-3.29881120e-05,-1.97994159e-05,-1.52787225e-04,
  1.05596384e-04, 2.35812836e-05,-1.21644348e+00,-1.39912063e-06,
  7.63665064e-03, 1.78450351e-03]


--- Step 2457 ---
qpos:
[-2.52309419e-03, 8.65829931e-01,-2.37698395e-02, 3.98911517e-04,
 -2.94764935e-03, 8.61871134e-01,-2.71068938e-02, 3.09276912e-03,
 -1.18114867e-03, 8.70637418e-01,-1.92481373e-02,-2.13306908e-02,
  1.39623207e+00, 1.85267589e-02, 1.40697862e+00, 2.40740000e-02,
  4.15703719e-03,-5.76860456e-02, 8.06128882e-02, 7.05301041e-01,
 -4.73628630e-02,-7.05699895e-01,-4.79046853e-02]

qacc:
[-3.53645784e-01, 8.11956852e-01,-3.54681275e+00, 7.10404291e+00,
  5.43670772e-02,-1.64856796e+00, 3.57624622e+00, 2.42213794e+00,
 -2.12550297e-01, 5.00653249e+00,-2.34844147e+01, 4.94867904e+01,
 -4.28830934e-02,-2.02270729e-01,-3.57373181e+00, 1.15783491e+01,
 -1.34693442e+00, 4.70933426e-01,-1.60675314e+00, 6.84204562e-01,
 -7.46684111e+01, 1.99101164e+01]

qfrc_actuator:
[ 2.39423159e-03, 2.73360974e-02, 8.70172541e-03, 1.67518422e-03,
 -1.95377323e-06, 2.73187617e-02, 8.71383065e-03, 1.66864622e-03,
 -2.46585291e-03, 2.75454928e-02, 8.72815487e-03, 1.64913228e-03,
  0.00000000e+00,-1.40854119e-03, 0.00000000e+00,-9.03962427e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005947788917703978
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05017231, -0.06968746,  0.06194325])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.44448034e-05, 1.17053890e-05,-2.15737433e-06, 1.06991154e-05,
  9.71169342e-06,-1.56813393e-05, 3.91115566e-05, 2.11550049e-05,
 -3.89730256e-05, 2.68396862e-05,-2.41210977e-05, 7.48334068e-05,
  3.23618569e-03,-3.54061510e-05,-2.74303704e-05, 4.79469653e-05,
  3.80937421e-05, 2.55701702e-05,-1.21644016e+00,-1.82807559e-06,
  7.63617806e-03, 1.78356537e-03]


--- Step 2458 ---
qpos:
[-2.52306947e-03, 8.65829249e-01,-2.37693307e-02, 4.00792462e-04,
 -2.94764538e-03, 8.61870197e-01,-2.71054275e-02, 3.09433812e-03,
 -1.18228671e-03, 8.70639007e-01,-1.92484158e-02,-2.13289543e-02,
  1.39623242e+00, 1.85273946e-02, 1.40705195e+00, 2.40745668e-02,
  4.15410559e-03,-5.76776563e-02, 8.06026875e-02, 7.05241267e-01,
 -4.75271962e-02,-7.05761751e-01,-4.77102839e-02]

qacc:
[-3.74919952e-01, 1.87233115e+00,-1.24030567e+01, 3.31031115e+01,
  7.16824509e-02, 3.24038640e-01,-6.46099177e+00, 2.36309363e+01,
 -8.18756382e-02, 4.01125784e+00,-1.88300356e+01, 4.02099987e+01,
 -2.81962557e-02, 1.52089210e-01,-1.20081481e+01, 4.08404798e+01,
 -1.29933986e+00, 4.61740063e-01,-1.89008657e+00, 6.80993442e-01,
 -7.20736737e+01, 1.91894029e+01]

qfrc_actuator:
[ 2.35656935e-03, 2.72883208e-02, 8.69278136e-03, 1.73275770e-03,
  6.29250917e-06, 2.72637481e-02, 8.72079963e-03, 1.71652876e-03,
 -2.46217900e-03, 2.75670720e-02, 8.71094938e-03, 1.71028325e-03,
  0.00000000e+00,-1.36800094e-03, 0.00000000e+00,-7.07945024e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005989415821853888
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.26820793e-14,  9.26820793e-14,  1.00000000e+00, -8.58996783e-27,
        1.00000000e+00, -9.26820793e-14, -1.00000000e+00,  0.00000000e+00,
        9.26820793e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05016441, -0.06968404,  0.06194286])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.83895927e-05,-4.12257045e-05,-6.42429881e-06, 5.82079909e-05,
  1.28536049e-05,-5.47980160e-05, 9.27472320e-06, 4.89741571e-05,
 -1.49807162e-05, 3.47706803e-05,-1.20561296e-05, 6.29199880e-05,
  3.25456405e-03, 1.79202538e-05,-7.83504312e-06, 1.95070673e-04,
  5.02527362e-06, 1.41904089e-05,-1.21643830e+00,-3.46728493e-06,
  7.63580077e-03, 1.78270550e-03]


--- Step 2459 ---
qpos:
[-2.52380384e-03, 8.65828621e-01,-2.37690833e-02, 4.03311520e-04,
 -2.94752618e-03, 8.61869073e-01,-2.71044971e-02, 3.09579243e-03,
 -1.18347078e-03, 8.70640769e-01,-1.92491263e-02,-2.13264794e-02,
  1.39623262e+00, 1.85281917e-02, 1.40712521e+00, 2.40774498e-02,
  4.14613821e-03,-5.76674533e-02, 8.05839655e-02, 7.05084578e-01,
 -4.77234987e-02,-7.05920434e-01,-4.74820616e-02]

qacc:
[-3.98138832e-01, 2.11453539e+00,-1.01296227e+01, 2.15523753e+01,
  6.04039479e-02, 1.01202379e+00,-3.48474654e+00, 2.49615769e+00,
 -2.43292740e-02, 2.95723930e+00,-1.33225031e+01, 2.66532162e+01,
 -1.48951291e-02, 7.30676617e-02,-7.13495827e+00, 2.47847165e+01,
 -1.25894441e+00, 4.53401769e-01,-2.13032411e+00, 6.68497850e-01,
 -6.99089247e+01, 1.85943942e+01]

qfrc_actuator:
[ 2.31663878e-03, 2.73134176e-02, 8.68720103e-03, 1.76584066e-03,
  1.11575737e-05, 2.72492052e-02, 8.68867621e-03, 1.70852484e-03,
 -2.45942570e-03, 2.75614498e-02, 8.68322399e-03, 1.74555173e-03,
  0.00000000e+00,-1.36187128e-03, 0.00000000e+00,-5.92781049e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005962515851598363
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.31002158e-14,  6.98251618e-14,  1.00000000e+00, -6.50073763e-27,
        1.00000000e+00, -6.98251618e-14, -1.00000000e+00,  0.00000000e+00,
        9.31002158e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0501691 , -0.06968481,  0.06194308])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.25453581e-05, 3.21165645e-06,-1.28722428e-05, 3.22261048e-05,
  1.09589834e-05,-4.11612068e-05,-4.06095306e-05,-9.08042371e-06,
 -4.41254623e-06, 1.39824162e-05,-1.98657354e-05, 3.75604731e-05,
  3.26686185e-03, 8.41933024e-06, 1.75214883e-05, 1.24902225e-04,
  2.60703049e-06,-9.11802353e-06,-1.21643772e+00,-6.10805046e-06,
  7.63551300e-03, 1.78190517e-03]


--- Step 2460 ---
qpos:
[-2.52495747e-03, 8.65828801e-01,-2.37692249e-02, 4.05082136e-04,
 -2.94713641e-03, 8.61868032e-01,-2.71043124e-02, 3.09573853e-03,
 -1.18483935e-03, 8.70642344e-01,-1.92502721e-02,-2.13235534e-02,
  1.39623262e+00, 1.85289070e-02, 1.40719853e+00, 2.40817081e-02,
  4.13279035e-03,-5.76599155e-02, 8.05556031e-02, 7.04826662e-01,
 -4.78613873e-02,-7.06179713e-01,-4.73167730e-02]

qacc:
[-2.20384074e-01, 6.12761517e-01, 2.52254510e+00,-1.54460903e+01,
  1.41913365e-01,-9.11903161e-01, 9.77658352e+00,-3.47474429e+01,
 -9.65234519e-02, 1.89668599e+00,-9.02308607e+00, 1.76557979e+01,
 -3.65960233e-03,-9.43702507e-02,-4.07250400e+00, 1.43757667e+01,
 -1.34511993e+00,-6.66296679e-01,-2.41010444e+00,-1.64692580e+00,
 -6.83055563e+01,-4.76082467e+01]

qfrc_actuator:
[ 2.31118227e-03, 2.73997049e-02, 8.68391066e-03, 1.73104205e-03,
  3.17124308e-05, 2.72587942e-02, 8.65159884e-03, 1.63219906e-03,
 -2.47502511e-03, 2.75217625e-02, 8.64937962e-03, 1.76527985e-03,
  0.00000000e+00,-1.37636182e-03, 0.00000000e+00,-5.26225621e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005908022309528208
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.87917880e-13, -9.39589398e-14,  1.00000000e+00,  1.76565647e-26,
        1.00000000e+00,  9.39589398e-14, -1.00000000e+00,  0.00000000e+00,
        1.87917880e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05357944, -0.04377439,  0.06194354])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.00469895e-05, 8.68069953e-05,-3.09696556e-06,-3.44813091e-05,
  2.57526125e-05,-2.21846553e-05,-5.08968591e-05,-7.96734605e-05,
 -1.77072125e-05,-3.44061879e-05,-3.21168019e-05, 2.03651517e-05,
  3.27429950e-03,-1.41437900e-05, 1.98597951e-05, 7.52818035e-05,
  2.79549164e-05,-4.32771539e-05,-1.21643829e+00,-9.59977933e-06,
  7.63530947e-03, 1.78115222e-03]


--- Step 2461 ---
qpos:
[-2.52596605e-03, 8.65828857e-01,-2.37690600e-02, 4.06493298e-04,
 -2.94649204e-03, 8.61867373e-01,-2.71051027e-02, 3.09509301e-03,
 -1.18638689e-03, 8.70643468e-01,-1.92511099e-02,-2.13207763e-02,
  1.39623276e+00, 1.85295472e-02, 1.40727222e+00, 2.40844080e-02,
  4.11420969e-03,-5.76549440e-02, 8.05166495e-02, 7.04470707e-01,
 -4.79426780e-02,-7.06536281e-01,-4.72123519e-02]

qacc:
[ 7.62629652e-02,-1.75852581e+00, 7.55154559e+00,-1.41733667e+01,
  1.33294709e-01, 2.00809216e+00,-3.93270475e+00,-5.02466262e+00,
 -9.31099448e-02,-1.76118072e+00, 6.04406956e+00,-8.78020910e+00,
  1.96887399e-03,-1.03717446e-02, 5.25737406e+00,-1.76081012e+01,
 -1.30820032e+00,-6.41555985e-01,-2.64781815e+00,-1.59028117e+00,
 -6.61062698e+01,-4.60822706e+01]

qfrc_actuator:
[ 2.34412663e-03, 2.73444049e-02, 8.68222649e-03, 1.70990370e-03,
  4.37270885e-05, 2.73004195e-02, 8.61197333e-03, 1.60508271e-03,
 -2.48372663e-03, 2.74974333e-02, 8.66529768e-03, 1.75792306e-03,
  0.00000000e+00,-1.36754053e-03, 0.00000000e+00,-6.13089185e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005904468472245905
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.40154927e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.40154927e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0535779 , -0.04377405,  0.06194351])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38597066e-05,-8.88411609e-06, 1.46675904e-05,-1.82001752e-05,
  2.42383937e-05, 1.53224163e-05,-5.32293599e-05,-3.13782088e-05,
 -1.71808091e-05,-4.93668437e-05, 5.55246704e-06,-9.54965550e-06,
  3.28397165e-03,-1.23047890e-06, 1.49373815e-05,-8.07118077e-05,
  9.16045153e-05,-6.24145152e-05,-1.21644120e+00,-5.97501866e-06,
  7.63668627e-03, 1.78084114e-03]


--- Step 2462 ---
qpos:
[-2.52669510e-03, 8.65828092e-01,-2.37691377e-02, 4.08806279e-04,
 -2.94584203e-03, 8.61867337e-01,-2.71060578e-02, 3.09438391e-03,
 -1.18751171e-03, 8.70643625e-01,-1.92503811e-02,-2.13181302e-02,
  1.39623289e+00, 1.85296657e-02, 1.40734622e+00, 2.40840642e-02,
  4.09741875e-03,-5.76555063e-02, 8.04865865e-02, 7.04151750e-01,
 -4.79150994e-02,-7.06855794e-01,-4.72159268e-02]

qacc:
[ 1.46744821e-01, 1.44786888e+00,-1.05453518e+01, 2.71458851e+01,
  2.64357671e-03, 1.15203193e+00,-2.64539432e+00, 1.35202618e+00,
  2.22034566e-01,-5.92399007e+00, 1.98195360e+01,-2.38792401e+01,
 -1.03038419e-03,-3.14831113e-01, 9.69947208e+00,-3.32361686e+01,
  4.47430952e-01,-1.38346867e+00, 2.22267155e+00, 2.08199644e-01,
  3.12807263e+01,-7.47384413e+01]

qfrc_actuator:
[ 2.36420965e-03, 2.72402658e-02, 8.64546084e-03, 1.75012980e-03,
  3.27727505e-05, 2.73786873e-02, 8.62460439e-03, 1.60717870e-03,
 -2.43496324e-03, 2.74471509e-02, 8.74600946e-03, 1.75248746e-03,
  0.00000000e+00,-1.41571671e-03, 0.00000000e+00,-7.71868106e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000617860219532404
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.98441904e-14, -1.79688381e-13,  1.00000000e+00,  1.61439571e-26,
        1.00000000e+00,  1.79688381e-13, -1.00000000e+00,  0.00000000e+00,
        8.98441904e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00079011, -0.03586478,  0.06194087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.66902401e-05,-1.06858242e-04,-3.74266988e-05, 3.99963532e-05,
  5.54530058e-07, 7.45243420e-05, 8.16320007e-06, 3.02054153e-07,
  4.05335095e-05,-7.71788436e-05, 7.08627774e-05,-7.54747701e-06,
  3.27661054e-03,-4.56492718e-05,-4.58266877e-06,-1.61941028e-04,
  1.88108774e-04,-6.29994983e-05,-1.21644514e+00, 1.66498150e-06,
  7.63779306e-03, 1.78085520e-03]


--- Step 2463 ---
qpos:
[-2.52716377e-03, 8.65827650e-01,-2.37701027e-02, 4.11135895e-04,
 -2.94507452e-03, 8.61867393e-01,-2.71066411e-02, 3.09304463e-03,
 -1.18812724e-03, 8.70643713e-01,-1.92501025e-02,-2.13155455e-02,
  1.39623271e+00, 1.85295586e-02, 1.40741984e+00, 2.40848378e-02,
  4.08229891e-03,-5.76613352e-02, 8.04628843e-02, 7.03867801e-01,
 -4.77845383e-02,-7.07140318e-01,-4.73215315e-02]

qacc:
[ 1.35843415e-01, 2.93913625e+00,-9.93139731e+00, 1.14039461e+01,
  6.20509111e-02,-2.21262380e+00, 1.07278329e+01,-2.22998169e+01,
  2.65662845e-01, 1.03943571e+00,-3.57962640e+00, 3.28685463e+00,
  3.25852316e-03,-2.14112731e-01,-3.96414955e+00, 1.30167356e+01,
  4.17773337e-01,-1.31663078e+00, 1.59019501e+00, 2.10241222e-01,
  2.95674439e+01,-7.06543800e+01]

qfrc_actuator:
[ 2.37638336e-03, 2.73206027e-02, 8.62357809e-03, 1.75504654e-03,
  4.36893890e-05, 2.73542780e-02, 8.63266402e-03, 1.57325282e-03,
 -2.40550892e-03, 2.74530038e-02, 8.72219448e-03, 1.74824622e-03,
  0.00000000e+00,-1.42660418e-03, 0.00000000e+00,-7.05398030e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006515663618162637
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.51964658e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.51964658e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00080539, -0.03590067,  0.06193768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.48883849e-05, 1.45872545e-05,-4.71758463e-05,-1.80068751e-07,
  1.11889195e-05, 1.89714659e-05, 2.44759830e-05,-3.04424028e-05,
  4.88524898e-05,-2.30031664e-05,-3.12981435e-05,-5.24611835e-06,
  3.27748489e-03,-3.04373848e-05,-2.23133274e-05, 5.63625164e-05,
  1.62508255e-04,-3.22349757e-06,-1.21644511e+00, 1.70636340e-05,
  7.63890490e-03, 1.78073903e-03]


--- Step 2464 ---
qpos:
[-2.52706022e-03, 8.65828034e-01,-2.37710970e-02, 4.12689012e-04,
 -2.94418637e-03, 8.61867616e-01,-2.71074311e-02, 3.09203130e-03,
 -1.18850041e-03, 8.70644025e-01,-1.92510528e-02,-2.13140509e-02,
  1.39623272e+00, 1.85298995e-02, 1.40749327e+00, 2.40866920e-02,
  4.06875100e-03,-5.76722039e-02, 8.04433943e-02, 7.03617149e-01,
 -4.75559138e-02,-7.07391543e-01,-4.75241892e-02]

qacc:
[ 2.99673706e-01,-4.26891087e-01, 6.38146440e+00,-2.03793702e+01,
  6.33621355e-02, 1.46904821e+00,-6.29360061e+00, 1.21443427e+01,
  1.25650288e-01, 1.48282802e+00,-2.65298551e-01,-1.67824024e+01,
  8.34308317e-03, 3.06746184e-01,-3.55651856e+00, 1.20360119e+01,
  3.92983395e-01,-1.25996426e+00, 1.05304910e+00, 2.04389564e-01,
  2.81306762e+01,-6.72451359e+01]

qfrc_actuator:
[ 2.41922410e-03, 2.74220453e-02, 8.64687218e-03, 1.72154949e-03,
  4.98618651e-05, 2.73573074e-02, 8.61975730e-03, 1.58931639e-03,
 -2.40564832e-03, 2.74565218e-02, 8.65480626e-03, 1.69144663e-03,
  0.00000000e+00,-1.36194786e-03, 0.00000000e+00,-6.48743253e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006719724580180123
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.26092656e-14, -1.65218531e-13,  1.00000000e+00,  1.36485815e-26,
        1.00000000e+00,  1.65218531e-13, -1.00000000e+00,  0.00000000e+00,
        8.26092656e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0008145 , -0.03592267,  0.06193573])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.47117897e-05, 9.98670251e-05, 2.04959287e-05,-3.45101519e-05,
  1.14862399e-05, 1.73953154e-05,-7.02050720e-06, 1.71335356e-05,
  2.32492850e-05,-1.60366972e-05,-7.61837080e-05,-5.89749685e-05,
  3.29255454e-03, 4.55211461e-05,-4.65324446e-06, 5.67909243e-05,
  1.39982006e-04, 4.70831490e-05,-1.21644671e+00, 2.58850593e-05,
  7.64013198e-03, 1.78078774e-03]


--- Step 2465 ---
qpos:
[-2.52623306e-03, 8.65828926e-01,-2.37714879e-02, 4.14168864e-04,
 -2.94339324e-03, 8.61868693e-01,-2.71087335e-02, 3.09184140e-03,
 -1.18875841e-03, 8.70644462e-01,-1.92520323e-02,-2.13133194e-02,
  1.39623288e+00, 1.85302753e-02, 1.40756686e+00, 2.40875229e-02,
  4.05801144e-03,-5.76810313e-02, 8.04345281e-02, 7.03419494e-01,
 -4.73678904e-02,-7.07589695e-01,-4.76877460e-02]

qacc:
[ 3.79581637e-01,-1.16302993e+00, 5.43303382e+00,-8.04127397e+00,
 -5.06249286e-02, 4.25030192e+00,-1.69973727e+01, 3.14452821e+01,
  6.00401471e-02,-1.32501376e+00, 8.17966739e+00,-2.14192874e+01,
  1.50136535e-04, 5.71180706e-02, 3.34459354e+00,-1.13406011e+01,
  7.02087666e-01, 5.10326951e-01, 2.65596131e+00,-4.54925542e-01,
  3.55220026e+01, 3.06377426e+01]

qfrc_actuator:
[ 2.46229641e-03, 2.74467570e-02, 8.67901648e-03, 1.71904855e-03,
  3.53850772e-05, 2.74476982e-02, 8.61245339e-03, 1.63466954e-03,
 -2.40572810e-03, 2.74938789e-02, 8.66874871e-03, 1.65742308e-03,
  0.00000000e+00,-1.37681714e-03, 0.00000000e+00,-7.04903577e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000690745649871885
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00455123e-13, -2.41092295e-13,  1.00000000e+00,  2.42189560e-26,
        1.00000000e+00,  2.41092295e-13, -1.00000000e+00,  0.00000000e+00,
        1.00455123e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00417154, -0.06311792,  0.06193395])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.91723143e-05, 8.33131205e-05, 5.41023824e-05, 1.81242145e-06,
 -9.02238332e-06, 9.94057204e-05,-3.97742433e-06, 4.61910936e-05,
  1.10519433e-05, 1.01314024e-05,-7.92913318e-07,-3.84966878e-05,
  3.28283179e-03, 8.25980930e-06, 3.55409036e-06,-5.37581702e-05,
  1.20065115e-04, 8.93708083e-05,-1.21644968e+00, 2.88733494e-05,
  7.64145649e-03, 1.78098777e-03]


--- Step 2466 ---
qpos:
[-2.52498408e-03, 8.65829657e-01,-2.37705817e-02, 4.15645479e-04,
 -2.94273904e-03, 8.61869959e-01,-2.71101152e-02, 3.09156067e-03,
 -1.18896143e-03, 8.70645034e-01,-1.92526280e-02,-2.13130329e-02,
  1.39623288e+00, 1.85302737e-02, 1.40764051e+00, 2.40873483e-02,
  4.04996350e-03,-5.76879398e-02, 8.04339778e-02, 7.03272346e-01,
 -4.72185573e-02,-7.07737405e-01,-4.78140335e-02]

qacc:
[ 2.22037137e-01,-3.84254896e+00, 1.34056314e+01,-1.54207759e+01,
 -7.32854840e-02, 2.84581154e-01,-2.68636932e-01,-1.31518335e+00,
  2.88792689e-02,-1.81061600e+00, 8.58810416e+00,-1.69934165e+01,
 -7.01899332e-04,-2.62867880e-01, 3.12949588e+00,-1.08308310e+01,
  6.72903771e-01, 4.79718765e-01, 2.07896119e+00,-4.28635986e-01,
  3.38045953e+01, 2.91953819e+01]

qfrc_actuator:
[ 2.46962215e-03, 2.74076635e-02, 8.73360268e-03, 1.71700000e-03,
  2.64387676e-05, 2.74122267e-02, 8.59114675e-03, 1.62595808e-03,
 -2.40574187e-03, 2.75160428e-02, 8.69527603e-03, 1.63717418e-03,
  0.00000000e+00,-1.42141533e-03, 0.00000000e+00,-7.56070712e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007073712336449559
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.84752738e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.84752738e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00415938, -0.0631137 ,  0.0619324 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.03163152e-05, 1.87315159e-05, 7.85135886e-05, 3.42398940e-06,
 -1.32175929e-05, 2.12548538e-05, 3.34064160e-07,-3.69090453e-06,
  5.27996991e-06, 2.60143962e-05, 2.71925251e-05,-2.05927630e-05,
  3.27545035e-03,-3.80784030e-05,-6.07013718e-06,-5.41123799e-05,
  7.52204803e-05, 5.78474981e-05,-1.21644661e+00, 1.78946512e-05,
  7.64104337e-03, 1.78147286e-03]


--- Step 2467 ---
qpos:
[-2.52349587e-03, 8.65830462e-01,-2.37698179e-02, 4.16811367e-04,
 -2.94239520e-03, 8.61870056e-01,-2.71105524e-02, 3.09197448e-03,
 -1.18913759e-03, 8.70645258e-01,-1.92523988e-02,-2.13129600e-02,
  1.39623272e+00, 1.85302205e-02, 1.40771391e+00, 2.40882285e-02,
  4.04450903e-03,-5.76930300e-02, 8.04398005e-02, 7.03173622e-01,
 -4.71063234e-02,-7.07836848e-01,-4.79045752e-02]

qacc:
[ 1.25300823e-01,-1.43701531e-01, 1.96662442e+00,-7.17106636e+00,
 -1.62403517e-01,-2.75116110e+00, 4.63824694e+00, 6.72722606e+00,
  1.46560630e-02,-3.20520633e+00, 1.16602016e+01,-1.64188023e+01,
  6.62633939e-03,-7.74330731e-02,-3.56640126e+00, 1.19309453e+01,
  6.48368487e-01, 4.54587098e-01, 1.59325388e+00,-4.06706592e-01,
  3.23777005e+01, 2.79949636e+01]

qfrc_actuator:
[ 2.47326490e-03, 2.73840125e-02, 8.71195578e-03, 1.69742953e-03,
  3.14001887e-06, 2.72838081e-02, 8.61446836e-03, 1.65640326e-03,
 -2.40570191e-03, 2.74757737e-02, 8.72895316e-03, 1.62517717e-03,
  0.00000000e+00,-1.41244181e-03, 0.00000000e+00,-6.97334811e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007138153257813876
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.77668246e-14,  1.55533649e-13,  1.00000000e+00, -1.20953580e-26,
        1.00000000e+00, -1.55533649e-13, -1.00000000e+00,  0.00000000e+00,
        7.77668246e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00415462, -0.06311238,  0.06193181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.28653378e-05, 3.16118837e-06,-8.00316441e-06,-1.59895039e-05,
 -2.95703710e-05,-1.16643123e-04, 2.76262063e-05, 3.12962060e-05,
  2.57188933e-06,-2.09973789e-05, 4.16862023e-05,-1.03438174e-05,
  3.28301664e-03,-1.02129779e-05,-1.06096721e-05, 5.45401856e-05,
  4.22467276e-05, 3.41391294e-05,-1.21644427e+00, 9.55185874e-06,
  7.64065610e-03, 1.78188743e-03]


--- Step 2468 ---
qpos:
[-2.52206413e-03, 8.65831236e-01,-2.37701154e-02, 4.18503627e-04,
 -2.94234512e-03, 8.61869330e-01,-2.71104944e-02, 3.09377377e-03,
 -1.18948517e-03, 8.70645370e-01,-1.92515591e-02,-2.13123563e-02,
  1.39623272e+00, 1.85304887e-02, 1.40778723e+00, 2.40897805e-02,
  4.04156632e-03,-5.76963839e-02, 8.04503659e-02, 7.03121593e-01,
 -4.70298674e-02,-7.07889818e-01,-4.79606338e-02]

qacc:
[-3.02428150e-02, 4.00505715e+00,-1.65646539e+01, 2.73987764e+01,
 -1.54028590e-01, 3.81070326e-01,-8.78527222e+00, 3.25766673e+01,
 -8.90660975e-02,-7.59022057e-01, 2.56437028e-01, 8.02762501e+00,
  8.27146306e-03, 2.22386887e-01,-2.16004782e+00, 7.37956349e+00,
  6.27938858e-01, 4.34067977e-01, 1.18567485e+00,-3.88189716e-01,
  3.11958824e+01, 2.69992757e+01]

qfrc_actuator:
[ 2.45695910e-03, 2.73517025e-02, 8.64548961e-03, 1.72091260e-03,
 -1.07905467e-05, 2.72606776e-02, 8.64582210e-03, 1.72734600e-03,
 -2.42337623e-03, 2.74872371e-02, 8.76632546e-03, 1.65358331e-03,
  0.00000000e+00,-1.37150019e-03, 0.00000000e+00,-6.63078135e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000712103964638916
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.79537174e-14,  7.79537174e-14,  1.00000000e+00, -6.07678206e-27,
        1.00000000e+00, -7.79537174e-14, -1.00000000e+00,  0.00000000e+00,
        7.79537174e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00415576, -0.06311335,  0.06193199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.40472028e-06,-3.29073433e-05,-6.73680738e-05, 2.30255690e-05,
 -2.79825764e-05,-8.13115256e-05, 1.17534858e-05, 6.75117252e-05,
 -1.64452148e-05, 7.88111137e-06, 3.78092934e-05, 2.87475521e-05,
  3.29085833e-03, 3.33252188e-05, 1.88525790e-07, 3.57081326e-05,
  1.95422743e-05, 1.72019548e-05,-1.21644254e+00, 3.55206653e-06,
  7.64028865e-03, 1.78223895e-03]


--- Step 2469 ---
qpos:
[-2.52095305e-03, 8.65831552e-01,-2.37702120e-02, 4.20431911e-04,
 -2.94233440e-03, 8.61868755e-01,-2.71109409e-02, 3.09497098e-03,
 -1.18983790e-03, 8.70645875e-01,-1.92509670e-02,-2.13124586e-02,
  1.39623237e+00, 1.85305628e-02, 1.40786034e+00, 2.40934040e-02,
  4.04106796e-03,-5.76980681e-02, 8.04643099e-02, 7.03114819e-01,
 -4.69880960e-02,-7.07897787e-01,-4.79832510e-02]

qacc:
[-1.67819681e-01,-6.79406330e-01, 5.49740222e-01, 3.54885249e+00,
 -2.11318918e-02, 3.69582694e-01, 1.51350628e+00,-1.12371367e+01,
 -3.00546761e-03,-2.44737270e-01, 4.59925100e+00,-1.66995348e+01,
  1.17490604e-02,-2.16037656e-01,-6.59557361e+00, 2.25942041e+01,
  6.11089488e-01, 4.17417216e-01, 8.44651904e-01,-3.72278579e-01,
  3.02205641e+01, 2.61766454e+01]

qfrc_actuator:
[ 2.42888417e-03, 2.73320260e-02, 8.65962364e-03, 1.73400971e-03,
 -1.24002520e-06, 2.73008416e-02, 8.62880872e-03, 1.69735013e-03,
 -2.41598630e-03, 2.75118896e-02, 8.75254133e-03, 1.61680912e-03,
  0.00000000e+00,-1.41824592e-03, 0.00000000e+00,-5.54784935e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007039354712574386
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00416155, -0.06311614,  0.06193279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.06570990e-05,-5.10271995e-05,-1.72531607e-07, 9.80064349e-06,
 -3.74378759e-06, 2.67572776e-08,-3.00184781e-05,-3.17594437e-05,
 -4.83023451e-07, 3.80856217e-05,-6.51251210e-06,-3.45707260e-05,
  3.28292615e-03,-2.94819297e-05, 3.00535920e-06, 1.10048264e-04,
  5.88716583e-06, 6.23804261e-06,-1.21644132e+00,-3.30107183e-07,
  7.63993607e-03, 1.78253332e-03]


--- Step 2470 ---
qpos:
[-2.51980247e-03, 8.65832118e-01,-2.37701247e-02, 4.21374933e-04,
 -2.94265492e-03, 8.61868122e-01,-2.71115260e-02, 3.09511033e-03,
 -1.18996023e-03, 8.70646614e-01,-1.92507777e-02,-2.13129691e-02,
  1.39623159e+00, 1.85304703e-02, 1.40793319e+00, 2.41003024e-02,
  4.04295893e-03,-5.76981363e-02, 8.04804944e-02, 7.03152109e-01,
 -4.69801084e-02,-7.07861954e-01,-4.79732806e-02]

qacc:
[ 2.06848293e-02,-2.21023246e+00, 1.25205196e+01,-3.00516156e+01,
 -1.74584293e-01,-1.86621298e+00, 1.10089938e+01,-2.90551492e+01,
  1.19944681e-01, 5.94057491e-01, 5.03419846e-02,-6.63489193e+00,
  3.56714569e-02,-2.43454585e-01,-1.03120457e+01, 3.54867002e+01,
  5.97330963e-01, 4.03999582e-01, 5.60143237e-01,-3.58287965e-01,
  2.94191828e+01, 2.55002868e+01]

qfrc_actuator:
[ 2.44729244e-03, 2.73913786e-02, 8.68577475e-03, 1.68769716e-03,
 -3.09956559e-05, 2.72895739e-02, 8.61908201e-03, 1.64372970e-03,
 -2.39365553e-03, 2.75084912e-02, 8.72642992e-03, 1.59520918e-03,
  0.00000000e+00,-1.42845386e-03, 0.00000000e+00,-3.85985463e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006907290543178429
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  8.0366029e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -8.0366029e-14, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00417097, -0.06312034,  0.06193405])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.78301467e-06, 3.11876640e-05, 1.59253095e-05,-4.83165550e-05,
 -3.15319127e-05,-1.87978664e-05,-1.45127266e-05,-5.52767092e-05,
  2.21061274e-05, 1.50561311e-05,-2.02532492e-05,-2.08696414e-05,
  3.30043212e-03,-2.99686915e-05, 1.18228769e-05, 1.74910282e-04,
  3.55510732e-07, 6.39610070e-07,-1.21644053e+00,-2.26755096e-06,
  7.63959410e-03, 1.78277519e-03]


--- Step 2471 ---
qpos:
[-2.51833682e-03, 8.65833066e-01,-2.37704126e-02, 4.22122094e-04,
 -2.94331670e-03, 8.61866928e-01,-2.71118161e-02, 3.09602229e-03,
 -1.19001842e-03, 8.70647019e-01,-1.92504234e-02,-2.13130096e-02,
  1.39623147e+00, 1.85310133e-02, 1.40800646e+00, 2.41058187e-02,
  4.04719477e-03,-5.76966315e-02, 8.04979731e-02, 7.03232476e-01,
 -4.70051655e-02,-7.07783285e-01,-4.79314180e-02]

qacc:
[ 1.64812051e-01, 1.14705590e+00,-2.53424501e+00,-5.33657083e-01,
 -1.79292056e-01, 2.57085107e-02,-4.42801481e+00, 1.77398283e+01,
  3.37326001e-02, 6.65715648e-02,-2.85726214e+00, 1.09655260e+01,
  3.81533178e-02, 5.08136400e-01, 4.80830076e+00,-1.59016839e+01,
  5.86218468e-01, 3.93276327e-01, 3.23510879e-01,-3.45636620e-01,
  2.87643485e+01, 2.49476353e+01]

qfrc_actuator:
[ 2.47560611e-03, 2.74088606e-02, 8.66581489e-03, 1.67787620e-03,
 -4.85220713e-05, 2.72475962e-02, 8.63131580e-03, 1.68314695e-03,
 -2.39809900e-03, 2.74705109e-02, 8.72868174e-03, 1.61820355e-03,
  0.00000000e+00,-1.32792592e-03, 0.00000000e+00,-4.66956391e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000673666908362236
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.64802963e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.64802963e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00418314, -0.06312561,  0.06193567])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.01204236e-05, 3.61234019e-05,-1.32362371e-05,-8.87692558e-06,
 -3.24956945e-05,-5.78384186e-05, 4.66005132e-06, 3.70358151e-05,
  6.14480670e-06,-3.46531366e-05, 2.13725983e-06, 2.25306496e-05,
  3.32189625e-03, 7.89030610e-05, 2.28099722e-05,-7.01868017e-05,
  2.24845478e-06,-5.37420351e-08,-1.21644014e+00,-2.39224318e-06,
  7.63925891e-03, 1.78296822e-03]


--- Step 2472 ---
qpos:
[-2.51710832e-03, 8.65833394e-01,-2.37702621e-02, 4.23509246e-04,
 -2.94387306e-03, 8.61865422e-01,-2.71120074e-02, 3.09703551e-03,
 -1.19007387e-03, 8.70647247e-01,-1.92500585e-02,-2.13131288e-02,
  1.39623215e+00, 1.85320514e-02, 1.40808020e+00, 2.41073434e-02,
  4.05374003e-03,-5.76935874e-02, 8.05159612e-02, 7.03355107e-01,
 -4.70626653e-02,-7.07662554e-01,-4.78582228e-02]

qacc:
[-1.23811223e-01,-7.24047414e-01,-1.30560240e+00, 1.21341383e+01,
  5.57000935e-02,-4.79769005e-01, 6.84744473e-01, 1.13892954e+00,
  1.49295642e-03,-4.26438682e-01, 1.51188936e+00,-2.75978695e+00,
 -3.89939595e-03, 4.98177716e-01, 1.28179446e+01,-4.37591735e+01,
  5.77354430e-01, 3.84792621e-01, 1.27366867e-01,-3.33831595e-01,
  2.82330638e+01, 2.44997210e+01]

qfrc_actuator:
[ 2.43856111e-03, 2.73299793e-02, 8.67193186e-03, 1.70730755e-03,
 -2.30631955e-05, 2.72409764e-02, 8.63859513e-03, 1.68821632e-03,
 -2.40078030e-03, 2.74655134e-02, 8.72979212e-03, 1.61398171e-03,
  0.00000000e+00,-1.30371283e-03, 0.00000000e+00,-6.76689886e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006537303713416015
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.49144443e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.49144443e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00419738, -0.06313168,  0.06193757])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.26800178e-05,-6.18164236e-05, 1.16319371e-05, 3.03450910e-05,
  1.00256487e-05,-3.63872247e-05,-2.79891073e-06, 3.47526241e-06,
  2.57332257e-07,-2.29803957e-05,-5.00915123e-06,-5.19383921e-06,
  3.28833231e-03, 7.13542269e-05, 8.63632780e-07,-2.11191835e-04,
  1.10429104e-05, 3.81215361e-06,-1.21644012e+00,-8.04172723e-07,
  7.63892685e-03, 1.78311534e-03]


--- Step 2473 ---
qpos:
[-2.51641490e-03, 8.65833076e-01,-2.37693602e-02, 4.24875447e-04,
 -2.94421741e-03, 8.61864240e-01,-2.71121657e-02, 3.09871410e-03,
 -1.18995973e-03, 8.70648173e-01,-1.92504112e-02,-2.13126697e-02,
  1.39623322e+00, 1.85334196e-02, 1.40815391e+00, 2.41066907e-02,
  4.06256684e-03,-5.76890307e-02, 8.05338109e-02, 7.03519334e-01,
 -4.71521215e-02,-7.07500365e-01,-4.77541397e-02]

qacc:
[ -0.27984261, -2.99475358,  9.528953  ,-10.62154337,  0.11160075,
   1.70490731, -8.26683067, 19.4929271 ,  0.08788646,  4.11893347,
 -15.78244891, 26.41479297, -0.0458363 ,  0.34134831,  6.57620706,
 -23.01433766,  0.57038767,  0.37816572, -0.03458532, -0.32245455,
  27.80602796, 24.14060555]

qfrc_actuator:
[ 2.39823237e-03, 2.73006432e-02, 8.71078414e-03, 1.70627487e-03,
 -7.62858000e-06, 2.73088049e-02, 8.66073259e-03, 1.72629715e-03,
 -2.38461590e-03, 2.75512935e-02, 8.71255334e-03, 1.64704876e-03,
  0.00000000e+00,-1.30765001e-03, 0.00000000e+00,-7.82992302e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006317308099005325
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.78715275e-14, -1.75743055e-13,  1.00000000e+00,  1.54428107e-26,
        1.00000000e+00,  1.75743055e-13, -1.00000000e+00,  0.00000000e+00,
        8.78715275e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00421308, -0.06313831,  0.06193965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.11522411e-05,-6.02168656e-05, 2.85621520e-05,-2.69009629e-06,
  2.01892014e-05, 4.70897335e-05, 1.44097883e-05, 3.64937478e-05,
  1.62856683e-05, 7.16650187e-05,-2.27859434e-05, 3.18080246e-05,
  3.24851596e-03, 4.26550701e-05,-2.42581182e-05,-1.18276286e-04,
  2.63522896e-05, 1.19808253e-05,-1.21644045e+00, 2.42178207e-06,
  7.63859428e-03, 1.78321884e-03]


--- Step 2474 ---
qpos:
[-2.51567219e-03, 8.65832583e-01,-2.37683819e-02, 4.25168619e-04,
 -2.94436386e-03, 8.61863875e-01,-2.71123273e-02, 3.10077295e-03,
 -1.18966490e-03, 8.70650009e-01,-1.92511430e-02,-2.13122157e-02,
  1.39623461e+00, 1.85349213e-02, 1.40822769e+00, 2.41030608e-02,
  4.07365370e-03,-5.76829817e-02, 8.05509898e-02, 7.03724610e-01,
 -4.72731452e-02,-7.07297183e-01,-4.76195152e-02]

qacc:
[ 2.58949920e-02,-2.65204257e+00, 1.36514756e+01,-3.22173978e+01,
  1.03953916e-01, 1.87038074e+00,-6.70800510e+00, 1.26955886e+01,
  9.37977238e-02, 2.25050474e+00,-6.25995206e+00, 6.11340773e+00,
 -7.03719793e-02, 2.30173846e-01, 9.14762994e+00,-3.17935154e+01,
  5.65010614e-01, 3.73074247e-01,-1.67701515e-01,-3.11149946e-01,
  2.74670356e+01, 2.38568927e+01]

qfrc_actuator:
[ 2.42733669e-03, 2.73013093e-02, 8.71553125e-03, 1.65186345e-03,
  1.64272202e-06, 2.73852854e-02, 8.67405866e-03, 1.74807500e-03,
 -2.37506468e-03, 2.76197244e-02, 8.70278169e-03, 1.64860584e-03,
  0.00000000e+00,-1.31075756e-03, 0.00000000e+00,-9.33969394e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.50206501,  0.44388427,  6.48689572,  0.44388427, 19.56752756,
       -0.8940414 ,  6.48689572, -0.8940414 ,  6.56324233,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006083359126017526
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.12508206e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.12508206e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00422979, -0.06314533,  0.06194186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.70580665e-06,-2.72316496e-05,-4.27024327e-06,-5.60570381e-05,
  1.88600365e-05, 1.07380790e-04, 2.60976572e-05, 2.50033758e-05,
  1.73589700e-05, 1.05142678e-04, 3.31711595e-06, 4.45414310e-06,
  3.22870118e-03, 2.30385647e-05,-2.44365987e-05,-1.60732816e-04,
  4.78963513e-05, 2.42657576e-05,-1.21644114e+00, 7.23053439e-06,
  7.63825743e-03, 1.78328059e-03]


--- Step 2475 ---
qpos:
[-2.51472677e-03, 8.65832300e-01,-2.37675525e-02, 4.24773468e-04,
 -2.94454493e-03, 8.61863908e-01,-2.71126548e-02, 3.10210607e-03,
 -1.18922594e-03, 8.70651978e-01,-1.92513633e-02,-2.13123992e-02,
  1.39623546e+00, 1.85355729e-02, 1.40830133e+00, 2.40979609e-02,
  4.08698437e-03,-5.76754557e-02, 8.05670626e-02, 7.03970488e-01,
 -4.74254303e-02,-7.07053350e-01,-4.74546112e-02]

qacc:
[ 1.06074330e-01,-7.24904610e-01, 5.89071817e+00,-1.77186960e+01,
 -1.85216692e-02,-5.05628711e-01, 5.62780689e+00,-1.82150934e+01,
  7.54933843e-02,-2.56740991e+00, 1.20946271e+01,-2.40346372e+01,
 -7.10436646e-02,-5.70565284e-01, 4.23856311e+00,-1.51465794e+01,
  5.60955648e-01, 3.69248818e-01,-2.76533457e-01,-2.99614989e-01,
  2.72024649e+01, 2.36373106e+01]

qfrc_actuator:
[ 2.44447263e-03, 2.73375159e-02, 8.71794235e-03, 1.61974315e-03,
 -1.06072865e-05, 2.73598186e-02, 8.64661558e-03, 1.70683211e-03,
 -2.36956030e-03, 2.75884924e-02, 8.71519158e-03, 1.61385618e-03,
  0.00000000e+00,-1.41981874e-03, 0.00000000e+00,-1.00356470e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005840920328891719
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.50383640e-14, -1.90076728e-13,  1.00000000e+00, -1.80645813e-26,
        1.00000000e+00,  1.90076728e-13, -1.00000000e+00,  0.00000000e+00,
       -9.50383640e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00424711, -0.06315257,  0.06194415])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.93776664e-05, 1.76984992e-05,-5.68416991e-06,-3.45271527e-05,
 -3.28478124e-06, 4.10480156e-05,-1.18450824e-06,-3.52555554e-05,
  1.38317311e-05, 2.84014866e-05, 3.46773008e-05,-3.00495463e-05,
  3.21262584e-03,-9.27153422e-05,-2.95885634e-05,-8.18021041e-05,
  7.54779604e-05, 4.05353996e-05,-1.21644219e+00, 1.35826607e-05,
  7.63791227e-03, 1.78330207e-03]


--- Step 2476 ---
qpos:
[-2.51376816e-03, 8.65832344e-01,-2.37665521e-02, 4.24303178e-04,
 -2.94481868e-03, 8.61864435e-01,-2.71136071e-02, 3.10295551e-03,
 -1.18887120e-03, 8.70653800e-01,-1.92515559e-02,-2.13122362e-02,
  1.39623562e+00, 1.85357957e-02, 1.40837437e+00, 2.40957106e-02,
  4.10254701e-03,-5.76664639e-02, 8.05816757e-02, 7.04256607e-01,
 -4.76087405e-02,-7.06769105e-01,-4.72596177e-02]

qacc:
[ 6.90837152e-03,-2.00031625e-01, 1.65781646e+00,-3.47243368e+00,
 -4.94098182e-02, 1.40185811e+00,-2.00992448e+00,-5.72327414e+00,
 -4.38841788e-02, 4.43466764e-01,-3.32203427e+00, 9.37808346e+00,
 -4.03077573e-02,-3.89986431e-01,-9.54399635e+00, 3.20462541e+01,
  5.57991046e-01, 3.66463849e-01,-3.64949035e-01,-2.87591117e-01,
  2.70008483e+01, 2.34723608e+01]

qfrc_actuator:
[ 2.43650178e-03, 2.73769804e-02, 8.73689920e-03, 1.61879466e-03,
 -1.78640890e-05, 2.73797925e-02, 8.61262765e-03, 1.68198857e-03,
 -2.38427235e-03, 2.75511334e-02, 8.70466602e-03, 1.62896762e-03,
  0.00000000e+00,-1.43174811e-03, 0.00000000e+00,-8.47121057e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005594431608061112
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00426472, -0.06315993,  0.06194647])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.27172636e-06, 4.67094575e-05, 2.07122758e-05,-1.05980543e-06,
 -8.81045053e-06, 4.11714843e-05,-2.68763430e-05,-2.38139282e-05,
 -8.08217128e-06,-1.56443352e-05,-1.44152814e-06, 1.69396667e-05,
  3.23946268e-03,-6.21370600e-05,-2.41456139e-05, 1.47809283e-04,
  1.08965096e-04, 6.07015349e-05,-1.21644362e+00, 2.14511826e-05,
  7.63755443e-03, 1.78328451e-03]


--- Step 2477 ---
qpos:
[-2.51322888e-03, 8.65832798e-01,-2.37662570e-02, 4.24565483e-04,
 -2.94499400e-03, 8.61865518e-01,-2.71142308e-02, 3.10377120e-03,
 -1.18883472e-03, 8.70655449e-01,-1.92520953e-02,-2.13118629e-02,
  1.39623575e+00, 1.85360913e-02, 1.40844740e+00, 2.40939600e-02,
  4.11945776e-03,-5.76619559e-02, 8.05942328e-02, 7.04571405e-01,
 -4.77078878e-02,-7.06456076e-01,-4.71476935e-02]

qacc:
[-2.20406976e-01, 4.01910905e+00,-1.66372850e+01, 3.01453994e+01,
  5.18507238e-02,-2.52669047e-01, 2.10995975e+00,-3.62918320e+00,
 -1.66329875e-01, 1.17309095e+00,-5.40005344e+00, 9.71626728e+00,
 -1.42812089e-02, 5.28873477e-02,-1.52526900e+00, 5.31996344e+00,
  3.37026182e-01,-1.12096845e+00,-5.13953559e-01, 2.83257006e-01,
  2.42369051e+01,-5.76300832e+01]

qfrc_actuator:
[ 2.39582264e-03, 2.73826927e-02, 8.69451264e-03, 1.65396403e-03,
 -4.30042964e-06, 2.74445273e-02, 8.64624865e-03, 1.68478551e-03,
 -2.41094359e-03, 2.75280770e-02, 8.68065854e-03, 1.63776133e-03,
  0.00000000e+00,-1.38547968e-03, 0.00000000e+00,-8.25075010e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005441441987899115
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.04031032e-13, -1.02015516e-13,  1.00000000e+00,  2.08143310e-26,
        1.00000000e+00,  1.02015516e-13, -1.00000000e+00,  0.00000000e+00,
        2.04031032e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0007466 , -0.03579157,  0.06194792])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.00680483e-05, 3.60537332e-05,-3.02326203e-05, 3.78654762e-05,
  9.38721028e-06, 8.11787108e-05, 3.79904440e-05, 3.16633061e-06,
 -3.05394181e-05,-3.14188714e-05,-2.68422959e-05, 8.40136908e-06,
  3.27418801e-03, 5.58003571e-06, 4.51770291e-06, 2.70394378e-05,
  1.48276854e-04, 8.47102161e-05,-1.21644547e+00, 3.08190451e-05,
  7.63717912e-03, 1.78322895e-03]


--- Step 2478 ---
qpos:
[-2.51314467e-03, 8.65833876e-01,-2.37663146e-02, 4.25195248e-04,
 -2.94503686e-03, 8.61866628e-01,-2.71136490e-02, 3.10427461e-03,
 -1.18893064e-03, 8.70657218e-01,-1.92524679e-02,-2.13121514e-02,
  1.39623574e+00, 1.85361740e-02, 1.40852049e+00, 2.40921570e-02,
  4.13767807e-03,-5.76618476e-02, 8.06039996e-02, 7.04914396e-01,
 -4.77245243e-02,-7.06114746e-01,-4.71171920e-02]

qacc:
[-2.39008690e-01, 2.56534731e+00,-9.50244955e+00, 1.59692704e+01,
  7.04956604e-02,-3.97104442e+00, 1.55325835e+01,-2.28904407e+01,
 -6.90943194e-02,-1.67060639e+00, 8.97450694e+00,-2.07710233e+01,
 -9.10636663e-03,-1.55001703e-01, 2.31752940e-01,-7.08129217e-01,
  3.27391394e-01,-1.09991389e+00,-6.97601663e-01, 3.11941869e-01,
  2.38158542e+01,-5.64894306e+01]

qfrc_actuator:
[ 2.37145104e-03, 2.74389502e-02, 8.68713848e-03, 1.67452117e-03,
  3.84883255e-06, 2.74293435e-02, 8.70197876e-03, 1.66840502e-03,
 -2.40901733e-03, 2.75669453e-02, 8.70218313e-03, 1.60725684e-03,
  0.00000000e+00,-1.41113848e-03, 0.00000000e+00,-8.29199537e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005336496774979854
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04021709e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.04021709e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00074125, -0.0357807 ,  0.06194891])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.34740363e-05, 7.17765347e-05,-2.34824281e-06, 2.17912804e-05,
  1.26147538e-05, 3.81699252e-05, 7.72809935e-05,-1.15284973e-05,
 -1.26964169e-05, 1.60770261e-05, 1.20113719e-05,-3.26166700e-05,
  3.27501584e-03,-2.37108015e-05, 3.44140721e-06,-2.40781343e-06,
  1.67422147e-04, 4.41536482e-05,-1.21644591e+00, 2.48595975e-05,
  7.63733306e-03, 1.78349458e-03]


--- Step 2479 ---
qpos:
[-2.51287065e-03, 8.65835240e-01,-2.37657960e-02, 4.26044607e-04,
 -2.94515263e-03, 8.61867925e-01,-2.71129306e-02, 3.10463208e-03,
 -1.18907667e-03, 8.70659279e-01,-1.92529951e-02,-2.13124585e-02,
  1.39623524e+00, 1.85359250e-02, 1.40859330e+00, 2.40926683e-02,
  4.14961138e-03,-5.76648107e-02, 8.06079429e-02, 7.05143227e-01,
 -4.76752607e-02,-7.05886859e-01,-4.71576117e-02]

qacc:
[ 9.97864589e-02,-7.79501252e-01, 2.40128994e+00, 2.66212305e-01,
 -3.83862705e-02,-4.34184758e-01, 2.52345604e+00,-5.40598005e+00,
 -2.63642903e-02, 7.78618642e-01,-2.13856593e+00, 1.84882080e+00,
  7.20880757e-03,-3.26495943e-01,-7.43474763e+00, 2.53757084e+01,
 -1.57174805e+00,-7.67857589e-01,-1.45587254e+00,-1.86383025e+00,
 -7.70443958e+01,-5.36597083e+01]

qfrc_actuator:
[ 2.41032533e-03, 2.74541464e-02, 8.71845395e-03, 1.68638307e-03,
 -9.07657019e-06, 2.74197729e-02, 8.69895552e-03, 1.65856273e-03,
 -2.40774376e-03, 2.75894867e-02, 8.69739421e-03, 1.60721919e-03,
  0.00000000e+00,-1.44419170e-03, 0.00000000e+00,-7.06653264e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000554348389680652
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05364908, -0.04372998,  0.06194699])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.81509228e-05, 5.57492661e-05, 4.65960342e-05, 1.52776378e-05,
 -6.93343163e-06, 2.72092764e-05, 1.39683019e-05,-5.76027271e-06,
 -4.79983802e-06, 3.25753800e-05,-1.12817794e-06, 4.29591083e-07,
  3.28231265e-03,-4.61020812e-05,-6.79507869e-07, 1.22413024e-04,
  1.87348749e-04, 4.61619703e-07,-1.21644743e+00, 1.49965486e-05,
  7.63759229e-03, 1.78388210e-03]


--- Step 2480 ---
qpos:
[-2.51245002e-03, 8.65836347e-01,-2.37648650e-02, 4.26765883e-04,
 -2.94538364e-03, 8.61869892e-01,-2.71130369e-02, 3.10556472e-03,
 -1.18979267e-03, 8.70660709e-01,-1.92534624e-02,-2.13123140e-02,
  1.39623436e+00, 1.85350597e-02, 1.40866624e+00, 2.40932928e-02,
  4.15554615e-03,-5.76706765e-02, 8.06045394e-02, 7.05263379e-01,
 -4.75630618e-02,-7.05767156e-01,-4.72656565e-02]

qacc:
[ 7.72073053e-02,-1.75349594e+00, 6.30197832e+00,-8.99113353e+00,
 -6.14164160e-02, 4.36962963e+00,-1.67265905e+01, 2.75129366e+01,
 -2.97321755e-01,-6.90747092e-02,-2.86361250e+00, 1.10384533e+01,
  3.83344374e-02,-5.00624486e-01,-1.62688797e-01, 8.13010115e-01,
 -1.49963772e+00,-7.25678558e-01,-1.83671968e+00,-1.71841870e+00,
 -7.34039145e+01,-5.11966346e+01]

qfrc_actuator:
[ 2.41567378e-03, 2.73915365e-02, 8.71893740e-03, 1.67527608e-03,
 -1.67417577e-05, 2.74666572e-02, 8.66126704e-03, 1.68810720e-03,
 -2.46014904e-03, 2.74954966e-02, 8.67707190e-03, 1.62508330e-03,
  0.00000000e+00,-1.48147763e-03, 0.00000000e+00,-7.05729078e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000580205377739465
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.56750030e-14,  9.56750030e-14,  1.00000000e+00, -9.15370619e-27,
        1.00000000e+00, -9.56750030e-14, -1.00000000e+00,  0.00000000e+00,
        9.56750030e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05359577, -0.04374561,  0.06194459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.40059514e-05,-2.11940006e-05, 1.82504374e-05,-6.81320391e-06,
 -1.09531579e-05, 6.46989653e-05,-3.05638488e-05, 3.10778812e-05,
 -5.46956328e-05,-7.60342334e-05,-1.37305022e-05, 1.92261609e-05,
  3.30643170e-03,-6.67837872e-05, 1.15263415e-05, 7.27525555e-06,
  7.84663084e-05,-2.08815707e-05,-1.21644388e+00, 4.24705261e-06,
  7.63794634e-03, 1.78294179e-03]


--- Step 2481 ---
qpos:
[-2.51211434e-03, 8.65837036e-01,-2.37634374e-02, 4.26329011e-04,
 -2.94552941e-03, 8.61872365e-01,-2.71137979e-02, 3.10581752e-03,
 -1.19110277e-03, 8.70661558e-01,-1.92535208e-02,-2.13126763e-02,
  1.39623348e+00, 1.85341462e-02, 1.40873918e+00, 2.40942729e-02,
  4.15572663e-03,-5.76793047e-02, 8.05924921e-02, 7.05279393e-01,
 -4.73904033e-02,-7.05751168e-01,-4.74385496e-02]

qacc:
[-4.41344465e-02,-4.32264083e+00, 1.95011602e+01,-4.00350891e+01,
  4.42543894e-02, 1.09566641e+00,-6.94212952e-02,-1.10192900e+01,
 -3.09774779e-01,-2.95507693e+00, 1.15559696e+01,-2.05464760e+01,
  5.32813797e-02,-8.33452313e-02,-1.09285785e+00, 3.79255685e+00,
 -1.43857231e+00,-6.90579482e-01,-2.16092671e+00,-1.58947052e+00,
 -7.03505119e+01,-4.91303409e+01]

qfrc_actuator:
[ 2.40087401e-03, 2.73536815e-02, 8.73636034e-03, 1.61514233e-03,
 -3.42669591e-06, 2.74758462e-02, 8.62143868e-03, 1.65185781e-03,
 -2.49096384e-03, 2.74744135e-02, 8.70053471e-03, 1.59996773e-03,
  0.00000000e+00,-1.44987538e-03, 0.00000000e+00,-6.87739696e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005949295654525677
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.86614196e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.86614196e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05356515, -0.04375441,  0.06194321])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.12712572e-06,-4.62627608e-05, 1.50408486e-05,-6.05470503e-05,
  8.12361744e-06, 4.03371428e-05,-2.91725514e-05,-3.39348513e-05,
 -5.70097103e-05,-6.56505602e-05, 6.72675802e-06,-2.84723704e-05,
  3.32525621e-03,-4.33317649e-06, 3.28911544e-06, 1.92507185e-05,
  1.80783085e-05,-1.89479575e-05,-1.21644207e+00,-1.00228411e-06,
  7.63799003e-03, 1.78244541e-03]


--- Step 2482 ---
qpos:
[-2.51209877e-03, 8.65837398e-01,-2.37610260e-02, 4.25820196e-04,
 -2.94573723e-03, 8.61875367e-01,-2.71153283e-02, 3.10494879e-03,
 -1.19251090e-03, 8.70662242e-01,-1.92531844e-02,-2.13137356e-02,
  1.39623273e+00, 1.85333761e-02, 1.40881211e+00, 2.40954604e-02,
  4.15040473e-03,-5.76859099e-02, 8.05750246e-02, 7.05188756e-01,
 -4.72527322e-02,-7.05841832e-01,-4.75742259e-02]

qacc:
[-1.67107853e-01,-3.32782745e+00, 1.15421083e+01,-1.41228228e+01,
 -3.34156354e-02, 5.39268095e-01, 3.82577768e+00,-2.23936951e+01,
 -5.09038034e-02,-2.75596154e+00, 1.24474766e+01,-2.50088561e+01,
  5.20327353e-02, 6.88126239e-02,-6.42100792e-01, 2.22440380e+00,
 -1.37559435e+00, 5.05735590e-01,-1.35504976e+00, 7.97546040e-01,
 -7.69564166e+01, 2.04135084e+01]

qfrc_actuator:
[ 2.37415820e-03, 2.73664488e-02, 8.79920288e-03, 1.61543698e-03,
 -1.31831192e-05, 2.74978201e-02, 8.58048624e-03, 1.59490971e-03,
 -2.47306694e-03, 2.74972788e-02, 8.73214313e-03, 1.56759478e-03,
  0.00000000e+00,-1.43051969e-03, 0.00000000e+00,-6.77551360e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006079933514435351
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02715013e-13, -1.82604468e-13,  1.00000000e+00,  1.87562203e-26,
        1.00000000e+00,  1.82604468e-13, -1.00000000e+00,  0.00000000e+00,
        1.02715013e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05015335, -0.06965603,  0.06194196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.05983415e-05,-1.26177816e-05, 5.30292529e-05,-2.34759868e-06,
 -5.89435357e-06, 3.69983223e-05,-3.74047809e-05,-5.68935415e-05,
 -9.40537581e-06,-1.37032612e-05, 1.78878968e-05,-3.55051295e-05,
  3.32537563e-03, 1.74681303e-05, 2.05109241e-06, 1.13118574e-05,
 -8.53676209e-08, 3.35642194e-06,-1.21644184e+00,-1.53658809e-06,
  7.63778649e-03, 1.78232948e-03]


--- Step 2483 ---
qpos:
[-2.51240171e-03, 8.65837709e-01,-2.37579500e-02, 4.24958467e-04,
 -2.94622124e-03, 8.61878827e-01,-2.71174058e-02, 3.10374345e-03,
 -1.19384734e-03, 8.70662336e-01,-1.92531787e-02,-2.13140334e-02,
  1.39623206e+00, 1.85326306e-02, 1.40888503e+00, 2.40967603e-02,
  4.13979450e-03,-5.76905582e-02, 8.05508346e-02, 7.04995584e-01,
 -4.71485798e-02,-7.06034995e-01,-4.76741426e-02]

qacc:
[-1.66577105e-01,-2.64831456e+00, 1.08379052e+01,-1.79746224e+01,
 -1.45985745e-01, 1.43976553e+00,-2.83499738e+00,-2.45079342e+00,
  3.74549370e-02, 1.71309355e+00,-1.04470146e+01, 2.45753786e+01,
  4.77211838e-02,-1.72450117e-02,-3.53662391e-01, 1.21377631e+00,
 -1.32208312e+00, 4.89216316e-01,-1.68062577e+00, 8.17494116e-01,
 -7.39695621e+01, 1.95773111e+01]

qfrc_actuator:
[ 2.35831456e-03, 2.73741617e-02, 8.83535367e-03, 1.59810783e-03,
 -3.66692502e-05, 2.75272386e-02, 8.55698855e-03, 1.57951389e-03,
 -2.46170674e-03, 2.74220596e-02, 8.69747881e-03, 1.60227077e-03,
  0.00000000e+00,-1.43643698e-03, 0.00000000e+00,-6.72037874e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006167181190150639
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.35015859e-13, -2.25026432e-14,  1.00000000e+00,  3.03821371e-27,
        1.00000000e+00,  2.25026432e-14, -1.00000000e+00,  0.00000000e+00,
        1.35015859e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05013596, -0.06965011,  0.06194111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.04383168e-05, 1.14783828e-05, 3.99762809e-05,-1.60829735e-05,
 -2.62782344e-05, 3.98856818e-05,-2.24447394e-05,-1.62138316e-05,
  6.85700321e-06,-8.07286501e-05,-3.65266570e-05, 3.40169784e-05,
  3.31817513e-03, 4.40943884e-06, 9.04427408e-07, 6.09570713e-06,
  1.77736967e-05, 2.32279997e-05,-1.21644184e+00, 2.27460417e-06,
  7.63786181e-03, 1.78237903e-03]


--- Step 2484 ---
qpos:
[-2.51258133e-03, 8.65838398e-01,-2.37551586e-02, 4.23561177e-04,
 -2.94679387e-03, 8.61881673e-01,-2.71187776e-02, 3.10275945e-03,
 -1.19525819e-03, 8.70661311e-01,-1.92536154e-02,-2.13131448e-02,
  1.39623139e+00, 1.85318805e-02, 1.40895790e+00, 2.40984493e-02,
  4.12407956e-03,-5.76933064e-02, 8.05188162e-02, 7.04703265e-01,
 -4.70767181e-02,-7.06327140e-01,-4.77395184e-02]

qacc:
[ 6.43207448e-02, 1.91761920e-01, 2.30074103e+00,-1.13909889e+01,
 -4.59896595e-02,-2.32520861e+00, 6.18032855e+00,-3.02965479e+00,
 -3.86792234e-02, 2.20100162e+00,-1.49916832e+01, 3.70327829e+01,
  4.69510141e-02,-4.73705590e-02,-1.26223570e+00, 4.28862615e+00,
 -1.27617595e+00, 4.75020543e-01,-1.95710786e+00, 8.33244530e-01,
 -7.14750709e+01, 1.88780686e+01]

qfrc_actuator:
[ 2.38462593e-03, 2.73964476e-02, 8.81990961e-03, 1.57051415e-03,
 -3.26489783e-05, 2.74544674e-02, 8.57955447e-03, 1.58871313e-03,
 -2.47215168e-03, 2.73239866e-02, 8.65912368e-03, 1.65824383e-03,
  0.00000000e+00,-1.43970387e-03, 0.00000000e+00,-6.51564547e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006173712971875717
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34873013e-13, -8.99153418e-14,  1.00000000e+00,  1.21271530e-26,
        1.00000000e+00,  8.99153418e-14, -1.00000000e+00,  0.00000000e+00,
        1.34873013e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05013352, -0.06964904,  0.06194099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17959949e-05, 3.62385739e-05,-8.72955307e-06,-2.60347893e-05,
 -8.44835745e-06,-5.58658162e-05, 2.74679127e-05, 9.81551373e-06,
 -7.17149618e-06,-1.49305561e-04,-5.83507955e-05, 5.19154463e-05,
  3.31486719e-03,-5.21335122e-08,-3.22116935e-07, 2.05950488e-05,
  6.61113986e-05, 2.94000657e-05,-1.21644311e+00, 4.58511268e-06,
  7.63801973e-03, 1.78244892e-03]


--- Step 2485 ---
qpos:
[-2.51290844e-03, 8.65839110e-01,-2.37522168e-02, 4.22895743e-04,
 -2.94738016e-03, 8.61883675e-01,-2.71197261e-02, 3.10297950e-03,
 -1.19676365e-03, 8.70659043e-01,-1.92538417e-02,-2.13119664e-02,
  1.39623088e+00, 1.85310451e-02, 1.40903096e+00, 2.40986904e-02,
  4.10341898e-03,-5.76942037e-02, 8.04780307e-02, 7.04314567e-01,
 -4.70361229e-02,-7.06715282e-01,-4.77713696e-02]

qacc:
[-7.72026575e-02, 1.11636073e+00,-7.02551474e+00, 1.94340323e+01,
 -6.56275381e-03, 1.80719142e-01,-7.34525259e+00, 2.81271545e+01,
 -4.88311883e-02,-1.63150326e+00, 2.21537709e+00, 3.37103298e+00,
  4.59102540e-02,-5.58407605e-02, 4.65402182e+00,-1.58931001e+01,
 -1.23641088e+00, 4.62739928e-01,-2.19176879e+00, 8.45680674e-01,
 -6.93977110e+01, 1.82944482e+01]

qfrc_actuator:
[ 2.36490533e-03, 2.73915643e-02, 8.82745013e-03, 1.60809609e-03,
 -2.99545996e-05, 2.73922823e-02, 8.59321938e-03, 1.64775137e-03,
 -2.47780967e-03, 2.72662248e-02, 8.67205606e-03, 1.67300783e-03,
  0.00000000e+00,-1.44136119e-03, 0.00000000e+00,-7.28952817e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006115510885615072
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.07710775e-14, -1.58849386e-13,  1.00000000e+00,  1.44189299e-26,
        1.00000000e+00,  1.58849386e-13, -1.00000000e+00,  0.00000000e+00,
        9.07710775e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05014299, -0.06965182,  0.06194146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.40941537e-05, 1.24281133e-05, 1.30231424e-05, 3.83220710e-05,
 -1.32340778e-06,-8.73874270e-05, 5.84121087e-06, 5.77862257e-05,
 -9.11220366e-06,-1.51055513e-04,-2.32842204e-05, 7.36465462e-06,
  3.31425821e-03,-1.44694253e-06, 7.61774082e-07,-7.66066192e-05,
  1.41858426e-04, 2.33481979e-05,-1.21644540e+00, 5.64767011e-06,
  7.63824935e-03, 1.78252479e-03]


--- Step 2486 ---
qpos:
[-2.51342742e-03, 8.65839939e-01,-2.37494584e-02, 4.22006042e-04,
 -2.94813999e-03, 8.61885251e-01,-2.71211737e-02, 3.10391608e-03,
 -1.19815789e-03, 8.70655280e-01,-1.92534787e-02,-2.13109591e-02,
  1.39623069e+00, 1.85305183e-02, 1.40910396e+00, 2.40983396e-02,
  4.08593337e-03,-5.76929769e-02, 8.04516361e-02, 7.03982831e-01,
 -4.70392342e-02,-7.07046231e-01,-4.77609802e-02]

qacc:
[-1.00771603e-01, 2.06259929e-01, 4.36765773e-01,-4.11085523e+00,
 -9.15196843e-02, 2.30484992e+00,-1.20606496e+01, 2.55756529e+01,
  5.89591657e-02,-3.97484899e+00, 1.20255698e+01,-1.48289146e+01,
  3.19064398e-02, 2.29369446e-01, 1.72128276e+00,-6.11918054e+00,
  7.93743682e-01, 5.31027381e-01, 3.59773358e+00,-4.92009832e-01,
  3.82308626e+01, 3.30249661e+01]

qfrc_actuator:
[ 2.35329231e-03, 2.73883357e-02, 8.81295476e-03, 1.59496705e-03,
 -4.58478858e-05, 2.73724296e-02, 8.56603843e-03, 1.68236386e-03,
 -2.46279287e-03, 2.71799619e-02, 8.69753232e-03, 1.66346831e-03,
  0.00000000e+00,-1.40646496e-03, 0.00000000e+00,-7.56860794e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006466098852176
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.58495246e-14, -8.58495246e-14,  1.00000000e+00,  7.37014087e-27,
        1.00000000e+00,  8.58495246e-14, -1.00000000e+00,  0.00000000e+00,
        8.58495246e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00420087, -0.06313369,  0.06193811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.83361478e-05, 8.01231515e-06,-9.02499242e-06,-1.14042295e-05,
 -1.65332385e-05,-6.50767876e-05,-4.25175467e-05, 3.21940802e-05,
  1.06309634e-05,-1.75173665e-04,-8.31625381e-06,-1.66666638e-05,
  3.30596495e-03, 3.77493187e-05,-9.82019035e-06,-3.24660969e-05,
  2.42726114e-04, 6.19169076e-06,-1.21644850e+00, 5.65269272e-06,
  7.63853983e-03, 1.78259579e-03]


--- Step 2487 ---
qpos:
[-2.51373599e-03, 8.65841027e-01,-2.37472585e-02, 4.21319721e-04,
 -2.94907812e-03, 8.61886397e-01,-2.71226558e-02, 3.10488336e-03,
 -1.19902994e-03, 8.70650501e-01,-1.92523900e-02,-2.13108361e-02,
  1.39623101e+00, 1.85306885e-02, 1.40917688e+00, 2.40976380e-02,
  4.07144139e-03,-5.76897591e-02, 8.04367424e-02, 7.03704903e-01,
 -4.70836745e-02,-7.07323286e-01,-4.77106568e-02]

qacc:
[ 1.09891002e-01, 2.31887350e+00,-8.63249531e+00, 1.28578422e+01,
 -9.37706526e-02,-4.08590689e-01, 5.02242160e-01, 4.00321273e-01,
  2.73415282e-01,-5.19165060e+00, 2.02887203e+01,-3.59947925e+01,
  6.77425453e-03, 5.38668687e-01, 9.64796294e-01,-3.50114704e+00,
  7.48404386e-01, 4.97755446e-01, 2.87520440e+00,-4.51316040e-01,
  3.60670814e+01, 3.12197897e+01]

qfrc_actuator:
[ 2.38215248e-03, 2.74037487e-02, 8.78551165e-03, 1.60533270e-03,
 -5.49758009e-05, 2.73601430e-02, 8.56836096e-03, 1.68457417e-03,
 -2.41778657e-03, 2.71661123e-02, 8.74782461e-03, 1.62193906e-03,
  0.00000000e+00,-1.34999646e-03, 0.00000000e+00,-7.73110168e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006807282997560865
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.63093414e-13,  8.15467070e-14,  1.00000000e+00, -1.32997309e-26,
        1.00000000e+00, -8.15467070e-14, -1.00000000e+00,  0.00000000e+00,
        1.63093414e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00417653, -0.063124  ,  0.06193488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.01147233e-05, 1.74997412e-05,-2.73211150e-05, 1.01707789e-05,
 -1.69841614e-05,-5.61076243e-05,-1.52440385e-05,-1.42376708e-06,
  5.00680618e-05,-1.14150840e-04, 1.25382388e-05,-4.96375008e-05,
  3.29038849e-03, 7.88126529e-05,-8.70438386e-06,-1.94705814e-05,
  1.72079116e-04,-1.51512512e-05,-1.21644578e+00,-4.76977993e-07,
  7.63870296e-03, 1.78268450e-03]


--- Step 2488 ---
qpos:
[-2.51394889e-03, 8.65842392e-01,-2.37451554e-02, 4.20382749e-04,
 -2.94978011e-03, 8.61886192e-01,-2.71234251e-02, 3.10628188e-03,
 -1.19900056e-03, 8.70646426e-01,-1.92518077e-02,-2.13110044e-02,
  1.39623156e+00, 1.85312501e-02, 1.40924971e+00, 2.40970667e-02,
  4.05979026e-03,-5.76846597e-02, 8.04309036e-02, 7.03478139e-01,
 -4.71674578e-02,-7.07549188e-01,-4.76223220e-02]

qacc:
[ 4.99866358e-02, 1.20583322e-01, 1.15918554e+00,-5.54552938e+00,
  1.25321778e-01,-2.88518308e+00, 5.88006453e+00, 1.43253929e+00,
  4.70107580e-01, 1.74407190e+00,-3.64254729e+00,-1.10016623e+00,
 -1.85488547e-02, 3.08309288e-01,-5.30072784e-01, 1.66851804e+00,
  7.10215689e-01, 4.70381626e-01, 2.26373788e+00,-4.15548484e-01,
  3.42594926e+01, 2.97132256e+01]

qfrc_actuator:
[ 2.38171313e-03, 2.74301589e-02, 8.78625349e-03, 1.59395195e-03,
 -2.44650513e-05, 2.72460551e-02, 8.58812071e-03, 1.70324766e-03,
 -2.35524201e-03, 2.73023446e-02, 8.75937643e-03, 1.61525556e-03,
  0.00000000e+00,-1.35210683e-03, 0.00000000e+00,-7.64615930e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007013446348900637
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.58299211e-13, -7.91496056e-14,  1.00000000e+00,  1.25293201e-26,
        1.00000000e+00,  7.91496056e-14, -1.00000000e+00,  0.00000000e+00,
        1.58299211e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00416195, -0.06311824,  0.06193295])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.15063821e-06, 3.09498030e-05, 1.31729048e-06,-1.13829129e-05,
  2.24416905e-05,-1.48690384e-04, 6.24600534e-06, 1.57139075e-05,
  8.64948365e-05, 7.29745606e-05,-1.21684537e-05,-1.20984195e-05,
  3.26426066e-03, 4.18717479e-05,-6.32396076e-06, 6.22447963e-06,
  1.16515525e-04,-2.80854716e-05,-1.21644392e+00,-3.65506579e-06,
  7.63886975e-03, 1.78270561e-03]


--- Step 2489 ---
qpos:
[-2.51411889e-03, 8.65844782e-01,-2.37436355e-02, 4.17871942e-04,
 -2.95017614e-03, 8.61884521e-01,-2.71240452e-02, 3.10760359e-03,
 -1.19852454e-03, 8.70643940e-01,-1.92527615e-02,-2.13112968e-02,
  1.39623188e+00, 1.85313203e-02, 1.40932266e+00, 2.40952514e-02,
  4.05085235e-03,-5.76777683e-02, 8.04320577e-02, 7.03300326e-01,
 -4.72889312e-02,-7.07726211e-01,-4.74975716e-02]

qacc:
[ 2.16878133e-02,-2.57900383e-01, 9.52589511e+00,-3.65826044e+01,
  1.61742045e-01,-2.51129242e+00, 6.46722314e+00,-6.95910660e+00,
  2.31689085e-01, 6.13526541e+00,-1.83057738e+01, 1.74508113e+01,
 -1.95041448e-02,-3.29392863e-01, 3.95418496e+00,-1.35680970e+01,
  6.78304163e-01, 4.48004268e-01, 1.74822430e+00,-3.83572499e-01,
  3.27538369e+01, 2.84609246e+01]

qfrc_actuator:
[ 2.38147728e-03, 2.75163032e-02, 8.76816284e-03, 1.51663816e-03,
 -6.01949418e-06, 2.71429891e-02, 8.58210395e-03, 1.69588097e-03,
 -2.35377316e-03, 2.74207971e-02, 8.69536791e-03, 1.61148756e-03,
  0.00000000e+00,-1.42484309e-03, 0.00000000e+00,-8.30379665e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007110085888657885
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.80738125e-14, -7.80738125e-14,  1.00000000e+00,  6.09552019e-27,
        1.00000000e+00,  7.80738125e-14, -1.00000000e+00,  0.00000000e+00,
        7.80738125e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00415525, -0.06311566,  0.06193205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.12724632e-06, 1.03189382e-04,-1.19559638e-05,-7.61679183e-05,
  2.90798718e-05,-1.84235390e-04,-3.54063335e-05,-1.32151861e-05,
  4.28837744e-05, 1.56329567e-04,-5.08291674e-05,-1.29629409e-06,
  3.25284316e-03,-5.04312438e-05,-2.92957028e-06,-6.64062260e-05,
  7.37126736e-05,-3.38702130e-05,-1.21644276e+00,-4.25606509e-06,
  7.63903521e-03, 1.78266687e-03]


--- Step 2490 ---
qpos:
[-2.51426940e-03, 8.65847855e-01,-2.37429267e-02, 4.15895053e-04,
 -2.95068421e-03, 8.61882284e-01,-2.71247912e-02, 3.10803940e-03,
 -1.19820023e-03, 8.70641987e-01,-1.92532716e-02,-2.13123249e-02,
  1.39623186e+00, 1.85309413e-02, 1.40939547e+00, 2.40936665e-02,
  4.04452179e-03,-5.76691576e-02, 8.04384718e-02, 7.03169613e-01,
 -4.74467243e-02,-7.07856231e-01,-4.73377229e-02]

qacc:
[ 9.49015026e-03, 4.26587165e+00,-1.61561377e+01, 2.61954173e+01,
 -5.89329838e-02,-2.21765338e+00, 1.05634816e+01,-2.52809533e+01,
 -7.91542371e-02,-2.05110225e+00, 1.14341155e+01,-2.52547308e+01,
 -4.44374369e-03,-3.51753937e-01,-9.16835011e-01, 2.87844241e+00,
  6.51836589e-01, 4.29831839e-01, 1.31500769e+00,-3.54419486e-01,
  3.15033322e+01, 2.74244888e+01]

qfrc_actuator:
[ 2.38137802e-03, 2.75309141e-02, 8.72154513e-03, 1.54320904e-03,
 -3.04825839e-05, 2.71714613e-02, 8.59640499e-03, 1.65547309e-03,
 -2.38885550e-03, 2.74208990e-02, 8.71152392e-03, 1.57391291e-03,
  0.00000000e+00,-1.45046548e-03, 0.00000000e+00,-8.15107478e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007118674172312683
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.79796208e-14, -7.79796208e-14,  1.00000000e+00,  6.08082125e-27,
        1.00000000e+00,  7.79796208e-14, -1.00000000e+00,  0.00000000e+00,
        7.79796208e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00415483, -0.06311564,  0.06193198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.87697309e-06, 6.65163872e-05,-2.94418291e-05, 2.90925904e-05,
 -1.06810232e-05,-8.23797674e-05,-2.85523173e-05,-4.97818141e-05,
 -1.45359005e-05, 7.70376996e-05, 4.21618330e-05,-3.26612508e-05,
  3.26393492e-03,-5.14705600e-05,-1.08773088e-05, 1.07270780e-05,
  4.18871790e-05,-3.34547058e-05,-1.21644217e+00,-2.56649808e-06,
  7.63919515e-03, 1.78257428e-03]


--- Step 2491 ---
qpos:
[-2.51459632e-03, 8.65850686e-01,-2.37424053e-02, 4.14673731e-04,
 -2.95121051e-03, 8.61880198e-01,-2.71260601e-02, 3.10792091e-03,
 -1.19816828e-03, 8.70639865e-01,-1.92521910e-02,-2.13124029e-02,
  1.39623176e+00, 1.85304910e-02, 1.40946820e+00, 2.40922554e-02,
  4.04071142e-03,-5.76588862e-02, 8.04486940e-02, 7.03084458e-01,
 -4.76397060e-02,-7.07940788e-01,-4.71438567e-02]

qacc:
[-9.24795848e-02, 1.75957776e+00,-9.92556478e+00, 2.34793888e+01,
 -1.00203082e-02, 5.19163705e-01, 7.78399105e-01,-9.64566031e+00,
 -1.51561868e-01,-2.70907219e+00, 5.33311231e+00, 8.67388183e+00,
  9.28313586e-03,-6.76658918e-02,-6.50192541e-01, 2.09195962e+00,
  6.30046546e-01, 4.15180473e-01, 9.52011037e-01,-3.27270878e-01,
  3.04680739e+01, 2.65710496e+01]

qfrc_actuator:
[ 2.36361436e-03, 2.74670311e-02, 8.69377772e-03, 1.57737460e-03,
 -2.71373583e-05, 2.72252841e-02, 8.58760696e-03, 1.63158558e-03,
 -2.40994360e-03, 2.74036688e-02, 8.79216582e-03, 1.62323124e-03,
  0.00000000e+00,-1.42991253e-03, 0.00000000e+00,-8.05448418e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007057233932532617
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.86585109e-14, -7.86585109e-14,  1.00000000e+00,  6.18716134e-27,
        1.00000000e+00,  7.86585109e-14, -1.00000000e+00,  0.00000000e+00,
        7.86585109e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0041594 , -0.06311765,  0.06193257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.68671826e-05,-3.15975923e-05,-1.66766379e-05, 3.65595037e-05,
 -1.73411003e-06,-2.13813826e-07,-3.10294134e-05,-2.93697026e-05,
 -2.80431324e-05, 3.32070352e-05, 1.00636251e-04, 5.34449925e-05,
  3.28149130e-03,-8.43476863e-06,-5.37831183e-06, 8.52716633e-06,
  1.96726771e-05,-2.75507194e-05,-1.21644207e+00, 1.19517260e-06,
  7.63934578e-03, 1.78243261e-03]


--- Step 2492 ---
qpos:
[-2.51437344e-03, 8.65853311e-01,-2.37424609e-02, 4.13895408e-04,
 -2.95116265e-03, 8.61878713e-01,-2.71280932e-02, 3.10885566e-03,
 -1.19840671e-03, 8.70638275e-01,-1.92505927e-02,-2.13122509e-02,
  1.39623200e+00, 1.85301989e-02, 1.40954112e+00, 2.40889478e-02,
  4.03826739e-03,-5.76534166e-02, 8.04602188e-02, 7.03030490e-01,
 -4.77414528e-02,-7.07994434e-01,-4.70400414e-02]

qacc:
[ 2.87981202e-01, 2.24956944e+00,-1.02890042e+01, 1.90332247e+01,
  3.01749755e-01, 5.09184512e+00,-2.14541767e+01, 4.04700485e+01,
 -1.41023914e-01,-2.70214664e-01, 1.01274257e+00, 1.74830503e+00,
  4.48205982e-03, 1.71843117e-01, 6.03528608e+00,-2.06816173e+01,
  3.41587200e-01,-1.20047436e+00, 3.25650395e-01, 2.11743338e-01,
  2.62019237e+01,-6.24796526e+01]

qfrc_actuator:
[ 2.42420329e-03, 2.74454659e-02, 8.65926838e-03, 1.59790912e-03,
  2.83491342e-05, 2.72938264e-02, 8.56539682e-03, 1.68864359e-03,
 -2.42243383e-03, 2.74475384e-02, 8.82141173e-03, 1.63453084e-03,
  0.00000000e+00,-1.39960527e-03, 0.00000000e+00,-9.05708659e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000698579190528556
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.94629327e-14,  7.94629327e-14,  1.00000000e+00, -6.31435768e-27,
        1.00000000e+00, -7.94629327e-14, -1.00000000e+00,  0.00000000e+00,
        7.94629327e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0008166 , -0.03595222,  0.06193327])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.25358296e-05,-4.11830085e-05,-4.18484990e-05, 1.93125137e-05,
  5.46641248e-05, 6.08162262e-05,-2.70671945e-05, 5.54084890e-05,
 -2.59188771e-05, 8.55478978e-05, 5.03588197e-05, 1.72467583e-05,
  3.28453921e-03, 2.54612012e-05,-2.82996733e-06,-1.00766811e-04,
  6.02529839e-06,-1.66881265e-05,-1.21644239e+00, 6.86317593e-06,
  7.63948338e-03, 1.78224561e-03]


--- Step 2493 ---
qpos:
[-2.51332658e-03, 8.65855171e-01,-2.37427275e-02, 4.14107268e-04,
 -2.95049634e-03, 8.61877832e-01,-2.71299280e-02, 3.11074311e-03,
 -1.19866501e-03, 8.70637437e-01,-1.92492345e-02,-2.13126306e-02,
  1.39623242e+00, 1.85302459e-02, 1.40961386e+00, 2.40858037e-02,
  4.03714449e-03,-5.76525963e-02, 8.04716975e-02, 7.03006714e-01,
 -4.77550143e-02,-7.08018244e-01,-4.70232441e-02]

qacc:
[ 4.32194535e-01, 1.61630990e+00,-1.14107032e+01, 2.94488916e+01,
  3.25674328e-01, 2.20338977e+00,-1.07214051e+01, 2.64510274e+01,
 -1.08133567e-02, 5.68608530e-01, 1.65448637e+00,-1.10175107e+01,
 -1.48117731e-02, 2.62416506e-01,-7.63126645e-01, 2.28931646e+00,
  3.30282411e-01,-1.16228605e+00,-1.15071223e-02, 2.13314710e-01,
  2.53263873e+01,-6.03832575e+01]

qfrc_actuator:
[ 2.47789026e-03, 2.73783431e-02, 8.63893128e-03, 1.64578063e-03,
  6.12773842e-05, 2.73529383e-02, 8.58884776e-03, 1.73962517e-03,
 -2.41191773e-03, 2.74741773e-02, 8.80250397e-03, 1.60560645e-03,
  0.00000000e+00,-1.38139893e-03, 0.00000000e+00,-8.92393282e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000694260535153278
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.99572328e-14, -1.59914466e-13,  1.00000000e+00,  1.27863182e-26,
        1.00000000e+00,  1.59914466e-13, -1.00000000e+00,  0.00000000e+00,
        7.99572328e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00081439, -0.03594754,  0.06193371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.87278353e-05,-9.80220768e-05,-3.33499031e-05, 4.50313740e-05,
  5.88841727e-05, 8.99593603e-05, 3.46196137e-05, 5.37316461e-05,
 -1.88643974e-06, 8.56348167e-05, 5.55968334e-06,-2.31833698e-05,
  3.26801991e-03, 3.57858225e-05,-1.37613936e-05, 7.04399832e-06,
  2.72958312e-06,-6.20055409e-06,-1.21644058e+00, 1.41856693e-05,
  7.63939296e-03, 1.78207599e-03]


--- Step 2494 ---
qpos:
[-2.51193091e-03, 8.65856441e-01,-2.37432669e-02, 4.14527941e-04,
 -2.94989496e-03, 8.61876986e-01,-2.71311840e-02, 3.11292781e-03,
 -1.19886578e-03, 8.70637082e-01,-1.92482545e-02,-2.13136540e-02,
  1.39623267e+00, 1.85302919e-02, 1.40968639e+00, 2.40838241e-02,
  4.03730537e-03,-5.76562994e-02, 8.04819990e-02, 7.03012275e-01,
 -4.76829094e-02,-7.08013080e-01,-4.70909644e-02]

qacc:
[ 1.82922456e-01, 4.12030121e-01,-3.48173012e+00, 7.96579200e+00,
 -3.38284278e-02,-9.56315447e-01, 2.22490637e+00, 1.96610109e+00,
  2.96101585e-02, 3.68789676e-01, 2.32296238e+00,-1.32025297e+01,
 -1.84765123e-02,-2.28295657e-02,-3.83580545e+00, 1.29685474e+01,
  3.20942609e-01,-1.13088749e+00,-2.94331425e-01, 2.11347844e-01,
  2.46027360e+01,-5.86532415e+01]

qfrc_actuator:
[ 2.47368404e-03, 2.73555373e-02, 8.62696234e-03, 1.65607205e-03,
  2.71388456e-05, 2.73173850e-02, 8.60353324e-03, 1.75113489e-03,
 -2.40549283e-03, 2.74722921e-02, 8.77300749e-03, 1.57097016e-03,
  0.00000000e+00,-1.40620262e-03, 0.00000000e+00,-8.29986653e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006840724721093316
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.11480559e-14,  8.11480559e-14,  1.00000000e+00, -6.58500698e-27,
        1.00000000e+00, -8.11480559e-14, -1.00000000e+00,  0.00000000e+00,
        8.11480559e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00080948, -0.03593695,  0.06193469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.33182413e-05,-8.26115861e-05,-3.47783599e-05, 5.81072543e-06,
 -6.17666649e-06, 2.42414766e-05, 3.94075382e-05, 1.76079389e-05,
  5.53146711e-06, 4.61644905e-05,-1.19323018e-05,-3.12295197e-05,
  3.25878373e-03,-5.95630213e-06,-5.93553610e-06, 6.09404439e-05,
  7.66783051e-07,-5.64680112e-07,-1.21643999e+00, 1.68510647e-05,
  7.63943218e-03, 1.78203935e-03]


--- Step 2495 ---
qpos:
[-2.51040363e-03, 8.65858032e-01,-2.37443749e-02, 4.14625678e-04,
 -2.94954170e-03, 8.61876112e-01,-2.71320741e-02, 3.11422199e-03,
 -1.19899837e-03, 8.70637388e-01,-1.92479714e-02,-2.13157753e-02,
  1.39623249e+00, 1.85302783e-02, 1.40975854e+00, 2.40852729e-02,
  4.03871915e-03,-5.76644232e-02, 8.04901758e-02, 7.03046441e-01,
 -4.75272096e-02,-7.07979619e-01,-4.72411511e-02]

qacc:
[ 6.85113217e-02, 1.34789370e+00,-2.82751992e+00,-2.08631837e+00,
 -1.30476924e-01,-2.89165474e+00, 1.40157807e+01,-2.99955023e+01,
  3.48826273e-02, 5.57598859e-01, 3.90388318e+00,-2.22569239e+01,
 -3.79949260e-03,-1.40335089e-01,-1.09525292e+01, 3.74773991e+01,
  3.13228008e-01,-1.10514736e+00,-5.31157877e-01, 2.06086803e-01,
  2.40071664e+01,-5.72324484e+01]

qfrc_actuator:
[ 2.47039275e-03, 2.74304629e-02, 8.62016029e-03, 1.64420071e-03,
  6.45413495e-06, 2.72963696e-02, 8.61249972e-03, 1.70373060e-03,
 -2.40159211e-03, 2.75065185e-02, 8.73739199e-03, 1.51547872e-03,
  0.00000000e+00,-1.42110266e-03, 0.00000000e+00,-6.50428514e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006693166618290808
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.65874105e-13, -1.65874105e-13,  1.00000000e+00,  2.75142188e-26,
        1.00000000e+00,  1.65874105e-13, -1.00000000e+00,  0.00000000e+00,
        1.65874105e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0008025 , -0.03592177,  0.06193608])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25841299e-05, 2.17714665e-05,-2.79553393e-05,-1.65031721e-05,
 -2.36145409e-05, 1.45895476e-06, 1.94512483e-05,-4.46591573e-05,
  6.55514765e-06, 5.62418648e-05,-2.86357786e-05,-5.45357080e-05,
  3.26678387e-03,-2.07939707e-05, 2.86376354e-06, 1.81934727e-04,
  1.20044416e-08, 6.72591395e-07,-1.21644053e+00, 1.51616378e-05,
  7.63959047e-03, 1.78212894e-03]


--- Step 2496 ---
qpos:
[-2.50921302e-03, 8.65859997e-01,-2.37459710e-02, 4.14566540e-04,
 -2.94925020e-03, 8.61875877e-01,-2.71328319e-02, 3.11452298e-03,
 -1.19925883e-03, 8.70638273e-01,-1.92482158e-02,-2.13175104e-02,
  1.39623233e+00, 1.85303606e-02, 1.40983083e+00, 2.40875096e-02,
  4.04256983e-03,-5.76709149e-02, 8.05015706e-02, 7.03125730e-01,
 -4.74063495e-02,-7.07901192e-01,-4.73576575e-02]

qacc:
[-1.76958116e-01, 1.53354321e+00,-4.08989255e+00, 1.88222334e+00,
 -3.27292729e-02,-1.56806326e+00, 1.10105998e+01,-2.88833012e+01,
 -6.72820016e-02, 3.03611263e+00,-1.13394557e+01, 1.84338643e+01,
  1.37415119e-02, 4.71367968e-02,-2.19127812e+00, 7.94829797e+00,
  6.09221780e-01, 4.07996263e-01, 8.04524477e-01,-3.14205396e-01,
  3.01562142e+01, 2.63066403e+01]

qfrc_actuator:
[ 2.43222284e-03, 2.74568362e-02, 8.59911089e-03, 1.63723258e-03,
  1.18035001e-05, 2.73728909e-02, 8.63576868e-03, 1.65755203e-03,
 -2.41699217e-03, 2.75442882e-02, 8.71632745e-03, 1.53694894e-03,
  0.00000000e+00,-1.39449624e-03, 0.00000000e+00,-6.16340622e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006553563174035021
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.23518853e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.23518853e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00419543, -0.06313329,  0.0619374 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.21686185e-05, 3.20360107e-05,-2.05733743e-05,-7.32556430e-06,
 -5.85972093e-06, 7.94642484e-05, 2.44334603e-05,-4.63110619e-05,
 -1.22529933e-05, 6.09646762e-05,-1.48658168e-05, 2.18271935e-05,
  3.28833290e-03, 8.80548085e-06, 2.00131364e-05, 4.42563890e-05,
  3.70004074e-07,-2.14472669e-06,-1.21644210e+00, 9.34896659e-06,
  7.63985724e-03, 1.78233892e-03]


--- Step 2497 ---
qpos:
[-2.50842524e-03, 8.65861332e-01,-2.37468174e-02, 4.14122544e-04,
 -2.94914162e-03, 8.61876164e-01,-2.71333477e-02, 3.11496517e-03,
 -1.19985986e-03, 8.70639220e-01,-1.92486334e-02,-2.13168608e-02,
  1.39623244e+00, 1.85307655e-02, 1.40990327e+00, 2.40894919e-02,
  4.04880741e-03,-5.76758190e-02, 8.05150982e-02, 7.03249009e-01,
 -4.73194286e-02,-7.07778935e-01,-4.74413544e-02]

qacc:
[-2.10525652e-01,-3.71786574e+00, 1.36741050e+01,-2.10740467e+01,
 -9.63587635e-02, 3.04999205e-01,-6.81633371e-01, 2.35410913e+00,
 -1.77847238e-01, 5.47684088e+00,-2.94584355e+01, 7.09251488e+01,
  6.91501335e-03, 2.53614311e-01, 1.01213572e+00,-3.18256495e+00,
  5.96727798e-01, 3.96925347e-01, 5.33161807e-01,-3.14026950e-01,
  2.93985433e+01, 2.56280078e+01]

qfrc_actuator:
[ 2.40904665e-03, 2.73828866e-02, 8.62291778e-03, 1.61541685e-03,
 -2.81905216e-06, 2.74007615e-02, 8.64995380e-03, 1.66582566e-03,
 -2.44380393e-03, 2.75307423e-02, 8.70410306e-03, 1.65680923e-03,
  0.00000000e+00,-1.36087023e-03, 0.00000000e+00,-6.32760661e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006441999652265426
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.61706834e-14, -1.72341367e-13,  1.00000000e+00,  1.48507733e-26,
        1.00000000e+00,  1.72341367e-13, -1.00000000e+00,  0.00000000e+00,
        8.61706834e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00420329, -0.06313668,  0.06193846])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.85141695e-05,-6.06389100e-05, 2.76319035e-05,-2.12982068e-05,
 -1.73939666e-05, 7.53777969e-05, 3.20115437e-05, 1.16230906e-05,
 -3.26697140e-05, 1.83900807e-05,-7.12257398e-07, 1.22382626e-04,
  3.28744789e-03, 3.76506896e-05, 1.18253885e-05,-1.19209058e-05,
  6.66332932e-06,-1.15943697e-05,-1.21644160e+00, 5.18528820e-06,
  7.63964969e-03, 1.78251721e-03]


--- Step 2498 ---
qpos:
[-2.50778996e-03, 8.65861464e-01,-2.37462053e-02, 4.13791378e-04,
 -2.94921115e-03, 8.61876351e-01,-2.71336592e-02, 3.11558631e-03,
 -1.20023184e-03, 8.70640286e-01,-1.92492124e-02,-2.13140977e-02,
  1.39623254e+00, 1.85312411e-02, 1.40997569e+00, 2.40919487e-02,
  4.05739151e-03,-5.76791712e-02, 8.05298542e-02, 7.03415341e-01,
 -4.72657055e-02,-7.07613758e-01,-4.74929535e-02]

qacc:
[-7.86041858e-02,-5.42837862e+00, 1.65758558e+01,-1.60771867e+01,
 -9.36306589e-02,-3.34837598e-01, 2.46428783e-01, 2.59698293e+00,
  1.19549557e-01, 4.96329231e+00,-2.63713336e+01, 6.30859219e+01,
 -3.16280463e-03, 4.35561591e-02,-1.48218156e+00, 5.12063475e+00,
  5.86629377e-01, 3.87966836e-01, 3.07125530e-01,-3.13530699e-01,
  2.87801031e+01, 2.50714205e+01]

qfrc_actuator:
[ 2.41282016e-03, 2.73028560e-02, 8.69034848e-03, 1.62048855e-03,
 -1.15262652e-05, 2.73460449e-02, 8.64077342e-03, 1.67052826e-03,
 -2.40618834e-03, 2.75399526e-02, 8.69703936e-03, 1.76253999e-03,
  0.00000000e+00,-1.37655543e-03, 0.00000000e+00,-6.07747637e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000629287266090045
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.82127356e-14, -8.82127356e-14,  1.00000000e+00,  7.78148673e-27,
        1.00000000e+00,  8.82127356e-14, -1.00000000e+00,  0.00000000e+00,
        8.82127356e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00421387, -0.06314116,  0.06193987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.46011554e-05,-1.09175025e-04, 5.75708026e-05, 3.01627339e-06,
 -1.69553040e-05,-5.46359532e-06, 1.07348679e-05, 9.26578376e-06,
  2.19757906e-05, 2.45605259e-05, 8.76592078e-07, 1.08875213e-04,
  3.27366476e-03, 5.84341452e-06, 2.44114499e-06, 2.54603273e-05,
  2.00705249e-05,-1.60173153e-05,-1.21644149e+00, 2.84172835e-06,
  7.63943571e-03, 1.78265217e-03]


--- Step 2499 ---
qpos:
[-2.50757716e-03, 8.65861487e-01,-2.37454651e-02, 4.13820011e-04,
 -2.94904568e-03, 8.61876507e-01,-2.71342949e-02, 3.11594294e-03,
 -1.20044371e-03, 8.70641121e-01,-1.92495391e-02,-2.13124895e-02,
  1.39623256e+00, 1.85318707e-02, 1.41004794e+00, 2.40960250e-02,
  4.06828989e-03,-5.76810002e-02, 8.05450882e-02, 7.03623951e-01,
 -4.72445727e-02,-7.07406388e-01,-4.75130313e-02]

qacc:
[-2.21365595e-01, 2.39668873e-01,-2.58088391e+00, 8.68221471e+00,
  1.23559612e-01, 3.20898085e-01,-8.63193632e-02,-3.94968245e+00,
  8.37833843e-02,-3.38950408e+00, 1.65073718e+01,-3.67093587e+01,
 -2.29702452e-03, 7.43247733e-02,-5.15820414e+00, 1.76757774e+01,
  5.78570430e-01, 3.80796855e-01, 1.19489207e-01,-3.12610016e-01,
  2.82793609e+01, 2.46180673e+01]

qfrc_actuator:
[ 2.37941638e-03, 2.73442698e-02, 8.71193438e-03, 1.64134898e-03,
  1.88893544e-05, 2.73309531e-02, 8.61751449e-03, 1.65524136e-03,
 -2.40136026e-03, 2.74917227e-02, 8.69312959e-03, 1.69933671e-03,
  0.00000000e+00,-1.36844652e-03, 0.00000000e+00,-5.22996799e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000611555769367611
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00422647, -0.06314646,  0.06194155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.03809576e-05,-7.62604205e-06, 6.22943494e-06, 1.82344497e-05,
  2.23661170e-05,-1.55380071e-05,-2.27436716e-05,-1.49695392e-05,
  1.53534715e-05,-2.96771635e-05, 5.02964005e-06,-6.00066695e-05,
  3.27386404e-03, 1.04281372e-05, 2.42790327e-06, 8.61233148e-05,
  4.01478693e-05,-1.57732579e-05,-1.21644177e+00, 2.21993319e-06,
  7.63921449e-03, 1.78274493e-03]


--- Step 2500 ---
qpos:
[-2.50814537e-03, 8.65861768e-01,-2.37448844e-02, 4.13034227e-04,
 -2.94857915e-03, 8.61876719e-01,-2.71347029e-02, 3.11606451e-03,
 -1.20073381e-03, 8.70641546e-01,-1.92500430e-02,-2.13119417e-02,
  1.39623263e+00, 1.85327711e-02, 1.41012013e+00, 2.41014144e-02,
  4.08147722e-03,-5.76813287e-02, 8.05601796e-02, 7.03874204e-01,
 -4.72555359e-02,-7.07157390e-01,-4.75020497e-02]

qacc:
[-4.09698547e-01,-8.90700380e-01, 7.10723063e+00,-2.11366541e+01,
  1.58663555e-01,-1.04724500e+00, 4.83152121e+00,-9.30542433e+00,
 -4.08607110e-02,-2.23021635e+00, 1.16351760e+01,-2.93881948e+01,
 -7.58125798e-04, 1.73650941e-01,-4.05918745e+00, 1.40833837e+01,
  5.72234576e-01, 3.75134568e-01,-3.56706536e-02,-3.11148059e-01,
  2.78781748e+01, 2.42521474e+01]

qfrc_actuator:
[ 2.32403722e-03, 2.73691738e-02, 8.70676034e-03, 1.60038000e-03,
  3.69315305e-05, 2.73573588e-02, 8.63951327e-03, 1.64608526e-03,
 -2.41622736e-03, 2.74448369e-02, 8.67301038e-03, 1.64371171e-03,
  0.00000000e+00,-1.34617277e-03, 0.00000000e+00,-4.56995812e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.36388616, -1.47340987,  6.19097007, -1.47340987, 14.38759295,
        1.90958907,  6.19097007,  1.90958907,  6.81835571,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005917816232729467
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00424056, -0.06315234,  0.06194342])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.46363082e-05, 2.26955516e-05,-5.35613991e-06,-4.07257355e-05,
  2.86578051e-05, 1.23823321e-05, 1.54723505e-05,-1.09004505e-05,
 -7.51703358e-06,-6.50289836e-05,-2.77119239e-05,-5.78934733e-05,
  3.27766207e-03, 2.50036652e-05, 9.34645244e-06, 7.07891819e-05,
  6.65731910e-05,-1.11317819e-05,-1.21644242e+00, 3.24596694e-06,
  7.63898472e-03, 1.78279635e-03]


--- Step 2501 ---
qpos:
[-2.50924053e-03, 8.65862075e-01,-2.37449122e-02, 4.12860886e-04,
 -2.94804632e-03, 8.61876884e-01,-2.71348726e-02, 3.11712279e-03,
 -1.20096767e-03, 8.70641841e-01,-1.92507032e-02,-2.13110659e-02,
  1.39623286e+00, 1.85336818e-02, 1.41019259e+00, 2.41055500e-02,
  4.09693391e-03,-5.76801742e-02, 8.05746172e-02, 7.04165579e-01,
 -4.72981962e-02,-7.06867194e-01,-4.74603727e-02]

qacc:
[-2.76637578e-01, 2.99554464e+00,-1.32150213e+01, 2.47698963e+01,
  3.51381683e-02, 1.20080236e+00,-8.32448808e+00, 2.41900468e+01,
  2.93257147e-02, 9.39181886e-01,-4.98161829e+00, 1.09997716e+01,
 -4.12218687e-03, 4.95206343e-02, 4.20577720e+00,-1.41154237e+01,
  5.67343432e-01, 3.70737811e-01,-1.63408167e-01,-3.09024237e-01,
  2.75612571e+01, 2.39603860e+01]

qfrc_actuator:
[ 2.30925824e-03, 2.73483443e-02, 8.66801407e-03, 1.62985948e-03,
  2.96369609e-05, 2.73553325e-02, 8.65273909e-03, 1.69394192e-03,
 -2.40723201e-03, 2.74700387e-02, 8.67899947e-03, 1.66401177e-03,
  0.00000000e+00,-1.35108382e-03, 0.00000000e+00,-5.26854618e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005706043335330577
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.72848399e-14, -1.94569680e-13,  1.00000000e+00,  1.89286801e-26,
        1.00000000e+00,  1.94569680e-13, -1.00000000e+00,  0.00000000e+00,
        9.72848399e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00425566, -0.06315861,  0.06194542])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.03660871e-05,-1.10073052e-05,-3.61325353e-05, 2.94746198e-05,
  6.31055677e-06, 7.62755572e-06, 1.73131754e-05, 4.87101271e-05,
  5.39018084e-06,-1.93708739e-05,-1.28581463e-05, 1.54291011e-05,
  3.27521101e-03, 6.54854605e-06, 1.06167337e-05,-6.50955596e-05,
  9.91188790e-05,-2.29170334e-06,-1.21644345e+00, 5.86517508e-06,
  7.63874458e-03, 1.78280706e-03]


--- Step 2502 ---
qpos:
[-2.51030042e-03, 8.65862623e-01,-2.37458317e-02, 4.13725416e-04,
 -2.94753062e-03, 8.61876990e-01,-2.71354522e-02, 3.11982918e-03,
 -1.20111777e-03, 8.70641946e-01,-1.92504530e-02,-2.13103672e-02,
  1.39623347e+00, 1.85348776e-02, 1.41026521e+00, 2.41078286e-02,
  4.11462212e-03,-5.76775850e-02, 8.05880694e-02, 7.04497271e-01,
 -4.73715186e-02,-7.06536495e-01,-4.73889718e-02]

qacc:
[ 1.79038750e-02, 4.94193336e+00,-2.15443253e+01, 4.07602661e+01,
 -9.16484905e-03, 4.45654674e+00,-2.29636388e+01, 5.21919316e+01,
  4.43673313e-02,-3.15849138e+00, 1.16441256e+01,-1.60234512e+01,
 -2.03743362e-02, 2.84898153e-01, 5.88184452e+00,-2.01882064e+01,
  5.57877556e-01, 3.58667459e-01,-2.46371894e-01,-2.97871059e-01,
  2.70788886e+01, 2.32169066e+01]

qfrc_actuator:
[ 2.33665036e-03, 2.73712125e-02, 8.62738996e-03, 1.68275430e-03,
  2.50073081e-05, 2.73363256e-02, 8.62509415e-03, 1.77492846e-03,
 -2.40177500e-03, 2.74851204e-02, 8.73620857e-03, 1.65789201e-03,
  0.00000000e+00,-1.31889568e-03, 0.00000000e+00,-6.22929776e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005484891454162024
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.31406627e-07, -6.31406939e-07,  1.00000000e+00, -3.98674525e-13,
        1.00000000e+00,  6.31406939e-07, -1.00000000e+00, -1.00974196e-28,
       -6.31406627e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00409172, -0.06299365,  0.0619475 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.37356765e-06, 1.05025629e-05,-4.63294411e-05, 5.17472143e-05,
 -1.63409684e-06,-9.08293195e-06,-2.22521925e-05, 8.28589943e-05,
  8.03566927e-06, 2.25206818e-06, 5.21599339e-05,-7.09444721e-06,
  3.26724369e-03, 3.82186468e-05,-4.48294349e-06,-9.88487397e-05,
  1.37631061e-04, 1.06039278e-05,-1.21644488e+00, 1.00381855e-05,
  7.63849172e-03, 1.78277754e-03]


--- Step 2503 ---
qpos:
[-2.51098158e-03, 8.65863194e-01,-2.37462806e-02, 4.13768316e-04,
 -2.94705433e-03, 8.61877030e-01,-2.71357190e-02, 3.12239987e-03,
 -1.20119370e-03, 8.70642628e-01,-1.92500995e-02,-2.13101365e-02,
  1.39623441e+00, 1.85360164e-02, 1.41033814e+00, 2.41062554e-02,
  4.13435790e-03,-5.76738347e-02, 8.06008738e-02, 7.04866068e-01,
 -4.74698597e-02,-7.06168383e-01,-4.72932680e-02]

qacc:
[ 1.98807123e-01,-2.97426076e+00, 1.41187647e+01,-2.91102785e+01,
 -2.05428285e-02,-1.23903201e+00, 4.86589203e+00,-7.66823862e+00,
  3.85665667e-02,-4.90883585e-01, 4.82820354e+00,-1.35099318e+01,
 -4.21291176e-02, 9.16198074e-02, 1.21291678e+01,-4.17452322e+01,
  5.11895708e-01, 2.90290101e-01,-1.61968496e-01,-2.35008697e-01,
  2.51186124e+01, 1.91642965e+01]

qfrc_actuator:
[ 2.37124106e-03, 2.73845707e-02, 8.65717617e-03, 1.64251212e-03,
  2.20335120e-05, 2.73426672e-02, 8.64449035e-03, 1.76819107e-03,
 -2.39849101e-03, 2.75474990e-02, 8.75213515e-03, 1.63629433e-03,
  0.00000000e+00,-1.33573738e-03, 0.00000000e+00,-8.22393243e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005271578726235848
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05302707e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.05302707e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00276477, -0.06171914,  0.06194951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.61998617e-05, 1.18747764e-05, 2.80407324e-05,-4.03891093e-05,
 -3.75155353e-06, 2.14242826e-07, 1.76461933e-05,-6.28718034e-06,
  7.13158928e-06, 7.41013595e-05, 2.25674278e-05,-1.98361014e-05,
  3.24818798e-03, 7.11870627e-06,-1.41344196e-05,-2.05824458e-04,
  1.81517092e-04, 2.70503649e-05,-1.21644671e+00, 1.56167279e-05,
  7.63822300e-03, 1.78271062e-03]


--- Step 2504 ---
qpos:
[-2.51089296e-03, 8.65863484e-01,-2.37459289e-02, 4.12999383e-04,
 -2.94661727e-03, 8.61877040e-01,-2.71354393e-02, 3.12415819e-03,
 -1.20121362e-03, 8.70643697e-01,-1.92503111e-02,-2.13104409e-02,
  1.39623543e+00, 1.85367013e-02, 1.41041125e+00, 2.41002859e-02,
  4.14823676e-03,-5.76681246e-02, 8.06100126e-02, 7.05121593e-01,
 -4.75987536e-02,-7.05913174e-01,-4.71644771e-02]

qacc:
[ 4.04145025e-01,-4.27710071e+00, 1.81399791e+01,-3.32669735e+01,
 -2.03507837e-02,-3.23650746e+00, 1.49131932e+01,-2.98286880e+01,
  2.87356935e-02, 9.87270464e-01,-5.25654994e-01,-8.10375292e+00,
 -5.77879976e-02,-1.91495359e-01, 1.36046124e+01,-4.71651213e+01,
 -1.46423221e+00, 4.89956791e-01,-9.16360343e-01, 8.96021473e-01,
 -8.12935489e+01, 1.70904352e+01]

qfrc_actuator:
[ 2.42754596e-03, 2.73568380e-02, 8.69269769e-03, 1.60109001e-03,
  2.00823660e-05, 2.73464954e-02, 8.67379967e-03, 1.72769651e-03,
 -2.39653475e-03, 2.75310491e-02, 8.70822972e-03, 1.60577168e-03,
  0.00000000e+00,-1.38176904e-03, 0.00000000e+00,-1.04564671e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00054037565537425
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03663772e-06, -1.03663780e-06,  1.00000000e+00, -1.07461784e-12,
        1.00000000e+00,  1.03663780e-06, -1.00000000e+00,  0.00000000e+00,
       -1.03663772e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05046986, -0.06826801,  0.06194829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.35673303e-05,-1.70356392e-05, 4.00297898e-05,-4.07298343e-05,
 -3.73209076e-06, 7.31980944e-06, 3.13080729e-05,-4.00005163e-05,
  5.38146801e-06, 2.87787971e-05,-2.65171414e-05,-2.69577116e-05,
  3.23140950e-03,-3.60720735e-05,-3.06078300e-05,-2.36825900e-04,
  2.26912438e-04, 4.37042566e-05,-1.21644877e+00, 2.16382365e-05,
  7.63792921e-03, 1.78262572e-03]


--- Step 2505 ---
qpos:
[-2.50971751e-03, 8.65863814e-01,-2.37463742e-02, 4.12155725e-04,
 -2.94639916e-03, 8.61876753e-01,-2.71346843e-02, 3.12580223e-03,
 -1.20082441e-03, 8.70644401e-01,-1.92507098e-02,-2.13110365e-02,
  1.39623624e+00, 1.85372046e-02, 1.41048392e+00, 2.40939997e-02,
  4.15594990e-03,-5.76652507e-02, 8.06126560e-02, 7.05265508e-01,
 -4.76622516e-02,-7.05769071e-01,-4.71051085e-02]

qacc:
[ 5.69281784e-01, 2.12447527e+00,-7.18412813e+00, 7.13901133e+00,
 -1.14905208e-01,-1.95316690e+00, 6.87933664e+00,-9.40159057e+00,
  2.13617488e-01,-5.58514392e-01, 2.52107231e+00,-6.99221540e+00,
 -6.21741288e-02,-9.86335910e-02, 3.22823397e-01,-2.05124124e+00,
 -1.54143171e+00,-7.09066247e-01,-1.62388737e+00,-1.48312097e+00,
 -7.53709515e+01,-5.28338015e+01]

qfrc_actuator:
[ 2.49633685e-03, 2.73402510e-02, 8.64237908e-03, 1.59478404e-03,
  1.00776271e-06, 2.73133014e-02, 8.69094550e-03, 1.72093652e-03,
 -2.35988136e-03, 2.74672621e-02, 8.68231026e-03, 1.58790078e-03,
  0.00000000e+00,-1.39163695e-03, 0.00000000e+00,-1.05030475e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005726919685771562
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.93860415e-13,  9.69302073e-14,  1.00000000e+00, -1.87909302e-26,
        1.00000000e+00, -9.69302073e-14, -1.00000000e+00,  0.00000000e+00,
        1.93860415e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05361003, -0.0437371 ,  0.06194529])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03868133e-04,-1.95901047e-05,-5.03198357e-05,-6.44401982e-06,
 -2.08451099e-05,-2.43541461e-05, 2.11256231e-05,-6.14449393e-06,
  3.92362379e-05,-5.43474299e-05,-2.41818084e-05,-1.80824301e-05,
  3.22707895e-03,-2.32376296e-05,-4.13990974e-05,-2.19880679e-05,
  1.14915710e-04, 4.86108712e-05,-1.21644502e+00, 2.04215548e-05,
  7.63766092e-03, 1.78232843e-03]


--- Step 2506 ---
qpos:
[-2.50778959e-03, 8.65864777e-01,-2.37483263e-02, 4.11907204e-04,
 -2.94659128e-03, 8.61876210e-01,-2.71331201e-02, 3.12697881e-03,
 -1.20019929e-03, 8.70644595e-01,-1.92507699e-02,-2.13118584e-02,
  1.39623662e+00, 1.85378600e-02, 1.41055588e+00, 2.40916609e-02,
  4.15776751e-03,-5.76650908e-02, 8.06073802e-02, 7.05302880e-01,
 -4.76633146e-02,-7.05731186e-01,-4.71120854e-02]

qacc:
[ 3.93368460e-01, 6.26727438e+00,-2.36486351e+01, 3.58993560e+01,
 -2.15482608e-01,-3.55859890e+00, 1.41727844e+01,-2.33736173e+01,
  1.23564141e-01,-2.08697030e+00, 7.41484569e+00,-1.14935605e+01,
 -4.99100842e-02, 3.28306346e-02,-1.30275721e+01, 4.40136984e+01,
 -1.47387915e+00,-6.78489787e-01,-1.97977993e+00,-1.43310052e+00,
 -7.20012240e+01,-5.04685455e+01]

qfrc_actuator:
[ 2.51873648e-03, 2.74011529e-02, 8.57733898e-03, 1.62688803e-03,
 -2.81455159e-05, 2.73114304e-02, 8.73615109e-03, 1.69853882e-03,
 -2.35604312e-03, 2.74466790e-02, 8.70253557e-03, 1.57759129e-03,
  0.00000000e+00,-1.37989748e-03, 0.00000000e+00,-8.37363496e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005933196104714392
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.35602840e-14,  1.87120568e-13,  1.00000000e+00,  1.75070535e-26,
        1.00000000e+00, -1.87120568e-13, -1.00000000e+00,  0.00000000e+00,
       -9.35602840e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05356765, -0.04375036,  0.06194338])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.19264332e-05, 3.92860363e-05,-7.55085599e-05, 2.93975439e-05,
 -3.90514786e-05,-1.13937324e-05, 4.25601191e-05,-2.28322924e-05,
  2.26194480e-05,-5.67480740e-05, 5.39520368e-06,-1.38251707e-05,
  3.23747909e-03,-2.41746878e-06,-2.13276577e-05, 2.06469222e-04,
  3.59442278e-05, 1.25357791e-05,-1.21644164e+00, 1.09300081e-05,
  7.63776797e-03, 1.78198089e-03]


--- Step 2507 ---
qpos:
[-2.50574639e-03, 8.65865368e-01,-2.37490280e-02, 4.11636896e-04,
 -2.94697215e-03, 8.61875853e-01,-2.71308554e-02, 3.12679149e-03,
 -1.19981132e-03, 8.70643953e-01,-1.92498687e-02,-2.13127991e-02,
  1.39623697e+00, 1.85386972e-02, 1.41062785e+00, 2.40905008e-02,
  4.15391882e-03,-5.76675419e-02, 8.05929743e-02, 7.05237903e-01,
 -4.76044090e-02,-7.05795369e-01,-4.71828170e-02]

qacc:
[ 6.13573788e-02,-4.02789134e+00, 1.37413755e+01,-1.58482036e+01,
 -9.91005344e-02,-4.51447509e+00, 2.22151311e+01,-4.70834273e+01,
 -1.22947107e-01,-4.03533822e+00, 1.32850989e+01,-1.62631607e+01,
 -3.24581376e-02, 1.32097737e-01,-3.55794159e+00, 1.24679638e+01,
 -1.41657595e+00,-6.52757857e-01,-2.28252555e+00,-1.38355999e+00,
 -6.91777295e+01,-4.84874149e+01]

qfrc_actuator:
[ 2.49544834e-03, 2.73836711e-02, 8.64651555e-03, 1.62814011e-03,
 -2.75618508e-05, 2.73461843e-02, 8.77991590e-03, 1.63165216e-03,
 -2.38963704e-03, 2.73990528e-02, 8.74999692e-03, 1.57187010e-03,
  0.00000000e+00,-1.35545457e-03, 0.00000000e+00,-7.82042184e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006037253426881828
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.1947691e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.1947691e-14, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05354596, -0.04375719,  0.0619424 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10141252e-05,-9.85165015e-06, 6.90109660e-05, 8.94413866e-07,
 -1.79554006e-05, 3.61885154e-05, 4.58559260e-05,-6.63488659e-05,
 -2.27703107e-05,-7.88348058e-05, 3.59283098e-05,-8.23228708e-06,
  3.25884264e-03, 1.44219062e-05, 1.30406555e-05, 6.40875399e-05,
  2.21340009e-06,-3.27652150e-07,-1.21644003e+00, 6.79224962e-06,
  7.63764626e-03, 1.78197759e-03]


--- Step 2508 ---
qpos:
[-2.50398939e-03, 8.65865330e-01,-2.37480850e-02, 4.10352594e-04,
 -2.94743628e-03, 8.61876248e-01,-2.71285439e-02, 3.12439449e-03,
 -1.19956216e-03, 8.70642899e-01,-1.92493600e-02,-2.13137616e-02,
  1.39623717e+00, 1.85394106e-02, 1.41069991e+00, 2.40896931e-02,
  4.14459989e-03,-5.76725169e-02, 8.05684086e-02, 7.05074027e-01,
 -4.74875805e-02,-7.05958091e-01,-4.73151221e-02]

qacc:
[-1.48849758e-01,-7.50878367e+00, 2.98527422e+01,-4.95775004e+01,
 -4.42122165e-02,-3.68230645e+00, 2.39023317e+01,-6.27775169e+01,
 -7.25794013e-02, 5.09275394e-01,-2.51093101e+00, 3.06324453e+00,
 -2.71445154e-02,-8.32894866e-02,-9.32840336e-01, 3.45742296e+00,
 -1.36756249e+00,-6.30976277e-01,-2.53994431e+00,-1.33382021e+00,
 -6.68162496e+01,-4.68314841e+01]

qfrc_actuator:
[ 2.46283637e-03, 2.73376642e-02, 8.72305733e-03, 1.57575466e-03,
 -2.69460610e-05, 2.74025728e-02, 8.78709591e-03, 1.52140291e-03,
 -2.39205365e-03, 2.73712359e-02, 8.72427852e-03, 1.56888497e-03,
  0.00000000e+00,-1.37673811e-03, 0.00000000e+00,-7.66845200e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006058334976931298
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.16277351e-14, -9.16277351e-14,  1.00000000e+00, -8.39564184e-27,
        1.00000000e+00,  9.16277351e-14, -1.00000000e+00,  0.00000000e+00,
       -9.16277351e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05354085, -0.04375887,  0.06194217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.73628251e-05,-3.72354913e-05, 8.30400706e-05,-5.04014188e-05,
 -7.90264170e-06, 8.32410525e-05, 1.79927335e-05,-1.08405715e-04,
 -1.33296273e-05,-6.48243897e-05,-3.78583672e-05,-5.27560391e-06,
  3.26043708e-03,-1.59564937e-05, 1.12200692e-05, 2.00108515e-05,
  8.19341140e-06, 7.18974285e-06,-1.21644001e+00, 7.27000549e-06,
  7.63732773e-03, 1.78228501e-03]


--- Step 2509 ---
qpos:
[-2.50257933e-03, 8.65865749e-01,-2.37482771e-02, 4.08504785e-04,
 -2.94793336e-03, 8.61876700e-01,-2.71262493e-02, 3.12217082e-03,
 -1.19920972e-03, 8.70641385e-01,-1.92488767e-02,-2.13147708e-02,
  1.39623698e+00, 1.85398198e-02, 1.41077186e+00, 2.40904286e-02,
  4.13013075e-03,-5.76757741e-02, 8.05366004e-02, 7.04808515e-01,
 -4.73982411e-02,-7.06222288e-01,-4.74177482e-02]

qacc:
[-1.82798181e-01, 2.61314665e+00,-6.06515824e+00,-2.20398780e+00,
 -1.73730859e-02, 4.77309854e-01,-2.32685570e+00, 5.31321679e+00,
  5.40721980e-02,-6.34655092e-01, 1.57575931e+00,-2.00564068e+00,
 -1.27823548e-02,-2.67470782e-01,-4.85825030e+00, 1.67176635e+01,
 -1.28754866e+00, 4.29471241e-01,-1.81062931e+00, 7.72604842e-01,
 -7.30039184e+01, 1.53521528e+01]

qfrc_actuator:
[ 2.44273812e-03, 2.73637098e-02, 8.66110245e-03, 1.54544551e-03,
 -2.63409807e-05, 2.73647856e-02, 8.77269866e-03, 1.52854849e-03,
 -2.37576737e-03, 2.73552134e-02, 8.72663213e-03, 1.56749193e-03,
  0.00000000e+00,-1.40747191e-03, 0.00000000e+00,-6.86604850e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006012829793740133
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.39766401e-08, -2.39768712e-08,  1.00000000e+00, -5.74884811e-16,
        1.00000000e+00,  2.39768712e-08, -1.00000000e+00, -9.86076132e-32,
       -2.39766401e-08])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0503514 , -0.06822845,  0.06194253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.31513038e-05, 2.02039432e-05,-6.11649396e-05,-3.00105247e-05,
 -3.13457854e-06, 7.80620836e-06, 1.24119613e-06, 9.22371125e-06,
  9.89490959e-06,-6.02938701e-05,-1.58739571e-05,-5.57852964e-06,
  3.26763184e-03,-4.04968520e-05, 5.12236290e-06, 8.22896643e-05,
  4.96865818e-05, 3.29411597e-05,-1.21644138e+00, 1.18061602e-05,
  7.63683645e-03, 1.78287496e-03]


--- Step 2510 ---
qpos:
[-2.50165031e-03, 8.65866345e-01,-2.37489494e-02, 4.07335147e-04,
 -2.94825330e-03, 8.61876749e-01,-2.71242051e-02, 3.12081704e-03,
 -1.19889316e-03, 8.70639185e-01,-1.92472271e-02,-2.13148076e-02,
  1.39623665e+00, 1.85403951e-02, 1.41084363e+00, 2.40934579e-02,
  4.11070724e-03,-5.76771177e-02, 8.04965004e-02, 7.04444997e-01,
 -4.73405484e-02,-7.06584162e-01,-4.74862210e-02]

qacc:
[-2.52529095e-01, 2.96951445e+00,-1.31127703e+01, 2.54895391e+01,
  9.33226464e-02, 1.95752578e+00,-1.14238105e+01, 2.71774836e+01,
 -1.77278555e-02,-2.16065863e+00, 2.29232024e+00, 1.31604487e+01,
  3.89277775e-03, 6.20707865e-02,-7.20461313e+00, 2.48266988e+01,
 -1.23859546e+00, 4.78367353e-01,-2.07296871e+00, 9.00570337e-01,
 -7.05886800e+01, 1.85720937e+01]

qfrc_actuator:
[ 2.41257067e-03, 2.73788956e-02, 8.64244019e-03, 1.58159514e-03,
 -8.00670139e-06, 2.73063940e-02, 8.74539996e-03, 1.56912658e-03,
 -2.38395118e-03, 2.73464824e-02, 8.79887679e-03, 1.62034577e-03,
  0.00000000e+00,-1.37263537e-03, 0.00000000e+00,-5.68670257e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005996814742798701
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15709659e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.15709659e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05016574, -0.06965823,  0.0619426 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.59721921e-05, 1.25527525e-05,-2.30633395e-05, 3.43167511e-05,
  1.68471290e-05,-5.34010941e-05,-2.52326852e-05, 4.11342379e-05,
 -3.45609453e-06,-4.59275795e-05, 5.76540442e-05, 4.96177032e-05,
  3.28729066e-03, 9.55973063e-06, 9.40537125e-06, 1.22715526e-04,
  1.19883891e-04, 3.46530503e-05,-1.21644418e+00, 1.39427253e-05,
  7.63723990e-03, 1.78345872e-03]


--- Step 2511 ---
qpos:
[-2.50114081e-03, 8.65866404e-01,-2.37485159e-02, 4.07969937e-04,
 -2.94837346e-03, 8.61876918e-01,-2.71232594e-02, 3.11995274e-03,
 -1.19901643e-03, 8.70637266e-01,-1.92456533e-02,-2.13142505e-02,
  1.39623662e+00, 1.85413091e-02, 1.41091562e+00, 2.40962031e-02,
  4.09414668e-03,-5.76770208e-02, 8.04705787e-02, 7.04132647e-01,
 -4.73175649e-02,-7.06894647e-01,-4.75207470e-02]

qacc:
[-2.18967824e-01,-8.15016124e-02,-8.35182769e+00, 3.82033677e+01,
  1.04501506e-01, 4.23054139e+00,-1.69247656e+01, 2.70707506e+01,
 -2.29774742e-01, 1.80702348e+00,-8.40650565e+00, 1.85917003e+01,
  3.81531231e-03, 2.69950641e-01, 1.18473904e+00,-3.66489337e+00,
  7.15739193e-01, 3.60144879e-01, 3.54458632e+00,-2.41152474e-01,
  3.45503900e+01, 2.66506271e+01]

qfrc_actuator:
[ 2.39438722e-03, 2.73521575e-02, 8.70281029e-03, 1.67435640e-03,
  3.01556117e-06, 2.73248383e-02, 8.69284800e-03, 1.59349300e-03,
 -2.42447182e-03, 2.73957930e-02, 8.80535863e-03, 1.65148933e-03,
  0.00000000e+00,-1.33431071e-03, 0.00000000e+00,-5.89260625e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000620547086144535
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.7891036e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.7891036e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00270526, -0.06169352,  0.06194057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.01042594e-05,-2.30267446e-05, 6.13112295e-05, 9.31711905e-05,
  1.90125982e-05,-1.48787176e-05,-6.52805991e-05, 2.20047911e-05,
 -4.21858516e-05, 3.76990895e-05, 5.82072050e-06, 3.21398159e-05,
  3.29375734e-03, 3.95749723e-05, 1.63651039e-05,-1.29202068e-05,
  2.15549450e-04, 2.28578408e-05,-1.21644781e+00, 1.45715340e-05,
  7.63775398e-03, 1.78400847e-03]


--- Step 2512 ---
qpos:
[-2.50038769e-03, 8.65865757e-01,-2.37474255e-02, 4.09419181e-04,
 -2.94833015e-03, 8.61877444e-01,-2.71231820e-02, 3.12003092e-03,
 -1.19960069e-03, 8.70636428e-01,-1.92448831e-02,-2.13147590e-02,
  1.39623672e+00, 1.85420673e-02, 1.41098793e+00, 2.40966952e-02,
  4.08055233e-03,-5.76751750e-02, 8.04558190e-02, 7.03873176e-01,
 -4.73349658e-02,-7.07152171e-01,-4.75158992e-02]

qacc:
[ 1.28429334e-01,-1.09128385e+00,-9.00840570e-01, 1.44634873e+01,
  8.54703263e-02, 4.83264049e+00,-2.05300081e+01, 3.79745761e+01,
 -2.41628316e-01, 1.47773947e+00, 1.29380951e+00,-1.92293472e+01,
 -7.66209053e-03,-4.88178462e-02, 7.30717694e+00,-2.48572324e+01,
  7.41550686e-01, 4.37216931e-01, 2.79052363e+00,-3.08763469e-01,
  3.54440865e+01, 3.06453695e+01]

qfrc_actuator:
[ 2.43678296e-03, 2.72831545e-02, 8.72044286e-03, 1.71092395e-03,
  9.55712006e-06, 2.73712707e-02, 8.66159765e-03, 1.64367016e-03,
 -2.44847100e-03, 2.74792363e-02, 8.77315850e-03, 1.59858569e-03,
  0.00000000e+00,-1.36514255e-03, 0.00000000e+00,-7.09058322e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006535793151165562
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.01764746e-07, -9.01764793e-07,  1.00000000e+00, -8.13179700e-13,
        1.00000000e+00,  9.01764793e-07, -1.00000000e+00,  0.00000000e+00,
       -9.01764746e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00401733, -0.06295734,  0.06193745])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.32668098e-05,-6.52370128e-05, 2.36504852e-05, 3.95156093e-05,
  1.55654032e-05, 2.55652611e-05,-4.16126027e-05, 4.77079559e-05,
 -4.41963316e-05, 1.07128527e-04,-2.25829768e-05,-5.04621384e-05,
  3.27920852e-03,-8.18819133e-06, 4.21063531e-06,-1.18873947e-04,
  1.56027711e-04, 4.00774519e-06,-1.21644572e+00, 8.74461081e-06,
  7.63824338e-03, 1.78383713e-03]


--- Step 2513 ---
qpos:
[-2.49907129e-03, 8.65864989e-01,-2.37467675e-02, 4.09915738e-04,
 -2.94798269e-03, 8.61878033e-01,-2.71228511e-02, 3.12032300e-03,
 -1.20036538e-03, 8.70636366e-01,-1.92439351e-02,-2.13155816e-02,
  1.39623653e+00, 1.85425229e-02, 1.41106002e+00, 2.40977720e-02,
  4.06980639e-03,-5.76716000e-02, 8.04498148e-02, 7.03664614e-01,
 -4.73917636e-02,-7.07358801e-01,-4.74727060e-02]

qacc:
[ 2.95038449e-01,-9.13826621e-01, 7.04637443e+00,-2.27528290e+01,
  1.60336692e-01,-1.82756894e-01,-1.27907003e-01, 3.37672175e+00,
 -9.43786261e-02,-1.19426397e-01, 3.23486047e+00,-9.51735157e+00,
 -7.45238604e-03,-2.47559570e-01,-2.09835998e+00, 6.85687770e+00,
  7.12105609e-01, 4.32306619e-01, 2.18883055e+00,-3.11435131e-01,
  3.40684158e+01, 2.98389540e+01]

qfrc_actuator:
[ 2.47952561e-03, 2.72779409e-02, 8.69468687e-03, 1.66078558e-03,
  3.11192812e-05, 2.73809535e-02, 8.67884274e-03, 1.65542705e-03,
 -2.44460757e-03, 2.75289888e-02, 8.78951777e-03, 1.58543898e-03,
  0.00000000e+00,-1.40160412e-03, 0.00000000e+00,-6.73266129e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000674339966852483
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.23192365e-14,  8.23192365e-14,  1.00000000e+00,  6.77645670e-27,
        1.00000000e+00, -8.23192365e-14, -1.00000000e+00,  0.00000000e+00,
       -8.23192365e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00418224, -0.063122  ,  0.06193549])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.38288198e-05,-3.51097924e-05,-3.49545497e-05,-5.13484882e-05,
  2.89539471e-05, 1.74165614e-05, 1.90440099e-05, 1.23391373e-05,
 -1.72847644e-05, 1.02840137e-04, 3.39566513e-05,-1.03232575e-05,
  3.27183413e-03,-3.68611679e-05,-1.33615399e-05, 2.92261334e-05,
  1.04253817e-04,-1.14166414e-05,-1.21644424e+00, 4.47860814e-06,
  7.63874135e-03, 1.78363528e-03]


--- Step 2514 ---
qpos:
[-2.49741282e-03, 8.65864254e-01,-2.37459840e-02, 4.09748986e-04,
 -2.94698515e-03, 8.61878252e-01,-2.71220995e-02, 3.12079820e-03,
 -1.20081769e-03, 8.70636502e-01,-1.92425611e-02,-2.13161533e-02,
  1.39623624e+00, 1.85427215e-02, 1.41113215e+00, 2.40982383e-02,
  4.06178129e-03,-5.76663524e-02, 8.04505704e-02, 7.03504827e-01,
 -4.74863027e-02,-7.07516734e-01,-4.73928239e-02]

qacc:
[ 1.79372886e-01,-1.67110970e+00, 8.82305250e+00,-2.05288595e+01,
  3.42771100e-01,-1.28739633e+00, 3.10675359e+00,-3.38727028e-01,
  1.63312198e-01,-4.10570217e-01, 7.88301262e-01, 2.72167145e+00,
  7.41234426e-03,-1.86135996e-01, 1.89219475e+00,-6.56188408e+00,
  6.80206339e-01, 4.18147405e-01, 1.68999084e+00,-3.02618324e-01,
  3.26185682e+01, 2.85683405e+01]

qfrc_actuator:
[ 2.48655404e-03, 2.73106980e-02, 8.71473477e-03, 1.63107555e-03,
  7.92403600e-05, 2.73332309e-02, 8.68890537e-03, 1.66223603e-03,
 -2.40637013e-03, 2.75051422e-02, 8.79884742e-03, 1.59582100e-03,
  0.00000000e+00,-1.40572907e-03, 0.00000000e+00,-7.05830233e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006843660717621713
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.62226485e-13, -8.11132426e-14,  1.00000000e+00,  1.31587163e-26,
        1.00000000e+00,  8.11132426e-14, -1.00000000e+00,  0.00000000e+00,
        1.62226485e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00417533, -0.06311867,  0.06193456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.26943592e-05, 3.72181136e-06, 6.71149694e-06,-3.34249020e-05,
  6.18670635e-05,-3.35356717e-05, 1.64249748e-05, 8.45211819e-06,
  2.99742149e-05, 4.02216851e-05, 3.43878612e-05, 1.57587785e-05,
  3.28665480e-03,-2.58488318e-05,-4.12715497e-06,-3.29213746e-05,
  6.42384581e-05,-1.99923201e-05,-1.21644341e+00, 2.67676635e-06,
  7.63921530e-03, 1.78339781e-03]


--- Step 2515 ---
qpos:
[-2.49574207e-03, 8.65864080e-01,-2.37455131e-02, 4.08843219e-04,
 -2.94538398e-03, 8.61878185e-01,-2.71214420e-02, 3.12068647e-03,
 -1.20069618e-03, 8.70636655e-01,-1.92415193e-02,-2.13158281e-02,
  1.39623608e+00, 1.85428885e-02, 1.41120436e+00, 2.40972989e-02,
  4.05637131e-03,-5.76594792e-02, 8.04564080e-02, 7.03392029e-01,
 -4.76172107e-02,-7.07627785e-01,-4.72776181e-02]

qacc:
[ 6.00405114e-03, 9.17777839e-02, 3.86630752e+00,-1.65675774e+01,
  3.17916414e-01,-1.32302874e+00, 6.64662121e+00,-1.64448392e+01,
  2.99441260e-01, 2.79812810e+00,-1.37237578e+01, 2.97525691e+01,
  8.47343961e-03, 7.98930213e-03, 4.38712836e+00,-1.51562498e+01,
  6.53783273e-01, 4.06411530e-01, 1.27047059e+00,-2.92079816e-01,
  3.14133294e+01, 2.75175889e+01]

qfrc_actuator:
[ 0.00247215, 0.02736613, 0.00870862, 0.00159596, 0.00010732, 0.02730473,
  0.00867664, 0.00163052,-0.00236568, 0.02747291, 0.00876813, 0.00163763,
  0.        ,-0.00139038, 0.        ,-0.00077845, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006858210579343618
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.02352897e-14, -8.09411589e-14,  1.00000000e+00, -1.63786780e-27,
        1.00000000e+00,  8.09411589e-14, -1.00000000e+00,  0.00000000e+00,
       -2.02352897e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00417454, -0.06311797,  0.06193443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18773181e-06, 5.74808866e-05,-5.67553845e-06,-3.53734039e-05,
  5.74470845e-05,-4.35009254e-05,-1.68870133e-05,-3.24265398e-05,
  5.50453667e-05,-1.97750029e-06,-1.76363263e-05, 4.50295695e-05,
  3.29166894e-03, 2.36332882e-06,-7.22155838e-06,-7.53565882e-05,
  3.49717005e-05,-2.22152087e-05,-1.21644312e+00, 3.18675093e-06,
  7.63966225e-03, 1.78312481e-03]


--- Step 2516 ---
qpos:
[-2.49434856e-03, 8.65863924e-01,-2.37451704e-02, 4.06890023e-04,
 -2.94388942e-03, 8.61878281e-01,-2.71211454e-02, 3.12015643e-03,
 -1.20023461e-03, 8.70636991e-01,-1.92414315e-02,-2.13153265e-02,
  1.39623641e+00, 1.85434195e-02, 1.41127667e+00, 2.40941456e-02,
  4.05222578e-03,-5.76574501e-02, 8.04634597e-02, 7.03310566e-01,
 -4.76569822e-02,-7.07707779e-01,-4.72520806e-02]

qacc:
[-1.45492307e-01,-1.77291274e+00, 1.07782526e+01,-2.87147469e+01,
 -5.64600311e-02, 3.62894047e-01, 7.84738070e-01,-7.56666834e+00,
  1.76913950e-01, 3.26904234e+00,-1.20484597e+01, 1.64880020e+01,
 -8.77281577e-03, 3.45217357e-01, 6.87955891e+00,-2.37977812e+01,
  3.16109682e-01,-1.21104658e+00, 3.03548752e-01, 3.38383240e-01,
  2.62987093e+01,-6.23012012e+01]

qfrc_actuator:
[ 2.44507902e-03, 2.73281141e-02, 8.68720114e-03, 1.54019366e-03,
  6.99135566e-05, 2.73410897e-02, 8.66906974e-03, 1.61188113e-03,
 -2.35941389e-03, 2.74712483e-02, 8.71398450e-03, 1.64430040e-03,
  0.00000000e+00,-1.34570780e-03, 0.00000000e+00,-8.91808048e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006815189866615154
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.14520979e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.14520979e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00081183, -0.03592984,  0.06193485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.64967421e-05,-8.56392805e-06,-1.14750939e-05,-5.41899308e-05,
 -1.01451705e-05, 7.15972446e-06,-1.97598039e-05,-2.17158141e-05,
  3.26233488e-05,-4.48499153e-06,-5.51832855e-05, 6.84548317e-06,
  3.28449075e-03, 4.86260313e-05,-1.29490989e-05,-1.18777389e-04,
  1.51512877e-05,-1.88207540e-05,-1.21644331e+00, 5.78824900e-06,
  7.64008412e-03, 1.78281667e-03]


--- Step 2517 ---
qpos:
[-2.49288954e-03, 8.65862741e-01,-2.37437590e-02, 4.04336707e-04,
 -2.94306004e-03, 8.61878981e-01,-2.71214921e-02, 3.11936892e-03,
 -1.19957504e-03, 8.70637329e-01,-1.92416270e-02,-2.13158079e-02,
  1.39623699e+00, 1.85440880e-02, 1.41134900e+00, 2.40889737e-02,
  4.04932069e-03,-5.76601052e-02, 8.04703968e-02, 7.03259396e-01,
 -4.76086105e-02,-7.07757794e-01,-4.73132936e-02]

qacc:
[ 3.53477358e-02,-5.57553689e+00, 2.04463925e+01,-3.17916504e+01,
 -3.50956603e-01, 2.06333153e+00,-5.11333274e+00, 1.24440728e+00,
  1.03161815e-01,-1.22989645e+00, 8.53125177e+00,-2.50751564e+01,
 -3.34967315e-02, 1.80834989e-01, 6.14611508e+00,-2.14421924e+01,
  3.10111706e-01,-1.17103503e+00,-2.86647645e-02, 3.12545868e-01,
  2.54106060e+01,-6.02660620e+01]

qfrc_actuator:
[ 2.46395073e-03, 2.72343446e-02, 8.72754635e-03, 1.50814264e-03,
  1.14282025e-05, 2.73982730e-02, 8.64687461e-03, 1.60116311e-03,
 -2.35604198e-03, 2.74700090e-02, 8.69978420e-03, 1.59473614e-03,
  0.00000000e+00,-1.35484263e-03, 0.00000000e+00,-9.92740487e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006776682671039425
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.19149338e-14, -1.63829868e-13,  1.00000000e+00,  1.34201128e-26,
        1.00000000e+00,  1.63829868e-13, -1.00000000e+00,  0.00000000e+00,
        8.19149338e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00081032, -0.03592556,  0.06193524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.23718703e-06,-1.03251851e-04, 3.52880678e-05,-3.38669942e-05,
 -6.32997530e-05, 5.61705300e-05,-2.39048934e-05,-1.15175869e-05,
  1.89926425e-05,-1.48550400e-05,-2.16915558e-05,-5.15344815e-05,
  3.26044319e-03, 2.12933079e-05,-1.96803127e-05,-1.09348190e-04,
  9.42230210e-06,-4.48120047e-06,-1.21644092e+00, 1.14025504e-05,
  7.63940986e-03, 1.78253210e-03]


--- Step 2518 ---
qpos:
[-2.49128738e-03, 8.65860969e-01,-2.37422879e-02, 4.02124218e-04,
 -2.94272770e-03, 8.61879472e-01,-2.71212333e-02, 3.11813126e-03,
 -1.19861858e-03, 8.70637859e-01,-1.92418475e-02,-2.13169221e-02,
  1.39623706e+00, 1.85444552e-02, 1.41142083e+00, 2.40859597e-02,
  4.04895339e-03,-5.76611605e-02, 8.04810042e-02, 7.03253746e-01,
 -4.75954481e-02,-7.07762485e-01,-4.73403270e-02]

qacc:
[  0.07530771, -0.24387627, -1.69890604,  7.93470487, -0.26133219,
  -2.89181115, 11.81289505,-20.42241298,  0.15490984, -0.98065902,
   6.5301841 ,-17.57350761, -0.03369324, -0.27539661, -7.28629423,
  24.38917551,  0.63444642,  0.39995445,  0.91757952, -0.27380843,
  30.39971483, 26.6342099 ]

qfrc_actuator:
[ 2.47465085e-03, 2.72146775e-02, 8.73279503e-03, 1.52579869e-03,
 -5.84302055e-06, 2.73609300e-02, 8.66958742e-03, 1.57744915e-03,
 -2.33664883e-03, 2.75046337e-02, 8.70926488e-03, 1.56577986e-03,
  0.00000000e+00,-1.41393120e-03, 0.00000000e+00,-8.72493667e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006699460500966675
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.07147841e-14, -8.28591365e-14,  1.00000000e+00,  1.71640913e-27,
        1.00000000e+00,  8.28591365e-14, -1.00000000e+00,  0.00000000e+00,
        2.07147841e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00418665, -0.06312218,  0.06193597])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.36635831e-05,-7.15476641e-05,-1.28996871e-05, 1.37983682e-05,
 -4.73119342e-05,-1.13847965e-05, 3.09686647e-05,-2.23577234e-05,
  2.84864525e-05, 1.96301642e-05, 1.95715883e-06,-3.13461250e-05,
  3.24720259e-03,-4.46590669e-05,-2.17351733e-05, 1.11510710e-04,
  5.13623184e-06, 4.84516783e-06,-1.21643983e+00, 1.23710928e-05,
  7.63890906e-03, 1.78239313e-03]


--- Step 2519 ---
qpos:
[-2.49011489e-03, 8.65859767e-01,-2.37421514e-02, 4.00432715e-04,
 -2.94273844e-03, 8.61879794e-01,-2.71203876e-02, 3.11661550e-03,
 -1.19721961e-03, 8.70639104e-01,-1.92422449e-02,-2.13184329e-02,
  1.39623693e+00, 1.85445623e-02, 1.41149267e+00, 2.40830252e-02,
  4.05105209e-03,-5.76606520e-02, 8.04941150e-02, 7.03292409e-01,
 -4.76165409e-02,-7.07723063e-01,-4.73341266e-02]

qacc:
[-2.26276928e-01, 5.55209312e+00,-2.09044262e+01, 3.16411729e+01,
 -1.80271260e-01,-2.43274135e+00, 9.52607982e+00,-1.51567075e+01,
  2.30680199e-01, 6.21126655e-01, 8.26379171e-01,-7.92515335e+00,
 -8.48984224e-03,-1.95597588e-01,-2.21017256e-01, 7.96120211e-01,
  6.16501405e-01, 3.90940458e-01, 6.25851095e-01,-2.73905919e-01,
  2.95910926e+01, 2.59068392e+01]

qfrc_actuator:
[ 2.42708627e-03, 2.72927029e-02, 8.68206201e-03, 1.55482545e-03,
 -1.60404716e-05, 2.73562059e-02, 8.70050087e-03, 1.56398592e-03,
 -2.30782102e-03, 2.75783394e-02, 8.71505654e-03, 1.54923151e-03,
  0.00000000e+00,-1.41384525e-03, 0.00000000e+00,-8.71445248e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006598151755965731
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.30985236e-14, -3.36525459e-13,  1.00000000e+00,  2.12342596e-26,
        1.00000000e+00,  3.36525459e-13, -1.00000000e+00,  0.00000000e+00,
        6.30985236e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00419413, -0.06312508,  0.06193695])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.10549564e-05, 3.59764065e-05,-6.66171326e-05, 2.57873969e-05,
 -3.26576750e-05,-5.66997943e-06, 3.16005822e-05,-1.33127906e-05,
  4.24705260e-05, 8.37410092e-05, 9.00156683e-06,-1.62497264e-05,
  3.27300850e-03,-2.95074836e-05, 1.64536734e-06, 4.33452348e-06,
  1.55288542e-07, 2.72971763e-07,-1.21643981e+00, 1.08942923e-05,
  7.63913080e-03, 1.78226877e-03]


--- Step 2520 ---
qpos:
[-2.48926226e-03, 8.65858782e-01,-2.37423001e-02, 3.98728640e-04,
 -2.94297418e-03, 8.61880399e-01,-2.71202038e-02, 3.11532406e-03,
 -1.19580717e-03, 8.70641143e-01,-1.92429483e-02,-2.13201325e-02,
  1.39623676e+00, 1.85444989e-02, 1.41156459e+00, 2.40794566e-02,
  4.05555885e-03,-5.76586089e-02, 8.05087564e-02, 7.03374380e-01,
 -4.76711051e-02,-7.07640506e-01,-4.72954623e-02]

qacc:
[-1.67960031e-01, 1.05594053e+00,-3.29819646e+00, 3.37889984e+00,
 -1.19004940e-01, 2.68250865e+00,-9.97056199e+00, 1.47064589e+01,
  6.55698889e-03, 1.51468026e+00,-3.08398274e+00,-2.72702731e-01,
  5.29857212e-04,-1.13374069e-01, 2.02584034e+00,-6.93570040e+00,
  6.02014227e-01, 3.83633730e-01, 3.82659926e-01,-2.72116177e-01,
  2.89281093e+01, 2.53119298e+01]

qfrc_actuator:
[ 2.41608895e-03, 2.73041514e-02, 8.67012102e-03, 1.55485289e-03,
 -2.19487938e-05, 2.73710966e-02, 8.66510074e-03, 1.57443378e-03,
 -2.32685470e-03, 2.76216358e-02, 8.70104391e-03, 1.54014477e-03,
  0.00000000e+00,-1.41368047e-03, 0.00000000e+00,-9.05195281e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006455452032502751
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28986671e-13, -8.59911141e-14,  1.00000000e+00,  1.10917076e-26,
        1.00000000e+00,  8.59911141e-14, -1.00000000e+00,  0.00000000e+00,
        1.28986671e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00420452, -0.06312924,  0.0619383 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.05665844e-05, 1.89344967e-05,-1.18149311e-05,-2.30491591e-07,
 -2.14116842e-05, 1.76601447e-05,-3.31448953e-05, 1.10406102e-05,
  1.31321599e-06, 9.12699107e-05, 3.82411929e-06,-5.50610559e-06,
  3.28272026e-03,-1.63244586e-05,-6.88882606e-07,-3.37160195e-05,
  2.69079217e-06, 7.07297133e-07,-1.21644018e+00, 1.12638270e-05,
  7.63933430e-03, 1.78210937e-03]


--- Step 2521 ---
qpos:
[-2.48807520e-03, 8.65856758e-01,-2.37412419e-02, 3.97786971e-04,
 -2.94316505e-03, 8.61881265e-01,-2.71207532e-02, 3.11417615e-03,
 -1.19469802e-03, 8.70642854e-01,-1.92433425e-02,-2.13214800e-02,
  1.39623611e+00, 1.85443401e-02, 1.41163601e+00, 2.40795312e-02,
  4.06121660e-03,-5.76609901e-02, 8.05211741e-02, 7.03485107e-01,
 -4.76420392e-02,-7.07529472e-01,-4.73390543e-02]

qacc:
[ 1.76503103e-01,-3.17063768e+00, 6.10045207e+00, 5.92255406e+00,
  2.30869335e-02, 2.68517669e+00,-9.68316999e+00, 1.31519238e+01,
 -1.58037453e-01,-5.71466728e-01,-7.36998145e-02, 5.90713797e+00,
  1.13264500e-02,-1.86573483e-01,-1.17919183e+01, 4.01373426e+01,
  2.87747942e-01,-1.10605415e+00,-5.55958394e-01, 3.19663072e-01,
  2.41277619e+01,-5.71596653e+01]

qfrc_actuator:
[ 2.46259933e-03, 2.72047695e-02, 8.71644497e-03, 1.59106379e-03,
 -7.51185668e-06, 2.73796191e-02, 8.62643160e-03, 1.58108448e-03,
 -2.35660059e-03, 2.75398063e-02, 8.69310137e-03, 1.55323845e-03,
  0.00000000e+00,-1.43120653e-03, 0.00000000e+00,-7.10605881e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006305107472282245
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.80415623e-14,  1.76083125e-13,  1.00000000e+00, -1.55026334e-26,
        1.00000000e+00, -1.76083125e-13, -1.00000000e+00,  0.00000000e+00,
        8.80415623e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00078959, -0.03587636,  0.06193973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.19397764e-05,-9.12225299e-05, 4.87822025e-05, 3.66132255e-05,
  4.27534674e-06, 1.20086760e-05,-3.87275523e-05, 6.47600692e-06,
 -2.91026277e-05,-3.02763978e-05, 1.11801151e-05, 1.70268152e-05,
  3.28485488e-03,-2.53065297e-05,-5.77790306e-06, 1.92246795e-04,
  1.22091205e-05, 5.78351089e-06,-1.21644090e+00, 1.33749359e-05,
  7.63952048e-03, 1.78191497e-03]


--- Step 2522 ---
qpos:
[-2.48700125e-03, 8.65854892e-01,-2.37400435e-02, 3.97206924e-04,
 -2.94324310e-03, 8.61882285e-01,-2.71211900e-02, 3.11272613e-03,
 -1.19392278e-03, 8.70644104e-01,-1.92434132e-02,-2.13222970e-02,
  1.39623555e+00, 1.85446104e-02, 1.41170735e+00, 2.40819083e-02,
  4.06916009e-03,-5.76625503e-02, 8.05351621e-02, 7.03637930e-01,
 -4.76323295e-02,-7.07376472e-01,-4.73640299e-02]

qacc:
[-5.92533667e-02, 5.59113072e-01,-3.22029411e+00, 9.13963412e+00,
  5.94119683e-02,-7.30936175e-01, 4.17952651e+00,-9.70307070e+00,
 -1.73964907e-01,-4.19341389e-01,-1.62315990e+00, 1.06166116e+01,
  2.80340535e-02, 2.49144087e-01,-7.10037658e+00, 2.46555040e+01,
  5.71434727e-01, 2.05267202e-01, 3.92597716e-01,-2.13056972e-01,
  2.87518839e+01, 1.53917579e+01]

qfrc_actuator:
[ 2.43657218e-03, 2.72708403e-02, 8.74309192e-03, 1.61270955e-03,
  1.19972375e-06, 2.74019828e-02, 8.63939506e-03, 1.56769532e-03,
 -2.37470982e-03, 2.75079734e-02, 8.70606053e-03, 1.57917504e-03,
  0.00000000e+00,-1.37059087e-03, 0.00000000e+00,-5.96068044e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006138084628958853
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.64208448e-07,  5.64208357e-07,  1.00000000e+00, -3.18331122e-13,
        1.00000000e+00, -5.64208357e-07, -1.00000000e+00,  0.00000000e+00,
        5.64208448e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00365544, -0.06002323,  0.06194131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08056314e-05, 2.67469241e-05, 1.50916351e-05, 2.01413872e-05,
  1.07429567e-05, 2.13438288e-05, 1.08952403e-05,-1.40879060e-05,
 -3.20443241e-05,-4.57613847e-05, 8.66589688e-06, 2.53595468e-05,
  3.30841280e-03, 4.00962788e-05, 1.76369125e-05, 1.24281145e-04,
  1.79836818e-05,-7.27413437e-06,-1.21644012e+00, 9.24362636e-06,
  7.63892142e-03, 1.78190997e-03]


--- Step 2523 ---
qpos:
[-2.48670571e-03, 8.65853562e-01,-2.37394995e-02, 3.95514743e-04,
 -2.94339944e-03, 8.61882917e-01,-2.71209946e-02, 3.11185130e-03,
 -1.19416213e-03, 8.70645387e-01,-1.92437518e-02,-2.13235100e-02,
  1.39623567e+00, 1.85454351e-02, 1.41177918e+00, 2.40819678e-02,
  4.07935179e-03,-5.76633001e-02, 8.05499907e-02, 7.03832129e-01,
 -4.76416414e-02,-7.07182172e-01,-4.73707096e-02]

qacc:
[-4.08765352e-01, 2.47755264e-01, 4.83998951e+00,-2.34343889e+01,
 -4.06604185e-02,-1.09439880e+00, 7.29931297e-01, 8.49787547e+00,
 -5.29959155e-01,-2.28618677e-02, 1.81448312e+00,-8.25814428e+00,
  1.22402985e-02, 4.88647861e-01, 7.77425127e+00,-2.60816041e+01,
  5.62050927e-01, 2.02577759e-01, 2.10158880e-01,-2.13798830e-01,
  2.82778449e+01, 1.51280545e+01]

qfrc_actuator:
[ 2.36733628e-03, 2.72933831e-02, 8.70525870e-03, 1.55470152e-03,
 -1.13624263e-05, 2.73616418e-02, 8.66503288e-03, 1.59592836e-03,
 -2.45669563e-03, 2.75241555e-02, 8.69591763e-03, 1.55924024e-03,
  0.00000000e+00,-1.31683447e-03, 0.00000000e+00,-7.24956598e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005965225340613029
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.84240753e-07,  5.84240467e-07,  1.00000000e+00, -3.41337090e-13,
        1.00000000e+00, -5.84240467e-07, -1.00000000e+00,  0.00000000e+00,
        5.84240753e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0036678 , -0.06002771,  0.06194295])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.43825937e-05, 4.15111450e-05,-2.97471953e-05,-5.59459664e-05,
 -7.45980892e-06,-2.67768803e-05, 3.08981053e-05, 2.92514008e-05,
 -9.73320194e-05,-6.56131758e-06,-1.76553934e-05,-2.11001024e-05,
  3.30395519e-03, 7.24044097e-05, 2.03383418e-05,-1.20082018e-04,
  3.59406199e-05,-6.59001880e-06,-1.21644078e+00, 9.17022010e-06,
  7.63892983e-03, 1.78180626e-03]


--- Step 2524 ---
qpos:
[-2.48684057e-03, 8.65851795e-01,-2.37390379e-02, 3.93573144e-04,
 -2.94367104e-03, 8.61883558e-01,-2.71214512e-02, 3.11170544e-03,
 -1.19520754e-03, 8.70646287e-01,-1.92434803e-02,-2.13253050e-02,
  1.39623625e+00, 1.85463355e-02, 1.41185140e+00, 2.40781750e-02,
  4.09066314e-03,-5.76683267e-02, 8.05612493e-02, 7.04054083e-01,
 -4.75701766e-02,-7.06960235e-01,-4.74568401e-02]

qacc:
[-2.25561462e-01,-8.60739029e-01, 3.28367069e+00,-7.14772047e+00,
 -6.10711937e-02, 3.33145607e+00,-1.49403408e+01, 2.85964902e+01,
 -4.20389045e-01,-3.41061812e+00, 1.38770270e+01,-2.46357909e+01,
 -2.24534465e-02, 1.81868731e-01, 1.22664372e+01,-4.20271265e+01,
  2.79915342e-01,-1.06922111e+00,-8.92517591e-01, 3.40067550e-01,
  2.33456114e+01,-5.52062559e+01]

qfrc_actuator:
[ 2.36164884e-03, 2.72183554e-02, 8.68273382e-03, 1.53899349e-03,
 -1.87902049e-05, 2.73551703e-02, 8.62670020e-03, 1.63062562e-03,
 -2.48742999e-03, 2.74978260e-02, 8.72563337e-03, 1.53024951e-03,
  0.00000000e+00,-1.33850102e-03, 0.00000000e+00,-9.25191413e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000579413987075103
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00076677, -0.03582368,  0.06194457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.11471812e-05,-6.03356085e-05,-1.95432572e-05,-1.60435919e-05,
 -1.09730626e-05,-1.38264703e-05,-3.90484793e-05, 3.51892222e-05,
 -7.73344294e-05,-3.45859197e-05, 2.54512178e-05,-3.02917082e-05,
  3.26965942e-03, 2.30215425e-05,-5.87359490e-06,-2.04781732e-04,
  5.96053976e-05,-3.68434498e-06,-1.21644170e+00, 1.00278937e-05,
  7.63890911e-03, 1.78168605e-03]


--- Step 2525 ---
qpos:
[-2.48684158e-03, 8.65849640e-01,-2.37385968e-02, 3.92139270e-04,
 -2.94385577e-03, 8.61884067e-01,-2.71220399e-02, 3.11195922e-03,
 -1.19626672e-03, 8.70647573e-01,-1.92434563e-02,-2.13274738e-02,
  1.39623688e+00, 1.85470797e-02, 1.41192356e+00, 2.40723497e-02,
  4.10435349e-03,-5.76718447e-02, 8.05729451e-02, 7.04318311e-01,
 -4.75313609e-02,-7.06695947e-01,-4.75113164e-02]

qacc:
[ 7.03254886e-02, 5.90400217e-01,-4.99129054e+00, 1.40961651e+01,
  4.57319225e-02, 1.01505405e+00,-5.56233926e+00, 1.27895947e+01,
 -7.49245246e-03, 4.33199957e-01, 7.72206847e-01,-7.12172083e+00,
 -4.27615375e-02,-3.96425338e-02, 6.07406811e+00,-2.13609427e+01,
  5.94747628e-01, 3.77180932e-01, 1.09301452e-01,-3.03693125e-01,
  2.83243883e+01, 2.46944395e+01]

qfrc_actuator:
[ 2.39405381e-03, 2.72098134e-02, 8.68683631e-03, 1.56600023e-03,
 -5.31645405e-06, 2.73510253e-02, 8.62202706e-03, 1.65106496e-03,
 -2.45171091e-03, 2.75529094e-02, 8.72523551e-03, 1.51392233e-03,
  0.00000000e+00,-1.36965914e-03, 0.00000000e+00,-1.02375108e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005619143422155165
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48184021e-13,  1.97578695e-13,  1.00000000e+00, -2.92780056e-26,
        1.00000000e+00, -1.97578695e-13, -1.00000000e+00,  0.00000000e+00,
        1.48184021e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00426519, -0.0631537 ,  0.06194622])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.27810915e-05,-4.69676508e-05,-1.13079427e-05, 2.34389830e-05,
  8.26314865e-06,-1.84463196e-05,-1.11229885e-05, 1.91805657e-05,
 -1.31058029e-06, 3.96710864e-05,-5.45965403e-06,-1.75149754e-05,
  3.24665235e-03,-1.19210655e-05,-2.68525241e-05,-1.11048940e-04,
  7.13624902e-05,-3.09456942e-05,-1.21644182e+00, 6.38521878e-07,
  7.63832951e-03, 1.78183340e-03]


--- Step 2526 ---
qpos:
[-2.48639054e-03, 8.65847859e-01,-2.37390055e-02, 3.90653736e-04,
 -2.94410056e-03, 8.61884149e-01,-2.71220159e-02, 3.11278704e-03,
 -1.19747465e-03, 8.70649350e-01,-1.92443978e-02,-2.13294398e-02,
  1.39623713e+00, 1.85477097e-02, 1.41199521e+00, 2.40683675e-02,
  4.12025352e-03,-5.76740630e-02, 8.05848912e-02, 7.04622054e-01,
 -4.75207312e-02,-7.06391985e-01,-4.75384547e-02]

qacc:
[  0.23633034,  2.75907988, -8.90561455,  9.09928588, -0.03106271,
  -1.09136732,  0.6525659 ,  8.61395815, -0.07843831,  3.76257597,
 -13.32921777, 18.01793164, -0.03985303, -0.11951329, -6.33815095,
  21.06986171,  0.55242098,  0.32492274,  0.06259528, -0.26948059,
  26.61430169, 21.46826517]

qfrc_actuator:
[ 2.43116952e-03, 2.72590404e-02, 8.65362842e-03, 1.56472056e-03,
 -1.49630600e-05, 2.73306624e-02, 8.65504319e-03, 1.68073988e-03,
 -2.46535279e-03, 2.75674597e-02, 8.67187779e-03, 1.52297034e-03,
  0.00000000e+00,-1.38855800e-03, 0.00000000e+00,-9.19563672e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005451386410798538
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.11031328e-07,  2.94300944e-13,  1.00000000e+00, -2.09257191e-19,
        1.00000000e+00, -2.94300944e-13, -1.00000000e+00, -2.40741243e-35,
        7.11031328e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00332479, -0.06225033,  0.0619478 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.32086602e-05, 2.16836256e-05,-4.34746806e-05,-3.22216874e-06,
 -5.72653209e-06,-3.21600792e-05, 2.85000548e-05, 2.88727064e-05,
 -1.42618665e-05, 3.48265346e-05,-4.64511612e-05, 1.02175110e-05,
  3.24439985e-03,-2.30112617e-05,-2.52760081e-05, 9.44393200e-05,
  1.05583085e-04,-2.61543466e-05,-1.21644303e+00, 1.34298690e-06,
  7.63828435e-03, 1.78174934e-03]


--- Step 2527 ---
qpos:
[-2.48586727e-03, 8.65846834e-01,-2.37398258e-02, 3.89428858e-04,
 -2.94443346e-03, 8.61884663e-01,-2.71227356e-02, 3.11325667e-03,
 -1.19920298e-03, 8.70650531e-01,-1.92452651e-02,-2.13308680e-02,
  1.39623687e+00, 1.85478113e-02, 1.41206672e+00, 2.40656180e-02,
  4.13331182e-03,-5.76741102e-02, 8.05987789e-02, 7.04868702e-01,
 -4.75450062e-02,-7.06144891e-01,-4.75287078e-02]

qacc:
[ 3.73618557e-02, 2.68550607e+00,-9.22564744e+00, 1.38411860e+01,
 -4.70431663e-02, 1.90889239e+00,-4.46729997e+00,-8.57940360e-01,
 -2.71440932e-01, 1.12438419e-01,-3.81020360e+00, 1.34279988e+01,
 -1.25629135e-02,-4.32363841e-01,-3.97100379e+00, 1.35326225e+01,
 -7.10432637e-01, 5.42755816e-01, 4.85396636e-01, 7.25512746e-01,
 -4.19063181e+01, 2.26150885e+01]

qfrc_actuator:
[ 2.41748205e-03, 2.73423230e-02, 8.65212958e-03, 1.58233059e-03,
 -2.06170635e-05, 2.73719253e-02, 8.62121785e-03, 1.66236403e-03,
 -2.50847076e-03, 2.74864218e-02, 8.65857168e-03, 1.54681656e-03,
  0.00000000e+00,-1.43558608e-03, 0.00000000e+00,-8.56564122e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005274252711484807
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.51946801e-07,  7.89369901e-14,  1.00000000e+00,  4.35690192e-20,
        1.00000000e+00, -7.89369901e-14, -1.00000000e+00,  0.00000000e+00,
       -5.51946801e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02830562, -0.06639957,  0.06194947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.92352195e-06, 8.63428442e-05,-2.46961033e-06, 1.69763724e-05,
 -8.37714086e-06, 3.03984433e-05,-3.59583923e-05,-1.82064052e-05,
 -4.99390563e-05,-7.07551329e-05,-1.14863728e-05, 2.39303991e-05,
  3.26253921e-03,-6.43288904e-05,-1.48143028e-06, 6.49654710e-05,
  1.43381753e-04,-1.87774913e-05,-1.21644455e+00, 3.06970701e-06,
  7.63819940e-03, 1.78164290e-03]


--- Step 2528 ---
qpos:
[-2.48576966e-03, 8.65846659e-01,-2.37405251e-02, 3.88719108e-04,
 -2.94465538e-03, 8.61885600e-01,-2.71238688e-02, 3.11244472e-03,
 -1.20106960e-03, 8.70651113e-01,-1.92453716e-02,-2.13323915e-02,
  1.39623637e+00, 1.85474511e-02, 1.41213836e+00, 2.40622967e-02,
  4.14096152e-03,-5.76719361e-02, 8.06066773e-02, 7.05010051e-01,
 -4.76027332e-02,-7.06003006e-01,-4.74822353e-02]

qacc:
[-2.23363809e-01, 1.84482195e+00,-7.12294038e+00, 1.52205867e+01,
  5.79661496e-02,-9.23951450e-01, 9.51486640e+00,-3.13449531e+01,
 -7.15292602e-02,-3.11127525e+00, 1.03487851e+01,-1.27750891e+01,
  1.42957033e-02,-3.46668047e-01, 1.91696419e+00,-6.44738109e+00,
 -1.35214829e+00, 5.55340024e-01,-1.49734385e+00, 1.17414629e+00,
 -7.59257583e+01, 1.97508058e+01]

qfrc_actuator:
[ 2.37351165e-03, 2.74100009e-02, 8.66955805e-03, 1.61098280e-03,
 -6.07081397e-06, 2.73962180e-02, 8.60165659e-03, 1.59810768e-03,
 -2.49783271e-03, 2.74731903e-02, 8.70414828e-03, 1.54362026e-03,
  0.00000000e+00,-1.44577384e-03, 0.00000000e+00,-8.89414815e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005463670151066441
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27000601e-14,  1.01600480e-13,  1.00000000e+00, -1.29033220e-27,
        1.00000000e+00, -1.01600480e-13, -1.00000000e+00,  0.00000000e+00,
        1.27000601e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05026529, -0.06970732,  0.06194773])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.06558493e-05, 1.16208705e-04, 3.55601743e-05, 3.26003408e-05,
  1.05741316e-05, 3.30762311e-05,-1.83428095e-05,-6.45534029e-05,
 -1.32797814e-05,-5.41722935e-05, 3.03767527e-05,-6.15461829e-06,
  3.28848027e-03,-4.80823429e-05, 4.47759260e-06,-2.98538449e-05,
  9.75748917e-05, 4.57592210e-08,-1.21644340e+00, 5.67769292e-06,
  7.63816174e-03, 1.78174952e-03]


--- Step 2529 ---
qpos:
[-2.48614884e-03, 8.65847532e-01,-2.37413915e-02, 3.88351932e-04,
 -2.94473258e-03, 8.61886441e-01,-2.71242401e-02, 3.11119921e-03,
 -1.20237222e-03, 8.70651663e-01,-1.92451401e-02,-2.13343312e-02,
  1.39623598e+00, 1.85473120e-02, 1.41220987e+00, 2.40596174e-02,
  4.14338805e-03,-5.76676451e-02, 8.06074070e-02, 7.05049969e-01,
 -4.76928531e-02,-7.05962562e-01,-4.74003538e-02]

qacc:
[-2.50428383e-01, 2.55516776e+00,-8.54878841e+00, 1.39764110e+01,
  7.67000802e-02,-3.14379560e+00, 1.28595178e+01,-2.15155975e+01,
  2.94688602e-01,-1.84458786e+00, 8.26731117e+00,-1.59781827e+01,
  1.90804224e-02, 1.37145112e-01,-2.12807790e+00, 7.17881277e+00,
 -1.30579437e+00, 5.29243941e-01,-1.79216881e+00, 1.07490370e+00,
 -7.31757159e+01, 1.90940818e+01]

qfrc_actuator:
[ 2.34734576e-03, 2.74679202e-02, 8.66246964e-03, 1.62814895e-03,
  2.67910850e-06, 2.73924127e-02, 8.64387916e-03, 1.57840023e-03,
 -2.43736236e-03, 2.75008823e-02, 8.73108043e-03, 1.52461648e-03,
  0.00000000e+00,-1.39820747e-03, 0.00000000e+00,-8.54195763e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005563110779177871
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24730464e-14, -9.97843714e-14,  1.00000000e+00, -1.24461510e-27,
        1.00000000e+00,  9.97843714e-14, -1.00000000e+00,  0.00000000e+00,
       -1.24730464e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0502465 , -0.0697022 ,  0.06194681])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.55379115e-05, 1.31647388e-04, 2.24301311e-05, 2.40125070e-05,
  1.37747176e-05, 8.12560382e-06, 4.45619558e-05,-2.01805896e-05,
  5.41060357e-05, 3.39400147e-06, 1.92710414e-05,-2.03899804e-05,
  3.29986228e-03, 2.25936943e-05,-3.57591404e-06, 3.36280808e-05,
  3.43706525e-05, 1.00135176e-05,-1.21644164e+00, 6.45229146e-06,
  7.63814792e-03, 1.78194313e-03]


--- Step 2530 ---
qpos:
[-2.48672922e-03, 8.65848988e-01,-2.37415553e-02, 3.87847568e-04,
 -2.94450018e-03, 8.61887825e-01,-2.71246019e-02, 3.10900583e-03,
 -1.20320969e-03, 8.70652081e-01,-1.92448474e-02,-2.13361063e-02,
  1.39623572e+00, 1.85473713e-02, 1.41228138e+00, 2.40570336e-02,
  4.14020880e-03,-5.76658442e-02, 8.05984859e-02, 7.04989060e-01,
 -4.77235109e-02,-7.06022601e-01,-4.73812139e-02]

qacc:
[-1.05259778e-01,-1.47465897e+00, 6.95503076e+00,-1.08829603e+01,
  1.62819499e-01,-1.26086991e+00, 9.53714339e+00,-2.63571481e+01,
  2.42966730e-01,-7.75081666e-03,-9.20878166e-01, 3.76622267e+00,
  1.34165579e-02, 1.40584189e-01,-2.92294596e-01, 1.02152027e+00,
 -1.40144516e+00,-6.22566734e-01,-2.41270675e+00,-1.20763082e+00,
 -6.81072727e+01,-4.78927363e+01]

qfrc_actuator:
[ 2.34983660e-03, 2.74839414e-02, 8.69416868e-03, 1.62063734e-03,
  2.56257553e-05, 2.74431078e-02, 8.65115151e-03, 1.53182884e-03,
 -2.41865013e-03, 2.74817915e-02, 8.72919166e-03, 1.53199235e-03,
  0.00000000e+00,-1.38749729e-03, 0.00000000e+00,-8.50130346e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005632557289320245
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.85540819e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.85540819e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05363446, -0.04375025,  0.06194617])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.92089667e-05, 9.52790633e-05, 6.24842527e-05,-6.27229657e-07,
  2.94861957e-05, 6.35638114e-05, 1.37405125e-05,-4.50727754e-05,
  4.46195614e-05,-1.40939628e-05, 4.75691722e-07, 7.79180902e-06,
  3.29481699e-03, 2.22686771e-05, 1.17434114e-06, 5.27041645e-06,
  3.97471990e-06, 7.10262454e-06,-1.21644107e+00, 6.04693604e-06,
  7.63818566e-03, 1.78209426e-03]


--- Step 2531 ---
qpos:
[-2.48738619e-03, 8.65850896e-01,-2.37412350e-02, 3.87634789e-04,
 -2.94397904e-03, 8.61889670e-01,-2.71251336e-02, 3.10594893e-03,
 -1.20389187e-03, 8.70652474e-01,-1.92451823e-02,-2.13373994e-02,
  1.39623556e+00, 1.85476110e-02, 1.41235283e+00, 2.40548517e-02,
  4.13160524e-03,-5.76664724e-02, 8.05789829e-02, 7.04830464e-01,
 -4.76966755e-02,-7.06179948e-01,-4.74228399e-02]

qacc:
[-3.99942931e-02,-1.54009316e-01, 1.86577031e-01, 3.75200488e+00,
  1.51738044e-01,-6.93343541e-01, 7.00114935e+00,-2.20134166e+01,
  8.07212045e-02, 2.71432282e+00,-1.17540214e+01, 2.11078578e+01,
  6.50163468e-03, 1.22387897e-01,-1.29588132e+00, 4.42159262e+00,
 -1.35607605e+00,-6.07240022e-01,-2.64546142e+00,-1.21072329e+00,
 -6.59732179e+01,-4.63516115e+01]

qfrc_actuator:
[ 2.35168398e-03, 2.74926225e-02, 8.71283207e-03, 1.63416706e-03,
  3.91150104e-05, 2.74548933e-02, 8.63790123e-03, 1.48757945e-03,
 -2.42511953e-03, 2.74702501e-02, 8.69239936e-03, 1.55478181e-03,
  0.00000000e+00,-1.38121400e-03, 0.00000000e+00,-8.28962302e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005649347714446057
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.82611693e-14, -9.82611693e-14,  1.00000000e+00,  9.65525740e-27,
        1.00000000e+00,  9.82611693e-14, -1.00000000e+00,  0.00000000e+00,
        9.82611693e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0536307 , -0.04375199,  0.06194599])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.30409492e-06, 7.48038523e-05, 4.60092807e-05, 1.97607514e-05,
  2.74946037e-05, 4.82125606e-05, 5.03356758e-09,-4.19268778e-05,
  1.48933379e-05,-1.89964723e-05,-3.93787057e-05, 2.23551538e-05,
  3.28752052e-03, 1.86434342e-05,-1.06831192e-07, 2.13296385e-05,
  5.28539070e-06,-2.54750084e-06,-1.21644058e+00, 5.07962746e-06,
  7.63801647e-03, 1.78235826e-03]


--- Step 2532 ---
qpos:
[-2.48825056e-03, 8.65853041e-01,-2.37408479e-02, 3.88333994e-04,
 -2.94323954e-03, 8.61890963e-01,-2.71254453e-02, 3.10387136e-03,
 -1.20416813e-03, 8.70652676e-01,-1.92461793e-02,-2.13383848e-02,
  1.39623514e+00, 1.85479026e-02, 1.41242398e+00, 2.40552816e-02,
  4.11773410e-03,-5.76694764e-02, 8.05481064e-02, 7.04576745e-01,
 -4.76139724e-02,-7.06431900e-01,-4.75235690e-02]

qacc:
[-1.08729382e-01, 2.00357087e+00,-1.05391319e+01, 2.60422551e+01,
  1.15393847e-01, 6.71412866e-01,-7.58654399e+00, 2.45901936e+01,
  2.11617617e-01, 2.23157872e+00,-9.61905306e+00, 1.61394497e+01,
  8.82243162e-03,-4.04452096e-02,-8.36539283e+00, 2.85962182e+01,
 -1.31689665e+00,-5.93981543e-01,-2.84338901e+00,-1.20533214e+00,
 -6.41926877e+01,-4.50668152e+01]

qfrc_actuator:
[ 2.33534852e-03, 2.74790438e-02, 8.70585886e-03, 1.67770031e-03,
  4.68268726e-05, 2.73721870e-02, 8.63026577e-03, 1.53378121e-03,
 -2.39331621e-03, 2.74454297e-02, 8.65308185e-03, 1.56868360e-03,
  0.00000000e+00,-1.39540077e-03, 0.00000000e+00,-6.91361457e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005605588246600374
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.90282354e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.90282354e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05363889, -0.04374992,  0.06194635])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.98141758e-05, 3.85521061e-05, 1.48118887e-05, 4.87118268e-05,
  2.07700434e-05,-5.75739079e-05, 8.65014278e-07, 4.74533890e-05,
  3.89325081e-05,-4.26224888e-05,-4.73170122e-05, 1.21627067e-05,
  3.28308798e-03,-4.55038755e-06, 1.13002022e-06, 1.38503431e-04,
  4.13545417e-05, 6.15344586e-06,-1.21644146e+00, 8.16835705e-06,
  7.63769605e-03, 1.78288205e-03]


--- Step 2533 ---
qpos:
[-2.48893989e-03, 8.65855019e-01,-2.37402452e-02, 3.88556271e-04,
 -2.94235221e-03, 8.61891591e-01,-2.71257039e-02, 3.10239115e-03,
 -1.20423750e-03, 8.70652118e-01,-1.92457998e-02,-2.13382284e-02,
  1.39623440e+00, 1.85475279e-02, 1.41249541e+00, 2.40550032e-02,
  4.10583021e-03,-5.76757316e-02, 8.05263882e-02, 7.04364070e-01,
 -4.74755546e-02,-7.06642790e-01,-4.76791015e-02]

qacc:
[ 9.19389233e-02,-1.80382657e+00, 8.12569293e+00,-1.66032266e+01,
  7.81588470e-02, 2.02172751e-01,-4.51872983e+00, 1.52620004e+01,
  1.09195352e-01,-2.49719133e+00, 2.63574101e+00, 1.54644569e+01,
  3.15760147e-02,-5.08817917e-01, 2.52881472e+00,-8.30528640e+00,
  4.91813326e-01,-8.12768742e-01, 2.28958684e+00, 2.71557768e-01,
  3.15912760e+01,-3.70331400e+01]

qfrc_actuator:
[ 2.36152269e-03, 2.74343911e-02, 8.70148003e-03, 1.64973550e-03,
  5.10271690e-05, 2.73223772e-02, 8.62567708e-03, 1.56174569e-03,
 -2.39211990e-03, 2.74305710e-02, 8.73680321e-03, 1.63049206e-03,
  0.00000000e+00,-1.45731846e-03, 0.00000000e+00,-7.34808356e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005647497391703441
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.75159984e-07, -9.82933632e-14,  1.00000000e+00,  2.70464002e-20,
        1.00000000e+00,  9.82933632e-14, -1.00000000e+00,  3.00926554e-36,
        2.75159984e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00055974, -0.04557531,  0.0619459 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67250879e-05,-1.80048854e-05, 7.07411678e-06,-2.48569882e-05,
  1.40519990e-05,-7.98150868e-05,-1.47350080e-05, 2.64531456e-05,
  1.98320044e-05,-4.79346806e-05, 6.95181788e-05, 5.85852862e-05,
  3.29546938e-03,-6.90526356e-05, 1.46276233e-05,-3.58721843e-05,
  1.09316903e-04, 3.16397578e-05,-1.21644353e+00, 1.49176700e-05,
  7.63722956e-03, 1.78365301e-03]


--- Step 2534 ---
qpos:
[-2.48937952e-03, 8.65856243e-01,-2.37393745e-02, 3.88515635e-04,
 -2.94174595e-03, 8.61891700e-01,-2.71257708e-02, 3.10122937e-03,
 -1.20457161e-03, 8.70651429e-01,-1.92446791e-02,-2.13363351e-02,
  1.39623331e+00, 1.85464616e-02, 1.41256690e+00, 2.40542316e-02,
  4.09658482e-03,-5.76806891e-02, 8.05144638e-02, 7.04198451e-01,
 -4.73690433e-02,-7.06806588e-01,-4.78033839e-02]

qacc:
[  0.13133252, -2.2859603 ,  7.81419258,-12.23969597, -0.14770683,
  -0.56416096, -0.32544115,  5.90997833, -0.13764539,  1.33436416,
 -12.32708859, 41.27091792,  0.05440147, -0.55412852,  1.57979304,
  -5.42113475,  0.66462465,  0.32441527,  2.44844559, -0.20120108,
  31.70856731, 24.51868873]

qfrc_actuator:
[ 2.37739791e-03, 2.73536503e-02, 8.69848226e-03, 1.63315386e-03,
  1.75984509e-05, 2.73103923e-02, 8.64074817e-03, 1.57875806e-03,
 -2.42700376e-03, 2.74578401e-02, 8.78605830e-03, 1.72008737e-03,
  0.00000000e+00,-1.49391937e-03, 0.00000000e+00,-7.60340188e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005924080243534108
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.37042527e-14, -9.37042527e-14,  1.00000000e+00,  8.78048698e-27,
        1.00000000e+00,  9.37042527e-14, -1.00000000e+00,  0.00000000e+00,
        9.37042527e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00272668, -0.06169412,  0.06194327])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.38438647e-05,-9.04611222e-05,-6.72544298e-06,-1.75963398e-05,
 -2.67682542e-05,-5.85345398e-05,-2.31350946e-06, 1.35996604e-05,
 -2.53967590e-05, 1.73422595e-05, 4.99475176e-05, 9.10895936e-05,
  3.31148968e-03,-7.23150340e-05,-3.30129332e-07,-2.63314120e-05,
  8.23587197e-05, 4.93887620e-05,-1.21644233e+00, 1.47598708e-05,
  7.63704420e-03, 1.78339850e-03]


--- Step 2535 ---
qpos:
[-2.48941440e-03, 8.65856633e-01,-2.37385063e-02, 3.89342672e-04,
 -2.94148474e-03, 8.61891733e-01,-2.71259151e-02, 3.10127755e-03,
 -1.20506272e-03, 8.70651420e-01,-1.92442815e-02,-2.13354581e-02,
  1.39623215e+00, 1.85453579e-02, 1.41263821e+00, 2.40544970e-02,
  4.09012039e-03,-5.76840424e-02, 8.05100466e-02, 7.04082020e-01,
 -4.73000339e-02,-7.06921255e-01,-4.78910639e-02]

qacc:
[  0.21254379,  0.69166773, -7.72670892, 23.35988702, -0.18167105,
   2.60486751,-14.54260896, 35.66575727, -0.08270758,  0.82405275,
   2.64665175,-19.56251287,  0.06939272, -0.10769866, -3.43092027,
  11.57055787,  0.69523892,  0.40103787,  1.87682067, -0.27825663,
  32.91894032, 28.48026958]

qfrc_actuator:
[ 2.40470170e-03, 2.73051693e-02, 8.69617459e-03, 1.67663677e-03,
 -2.53263364e-06, 2.73389737e-02, 8.64970250e-03, 1.64249702e-03,
 -2.42988895e-03, 2.74923086e-02, 8.74370780e-03, 1.66552930e-03,
  0.00000000e+00,-1.46178061e-03, 0.00000000e+00,-7.04044195e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006098867920645697
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.15586705e-06, -1.15586715e-06,  1.00000000e+00, -1.33602875e-12,
        1.00000000e+00,  1.15586715e-06, -1.00000000e+00,  0.00000000e+00,
       -1.15586705e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00405267, -0.06296382,  0.06194163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.86595808e-05,-1.01240027e-04,-2.24447267e-05, 3.90291271e-05,
 -3.28453278e-05,-4.04852026e-06,-2.94709570e-06, 6.14182212e-05,
 -1.50454071e-05, 5.83814197e-05,-2.94700878e-05,-5.03165312e-05,
  3.32902559e-03,-5.56431585e-06,-5.37205966e-06, 5.42871878e-05,
  4.99267233e-05, 3.02447599e-05,-1.21644107e+00, 7.78722484e-06,
  7.63744031e-03, 1.78329003e-03]


--- Step 2536 ---
qpos:
[-2.48908747e-03, 8.65856805e-01,-2.37373804e-02, 3.90586125e-04,
 -2.94132675e-03, 8.61892101e-01,-2.71264161e-02, 3.10170914e-03,
 -1.20545898e-03, 8.70652257e-01,-1.92450290e-02,-2.13362687e-02,
  1.39623125e+00, 1.85443329e-02, 1.41270966e+00, 2.40537432e-02,
  4.08635213e-03,-5.76857877e-02, 8.05113520e-02, 7.04013468e-01,
 -4.72679655e-02,-7.06988167e-01,-4.79427614e-02]

qacc:
[  0.1899474 , -0.1504935 , -1.63880096,  8.59323393, -0.05468089,
   2.22626582, -8.91554267, 15.87784894,  0.04843891,  0.84002788,
   5.73737169,-33.70806408,  0.06976195,  0.04179469,  3.30117979,
 -11.23880641,  0.67404552,  0.40201468,  1.43063393, -0.29754426,
  31.99969347, 28.00043933]

qfrc_actuator:
[ 2.42085507e-03, 2.73474351e-02, 8.72994941e-03, 1.70187510e-03,
  3.24389154e-06, 2.73739076e-02, 8.63742669e-03, 1.66224253e-03,
 -2.41357680e-03, 2.75303384e-02, 8.68306706e-03, 1.57979557e-03,
  0.00000000e+00,-1.44203346e-03, 0.00000000e+00,-7.59758099e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006185237060983839
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.97478151e-14, -1.79495630e-13,  1.00000000e+00,  1.61093406e-26,
        1.00000000e+00,  1.79495630e-13, -1.00000000e+00,  0.00000000e+00,
        8.97478151e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00422649, -0.063132  ,  0.06194082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.45735745e-05,-1.73218746e-05, 1.14395266e-05, 2.08806913e-05,
 -9.81651980e-06, 3.46885858e-05,-1.13480026e-05, 2.06661816e-05,
  9.11700272e-06, 6.24280435e-05,-5.39599163e-05,-8.52358959e-05,
  3.33214723e-03, 1.60903783e-05, 2.52370267e-06,-5.36176880e-05,
  2.45200388e-05, 1.43374505e-05,-1.21644022e+00, 2.37829346e-06,
  7.63784675e-03, 1.78314433e-03]


--- Step 2537 ---
qpos:
[-2.48904757e-03, 8.65856931e-01,-2.37359257e-02, 3.91403044e-04,
 -2.94118128e-03, 8.61892386e-01,-2.71262873e-02, 3.10132320e-03,
 -1.20552159e-03, 8.70653360e-01,-1.92455931e-02,-2.13367368e-02,
  1.39623046e+00, 1.85435447e-02, 1.41278091e+00, 2.40540074e-02,
  4.08518303e-03,-5.76859592e-02, 8.05169127e-02, 7.03991249e-01,
 -4.72716017e-02,-7.07008898e-01,-4.79597309e-02]

qacc:
[-1.50282776e-01,-1.85649352e+00, 8.33212142e+00,-1.62073179e+01,
 -6.21390946e-03,-3.54931611e+00, 1.59490737e+01,-3.10482131e+01,
  1.74254372e-01, 5.45494485e-01,-2.87804816e+00, 8.31372454e+00,
  5.81436536e-02, 1.10718481e-01,-3.38699935e+00, 1.14047668e+01,
  6.49788301e-01, 3.93448947e-01, 1.06381824e+00,-3.04124585e-01,
  3.09573035e+01, 2.70478941e+01]

qfrc_actuator:
[ 2.37694135e-03, 2.73551039e-02, 8.74960929e-03, 1.68076560e-03,
  6.70853808e-06, 2.73590143e-02, 8.66598080e-03, 1.62042925e-03,
 -2.38593527e-03, 2.75523138e-02, 8.70092657e-03, 1.60070269e-03,
  0.00000000e+00,-1.42982234e-03, 0.00000000e+00,-7.03510250e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006195565998802915
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.95981921e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.95981921e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00422604, -0.06313128,  0.06194073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.74315534e-05, 1.22853795e-06, 1.82016933e-05,-2.10535353e-05,
 -1.19113993e-06, 3.03866473e-06, 3.50358008e-05,-4.03181034e-05,
  3.20173405e-05, 4.20785982e-05, 2.11554992e-05, 2.00533839e-05,
  3.31909575e-03, 2.44074118e-05,-6.20127539e-06, 5.32515554e-05,
  8.41714837e-06, 4.43681369e-06,-1.21643988e+00,-8.69515664e-07,
  7.63823036e-03, 1.78296443e-03]


--- Step 2538 ---
qpos:
[-2.48904693e-03, 8.65856438e-01,-2.37341675e-02, 3.90655462e-04,
 -2.94102043e-03, 8.61892635e-01,-2.71261153e-02, 3.10116496e-03,
 -1.20525339e-03, 8.70654613e-01,-1.92447420e-02,-2.13377136e-02,
  1.39622983e+00, 1.85433355e-02, 1.41285186e+00, 2.40569349e-02,
  4.08653362e-03,-5.76845856e-02, 8.05254973e-02, 7.04014071e-01,
 -4.73099189e-02,-7.06984744e-01,-4.79430032e-02]

qacc:
[-2.02555089e-02,-4.88499083e+00, 2.28361302e+01,-4.99459877e+01,
  8.15352178e-03, 3.00172582e-01,-2.10088726e+00, 5.99940762e+00,
  1.73531649e-01,-4.80355231e+00, 1.95580474e+01,-3.07286063e+01,
  5.02211093e-02, 3.34155280e-01,-8.52459518e+00, 2.91565676e+01,
  6.29920561e-01, 3.86250891e-01, 7.55962257e-01,-3.07207818e-01,
  3.00939813e+01, 2.62621424e+01]

qfrc_actuator:
[ 2.38625464e-03, 2.72709194e-02, 8.74287354e-03, 1.59701853e-03,
  8.73665314e-06, 2.73500144e-02, 8.66493127e-03, 1.63149143e-03,
 -2.36952551e-03, 2.75826506e-02, 8.78276849e-03, 1.57772335e-03,
  0.00000000e+00,-1.38681720e-03, 0.00000000e+00,-5.63962269e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006146212008598939
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.03176642e-14, -9.03176642e-14,  1.00000000e+00,  8.15728047e-27,
        1.00000000e+00,  9.03176642e-14, -1.00000000e+00,  0.00000000e+00,
        9.03176642e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00422983, -0.06313242,  0.0619412 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.76831027e-06,-8.06592730e-05,-4.98151346e-06,-8.34775314e-05,
  1.46320143e-06,-1.79952164e-06, 2.49665612e-06, 1.16201832e-05,
  3.17459495e-05, 5.90765016e-05, 9.38280160e-05,-2.00559008e-05,
  3.31341321e-03, 5.56043173e-05, 2.40711274e-06, 1.41555720e-04,
  9.45600483e-07, 2.14825154e-07,-1.21643998e+00,-2.06977527e-06,
  7.63858991e-03, 1.78275028e-03]


--- Step 2539 ---
qpos:
[-2.48863473e-03, 8.65855054e-01,-2.37317899e-02, 3.89270054e-04,
 -2.94084032e-03, 8.61893266e-01,-2.71272631e-02, 3.10152711e-03,
 -1.20472739e-03, 8.70656572e-01,-1.92444710e-02,-2.13392367e-02,
  1.39622913e+00, 1.85433497e-02, 1.41292266e+00, 2.40625082e-02,
  4.09033926e-03,-5.76816909e-02, 8.05360753e-02, 7.04080860e-01,
 -4.73820732e-02,-7.06916757e-01,-4.78934200e-02]

qacc:
[ 2.16439800e-01,-4.21817608e+00, 1.60268289e+01,-2.74047881e+01,
  9.20233600e-03, 5.25827131e+00,-2.02169728e+01, 3.10599447e+01,
  1.33979985e-01, 1.42615308e+00,-1.43292937e+00,-7.60028329e+00,
  4.88742342e-02, 6.66143012e-02,-8.22571550e+00, 2.84609334e+01,
  6.13765873e-01, 3.80297145e-01, 4.98365878e-01,-3.07380672e-01,
  2.93825367e+01, 2.56173668e+01]

qfrc_actuator:
[ 2.42737117e-03, 2.72209773e-02, 8.77345191e-03, 1.56576065e-03,
  9.87995364e-06, 2.73622892e-02, 8.59319633e-03, 1.65580806e-03,
 -2.35998541e-03, 2.76002611e-02, 8.74192087e-03, 1.54687915e-03,
  0.00000000e+00,-1.39678313e-03, 0.00000000e+00,-4.29744501e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006049981105248348
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83508511e-13, -2.75262767e-13,  1.00000000e+00,  5.05130605e-26,
        1.00000000e+00,  2.75262767e-13, -1.00000000e+00,  0.00000000e+00,
        1.83508511e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00423693, -0.063135  ,  0.06194212])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.93110141e-05,-9.96514504e-05, 1.04080193e-05,-3.65111691e-05,
  1.83745400e-06, 1.22751218e-05,-7.13998834e-05, 2.45517183e-05,
  2.47492375e-05, 6.91329850e-05,-1.77982047e-05,-2.54607836e-05,
  3.30535770e-03, 1.67072855e-05, 1.62888778e-05, 1.42259349e-04,
  1.32056909e-06, 1.14435239e-06,-1.21644048e+00,-1.37320410e-06,
  7.63892881e-03, 1.78250110e-03]


--- Step 2540 ---
qpos:
[-2.48795845e-03, 8.65853759e-01,-2.37298390e-02, 3.88847868e-04,
 -2.94083117e-03, 8.61893751e-01,-2.71282034e-02, 3.10110418e-03,
 -1.20402185e-03, 8.70658537e-01,-1.92447251e-02,-2.13399937e-02,
  1.39622847e+00, 1.85429301e-02, 1.41299398e+00, 2.40659757e-02,
  4.09654785e-03,-5.76772944e-02, 8.05477872e-02, 7.04190721e-01,
 -4.74873727e-02,-7.06805789e-01,-4.78116624e-02]

qacc:
[  0.13820944,  3.29052501,-15.63031376, 32.92056312, -0.08989817,
  -2.38710611, 11.54654753,-25.36094883,  0.09345225,  3.05401388,
 -14.10353019, 28.18370602,  0.0576732 , -0.30663848,  7.12478999,
 -23.84902837,  0.6007353 ,  0.37545642,  0.28349719, -0.3050623 ,
  28.79987184, 25.09182594]

qfrc_actuator:
[ 2.43387665e-03, 2.72808628e-02, 8.77272359e-03, 1.61895331e-03,
 -7.27030065e-06, 2.73514199e-02, 8.60466423e-03, 1.61668305e-03,
 -2.35462644e-03, 2.75563632e-02, 8.69989926e-03, 1.58256744e-03,
  0.00000000e+00,-1.43840765e-03, 0.00000000e+00,-5.48309660e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005917568036827858
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.3807373e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.3807373e-14, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00424658, -0.06313871,  0.06194338])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.52402350e-05, 4.76803954e-06,-2.12973652e-05, 4.85733540e-05,
 -1.62759394e-05,-1.77058416e-05, 6.05908465e-06,-4.05923473e-05,
  1.72218406e-05,-1.00478130e-05,-3.08329092e-05, 3.75347643e-05,
  3.30875355e-03,-3.60715719e-05, 2.15745749e-05,-1.08965254e-04,
  8.94884478e-06, 6.82860655e-06,-1.21644136e+00, 1.10551297e-06,
  7.63924893e-03, 1.78221642e-03]


--- Step 2541 ---
qpos:
[-2.48730564e-03, 8.65852593e-01,-2.37280173e-02, 3.89384116e-04,
 -2.94119668e-03, 8.61893629e-01,-2.71277009e-02, 3.10053403e-03,
 -1.20301576e-03, 8.70660284e-01,-1.92448042e-02,-2.13403361e-02,
  1.39622815e+00, 1.85419149e-02, 1.41306597e+00, 2.40633449e-02,
  4.10509189e-03,-5.76714471e-02, 8.05599955e-02, 7.04342502e-01,
 -4.76244982e-02,-7.06652922e-01,-4.76990082e-02]

qacc:
[-1.23878062e-02, 2.50321241e+00,-1.27244964e+01, 2.94249820e+01,
 -1.96195087e-01,-5.12943577e+00, 1.77533656e+01,-2.21702888e+01,
  1.57126580e-01, 7.78728222e-02,-2.44098524e+00, 9.48817509e+00,
  5.28506131e-02,-3.21133535e-01, 1.94824525e+01,-6.66855662e+01,
  5.83864579e-01, 3.62676928e-01, 1.24057962e-01,-2.93067439e-01,
  2.80721547e+01, 2.41229272e+01]

qfrc_actuator:
[ 2.41959833e-03, 2.72995065e-02, 8.77176232e-03, 1.66821248e-03,
 -3.52141683e-05, 2.73270397e-02, 8.68280713e-03, 1.61160089e-03,
 -2.33404837e-03, 2.75469873e-02, 8.71060830e-03, 1.60382359e-03,
  0.00000000e+00,-1.46295429e-03, 0.00000000e+00,-8.68109084e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.22970237, -6.22798836,  0.14612542, -6.22798836,  6.23389355,
        0.17863155,  0.14612542,  0.17863155, 13.84312926,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005757066600280952
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.65948152e-07, -8.65948182e-07,  1.00000000e+00, -7.49866228e-13,
        1.00000000e+00,  8.65948182e-07, -1.00000000e+00,  0.00000000e+00,
       -8.65948152e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00407844, -0.06297199,  0.06194489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24119829e-06, 1.90098351e-05,-9.24542344e-07, 4.96710071e-05,
 -3.56717108e-05,-3.47739876e-05, 7.38322251e-05,-6.41948336e-06,
  2.88262953e-05,-1.97948449e-05, 6.12285482e-06, 2.04883059e-05,
  3.30681534e-03,-3.89058360e-05,-5.33417578e-06,-3.23829374e-04,
  2.33868150e-05, 1.69721953e-05,-1.21644261e+00, 5.27997589e-06,
  7.63955077e-03, 1.78189593e-03]


--- Step 2542 ---
qpos:
[-2.48675619e-03, 8.65851371e-01,-2.37263934e-02, 3.90189647e-04,
 -2.94172586e-03, 8.61893128e-01,-2.71257621e-02, 3.10056837e-03,
 -1.20192821e-03, 8.70662013e-01,-1.92448498e-02,-2.13400921e-02,
  1.39622792e+00, 1.85407990e-02, 1.41313767e+00, 2.40592588e-02,
  4.11582954e-03,-5.76643130e-02, 8.05724576e-02, 7.04533859e-01,
 -4.77897866e-02,-7.06460416e-01,-4.75589980e-02]

qacc:
[ -0.05427517,  1.03360656, -4.92863818,  9.94698478, -0.0851127 ,
  -3.26680308,  8.3708353 ,  0.06845593,  0.04258586,  1.09058331,
  -6.39482679, 16.49717962,  0.03408863, -0.07045669,  3.97130621,
 -14.52798738,  0.5483995 ,  0.32171144,  0.06347223, -0.25556463,
  26.62001036, 21.47241629]

qfrc_actuator:
[ 2.41078431e-03, 2.72755766e-02, 8.75278170e-03, 1.67922579e-03,
 -3.38568535e-05, 2.73305763e-02, 8.76413147e-03, 1.64437324e-03,
 -2.34003691e-03, 2.75585458e-02, 8.71696040e-03, 1.63421821e-03,
  0.00000000e+00,-1.45916614e-03, 0.00000000e+00,-9.31009028e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000558081268273085
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.17316433e-07, -3.08894341e-14,  1.00000000e+00,  1.90685553e-20,
        1.00000000e+00,  3.08894341e-14, -1.00000000e+00, -3.00926554e-36,
        6.17316433e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00331854, -0.06224095,  0.06194656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.88002923e-06,-1.13521560e-05,-1.34556341e-05, 1.27606567e-05,
 -1.55812013e-05,-9.39536862e-07, 8.30156941e-05, 3.37140599e-05,
  7.81421434e-06, 2.59679957e-06, 3.71519659e-06, 3.01557503e-05,
  3.28944650e-03,-5.29469838e-06,-4.07209709e-05,-8.21468881e-05,
  4.40464097e-05, 3.10679491e-05,-1.21644419e+00, 1.10077807e-05,
  7.63982448e-03, 1.78154316e-03]


--- Step 2543 ---
qpos:
[-2.48649879e-03, 8.65850251e-01,-2.37247877e-02, 3.91088643e-04,
 -2.94213455e-03, 8.61893050e-01,-2.71240063e-02, 3.10169403e-03,
 -1.20121422e-03, 8.70663662e-01,-1.92447482e-02,-2.13401765e-02,
  1.39622771e+00, 1.85401204e-02, 1.41320873e+00, 2.40577376e-02,
  4.12767122e-03,-5.76616701e-02, 8.05830841e-02, 7.04754529e-01,
 -4.78701436e-02,-7.06238652e-01,-4.75023192e-02]

qacc:
[-1.53164311e-01, 3.77132670e-01,-1.54440599e+00, 3.11630212e+00,
  6.32448423e-02, 3.31467637e+00,-1.56150827e+01, 3.44870486e+01,
 -1.94939679e-01,-1.19377536e+00, 5.48649566e+00,-1.13427807e+01,
  2.66853671e-02, 2.36321049e-01,-8.71241027e+00, 2.91068553e+01,
  2.76010390e-01,-1.12278145e+00,-4.58900647e-01, 4.88056991e-01,
  2.46719213e+01,-5.79590134e+01]

qfrc_actuator:
[ 2.38758549e-03, 2.72972459e-02, 8.75861517e-03, 1.68534999e-03,
 -1.49799655e-05, 2.73686321e-02, 8.75803091e-03, 1.69916549e-03,
 -2.37961920e-03, 2.75470476e-02, 8.72076976e-03, 1.61650014e-03,
  0.00000000e+00,-1.42088123e-03, 0.00000000e+00,-7.88715070e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005453903367715687
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01782425e-13,  1.01782425e-13,  1.00000000e+00, -1.03596621e-26,
        1.00000000e+00, -1.01782425e-13, -1.00000000e+00,  0.00000000e+00,
        1.01782425e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00076035, -0.03578463,  0.06194776])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.79100988e-05, 1.31016335e-05, 2.26815638e-06, 5.41884623e-06,
  1.14788017e-05, 5.61142065e-05, 5.08950320e-06, 5.82795822e-05,
 -3.58374399e-05,-8.02553436e-06, 5.83403280e-06,-1.68940174e-05,
  3.28462943e-03, 3.80624519e-05,-2.74592861e-05, 1.32588106e-04,
  6.94216452e-05, 4.75578817e-05,-1.21644598e+00, 1.78711868e-05,
  7.64003548e-03, 1.78117222e-03]


--- Step 2544 ---
qpos:
[-2.48689710e-03, 8.65849406e-01,-2.37229048e-02, 3.91319794e-04,
 -2.94255250e-03, 8.61892954e-01,-2.71221055e-02, 3.10315677e-03,
 -1.20092716e-03, 8.70664875e-01,-1.92440857e-02,-2.13414909e-02,
  1.39622745e+00, 1.85397092e-02, 1.41327954e+00, 2.40585483e-02,
  4.13354390e-03,-5.76615052e-02, 8.05857984e-02, 7.04868315e-01,
 -4.78867171e-02,-7.06123309e-01,-4.75120375e-02]

qacc:
[-3.43733876e-01,-1.78577284e+00, 9.71315610e+00,-2.19177632e+01,
 -4.75447992e-03, 2.64401531e-01,-2.40169053e+00, 8.01810096e+00,
 -2.22472914e-01,-4.67707300e+00, 2.10228990e+01,-4.28694081e+01,
  2.85851264e-02, 1.19658106e-01,-7.44621254e+00, 2.54894847e+01,
 -1.49225088e+00,-6.19535922e-01,-1.97804407e+00,-1.00093469e+00,
 -7.21391933e+01,-5.10058654e+01]

qfrc_actuator:
[ 2.33823322e-03, 2.73283872e-02, 8.77923645e-03, 1.65310357e-03,
 -2.13152710e-05, 2.73379845e-02, 8.75377795e-03, 1.71318316e-03,
 -2.40343004e-03, 2.75040320e-02, 8.74067910e-03, 1.55284224e-03,
  0.00000000e+00,-1.41565385e-03, 0.00000000e+00,-6.68763787e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005493453812634025
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01049637e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.01049637e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05366674, -0.04375835,  0.06194741])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.26583428e-05, 3.91767144e-05, 2.37891820e-05,-3.15029190e-05,
 -8.80322136e-07, 4.26546004e-06, 9.96511471e-06, 1.77276233e-05,
 -4.09671701e-05,-4.70641011e-05, 1.83733682e-05,-6.41305007e-05,
  3.28397271e-03, 2.14545149e-05, 2.80300182e-06, 1.23967321e-04,
  8.29068033e-05, 1.94568948e-05,-1.21644380e+00, 1.37951603e-05,
  7.63887784e-03, 1.78109992e-03]


--- Step 2545 ---
qpos:
[-2.48772625e-03, 8.65848539e-01,-2.37212332e-02, 3.91580139e-04,
 -2.94301276e-03, 8.61892068e-01,-2.71195393e-02, 3.10415005e-03,
 -1.20099180e-03, 8.70665178e-01,-1.92429470e-02,-2.13431446e-02,
  1.39622746e+00, 1.85395223e-02, 1.41335058e+00, 2.40587727e-02,
  4.13368636e-03,-5.76637664e-02, 8.05794063e-02, 7.04879403e-01,
 -4.78422192e-02,-7.06110303e-01,-4.75856008e-02]

qacc:
[-2.26008204e-01, 6.22673468e-01,-2.38337742e+00, 3.24215913e+00,
 -2.16051345e-02,-3.86516059e+00, 1.42526451e+01,-2.28665496e+01,
 -1.83031700e-01,-3.23156590e+00, 1.12065148e+01,-1.71660860e+01,
  2.63535901e-02, 1.74248095e-01, 2.11328339e+00,-6.89851703e+00,
 -1.43255584e+00,-6.06495445e-01,-2.27660444e+00,-1.04533230e+00,
 -6.93462995e+01,-4.89531352e+01]

qfrc_actuator:
[ 2.32692723e-03, 2.72939878e-02, 8.75518453e-03, 1.65181660e-03,
 -2.49437237e-05, 2.72486353e-02, 8.76813159e-03, 1.68530115e-03,
 -2.41757520e-03, 2.74247410e-02, 8.75202311e-03, 1.53366396e-03,
  0.00000000e+00,-1.39476077e-03, 0.00000000e+00,-7.05032376e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.12283978, -6.1220574 , -0.09787868, -6.1220574 ,  6.13582796,
       -0.8123766 , -0.09787868, -0.8123766 , 56.93488802,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005628808149230474
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.86197251e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.86197251e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05363922, -0.0437684 ,  0.06194615])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.11785973e-05,-8.93061785e-06,-1.41275426e-05, 6.00425001e-07,
 -4.04620763e-06,-8.41617579e-05, 1.70594344e-05,-2.70142840e-05,
 -3.37625192e-05,-1.04595240e-04, 1.65648993e-06,-2.18063461e-05,
  3.28605117e-03, 2.89999635e-05, 1.40201877e-05,-2.92480295e-05,
  2.10811757e-05,-8.49341023e-07,-1.21644047e+00, 6.83085042e-06,
  7.63811386e-03, 1.78147235e-03]


--- Step 2546 ---
qpos:
[-2.48863990e-03, 8.65847674e-01,-2.37198303e-02, 3.91479686e-04,
 -2.94332738e-03, 8.61891140e-01,-2.71181801e-02, 3.10483678e-03,
 -1.20112571e-03, 8.70664495e-01,-1.92419159e-02,-2.13439280e-02,
  1.39622759e+00, 1.85394271e-02, 1.41342167e+00, 2.40585824e-02,
  4.12830101e-03,-5.76684067e-02, 8.05628920e-02, 7.04791246e-01,
 -4.77388913e-02,-7.06196161e-01,-4.77208582e-02]

qacc:
[-4.44867829e-02, 9.67060698e-03, 1.49113861e+00,-7.30635462e+00,
  7.59294386e-02, 2.68296876e+00,-8.35506209e+00, 5.01491546e+00,
 -3.58551689e-02, 7.91240483e-01,-8.37717966e+00, 2.43206183e+01,
  1.34128999e-02, 7.32911429e-02, 1.35020999e+00,-4.58457391e+00,
 -1.38195175e+00,-5.94785360e-01,-2.53056476e+00,-1.06922593e+00,
 -6.70064827e+01,-4.72398533e+01]

qfrc_actuator:
[ 2.33848643e-03, 2.72914599e-02, 8.74021150e-03, 1.63317013e-03,
 -9.15867800e-06, 2.72491115e-02, 8.70430747e-03, 1.66845631e-03,
 -2.40807280e-03, 2.73598388e-02, 8.74033573e-03, 1.57627990e-03,
  0.00000000e+00,-1.40003732e-03, 0.00000000e+00,-7.26531458e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005680157693388546
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05362856, -0.04377293,  0.06194566])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.07667838e-06,-1.04100056e-05,-1.85428302e-05,-1.95071945e-05,
  1.38540961e-05,-4.42201923e-05,-8.00535583e-05,-2.03895525e-05,
 -6.67435344e-06,-1.23998529e-04,-3.38471884e-05, 3.77716871e-05,
  3.27249050e-03, 1.25317407e-05, 1.34540415e-06,-2.17686105e-05,
  3.13943163e-07,-2.02711802e-07,-1.21643882e+00, 4.64407933e-06,
  7.63723967e-03, 1.78208118e-03]


--- Step 2547 ---
qpos:
[-2.48933124e-03, 8.65847105e-01,-2.37187593e-02, 3.90777538e-04,
 -2.94347302e-03, 8.61890360e-01,-2.71180132e-02, 3.10460055e-03,
 -1.20104746e-03, 8.70663373e-01,-1.92413177e-02,-2.13432065e-02,
  1.39622765e+00, 1.85392150e-02, 1.41349272e+00, 2.40584720e-02,
  4.11786514e-03,-5.76709560e-02, 8.05391137e-02, 7.04601724e-01,
 -4.76678021e-02,-7.06383302e-01,-4.78207287e-02]

qacc:
[ 1.16207557e-01, 7.91766892e-02, 2.82434953e+00,-1.29235296e+01,
  8.81325026e-02, 1.62264337e+00,-1.61019723e+00,-1.25616394e+01,
  1.10721145e-01, 3.72971084e+00,-2.04801034e+01, 4.75155396e+01,
  1.04913102e-02,-1.00136911e-01,-3.11232330e-01, 9.84312378e-01,
 -1.26263172e+00, 5.22762351e-01,-1.81597551e+00, 1.13140324e+00,
 -7.30977804e+01, 1.90173591e+01]

qfrc_actuator:
[ 2.36359074e-03, 2.73257935e-02, 8.73082772e-03, 1.60448628e-03,
  3.50818555e-07, 2.72675459e-02, 8.64844090e-03, 1.62275338e-03,
 -2.38452360e-03, 2.73750200e-02, 8.73297536e-03, 1.65489853e-03,
  0.00000000e+00,-1.42097292e-03, 0.00000000e+00,-7.21353325e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005735117105077625
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.62968730e-14,  9.67916613e-14,  1.00000000e+00,  3.51323464e-27,
        1.00000000e+00, -9.67916613e-14, -1.00000000e+00,  0.00000000e+00,
       -3.62968730e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05020372, -0.06971011,  0.06194511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.12531322e-05, 2.38578275e-05,-1.44967707e-05,-3.01517025e-05,
  1.60819275e-05,-2.36868785e-05,-7.55729972e-05,-5.07668482e-05,
  2.03375671e-05,-5.95207389e-05,-3.58322587e-05, 7.28751874e-05,
  3.26594826e-03,-1.29761035e-05,-3.22047822e-06, 3.80578560e-06,
  1.62338861e-05, 1.91419615e-05,-1.21643866e+00, 6.65120995e-06,
  7.63625292e-03, 1.78292210e-03]


--- Step 2548 ---
qpos:
[-2.48975709e-03, 8.65845542e-01,-2.37176762e-02, 3.92297274e-04,
 -2.94329239e-03, 8.61889388e-01,-2.71182269e-02, 3.10415048e-03,
 -1.20072237e-03, 8.70663205e-01,-1.92423349e-02,-2.13416475e-02,
  1.39622774e+00, 1.85387623e-02, 1.41356395e+00, 2.40567415e-02,
  4.10460918e-03,-5.76714713e-02, 8.05182614e-02, 7.04353728e-01,
 -4.76329346e-02,-7.06628746e-01,-4.78826112e-02]

qacc:
[ 1.39660206e-01, 3.22683066e+00,-2.27894949e+01, 6.19550227e+01,
  1.71644230e-01, 3.71003738e-01,-7.86105610e-01,-2.16484822e+00,
  1.27580711e-01, 7.49853017e+00,-2.84348745e+01, 4.47984895e+01,
  1.39497560e-02,-1.48615995e-01, 5.15865911e+00,-1.76828901e+01,
 -7.05021029e-01, 5.08480963e-01, 7.31482188e-01, 6.56511918e-01,
 -4.29643202e+01, 2.33887243e+01]

qfrc_actuator:
[ 2.37879648e-03, 2.72044227e-02, 8.70721553e-03, 1.71218626e-03,
  2.37660172e-05, 2.72610782e-02, 8.63332217e-03, 1.61373252e-03,
 -2.37055267e-03, 2.74913569e-02, 8.67532175e-03, 1.70087816e-03,
  0.00000000e+00,-1.43337919e-03, 0.00000000e+00,-8.07013381e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005741888285884672
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.865136e-07,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
       -5.865136e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0282705 , -0.06638812,  0.06194499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.53441739e-05,-1.12305466e-04,-2.15170578e-05, 1.07633404e-04,
  3.10481230e-05,-3.74756422e-05,-3.10742146e-05,-1.36384239e-05,
  2.36990336e-05, 7.87973819e-05,-7.18350563e-05, 4.36100657e-05,
  3.26983338e-03,-1.95106100e-05,-2.50541997e-06,-8.61886357e-05,
  6.20933521e-05, 2.33659577e-05,-1.21644127e+00, 8.61637578e-06,
  7.63685539e-03, 1.78381839e-03]


--- Step 2549 ---
qpos:
[-2.48977498e-03, 8.65842928e-01,-2.37166992e-02, 3.94422419e-04,
 -2.94262562e-03, 8.61888256e-01,-2.71184814e-02, 3.10494887e-03,
 -1.20019450e-03, 8.70663329e-01,-1.92435828e-02,-2.13402525e-02,
  1.39622758e+00, 1.85380402e-02, 1.41363495e+00, 2.40556742e-02,
  4.09398660e-03,-5.76707982e-02, 8.05070012e-02, 7.04152611e-01,
 -4.76299880e-02,-7.06827291e-01,-4.79131108e-02]

qacc:
[ 2.14225265e-01, 1.52847240e-01,-5.11740846e+00, 1.65379793e+01,
  2.56130530e-01, 2.46929517e+00,-1.43850458e+01, 3.61787739e+01,
  1.05626313e-01, 6.92891330e-01,-1.21949378e+00,-1.46084370e+00,
  1.72513630e-02,-2.40660486e-01,-2.33985169e+00, 7.69454114e+00,
  6.58344506e-01, 2.97105280e-01, 2.39803957e+00,-1.60118976e-01,
  3.15679830e+01, 2.45697326e+01]

qfrc_actuator:
[ 2.40568361e-03, 2.71328213e-02, 8.69260773e-03, 1.73935997e-03,
  5.52997536e-05, 2.72754529e-02, 8.64231745e-03, 1.67963886e-03,
 -2.36244825e-03, 2.74896434e-02, 8.65985830e-03, 1.69183460e-03,
  0.00000000e+00,-1.45825017e-03, 0.00000000e+00,-7.67981976e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006008037244437936
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.84789638e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.84789638e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00272449, -0.06168322,  0.06194247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.89594772e-05,-1.34203522e-04,-3.67267315e-05, 2.37114202e-05,
  4.62683084e-05,-1.35531390e-05,-3.03544273e-06, 6.29619756e-05,
  1.94606036e-05, 2.93927851e-05,-6.52332367e-06,-7.30781689e-06,
  3.26801569e-03,-3.23292485e-05,-1.24736276e-05, 3.35160099e-05,
  1.00495042e-04, 1.29289603e-05,-1.21644346e+00, 7.58023060e-06,
  7.63752399e-03, 1.78436626e-03]


--- Step 2550 ---
qpos:
[-2.48887513e-03, 8.65840645e-01,-2.37161448e-02, 3.94973501e-04,
 -2.94172164e-03, 8.61886895e-01,-2.71188387e-02, 3.10585251e-03,
 -1.19952204e-03, 8.70662610e-01,-1.92441708e-02,-2.13395818e-02,
  1.39622730e+00, 1.85373942e-02, 1.41370570e+00, 2.40563972e-02,
  4.08612372e-03,-5.76686142e-02, 8.05030210e-02, 7.04000440e-01,
 -4.76644923e-02,-7.06976945e-01,-4.79069405e-02]

qacc:
[ 4.80695333e-01,-1.62186580e+00, 1.30619137e+01,-3.98706561e+01,
  1.24942803e-01, 2.01000543e-01,-1.60019175e+00, 3.75475707e+00,
  7.61730535e-02,-4.45060313e+00, 1.73032397e+01,-3.02653944e+01,
  2.83435625e-02,-1.31455566e-02,-5.80587668e+00, 1.97477103e+01,
  6.89926175e-01, 3.77726604e-01, 1.81997721e+00,-2.31557044e-01,
  3.27412297e+01, 2.84832016e+01]

qfrc_actuator:
[ 2.47483616e-03, 2.72335585e-02, 8.70126853e-03, 1.66568773e-03,
  5.59089658e-05, 2.72491220e-02, 8.63008830e-03, 1.68260897e-03,
 -2.35791842e-03, 2.73818744e-02, 8.66897047e-03, 1.65044356e-03,
  0.00000000e+00,-1.43721709e-03, 0.00000000e+00,-6.73523568e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006168364618978909
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.04926363e-07, -9.04926394e-07,  1.00000000e+00, -8.18891751e-13,
        1.00000000e+00,  9.04926394e-07, -1.00000000e+00, -1.00974196e-28,
       -9.04926363e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00405154, -0.06295165,  0.06194096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.77181797e-05, 1.91794655e-05,-2.27514808e-05,-8.02319987e-05,
  2.25702556e-05,-3.18056349e-05,-1.32137965e-05, 3.51024630e-06,
  1.38509759e-05,-9.29851425e-05, 1.41325964e-05,-4.05014160e-05,
  3.28055340e-03, 2.19901611e-06,-3.14482376e-06, 9.44813097e-05,
  6.44032170e-05, 1.21232720e-06,-1.21644262e+00, 4.03750801e-06,
  7.63814247e-03, 1.78403354e-03]


--- Step 2551 ---
qpos:
[-2.48767031e-03, 8.65838835e-01,-2.37160218e-02, 3.95308594e-04,
 -2.94070656e-03, 8.61885383e-01,-2.71190656e-02, 3.10641368e-03,
 -1.19857073e-03, 8.70661420e-01,-1.92452720e-02,-2.13393772e-02,
  1.39622700e+00, 1.85368868e-02, 1.41377637e+00, 2.40585670e-02,
  4.08093923e-03,-5.76648965e-02, 8.05045600e-02, 7.03895917e-01,
 -4.77358983e-02,-7.07079055e-01,-4.78647245e-02]

qacc:
[  0.15944679,  1.38396922, -3.11819632, -0.27528666,  0.05863169,
  -1.26799354,  5.67797191,-11.70397032,  0.14541683, -0.14780491,
   1.58829974, -8.47938348,  0.03413528,  0.04374364, -4.5146389 ,
  15.59660566,  0.66959649,  0.38343064,  1.37983174, -0.25094279,
  31.83555337, 28.0068197 ]

qfrc_actuator:
[ 2.46215921e-03, 2.72769623e-02, 8.68874421e-03, 1.65771365e-03,
  5.57705836e-05, 2.72517578e-02, 8.64070802e-03, 1.66621380e-03,
 -2.33780363e-03, 2.73535122e-02, 8.63877174e-03, 1.62577534e-03,
  0.00000000e+00,-1.42438442e-03, 0.00000000e+00,-6.00459309e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006241159559026571
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.89436501e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.89436501e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00422638, -0.06311976,  0.06194028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.91586537e-05, 4.60507280e-05,-1.41320553e-05,-9.50132005e-06,
  1.05719467e-05,-1.76908722e-05, 2.55642531e-06,-1.81457701e-05,
  2.67340818e-05,-7.91489922e-05,-4.90531822e-05,-2.89476962e-05,
  3.28646499e-03, 1.12604644e-05, 8.01375107e-06, 7.76857623e-05,
  3.51052997e-05,-6.94586356e-06,-1.21644231e+00, 2.03379869e-06,
  7.63880495e-03, 1.78366354e-03]


--- Step 2552 ---
qpos:
[-2.48659214e-03, 8.65836948e-01,-2.37164500e-02, 3.96314922e-04,
 -2.93945821e-03, 8.61884255e-01,-2.71194422e-02, 3.10706909e-03,
 -1.19773604e-03, 8.70660080e-01,-1.92469359e-02,-2.13391622e-02,
  1.39622689e+00, 1.85362321e-02, 1.41384742e+00, 2.40585848e-02,
  4.07833897e-03,-5.76596629e-02, 8.05101796e-02, 7.03837515e-01,
 -4.78429928e-02,-7.07135161e-01,-4.77877081e-02]

qacc:
[ -0.06669045,  2.81996456,-13.03457356, 25.590656  ,  0.12262378,
   1.11955818, -3.65320566,  5.24243992, -0.06119311,  1.39512656,
  -5.30492304,  6.49301836,  0.03403105, -0.07228074,  7.08769168,
 -23.96687567,  0.64605738,  0.37895372,  1.02011851, -0.25735855,
  30.81175973, 27.06702183]

qfrc_actuator:
[ 2.43613549e-03, 2.72324348e-02, 8.64593405e-03, 1.68843002e-03,
  7.29674883e-05, 2.73072927e-02, 8.64709231e-03, 1.67411034e-03,
 -2.36178785e-03, 2.73727583e-02, 8.62140095e-03, 1.62892475e-03,
  0.00000000e+00,-1.43431772e-03, 0.00000000e+00,-7.18130430e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006240218101795508
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -8.8957069e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  8.8957069e-14, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00422672, -0.06311909,  0.0619403 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.21101993e-05,-2.20599360e-05,-3.53576294e-05, 3.20164472e-05,
  2.22134761e-05, 4.54316456e-05, 2.43039501e-06, 6.87561096e-06,
 -1.11954841e-05,-3.63402410e-05,-4.07431030e-05,-2.49730970e-06,
  3.28729633e-03,-5.58139705e-06, 1.07965217e-05,-1.12673098e-04,
  1.51332717e-05,-9.33254937e-06,-1.21644249e+00, 2.14636971e-06,
  7.63943924e-03, 1.78326664e-03]


--- Step 2553 ---
qpos:
[-2.48536992e-03, 8.65834982e-01,-2.37173339e-02, 3.96985763e-04,
 -2.93818395e-03, 8.61883523e-01,-2.71200505e-02, 3.10747208e-03,
 -1.19748023e-03, 8.70658999e-01,-1.92490629e-02,-2.13389719e-02,
  1.39622710e+00, 1.85354004e-02, 1.41391881e+00, 2.40548696e-02,
  4.07824577e-03,-5.76529290e-02, 8.05186726e-02, 7.03823958e-01,
 -4.79847749e-02,-7.07146527e-01,-4.76769092e-02]

qacc:
[ 7.52487405e-02, 4.76565211e-01,-4.36922467e-01,-4.58053860e+00,
  1.33435203e-02, 6.49369498e-01,-4.91999064e-01,-3.79617764e+00,
 -3.02631055e-01, 1.58446466e+00,-5.04907648e+00, 5.17179010e+00,
  2.02358635e-02,-4.60792880e-02, 1.18133884e+01,-4.05858776e+01,
  6.26767371e-01, 3.75089834e-01, 7.18363010e-01,-2.59074157e-01,
  2.99638368e+01, 2.62948815e+01]

qfrc_actuator:
[ 2.45567125e-03, 2.72242709e-02, 8.62074986e-03, 1.67054931e-03,
  6.48937000e-05, 2.73230812e-02, 8.63341078e-03, 1.66077693e-03,
 -2.41194755e-03, 2.74204371e-02, 8.61198162e-03, 1.63072219e-03,
  0.00000000e+00,-1.43992739e-03, 0.00000000e+00,-9.11717536e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006181362311711291
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12255091e-13, -8.98040730e-14,  1.00000000e+00,  1.00809644e-26,
        1.00000000e+00,  8.98040730e-14, -1.00000000e+00,  0.00000000e+00,
        1.12255091e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00423116, -0.06312028,  0.06194086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37625385e-05,-2.63874837e-05,-3.29722466e-05,-1.94241940e-05,
  2.47637406e-06, 4.20210734e-05,-3.75066524e-06,-1.11682942e-05,
 -5.55278012e-05, 1.88816861e-05,-2.20058357e-05,-1.21234328e-06,
  3.27728367e-03,-3.79263987e-06,-9.82484326e-06,-1.99004859e-04,
  3.84847031e-06,-6.30361037e-06,-1.21644310e+00, 4.26769645e-06,
  7.64003914e-03, 1.78284256e-03]


--- Step 2554 ---
qpos:
[-2.48433399e-03, 8.65833470e-01,-2.37190383e-02, 3.96703054e-04,
 -2.93714028e-03, 8.61882989e-01,-2.71204862e-02, 3.10805510e-03,
 -1.19762775e-03, 8.70658076e-01,-1.92507830e-02,-2.13384651e-02,
  1.39622744e+00, 1.85347472e-02, 1.41398990e+00, 2.40508682e-02,
  4.07926901e-03,-5.76509149e-02, 8.05269651e-02, 7.03840915e-01,
 -4.80382616e-02,-7.07127650e-01,-4.76526943e-02]

qacc:
[-9.83900499e-02, 9.28009566e-01, 1.58502863e+00,-1.71070737e+01,
 -1.21389049e-01, 1.49755095e-01,-9.15250109e-01, 3.61005981e+00,
 -2.10383203e-01,-2.74451054e-01,-5.06332265e-02, 4.75656432e+00,
  1.31488632e-03, 1.36330288e-01, 4.36075544e-01,-2.14598500e+00,
  2.79105872e-01,-1.17993353e+00,-5.01137246e-02, 4.69592906e-01,
  2.56140154e+01,-6.02358575e+01]

qfrc_actuator:
[ 2.43131213e-03, 2.72734648e-02, 8.58851372e-03, 1.62424858e-03,
  4.17715467e-05, 2.73326099e-02, 8.64333676e-03, 1.67051977e-03,
 -2.42404574e-03, 2.74493218e-02, 8.64296392e-03, 1.64949202e-03,
  0.00000000e+00,-1.42510172e-03, 0.00000000e+00,-9.17627994e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006116445232105042
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.81514423e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.81514423e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00080038, -0.0358448 ,  0.06194149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.77945279e-05, 2.68483707e-05,-4.24001753e-05,-4.89474451e-05,
 -2.19412535e-05, 3.17948131e-05, 1.77656951e-05, 1.11971183e-05,
 -3.86861230e-05, 3.48819293e-05, 3.21545854e-05, 1.87984740e-05,
  3.26124508e-03, 1.99154368e-05,-2.80432679e-05,-1.85807724e-05,
  4.59960025e-07, 1.66345438e-06,-1.21644410e+00, 8.25531654e-06,
  7.64060841e-03, 1.78238947e-03]


--- Step 2555 ---
qpos:
[-2.48391439e-03, 8.65832265e-01,-2.37214563e-02, 3.96224141e-04,
 -2.93654127e-03, 8.61882675e-01,-2.71207390e-02, 3.10771041e-03,
 -1.19804101e-03, 8.70657564e-01,-1.92522290e-02,-2.13377616e-02,
  1.39622780e+00, 1.85345268e-02, 1.41406054e+00, 2.40491250e-02,
  4.08141556e-03,-5.76534887e-02, 8.05339925e-02, 7.03887515e-01,
 -4.80058710e-02,-7.07079411e-01,-4.77127769e-02]

qacc:
[-3.23707408e-01, 1.99396243e+00,-5.69395822e+00, 3.21583743e+00,
 -2.34197852e-01,-2.12702839e+00, 1.19258997e+01,-2.84399092e+01,
 -1.38718825e-01, 1.81351465e-01,-6.89085723e-01, 3.35185568e+00,
 -7.19760137e-03, 2.68378053e-01,-7.50663532e+00, 2.52952131e+01,
  2.80829569e-01,-1.14699165e+00,-3.16281914e-01, 4.29876242e-01,
  2.48844313e+01,-5.86175483e+01]

qfrc_actuator:
[ 2.38088878e-03, 2.72855612e-02, 8.55259352e-03, 1.61490598e-03,
  9.86650610e-06, 2.73384224e-02, 8.64936319e-03, 1.62276635e-03,
 -2.43100364e-03, 2.74846790e-02, 8.66199730e-03, 1.66036129e-03,
  0.00000000e+00,-1.39829946e-03, 0.00000000e+00,-7.95133648e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006055267499993633
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.16741519e-14, -1.83348304e-13,  1.00000000e+00,  1.68083002e-26,
        1.00000000e+00,  1.83348304e-13, -1.00000000e+00,  0.00000000e+00,
        9.16741519e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00079829, -0.03583818,  0.06194208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.88995368e-05, 1.63010551e-05,-3.72678504e-05,-1.06073437e-05,
 -4.23170144e-05, 2.77528485e-05, 1.51764309e-05,-4.55576201e-05,
 -2.54803776e-05, 6.23370847e-05, 3.08688981e-05, 1.38452245e-05,
  3.25481685e-03, 3.78248635e-05,-1.48131017e-05, 1.17896701e-04,
  1.16187378e-06, 1.45098518e-06,-1.21644094e+00, 1.03236133e-05,
  7.63932735e-03, 1.78206911e-03]


--- Step 2556 ---
qpos:
[-2.48410296e-03, 8.65830828e-01,-2.37238406e-02, 3.95999807e-04,
 -2.93635412e-03, 8.61882440e-01,-2.71211254e-02, 3.10683724e-03,
 -1.19843650e-03, 8.70657098e-01,-1.92535126e-02,-2.13372236e-02,
  1.39622814e+00, 1.85344776e-02, 1.41413111e+00, 2.40484942e-02,
  4.08468924e-03,-5.76605423e-02, 8.05388610e-02, 7.03963009e-01,
 -4.78895966e-02,-7.07002504e-01,-4.78552734e-02]

qacc:
[-3.18744846e-01, 1.25068327e-01,-1.96302659e+00, 6.48441181e+00,
 -2.17044653e-01,-6.10717187e-01, 4.55910071e+00,-1.35502851e+01,
  9.36027492e-03,-7.33644624e-01, 3.40176049e+00,-6.55849928e+00,
 -7.01072634e-03, 1.06138913e-01,-3.46497361e+00, 1.19836373e+01,
  2.81783964e-01,-1.11995723e+00,-5.39742627e-01, 3.95370059e-01,
  2.42844414e+01,-5.72838797e+01]

qfrc_actuator:
[ 2.35083674e-03, 2.72576117e-02, 8.55018935e-03, 1.62736235e-03,
 -9.24932378e-06, 2.73241501e-02, 8.63521771e-03, 1.59480880e-03,
 -2.41710100e-03, 2.74525942e-02, 8.65607851e-03, 1.64873074e-03,
  0.00000000e+00,-1.40014224e-03, 0.00000000e+00,-7.40047306e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005949186283486854
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.33088133e-14, -2.79926440e-13,  1.00000000e+00,  2.61196039e-26,
        1.00000000e+00,  2.79926440e-13, -1.00000000e+00,  0.00000000e+00,
        9.33088133e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00079396, -0.03582707,  0.06194308])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.81305795e-05,-2.69453697e-05,-3.96646766e-06, 1.16653449e-05,
 -3.91997237e-05, 2.43387576e-06,-8.11519581e-06,-2.71281667e-05,
  1.70761210e-06, 9.75866087e-06, 1.12509575e-05,-7.62176616e-06,
  3.25395891e-03, 1.43616578e-05, 6.26187704e-06, 5.97442091e-05,
  3.04491289e-06,-3.11310791e-06,-1.21643907e+00, 8.03968806e-06,
  7.63824884e-03, 1.78189414e-03]


--- Step 2557 ---
qpos:
[-2.48457989e-03, 8.65829442e-01,-2.37258168e-02, 3.96209135e-04,
 -2.93610808e-03, 8.61881994e-01,-2.71210306e-02, 3.10632138e-03,
 -1.19892000e-03, 8.70656446e-01,-1.92544445e-02,-2.13364661e-02,
  1.39622841e+00, 1.85343088e-02, 1.41420178e+00, 2.40478627e-02,
  4.09053292e-03,-5.76660467e-02, 8.05465505e-02, 7.04083265e-01,
 -4.78079037e-02,-7.06880896e-01,-4.79641368e-02]

qacc:
[-1.50926092e-01,-1.79951157e-01,-1.09076145e+00, 7.90486315e+00,
  3.14091317e-02,-8.86131326e-01, 1.24802437e+00, 4.32005422e+00,
 -4.56600467e-02,-7.75163531e-01, 1.48291722e+00, 1.88822298e+00,
 -4.08318345e-03,-8.66325521e-02, 1.42001298e-01,-2.96011208e-01,
  6.42498663e-01, 3.87302735e-01, 7.05277867e-01,-2.80447992e-01,
  2.99242147e+01, 2.62042039e+01]

qfrc_actuator:
[ 2.35099847e-03, 2.72948132e-02, 8.58518565e-03, 1.65252578e-03,
  1.49586895e-05, 2.73156337e-02, 8.66247038e-03, 1.61420589e-03,
 -2.42636452e-03, 2.74335021e-02, 8.67069596e-03, 1.65938923e-03,
  0.00000000e+00,-1.41908361e-03, 0.00000000e+00,-7.42915883e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005865894576413053
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.65609036e-13, -1.89267470e-13,  1.00000000e+00,  3.13444032e-26,
        1.00000000e+00,  1.89267470e-13, -1.00000000e+00,  0.00000000e+00,
        1.65609036e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00425523, -0.06312819,  0.06194387])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75556974e-05, 2.18609880e-05, 2.93774809e-05, 2.41059772e-05,
  5.60082071e-06,-9.98830851e-06, 2.58232574e-05, 1.86952755e-05,
 -8.44653222e-06,-1.16184784e-05, 1.77675133e-05, 1.13189729e-05,
  3.25438140e-03,-1.31252740e-05, 8.02230254e-06, 9.21234053e-07,
  6.01845515e-06,-1.17054692e-05,-1.21643838e+00, 1.62377041e-06,
  7.63734489e-03, 1.78185472e-03]


--- Step 2558 ---
qpos:
[-2.48481795e-03, 8.65827896e-01,-2.37264487e-02, 3.97024597e-04,
 -2.93530989e-03, 8.61881411e-01,-2.71206271e-02, 3.10638938e-03,
 -1.19950128e-03, 8.70656426e-01,-1.92549828e-02,-2.13356956e-02,
  1.39622858e+00, 1.85341707e-02, 1.41427236e+00, 2.40482164e-02,
  4.09884578e-03,-5.76700649e-02, 8.05561395e-02, 7.04246841e-01,
 -4.77591698e-02,-7.06716006e-01,-4.80409755e-02]

qacc:
[ 1.26176851e-01,-2.71775037e+00, 6.82622273e+00, 1.62840987e+00,
  2.91069348e-01, 1.58525005e-01,-3.29258754e+00, 1.30045811e+01,
 -5.10265773e-02,-2.39315757e-01, 2.00855360e+00,-2.87740379e+00,
 -8.04285786e-04,-3.40744910e-03,-3.13240676e+00, 1.07402687e+01,
  6.17295867e-01, 3.71545341e-01, 4.74856624e-01,-2.86652347e-01,
  2.89923391e+01, 2.49965946e+01]

qfrc_actuator:
[ 2.38696457e-03, 2.72999051e-02, 8.65998688e-03, 1.68503254e-03,
  6.48550186e-05, 2.73108287e-02, 8.67849538e-03, 1.64358873e-03,
 -2.43167642e-03, 2.75289346e-02, 8.71513343e-03, 1.66534953e-03,
  0.00000000e+00,-1.41255651e-03, 0.00000000e+00,-6.91126093e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005776342105687062
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.66625049e-07, -8.66625040e-07,  1.00000000e+00, -7.51038967e-13,
        1.00000000e+00,  8.66625040e-07, -1.00000000e+00,  0.00000000e+00,
       -8.66625049e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00408217, -0.06295943,  0.06194472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.28327636e-05, 2.44619589e-05, 8.37966312e-05, 3.49344713e-05,
  5.25531765e-05,-4.24478295e-06, 1.77944484e-05, 3.02139109e-05,
 -9.35978660e-06, 9.31090510e-05, 4.46293939e-05, 6.29952478e-06,
  3.25816742e-03,-5.98665089e-07, 1.75425937e-06, 5.24118930e-05,
  1.92078449e-05,-1.72416943e-05,-1.21643890e+00,-1.12744563e-06,
  7.63762595e-03, 1.78168405e-03]


--- Step 2559 ---
qpos:
[-2.48490258e-03, 8.65826560e-01,-2.37267887e-02, 3.97902983e-04,
 -2.93412844e-03, 8.61880897e-01,-2.71206674e-02, 3.10718037e-03,
 -1.19960433e-03, 8.70656875e-01,-1.92555389e-02,-2.13341209e-02,
  1.39622882e+00, 1.85344403e-02, 1.41434275e+00, 2.40505223e-02,
  4.10957020e-03,-5.76726175e-02, 8.05668075e-02, 7.04452919e-01,
 -4.77427306e-02,-7.06508606e-01,-4.80864538e-02]

qacc:
[ 8.05562812e-02,-4.08268907e-01, 1.59316860e+00,-1.12602301e+00,
  2.01585002e-01, 2.81551459e+00,-1.29626806e+01, 2.61390907e+01,
  2.49562610e-01, 2.32771348e+00,-1.07864365e+01, 2.43750191e+01,
 -1.23172024e-03, 2.59091241e-01,-6.18397772e+00, 2.12432627e+01,
  6.02887497e-01, 3.66412774e-01, 2.69741164e-01,-2.96396463e-01,
  2.84624766e+01, 2.44903525e+01]

qfrc_actuator:
[ 2.39074349e-03, 2.73036750e-02, 8.66880859e-03, 1.68609411e-03,
  7.63896180e-05, 2.73082610e-02, 8.65225853e-03, 1.67859356e-03,
 -2.38131449e-03, 2.75325656e-02, 8.70626972e-03, 1.70411502e-03,
  0.00000000e+00,-1.37309823e-03, 0.00000000e+00,-5.89774281e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000565304914508243
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.74362604e-07, -3.74362671e-07,  1.00000000e+00, -1.40147384e-13,
        1.00000000e+00,  3.74362671e-07, -1.00000000e+00, -2.52435490e-29,
       -3.74362604e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0040913 , -0.06296285,  0.06194588])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.46712534e-05, 3.62954127e-05, 2.54225664e-05, 5.69144545e-06,
  3.64802231e-05, 4.51928170e-08,-2.38746270e-05, 3.60264079e-05,
  4.58907843e-05, 6.51831246e-05, 1.60836545e-05, 4.44183831e-05,
  3.26255579e-03, 3.73389995e-05, 5.17278154e-06, 1.04164502e-04,
  3.90450363e-05,-1.80344908e-05,-1.21643980e+00,-2.16052814e-06,
  7.63787302e-03, 1.78148112e-03]


--- Step 2560 ---
qpos:
[-2.48526257e-03, 8.65826195e-01,-2.37278698e-02, 3.98416206e-04,
 -2.93307273e-03, 8.61880409e-01,-2.71209905e-02, 3.10803387e-03,
 -1.19898063e-03, 8.70656785e-01,-1.92559430e-02,-2.13323195e-02,
  1.39622920e+00, 1.85351158e-02, 1.41441313e+00, 2.40540216e-02,
  4.12245989e-03,-5.76739926e-02, 8.05783944e-02, 7.04697648e-01,
 -4.77522783e-02,-7.06262479e-01,-4.81067060e-02]

qacc:
[-1.45202052e-01, 2.59937430e+00,-5.86784746e+00, 2.28857189e-02,
 -6.64130416e-02, 9.53625454e-01,-3.61268193e+00, 5.12786626e+00,
  3.79759631e-01,-6.70974849e-01, 4.01210202e-01, 3.67459494e+00,
 -7.37046234e-03, 2.85638888e-01,-3.61580430e+00, 1.26538672e+01,
  5.41320245e-01, 2.94387466e-01, 2.29732578e-01,-2.50509017e-01,
  2.60673319e+01, 1.99190614e+01]

qfrc_actuator:
[ 2.35744737e-03, 2.73773559e-02, 8.63855717e-03, 1.66858930e-03,
  4.71025704e-05, 2.73068855e-02, 8.63679882e-03, 1.68109363e-03,
 -2.33359041e-03, 2.74277665e-02, 8.68343207e-03, 1.70850935e-03,
  0.00000000e+00,-1.34977567e-03, 0.00000000e+00,-5.31056904e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005507262211051911
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02388823e-13, -1.00796274e-13,  1.00000000e+00,  3.04796667e-26,
        1.00000000e+00,  1.00796274e-13, -1.00000000e+00,  0.00000000e+00,
        3.02388823e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00275956, -0.06168982,  0.06194726])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.62934909e-05, 9.95059291e-05,-1.94145021e-05,-1.49583431e-05,
 -1.19702232e-05,-4.72171001e-06,-1.71423194e-05, 2.37602083e-06,
  6.97043089e-05,-6.31304375e-05,-5.85992892e-06, 8.60347798e-06,
  3.25935911e-03, 4.02899941e-05, 1.28839662e-05, 6.49220313e-05,
  6.52885986e-05,-1.44387163e-05,-1.21644106e+00,-1.54859904e-06,
  7.63809678e-03, 1.78124212e-03]


--- Step 2561 ---
qpos:
[-2.48595954e-03, 8.65826210e-01,-2.37285615e-02, 3.98712841e-04,
 -2.93245146e-03, 8.61879932e-01,-2.71220208e-02, 3.10825219e-03,
 -1.19771767e-03, 8.70656101e-01,-1.92550283e-02,-2.13319332e-02,
  1.39622968e+00, 1.85359354e-02, 1.41448365e+00, 2.40575405e-02,
  4.12991483e-03,-5.76729497e-02, 8.05844244e-02, 7.04835689e-01,
 -4.77949155e-02,-7.06122989e-01,-4.80897351e-02]

qacc:
[-1.76574789e-01,-1.03023796e+00, 5.31808817e+00,-9.97026005e+00,
 -2.29284385e-01, 6.81530456e-01, 2.70834191e-01,-1.01393166e+01,
  3.34749515e-01,-7.38417146e+00, 3.11518425e+01,-5.72946398e+01,
 -1.47121979e-02, 1.23298526e-01, 1.35782077e-01,-1.87262543e-01,
 -1.35868847e+00, 6.04484183e-01,-1.38920526e+00, 1.50324889e+00,
 -7.69330178e+01, 1.96881853e+01]

qfrc_actuator:
[ 2.33777892e-03, 2.73856231e-02, 8.65678869e-03, 1.65810023e-03,
  1.14308794e-05, 2.72884863e-02, 8.59231660e-03, 1.64670951e-03,
 -2.30564150e-03, 2.74185050e-02, 8.75856304e-03, 1.63927872e-03,
  0.00000000e+00,-1.35404845e-03, 0.00000000e+00,-5.33447529e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005520183961104513
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00560328e-13,  7.54202463e-14,  1.00000000e+00, -7.58428475e-27,
        1.00000000e+00, -7.54202463e-14, -1.00000000e+00,  0.00000000e+00,
        1.00560328e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05023766, -0.06974556,  0.06194716])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.21919087e-05, 5.92725986e-05, 3.58841995e-05,-7.18779884e-06,
 -4.13543031e-05,-2.44665567e-05,-4.74819757e-05,-3.51333594e-05,
  6.13153417e-05,-4.53921826e-05, 6.16698231e-05,-7.19714449e-05,
  3.25184881e-03, 1.57268441e-05, 1.16160899e-05, 2.50669575e-06,
  9.47038281e-05,-8.66994094e-06,-1.21644250e+00,-5.73762046e-08,
  7.63822931e-03, 1.78099935e-03]


--- Step 2562 ---
qpos:
[-2.48693560e-03, 8.65826452e-01,-2.37286331e-02, 3.98539768e-04,
 -2.93244771e-03, 8.61879571e-01,-2.71233755e-02, 3.10767167e-03,
 -1.19579832e-03, 8.70656022e-01,-1.92543055e-02,-2.13320847e-02,
  1.39622998e+00, 1.85366854e-02, 1.41455409e+00, 2.40620249e-02,
  4.13212504e-03,-5.76696330e-02, 8.05836471e-02, 7.04871153e-01,
 -4.78696727e-02,-7.06086117e-01,-4.80369404e-02]

qacc:
[-1.46039594e-01,-2.39759402e+00, 1.09690226e+01,-2.02594813e+01,
 -3.25513287e-01,-5.84444269e-01, 5.67940020e+00,-1.90726591e+01,
  3.42372588e-01, 2.25948804e-01, 2.61783168e+00,-1.20526319e+01,
 -1.52409195e-02,-6.93286323e-02,-3.03181970e+00, 1.04472434e+01,
 -1.31118305e+00, 5.68437818e-01,-1.70184494e+00, 1.34445737e+00,
 -7.40085040e+01, 1.90464891e+01]

qfrc_actuator:
[ 2.32645883e-03, 2.73903492e-02, 8.68552329e-03, 1.63406545e-03,
 -2.77126146e-05, 2.73131365e-02, 8.58421639e-03, 1.60862017e-03,
 -2.27200826e-03, 2.75023408e-02, 8.76697922e-03, 1.61618758e-03,
  0.00000000e+00,-1.37477917e-03, 0.00000000e+00,-4.83043264e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.13234577, -5.63570987,  2.41752744, -5.63570987, 13.31804976,
       16.75122366,  2.41752744, 16.75122366, 45.18258976,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005640231110733765
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  9.8419994e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -9.8419994e-14, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05021466, -0.06974004,  0.06194605])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.66628403e-05, 4.49756569e-05, 4.51542428e-05,-2.03925218e-05,
 -5.87760920e-05,-3.28074148e-07,-2.02073579e-05,-4.14621764e-05,
  6.29849926e-05, 6.81269196e-05, 4.14562247e-06,-2.43034218e-05,
  3.24714271e-03,-1.22175849e-05, 3.71599470e-06, 5.15806158e-05,
  3.21178881e-05, 4.52165761e-06,-1.21644135e+00, 1.16875408e-06,
  7.63840834e-03, 1.78165354e-03]


--- Step 2563 ---
qpos:
[-2.48792433e-03, 8.65827306e-01,-2.37281985e-02, 3.97692874e-04,
 -2.93316644e-03, 8.61879139e-01,-2.71248555e-02, 3.10768492e-03,
 -1.19355141e-03, 8.70656296e-01,-1.92540390e-02,-2.13317714e-02,
  1.39623011e+00, 1.85370528e-02, 1.41462470e+00, 2.40657392e-02,
  4.12925184e-03,-5.76641605e-02, 8.05750012e-02, 7.04807439e-01,
 -4.79757280e-02,-7.06148461e-01,-4.79494920e-02]

qacc:
[-6.57403253e-03,-1.99182794e+00, 1.11199485e+01,-2.40421322e+01,
 -3.80512923e-01, 1.47760752e+00,-7.91194157e+00, 1.84424168e+01,
  1.70646768e-01, 2.70009526e+00,-1.09070613e+01, 1.94148671e+01,
 -3.36902849e-03,-2.67310521e-01, 2.57615570e+00,-8.66464340e+00,
 -1.27085360e+00, 5.38975294e-01,-1.96715212e+00, 1.21292837e+00,
 -7.15628932e+01, 1.85059846e+01]

qfrc_actuator:
[ 2.33797728e-03, 2.74462092e-02, 8.72017320e-03, 1.60224301e-03,
 -6.85823274e-05, 2.73102485e-02, 8.58009271e-03, 1.63973599e-03,
 -2.27074252e-03, 2.74990537e-02, 8.73634964e-03, 1.63822144e-03,
  0.00000000e+00,-1.40522840e-03, 0.00000000e+00,-5.26184344e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.1658311 , -5.66905901,  2.42471506, -5.66905901, 14.76905256,
       20.11459854,  2.42471506, 20.11459854, 53.19438624,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005680445628913622
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.95446466e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.95446466e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05020665, -0.06973893,  0.06194567])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.19035444e-06, 8.94556435e-05, 4.87960440e-05,-2.87294443e-05,
 -6.87696645e-05,-9.00789087e-06,-8.10104570e-06, 2.95996491e-05,
  3.14316669e-05, 3.46317176e-05,-1.68947152e-05, 2.46191646e-05,
  3.25564271e-03,-3.91819945e-05, 5.69881255e-06,-4.01975480e-05,
  3.20396968e-06, 4.48531191e-06,-1.21644133e+00, 1.16752164e-06,
  7.63861419e-03, 1.78220127e-03]


--- Step 2564 ---
qpos:
[-2.48865680e-03, 8.65828701e-01,-2.37276156e-02, 3.96850210e-04,
 -2.93429167e-03, 8.61878646e-01,-2.71263830e-02, 3.10806396e-03,
 -1.19170615e-03, 8.70656400e-01,-1.92544732e-02,-2.13307654e-02,
  1.39623033e+00, 1.85373525e-02, 1.41469541e+00, 2.40682467e-02,
  4.12143329e-03,-5.76566288e-02, 8.05575866e-02, 7.04647337e-01,
 -4.81123897e-02,-7.06307140e-01,-4.78283651e-02]

qacc:
[ 1.34262871e-01, 3.07571528e-01,-7.89854166e-02,-4.81981384e-01,
 -2.14075136e-01, 8.03589085e-01,-4.52807311e+00, 1.09808256e+01,
 -2.10063797e-01, 3.15971288e+00,-1.45097427e+01, 2.77302402e+01,
 -8.04531205e-05,-1.86838086e-02, 3.80261305e+00,-1.30860076e+01,
 -1.23633495e+00, 5.14775567e-01,-2.19215146e+00, 1.10260655e+00,
 -6.95228051e+01, 1.80529624e+01]

qfrc_actuator:
[ 2.36304408e-03, 2.74612638e-02, 8.72273307e-03, 1.60164522e-03,
 -7.46305501e-05, 2.73087312e-02, 8.57828571e-03, 1.65804391e-03,
 -2.32433627e-03, 2.74435014e-02, 8.68263383e-03, 1.66879014e-03,
  0.00000000e+00,-1.38791009e-03, 0.00000000e+00,-5.88597851e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005656313496808785
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.226752e-14,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
       -1.226752e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05021059, -0.06974132,  0.06194587])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.45080259e-05, 7.39033478e-05, 2.60445842e-05, 4.36331900e-06,
 -3.86943550e-05,-6.94580472e-06,-3.62494256e-06, 1.82217478e-05,
 -3.85395024e-05,-3.86227285e-05,-4.77964382e-05, 3.19445880e-05,
  3.26414553e-03,-2.72823161e-06,-4.18547123e-06,-6.44579136e-05,
  4.40082994e-06,-7.47669990e-06,-1.21644239e+00, 1.25235560e-07,
  7.63885935e-03, 1.78267395e-03]


--- Step 2565 ---
qpos:
[-2.48929394e-03, 8.65830396e-01,-2.37271654e-02, 3.96403251e-04,
 -2.93508131e-03, 8.61878521e-01,-2.71278250e-02, 3.10824884e-03,
 -1.19039367e-03, 8.70656705e-01,-1.92559289e-02,-2.13304613e-02,
  1.39623056e+00, 1.85375680e-02, 1.41476610e+00, 2.40699827e-02,
  4.10815924e-03,-5.76514618e-02, 8.05295437e-02, 7.04389564e-01,
 -4.81913961e-02,-7.06562924e-01,-4.77678349e-02]

qacc:
[ 4.98095753e-02, 1.58269413e+00,-6.73664173e+00, 1.35770398e+01,
  1.76653481e-01,-1.50300066e-01, 2.06395604e+00,-5.83276957e+00,
 -2.78924359e-01, 1.67272184e+00,-2.62227640e+00,-8.02688422e+00,
 -4.50864256e-03,-4.22523175e-02, 2.29847178e+00,-8.09562487e+00,
 -1.36387619e+00,-5.91164479e-01,-2.65708349e+00,-1.11397841e+00,
 -6.58683260e+01,-4.63825016e+01]

qfrc_actuator:
[ 2.36047075e-03, 2.74516621e-02, 8.70619412e-03, 1.61937371e-03,
 -2.43075930e-05, 2.73613132e-02, 8.59559365e-03, 1.65090495e-03,
 -2.35698964e-03, 2.74634885e-02, 8.63324589e-03, 1.63305554e-03,
  0.00000000e+00,-1.39535096e-03, 0.00000000e+00,-6.26324941e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005603961496984874
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.90569819e-14,  1.98113964e-13,  1.00000000e+00, -1.96245713e-26,
        1.00000000e+00, -1.98113964e-13, -1.00000000e+00,  0.00000000e+00,
        9.90569819e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0536523 , -0.04379873,  0.06194632])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.11828951e-06, 3.72577329e-05, 2.07012812e-06, 2.18786507e-05,
  3.19538326e-05, 4.87486748e-05, 1.60734736e-05,-7.20419627e-06,
 -5.11104151e-05,-1.01146725e-05,-6.21438148e-05,-3.84202666e-05,
  3.25969474e-03,-6.77197838e-06,-1.05344918e-05,-4.21997232e-05,
  3.29956314e-05,-3.03740418e-05,-1.21644442e+00,-1.81915743e-06,
  7.63915112e-03, 1.78309478e-03]


--- Step 2566 ---
qpos:
[-2.48989979e-03, 8.65832347e-01,-2.37259996e-02, 3.95428792e-04,
 -2.93539315e-03, 8.61878520e-01,-2.71289877e-02, 3.10870971e-03,
 -1.18954279e-03, 8.70657496e-01,-1.92574097e-02,-2.13300039e-02,
  1.39623083e+00, 1.85376837e-02, 1.41483680e+00, 2.40705673e-02,
  4.09632464e-03,-5.76518798e-02, 8.05077255e-02, 7.04167133e-01,
 -4.81677933e-02,-7.06783484e-01,-4.78081447e-02]

qacc:
[ 1.67397130e-02,-2.74655970e+00, 1.25100231e+01,-2.29735724e+01,
  2.51780363e-01,-4.96053258e-02,-7.52449971e-01, 4.99198147e+00,
 -2.41201089e-01, 1.02797087e+00,-3.37896756e+00, 5.71192219e+00,
 -6.45199437e-03,-4.22590485e-02, 3.51597171e+00,-1.22565528e+01,
  3.59863786e-01,-1.39623455e+00, 1.55615044e+00, 5.23801276e-01,
  2.97720362e+01,-7.00724111e+01]

qfrc_actuator:
[ 2.35912441e-03, 2.74805474e-02, 8.74942821e-03, 1.59444690e-03,
  6.00068102e-06, 2.73571852e-02, 8.60650391e-03, 1.66441674e-03,
 -2.37678698e-03, 2.75462492e-02, 8.65806614e-03, 1.64741946e-03,
  0.00000000e+00,-1.39985125e-03, 0.00000000e+00,-6.84697945e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005961022371385391
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.31235412e-14,  1.86247082e-13,  1.00000000e+00,  1.73439878e-26,
        1.00000000e+00, -1.86247082e-13, -1.00000000e+00,  0.00000000e+00,
       -9.31235412e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00080195, -0.03582713,  0.06194293])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.00198223e-06, 5.10432591e-05, 5.19254189e-05,-2.28358914e-05,
  4.54825357e-05, 2.61600542e-05, 2.27208867e-05, 1.60178205e-05,
 -4.42690879e-05, 6.26262454e-05, 1.37566593e-05, 1.10343667e-05,
  3.25890631e-03,-7.05662561e-06,-1.06666114e-05,-6.23429303e-05,
  9.75918350e-05,-3.35589270e-05,-1.21644575e+00, 3.03170658e-06,
  7.63889778e-03, 1.78382200e-03]


--- Step 2567 ---
qpos:
[-2.49031109e-03, 8.65834520e-01,-2.37245804e-02, 3.94544566e-04,
 -2.93547507e-03, 8.61877514e-01,-2.71288932e-02, 3.10940714e-03,
 -1.18940747e-03, 8.70658577e-01,-1.92586023e-02,-2.13286860e-02,
  1.39623122e+00, 1.85381101e-02, 1.41490727e+00, 2.40717723e-02,
  4.08587846e-03,-5.76575967e-02, 8.04900404e-02, 7.03978330e-01,
 -4.80463515e-02,-7.06970558e-01,-4.79446462e-02]

qacc:
[ 1.02086048e-01,-2.28386117e-01, 8.59948604e-01, 1.32544369e-01,
  1.22263500e-01,-4.34889742e+00, 1.25845440e+01,-9.76799461e+00,
 -3.73504484e-01, 1.35235938e+00,-7.88908693e+00, 2.20934007e+01,
 -1.39849387e-02, 2.26435433e-01,-2.21606360e+00, 7.26937983e+00,
  3.47102966e-01,-1.32476020e+00, 1.03330366e+00, 4.63622773e-01,
  2.83291663e+01,-6.68326488e+01]

qfrc_actuator:
[ 2.37629281e-03, 2.74791927e-02, 8.75672041e-03, 1.59794973e-03,
  6.27107762e-06, 2.72481193e-02, 8.64885283e-03, 1.67217388e-03,
 -2.42423404e-03, 2.75597925e-02, 8.67356565e-03, 1.69126819e-03,
  0.00000000e+00,-1.36703249e-03, 0.00000000e+00,-6.48254234e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00061911278493023
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0008133 , -0.03585048,  0.06194075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.86010343e-05, 3.68813812e-05, 2.34186061e-05, 7.03880329e-06,
  2.18634060e-05,-8.90450768e-05, 5.11134340e-05, 9.97637709e-06,
 -6.86351560e-05, 5.18643772e-05, 3.05153156e-05, 4.72218297e-05,
  3.25662007e-03, 3.07704302e-05,-1.30041305e-05, 3.13290996e-05,
  7.99501242e-05, 6.15044514e-06,-1.21644291e+00, 1.26566774e-05,
  7.63813309e-03, 1.78335219e-03]


--- Step 2568 ---
qpos:
[-2.49052134e-03, 8.65836962e-01,-2.37241954e-02, 3.94139003e-04,
 -2.93563382e-03, 8.61875902e-01,-2.71282580e-02, 3.10915595e-03,
 -1.18972248e-03, 8.70659665e-01,-1.92588167e-02,-2.13279004e-02,
  1.39623174e+00, 1.85386753e-02, 1.41497777e+00, 2.40723742e-02,
  4.07831857e-03,-5.76615756e-02, 8.04814003e-02, 7.03840883e-01,
 -4.79645897e-02,-7.07106307e-01,-4.80424757e-02]

qacc:
[ 1.04690491e-01, 4.22727916e+00,-1.65804228e+01, 2.63251545e+01,
 -3.99665036e-02,-4.26118390e+00, 1.80378487e+01,-3.48793294e+01,
 -2.34551233e-01,-3.82065147e+00, 1.58765514e+01,-2.66477987e+01,
 -2.12810919e-02, 1.37433597e-01, 1.88718790e+00,-6.50707429e+00,
  7.21572007e-01, 4.34531003e-01, 2.26123935e+00,-2.93603628e-01,
  3.43388849e+01, 3.01024874e+01]

qfrc_actuator:
[ 2.38664164e-03, 2.74596246e-02, 8.68936545e-03, 1.61810361e-03,
 -1.14245130e-05, 2.72191903e-02, 8.67347005e-03, 1.62314936e-03,
 -2.43457444e-03, 2.75495586e-02, 8.71867472e-03, 1.66327608e-03,
  0.00000000e+00,-1.36545080e-03, 0.00000000e+00,-6.80500139e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006342625496698617
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.5316136e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.5316136e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00422263, -0.06310974,  0.0619393 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.92171061e-05, 6.13525970e-06,-5.66357557e-05, 2.26769886e-05,
 -7.32895267e-06,-6.77123070e-05, 1.28760670e-05,-5.08756892e-05,
 -4.31960326e-05, 2.70647878e-05, 6.12130812e-05,-2.37970119e-05,
  3.25094075e-03, 1.68254021e-05,-2.91022740e-06,-3.22793597e-05,
  6.47580022e-05, 3.83193177e-05,-1.21644178e+00, 1.65177465e-05,
  7.63762423e-03, 1.78307765e-03]


--- Step 2569 ---
qpos:
[-2.49057110e-03, 8.65839108e-01,-2.37232763e-02, 3.93942682e-04,
 -2.93575320e-03, 8.61874787e-01,-2.71283549e-02, 3.10791990e-03,
 -1.19031348e-03, 8.70660150e-01,-1.92575929e-02,-2.13270639e-02,
  1.39623195e+00, 1.85386650e-02, 1.41504835e+00, 2.40719140e-02,
  4.07351371e-03,-5.76638744e-02, 8.04797904e-02, 7.03752645e-01,
 -4.79207955e-02,-7.07192957e-01,-4.81033615e-02]

qacc:
[ 8.45899360e-02,-1.45099491e+00, 3.72482365e+00,-7.42309464e-01,
  2.00388455e-02, 6.75501675e-01, 2.70350445e+00,-1.89427495e+01,
 -1.42990705e-01,-4.70883491e+00, 1.54199883e+01,-1.63979456e+01,
 -1.79673301e-02,-3.99937215e-01, 3.31654753e+00,-1.14662532e+01,
  6.88760789e-01, 4.20014165e-01, 1.75754226e+00,-2.99338149e-01,
  3.28791848e+01, 2.87844070e+01]

qfrc_actuator:
[ 2.39281440e-03, 2.74467460e-02, 8.72042952e-03, 1.63007097e-03,
 -4.17962718e-06, 2.72916050e-02, 8.65215662e-03, 1.57665165e-03,
 -2.44038247e-03, 2.74897216e-02, 8.78074433e-03, 1.66423852e-03,
  0.00000000e+00,-1.43582177e-03, 0.00000000e+00,-7.35231849e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006477140658631558
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.57031739e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.57031739e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00421323, -0.06310538,  0.06193804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.53319503e-05,-2.02311135e-05, 2.61167697e-05, 1.07074911e-05,
  3.75811329e-06, 3.50645351e-05,-3.54639464e-05,-4.99410188e-05,
 -2.64851943e-05,-3.31112314e-05, 7.43683368e-05, 3.77409036e-06,
  3.24406913e-03,-6.04873135e-05,-6.15905277e-06,-5.71965451e-05,
  3.40463162e-05, 1.92449636e-05,-1.21644064e+00, 1.00948462e-05,
  7.63801668e-03, 1.78296219e-03]


--- Step 2570 ---
qpos:
[-2.49069206e-03, 8.65840391e-01,-2.37211950e-02, 3.94956382e-04,
 -2.93543495e-03, 8.61874207e-01,-2.71293998e-02, 3.10614588e-03,
 -1.19143876e-03, 8.70660115e-01,-1.92566364e-02,-2.13261129e-02,
  1.39623192e+00, 1.85383168e-02, 1.41511880e+00, 2.40714641e-02,
  4.07135519e-03,-5.76645422e-02, 8.04835129e-02, 7.03711819e-01,
 -4.79135443e-02,-7.07232347e-01,-4.81287338e-02]

qacc:
[-3.62286119e-02,-1.89361656e+00,-7.37693622e-03, 1.97207311e+01,
  2.29664382e-01, 2.24351468e+00,-4.70743047e+00,-3.47616590e+00,
 -2.78955099e-01, 2.94812743e-01,-2.53100109e+00, 5.31812068e+00,
 -2.59641553e-03,-2.60367123e-01,-2.19166556e-01, 4.86662059e-01,
  6.61583160e-01, 4.07762038e-01, 1.33310034e+00,-3.01777360e-01,
  3.16640048e+01, 2.76904940e+01]

qfrc_actuator:
[ 2.37868905e-03, 2.73850798e-02, 8.77388509e-03, 1.69046226e-03,
  3.56966973e-05, 2.73174479e-02, 8.60434136e-03, 1.54983837e-03,
 -2.47897057e-03, 2.74184812e-02, 8.74562306e-03, 1.66445084e-03,
  0.00000000e+00,-1.44218963e-03, 0.00000000e+00,-7.31744178e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006523116135217222
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.50991307e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.50991307e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00421018, -0.06310372,  0.06193761])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.82261792e-06,-6.71823459e-05, 5.28415076e-05, 6.06324248e-05,
  4.16658084e-05, 3.60163309e-05,-4.66602006e-05,-2.75071097e-05,
 -5.12722586e-05,-7.42620276e-05,-3.26823735e-05, 1.43834796e-06,
  3.25906684e-03,-3.80623115e-05,-1.12299599e-05,-9.34671113e-07,
  1.38454621e-05, 7.06635065e-06,-1.21644006e+00, 6.07125348e-06,
  7.63837953e-03, 1.78281261e-03]


--- Step 2571 ---
qpos:
[-2.49074914e-03, 8.65841529e-01,-2.37189865e-02, 3.97010601e-04,
 -2.93484810e-03, 8.61873724e-01,-2.71306364e-02, 3.10441327e-03,
 -1.19268307e-03, 8.70659667e-01,-1.92564116e-02,-2.13248014e-02,
  1.39623198e+00, 1.85380562e-02, 1.41518921e+00, 2.40707031e-02,
  4.07175359e-03,-5.76636198e-02, 8.04911415e-02, 7.03716902e-01,
 -4.79416544e-02,-7.07225994e-01,-4.81197709e-02]

qacc:
[ 3.36745482e-02, 1.59412620e+00,-1.03551554e+01, 2.82670674e+01,
  1.41303257e-01, 7.49629157e-01,-2.66054419e+00, 3.61323347e+00,
 -6.24441010e-02, 2.24146025e+00,-1.03020535e+01, 1.80097465e+01,
  3.42724656e-03, 7.17820031e-02, 8.83232285e-01,-3.17306666e+00,
  6.39228319e-01, 3.97540739e-01, 9.76551579e-01,-3.01552278e-01,
  3.06561753e+01, 2.67860733e+01]

qfrc_actuator:
[ 2.38805756e-03, 2.74013420e-02, 8.78667597e-03, 1.74331817e-03,
  4.14799749e-05, 2.73151129e-02, 8.59439155e-03, 1.55253543e-03,
 -2.46584747e-03, 2.73938162e-02, 8.70657553e-03, 1.68188186e-03,
  0.00000000e+00,-1.41016304e-03, 0.00000000e+00,-7.47230518e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006498239022934352
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.54249144e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.54249144e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00421217, -0.06310422,  0.06193785])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.10124533e-06,-7.84305502e-06, 7.49652102e-06, 5.29806183e-05,
  2.55672140e-05, 7.01966925e-06,-9.19758516e-06, 2.09405458e-06,
 -1.14339460e-05,-7.28950583e-05,-5.83689736e-05, 1.31465618e-05,
  3.27136647e-03, 1.08810545e-05,-6.63435994e-06,-1.72772633e-05,
  2.89973312e-06, 9.48791422e-07,-1.21643996e+00, 4.21072857e-06,
  7.63871780e-03, 1.78262826e-03]


--- Step 2572 ---
qpos:
[-2.49053159e-03, 8.65843244e-01,-2.37172177e-02, 3.99282543e-04,
 -2.93428784e-03, 8.61872836e-01,-2.71315440e-02, 3.10379129e-03,
 -1.19334130e-03, 8.70658979e-01,-1.92562257e-02,-2.13233620e-02,
  1.39623199e+00, 1.85379127e-02, 1.41525942e+00, 2.40710912e-02,
  4.07463587e-03,-5.76611409e-02, 8.05014819e-02, 7.03766644e-01,
 -4.80041498e-02,-7.07175136e-01,-4.80774383e-02]

qacc:
[ 1.43518579e-01, 2.43672724e+00,-8.50362397e+00, 1.25535697e+01,
 -1.35887245e-02, 8.30697213e-01,-8.42840974e+00, 2.74227440e+01,
  3.06081987e-01, 5.53251639e-02,-1.19628477e+00, 3.64630546e+00,
  1.31345574e-04, 5.52914553e-02,-3.79244738e+00, 1.28129162e+01,
  6.20973292e-01, 3.89114542e-01, 6.77922531e-01,-2.99099452e-01,
  2.98239659e+01, 2.60417759e+01]

qfrc_actuator:
[ 2.41141581e-03, 2.74639893e-02, 8.77563817e-03, 1.75583309e-03,
  2.68014131e-05, 2.72783408e-02, 8.60678398e-03, 1.60807975e-03,
 -2.40414658e-03, 2.74149495e-02, 8.71900129e-03, 1.69159948e-03,
  0.00000000e+00,-1.40864808e-03, 0.00000000e+00,-6.85020720e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006417346507333332
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.65017202e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.65017202e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00421814, -0.06310643,  0.06193863])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.62615444e-05, 6.20328443e-05,-9.92978272e-06, 1.34614442e-05,
 -2.54103762e-06,-3.46295196e-05, 1.27973504e-05, 5.55723306e-05,
  5.62174046e-05,-3.11165967e-05,-9.36464029e-06, 4.83136540e-06,
  3.26661398e-03, 8.03513878e-06,-6.00209618e-06, 6.01556497e-05,
  2.53483168e-07, 2.59352382e-07,-1.21644029e+00, 4.33235213e-06,
  7.63903472e-03, 1.78240881e-03]


--- Step 2573 ---
qpos:
[-2.49041032e-03, 8.65844512e-01,-2.37160035e-02, 4.01827068e-04,
 -2.93364847e-03, 8.61871775e-01,-2.71323059e-02, 3.10313198e-03,
 -1.19333411e-03, 8.70658755e-01,-1.92567379e-02,-2.13232449e-02,
  1.39623207e+00, 1.85377726e-02, 1.41532973e+00, 2.40708650e-02,
  4.07994289e-03,-5.76571330e-02, 8.05135365e-02, 7.03860002e-01,
 -4.81002279e-02,-7.07080776e-01,-4.80025216e-02]

qacc:
[-5.06542272e-02, 1.52090703e+00,-7.42878188e+00, 1.33622993e+01,
  4.18171745e-02,-7.12124082e-01, 2.36528323e+00,-3.11805407e+00,
  3.46781911e-01,-1.61489730e-01, 7.03668150e+00,-2.91257469e+01,
  1.80171673e-03, 1.96327994e-02, 2.02208513e+00,-6.83730532e+00,
  6.06182688e-01, 3.82257474e-01, 4.28553441e-01,-2.94714499e-01,
  2.91404315e+01, 2.54328306e+01]

qfrc_actuator:
[ 2.38967370e-03, 2.73585251e-02, 8.71531387e-03, 1.76230263e-03,
  3.55387591e-05, 2.72746289e-02, 8.61438509e-03, 1.60548349e-03,
 -2.36721441e-03, 2.74635539e-02, 8.69090058e-03, 1.62576702e-03,
  0.00000000e+00,-1.40775195e-03, 0.00000000e+00,-7.19550052e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006292844643291245
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.82131284e-14, -2.64639385e-13,  1.00000000e+00,  2.33446680e-26,
        1.00000000e+00,  2.64639385e-13, -1.00000000e+00,  0.00000000e+00,
        8.82131284e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0042272 , -0.06310996,  0.06193981])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.21725447e-06,-7.23060014e-05,-4.83012612e-05, 9.03607663e-06,
  7.52587794e-06,-1.80231866e-05, 3.96471189e-06,-2.55129918e-06,
  6.38442482e-05, 2.94955513e-05,-3.55127664e-05,-6.73969115e-05,
  3.26934701e-03, 3.09474538e-06, 2.98568858e-06,-3.21654992e-05,
  5.18372788e-06, 4.52099438e-06,-1.21644100e+00, 6.29830675e-06,
  7.63933205e-03, 1.78215409e-03]


--- Step 2574 ---
qpos:
[-2.49084284e-03, 8.65845115e-01,-2.37150671e-02, 4.04095400e-04,
 -2.93310632e-03, 8.61871097e-01,-2.71332028e-02, 3.10204903e-03,
 -1.19333652e-03, 8.70658247e-01,-1.92570587e-02,-2.13238829e-02,
  1.39623238e+00, 1.85375786e-02, 1.41540028e+00, 2.40682211e-02,
  4.08762712e-03,-5.76516181e-02, 8.05264750e-02, 7.03996113e-01,
 -4.82292328e-02,-7.06943718e-01,-4.78956541e-02]

qacc:
[-2.90301888e-01,-6.72222687e-01, 2.28593789e+00,-6.13251969e+00,
 -5.14476342e-02, 1.11015215e-02, 2.48317727e+00,-9.88066795e+00,
 -4.82614380e-03,-2.46585878e+00, 1.14274191e+01,-2.45801789e+01,
 -5.60127753e-03, 3.01520157e-02, 7.69585901e+00,-2.63739334e+01,
  5.94303815e-01, 3.76759606e-01, 2.20981035e-01,-2.88591076e-01,
  2.85827638e+01, 2.49383949e+01]

qfrc_actuator:
[ 2.34113242e-03, 2.73127591e-02, 8.69671900e-03, 1.74725036e-03,
  2.27253185e-05, 2.73261881e-02, 8.61916308e-03, 1.58645924e-03,
 -2.39871513e-03, 2.74215169e-02, 8.69241638e-03, 1.58701412e-03,
  0.00000000e+00,-1.40716029e-03, 0.00000000e+00,-8.46324421e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006135071331289377
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.78612541e-14,  9.04816721e-14,  1.00000000e+00, -6.14019974e-27,
        1.00000000e+00, -9.04816721e-14, -1.00000000e+00,  0.00000000e+00,
        6.78612541e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00423862, -0.0631145 ,  0.0619413 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.29485322e-05,-9.58316883e-05,-3.91897007e-05,-1.96529638e-05,
 -9.24319713e-06, 4.22239540e-05, 1.47129817e-06,-1.97050886e-05,
 -9.27856285e-07,-3.57462533e-05, 9.04910243e-07,-4.00316059e-05,
  3.26532620e-03, 3.53444260e-06,-3.84486863e-06,-1.28562460e-04,
  1.71481956e-05, 1.33774213e-05,-1.21644209e+00, 1.00044484e-05,
  7.63961030e-03, 1.78186410e-03]


--- Step 2575 ---
qpos:
[-2.49183919e-03, 8.65846060e-01,-2.37148073e-02, 4.05372191e-04,
 -2.93269267e-03, 8.61870555e-01,-2.71343280e-02, 3.10216571e-03,
 -1.19354057e-03, 8.70657749e-01,-1.92572397e-02,-2.13243241e-02,
  1.39623304e+00, 1.85377263e-02, 1.41547081e+00, 2.40640771e-02,
  4.09643143e-03,-5.76506092e-02, 8.05378464e-02, 7.04161580e-01,
 -4.82729242e-02,-7.06777483e-01,-4.78725714e-02]

qacc:
[-2.96203876e-01, 3.00974228e-01, 3.76791652e+00,-2.00964586e+01,
 -6.78042939e-02, 3.28527284e+00,-1.65181850e+01, 3.75485744e+01,
 -1.05193461e-01, 2.82199801e-02,-9.09256790e-01, 4.07875468e+00,
 -2.55078509e-02, 3.17108560e-01, 4.51326876e+00,-1.58181098e+01,
  2.80017675e-01,-1.12652017e+00,-3.91787412e-01, 4.23759967e-01,
  2.47103400e+01,-5.82413823e+01]

qfrc_actuator:
[ 2.31251294e-03, 2.73919739e-02, 8.68535418e-03, 1.70197212e-03,
  1.48787258e-05, 2.73216598e-02, 8.60471696e-03, 1.64674256e-03,
 -2.41760883e-03, 2.74499268e-02, 8.71109211e-03, 1.59997587e-03,
  0.00000000e+00,-1.37119001e-03, 0.00000000e+00,-9.19880850e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006019214701566064
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.22232450e-14, -1.84446490e-13,  1.00000000e+00,  1.70102538e-26,
        1.00000000e+00,  1.84446490e-13, -1.00000000e+00,  0.00000000e+00,
        9.22232450e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00080965, -0.03583132,  0.0619424 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.38804466e-05, 1.66610092e-05,-3.66800464e-05,-5.11272382e-05,
 -1.22287903e-05, 1.85659008e-05,-6.21229290e-06, 6.17636644e-05,
 -1.93430696e-05, 6.90986972e-06, 1.00270222e-05, 1.06854645e-05,
  3.25381541e-03, 4.22244351e-05,-1.75630077e-05,-8.15577604e-05,
  3.57452950e-05, 2.65661280e-05,-1.21644355e+00, 1.53730273e-05,
  7.63986894e-03, 1.78153886e-03]


--- Step 2576 ---
qpos:
[-2.49290489e-03, 8.65847321e-01,-2.37148107e-02, 4.06069287e-04,
 -2.93201728e-03, 8.61869688e-01,-2.71351091e-02, 3.10302393e-03,
 -1.19358730e-03, 8.70657921e-01,-1.92578184e-02,-2.13243103e-02,
  1.39623363e+00, 1.85378267e-02, 1.41554116e+00, 2.40597302e-02,
  4.10636062e-03,-5.76540145e-02, 8.05468084e-02, 7.04355730e-01,
 -4.82332165e-02,-7.06582718e-01,-4.79314616e-02]

qacc:
[-3.66693626e-02,-4.03492618e-02, 3.19709409e+00,-1.30408240e+01,
  1.38225248e-01, 1.35080164e-01,-4.23601912e+00, 1.67589461e+01,
  8.16836489e-02, 2.93352098e+00,-1.10927904e+01, 1.91068791e+01,
 -3.85520129e-02,-8.60016624e-03, 3.60936085e-01,-1.62806163e+00,
  2.81222266e-01,-1.10353707e+00,-6.02330503e-01, 4.04357266e-01,
  2.41564550e+01,-5.69581967e+01]

qfrc_actuator:
[ 2.33158335e-03, 2.74211667e-02, 8.67883738e-03, 1.67488939e-03,
  4.55876805e-05, 2.72835723e-02, 8.61438904e-03, 1.68214612e-03,
 -2.39323719e-03, 2.75204236e-02, 8.70453337e-03, 1.62556405e-03,
  0.00000000e+00,-1.40312988e-03, 0.00000000e+00,-9.25951764e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000590254422069017
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00080475, -0.03581927,  0.06194351])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.62089694e-06, 2.87127389e-05,-9.37432534e-06,-2.86365872e-05,
  2.49055052e-05,-2.63227841e-05, 1.48919557e-05, 3.71886604e-05,
  1.51095244e-05, 7.68999021e-05,-3.52066655e-06, 2.64410560e-05,
  3.23593812e-03,-6.79049207e-06,-1.74234371e-05,-1.29405135e-05,
  4.55302962e-05, 5.86815380e-06,-1.21644174e+00, 1.19076017e-05,
  7.63891222e-03, 1.78146721e-03]


--- Step 2577 ---
qpos:
[-2.49387903e-03, 8.65848717e-01,-2.37148398e-02, 4.06097465e-04,
 -2.93084206e-03, 8.61868622e-01,-2.71359821e-02, 3.10327856e-03,
 -1.19359202e-03, 8.70658424e-01,-1.92585903e-02,-2.13249970e-02,
  1.39623378e+00, 1.85376281e-02, 1.41561121e+00, 2.40569923e-02,
  4.11741706e-03,-5.76617587e-02, 8.05526562e-02, 7.04577984e-01,
 -4.81116785e-02,-7.06359911e-01,-4.80708440e-02]

qacc:
[ 4.79055771e-02,-1.12836141e+00, 7.10349540e+00,-1.87379761e+01,
  2.63223475e-01,-1.24775728e+00, 6.61618948e+00,-1.67704407e+01,
  2.16648726e-02,-4.65397524e-01, 5.24623558e+00,-1.72934666e+01,
 -2.72537331e-02,-2.58612542e-01,-5.32885389e+00, 1.79711488e+01,
  2.81812562e-01,-1.08473240e+00,-7.78564734e-01, 3.87363658e-01,
  2.37063249e+01,-5.59076952e+01]

qfrc_actuator:
[ 2.34349349e-03, 2.74202354e-02, 8.67508657e-03, 1.64095609e-03,
  8.13384851e-05, 2.72612621e-02, 8.60254562e-03, 1.64934214e-03,
 -2.39644254e-03, 2.75089931e-02, 8.68331556e-03, 1.58738046e-03,
  0.00000000e+00,-1.44005825e-03, 0.00000000e+00,-8.38970635e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005753987556066376
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.64742289e-14, -9.64742289e-14,  1.00000000e+00,  9.30727683e-27,
        1.00000000e+00,  9.64742289e-14, -1.00000000e+00,  0.00000000e+00,
        9.64742289e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00079825, -0.03580404,  0.06194491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.75440747e-06, 1.19319197e-05, 2.31235619e-08,-3.35879246e-05,
  4.75692145e-05,-3.23319268e-05,-1.41462699e-05,-3.26914237e-05,
  4.03801213e-06, 3.19771620e-05,-4.85225972e-06,-3.44980491e-05,
  3.23959080e-03,-4.13426856e-05,-1.02022458e-05, 8.38701518e-05,
  5.62141484e-05,-1.84608442e-05,-1.21644111e+00, 4.40074949e-06,
  7.63812392e-03, 1.78152524e-03]


--- Step 2578 ---
qpos:
[-2.49473120e-03, 8.65850113e-01,-2.37154739e-02, 4.06812615e-04,
 -2.92939896e-03, 8.61867942e-01,-2.71372848e-02, 3.10343182e-03,
 -1.19359673e-03, 8.70658389e-01,-1.92583337e-02,-2.13267983e-02,
  1.39623365e+00, 1.85374035e-02, 1.41568102e+00, 2.40566335e-02,
  4.13071912e-03,-5.76682841e-02, 8.05606902e-02, 7.04840065e-01,
 -4.80169746e-02,-7.06097116e-01,-4.81841949e-02]

qacc:
[ 6.36046414e-02, 3.10445327e+00,-1.39684855e+01, 2.68273312e+01,
  1.40661475e-01, 1.50083540e+00,-4.18413659e+00, 2.83516014e+00,
  7.89462935e-04,-5.88027647e+00, 2.46302525e+01,-4.51520461e+01,
 -5.67309697e-03,-8.27295212e-02,-7.57760491e+00, 2.59615048e+01,
  5.61402218e-01, 3.04711746e-01, 5.46575115e-01,-2.62664223e-01,
  2.68823880e+01, 2.05670566e+01]

qfrc_actuator:
[ 2.35097430e-03, 2.74012855e-02, 8.63735781e-03, 1.67424409e-03,
  8.42663423e-05, 2.73194321e-02, 8.59584389e-03, 1.64767268e-03,
 -2.39838905e-03, 2.74484767e-02, 8.72426752e-03, 1.52966005e-03,
  0.00000000e+00,-1.42645119e-03, 0.00000000e+00,-7.15641686e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005596785958794648
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.9183981e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        9.9183981e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00275561, -0.06168303,  0.06194638])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16543421e-05,-1.37416371e-05,-3.64342830e-05, 3.31440036e-05,
  2.55051874e-05, 3.58067560e-05,-1.62391996e-05,-4.17859815e-06,
 -8.26781240e-09,-4.51188221e-05, 4.57673621e-05,-5.71897718e-05,
  3.26112143e-03,-1.27686447e-05, 3.32585013e-06, 1.26425543e-04,
  6.77723575e-05,-4.62679911e-05,-1.21644160e+00,-7.00028960e-06,
  7.63748636e-03, 1.78170705e-03]


--- Step 2579 ---
qpos:
[-2.49510391e-03, 8.65851300e-01,-2.37167468e-02, 4.07951180e-04,
 -2.92837752e-03, 8.61867389e-01,-2.71380810e-02, 3.10387620e-03,
 -1.19361355e-03, 8.70657801e-01,-1.92575348e-02,-2.13285500e-02,
  1.39623353e+00, 1.85371350e-02, 1.41575101e+00, 2.40560737e-02,
  4.13835155e-03,-5.76724215e-02, 8.05646740e-02, 7.04990898e-01,
 -4.79574944e-02,-7.05945474e-01,-4.82586883e-02]

qacc:
[ 2.51068527e-01, 2.37841072e+00,-1.06702579e+01, 1.91760079e+01,
 -2.21777943e-01,-6.47044629e-01, 1.32305076e+00, 2.81028976e+00,
 -5.79291387e-03,-2.14446153e+00, 6.37571957e+00,-5.97964393e+00,
  6.95683224e-03,-2.88222467e-02, 8.84874692e-01,-2.69554766e+00,
 -1.41740334e+00, 5.96987283e-01,-1.01257218e+00, 1.31206129e+00,
 -8.02297940e+01, 2.07810538e+01]

qfrc_actuator:
[ 2.39123573e-03, 2.73716039e-02, 8.59758463e-03, 1.69351865e-03,
  3.20272012e-05, 2.73366216e-02, 8.62810708e-03, 1.66442317e-03,
 -2.39955509e-03, 2.74125033e-02, 8.74811894e-03, 1.53192232e-03,
  0.00000000e+00,-1.41818142e-03, 0.00000000e+00,-7.31691436e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005881545451069808
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41572870e-13,  1.65168348e-13,  1.00000000e+00, -2.33833570e-26,
        1.00000000e+00, -1.65168348e-13, -1.00000000e+00,  0.00000000e+00,
        1.41572870e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05016197, -0.0697443 ,  0.06194374])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.58144312e-05,-4.34967607e-05,-4.59595372e-05, 1.80677757e-05,
 -4.01274345e-05, 3.37085261e-05, 3.75278781e-05, 1.76433742e-05,
 -1.17535637e-06,-5.41976257e-05, 1.81932632e-05, 8.03303642e-07,
  3.27562537e-03,-3.17533908e-06, 1.40637436e-05,-8.91254696e-06,
  9.87875218e-05,-4.72669746e-05,-1.21644264e+00,-8.86432208e-06,
  7.63742409e-03, 1.78166507e-03]


--- Step 2580 ---
qpos:
[-2.49518221e-03, 8.65851341e-01,-2.37177720e-02, 4.09026852e-04,
 -2.92770050e-03, 8.61866388e-01,-2.71382074e-02, 3.10492603e-03,
 -1.19327337e-03, 8.70657360e-01,-1.92573238e-02,-2.13295821e-02,
  1.39623378e+00, 1.85373784e-02, 1.41582105e+00, 2.40553436e-02,
  4.14054797e-03,-5.76743069e-02, 8.05631051e-02, 7.05035447e-01,
 -4.79318468e-02,-7.05900171e-01,-4.82960256e-02]

qacc:
[ 1.54904387e-01,-2.33479759e+00, 6.39372681e+00,-7.03771852e+00,
 -1.80770761e-01,-1.21639079e+00, 9.21769281e-01, 8.81371678e+00,
  1.86018896e-01, 3.31913040e+00,-1.45846095e+01, 2.78604306e+01,
 -4.06410371e-03, 4.00440745e-01, 5.94764065e-01,-1.95365463e+00,
 -1.35900638e+00, 5.63010559e-01,-1.38819316e+00, 1.20660647e+00,
 -7.67070216e+01, 1.99248458e+01]

qfrc_actuator:
[ 2.39750136e-03, 2.72646825e-02, 8.59236578e-03, 1.68662127e-03,
  1.82807670e-05, 2.72760695e-02, 8.64747946e-03, 1.69187366e-03,
 -2.36473546e-03, 2.74447447e-02, 8.72627955e-03, 1.56945590e-03,
  0.00000000e+00,-1.35982795e-03, 0.00000000e+00,-7.40976767e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006064093659428477
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.28851805e-13, -6.86555416e-14,  1.00000000e+00,  1.57119446e-26,
        1.00000000e+00,  6.86555416e-14, -1.00000000e+00,  0.00000000e+00,
        2.28851805e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05012718, -0.06973431,  0.06194205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.81050823e-05,-1.39975641e-04,-1.92406763e-05,-1.00018419e-05,
 -3.27910978e-05,-3.31829523e-05, 3.15790916e-05, 3.05388199e-05,
  3.42491693e-05, 5.73712741e-06,-3.07622504e-05, 3.58609873e-05,
  3.27465913e-03, 5.73913214e-05, 3.26911154e-06,-8.47979182e-06,
  3.24666633e-05,-1.71414956e-05,-1.21644058e+00,-5.12143953e-06,
  7.63753029e-03, 1.78203038e-03]


--- Step 2581 ---
qpos:
[-2.49526817e-03, 8.65850626e-01,-2.37187114e-02, 4.10318500e-04,
 -2.92708799e-03, 8.61865753e-01,-2.71383188e-02, 3.10520148e-03,
 -1.19236315e-03, 8.70657125e-01,-1.92569017e-02,-2.13302204e-02,
  1.39623408e+00, 1.85381649e-02, 1.41589076e+00, 2.40571896e-02,
  4.13750609e-03,-5.76740522e-02, 8.05547079e-02, 7.04977819e-01,
 -4.79388581e-02,-7.05957137e-01,-4.82976308e-02]

qacc:
[-3.68369946e-03,-7.92437000e-01, 4.66212069e-01, 3.68875513e+00,
 -3.41426391e-02,-1.15043097e+00, 8.07531653e+00,-2.17727881e+01,
  2.97718440e-01, 4.93708171e-01,-3.02371225e+00, 9.34280659e+00,
 -2.17525482e-02, 3.57501748e-01,-8.28042691e+00, 2.82801082e+01,
 -1.30957172e+00, 5.35029587e-01,-1.70702929e+00, 1.11966752e+00,
 -7.37594615e+01, 1.92049117e+01]

qfrc_actuator:
[ 2.38336279e-03, 2.72544589e-02, 8.60724854e-03, 1.69984295e-03,
  2.77213752e-05, 2.73291715e-02, 8.65875167e-03, 1.65430286e-03,
 -2.32644131e-03, 2.74819305e-02, 8.74894957e-03, 1.59195708e-03,
  0.00000000e+00,-1.34297303e-03, 0.00000000e+00,-6.04132629e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006148855122311558
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.57987971e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.57987971e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05011078, -0.06972997,  0.06194125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.53138390e-07,-9.28886384e-05,-1.67375160e-05, 6.36436776e-06,
 -6.12988540e-06, 4.23963133e-05, 9.37474559e-06,-3.73042146e-05,
  5.46922870e-05, 3.55913571e-05, 2.13095900e-05, 2.23820462e-05,
  3.25608272e-03, 4.86611337e-05,-3.97768853e-07, 1.36550918e-04,
  2.72324494e-06,-2.17624811e-06,-1.21643983e+00,-2.97996618e-06,
  7.63766940e-03, 1.78233559e-03]


--- Step 2582 ---
qpos:
[-2.49563218e-03, 8.65850400e-01,-2.37205615e-02, 4.10630165e-04,
 -2.92663540e-03, 8.61865909e-01,-2.71384985e-02, 3.10428425e-03,
 -1.19131801e-03, 8.70657242e-01,-1.92562284e-02,-2.13316426e-02,
  1.39623421e+00, 1.85387621e-02, 1.41596062e+00, 2.40593091e-02,
  4.12939431e-03,-5.76717498e-02, 8.05384013e-02, 7.04821402e-01,
 -4.79775422e-02,-7.06112928e-01,-4.82646929e-02]

qacc:
[-1.46572971e-01, 1.17014354e+00, 8.98064376e-01,-1.67580002e+01,
 -8.46157422e-02,-1.21837648e+00, 1.08961720e+01,-3.20117019e+01,
  7.04498844e-02,-1.85173172e+00, 1.05780002e+01,-2.47890901e+01,
 -1.68309931e-02,-1.37188014e-01,-6.26289844e-01, 2.48106861e+00,
 -1.26747841e+00, 5.11899706e-01,-1.97739347e+00, 1.04722056e+00,
 -7.12985943e+01, 1.86013798e+01]

qfrc_actuator:
[ 2.35716599e-03, 2.73378268e-02, 8.58099723e-03, 1.65387181e-03,
  1.54268132e-05, 2.73965716e-02, 8.66555048e-03, 1.59660956e-03,
 -2.33967621e-03, 2.75042121e-02, 8.76225599e-03, 1.55221901e-03,
  0.00000000e+00,-1.38675844e-03, 0.00000000e+00,-5.95320782e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006154489488193679
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.50980957e-14,  2.25490479e-14,  1.00000000e+00, -1.01691912e-27,
        1.00000000e+00, -2.25490479e-14, -1.00000000e+00,  0.00000000e+00,
        4.50980957e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0501091 , -0.06973015,  0.06194118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.65651974e-05, 2.82645420e-05,-4.72664879e-05,-5.04050450e-05,
 -1.51986964e-05, 9.14600783e-05, 1.54241879e-05,-5.62779847e-05,
  1.29551264e-05, 4.75541881e-05, 2.40557290e-05,-3.70410725e-05,
  3.25338750e-03,-2.22808549e-05, 1.43834041e-05, 1.62117347e-05,
  5.14467972e-06,-5.73887821e-07,-1.21644028e+00,-2.15922288e-06,
  7.63785077e-03, 1.78259662e-03]


--- Step 2583 ---
qpos:
[-2.49628993e-03, 8.65850455e-01,-2.37227263e-02, 4.09681787e-04,
 -2.92633704e-03, 8.61866662e-01,-2.71389197e-02, 3.10410070e-03,
 -1.19048129e-03, 8.70657708e-01,-1.92553599e-02,-2.13342161e-02,
  1.39623440e+00, 1.85392952e-02, 1.41603065e+00, 2.40605318e-02,
  4.11635725e-03,-5.76674768e-02, 8.05132685e-02, 7.04568963e-01,
 -4.80470738e-02,-7.06364628e-01,-4.81982025e-02]

qacc:
[-1.54361785e-01,-1.34180209e+00, 1.06442560e+01,-3.21558591e+01,
 -8.15546048e-02, 2.97063697e+00,-1.25477442e+01, 2.51969220e+01,
 -1.08875338e-01,-2.45617621e+00, 1.42779013e+01,-3.47557500e+01,
 -1.18686744e-02,-1.37214538e-02, 2.98338329e+00,-1.00466529e+01,
 -1.23131604e+00, 4.92667516e-01,-2.20652326e+00, 9.86022005e-01,
 -6.92495155e+01, 1.80972319e+01]

qfrc_actuator:
[ 2.34176035e-03, 2.73521404e-02, 8.56653294e-03, 1.59124719e-03,
  7.96499157e-06, 2.74187219e-02, 8.65199002e-03, 1.63408662e-03,
 -2.36586878e-03, 2.75173234e-02, 8.76981989e-03, 1.49391000e-03,
  0.00000000e+00,-1.37764968e-03, 0.00000000e+00,-6.44303506e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006096693950971704
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.55256174e-14,  4.55256174e-14,  1.00000000e+00, -2.07258184e-27,
        1.00000000e+00, -4.55256174e-14, -1.00000000e+00,  0.00000000e+00,
        4.55256174e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05011911, -0.06973392,  0.06194168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.80665350e-05, 1.82142695e-05,-1.61781979e-05,-6.40278121e-05,
 -1.46645571e-05, 7.40645038e-05, 5.28267593e-06, 4.08350639e-05,
 -1.99832164e-05, 4.30826246e-05, 1.90627659e-05,-5.61611200e-05,
  3.26155103e-03,-3.70243230e-06, 5.96234015e-06,-4.67920334e-05,
  3.63847427e-05,-1.09652216e-05,-1.21644182e+00,-2.44797034e-06,
  7.63807924e-03, 1.78282482e-03]


--- Step 2584 ---
qpos:
[-2.49680831e-03, 8.65850482e-01,-2.37241118e-02, 4.07608638e-04,
 -2.92597249e-03, 8.61867213e-01,-2.71391458e-02, 3.10478598e-03,
 -1.18991022e-03, 8.70658021e-01,-1.92539382e-02,-2.13367375e-02,
  1.39623439e+00, 1.85397577e-02, 1.41610050e+00, 2.40628438e-02,
  4.10594710e-03,-5.76617098e-02, 8.04983171e-02, 7.04364065e-01,
 -4.81484849e-02,-7.06568676e-01,-4.81008591e-02]

qacc:
[ 7.35079235e-02,-4.52911636e+00, 2.08423850e+01,-4.15366533e+01,
  3.51094251e-02, 9.76141083e-01,-7.53543010e+00, 2.24094374e+01,
 -1.38306899e-01,-1.64020860e+00, 5.33500557e+00,-5.20547900e+00,
 -1.08907366e-02,-7.87761642e-02,-3.56816818e+00, 1.20881235e+01,
  6.56724187e-01, 3.73499697e-01, 2.54533614e+00,-3.40246717e-01,
  3.20681099e+01, 2.44187656e+01]

qfrc_actuator:
[ 2.36846156e-03, 2.73605369e-02, 8.61216694e-03, 1.53705516e-03,
  2.12137328e-05, 2.73603429e-02, 8.64416718e-03, 1.67395869e-03,
 -2.38179397e-03, 2.74892890e-02, 8.79164636e-03, 1.49615014e-03,
  0.00000000e+00,-1.39011192e-03, 0.00000000e+00,-5.84880929e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006004581427748318
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.24479948e-14, -1.84895990e-13,  1.00000000e+00, -1.70932635e-26,
        1.00000000e+00,  1.84895990e-13, -1.00000000e+00,  0.00000000e+00,
       -9.24479948e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00272967, -0.06167387,  0.06194248])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33228038e-05, 1.25125350e-05, 4.52054199e-05,-5.52129248e-05,
  6.29611048e-06,-1.41398754e-05, 9.53546760e-06, 4.40225455e-05,
 -2.54861439e-05,-2.42558942e-06, 3.11229298e-05, 3.65285675e-06,
  3.25890098e-03,-1.29604724e-05,-4.39025773e-06, 5.71330333e-05,
  9.39179585e-05,-3.23123223e-05,-1.21644428e+00,-3.68833784e-06,
  7.63835610e-03, 1.78302838e-03]


--- Step 2585 ---
qpos:
[-2.49746281e-03, 8.65850489e-01,-2.37246524e-02, 4.04895617e-04,
 -2.92568129e-03, 8.61866906e-01,-2.71387573e-02, 3.10531023e-03,
 -1.18956641e-03, 8.70657293e-01,-1.92515307e-02,-2.13387818e-02,
  1.39623444e+00, 1.85402027e-02, 1.41617047e+00, 2.40644954e-02,
  4.09814730e-03,-5.76543752e-02, 8.04912737e-02, 7.04206330e-01,
 -4.82833892e-02,-7.06725501e-01,-4.79710988e-02]

qacc:
[-7.08587645e-02,-3.70097233e+00, 1.58620698e+01,-2.82765033e+01,
 -3.79435265e-02,-3.17911696e+00, 1.03726634e+01,-1.35157548e+01,
 -1.17663154e-01,-3.14661876e+00, 7.21342767e+00, 2.22323647e-01,
 -4.28681812e-03, 9.24163300e-03, 2.17235345e+00,-7.34758047e+00,
  6.52588758e-01, 3.91906495e-01, 1.97700408e+00,-3.43597213e-01,
  3.17071066e+01, 2.55204242e+01]

qfrc_actuator:
[ 2.34910076e-03, 2.73655817e-02, 8.65738662e-03, 1.50604407e-03,
  1.12248058e-05, 2.72719583e-02, 8.65719947e-03, 1.66158126e-03,
 -2.39141811e-03, 2.73836718e-02, 8.82159423e-03, 1.51622412e-03,
  0.00000000e+00,-1.37997914e-03, 0.00000000e+00,-6.21816308e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006177484057904611
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.22823398e-06,  1.45189569e-13,  1.00000000e+00, -1.78326763e-19,
        1.00000000e+00, -1.45189569e-13, -1.00000000e+00,  0.00000000e+00,
        1.22823398e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00328545, -0.0622088 ,  0.06194084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30049977e-05, 1.90288269e-05, 5.14763397e-05,-2.99802094e-05,
 -7.00277110e-06,-9.24477542e-05, 1.28069271e-05,-1.17978287e-05,
 -2.18263509e-05,-1.00406189e-04, 3.33982837e-05, 2.11199753e-05,
  3.26831989e-03, 7.15061638e-07, 3.02929434e-06,-3.46140587e-05,
  5.86493053e-05,-3.35804120e-05,-1.21644345e+00,-2.74543164e-06,
  7.63865981e-03, 1.78286198e-03]


--- Step 2586 ---
qpos:
[-2.49848590e-03, 8.65850649e-01,-2.37253168e-02, 4.03258521e-04,
 -2.92548864e-03, 8.61865821e-01,-2.71379007e-02, 3.10602848e-03,
 -1.18920665e-03, 8.70656110e-01,-1.92497440e-02,-2.13405322e-02,
  1.39623542e+00, 1.85415866e-02, 1.41624069e+00, 2.40633462e-02,
  4.09174454e-03,-5.76521030e-02, 8.04874780e-02, 7.04081465e-01,
 -4.83223373e-02,-7.06849620e-01,-4.79359617e-02]

qacc:
[-1.93324926e-01, 2.76161625e+00,-1.40956101e+01, 3.28029876e+01,
 -5.13251287e-02,-1.93377463e+00, 4.58739909e+00,-1.40981084e+00,
  8.11016408e-03, 1.73969000e+00,-8.31235905e+00, 1.47223441e+01,
 -3.07889352e-02, 8.18156045e-01, 8.90786630e+00,-3.05125543e+01,
  3.49259247e-01,-1.26559476e+00, 8.11934193e-01, 3.59244126e-01,
  2.77170129e+01,-6.56465364e+01]

qfrc_actuator:
[ 2.32007512e-03, 2.73686171e-02, 8.64872253e-03, 1.55991707e-03,
  5.15897421e-06, 2.72373178e-02, 8.68224732e-03, 1.67179435e-03,
 -2.37944114e-03, 2.73567228e-02, 8.78475059e-03, 1.52880003e-03,
  0.00000000e+00,-1.26755129e-03, 0.00000000e+00,-7.68510340e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006333653143249796
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.50579042e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.50579042e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00082813, -0.03586526,  0.06193937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.52241279e-05, 2.30311747e-05, 5.79225414e-07, 5.58913622e-05,
 -9.40132794e-06,-8.41929628e-05, 7.12329935e-06, 6.46562929e-06,
  1.51353974e-06,-7.52926768e-05,-5.27438183e-05, 9.84551016e-06,
  3.26511716e-03, 1.14016780e-04,-4.14593744e-06,-1.48629918e-04,
  3.17338142e-05,-3.05626917e-05,-1.21644311e+00,-1.30200977e-07,
  7.63895353e-03, 1.78265721e-03]


--- Step 2587 ---
qpos:
[-2.49948868e-03, 8.65850309e-01,-2.37261091e-02, 4.03746405e-04,
 -2.92500828e-03, 8.61864398e-01,-2.71371940e-02, 3.10684979e-03,
 -1.18858109e-03, 8.70655192e-01,-1.92490699e-02,-2.13418311e-02,
  1.39623685e+00, 1.85435067e-02, 1.41631091e+00, 2.40604490e-02,
  4.08668984e-03,-5.76547014e-02, 8.04852985e-02, 7.03988199e-01,
 -4.82690598e-02,-7.06942363e-01,-4.79917573e-02]

qacc:
[ 1.08562474e-02, 4.06940554e+00,-2.44398481e+01, 6.17905397e+01,
  1.51561216e-01, 1.82504215e-01,-1.73701007e+00, 4.01080887e+00,
  1.38015336e-01, 4.38776364e+00,-1.70391731e+01, 2.64298614e+01,
 -7.85806962e-02, 5.08976466e-01, 5.29523949e+00,-1.84980984e+01,
  3.37016171e-01,-1.21767626e+00, 4.04051344e-01, 3.40731308e-01,
  2.66206377e+01,-6.30913165e+01]

qfrc_actuator:
[ 2.33879539e-03, 2.72992720e-02, 8.62611138e-03, 1.66326068e-03,
  3.70068179e-05, 2.72351861e-02, 8.67889981e-03, 1.67751851e-03,
 -2.35465579e-03, 2.74123096e-02, 8.74454953e-03, 1.55462192e-03,
  0.00000000e+00,-1.27222202e-03, 0.00000000e+00,-8.54386591e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006412740747450824
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.65638475e-14,  8.65638475e-14,  1.00000000e+00, -7.49329970e-27,
        1.00000000e+00, -8.65638475e-14, -1.00000000e+00,  0.00000000e+00,
        8.65638475e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00083192, -0.03587342,  0.06193864])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.92632399e-06,-5.39508758e-05,-1.58410972e-05, 1.05442110e-04,
  2.73745932e-05,-4.74452947e-05,-1.96332012e-05, 2.48931038e-06,
  2.55000287e-05, 3.03136477e-06,-6.19087490e-05, 2.09668211e-05,
  3.21895726e-03, 6.23917424e-05,-1.86818552e-05,-9.47970634e-05,
  2.27661735e-05,-8.48073222e-06,-1.21644113e+00, 7.70439937e-06,
  7.63867660e-03, 1.78240588e-03]


--- Step 2588 ---
qpos:
[-2.50017438e-03, 8.65849231e-01,-2.37264393e-02, 4.05804903e-04,
 -2.92438094e-03, 8.61862722e-01,-2.71368121e-02, 3.10669807e-03,
 -1.18767761e-03, 8.70654498e-01,-1.92481922e-02,-2.13422077e-02,
  1.39623758e+00, 1.85446414e-02, 1.41638088e+00, 2.40578654e-02,
  4.08294183e-03,-5.76620110e-02, 8.04833587e-02, 7.03925434e-01,
 -4.81266561e-02,-7.07004801e-01,-4.81354235e-02]

qacc:
[ 1.66871630e-01, 9.68308453e-01,-1.14959262e+01, 3.84807580e+01,
  7.72338266e-02,-1.42740770e+00, 8.71492979e+00,-2.48518475e+01,
  1.45209656e-01, 1.62698788e+00,-9.25714100e+00, 2.47138395e+01,
 -8.00026765e-02,-5.60094223e-01,-1.30857719e+00, 4.04513180e+00,
  3.26674183e-01,-1.17778604e+00, 5.98960067e-02, 3.21103458e-01,
  2.57082069e+01,-6.09701947e+01]

qfrc_actuator:
[ 2.36816911e-03, 2.72581015e-02, 8.64844362e-03, 1.74154934e-03,
  3.79981171e-05, 2.72169277e-02, 8.65894602e-03, 1.62730474e-03,
 -2.34019428e-03, 2.74636229e-02, 8.77408477e-03, 1.60586900e-03,
  0.00000000e+00,-1.40038260e-03, 0.00000000e+00,-8.32694169e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006413730447308794
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.65504899e-14, -8.65504899e-14,  1.00000000e+00,  7.49098730e-27,
        1.00000000e+00,  8.65504899e-14, -1.00000000e+00,  0.00000000e+00,
        8.65504899e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00083205, -0.0358736 ,  0.06193862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.02854906e-05,-7.00778879e-05, 1.28962139e-05, 7.74828772e-05,
  1.39800571e-05,-4.87062447e-05,-3.20812223e-05,-5.28778761e-05,
  2.66701803e-05, 4.11434498e-05, 2.32646373e-05, 4.96447975e-05,
  3.19632444e-03,-9.25990651e-05,-1.92382198e-05, 1.39705759e-05,
  1.55158397e-05, 7.73763490e-06,-1.21644058e+00, 1.04454269e-05,
  7.63857941e-03, 1.78230943e-03]


--- Step 2589 ---
qpos:
[-2.50052390e-03, 8.65848731e-01,-2.37275368e-02, 4.07665008e-04,
 -2.92386776e-03, 8.61861154e-01,-2.71371731e-02, 3.10627414e-03,
 -1.18655617e-03, 8.70654244e-01,-1.92473811e-02,-2.13416327e-02,
  1.39623752e+00, 1.85448005e-02, 1.41645071e+00, 2.40558668e-02,
  4.08181319e-03,-5.76676144e-02, 8.04869064e-02, 7.03910329e-01,
 -4.80208686e-02,-7.07019658e-01,-4.82436297e-02]

qacc:
[  0.17555643,  2.4973206 , -6.95996602,  4.33137745, -0.06064171,
   1.6548404 , -4.54731139,  0.9477604 ,  0.11365171,  2.72899971,
 -12.89529891, 29.13468563, -0.03648336, -0.74048134, -2.00875556,
   6.66209326,  0.65483831,  0.42654427,  1.37190944, -0.35066723,
  31.85983668, 27.71649192]

qfrc_actuator:
[ 2.38587737e-03, 2.73407886e-02, 8.62619262e-03, 1.73349887e-03,
  2.05011457e-05, 2.72422990e-02, 8.62926324e-03, 1.61557362e-03,
 -2.33204553e-03, 2.74945541e-02, 8.77357998e-03, 1.65396720e-03,
  0.00000000e+00,-1.45950894e-03, 0.00000000e+00,-8.01080817e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006429524982243875
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07922341e-13, -1.72675746e-13,  1.00000000e+00,  1.86355708e-26,
        1.00000000e+00,  1.72675746e-13, -1.00000000e+00,  0.00000000e+00,
        1.07922341e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00421893, -0.06310565,  0.06193848])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.21419077e-05, 4.95136668e-05,-3.24457664e-05,-9.09914366e-06,
 -1.08655923e-05,-1.07157612e-05,-4.55145115e-05,-1.59552777e-05,
  2.09214583e-05, 6.08827748e-05, 1.25754133e-05, 5.16314576e-05,
  3.23084362e-03,-1.12465963e-04,-9.00400808e-06, 2.95809498e-05,
  9.78014246e-06, 1.87612688e-05,-1.21644129e+00, 8.48868806e-06,
  7.63863797e-03, 1.78235644e-03]


--- Step 2590 ---
qpos:
[-2.50060273e-03, 8.65849328e-01,-2.37294438e-02, 4.07968001e-04,
 -2.92370719e-03, 8.61860381e-01,-2.71385922e-02, 3.10599030e-03,
 -1.18565565e-03, 8.70654852e-01,-1.92469689e-02,-2.13418983e-02,
  1.39623715e+00, 1.85445654e-02, 1.41652047e+00, 2.40542444e-02,
  4.08322148e-03,-5.76715689e-02, 8.04944964e-02, 7.03941356e-01,
 -4.79504964e-02,-7.06988494e-01,-4.83175534e-02]

qacc:
[ 1.40943137e-01, 5.03049490e-01, 6.87871907e+00,-3.33355914e+01,
 -1.86660603e-01, 4.29167420e+00,-1.43715328e+01, 1.79087020e+01,
 -1.15942164e-01, 5.20088843e-01, 3.33872678e+00,-1.78699585e+01,
 -5.97969134e-04,-3.12767830e-01,-1.25566606e+00, 4.21411931e+00,
  6.34236148e-01, 4.12237355e-01, 1.01056205e+00,-3.47822763e-01,
  3.08281353e+01, 2.68033559e+01]

qfrc_actuator:
[ 2.39644043e-03, 2.74257591e-02, 8.59598868e-03, 1.65703306e-03,
 -7.88645623e-06, 2.73290952e-02, 8.59429102e-03, 1.62662048e-03,
 -2.36324090e-03, 2.75484552e-02, 8.75524004e-03, 1.61101456e-03,
  0.00000000e+00,-1.44120515e-03, 0.00000000e+00,-7.81664315e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006416404930966318
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00421992, -0.0631061 ,  0.06193861])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.58977752e-05, 1.05589019e-04,-2.42805693e-05,-7.56457017e-05,
 -3.35458405e-05, 7.07605766e-05,-4.33293413e-05, 8.70564611e-06,
 -2.11716762e-05, 9.27563436e-05,-2.43532879e-06,-3.89074895e-05,
  3.27019930e-03,-4.53749870e-05,-3.20057754e-06, 1.94260013e-05,
  1.13162390e-06, 5.40391417e-06,-1.21644049e+00, 3.43474328e-06,
  7.63862572e-03, 1.78244494e-03]


--- Step 2591 ---
qpos:
[-2.50048733e-03, 8.65850065e-01,-2.37308459e-02, 4.07729021e-04,
 -2.92370484e-03, 8.61859961e-01,-2.71397321e-02, 3.10476787e-03,
 -1.18505835e-03, 8.70656021e-01,-1.92461393e-02,-2.13426948e-02,
  1.39623668e+00, 1.85442046e-02, 1.41659020e+00, 2.40528585e-02,
  4.08709918e-03,-5.76739214e-02, 8.05049174e-02, 7.04017244e-01,
 -4.79145443e-02,-7.06912586e-01,-4.83581644e-02]

qacc:
[ 1.02074554e-01,-2.33926207e+00, 1.08994826e+01,-2.11921382e+01,
 -8.33273635e-02,-2.24507131e+00, 1.26436202e+01,-2.95958444e+01,
 -1.58272078e-01,-1.51790779e+00, 8.72466022e+00,-1.89818657e+01,
  1.40106061e-02,-1.12905514e-01,-7.77881354e-01, 2.62660540e+00,
  6.17349244e-01, 4.00494419e-01, 7.07751768e-01,-3.44456015e-01,
  2.99763535e+01, 2.60489527e+01]

qfrc_actuator:
[ 2.40264739e-03, 2.74048347e-02, 8.61462014e-03, 1.62971927e-03,
 -7.01903541e-06, 2.73454995e-02, 8.61001546e-03, 1.58002018e-03,
 -2.38218576e-03, 2.75800360e-02, 8.77981582e-03, 1.58585369e-03,
  0.00000000e+00,-1.42989233e-03, 0.00000000e+00,-7.69591241e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006345823564959455
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.74766698e-14, -8.74766698e-14,  1.00000000e+00,  7.65216775e-27,
        1.00000000e+00,  8.74766698e-14, -1.00000000e+00,  0.00000000e+00,
        8.74766698e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00422504, -0.06310823,  0.06193929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.85704133e-05, 2.98676171e-05, 3.48389347e-05,-2.51023630e-05,
 -1.50471823e-05, 4.74222815e-05, 2.53192089e-05,-4.48950391e-05,
 -2.90685506e-05, 8.12615914e-05, 4.20786261e-05,-2.20326252e-05,
  3.28593468e-03,-1.43350195e-05,-1.10264373e-06, 1.23589836e-05,
  7.95808909e-07,-2.26744126e-06,-1.21644015e+00, 4.07397298e-07,
  7.63860504e-03, 1.78248881e-03]


--- Step 2592 ---
qpos:
[-2.50024178e-03, 8.65849870e-01,-2.37309333e-02, 4.07592671e-04,
 -2.92358455e-03, 8.61859652e-01,-2.71405875e-02, 3.10337252e-03,
 -1.18472505e-03, 8.70656893e-01,-1.92440736e-02,-2.13433877e-02,
  1.39623637e+00, 1.85433514e-02, 1.41666043e+00, 2.40472681e-02,
  4.09339137e-03,-5.76747101e-02, 8.05171575e-02, 7.04136936e-01,
 -4.79121911e-02,-7.06792971e-01,-4.83662567e-02]

qacc:
[ 6.93987108e-02,-4.69070334e+00, 1.45070142e+01,-1.41530031e+01,
  6.22465687e-02,-1.00192905e+00, 4.51775875e+00,-8.04908570e+00,
 -1.36972326e-01,-3.63147877e+00, 1.19421222e+01,-1.19087416e+01,
  1.89346896e-02,-2.70674309e-01, 1.34881322e+01,-4.60908920e+01,
  6.03626460e-01, 3.90943180e-01, 4.54760184e-01,-3.40550781e-01,
  2.92768616e+01, 2.54288569e+01]

qfrc_actuator:
[ 2.40620886e-03, 2.73031376e-02, 8.66156214e-03, 1.63150441e-03,
  1.13480377e-05, 2.73375465e-02, 8.61973856e-03, 1.57086476e-03,
 -2.39360968e-03, 2.75271694e-02, 8.82948417e-03, 1.58914686e-03,
  0.00000000e+00,-1.45839009e-03, 0.00000000e+00,-9.92719094e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006230372379438243
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.90976459e-14,  8.90976459e-14,  1.00000000e+00, -7.93839051e-27,
        1.00000000e+00, -8.90976459e-14, -1.00000000e+00,  0.00000000e+00,
        8.90976459e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00423337, -0.06311167,  0.06194038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24195994e-05,-7.88798173e-05, 5.65392825e-05, 3.78280697e-06,
  1.12305809e-05, 2.18893816e-05, 2.10971423e-05,-7.11702954e-06,
 -2.53294477e-05, 2.84619157e-07, 7.08578242e-05, 7.79778858e-06,
  3.29067024e-03,-3.65218236e-05,-6.44702886e-07,-2.22916965e-04,
  8.04373804e-06,-4.77753329e-06,-1.21644023e+00,-7.40028545e-07,
  7.63857608e-03, 1.78248944e-03]


--- Step 2593 ---
qpos:
[-2.49972784e-03, 8.65848664e-01,-2.37300439e-02, 4.08549653e-04,
 -2.92348016e-03, 8.61859031e-01,-2.71406157e-02, 3.10327682e-03,
 -1.18440442e-03, 8.70658232e-01,-1.92422042e-02,-2.13440339e-02,
  1.39623615e+00, 1.85425471e-02, 1.41673041e+00, 2.40410693e-02,
  4.10205390e-03,-5.76739658e-02, 8.05303738e-02, 7.04299555e-01,
 -4.79427624e-02,-7.06630478e-01,-4.83424751e-02]

qacc:
[ 1.41731248e-01,-1.81223745e+00,-8.97681032e-02, 1.81896216e+01,
 -7.66369636e-03,-4.74519386e-02,-5.91493505e+00, 2.73138886e+01,
 -6.89342549e-03, 1.26068732e+00,-3.79683724e+00, 4.57380383e+00,
  7.68966337e-03, 4.19357867e-02, 1.48382598e+00,-5.71052831e+00,
  5.92580923e-01, 3.83255308e-01, 2.44063206e-01,-3.36051813e-01,
  2.87062736e+01, 2.49224746e+01]

qfrc_actuator:
[ 2.42592206e-03, 2.72427567e-02, 8.70672613e-03, 1.68582634e-03,
  4.49676868e-06, 2.73150784e-02, 8.66124918e-03, 1.63704393e-03,
 -2.38268631e-03, 2.75662890e-02, 8.82221205e-03, 1.59133772e-03,
  0.00000000e+00,-1.43934679e-03, 0.00000000e+00,-1.01532122e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006080551060343303
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82585922e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.82585922e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00424416, -0.06311611,  0.0619418 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.56254083e-05,-9.26433366e-05, 3.59715617e-05, 5.29738543e-05,
 -1.51775415e-06,-6.15814784e-06, 4.83956081e-05, 6.77122838e-05,
 -1.20221949e-06, 5.42080908e-05, 1.76383266e-06, 4.80400562e-06,
  3.28230316e-03, 7.17288843e-06,-2.73518058e-05,-3.56070937e-05,
  2.23299203e-05,-2.52345701e-06,-1.21644070e+00,-1.19245558e-07,
  7.63853826e-03, 1.78244792e-03]


--- Step 2594 ---
qpos:
[-2.49933784e-03, 8.65847893e-01,-2.37297960e-02, 4.11111715e-04,
 -2.92342689e-03, 8.61858339e-01,-2.71402042e-02, 3.10466119e-03,
 -1.18383773e-03, 8.70660154e-01,-1.92405291e-02,-2.13443188e-02,
  1.39623590e+00, 1.85423560e-02, 1.41679974e+00, 2.40386218e-02,
  4.11302651e-03,-5.76717493e-02, 8.05439420e-02, 7.04503968e-01,
 -4.80049545e-02,-7.06426179e-01,-4.82880648e-02]

qacc:
[-6.54493823e-02, 5.66933180e+00,-2.61565970e+01, 5.46448765e+01,
 -2.65378504e-02, 1.72346226e+00,-1.25298222e+01, 3.74956111e+01,
  1.28168782e-01, 2.05650914e+00,-7.73871621e+00, 1.38707746e+01,
  1.29208393e-03, 3.57379484e-01,-1.23334004e+01, 4.17376493e+01,
  5.77522659e-01, 3.68063735e-01, 8.79847975e-02,-3.22339457e-01,
  2.79896113e+01, 2.39703094e+01]

qfrc_actuator:
[ 2.40187812e-03, 2.73318854e-02, 8.69737741e-03, 1.77063861e-03,
  3.53789049e-07, 2.73197859e-02, 8.68567050e-03, 1.71151518e-03,
 -2.35850031e-03, 2.76066979e-02, 8.81721880e-03, 1.61063543e-03,
  0.00000000e+00,-1.39212317e-03, 0.00000000e+00,-8.13006251e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.35298015, -3.40035708,  5.36637014, -3.40035708, 11.6761174 ,
        3.37296291,  5.36637014,  3.37296291,  8.49023084,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005904755947411163
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.51191970e-07, -3.51191995e-07,  1.00000000e+00, -1.23335809e-13,
        1.00000000e+00,  3.51191995e-07, -1.00000000e+00,  0.00000000e+00,
       -3.51191970e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00407684, -0.0629503 ,  0.06194347])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18355297e-05, 4.70450377e-05,-2.22169501e-05, 8.31184405e-05,
 -4.86583349e-06, 1.41746248e-05, 3.14613482e-05, 7.72017206e-05,
  2.36207841e-05, 7.12460695e-05, 6.56149664e-06, 2.17690935e-05,
  3.27806459e-03, 5.19825818e-05,-1.65658224e-05, 1.96828439e-04,
  4.32514548e-05, 4.19732593e-06,-1.21644156e+00, 2.18550264e-06,
  7.63849043e-03, 1.78236513e-03]


--- Step 2595 ---
qpos:
[-2.49934466e-03, 8.65848113e-01,-2.37299397e-02, 4.13543328e-04,
 -2.92342393e-03, 8.61857663e-01,-2.71395201e-02, 3.10761822e-03,
 -1.18337578e-03, 8.70662203e-01,-1.92389901e-02,-2.13446611e-02,
  1.39623576e+00, 1.85426936e-02, 1.41686894e+00, 2.40385735e-02,
  4.12613383e-03,-5.76682953e-02, 8.05577550e-02, 7.04747148e-01,
 -4.80938591e-02,-7.06183015e-01,-4.82077510e-02]

qacc:
[-2.08647002e-01, 2.13348281e+00,-5.15815068e+00, 2.80071186e+00,
 -2.62365240e-02, 2.49539631e+00,-1.55066243e+01, 4.22794085e+01,
 -5.48210849e-02, 4.31934436e-01,-1.05221644e+00, 1.84078185e-01,
  1.39096892e-03, 3.39417749e-01,-7.45832292e+00, 2.58179141e+01,
  5.33676028e-01, 3.09355157e-01, 6.11895606e-02,-2.67933702e-01,
  2.61172472e+01, 2.04287243e+01]

qfrc_actuator:
[ 2.36961748e-03, 2.74209148e-02, 8.69205387e-03, 1.76628020e-03,
 -2.12262996e-06, 2.73229299e-02, 8.69989487e-03, 1.79026141e-03,
 -2.37986829e-03, 2.75765674e-02, 8.79591673e-03, 1.60435857e-03,
  0.00000000e+00,-1.36408052e-03, 0.00000000e+00,-6.92889102e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000571742636684367
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.15334688e-07, -1.03066967e-06,  1.00000000e+00,  5.31139832e-13,
        1.00000000e+00,  1.03066967e-06, -1.00000000e+00,  0.00000000e+00,
        5.15334688e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00301738, -0.06193639,  0.06194524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.78983983e-05, 1.14318456e-04, 4.53244700e-06,-1.49708179e-06,
 -4.78596659e-06, 2.08854212e-05, 2.37004489e-05, 8.19435336e-05,
 -1.00450946e-05, 1.19417493e-05,-5.05428190e-06,-2.58116068e-06,
  3.27917029e-03, 4.93811647e-05, 1.46986459e-05, 1.29056614e-04,
  7.01851882e-05, 1.48880263e-05,-1.21644279e+00, 6.02540787e-06,
  7.63842825e-03, 1.78224423e-03]


--- Step 2596 ---
qpos:
[-2.49936915e-03, 8.65848970e-01,-2.37296786e-02, 4.14166652e-04,
 -2.92364650e-03, 8.61856294e-01,-2.71377269e-02, 3.11152956e-03,
 -1.18328387e-03, 8.70664531e-01,-1.92386282e-02,-2.13443308e-02,
  1.39623541e+00, 1.85427521e-02, 1.41693832e+00, 2.40389741e-02,
  4.13383807e-03,-5.76626669e-02, 8.05655498e-02, 7.04885290e-01,
 -4.82164507e-02,-7.06044748e-01,-4.80907050e-02]

qacc:
[-9.32901756e-03,-4.01093911e+00, 2.31562974e+01,-5.55697374e+01,
 -1.17776026e-01,-2.04724885e+00, 1.94440348e+00, 1.33045056e+01,
 -1.94017343e-01, 5.04072493e+00,-2.02728413e+01, 3.35792311e+01,
  6.67109739e-03,-2.25369646e-01,-1.09918302e+00, 4.21518933e+00,
 -1.35077003e+00, 5.43622789e-01,-1.50454887e+00, 1.10194981e+00,
 -7.57467723e+01, 1.97836882e+01]

qfrc_actuator:
[ 2.38600718e-03, 2.74381450e-02, 8.70690491e-03, 1.67400762e-03,
 -2.13321161e-05, 2.72540665e-02, 8.74349754e-03, 1.83538274e-03,
 -2.41056364e-03, 2.75753449e-02, 8.72934372e-03, 1.63626902e-03,
  0.00000000e+00,-1.41871765e-03, 0.00000000e+00,-6.75496931e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005782798470904266
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43990366e-13, -1.67988760e-13,  1.00000000e+00,  2.41887631e-26,
        1.00000000e+00,  1.67988760e-13, -1.00000000e+00,  0.00000000e+00,
        1.43990366e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05017891, -0.06975855,  0.06194465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.66848046e-06, 8.20144556e-05, 3.89642203e-05,-8.72510226e-05,
 -2.14802621e-05,-4.87740355e-05, 5.36679052e-05, 4.84269404e-05,
 -3.54981626e-05, 4.24057319e-06,-6.48457483e-05, 3.21917348e-05,
  3.27374000e-03,-3.16784988e-05, 1.97891910e-05, 2.61569016e-05,
  1.00763466e-04, 2.74520389e-05,-1.21644425e+00, 1.07874413e-05,
  7.63833273e-03, 1.78210077e-03]


--- Step 2597 ---
qpos:
[-2.49948473e-03, 8.65850530e-01,-2.37295228e-02, 4.13361490e-04,
 -2.92409497e-03, 8.61854891e-01,-2.71363795e-02, 3.11528463e-03,
 -1.18337401e-03, 8.70666700e-01,-1.92386419e-02,-2.13436196e-02,
  1.39623470e+00, 1.85421663e-02, 1.41700788e+00, 2.40389386e-02,
  4.13632929e-03,-5.76549582e-02, 8.05661374e-02, 7.04922257e-01,
 -4.83716304e-02,-7.06007594e-01,-4.79382455e-02]

qacc:
[-4.81408119e-02,-1.71677734e+00, 1.34994824e+01,-3.85705629e+01,
 -1.19255843e-01, 8.78330454e-01,-2.53718486e+00, 5.71345474e-01,
 -9.52100394e-02, 1.62506000e+00,-7.70288536e+00, 1.50066666e+01,
  2.58708873e-02,-4.95864912e-01, 1.56419784e+00,-5.13448978e+00,
 -1.30325304e+00, 5.20044984e-01,-1.80181637e+00, 1.00854738e+00,
 -7.29906305e+01, 1.91151727e+01]

qfrc_actuator:
[ 2.37810877e-03, 2.74655108e-02, 8.69771550e-03, 1.60172709e-03,
 -3.26334627e-05, 2.72492173e-02, 8.71501856e-03, 1.82481315e-03,
 -2.41104296e-03, 2.75557611e-02, 8.70771393e-03, 1.65487965e-03,
  0.00000000e+00,-1.46910858e-03, 0.00000000e+00,-7.00996459e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005860929857096769
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.18392372e-14,  9.47138979e-14,  1.00000000e+00, -1.12134031e-27,
        1.00000000e+00, -9.47138979e-14, -1.00000000e+00,  0.00000000e+00,
        1.18392372e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05016428, -0.06975444,  0.06194394])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.68524373e-06, 7.75130816e-05, 9.52017502e-06,-6.91197220e-05,
 -2.15051048e-05,-1.89542436e-05,-3.02724840e-05,-9.86506673e-06,
 -1.74698852e-05,-2.92886728e-05,-2.76489479e-05, 1.71708789e-05,
  3.28423363e-03,-6.81070289e-05, 9.25242682e-06,-2.21202755e-05,
  3.63760720e-05, 2.73817433e-05,-1.21644245e+00, 1.01004581e-05,
  7.63822513e-03, 1.78210566e-03]


--- Step 2598 ---
qpos:
[-2.50006366e-03, 8.65852355e-01,-2.37295799e-02, 4.11760997e-04,
 -2.92453219e-03, 8.61853919e-01,-2.71361336e-02, 3.11817959e-03,
 -1.18355274e-03, 8.70668697e-01,-1.92388640e-02,-2.13437367e-02,
  1.39623372e+00, 1.85415538e-02, 1.41707710e+00, 2.40416254e-02,
  4.13312435e-03,-5.76498124e-02, 8.05577380e-02, 7.04856149e-01,
 -4.84663720e-02,-7.06073098e-01,-4.78497671e-02]

qacc:
[-2.43198567e-01,-6.92517980e-01, 6.33428330e+00,-1.99531926e+01,
  5.02232946e-03, 1.87339496e+00,-2.22543672e+00,-1.12124734e+01,
 -4.63683402e-02,-1.35157368e+00, 7.97990531e+00,-2.18442366e+01,
  4.38592320e-02,-1.28046642e-01,-8.76030213e+00, 2.98855107e+01,
 -1.42404074e+00,-6.40706496e-01,-2.24671806e+00,-1.31582752e+00,
 -6.95729087e+01,-4.88392660e+01]

qfrc_actuator:
[ 2.33796534e-03, 2.74453790e-02, 8.67445016e-03, 1.55953792e-03,
 -2.13467079e-05, 2.72823943e-02, 8.66215438e-03, 1.78155786e-03,
 -2.41118527e-03, 2.75432385e-02, 8.69496704e-03, 1.61227508e-03,
  0.00000000e+00,-1.44546429e-03, 0.00000000e+00,-5.56246593e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005958748078170803
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.31590839e-14, -9.31590839e-14,  1.00000000e+00, -8.67861492e-27,
        1.00000000e+00,  9.31590839e-14, -1.00000000e+00,  0.00000000e+00,
       -9.31590839e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05358615, -0.04384827,  0.06194303])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.42777529e-05, 2.21795484e-05,-8.48783642e-06,-3.98859321e-05,
  1.07683659e-06, 1.59181038e-05,-6.08550732e-05,-4.53123935e-05,
 -8.50580465e-06,-3.39295149e-05,-2.16249909e-05,-4.44850308e-05,
  3.30159107e-03,-1.22184926e-05,-9.33607134e-07, 1.44103933e-04,
  4.66422051e-06, 1.47784328e-05,-1.21644186e+00, 8.34242839e-06,
  7.63817994e-03, 1.78208284e-03]


--- Step 2599 ---
qpos:
[-2.50092424e-03, 8.65853264e-01,-2.37282940e-02, 4.10403178e-04,
 -2.92489119e-03, 8.61853393e-01,-2.71366606e-02, 3.12085382e-03,
 -1.18377349e-03, 8.70670670e-01,-1.92393161e-02,-2.13447263e-02,
  1.39623259e+00, 1.85406363e-02, 1.41714644e+00, 2.40446717e-02,
  4.12442251e-03,-5.76471518e-02, 8.05393050e-02, 7.04690534e-01,
 -4.85028612e-02,-7.06237694e-01,-4.78230399e-02]

qacc:
[-1.46485021e-01,-4.46097611e+00, 1.31270024e+01,-1.04064275e+01,
  4.05405826e-02, 2.29194650e+00,-6.38729917e+00, 3.47878387e+00,
 -2.21115910e-02,-1.18584605e+00, 7.85921500e+00,-2.25605899e+01,
  6.31940999e-02,-2.83039521e-01,-9.12802979e-01, 3.43475421e+00,
 -1.37422536e+00,-6.21304820e-01,-2.50843891e+00,-1.31128247e+00,
 -6.71623102e+01,-4.71100829e+01]

qfrc_actuator:
[ 2.33214150e-03, 2.73614004e-02, 8.73165203e-03, 1.57084708e-03,
 -1.44065116e-05, 2.73201837e-02, 8.63099843e-03, 1.77271541e-03,
 -2.41114600e-03, 2.75527817e-02, 8.68753271e-03, 1.56950358e-03,
  0.00000000e+00,-1.46652197e-03, 0.00000000e+00,-5.43115361e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005995999859145715
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.25803078e-14,  9.25803078e-14,  1.00000000e+00, -8.57111339e-27,
        1.00000000e+00, -9.25803078e-14, -1.00000000e+00,  0.00000000e+00,
        9.25803078e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05357809, -0.04385111,  0.06194266])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.69372946e-05,-7.50824205e-05, 5.93460148e-05, 1.11895730e-05,
  7.45477956e-06, 3.21982449e-05,-3.69334961e-05,-1.11522203e-05,
 -4.03256414e-06,-1.58462903e-05,-1.86584218e-05,-4.58411246e-05,
  3.31527672e-03,-3.19164966e-05, 1.44179311e-05, 2.07727188e-05,
  4.81024185e-06,-7.69315049e-06,-1.21644128e+00, 6.42728623e-06,
  7.63829521e-03, 1.78220754e-03]


--- Step 2600 ---
qpos:
[-2.50157888e-03, 8.65853445e-01,-2.37260045e-02, 4.09190858e-04,
 -2.92516840e-03, 8.61853549e-01,-2.71372009e-02, 3.12331651e-03,
 -1.18345773e-03, 8.70672539e-01,-1.92396085e-02,-2.13458926e-02,
  1.39623151e+00, 1.85393600e-02, 1.41721609e+00, 2.40458610e-02,
  4.11039542e-03,-5.76469104e-02, 8.05099484e-02, 7.04428333e-01,
 -4.84829096e-02,-7.06498349e-01,-4.78561875e-02]

qacc:
[ 1.08864621e-01,-3.46252552e+00, 1.03398492e+01,-8.89588260e+00,
  4.28104299e-02, 5.02667690e-01, 4.08895910e-01,-4.55017335e+00,
  2.80254816e-01,-9.49063834e-01, 3.92653029e+00,-7.15921164e+00,
  7.24152819e-02,-2.69948494e-01, 6.06521154e+00,-2.05866079e+01,
 -1.33131384e+00,-6.04806685e-01,-2.73086511e+00,-1.30172959e+00,
 -6.51506007e+01,-4.56659821e+01]

qfrc_actuator:
[ 2.36466568e-03, 2.73289525e-02, 8.78240556e-03, 1.57803010e-03,
 -1.01457335e-05, 2.73960581e-02, 8.64848469e-03, 1.76647268e-03,
 -2.35775104e-03, 2.75577323e-02, 8.70114361e-03, 1.56251265e-03,
  0.00000000e+00,-1.47860663e-03, 0.00000000e+00,-6.43186559e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005964275649653974
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05358372, -0.04384967,  0.06194291])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.96667106e-05,-6.17275557e-05, 4.29312268e-05, 6.23775139e-06,
  7.80405498e-06, 8.57870980e-05, 1.92035802e-05,-6.36143952e-06,
  5.14667787e-05,-9.76859554e-06, 6.44306015e-06,-9.20849254e-06,
  3.32298414e-03,-2.87199027e-05, 6.53322220e-06,-9.76151713e-05,
  4.10983958e-05,-1.07500461e-05,-1.21644213e+00, 8.82370075e-06,
  7.63823246e-03, 1.78261389e-03]


--- Step 2601 ---
qpos:
[-2.50192977e-03, 8.65853435e-01,-2.37243989e-02, 4.08122768e-04,
 -2.92537927e-03, 8.61854290e-01,-2.71375185e-02, 3.12533457e-03,
 -1.18255565e-03, 8.70673702e-01,-1.92389667e-02,-2.13460745e-02,
  1.39623048e+00, 1.85380694e-02, 1.41728561e+00, 2.40471960e-02,
  4.09784971e-03,-5.76521941e-02, 8.04862770e-02, 7.04200898e-01,
 -4.83617607e-02,-7.06724347e-01,-4.79888813e-02]

qacc:
[ 1.58893471e-01, 1.95286306e+00,-7.94092702e+00, 1.16740146e+01,
  3.48506541e-02,-7.63078986e-01, 5.72077949e+00,-1.42034941e+01,
  3.07014179e-01,-1.51470371e+00,-1.00636535e-01, 1.61467204e+01,
  6.96850783e-02,-6.56827524e-02,-6.50360372e-01, 1.96388688e+00,
  3.70346036e-01,-1.38125072e+00, 1.42128216e+00, 4.92054169e-01,
  2.93225616e+01,-6.91373980e+01]

qfrc_actuator:
[ 2.38431848e-03, 2.73098473e-02, 8.74032926e-03, 1.58273754e-03,
 -7.52745195e-06, 2.74233582e-02, 8.65920046e-03, 1.74411625e-03,
 -2.32616227e-03, 2.75067602e-02, 8.74483653e-03, 1.61214850e-03,
  0.00000000e+00,-1.46737890e-03, 0.00000000e+00,-6.31580334e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006212985852767985
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.93469783e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.93469783e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00082488, -0.03585214,  0.06194053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.90206840e-05,-4.45049257e-05,-4.93372597e-05, 3.66838618e-06,
  6.33316761e-06, 7.89614208e-05, 3.05780621e-05,-1.81439296e-05,
  5.62337123e-05,-5.55311839e-05, 4.21395794e-05, 4.92599646e-05,
  3.31976394e-03, 4.94943104e-07,-1.00469718e-05, 6.49820085e-06,
  1.10224777e-04, 3.74969620e-06,-1.21644419e+00, 1.50642335e-05,
  7.63800125e-03, 1.78328573e-03]


--- Step 2602 ---
qpos:
[-2.50201288e-03, 8.65853081e-01,-2.37230277e-02, 4.07799020e-04,
 -2.92535512e-03, 8.61855568e-01,-2.71379695e-02, 3.12744557e-03,
 -1.18136773e-03, 8.70674509e-01,-1.92387161e-02,-2.13452676e-02,
  1.39622966e+00, 1.85372061e-02, 1.41735488e+00, 2.40499782e-02,
  4.08672358e-03,-5.76627227e-02, 8.04662666e-02, 7.04006559e-01,
 -4.81439644e-02,-7.06917305e-01,-4.82166686e-02]

qacc:
[ 1.40408978e-01, 1.73249818e+00,-9.97866518e+00, 2.34894145e+01,
  1.23506517e-01, 1.27145938e+00,-3.89836668e+00, 5.32732346e+00,
  1.49159724e-01, 2.66137349e+00,-1.43352334e+01, 3.23183309e+01,
  6.37349427e-02, 2.40567808e-01,-4.74319526e+00, 1.60703011e+01,
  3.54895678e-01,-1.31123966e+00, 9.15267226e-01, 4.34650238e-01,
  2.79466981e+01,-6.60409874e+01]

qfrc_actuator:
[ 2.39606827e-03, 2.72985033e-02, 8.73260420e-03, 1.62140797e-03,
  1.18406874e-05, 2.74390903e-02, 8.64787075e-03, 1.74791459e-03,
 -2.32567427e-03, 2.74761354e-02, 8.71697708e-03, 1.65916474e-03,
  0.00000000e+00,-1.42461226e-03, 0.00000000e+00,-5.54227423e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006402860011440886
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.66974307e-14, -2.60092292e-13,  1.00000000e+00,  2.25493335e-26,
        1.00000000e+00,  2.60092292e-13, -1.00000000e+00,  0.00000000e+00,
        8.66974307e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00083409, -0.0358714 ,  0.06193872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.55822339e-05,-4.62692981e-05,-2.28792449e-05, 3.51266148e-05,
  2.23840004e-05, 6.54058537e-05, 8.11085378e-06, 7.88223864e-06,
  2.74078880e-05,-5.08885156e-05,-3.24459238e-05, 4.70533250e-05,
  3.31724493e-03, 4.40128815e-05,-4.69955802e-06, 7.62315014e-05,
  9.16951946e-05, 4.34875727e-05,-1.21644308e+00, 2.08702768e-05,
  7.63763352e-03, 1.78298114e-03]


--- Step 2603 ---
qpos:
[-2.50171038e-03, 8.65853365e-01,-2.37224494e-02, 4.06816555e-04,
 -2.92491235e-03, 8.61857123e-01,-2.71378146e-02, 3.12853187e-03,
 -1.18004664e-03, 8.70675094e-01,-1.92394212e-02,-2.13435349e-02,
  1.39622918e+00, 1.85369637e-02, 1.41742406e+00, 2.40539834e-02,
  4.07854520e-03,-5.76714780e-02, 8.04563856e-02, 7.03864653e-01,
 -4.79666459e-02,-7.07057783e-01,-4.84049837e-02]

qacc:
[  0.20140961,  1.6994491 , -2.05909999, -8.53859949,  0.2207012 ,
  -3.43346604, 17.10070689,-36.01150132,  0.06905796,  4.28161227,
 -19.59418845, 37.29280064,  0.04949372,  0.40778808, -3.84281291,
  13.2474854 ,  0.7369358 ,  0.44330815,  2.53232657, -0.29954503,
  35.07939985, 30.72893661]

qfrc_actuator:
[ 2.42074334e-03, 2.73808078e-02, 8.70980869e-03, 1.59103522e-03,
  4.10635320e-05, 2.74476966e-02, 8.67683861e-03, 1.69603554e-03,
 -2.32602813e-03, 2.74576505e-02, 8.66489076e-03, 1.70421110e-03,
  0.00000000e+00,-1.38111063e-03, 0.00000000e+00,-4.92044339e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006586131280560542
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.21424573e-14, -2.52854744e-13,  1.00000000e+00,  1.06559202e-26,
        1.00000000e+00,  2.52854744e-13, -1.00000000e+00,  0.00000000e+00,
        4.21424573e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00420875, -0.06309853,  0.06193697])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.68676987e-05, 5.32124113e-05,-3.39623717e-05,-3.24642989e-05,
  3.98559687e-05, 4.71649613e-05, 4.37379195e-05,-4.86478603e-05,
  1.27647968e-05,-5.16434264e-05,-6.49733001e-05, 4.26581626e-05,
  3.30711571e-03, 6.61875829e-05, 5.89696478e-06, 6.57042308e-05,
  7.55791926e-05, 7.59138387e-05,-1.21644351e+00, 2.11152888e-05,
  7.63748516e-03, 1.78286219e-03]


--- Step 2604 ---
qpos:
[-2.50088718e-03, 8.65854788e-01,-2.37230424e-02, 4.05092650e-04,
 -2.92427765e-03, 8.61858997e-01,-2.71375618e-02, 3.12867277e-03,
 -1.17904037e-03, 8.70675024e-01,-1.92397555e-02,-2.13413124e-02,
  1.39622875e+00, 1.85369969e-02, 1.41749313e+00, 2.40597102e-02,
  4.07317098e-03,-5.76785264e-02, 8.04544273e-02, 7.03772836e-01,
 -4.78279143e-02,-7.07148235e-01,-4.85557425e-02]

qacc:
[  0.2718196 ,  3.25068459, -6.27675492, -5.51563771,  0.10097673,
  -1.79635642, 11.00918321,-27.76449532, -0.16389751, -0.89098302,
  -0.14113502,  8.4979621 ,  0.0371692 ,  0.13894676, -5.37793737,
  18.57392386,  0.7010412 ,  0.42673327,  1.98067216, -0.3122826 ,
  33.47955919, 29.27093786]

qfrc_actuator:
[ 2.45294866e-03, 2.74652002e-02, 8.66087052e-03, 1.55584716e-03,
  4.04163258e-05, 2.74520725e-02, 8.67604124e-03, 1.64733577e-03,
 -2.36235405e-03, 2.74287072e-02, 8.68775225e-03, 1.72999041e-03,
  0.00000000e+00,-1.39079053e-03, 0.00000000e+00,-4.03812400e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006750475982131299
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.22329438e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.22329438e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00419725, -0.06309331,  0.06193543])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.97919229e-05, 1.05736882e-04,-4.32618959e-05,-3.47163888e-05,
  1.82776726e-05, 3.76631896e-05, 1.26328446e-05,-4.61172750e-05,
 -3.02190444e-05,-6.94196847e-05, 5.66769076e-06, 2.21481761e-05,
  3.28936643e-03, 2.54809539e-05, 9.28011846e-06, 9.24410421e-05,
  4.13521356e-05, 4.66564282e-05,-1.21644165e+00, 1.07322853e-05,
  7.63774433e-03, 1.78290265e-03]


--- Step 2605 ---
qpos:
[-2.49980563e-03, 8.65855990e-01,-2.37237943e-02, 4.04447281e-04,
 -2.92374627e-03, 8.61861056e-01,-2.71372745e-02, 3.12859644e-03,
 -1.17822933e-03, 8.70674576e-01,-1.92390637e-02,-2.13392258e-02,
  1.39622826e+00, 1.85371242e-02, 1.41756214e+00, 2.40671256e-02,
  4.07048194e-03,-5.76839242e-02, 8.04585322e-02, 7.03729149e-01,
 -4.77261954e-02,-7.07190692e-01,-4.86705334e-02]

qacc:
[ 1.35478522e-01, 2.36895448e+00,-1.34267846e+01, 3.25116962e+01,
 -5.44723324e-02,-2.99301386e-01, 2.33891712e+00,-6.29011106e+00,
 -1.01168367e-01,-3.64607159e+00, 1.28475599e+01,-1.65605055e+01,
  3.87699281e-02, 9.94773004e-04,-5.20239837e+00, 1.80650220e+01,
  6.71295601e-01, 4.12663144e-01, 1.51582292e+00,-3.21091832e-01,
  3.21477523e+01, 2.80596165e+01]

qfrc_actuator:
[ 2.45387751e-03, 2.73903133e-02, 8.63244765e-03, 1.60687927e-03,
  2.19063338e-05, 2.74537568e-02, 8.67540298e-03, 1.63637942e-03,
 -2.36661059e-03, 2.74472672e-02, 8.75463830e-03, 1.72652246e-03,
  0.00000000e+00,-1.39677714e-03, 0.00000000e+00,-3.18691682e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000681700638077154
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.62860787e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.62860787e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00419277, -0.06309107,  0.06193481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.46833371e-05,-2.62049769e-05,-1.31214487e-05, 5.33889977e-05,
 -9.82874435e-06, 2.33332375e-05, 7.08312199e-06,-9.80711429e-06,
 -1.87344878e-05,-1.81399872e-05, 5.40150118e-05,-5.81458935e-06,
  3.28684721e-03, 5.72698555e-06, 1.31773838e-05, 9.11217723e-05,
  1.82487084e-05, 2.50496070e-05,-1.21644043e+00, 2.92205350e-06,
  7.63797431e-03, 1.78290545e-03]


--- Step 2606 ---
qpos:
[-2.49841546e-03, 8.65856880e-01,-2.37247736e-02, 4.04435850e-04,
 -2.92338209e-03, 8.61862780e-01,-2.71361757e-02, 3.12805723e-03,
 -1.17698554e-03, 8.70674324e-01,-1.92380459e-02,-2.13379144e-02,
  1.39622793e+00, 1.85371553e-02, 1.41763149e+00, 2.40731699e-02,
  4.07038017e-03,-5.76877186e-02, 8.04671386e-02, 7.03731958e-01,
 -4.76601818e-02,-7.07186829e-01,-4.87506680e-02]

qacc:
[  0.16180846,  1.52896433, -8.72459928, 20.28965559, -0.08744876,
  -3.65939594, 14.36184467,-23.42907979,  0.22605576, -2.24741203,
  11.65608116,-25.72474658,  0.04135674, -0.05927409,  4.64059992,
 -15.52707721,  0.64681766,  0.40085325,  1.1253586 , -0.3268327 ,
  31.04305595, 27.05636719]

qfrc_actuator:
[ 2.47159984e-03, 2.73627869e-02, 8.61578995e-03, 1.63710957e-03,
  1.06497811e-05, 2.74183276e-02, 8.71038958e-03, 1.61221384e-03,
 -2.31611389e-03, 2.74765619e-02, 8.77612485e-03, 1.68818332e-03,
  0.00000000e+00,-1.40047647e-03, 0.00000000e+00,-3.95866943e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00068051112045793
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.1572732e-14, -8.1572732e-14,  1.0000000e+00,  6.6541106e-27,
        1.0000000e+00,  8.1572732e-14, -1.0000000e+00,  0.0000000e+00,
        8.1572732e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00419387, -0.06309121,  0.06193494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.94866553e-05,-4.26235373e-05,-2.18422400e-05, 2.96926569e-05,
 -1.59191693e-05,-2.13917709e-05, 4.03204047e-05,-2.31150915e-05,
  4.15234788e-05, 3.00587822e-05, 2.41885942e-05,-3.73628724e-05,
  3.29003967e-03,-2.66396380e-06, 1.43837193e-05,-7.08464054e-05,
  4.84814877e-06, 1.00849716e-05,-1.21643973e+00,-2.59324360e-06,
  7.63818173e-03, 1.78287002e-03]


--- Step 2607 ---
qpos:
[-2.49677488e-03, 8.65858172e-01,-2.37254387e-02, 4.04656630e-04,
 -2.92335515e-03, 8.61864057e-01,-2.71348981e-02, 3.12867285e-03,
 -1.17522669e-03, 8.70674822e-01,-1.92381093e-02,-2.13377366e-02,
  1.39622760e+00, 1.85369779e-02, 1.41770091e+00, 2.40782689e-02,
  4.07278568e-03,-5.76899487e-02, 8.04789383e-02, 7.03779902e-01,
 -4.76287916e-02,-7.07138019e-01,-4.87972255e-02]

qacc:
[  0.13135497,  0.13112375, -0.67688248,  3.89736176, -0.17727617,
   1.28695645,-10.32049744, 30.35073748,  0.26793859,  1.67336716,
   0.24391199,-18.66473151,  0.03637003, -0.15860292,  2.97062273,
 -10.24143083,  0.62681949,  0.39105104,  0.79834637, -0.33010948,
  30.13051586, 26.22852027]

qfrc_actuator:
[ 2.48149198e-03, 2.74526175e-02, 8.65958147e-03, 1.65487196e-03,
 -1.39021383e-05, 2.73788292e-02, 8.71270255e-03, 1.66921844e-03,
 -2.28657305e-03, 2.75118735e-02, 8.71740361e-03, 1.62961510e-03,
  0.00000000e+00,-1.42040339e-03, 0.00000000e+00,-4.43767224e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006731056992186693
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.24701845e-14,  8.24701845e-14,  1.00000000e+00, -6.80133134e-27,
        1.00000000e+00, -8.24701845e-14, -1.00000000e+00,  0.00000000e+00,
        8.24701845e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0041994 , -0.06309322,  0.06193565])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.39461090e-05, 6.27444089e-05, 3.33244702e-05, 1.57580753e-05,
 -3.21113093e-05,-4.41743485e-05, 2.04152360e-06, 5.70305977e-05,
  4.94268411e-05, 5.55193329e-05,-5.08345230e-05,-5.71755240e-05,
  3.28206606e-03,-1.77643105e-05,-3.56259648e-06,-5.05565749e-05,
  7.04580823e-08, 9.92990471e-07,-1.21643949e+00,-6.02711124e-06,
  7.63837119e-03, 1.78279613e-03]


--- Step 2608 ---
qpos:
[-2.49533270e-03, 8.65859462e-01,-2.37243835e-02, 4.06076470e-04,
 -2.92345450e-03, 8.61864771e-01,-2.71334883e-02, 3.12998548e-03,
 -1.17378718e-03, 8.70676039e-01,-1.92397916e-02,-2.13382202e-02,
  1.39622723e+00, 1.85365936e-02, 1.41777031e+00, 2.40827500e-02,
  4.07763363e-03,-5.76906468e-02, 8.04928392e-02, 7.03871852e-01,
 -4.76311324e-02,-7.07045380e-01,-4.88110885e-02]

qacc:
[ -0.10287697, -2.33745483,  3.27241385, 14.72510404, -0.06618825,
   0.32142644, -5.16781891, 17.4335114 , -0.16802675,  4.11108865,
 -10.48993531,  1.11178254,  0.03771813, -0.16906048,  1.82984406,
  -6.46805353,  0.61060791,  0.38301087,  0.5252823 , -0.33133968,
  29.38046109, 25.54856605]

qfrc_actuator:
[ 2.45111553e-03, 2.74702525e-02, 8.75694434e-03, 1.71855964e-03,
 -1.06890874e-05, 2.73371347e-02, 8.71347204e-03, 1.70248205e-03,
 -2.34087164e-03, 2.75324127e-02, 8.62958705e-03, 1.59508318e-03,
  0.00000000e+00,-1.43216351e-03, 0.00000000e+00,-4.73979783e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006608447533284836
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.40002905e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.40002905e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00420837, -0.06309668,  0.06193682])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89532768e-05, 6.02519276e-05, 1.14965931e-04, 6.78337334e-05,
 -1.20360279e-05,-6.35766248e-05,-6.14892974e-06, 3.25476956e-05,
 -3.06234008e-05, 3.86364320e-05,-8.45945194e-05,-3.50291587e-05,
  3.28164952e-03,-1.90829411e-05,-8.80279766e-06,-3.38585232e-05,
  3.09888875e-06,-2.81136296e-06,-1.21643966e+00,-7.54303151e-06,
  7.63854565e-03, 1.78268374e-03]


--- Step 2609 ---
qpos:
[-2.49436633e-03, 8.65860730e-01,-2.37228577e-02, 4.08337611e-04,
 -2.92359230e-03, 8.61864850e-01,-2.71319822e-02, 3.13135355e-03,
 -1.17265907e-03, 8.70677619e-01,-1.92419386e-02,-2.13388027e-02,
  1.39622723e+00, 1.85362912e-02, 1.41783988e+00, 2.40848091e-02,
  4.08487189e-03,-5.76898389e-02, 8.05079320e-02, 7.04006870e-01,
 -4.76664723e-02,-7.06909810e-01,-4.87929741e-02]

qacc:
[-2.49109441e-01, 3.87899358e-01,-4.97618262e+00, 1.87988422e+01,
 -1.99636316e-02,-9.92905860e-01, 2.08974051e+00,-8.18648495e-01,
 -1.63011534e-01, 1.57465678e+00,-4.50141856e+00, 3.26871988e+00,
  3.14791125e-02, 1.07126935e-01, 7.61209292e+00,-2.62219430e+01,
  5.97579899e-01, 3.76502428e-01, 2.97974728e-01,-3.30804604e-01,
  2.87678021e+01, 2.49934082e+01]

qfrc_actuator:
[ 2.41467919e-03, 2.74270606e-02, 8.76065000e-03, 1.75548489e-03,
 -8.64574376e-06, 2.72944176e-02, 8.71329047e-03, 1.70374433e-03,
 -2.35608237e-03, 2.75615698e-02, 8.61404656e-03, 1.59270700e-03,
  0.00000000e+00,-1.40343644e-03, 0.00000000e+00,-6.00044838e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006448622498181622
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.60821846e-14, -8.60821846e-14,  1.00000000e+00,  7.41014251e-27,
        1.00000000e+00,  8.60821846e-14, -1.00000000e+00,  0.00000000e+00,
        8.60821846e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00421997, -0.06310126,  0.06193834])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.54728885e-05, 1.71033378e-05, 3.26400282e-05, 4.48000760e-05,
 -3.67823718e-06,-7.81750437e-05,-1.29615166e-05,-1.04554995e-06,
 -2.98658707e-05, 3.17761066e-05,-1.91885853e-05,-4.32971229e-06,
  3.28325361e-03, 2.00133253e-05,-9.06788297e-06,-1.29383743e-04,
  1.33203924e-05,-1.77028002e-06,-1.21644021e+00,-7.26548939e-06,
  7.63870676e-03, 1.78253289e-03]


--- Step 2610 ---
qpos:
[-2.49385671e-03, 8.65862343e-01,-2.37224255e-02, 4.10396578e-04,
 -2.92373455e-03, 8.61863965e-01,-2.71306064e-02, 3.13313050e-03,
 -1.17177774e-03, 8.70678696e-01,-1.92433789e-02,-2.13390340e-02,
  1.39622745e+00, 1.85360743e-02, 1.41790941e+00, 2.40853344e-02,
  4.09445901e-03,-5.76875458e-02, 8.05234624e-02, 7.04184185e-01,
 -4.77342138e-02,-7.06732024e-01,-4.87434591e-02]

qacc:
[-2.40283392e-01, 3.09285930e+00,-9.51538039e+00, 7.51550065e+00,
 -2.05481965e-03,-6.81205571e-02,-3.33172156e+00, 1.13254999e+01,
 -1.28217037e-01,-1.91601604e+00, 4.38647742e+00, 9.24756481e-01,
  1.18246490e-02, 9.53512292e-02, 4.58547250e+00,-1.61227884e+01,
  5.87215030e-01, 3.71314823e-01, 1.09402853e-01,-3.28686453e-01,
  2.82713674e+01, 2.45436831e+01]

qfrc_actuator:
[ 2.39271633e-03, 2.74184042e-02, 8.69097009e-03, 1.74072553e-03,
 -7.34154223e-06, 2.72158787e-02, 8.69476865e-03, 1.72167384e-03,
 -2.36547320e-03, 2.75072035e-02, 8.64136519e-03, 1.60932622e-03,
  0.00000000e+00,-1.40388102e-03, 0.00000000e+00,-6.75054265e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006261000488857194
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.86617903e-14, -8.86617903e-14,  1.00000000e+00,  7.86091306e-27,
        1.00000000e+00,  8.86617903e-14, -1.00000000e+00,  0.00000000e+00,
        8.86617903e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00423354, -0.06310667,  0.06194011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.36492749e-05, 9.51471520e-06,-6.06010937e-05,-1.20320676e-05,
 -4.51269479e-07,-1.24990635e-04,-3.63147559e-05, 1.41072194e-05,
 -2.36850069e-05,-4.07670286e-05, 3.13738769e-05, 1.72335448e-05,
  3.26508283e-03, 1.54960154e-05,-1.95313231e-05,-8.36332534e-05,
  3.02799055e-05, 3.78495619e-06,-1.21644113e+00,-5.28846815e-06,
  7.63885509e-03, 1.78234364e-03]


--- Step 2611 ---
qpos:
[-2.49333066e-03, 8.65864481e-01,-2.37226289e-02, 4.11172469e-04,
 -2.92387017e-03, 8.61862669e-01,-2.71301832e-02, 3.13405907e-03,
 -1.17126040e-03, 8.70678984e-01,-1.92437095e-02,-2.13390551e-02,
  1.39622800e+00, 1.85360543e-02, 1.41797895e+00, 2.40839235e-02,
  4.10636240e-03,-5.76837836e-02, 8.05388071e-02, 7.04403160e-01,
 -4.78338735e-02,-7.06512577e-01,-4.86630014e-02]

qacc:
[ 7.96352106e-03,-1.72440644e-01, 7.03675397e+00,-2.86106837e+01,
  2.97884744e-03, 3.71333527e-01, 1.46840151e+00,-1.43241526e+01,
 -1.89076318e-01,-3.71016620e+00, 1.08294603e+01,-8.39031724e+00,
 -5.45083372e-03, 2.04074239e-01, 5.89258023e+00,-2.05627321e+01,
  5.79066804e-01, 3.67258161e-01,-4.64290730e-02,-3.25095629e-01,
  2.78733059e+01, 2.41831612e+01]

qfrc_actuator:
[ 2.41511408e-03, 2.74656165e-02, 8.66739813e-03, 1.67790974e-03,
 -6.49946101e-06, 2.72051929e-02, 8.64767814e-03, 1.67821754e-03,
 -2.38906481e-03, 2.74567026e-02, 8.69341379e-03, 1.61917960e-03,
  0.00000000e+00,-1.38635966e-03, 0.00000000e+00,-7.72607737e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.47705108, -5.76552298,  2.95142939, -5.76552298,  8.10101098,
        3.17235376,  2.95142939,  3.17235376, 12.67414277,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006053372666865175
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.17028478e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.17028478e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00424852, -0.06311269,  0.06194207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.58209657e-06, 3.94500381e-05,-2.95084137e-05,-6.47454809e-05,
  6.12710481e-07,-8.74655812e-05,-7.68969421e-05,-4.97964151e-05,
 -3.49365573e-05,-6.60947015e-05, 4.80947061e-05, 9.53084563e-06,
  3.25363442e-03, 2.87639535e-05,-1.87182114e-05,-1.04836889e-04,
  5.36452218e-05, 1.36094737e-05,-1.21644241e+00,-1.68200478e-06,
  7.63899022e-03, 1.78211608e-03]


--- Step 2612 ---
qpos:
[-2.49302992e-03, 8.65866682e-01,-2.37227027e-02, 4.10849937e-04,
 -2.92418364e-03, 8.61862114e-01,-2.71314769e-02, 3.13367305e-03,
 -1.17050991e-03, 8.70679669e-01,-1.92441647e-02,-2.13386803e-02,
  1.39622905e+00, 1.85363736e-02, 1.41804859e+00, 2.40796537e-02,
  4.12053247e-03,-5.76785992e-02, 8.05535381e-02, 7.04662885e-01,
 -4.79643382e-02,-7.06252278e-01,-4.85526598e-02]

qacc:
[-1.18119884e-01,-2.53818649e+00, 1.38095962e+01,-3.30753397e+01,
 -9.50901436e-02, 3.06562936e+00,-3.96360867e+00,-1.65826004e+01,
  1.21536744e-01, 1.68978696e+00,-6.93019452e+00, 1.36844011e+01,
 -3.13725110e-02, 3.56295377e-01, 8.82235943e+00,-3.06064980e+01,
  5.66668493e-01, 3.55554188e-01,-1.53404664e-01,-3.12274769e-01,
  2.73186571e+01, 2.33757578e+01]

qfrc_actuator:
[ 2.39282719e-03, 2.74572683e-02, 8.67147030e-03, 1.62292712e-03,
 -2.36965648e-05, 2.73060621e-02, 8.58432093e-03, 1.61677609e-03,
 -2.34995041e-03, 2.75332765e-02, 8.70635668e-03, 1.64272660e-03,
  0.00000000e+00,-1.35820438e-03, 0.00000000e+00,-9.18176805e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005831237855693055
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84462105e-07, -9.84462049e-07,  1.00000000e+00, -9.69165581e-13,
        1.00000000e+00,  9.84462049e-07, -1.00000000e+00,  0.00000000e+00,
       -9.84462105e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00408448, -0.06294817,  0.06194417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.15307315e-05, 4.79245413e-06, 6.32678779e-06,-5.55784993e-05,
 -1.69153067e-05, 3.39724920e-05,-9.26136639e-05,-6.88192472e-05,
  2.23780729e-05, 4.99485100e-05, 5.54860527e-06, 2.25681292e-05,
  3.23708995e-03, 4.70887077e-05,-2.06511120e-05,-1.53916360e-04,
  8.31799353e-05, 2.75259660e-05,-1.21644406e+00, 3.50273709e-06,
  7.63911089e-03, 1.78185027e-03]


--- Step 2613 ---
qpos:
[-2.49279051e-03, 8.65868410e-01,-2.37224644e-02, 4.09582661e-04,
 -2.92450102e-03, 8.61862276e-01,-2.71337379e-02, 3.13250294e-03,
 -1.16959295e-03, 8.70681560e-01,-1.92459631e-02,-2.13387375e-02,
  1.39623021e+00, 1.85367740e-02, 1.41811808e+00, 2.40739846e-02,
  4.12930897e-03,-5.76711139e-02, 8.05623124e-02, 7.04817343e-01,
 -4.81279108e-02,-7.06097105e-01,-4.84055352e-02]

qacc:
[-3.18457107e-02,-3.44165605e+00, 1.53517084e+01,-3.18552107e+01,
 -2.97185541e-03, 2.03345333e+00,-2.56840598e+00,-9.97842236e+00,
  8.56404584e-02, 4.45569975e+00,-1.17539592e+01, 5.54564182e+00,
 -5.60437832e-02, 1.32855178e-01, 4.04116721e+00,-1.44123648e+01,
 -1.34839113e+00, 5.75222641e-01,-1.48919520e+00, 1.35165353e+00,
 -7.58967700e+01, 1.95744342e+01]

qfrc_actuator:
[ 2.39722257e-03, 2.73980826e-02, 8.67386536e-03, 1.57297299e-03,
 -1.60301004e-05, 2.73663608e-02, 8.54785410e-03, 1.58085439e-03,
 -2.34467449e-03, 2.76142132e-02, 8.64336873e-03, 1.62096201e-03,
  0.00000000e+00,-1.37714775e-03, 0.00000000e+00,-9.84342392e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005782762018513299
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.59941825e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.59941825e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0501744 , -0.06977067,  0.06194465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.87459587e-06,-5.76344241e-05, 2.22460786e-06,-5.06141964e-05,
 -3.56622670e-07, 5.72422411e-05,-4.32281682e-05,-3.90078667e-05,
  1.59975293e-05, 1.10969784e-04,-5.12102669e-05,-1.89959331e-05,
  3.21210892e-03, 1.11926159e-05,-2.68189921e-05,-7.74534030e-05,
  1.18315327e-04, 4.50258510e-05,-1.21644608e+00, 1.01226468e-05,
  7.63920776e-03, 1.78154997e-03]


--- Step 2614 ---
qpos:
[-2.49236741e-03, 8.65868787e-01,-2.37217876e-02, 4.08523105e-04,
 -2.92458381e-03, 8.61862136e-01,-2.71358345e-02, 3.13165419e-03,
 -1.16875286e-03, 8.70683247e-01,-1.92471405e-02,-2.13390095e-02,
  1.39623136e+00, 1.85373358e-02, 1.41818731e+00, 2.40685322e-02,
  4.13287990e-03,-5.76614478e-02, 8.05639309e-02, 7.04870440e-01,
 -4.83236183e-02,-7.06043227e-01,-4.82229518e-02]

qacc:
[ 9.70671706e-02,-2.58117267e+00, 5.73736113e+00,-1.85303095e+00,
  1.23780067e-01,-1.97563160e-01,-1.23196158e+00, 6.75269229e+00,
 -3.96858647e-02,-2.44799210e+00, 9.23968171e+00,-1.37942055e+01,
 -6.46809435e-02, 1.55999102e-01,-1.04881101e+00, 3.10821275e+00,
 -1.30139106e+00, 5.45193877e-01,-1.78895098e+00, 1.20653835e+00,
 -7.31141051e+01, 1.89504391e+01]

qfrc_actuator:
[ 2.41755347e-03, 2.72734014e-02, 8.67501981e-03, 1.57957952e-03,
  6.45170888e-06, 2.73132821e-02, 8.54521155e-03, 1.59574513e-03,
 -2.35972823e-03, 2.75547791e-02, 8.66035917e-03, 1.60818541e-03,
  0.00000000e+00,-1.37096993e-03, 0.00000000e+00,-9.67676601e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.31927243, -5.79599543,  2.51786437, -5.79599543, 16.17305943,
       22.6829154 ,  2.51786437, 22.6829154 , 58.53418745,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005864387790835493
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.7329025e-14,  4.7329025e-14,  1.0000000e+00, -2.2400366e-27,
        1.0000000e+00, -4.7329025e-14, -1.0000000e+00,  0.0000000e+00,
        4.7329025e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05015903, -0.06976701,  0.0619439 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.75197274e-05,-1.58660270e-04,-1.22401723e-05, 3.22840126e-06,
  2.23207322e-05,-3.16531449e-05, 2.52154373e-06, 1.50923576e-05,
 -7.37697723e-06,-8.79816831e-06, 3.29418891e-05,-1.01682511e-05,
  3.20613026e-03, 1.33235097e-05,-2.11514611e-05, 8.87288666e-06,
  4.70868133e-05, 4.09644432e-05,-1.21644459e+00, 8.71634322e-06,
  7.63916271e-03, 1.78186744e-03]


--- Step 2615 ---
qpos:
[-2.49210366e-03, 8.65868430e-01,-2.37213528e-02, 4.08555505e-04,
 -2.92441461e-03, 8.61861429e-01,-2.71372421e-02, 3.13133380e-03,
 -1.16804663e-03, 8.70684557e-01,-1.92485174e-02,-2.13390067e-02,
  1.39623247e+00, 1.85380127e-02, 1.41825640e+00, 2.40632856e-02,
  4.13140402e-03,-5.76496998e-02, 8.05573773e-02, 7.04825394e-01,
 -4.85506485e-02,-7.06087403e-01,-4.80060141e-02]

qacc:
[-8.33807342e-02, 1.95404494e+00,-1.29834521e+01, 3.28086979e+01,
  1.33385314e-01,-1.58345118e+00, 2.33132235e+00, 6.12548466e+00,
 -6.98701880e-02, 6.26453838e-01,-4.11178400e+00, 9.45611037e+00,
 -6.63636611e-02, 1.25330965e-01,-8.05633012e-01, 2.56155648e+00,
 -1.26170302e+00, 5.20486741e-01,-2.04302234e+00, 1.08150723e+00,
 -7.07897018e+01, 1.84296473e+01]

qfrc_actuator:
[ 2.39396729e-03, 2.72702631e-02, 8.67517866e-03, 1.63710053e-03,
  1.98331562e-05, 2.72816726e-02, 8.57987120e-03, 1.62257889e-03,
 -2.36905039e-03, 2.75008143e-02, 8.63514648e-03, 1.61850965e-03,
  0.00000000e+00,-1.36758484e-03, 0.00000000e+00,-9.55626247e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005871371470828612
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.54545472e-14, -2.83636378e-13,  1.00000000e+00,  1.00561994e-26,
        1.00000000e+00,  2.83636378e-13, -1.00000000e+00,  0.00000000e+00,
        3.54545472e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05015756, -0.06976754,  0.06194384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52522938e-05,-9.42592187e-05,-3.40129673e-05, 5.03633703e-05,
  2.39726625e-05,-4.81179047e-05, 2.89742787e-05, 2.58632459e-05,
 -1.28530261e-05,-5.25460348e-05,-2.33265064e-05, 1.08894364e-05,
  3.20684001e-03, 8.63900264e-06,-9.03877393e-06, 9.77888469e-06,
  8.95361579e-06, 2.45688232e-05,-1.21644424e+00, 6.30983783e-06,
  7.63917402e-03, 1.78210721e-03]


--- Step 2616 ---
qpos:
[-2.49187865e-03, 8.65868469e-01,-2.37212194e-02, 4.09478733e-04,
 -2.92423035e-03, 8.61860534e-01,-2.71380789e-02, 3.13164201e-03,
 -1.16746506e-03, 8.70686119e-01,-1.92501528e-02,-2.13393018e-02,
  1.39623375e+00, 1.85390880e-02, 1.41832542e+00, 2.40582055e-02,
  4.12421427e-03,-5.76404542e-02, 8.05417314e-02, 7.04677623e-01,
 -4.87172255e-02,-7.06233808e-01,-4.78527802e-02]

qacc:
[-2.05963912e-02, 3.19845300e+00,-1.44055172e+01, 3.00155891e+01,
  8.39146391e-03,-5.49406950e-01,-1.05572412e+00, 1.11595187e+01,
 -6.53538374e-02, 4.39814177e-01, 1.67868778e-01,-5.08913519e+00,
 -7.29756083e-02, 3.48880533e-01,-5.97386216e-01, 1.96954490e+00,
 -1.42846858e+00,-6.25612630e-01,-2.27305828e+00,-1.22567741e+00,
 -6.92956665e+01,-4.87399722e+01]

qfrc_actuator:
[ 2.39755832e-03, 2.73754790e-02, 8.69299785e-03, 1.68869764e-03,
  9.89051173e-06, 2.72988344e-02, 8.61856931e-03, 1.65624292e-03,
 -2.37484587e-03, 2.75569002e-02, 8.63844202e-03, 1.60678565e-03,
  0.00000000e+00,-1.33038835e-03, 0.00000000e+00,-9.46420877e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005949937469624245
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05359187, -0.04386313,  0.06194309])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.69335917e-06, 4.76430800e-05,-4.09633182e-06, 4.73624971e-05,
  1.43018541e-06,-2.62113985e-06, 3.32426138e-05, 3.31124099e-05,
 -1.19540498e-05, 2.23318832e-05,-1.00516907e-05,-1.45683162e-05,
  3.20851014e-03, 4.00805197e-05,-4.03215185e-06, 8.38899837e-06,
  5.12421326e-07,-3.02992350e-06,-1.21644498e+00, 3.04823879e-06,
  7.63924972e-03, 1.78229578e-03]


--- Step 2617 ---
qpos:
[-2.49127890e-03, 8.65869147e-01,-2.37207653e-02, 4.10245293e-04,
 -2.92391599e-03, 8.61859504e-01,-2.71384403e-02, 3.13235034e-03,
 -1.16679598e-03, 8.70687558e-01,-1.92505666e-02,-2.13391007e-02,
  1.39623508e+00, 1.85408277e-02, 1.41839411e+00, 2.40556091e-02,
  4.11151799e-03,-5.76336455e-02, 8.05159598e-02, 7.04430597e-01,
 -4.88255781e-02,-7.06478930e-01,-4.77610509e-02]

qacc:
[ 1.96441664e-01,-3.74617740e-01, 3.22118353e+00,-6.91486310e+00,
  6.88923804e-02,-6.82062771e-01, 4.84923312e-01, 5.77777710e+00,
  4.65222930e-02,-2.55181245e+00, 6.77332186e+00,-5.73704035e-02,
 -8.64838226e-02, 4.96491299e-01,-7.99844527e+00, 2.73055879e+01,
 -1.37663323e+00,-6.09215136e-01,-2.53145395e+00,-1.25928879e+00,
 -6.69391430e+01,-4.70099060e+01]

qfrc_actuator:
[ 2.43515145e-03, 2.74383549e-02, 8.72156948e-03, 1.68324685e-03,
  2.15948232e-05, 2.72918503e-02, 8.64178039e-03, 1.67594089e-03,
 -2.36072835e-03, 2.75720240e-02, 8.71223907e-03, 1.63555327e-03,
  0.00000000e+00,-1.29098698e-03, 0.00000000e+00,-8.14697019e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000597946888123771
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.28362574e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.28362574e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0535852 , -0.04386587,  0.06194278])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.58368257e-05, 9.06956104e-05, 3.95431277e-05,-2.63136663e-06,
  1.23819514e-05,-1.38059654e-07, 2.79249320e-05, 2.13829852e-05,
  8.39890415e-06, 2.48878714e-05, 7.66682181e-05, 2.90929213e-05,
  3.20040114e-03, 5.95552231e-05,-1.77408159e-06, 1.31485471e-04,
  2.61149836e-05,-3.23628195e-05,-1.21644478e+00, 2.83517952e-06,
  7.63925829e-03, 1.78271519e-03]


--- Step 2618 ---
qpos:
[-2.49026935e-03, 8.65870532e-01,-2.37199775e-02, 4.10239262e-04,
 -2.92346821e-03, 8.61858346e-01,-2.71387334e-02, 3.13297162e-03,
 -1.16599989e-03, 8.70688618e-01,-1.92504356e-02,-2.13388223e-02,
  1.39623627e+00, 1.85425784e-02, 1.41846289e+00, 2.40535922e-02,
  4.10029164e-03,-5.76324541e-02, 8.04966662e-02, 7.04219026e-01,
 -4.88310265e-02,-7.06688809e-01,-4.77705116e-02]

qacc:
[ 2.14768281e-01,-1.58793894e+00, 1.02794749e+01,-2.47049175e+01,
  7.03504941e-02,-5.37118636e-01, 2.03916044e+00,-3.56181920e+00,
  6.67875145e-02,-1.86279544e+00, 5.58942377e+00,-4.84389538e+00,
 -8.58908035e-02, 5.46436879e-02,-1.61870558e+00, 5.86748653e+00,
  3.67483269e-01,-1.40433685e+00, 1.61952623e+00, 5.23996341e-01,
  2.98649908e+01,-7.02834343e+01]

qfrc_actuator:
[ 2.45724258e-03, 2.74754263e-02, 8.73833846e-03, 1.64425849e-03,
  2.84136047e-05, 2.72704003e-02, 8.63781366e-03, 1.66948364e-03,
 -2.35257799e-03, 2.75095855e-02, 8.72044463e-03, 1.63468310e-03,
  0.00000000e+00,-1.32169860e-03, 0.00000000e+00,-7.89372280e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006288301503222099
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.82768601e-14, -8.82768601e-14,  1.00000000e+00,  7.79280404e-27,
        1.00000000e+00,  8.82768601e-14, -1.00000000e+00,  0.00000000e+00,
        8.82768601e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00083574, -0.03585662,  0.06193985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.91886006e-05, 9.58232199e-05, 4.02702956e-05,-3.37893318e-05,
  1.26956253e-05,-1.48160042e-05, 1.95318066e-07,-5.07954375e-06,
  1.21761357e-05,-3.14715685e-05, 2.37886000e-05, 3.41312420e-06,
  3.19711980e-03,-4.39908658e-06, 1.32954419e-05, 3.23062034e-05,
  8.67593889e-05,-4.21776079e-05,-1.21644596e+00, 6.90245669e-06,
  7.63911464e-03, 1.78339951e-03]


--- Step 2619 ---
qpos:
[-2.48948951e-03, 8.65871703e-01,-2.37185919e-02, 4.10557895e-04,
 -2.92310343e-03, 8.61857419e-01,-2.71394920e-02, 3.13350231e-03,
 -1.16491112e-03, 8.70689722e-01,-1.92508221e-02,-2.13392260e-02,
  1.39623737e+00, 1.85438805e-02, 1.41853209e+00, 2.40488969e-02,
  4.09047602e-03,-5.76365851e-02, 8.04817006e-02, 7.04041175e-01,
 -4.87384580e-02,-7.06865220e-01,-4.78763852e-02]

qacc:
[-1.19964620e-01,-1.28362265e+00, 2.79713909e+00, 2.02104327e+00,
 -4.40950814e-02, 1.41652280e+00,-4.22810534e+00, 3.23719917e+00,
  1.52445689e-01, 9.77759141e-02, 2.60935299e+00,-1.36098877e+01,
 -7.80737619e-02,-2.11386366e-01, 8.74416880e+00,-2.96665762e+01,
  3.52684249e-01,-1.33058406e+00, 1.08197476e+00, 4.69611525e-01,
  2.83946109e+01,-6.69590496e+01]

qfrc_actuator:
[ 2.41658966e-03, 2.74079275e-02, 8.74788447e-03, 1.65683670e-03,
  1.44930785e-05, 2.72935748e-02, 8.61775738e-03, 1.66541300e-03,
 -2.33032977e-03, 2.75074306e-02, 8.68948344e-03, 1.59849789e-03,
  0.00000000e+00,-1.35858508e-03, 0.00000000e+00,-9.33492070e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00065103382429859
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.70532311e-13, -8.52661554e-14,  1.00000000e+00,  1.45406345e-26,
        1.00000000e+00,  8.52661554e-14, -1.00000000e+00,  0.00000000e+00,
        1.70532311e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00084652, -0.03587898,  0.06193775])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.19577114e-05,-7.08286157e-06, 3.31102194e-05, 1.74150434e-05,
 -7.89584077e-06, 1.47431536e-05,-2.32575154e-05,-4.79635824e-06,
  2.80764452e-05,-1.47174396e-05,-3.44214861e-05,-3.66451344e-05,
  3.20444950e-03,-4.18569363e-05, 7.46646901e-06,-1.41109306e-04,
  7.01775725e-05,-4.02773325e-06,-1.21644293e+00, 1.73382913e-05,
  7.63836650e-03, 1.78292585e-03]


--- Step 2620 ---
qpos:
[-2.48907608e-03, 8.65872109e-01,-2.37170090e-02, 4.11125579e-04,
 -2.92268034e-03, 8.61856851e-01,-2.71405942e-02, 3.13395460e-03,
 -1.16373463e-03, 8.70691492e-01,-1.92521873e-02,-2.13401081e-02,
  1.39623806e+00, 1.85450735e-02, 1.41860089e+00, 2.40462163e-02,
  4.08202015e-03,-5.76457931e-02, 8.04692418e-02, 7.03895555e-01,
 -4.85519508e-02,-7.07009605e-01,-4.80746863e-02]

qacc:
[-1.91697108e-01,-1.04830869e+00, 1.22082274e+00, 3.33477046e+00,
  3.03587302e-02, 1.27227909e+00,-3.51712779e+00, 2.44716187e+00,
  4.49393961e-02, 2.62702048e+00,-6.07613982e+00,-1.11831728e+00,
 -7.19760246e-02,-9.49853372e-02,-6.70804111e+00, 2.25841949e+01,
  3.39935348e-01,-1.26925684e+00, 6.26716186e-01, 4.20324787e-01,
  2.71661072e+01,-6.41853792e+01]

qfrc_actuator:
[ 2.39202380e-03, 2.73138304e-02, 8.73494650e-03, 1.66406138e-03,
  2.37972830e-05, 2.73254650e-02, 8.60630630e-03, 1.66281270e-03,
 -2.33534459e-03, 2.75766803e-02, 8.65361917e-03, 1.57735757e-03,
  0.00000000e+00,-1.36321595e-03, 0.00000000e+00,-8.21199894e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000662332364164242
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.38116242e-14, -8.38116242e-14,  1.00000000e+00,  7.02438836e-27,
        1.00000000e+00,  8.38116242e-14, -1.00000000e+00,  0.00000000e+00,
        8.38116242e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00085212, -0.0358903 ,  0.06193667])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.50413433e-05,-9.05168766e-05,-9.73962044e-06, 8.40208455e-06,
  5.55835352e-06, 3.51518529e-05,-1.14251711e-05,-2.86520418e-06,
  8.42970300e-06, 5.23258369e-05,-4.44166564e-05,-2.36759367e-05,
  3.20874727e-03,-2.40668901e-05,-1.49913309e-05, 1.04790681e-04,
  5.60041288e-05, 2.65786249e-05,-1.21644163e+00, 2.19710182e-05,
  7.63787955e-03, 1.78264691e-03]


--- Step 2621 ---
qpos:
[-2.48880532e-03, 8.65871847e-01,-2.37155324e-02, 4.11440418e-04,
 -2.92198650e-03, 8.61856156e-01,-2.71405355e-02, 3.13432963e-03,
 -1.16292273e-03, 8.70692707e-01,-1.92532314e-02,-2.13415156e-02,
  1.39623796e+00, 1.85461345e-02, 1.41866905e+00, 2.40492245e-02,
  4.07488035e-03,-5.76598746e-02, 8.04577512e-02, 7.03780880e-01,
 -4.82748963e-02,-7.07123125e-01,-4.83621026e-02]

qacc:
[-7.46393830e-02,-1.10578808e+00, 3.72929862e+00,-7.44469219e+00,
  1.43377658e-01,-3.56662818e+00, 1.28025087e+01,-1.59076000e+01,
 -1.89992584e-01,-2.71042380e+00, 1.08166996e+01,-2.00092918e+01,
 -4.17944330e-02,-2.32098220e-01,-1.81829271e+01, 6.22094063e+01,
  3.29017181e-01,-1.21837309e+00, 2.42065428e-01, 3.74564376e-01,
  2.61421601e+01,-6.18797287e+01]

qfrc_actuator:
[ 2.39509140e-03, 2.72754212e-02, 8.72643219e-03, 1.65026705e-03,
  4.69282184e-05, 2.73268578e-02, 8.67109319e-03, 1.66111864e-03,
 -2.37438197e-03, 2.74928550e-02, 8.65098648e-03, 1.54756059e-03,
  0.00000000e+00,-1.38415886e-03, 0.00000000e+00,-5.23176885e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006648188337828112
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.34981628e-14, -8.34981628e-14,  1.00000000e+00,  6.97194319e-27,
        1.00000000e+00,  8.34981628e-14, -1.00000000e+00,  0.00000000e+00,
        8.34981628e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00085357, -0.03589273,  0.06193641])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.36548719e-05,-9.07042100e-05,-2.81343423e-05,-1.78487561e-05,
  2.57739203e-05, 1.85888816e-05, 7.05522360e-05,-6.37672289e-07,
 -3.49912968e-05,-6.47786645e-05, 1.88168943e-06,-2.95542888e-05,
  3.22906802e-03,-3.95689110e-05, 3.88308670e-06, 3.01766655e-04,
  4.38902162e-05, 5.06955140e-05,-1.21644179e+00, 2.13671025e-05,
  7.63760532e-03, 1.78254180e-03]


--- Step 2622 ---
qpos:
[-2.48876927e-03, 8.65870786e-01,-2.37143682e-02, 4.11273970e-04,
 -2.92139597e-03, 8.61855319e-01,-2.71390875e-02, 3.13501204e-03,
 -1.16253054e-03, 8.70693061e-01,-1.92541109e-02,-2.13428717e-02,
  1.39623757e+00, 1.85471967e-02, 1.41873727e+00, 2.40550926e-02,
  4.07057720e-03,-5.76722195e-02, 8.04546905e-02, 7.03716777e-01,
 -4.80368624e-02,-7.07186027e-01,-4.86115357e-02]

qacc:
[-1.22991745e-01,-1.17382853e+00, 4.68461029e+00,-1.19274544e+01,
 -5.34676811e-02,-3.43321114e+00, 1.06740116e+01,-7.47650306e+00,
 -2.18734307e-01,-1.49292733e+00, 3.45429413e+00,-2.19785602e+00,
 -3.50591174e-03,-6.84070995e-02,-8.60126037e+00, 3.01697068e+01,
  7.09163674e-01, 4.34163210e-01, 2.10744894e+00,-3.04952103e-01,
  3.38313952e+01, 2.96068175e+01]

qfrc_actuator:
[ 2.37915661e-03, 2.72173761e-02, 8.70304416e-03, 1.62426359e-03,
  2.48615199e-05, 2.73280476e-02, 8.74475059e-03, 1.67775119e-03,
 -2.39791041e-03, 2.74246530e-02, 8.64963191e-03, 1.54831329e-03,
  0.00000000e+00,-1.36156458e-03, 0.00000000e+00,-3.84484956e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006723658048236741
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.65121875e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.65121875e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00420163, -0.0630888 ,  0.06193568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24570538e-05,-1.15348480e-04,-4.62152846e-05,-3.12122861e-05,
 -9.83085355e-06, 2.61465642e-05, 8.61713548e-05, 1.98584076e-05,
 -4.02884894e-05,-1.05322286e-04,-1.55217503e-05,-2.52838488e-06,
  3.26824890e-03,-1.03877732e-05, 3.37801486e-05, 1.55674584e-04,
  3.35623684e-05, 6.91399671e-05,-1.21644322e+00, 1.59635110e-05,
  7.63750356e-03, 1.78259356e-03]


--- Step 2623 ---
qpos:
[-2.48894390e-03, 8.65869226e-01,-2.37138847e-02, 4.10093860e-04,
 -2.92136841e-03, 8.61854508e-01,-2.71378468e-02, 3.13597809e-03,
 -1.16230073e-03, 8.70693693e-01,-1.92555150e-02,-2.13439623e-02,
  1.39623772e+00, 1.85488898e-02, 1.41880590e+00, 2.40602685e-02,
  4.06898621e-03,-5.76828903e-02, 8.04581191e-02, 7.03701208e-01,
 -4.78361850e-02,-7.07200439e-01,-4.88246698e-02]

qacc:
[-1.10764112e-01,-8.44135666e-01, 6.33217078e+00,-2.24197319e+01,
 -2.96622446e-01, 1.19685300e+00,-5.41530412e+00, 1.06378538e+01,
 -8.51948257e-02, 2.38025339e+00,-9.07160721e+00, 1.42978115e+01,
 -4.12795333e-03, 5.12619639e-01, 2.72219303e+00,-8.59726719e+00,
  6.78040396e-01, 4.18499959e-01, 1.62234352e+00,-3.21931388e-01,
  3.24433340e+01, 2.83254082e+01]

qfrc_actuator:
[ 2.36972215e-03, 2.72012058e-02, 8.67098045e-03, 1.57351160e-03,
 -2.40579798e-05, 2.72936765e-02, 8.71652169e-03, 1.68727332e-03,
 -2.39417989e-03, 2.75083762e-02, 8.64907225e-03, 1.56702921e-03,
  0.00000000e+00,-1.27742312e-03, 0.00000000e+00,-4.29601371e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006812078186416853
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.14893043e-14, -1.62978609e-13,  1.00000000e+00,  1.32810134e-26,
        1.00000000e+00,  1.62978609e-13, -1.00000000e+00,  0.00000000e+00,
        8.14893043e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00419558, -0.06308596,  0.06193486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.01547255e-05,-9.15395620e-05,-6.26611762e-05,-5.78998471e-05,
 -5.35842596e-05,-1.09697762e-06,-1.15301378e-05, 1.40094818e-05,
 -1.55726649e-05, 2.15121296e-05,-2.43032931e-05, 1.36241948e-05,
  3.28275649e-03, 7.36828693e-05, 2.98863528e-05,-3.27891478e-05,
  1.29905520e-05, 3.88791407e-05,-1.21644157e+00, 4.54091203e-06,
  7.63765456e-03, 1.78270742e-03]


--- Step 2624 ---
qpos:
[-2.48927634e-03, 8.65867709e-01,-2.37135707e-02, 4.08208427e-04,
 -2.92154008e-03, 8.61854082e-01,-2.71373957e-02, 3.13773703e-03,
 -1.16231038e-03, 8.70694575e-01,-1.92561994e-02,-2.13445601e-02,
  1.39623807e+00, 1.85509426e-02, 1.41887459e+00, 2.40655799e-02,
  4.07000492e-03,-5.76919401e-02, 8.04664062e-02, 7.03732476e-01,
 -4.76714795e-02,-7.07168119e-01,-4.90028996e-02]

qacc:
[-8.28904161e-02,-9.21016790e-01, 6.34402684e+00,-1.83115797e+01,
 -1.05516747e-01, 4.34198936e+00,-1.80947583e+01, 3.28025071e+01,
 -1.24647738e-01,-6.63756768e-01, 7.70281848e-01, 6.41790693e+00,
 -2.94083130e-02, 2.93346596e-01,-3.00275662e-01, 1.22098792e+00,
  6.52424055e-01, 4.05264975e-01, 1.21459884e+00,-3.35176913e-01,
  3.12914289e+01, 2.72618926e+01]

qfrc_actuator:
[ 2.36425773e-03, 2.72634372e-02, 8.68746245e-03, 1.54414065e-03,
 -1.75776560e-05, 2.73266205e-02, 8.68145989e-03, 1.72793525e-03,
 -2.40968871e-03, 2.75581902e-02, 8.70287066e-03, 1.59628830e-03,
  0.00000000e+00,-1.28125190e-03, 0.00000000e+00,-4.22820997e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006817596629583589
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.14233435e-14, -1.62846687e-13,  1.00000000e+00,  1.32595217e-26,
        1.00000000e+00,  1.62846687e-13, -1.00000000e+00,  0.00000000e+00,
        8.14233435e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00419545, -0.06308562,  0.06193482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.50816750e-05,-4.34470698e-06,-1.21371020e-05,-3.65842808e-05,
 -1.89554308e-05, 3.05509842e-05,-3.62282962e-05, 4.04872302e-05,
 -2.29623041e-05, 5.74036027e-05, 5.57268042e-05, 2.96073972e-05,
  3.25573905e-03, 3.82929388e-05, 7.94606341e-06, 8.24763479e-06,
  2.21874089e-06, 1.57615268e-05,-1.21644049e+00,-4.49058220e-06,
  7.63777723e-03, 1.78278129e-03]


--- Step 2625 ---
qpos:
[-2.49008761e-03, 8.65866914e-01,-2.37134976e-02, 4.06245984e-04,
 -2.92176368e-03, 8.61854637e-01,-2.71376650e-02, 3.13919615e-03,
 -1.16308516e-03, 8.70695326e-01,-1.92563145e-02,-2.13447437e-02,
  1.39623816e+00, 1.85528903e-02, 1.41894316e+00, 2.40722816e-02,
  4.07354959e-03,-5.76994131e-02, 8.04781848e-02, 7.03809168e-01,
 -4.75415970e-02,-7.07090509e-01,-4.91473765e-02]

qacc:
[-2.51447790e-01, 1.46669439e+00,-3.52209592e+00, 2.04543978e+00,
 -2.81706301e-02, 2.69045490e+00,-6.44691390e+00, 1.69199435e+00,
 -3.99071533e-01,-9.10645661e-01, 1.25052398e+00, 5.09548820e+00,
 -3.10145598e-02,-9.74550826e-02,-4.40179152e+00, 1.51179376e+01,
  6.31490311e-01, 3.94200250e-01, 8.72907142e-01,-3.45513262e-01,
  3.03394643e+01, 2.63818760e+01]

qfrc_actuator:
[ 2.32570148e-03, 2.73546147e-02, 8.69732780e-03, 1.54544808e-03,
 -1.35012592e-05, 2.74173375e-02, 8.66071605e-03, 1.71564785e-03,
 -2.47210435e-03, 2.75165647e-02, 8.71723904e-03, 1.61378710e-03,
  0.00000000e+00,-1.32009132e-03, 0.00000000e+00,-3.49948112e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006757212688192488
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00420001, -0.06308725,  0.06193541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.57446188e-05, 8.47093572e-05, 6.21923655e-06,-5.94918035e-09,
 -4.91779583e-06, 1.02054344e-04,-1.74992906e-05,-1.14469395e-05,
 -7.34032506e-05, 3.23203866e-06, 3.41122872e-05, 2.24622746e-05,
  3.24546081e-03,-1.85562967e-05, 3.13402624e-06, 7.39906480e-05,
  1.29442272e-07,-1.08697841e-06,-1.21643989e+00,-1.13658429e-05,
  7.63787827e-03, 1.78281466e-03]


--- Step 2626 ---
qpos:
[-2.49136276e-03, 8.65866616e-01,-2.37138189e-02, 4.04007459e-04,
 -2.92235797e-03, 8.61855939e-01,-2.71378219e-02, 3.13908668e-03,
 -1.16423841e-03, 8.70695677e-01,-1.92566299e-02,-2.13439356e-02,
  1.39623814e+00, 1.85544479e-02, 1.41901201e+00, 2.40774578e-02,
  4.07955231e-03,-5.77053458e-02, 8.04923131e-02, 7.03930111e-01,
 -4.74455873e-02,-7.06968784e-01,-4.92590467e-02]

qacc:
[-2.43638945e-01, 1.19067130e+00,-2.12625678e+00,-2.38567733e+00,
 -1.95513688e-01,-2.55436446e+00, 1.71633266e+01,-4.50433731e+01,
 -1.97546795e-01, 2.07367801e+00,-1.23391255e+01, 3.01000290e+01,
 -1.60861047e-02,-2.41707733e-01, 5.04090493e+00,-1.70270819e+01,
  6.14513757e-01, 3.85050092e-01, 5.87413190e-01,-3.53523289e-01,
  2.95566458e+01, 2.56563975e+01]

qfrc_actuator:
[ 2.30317953e-03, 2.73559486e-02, 8.66785700e-03, 1.52931109e-03,
 -4.64400893e-05, 2.74532039e-02, 8.66656241e-03, 1.63686111e-03,
 -2.47327949e-03, 2.74558626e-02, 8.69005927e-03, 1.65961662e-03,
  0.00000000e+00,-1.34411102e-03, 0.00000000e+00,-4.34007691e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000664515347268177
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.67072593e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.67072593e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00420824, -0.06309042,  0.06193648])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.43231242e-05, 5.00034994e-05,-1.11998215e-05,-1.22883080e-05,
 -3.52602336e-05, 8.88143500e-05, 2.43664258e-05,-7.52460390e-05,
 -3.63205260e-05,-5.09153822e-05,-2.15370691e-05, 4.75860956e-05,
  3.25858000e-03,-3.73502334e-05, 7.92165567e-06,-7.99455726e-05,
  5.87971079e-06,-1.23361329e-05,-1.21643973e+00,-1.62655486e-05,
  7.63796237e-03, 1.78280722e-03]


--- Step 2627 ---
qpos:
[-2.49243498e-03, 8.65866787e-01,-2.37148049e-02, 4.02307067e-04,
 -2.92351734e-03, 8.61857263e-01,-2.71373373e-02, 3.13843630e-03,
 -1.16520303e-03, 8.70695982e-01,-1.92574007e-02,-2.13422663e-02,
  1.39623810e+00, 1.85558405e-02, 1.41908090e+00, 2.40816031e-02,
  4.08795849e-03,-5.77097683e-02, 8.05078399e-02, 7.04094335e-01,
 -4.73826672e-02,-7.06803894e-01,-4.93386840e-02]

qacc:
[ 1.05838362e-01, 3.58253820e+00,-1.41481331e+01, 2.41831188e+01,
 -2.97245146e-01,-2.87371920e+00, 1.25742537e+01,-2.29818571e+01,
  9.82537244e-02, 2.98644505e+00,-1.43633825e+01, 3.00161179e+01,
 -1.26793729e-02,-9.02663473e-02, 3.18067202e+00,-1.10410073e+01,
  6.00863489e-01, 3.77571659e-01, 3.49607842e-01,-3.59611335e-01,
  2.89169037e+01, 2.50611533e+01]

qfrc_actuator:
[ 2.34371265e-03, 2.73743221e-02, 8.63278709e-03, 1.55619522e-03,
 -8.34958896e-05, 2.74204969e-02, 8.68781807e-03, 1.60832665e-03,
 -2.43779093e-03, 2.74727994e-02, 8.67399777e-03, 1.70394874e-03,
  0.00000000e+00,-1.34115916e-03, 0.00000000e+00,-4.85598519e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006493287517263802
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.54900558e-14,  1.70980112e-13,  1.00000000e+00, -1.46170993e-26,
        1.00000000e+00, -1.70980112e-13, -1.00000000e+00,  0.00000000e+00,
        8.54900558e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00421929, -0.06309476,  0.06193792])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.94052596e-05, 4.35051869e-05,-2.65380344e-05, 2.84044557e-05,
 -5.37814442e-05, 1.87306020e-05, 3.99874181e-05,-2.53522188e-05,
  1.80918024e-05,-1.39583468e-05,-2.75845580e-05, 4.23328531e-05,
  3.26362724e-03,-1.49096526e-05,-7.74719185e-06,-5.56101950e-05,
  1.88385700e-05,-1.84971512e-05,-1.21643995e+00,-1.93281121e-05,
  7.63803271e-03, 1.78275878e-03]


--- Step 2628 ---
qpos:
[-2.49315285e-03, 8.65867856e-01,-2.37170351e-02, 4.01617733e-04,
 -2.92479694e-03, 8.61858166e-01,-2.71363454e-02, 3.13786166e-03,
 -1.16585252e-03, 8.70695932e-01,-1.92574178e-02,-2.13401236e-02,
  1.39623813e+00, 1.85571448e-02, 1.41914982e+00, 2.40844174e-02,
  4.09872465e-03,-5.77127047e-02, 8.05239754e-02, 7.04301039e-01,
 -4.73521943e-02,-7.06596595e-01,-4.93869159e-02]

qacc:
[ 1.84732750e-01, 6.73930599e+00,-2.65799082e+01, 4.54139656e+01,
 -6.28415806e-02,-1.81594891e+00, 5.34940111e+00,-4.54269502e+00,
  1.65156719e-01,-1.59887958e+00, 3.02573818e+00, 4.21576656e+00,
 -1.34443666e-02,-2.36135081e-02, 4.08598936e+00,-1.42120891e+01,
  5.89995364e-01, 3.71540545e-01, 1.52190112e-01,-3.64050237e-01,
  2.83982228e+01, 2.45757836e+01]

qfrc_actuator:
[ 2.36833965e-03, 2.74382543e-02, 8.57703314e-03, 1.60818823e-03,
 -6.94213025e-05, 2.73648247e-02, 8.69999282e-03, 1.60954331e-03,
 -2.41622511e-03, 2.74651140e-02, 8.71820032e-03, 1.72936356e-03,
  0.00000000e+00,-1.33984610e-03, 0.00000000e+00,-5.53098000e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006311481316762235
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.79526508e-14,  8.79526508e-14,  1.00000000e+00, -7.73566878e-27,
        1.00000000e+00, -8.79526508e-14, -1.00000000e+00,  0.00000000e+00,
        8.79526508e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00423245, -0.06309999,  0.06193964])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.38861987e-05, 8.40061465e-05,-4.90457563e-05, 5.34947359e-05,
 -1.14523561e-05,-3.80672208e-05, 2.00798505e-05, 2.90863239e-06,
  3.02267856e-05,-1.93785549e-05, 3.93870394e-05, 2.46847922e-05,
  3.26445724e-03,-5.36283295e-06,-1.11301896e-05,-7.19229714e-05,
  3.85390489e-05,-1.99578874e-05,-1.21644056e+00,-2.06588790e-05,
  7.63809120e-03, 1.78266921e-03]


--- Step 2629 ---
qpos:
[-2.49354621e-03, 8.65869104e-01,-2.37194004e-02, 4.01572119e-04,
 -2.92566573e-03, 8.61858817e-01,-2.71355311e-02, 3.13802346e-03,
 -1.16621545e-03, 8.70695331e-01,-1.92564632e-02,-2.13380285e-02,
  1.39623817e+00, 1.85584362e-02, 1.41921864e+00, 2.40867218e-02,
  4.11181658e-03,-5.77141740e-02, 8.05400666e-02, 7.04549567e-01,
 -4.73536451e-02,-7.06347479e-01,-4.94042467e-02]

qacc:
[ 1.70015077e-01, 1.93955565e+00,-9.28878378e+00, 2.05148559e+01,
  2.16376530e-01, 1.67782910e+00,-9.57539197e+00, 2.27924202e+01,
  1.50414569e-01,-3.54226604e+00, 1.17717660e+01,-1.37434548e+01,
 -1.69748475e-02, 1.24128750e-02, 1.39599591e+00,-5.09595608e+00,
  5.81442898e-01, 3.66753232e-01,-1.10792052e-02,-3.67016287e-01,
  2.79820320e+01, 2.41832410e+01]

qfrc_actuator:
[ 2.38319039e-03, 2.74223899e-02, 8.56297190e-03, 1.63905314e-03,
 -2.48873140e-05, 2.73490655e-02, 8.68884387e-03, 1.64596298e-03,
 -2.40321492e-03, 2.74252303e-02, 8.76202913e-03, 1.72571869e-03,
  0.00000000e+00,-1.33952698e-03, 0.00000000e+00,-5.76172054e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006107904816005233
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.08841131e-14,  1.81768226e-13,  1.00000000e+00, -1.65198440e-26,
        1.00000000e+00, -1.81768226e-13, -1.00000000e+00,  0.00000000e+00,
        9.08841131e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00424716, -0.06310586,  0.06194157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.10188790e-05, 2.32711837e-05,-8.92160332e-07, 3.38097042e-05,
  3.90927275e-05,-3.28038998e-05,-1.64500556e-05, 3.55387218e-05,
  2.74801612e-05,-4.15285498e-05, 4.55293008e-05,-2.63443986e-06,
  3.26118838e-03,-6.39315742e-07,-1.42449954e-05,-2.87824998e-05,
  6.46413970e-05,-1.70098885e-05,-1.21644154e+00,-2.03372310e-05,
  7.63813874e-03, 1.78253834e-03]


--- Step 2630 ---
qpos:
[-2.49387766e-03, 8.65870090e-01,-2.37211151e-02, 4.01554338e-04,
 -2.92624430e-03, 8.61859477e-01,-2.71352463e-02, 3.13861130e-03,
 -1.16617500e-03, 8.70694425e-01,-1.92563226e-02,-2.13372814e-02,
  1.39623794e+00, 1.85594251e-02, 1.41928731e+00, 2.40893814e-02,
  4.11948798e-03,-5.77133560e-02, 8.05504196e-02, 7.04692264e-01,
 -4.73883427e-02,-7.06204156e-01,-4.93847039e-02]

qacc:
[ 3.29614189e-02,-2.10512358e+00, 6.88726238e+00,-7.25554305e+00,
  1.52535197e-01, 2.36704127e+00,-1.02216318e+01, 1.84379510e+01,
  2.10144672e-01,-9.04353555e-01, 8.32182369e+00,-3.01060681e+01,
 -1.06683752e-02,-2.36720379e-01,-1.31372001e+00, 4.24298289e+00,
 -1.35513457e+00, 5.71822180e-01,-1.43453602e+00, 1.41833543e+00,
 -7.63393207e+01, 1.96123998e+01]

qfrc_actuator:
[ 2.37431084e-03, 2.73945115e-02, 8.59106764e-03, 1.63945147e-03,
 -1.58185205e-05, 2.73572533e-02, 8.66418268e-03, 1.66730819e-03,
 -2.37768293e-03, 2.73663666e-02, 8.69859834e-03, 1.65171177e-03,
  0.00000000e+00,-1.37534965e-03, 0.00000000e+00,-5.55127112e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005966357713116377
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.30402666e-14, -9.30402666e-14,  1.00000000e+00,  8.65649121e-27,
        1.00000000e+00,  9.30402666e-14, -1.00000000e+00,  0.00000000e+00,
        9.30402666e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05013436, -0.06977256,  0.06194291])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.91316151e-06,-1.36079867e-05, 3.39709144e-05, 2.02379958e-06,
  2.76211087e-05,-1.20478514e-05,-3.22451835e-05, 2.00592937e-05,
  3.86839847e-05,-7.27894620e-05,-6.64964521e-05,-7.42646694e-05,
  3.26041335e-03,-3.58330944e-05,-1.05804683e-05, 1.74121277e-05,
  9.69048144e-05,-9.86924478e-06,-1.21644290e+00,-1.84220836e-05,
  7.63817528e-03, 1.78236597e-03]


--- Step 2631 ---
qpos:
[-2.49497724e-03, 8.65870489e-01,-2.37219495e-02, 4.00877400e-04,
 -2.92662748e-03, 8.61860496e-01,-2.71348665e-02, 3.13867065e-03,
 -1.16596943e-03, 8.70693039e-01,-1.92572256e-02,-2.13363501e-02,
  1.39623742e+00, 1.85596289e-02, 1.41935620e+00, 2.40899102e-02,
  4.12193287e-03,-5.77103688e-02, 8.05537955e-02, 7.04733172e-01,
 -4.74552165e-02,-7.06162688e-01,-4.93296633e-02]

qacc:
[-4.01986579e-01,-4.59018432e+00, 1.80251403e+01,-3.04135886e+01,
  1.02808624e-01,-8.79536064e-01, 6.05417058e+00,-1.56168611e+01,
  8.57414590e-02, 2.65935601e+00,-1.11803491e+01, 1.63882208e+01,
  1.01864122e-02,-5.47597698e-01, 6.77727503e+00,-2.32511412e+01,
 -1.30662507e+00, 5.42320883e-01,-1.74430516e+00, 1.30048582e+00,
 -7.34654622e+01, 1.89422631e+01]

qfrc_actuator:
[ 2.29806802e-03, 2.73420419e-02, 8.62597331e-03, 1.60417562e-03,
 -1.03199506e-05, 2.74151537e-02, 8.68509505e-03, 1.64411930e-03,
 -2.38037457e-03, 2.73315927e-02, 8.64321942e-03, 1.66107548e-03,
  0.00000000e+00,-1.43256255e-03, 0.00000000e+00,-6.68045488e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006049648717453074
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.17592968e-14,  2.29398242e-14,  1.00000000e+00, -2.10494214e-27,
        1.00000000e+00, -2.29398242e-14, -1.00000000e+00,  0.00000000e+00,
        9.17592968e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05011883, -0.06976871,  0.06194216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.34261397e-05,-5.29846939e-05, 3.63563994e-05,-3.46425573e-05,
  1.86085134e-05, 4.53477980e-05, 1.51367566e-05,-2.44333570e-05,
  1.58222920e-05,-9.23642912e-05,-8.11683889e-05, 2.49964307e-06,
  3.27388060e-03,-7.79256157e-05,-4.25529977e-06,-1.13604999e-04,
  3.37280883e-05, 3.96206294e-06,-1.21644129e+00,-1.71282130e-05,
  7.63822698e-03, 1.78272780e-03]


--- Step 2632 ---
qpos:
[-2.49691215e-03, 8.65869545e-01,-2.37208962e-02, 4.01192445e-04,
 -2.92688291e-03, 8.61862047e-01,-2.71346458e-02, 3.13844576e-03,
 -1.16551862e-03, 8.70691347e-01,-1.92581469e-02,-2.13347178e-02,
  1.39623696e+00, 1.85591731e-02, 1.41942544e+00, 2.40860671e-02,
  4.11931485e-03,-5.77053091e-02, 8.05491444e-02, 7.04675628e-01,
 -4.75533679e-02,-7.06219748e-01,-4.92402730e-02]

qacc:
[-4.36231319e-01,-5.00208575e+00, 1.10779681e+01, 4.05084064e+00,
  6.69760208e-02, 5.61662036e-01, 2.16648216e-01,-5.27193488e+00,
  1.28174557e-01, 1.09186052e+00,-7.43055193e+00, 1.98019622e+01,
  2.20781225e-02,-3.99964466e-01, 1.37493408e+01,-4.73658643e+01,
 -1.26572786e+00, 5.18096319e-01,-2.00671298e+00, 1.20112436e+00,
 -7.10660197e+01, 1.83811081e+01]

qfrc_actuator:
[ 2.25322303e-03, 2.72574952e-02, 8.71773279e-03, 1.65468690e-03,
 -6.98477238e-06, 2.74492715e-02, 8.67968088e-03, 1.63049931e-03,
 -2.36441822e-03, 2.73648296e-02, 8.66423735e-03, 1.70171585e-03,
  0.00000000e+00,-1.44874812e-03, 0.00000000e+00,-8.94503287e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006055903985742808
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.16645167e-14,  4.58322584e-14,  1.00000000e+00, -4.20119182e-27,
        1.00000000e+00, -4.58322584e-14, -1.00000000e+00,  0.00000000e+00,
        9.16645167e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05011765, -0.06976921,  0.06194211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.98647527e-05,-1.08158547e-04, 8.41028055e-05, 4.88284600e-05,
  1.21741320e-05, 6.15293926e-05, 4.95920374e-06,-1.16315776e-05,
  2.35188040e-05,-3.50262101e-05,-7.95292210e-06, 3.39278448e-05,
  3.28802091e-03,-5.48475835e-05,-1.69619793e-05,-2.33857844e-04,
  3.72658353e-06, 4.66531233e-06,-1.21644083e+00,-1.70487195e-05,
  7.63831201e-03, 1.78300689e-03]


--- Step 2633 ---
qpos:
[-2.49895642e-03, 8.65867799e-01,-2.37191401e-02, 4.02813589e-04,
 -2.92705623e-03, 8.61863469e-01,-2.71339701e-02, 3.13879258e-03,
 -1.16466908e-03, 8.70689667e-01,-1.92589465e-02,-2.13336998e-02,
  1.39623662e+00, 1.85583066e-02, 1.41949471e+00, 2.40785230e-02,
  4.11177297e-03,-5.76982571e-02, 8.05355779e-02, 7.04522364e-01,
 -4.76820472e-02,-7.06372518e-01,-4.91174888e-02]

qacc:
[-5.65422829e-02,-3.33345101e-01,-5.86123677e+00, 2.79292959e+01,
  4.36062388e-02,-2.63919837e-01,-1.71887975e+00, 1.09800807e+01,
  2.08223980e-01,-1.59059727e+00, 8.28001230e+00,-1.91017796e+01,
  1.70821612e-02,-2.30361342e-01, 1.12764342e+01,-3.93509752e+01,
 -1.23096620e+00, 4.98094313e-01,-2.22887152e+00, 1.11611840e+00,
 -6.90677893e+01, 1.79132869e+01]

qfrc_actuator:
[ 2.28084910e-03, 2.72257029e-02, 8.75348183e-03, 1.71977773e-03,
 -4.95814537e-06, 2.74155447e-02, 8.69419222e-03, 1.65809309e-03,
 -2.33741926e-03, 2.73856314e-02, 8.67722758e-03, 1.67176879e-03,
  0.00000000e+00,-1.45788138e-03, 0.00000000e+00,-1.07947544e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006000411363005151
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.62561213e-14,  1.15640303e-13,  1.00000000e+00, -5.34907191e-27,
        1.00000000e+00, -1.15640303e-13, -1.00000000e+00,  0.00000000e+00,
        4.62561213e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05012783, -0.06977316,  0.06194261])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04712460e-05,-7.28029964e-05, 2.54635289e-05, 6.43197361e-05,
  7.81321275e-06, 1.16789112e-06, 2.74132847e-05, 3.01722601e-05,
  3.82515945e-05, 1.07435319e-06, 5.96896318e-06,-3.10598474e-05,
  3.28506036e-03,-3.09755187e-05,-3.54740498e-05,-2.00545395e-04,
  3.42989171e-06,-6.45782319e-06,-1.21644145e+00,-1.79955612e-05,
  7.63843920e-03, 1.78322404e-03]


--- Step 2634 ---
qpos:
[-2.50087014e-03, 8.65865396e-01,-2.37174651e-02, 4.04547833e-04,
 -2.92736413e-03, 8.61864732e-01,-2.71324661e-02, 3.13910015e-03,
 -1.16383604e-03, 8.70688351e-01,-1.92600107e-02,-2.13337581e-02,
  1.39623602e+00, 1.85571666e-02, 1.41956349e+00, 2.40714581e-02,
  4.10154782e-03,-5.76890121e-02, 8.05229688e-02, 7.04315410e-01,
 -4.78477732e-02,-7.06578887e-01,-4.89558082e-02]

qacc:
[ 6.86295340e-02,-4.08729389e-01,-2.79967162e-01, 2.84987740e+00,
 -7.02922571e-02,-2.60238570e+00, 9.14225027e+00,-1.10333265e+01,
 -8.94917114e-03,-9.97418491e-01, 8.78898447e+00,-2.72451321e+01,
  1.67128178e-02,-2.44593566e-01,-2.20222595e+00, 6.60422621e+00,
 -6.70815770e-01, 5.48239965e-01, 2.39355696e-01, 7.23840566e-01,
 -3.96804542e+01, 2.41897199e+01]

qfrc_actuator:
[ 2.29830806e-03, 2.71723019e-02, 8.73830193e-03, 1.72189484e-03,
 -2.14747313e-05, 2.74125697e-02, 8.73786100e-03, 1.65641496e-03,
 -2.35730419e-03, 2.74165304e-02, 8.66751586e-03, 1.61825654e-03,
  0.00000000e+00,-1.48052099e-03, 0.00000000e+00,-1.04319945e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005892134904161979
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08492379e-06,  1.59167245e-13,  1.00000000e+00, -1.72684331e-19,
        1.00000000e+00, -1.59167245e-13, -1.00000000e+00,  2.40741243e-35,
        1.08492379e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02765567, -0.06702357,  0.06194359])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24577401e-05,-8.60686176e-05,-2.48537402e-05, 1.12973361e-06,
 -1.28084269e-05, 4.59315305e-06, 4.83146514e-05,-9.58078330e-08,
 -1.57289186e-06, 3.14535034e-05,-9.81157383e-06,-5.38627378e-05,
  3.27874843e-03,-3.30495825e-05,-3.89910189e-05, 2.04842868e-05,
  3.01971778e-05,-2.84206209e-05,-1.21644306e+00,-1.98291890e-05,
  7.63861332e-03, 1.78339488e-03]


--- Step 2635 ---
qpos:
[-2.50241903e-03, 8.65862325e-01,-2.37156526e-02, 4.05935832e-04,
 -2.92802430e-03, 8.61865552e-01,-2.71299987e-02, 3.13975785e-03,
 -1.16313874e-03, 8.70687708e-01,-1.92617001e-02,-2.13337818e-02,
  1.39623484e+00, 1.85554805e-02, 1.41963185e+00, 2.40664951e-02,
  4.09404132e-03,-5.76780187e-02, 8.05171392e-02, 7.04157574e-01,
 -4.80511035e-02,-7.06736076e-01,-4.87577772e-02]

qacc:
[  0.19156993, -1.97870264,  7.2365078 ,-12.95893582, -0.18474695,
  -2.5536895 ,  6.77972623, -1.93860738, -0.0714967 ,  2.70782044,
  -8.50867535,  9.61233587,  0.04216772, -0.50962904, -7.00708249,
  23.55894975,  0.67966234,  0.43711676,  1.6948727 , -0.42909824,
  32.88158496, 28.46509537]

qfrc_actuator:
[ 2.32722322e-03, 2.71416168e-02, 8.74632528e-03, 1.70465092e-03,
 -4.89334171e-05, 2.73748696e-02, 8.78071630e-03, 1.67306125e-03,
 -2.36955847e-03, 2.74708832e-02, 8.64452071e-03, 1.62232364e-03,
  0.00000000e+00,-1.52898984e-03, 0.00000000e+00,-9.30132292e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000603325334861661
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.20086528e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.20086528e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00425257, -0.06310774,  0.06194225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.48489473e-05,-8.38510153e-05,-1.27712371e-05,-2.17705068e-05,
 -3.35387272e-05,-2.52018759e-05, 4.97312273e-05, 1.85089439e-05,
 -1.30061379e-05, 6.76496888e-05,-1.95528048e-05, 4.02906368e-06,
  3.29182095e-03,-6.78018180e-05,-1.54162479e-05, 1.09294446e-04,
  5.54645020e-05,-5.04239595e-05,-1.21644474e+00,-2.10552684e-05,
  7.63886611e-03, 1.78342013e-03]


--- Step 2636 ---
qpos:
[-2.50323701e-03, 8.65859898e-01,-2.37152002e-02, 4.07040691e-04,
 -2.92883319e-03, 8.61865795e-01,-2.71276835e-02, 3.14036031e-03,
 -1.16240011e-03, 8.70687725e-01,-1.92639965e-02,-2.13337567e-02,
  1.39623355e+00, 1.85536653e-02, 1.41970013e+00, 2.40625557e-02,
  4.08915556e-03,-5.76653381e-02, 8.05164570e-02, 7.04047073e-01,
 -4.82907431e-02,-7.06845869e-01,-4.85246362e-02]

qacc:
[ 3.82105695e-01, 4.06504126e+00,-1.20669303e+01, 8.87336597e+00,
 -7.82116815e-02,-4.50075753e-01, 7.32780376e-01,-1.02193690e+00,
  2.09748441e-02, 2.66775443e+00,-8.45353194e+00, 9.78546427e+00,
  6.94819091e-02,-1.74144732e-01,-3.22793104e+00, 1.10948207e+01,
  6.55182098e-01, 4.21795402e-01, 1.28684257e+00,-3.95303513e-01,
  3.16854061e+01, 2.74847510e+01]

qfrc_actuator:
[ 2.38047825e-03, 2.72313507e-02, 8.69707392e-03, 1.69395712e-03,
 -4.71805547e-05, 2.72989298e-02, 8.75160662e-03, 1.66482323e-03,
 -2.35935588e-03, 2.75033476e-02, 8.61402178e-03, 1.62475262e-03,
  0.00000000e+00,-1.50381117e-03, 0.00000000e+00,-8.79320513e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006093763099442942
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00424824, -0.06310599,  0.06194168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.98678422e-05, 3.93397117e-05,-6.88878118e-05,-1.51520393e-05,
 -1.41715663e-05,-7.90128128e-05,-2.75730760e-05,-7.24155384e-06,
  3.98096582e-06, 6.64552280e-05,-1.87783031e-05, 4.73077816e-06,
  3.32060056e-03,-1.52736681e-05, 3.92894372e-06, 5.47114161e-05,
  2.83414762e-05,-4.15937984e-05,-1.21644480e+00,-1.60511068e-05,
  7.63923101e-03, 1.78315706e-03]


--- Step 2637 ---
qpos:
[-2.50374494e-03, 8.65858806e-01,-2.37163250e-02, 4.06897272e-04,
 -2.92951074e-03, 8.61865613e-01,-2.71265477e-02, 3.14022275e-03,
 -1.16176618e-03, 8.70687848e-01,-1.92656004e-02,-2.13337217e-02,
  1.39623244e+00, 1.85518573e-02, 1.41976857e+00, 2.40579147e-02,
  4.08678150e-03,-5.76510596e-02, 8.05196235e-02, 7.03981955e-01,
 -4.85647953e-02,-7.06910188e-01,-4.82582002e-02]

qacc:
[ 1.61029870e-01, 3.59726375e+00,-5.00163057e+00,-1.50549789e+01,
  6.85237437e-02, 1.20785837e+00,-2.00044809e+00,-8.60533638e+00,
 -5.42760244e-02,-1.77366901e+00, 6.48625587e+00,-7.50175271e+00,
  7.37841098e-02,-2.36297644e-02, 2.34795509e+00,-7.89483184e+00,
  6.27928992e-01, 3.99467439e-01, 9.62187474e-01,-3.54277032e-01,
  3.04086090e+01, 2.60819224e+01]

qfrc_actuator:
[ 2.37681465e-03, 2.73390332e-02, 8.63265286e-03, 1.63401088e-03,
 -2.79634302e-05, 2.72536145e-02, 8.68004812e-03, 1.62416731e-03,
 -2.37130721e-03, 2.75046713e-02, 8.65026312e-03, 1.62617062e-03,
  0.00000000e+00,-1.48790046e-03, 0.00000000e+00,-9.18882454e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000608419495361973
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09244414e-06, -1.09244423e-06,  1.00000000e+00, -1.19343430e-12,
        1.00000000e+00,  1.09244423e-06, -1.00000000e+00,  2.01948392e-28,
       -1.09244414e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00406889, -0.06293546,  0.06194177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.96632941e-05, 1.14866455e-04,-6.52942393e-05,-6.09398251e-05,
  1.24807403e-05,-9.55289925e-05,-9.15456290e-05,-4.51405956e-05,
 -1.00385336e-05, 3.48277561e-05, 4.78342993e-05, 3.70873950e-06,
  3.32626141e-03, 7.14123831e-06, 6.34712439e-06,-3.63429216e-05,
  1.06974674e-05,-2.75694186e-05,-1.21644534e+00,-9.02919829e-06,
  7.63957787e-03, 1.78284490e-03]


--- Step 2638 ---
qpos:
[-2.50431351e-03, 8.65858612e-01,-2.37173720e-02, 4.05976493e-04,
 -2.92981626e-03, 8.61864716e-01,-2.71256815e-02, 3.13991927e-03,
 -1.16181420e-03, 8.70687850e-01,-1.92668794e-02,-2.13336149e-02,
  1.39623156e+00, 1.85501510e-02, 1.41983706e+00, 2.40525091e-02,
  4.08574318e-03,-5.76417662e-02, 8.05252183e-02, 7.03949061e-01,
 -4.87446165e-02,-7.06942397e-01,-4.80845967e-02]

qacc:
[-3.21029655e-02,-6.31420232e-01, 7.25401925e+00,-2.14920004e+01,
  1.96014607e-01,-5.33397130e-01, 1.23082467e+00,-3.14563828e+00,
 -3.55811924e-01,-9.20809032e-01, 2.74638877e+00,-1.93343112e+00,
  6.42219422e-02, 5.45452553e-02, 2.39548769e+00,-8.26574454e+00,
  3.33931851e-01,-1.24629139e+00, 6.07051599e-01, 3.64046130e-01,
  2.72199093e+01,-6.44254114e+01]

qfrc_actuator:
[ 2.35688099e-03, 2.74032788e-02, 8.64865442e-03, 1.59884947e-03,
  1.51170562e-06, 2.72267534e-02, 8.67287167e-03, 1.61802543e-03,
 -2.43192665e-03, 2.74698471e-02, 8.65448143e-03, 1.62700157e-03,
  0.00000000e+00,-1.47763511e-03, 0.00000000e+00,-9.58094838e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006077438866463822
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.13397114e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.13397114e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00083273, -0.03583287,  0.06194184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.76991747e-06, 1.12420674e-04, 2.95891689e-05,-3.36837527e-05,
  3.53896404e-05,-1.01121694e-04,-3.97549452e-05,-1.42828371e-05,
 -6.54233128e-05,-5.30220770e-06, 1.74437671e-05, 4.05197301e-06,
  3.31703383e-03, 1.71016792e-05,-2.69855489e-06,-4.07766380e-05,
  1.61872286e-06,-9.03314800e-06,-1.21644628e+00,-1.68501991e-07,
  7.63989561e-03, 1.78248853e-03]


--- Step 2639 ---
qpos:
[-2.50503325e-03, 8.65858855e-01,-2.37181094e-02, 4.05719732e-04,
 -2.93032010e-03, 8.61863629e-01,-2.71254731e-02, 3.13950274e-03,
 -1.16256340e-03, 8.70687892e-01,-1.92689270e-02,-2.13337879e-02,
  1.39623130e+00, 1.85492268e-02, 1.41990550e+00, 2.40466665e-02,
  4.08600403e-03,-5.76372825e-02, 8.05317604e-02, 7.03947284e-01,
 -4.88336358e-02,-7.06943742e-01,-4.80004519e-02]

qacc:
[-7.91748845e-02, 1.08085430e+00,-5.81634092e+00, 1.64909727e+01,
 -1.04808317e-01, 1.35273297e+00,-4.71104208e+00, 3.94797656e+00,
 -3.66614576e-01, 1.62548854e+00,-4.53624419e+00, 8.94459385e-01,
  4.04590498e-02, 5.79905718e-01, 1.26650053e+00,-4.49796293e+00,
  3.24794792e-01,-1.20240109e+00, 2.36849289e-01, 3.55204005e-01,
  2.62257949e+01,-6.20826687e+01]

qfrc_actuator:
[ 2.34518462e-03, 2.74058601e-02, 8.65862745e-03, 1.63184525e-03,
 -3.41621304e-05, 2.72469301e-02, 8.65062843e-03, 1.61456125e-03,
 -2.46786994e-03, 2.74490254e-02, 8.60407114e-03, 1.60966161e-03,
  0.00000000e+00,-1.39984397e-03, 0.00000000e+00,-9.79001255e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000613688554561731
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00083565, -0.03583879,  0.06194131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44326058e-05, 7.01277098e-05, 3.56826949e-05, 3.81833970e-05,
 -1.88864940e-05,-4.51709539e-05,-4.85197892e-05,-9.45005892e-06,
 -6.72704319e-05,-2.00088612e-05,-4.92056527e-05,-1.68816258e-05,
  3.30529780e-03, 8.98530662e-05,-6.80228815e-06,-2.37544342e-05,
  1.80212471e-07,-1.09722676e-06,-1.21644282e+00, 9.47130606e-06,
  7.63931204e-03, 1.78216661e-03]


--- Step 2640 ---
qpos:
[-2.50552306e-03, 8.65859797e-01,-2.37196015e-02, 4.05556135e-04,
 -2.93113969e-03, 8.61862692e-01,-2.71260529e-02, 3.13901223e-03,
 -1.16368069e-03, 8.70688150e-01,-1.92709278e-02,-2.13328649e-02,
  1.39623144e+00, 1.85490624e-02, 1.41997373e+00, 2.40419445e-02,
  4.08753300e-03,-5.76374629e-02, 8.05380018e-02, 7.03975675e-01,
 -4.88347027e-02,-7.06915226e-01,-4.80029656e-02]

qacc:
[ 1.19833415e-01, 3.22052375e+00,-1.05404582e+01, 1.28504994e+01,
 -1.66851685e-01, 2.24645685e+00,-7.41117672e+00, 7.28387297e+00,
 -1.92185504e-01, 2.41248429e+00,-1.28060298e+01, 3.15251760e+01,
  7.13815453e-03, 5.42066535e-01,-3.70810098e+00, 1.25290241e+01,
  3.17028316e-01,-1.16601929e+00,-7.51804520e-02, 3.45487769e-01,
  2.54004063e+01,-6.01370727e+01]

qfrc_actuator:
[ 2.37405065e-03, 2.74248010e-02, 8.61146255e-03, 1.63359438e-03,
 -5.52458974e-05, 2.72773374e-02, 8.61984110e-03, 1.61271717e-03,
 -2.47096289e-03, 2.75075011e-02, 8.62836304e-03, 1.67050531e-03,
  0.00000000e+00,-1.37102143e-03, 0.00000000e+00,-9.17935368e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006125920188474743
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81233674e-13, -9.06168372e-14,  1.00000000e+00,  1.64228224e-26,
        1.00000000e+00,  9.06168372e-14, -1.00000000e+00,  0.00000000e+00,
        1.81233674e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00083525, -0.03583752,  0.06194143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.19915207e-05, 6.71604963e-05,-2.69586546e-05, 6.73289336e-06,
 -3.00538146e-05,-5.25391459e-06,-4.64136811e-05,-5.64015853e-06,
 -3.53055980e-05, 3.64080942e-05, 1.35303502e-05, 5.79597620e-05,
  3.27389508e-03, 7.96106772e-05,-5.72695960e-06, 5.88597721e-05,
  1.09800457e-07, 1.70244985e-06,-1.21644078e+00, 1.41889474e-05,
  7.63891300e-03, 1.78199397e-03]


--- Step 2641 ---
qpos:
[-2.50553551e-03, 8.65860810e-01,-2.37210913e-02, 4.05098711e-04,
 -2.93186363e-03, 8.61861896e-01,-2.71271010e-02, 3.13882706e-03,
 -1.16480162e-03, 8.70688784e-01,-1.92727519e-02,-2.13309062e-02,
  1.39623153e+00, 1.85491845e-02, 1.42004174e+00, 2.40393149e-02,
  4.09030372e-03,-5.76421870e-02, 8.05428925e-02, 7.04033418e-01,
 -4.87501764e-02,-7.06857649e-01,-4.80898241e-02]

qacc:
[ 2.50225918e-01,-5.17043775e-01, 3.22112449e+00,-8.36286167e+00,
  5.00480790e-02, 2.12053639e+00,-8.58225089e+00, 1.45152670e+01,
 -1.87418116e-03, 2.13589372e+00,-1.12593150e+01, 2.86090479e+01,
 -6.11182736e-03, 1.64816034e-01,-6.65300083e+00, 2.28166631e+01,
  3.10437292e-01,-1.13595612e+00,-3.37664671e-01, 3.34669972e-01,
  2.47176964e+01,-5.85278177e+01]

qfrc_actuator:
[ 2.40918086e-03, 2.73998652e-02, 8.60196601e-03, 1.61690076e-03,
 -3.18736043e-05, 2.72958663e-02, 8.60207361e-03, 1.62960396e-03,
 -2.45439827e-03, 2.75423538e-02, 8.64371044e-03, 1.72373730e-03,
  0.00000000e+00,-1.38962331e-03, 0.00000000e+00,-8.09068850e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006058969414709514
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.16181407e-14, -9.16181407e-14,  1.00000000e+00,  8.39388370e-27,
        1.00000000e+00,  9.16181407e-14, -1.00000000e+00,  0.00000000e+00,
        9.16181407e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00083223, -0.03583058,  0.06194206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.56243251e-05, 7.33300333e-06, 1.29051590e-06,-1.46178221e-05,
  9.10607454e-06, 5.78792394e-06,-2.47532663e-05, 1.49489737e-05,
 -3.37352598e-07, 6.04884260e-05, 2.65507622e-05, 5.63891753e-05,
  3.25411549e-03, 2.30369829e-05, 3.88426083e-06, 1.11393392e-04,
  1.27230529e-06,-1.21995355e-07,-1.21644003e+00, 1.43366856e-05,
  7.63868012e-03, 1.78196143e-03]


--- Step 2642 ---
qpos:
[-2.50510244e-03, 8.65860717e-01,-2.37218561e-02, 4.04893225e-04,
 -2.93257901e-03, 8.61861613e-01,-2.71288536e-02, 3.13881325e-03,
 -1.16600102e-03, 8.70689768e-01,-1.92745873e-02,-2.13289994e-02,
  1.39623166e+00, 1.85496743e-02, 1.42010965e+00, 2.40386744e-02,
  4.09429378e-03,-5.76513559e-02, 8.05455510e-02, 7.04119807e-01,
 -4.85820010e-02,-7.06771635e-01,-4.82591260e-02]

qacc:
[ 2.34436769e-01,-2.96660328e+00, 7.39465444e+00,-3.38352495e+00,
  3.89127043e-03, 2.99728449e+00,-1.04270501e+01, 1.41454471e+01,
 -4.11050575e-02, 3.88537133e-01,-4.93012335e-01,-6.45230614e-01,
 -5.61966327e-03, 2.32031435e-01,-6.16606288e+00, 2.13681115e+01,
  3.04836970e-01,-1.11116680e+00,-5.58078620e-01, 3.22512562e-01,
  2.41556375e+01,-5.72035231e+01]

qfrc_actuator:
[ 2.42997757e-03, 2.72779397e-02, 8.61461512e-03, 1.62499649e-03,
 -3.53706765e-05, 2.73427232e-02, 8.57436074e-03, 1.63962689e-03,
 -2.46176157e-03, 2.75450343e-02, 8.63578984e-03, 1.71876636e-03,
  0.00000000e+00,-1.36549983e-03, 0.00000000e+00,-7.08447285e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005948107996210511
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.33257286e-14, -1.86651457e-13,  1.00000000e+00,  1.74193832e-26,
        1.00000000e+00,  1.86651457e-13, -1.00000000e+00,  0.00000000e+00,
        9.33257286e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00082715, -0.03581922,  0.06194311])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.25524937e-05,-1.18190808e-04, 1.38205154e-05, 8.17071407e-06,
  8.26298686e-07, 4.56503346e-05,-2.90351838e-05, 9.70806868e-06,
 -7.51831811e-06, 4.43953352e-05, 9.79901185e-06,-3.65815877e-07,
  3.25631783e-03, 3.28502784e-05, 1.30640880e-05, 1.07081227e-04,
  3.56568496e-06,-6.18278725e-06,-1.21644045e+00, 1.01858439e-05,
  7.63859715e-03, 1.78206129e-03]


--- Step 2643 ---
qpos:
[-2.50414522e-03, 8.65859502e-01,-2.37217751e-02, 4.04781396e-04,
 -2.93330930e-03, 8.61861304e-01,-2.71303916e-02, 3.13754407e-03,
 -1.16746355e-03, 8.70690842e-01,-1.92757902e-02,-2.13275227e-02,
  1.39623149e+00, 1.85497936e-02, 1.42017770e+00, 2.40385870e-02,
  4.09948407e-03,-5.76648877e-02, 8.05452380e-02, 7.04234226e-01,
 -4.83317690e-02,-7.06657655e-01,-4.85093200e-02]

qacc:
[ 2.75730988e-01,-3.65043230e+00, 1.04711560e+01,-9.38151491e+00,
 -7.78004225e-03,-3.21773710e+00, 1.67217720e+01,-3.87754146e+01,
 -1.37042915e-01,-2.53528542e+00, 1.10215184e+01,-1.95335425e+01,
  3.15968860e-03,-2.96259703e-01,-1.48856816e+00, 5.46808401e+00,
  3.00056808e-01,-1.09074199e+00,-7.42857424e-01, 3.08778282e-01,
  2.36956401e+01,-5.61208631e+01]

qfrc_actuator:
[ 2.45976767e-03, 2.72232379e-02, 8.65758082e-03, 1.62978496e-03,
 -3.71879075e-05, 2.73173839e-02, 8.57660935e-03, 1.57453282e-03,
 -2.48340533e-03, 2.75460379e-02, 8.66728366e-03, 1.69729966e-03,
  0.00000000e+00,-1.42245291e-03, 0.00000000e+00,-6.84516865e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005803411813304071
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.56526144e-14, -9.56526144e-14,  1.00000000e+00,  9.14942264e-27,
        1.00000000e+00,  9.56526144e-14, -1.00000000e+00,  0.00000000e+00,
        9.56526144e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00082051, -0.03580446,  0.06194446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.00670753e-05,-1.17574656e-04, 2.05472491e-05, 3.63827382e-07,
 -1.41912190e-06,-5.37259382e-06, 8.45127049e-06,-6.39513809e-05,
 -2.52372994e-05, 2.78212336e-05, 4.18597169e-05,-1.92358178e-05,
  3.25461977e-03,-4.24898403e-05, 1.64465939e-05, 3.12347889e-05,
  6.91342616e-06,-1.61883519e-05,-1.21644197e+00, 1.94408410e-06,
  7.63864915e-03, 1.78228698e-03]


--- Step 2644 ---
qpos:
[-2.50313006e-03, 8.65857780e-01,-2.37197581e-02, 4.04916733e-04,
 -2.93386835e-03, 8.61860470e-01,-2.71308364e-02, 3.13585370e-03,
 -1.16862432e-03, 8.70691348e-01,-1.92764776e-02,-2.13272572e-02,
  1.39623075e+00, 1.85490651e-02, 1.42024583e+00, 2.40388110e-02,
  4.10717935e-03,-5.76768152e-02, 8.05489255e-02, 7.04394303e-01,
 -4.81161431e-02,-7.06497895e-01,-4.87260421e-02]

qacc:
[ 3.17859954e-02,-5.56637992e+00, 1.78357597e+01,-1.62882498e+01,
  9.10426265e-02,-4.60953204e+00, 1.72114942e+01,-2.58694608e+01,
  1.58022459e-01,-4.68599705e+00, 2.07211069e+01,-4.20707383e+01,
  3.01537193e-02,-6.74465491e-01,-8.48084839e-01, 3.08240350e+00,
  6.26246877e-01, 4.01070717e-01, 1.00013215e+00,-3.65804429e-01,
  3.06044980e+01, 2.62271495e+01]

qfrc_actuator:
[ 2.44143910e-03, 2.72803392e-02, 8.78933622e-03, 1.65039921e-03,
 -2.02245503e-05, 2.72845680e-02, 8.63170278e-03, 1.55448992e-03,
 -2.44239081e-03, 2.74573941e-02, 8.66852900e-03, 1.63082907e-03,
  0.00000000e+00,-1.49195539e-03, 0.00000000e+00,-6.70455476e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005747997624326828
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04386996e-08,  3.04387061e-08,  1.00000000e+00, -9.26514632e-16,
        1.00000000e+00, -3.04387061e-08, -1.00000000e+00,  0.00000000e+00,
        3.04386996e-08])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00409293, -0.06294538,  0.06194497])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.53356876e-06,-4.35256583e-06, 1.10024323e-04, 1.62969483e-05,
  1.62898958e-05,-3.67928368e-05, 5.28282691e-05,-2.12206002e-05,
  2.89353965e-05,-6.52897496e-05, 1.14798428e-05,-6.42074179e-05,
  3.26919993e-03,-9.34536723e-05, 8.35254593e-06, 1.73176138e-05,
  1.12586942e-05,-2.99216585e-05,-1.21644453e+00,-1.02311805e-05,
  7.63882174e-03, 1.78263270e-03]


--- Step 2645 ---
qpos:
[-2.50220716e-03, 8.65856539e-01,-2.37168714e-02, 4.05587177e-04,
 -2.93367851e-03, 8.61859769e-01,-2.71311676e-02, 3.13460966e-03,
 -1.16919598e-03, 8.70690981e-01,-1.92769410e-02,-2.13273834e-02,
  1.39623002e+00, 1.85485035e-02, 1.42031380e+00, 2.40405483e-02,
  4.11731920e-03,-5.76871833e-02, 8.05554563e-02, 7.04598839e-01,
 -4.79341545e-02,-7.06293551e-01,-4.89102431e-02]

qacc:
[ -0.04796619, -0.69252813,  1.13281756,  6.38225282,  0.39446053,
   0.77754919, -4.40038476, 11.84594485,  0.30801995, -2.58541129,
   9.19677665,-15.68879085,  0.04960871,  0.05142012, -4.81829293,
  16.50911931,  0.61114324,  0.38987073,  0.71083011, -0.37554558,
  29.80557648, 25.49191215]

qfrc_actuator:
[ 2.43000112e-03, 2.73510980e-02, 8.84866837e-03, 1.68031796e-03,
  4.33322316e-05, 2.73187848e-02, 8.64652833e-03, 1.57889830e-03,
 -2.39974621e-03, 2.73865938e-02, 8.66924193e-03, 1.60931985e-03,
  0.00000000e+00,-1.42634104e-03, 0.00000000e+00,-5.91284638e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005710755191873601
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.56912879e-07, -3.56913118e-07,  1.00000000e+00, -1.27386888e-13,
        1.00000000e+00,  3.56913118e-07, -1.00000000e+00,  0.00000000e+00,
       -3.56912879e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00409551, -0.06294646,  0.06194532])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.79938181e-06, 9.17699924e-05, 7.25491475e-05, 3.38566339e-05,
  7.12844918e-05, 2.36724731e-05, 1.30139336e-05, 2.42519724e-05,
  5.64925853e-05,-1.07692561e-04,-1.35786630e-05,-2.51580715e-05,
  3.29747482e-03, 1.45755878e-05, 2.89908739e-06, 8.05864977e-05,
  2.85269492e-05,-4.46683257e-05,-1.21644412e+00,-1.71525552e-05,
  7.63854688e-03, 1.78285845e-03]


--- Step 2646 ---
qpos:
[-2.50140334e-03, 8.65855927e-01,-2.37141161e-02, 4.05970103e-04,
 -2.93292466e-03, 8.61859638e-01,-2.71320641e-02, 3.13331298e-03,
 -1.16996044e-03, 8.70690022e-01,-1.92772281e-02,-2.13274534e-02,
  1.39622924e+00, 1.85478716e-02, 1.42038181e+00, 2.40428821e-02,
  4.12183158e-03,-5.76953744e-02, 8.05572155e-02, 7.04694383e-01,
 -4.77874770e-02,-7.06198027e-01,-4.90563970e-02]

qacc:
[-6.27441102e-02, 6.07097110e-01, 2.56182509e-01,-5.48419234e+00,
  2.96478868e-01, 2.22049376e+00,-6.60606926e+00, 6.18406439e+00,
 -1.00351803e-01,-1.15994813e+00, 2.76207845e+00,-1.63678090e+00,
  5.37867798e-02,-1.04975610e-01,-1.76591743e+00, 6.22851198e+00,
 -1.40686960e+00, 5.44234655e-01,-1.19293198e+00, 1.04511465e+00,
 -7.86029665e+01, 2.06005010e+01]

qfrc_actuator:
[ 2.42282454e-03, 2.73582563e-02, 8.82933324e-03, 1.66217470e-03,
  6.31884016e-05, 2.73572671e-02, 8.61998268e-03, 1.57602052e-03,
 -2.44529478e-03, 2.73802887e-02, 8.68747319e-03, 1.61445248e-03,
  0.00000000e+00,-1.44010585e-03, 0.00000000e+00,-5.63137625e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005742851734035284
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.66612997e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.66612997e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05017679, -0.06979308,  0.06194503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13623223e-05, 7.49112590e-05, 9.71381017e-06,-1.10456105e-05,
  5.36964325e-05, 5.54761070e-05,-1.92046634e-05,-9.38779844e-07,
 -1.85129914e-05,-7.03874688e-05,-6.54710369e-06,-4.36977156e-07,
  3.29709919e-03,-7.50899761e-06, 9.15441331e-06, 3.27382043e-05,
  5.27932914e-05,-5.42553371e-05,-1.21644416e+00,-2.22432879e-05,
  7.63825973e-03, 1.78303538e-03]


--- Step 2647 ---
qpos:
[-2.50088957e-03, 8.65855517e-01,-2.37116283e-02, 4.05508296e-04,
 -2.93234416e-03, 8.61859956e-01,-2.71332871e-02, 3.13233621e-03,
 -1.17128285e-03, 8.70688857e-01,-1.92780220e-02,-2.13278099e-02,
  1.39622817e+00, 1.85470180e-02, 1.42044965e+00, 2.40472211e-02,
  4.12094568e-03,-5.77014812e-02, 8.05528185e-02, 7.04685468e-01,
 -4.76746357e-02,-7.06206923e-01,-4.91660726e-02]

qacc:
[-1.52358277e-01,-7.25331447e-01, 6.53835384e+00,-2.08782263e+01,
 -9.16436219e-02, 2.16253366e+00,-8.20118230e+00, 1.39321661e+01,
 -2.91580021e-01, 5.54148011e-01,-1.16217595e+00,-2.83060277e+00,
  6.42611030e-02,-2.68350335e-01,-6.33975159e+00, 2.17744906e+01,
 -1.34956741e+00, 5.21074745e-01,-1.53901752e+00, 1.02365680e+00,
 -7.53782214e+01, 1.97433245e+01]

qfrc_actuator:
[ 2.40051586e-03, 2.73269128e-02, 8.79895629e-03, 1.61580283e-03,
  2.12042651e-05, 2.73800675e-02, 8.60475303e-03, 1.59259673e-03,
 -2.48995509e-03, 2.73772454e-02, 8.66291581e-03, 1.59977369e-03,
  0.00000000e+00,-1.46582239e-03, 0.00000000e+00,-4.58777662e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005892847923297181
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41301333e-13,  4.71004444e-14,  1.00000000e+00, -6.65535560e-27,
        1.00000000e+00, -4.71004444e-14, -1.00000000e+00,  0.00000000e+00,
        1.41301333e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05014842, -0.06978407,  0.06194363])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.77182548e-05, 1.20677969e-05,-1.41087360e-05,-4.30454756e-05,
 -1.64880430e-05, 4.98336911e-05,-6.16170702e-06, 1.82724547e-05,
 -5.35351548e-05,-4.37520262e-05,-3.99058098e-05,-1.79249854e-05,
  3.29898821e-03,-2.96807322e-05, 6.03784049e-06, 1.06937320e-04,
  9.66860355e-06,-1.72905333e-05,-1.21644193e+00,-1.70716757e-05,
  7.63821578e-03, 1.78299581e-03]


--- Step 2648 ---
qpos:
[-2.50046874e-03, 8.65855295e-01,-2.37097839e-02, 4.04523681e-04,
 -2.93211202e-03, 8.61860827e-01,-2.71341437e-02, 3.13046763e-03,
 -1.17277276e-03, 8.70687871e-01,-1.92796494e-02,-2.13276757e-02,
  1.39622734e+00, 1.85465026e-02, 1.42051752e+00, 2.40524385e-02,
  4.11485529e-03,-5.77055811e-02, 8.05410905e-02, 7.04575842e-01,
 -4.75943928e-02,-7.06316516e-01,-4.92405836e-02]

qacc:
[-4.92194070e-02, 9.68269689e-01,-8.86823857e-01,-7.26856062e+00,
 -1.83484303e-01,-2.12719483e+00, 1.24109984e+01,-2.88408619e+01,
 -8.80160105e-02, 3.57616725e+00,-1.44740359e+01, 2.41579214e+01,
  7.17016893e-02, 1.87707748e-01,-2.61611167e+00, 9.21460575e+00,
 -1.30112454e+00, 5.01722069e-01,-1.83277474e+00, 1.00576937e+00,
 -7.26805938e+01, 1.90244921e+01]

qfrc_actuator:
[ 2.40485183e-03, 2.73259024e-02, 8.76214285e-03, 1.58867126e-03,
 -4.11440866e-06, 2.74288562e-02, 8.63180563e-03, 1.54948333e-03,
 -2.48038227e-03, 2.74115139e-02, 8.63105030e-03, 1.62678612e-03,
  0.00000000e+00,-1.40976729e-03, 0.00000000e+00,-4.16853058e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005953675874611902
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.32384503e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.32384503e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05013673, -0.06978039,  0.06194306])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.87982446e-06, 9.66239216e-07,-3.75646939e-05,-2.79429375e-05,
 -3.31393928e-05, 7.61662676e-05, 3.72266562e-05,-4.08330992e-05,
 -1.60679057e-05, 8.19771296e-07,-4.64216213e-05, 2.34135037e-05,
  3.31360714e-03, 3.74909611e-05, 1.29130905e-05, 4.82551279e-05,
  7.17665644e-07, 4.69489119e-06,-1.21644102e+00,-1.35615115e-05,
  7.63823284e-03, 1.78295441e-03]


--- Step 2649 ---
qpos:
[-2.50043749e-03, 8.65854314e-01,-2.37069500e-02, 4.04266251e-04,
 -2.93183060e-03, 8.61862192e-01,-2.71343624e-02, 3.12773975e-03,
 -1.17409087e-03, 8.70687343e-01,-1.92810114e-02,-2.13276782e-02,
  1.39622699e+00, 1.85462099e-02, 1.42058577e+00, 2.40554507e-02,
  4.10372538e-03,-5.77077391e-02, 8.05210348e-02, 7.04368590e-01,
 -4.75457115e-02,-7.06523655e-01,-4.92810273e-02]

qacc:
[-2.03322358e-01,-2.26741642e+00, 3.56328036e+00, 7.99339199e+00,
  2.61369492e-02,-2.89577512e+00, 1.49016794e+01,-3.11607076e+01,
  8.97052026e-02,-4.17873159e-01, 2.94353978e+00,-6.06587745e+00,
  5.58927133e-02, 1.96620751e-01, 7.23332140e+00,-2.44923918e+01,
 -1.25987891e+00, 4.85478038e-01,-2.08191075e+00, 9.90714524e-01,
 -7.04293362e+01, 1.84228656e+01]

qfrc_actuator:
[ 2.37183557e-03, 2.72720145e-02, 8.81071357e-03, 1.62635775e-03,
  1.63158128e-05, 2.74574494e-02, 8.66591257e-03, 1.50714517e-03,
 -2.45618949e-03, 2.74856199e-02, 8.66634008e-03, 1.62489296e-03,
  0.00000000e+00,-1.39388365e-03, 0.00000000e+00,-5.36333293e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005942494869657922
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.34138816e-14, -9.34138816e-14,  1.00000000e+00,  8.72615328e-27,
        1.00000000e+00,  9.34138816e-14, -1.00000000e+00,  0.00000000e+00,
        9.34138816e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05013835, -0.06978097,  0.06194314])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.72502064e-05,-6.23124800e-05, 4.31637268e-05, 3.58829363e-05,
  4.70891020e-06, 7.71072585e-05, 5.30137883e-05,-3.85783749e-05,
  1.64965284e-05, 6.60105628e-05, 3.05702600e-05,-3.00477351e-06,
  3.30186585e-03, 3.64882526e-05, 9.89500159e-06,-1.15491730e-04,
  2.21325926e-05, 1.34198314e-05,-1.21644131e+00,-1.14278528e-05,
  7.63830908e-03, 1.78290488e-03]


--- Step 2650 ---
qpos:
[-2.50098273e-03, 8.65852793e-01,-2.37038541e-02, 4.04830019e-04,
 -2.93158478e-03, 8.61863322e-01,-2.71338833e-02, 3.12599725e-03,
 -1.17535613e-03, 8.70687345e-01,-1.92812069e-02,-2.13274320e-02,
  1.39622685e+00, 1.85462323e-02, 1.42065385e+00, 2.40587035e-02,
  4.09545304e-03,-5.77079491e-02, 8.05100271e-02, 7.04212927e-01,
 -4.75361950e-02,-7.06679258e-01,-4.92837663e-02]

qacc:
[-3.01848483e-01, 2.45343495e-01,-5.37607452e+00, 1.95653574e+01,
 -1.81701680e-02,-2.30897847e-01,-3.78636993e+00, 1.98964167e+01,
  2.81499133e-02,-2.04633953e+00, 7.26394314e+00,-5.21782430e+00,
  3.16759794e-02, 2.09340500e-01,-9.52281110e-01, 3.01019680e+00,
  7.14393947e-01, 4.87012890e-01, 2.26200690e+00,-5.17070263e-01,
  3.45128512e+01, 2.96107490e+01]

qfrc_actuator:
[ 2.33449442e-03, 2.72405291e-02, 8.82037614e-03, 1.66638893e-03,
  1.06791734e-05, 2.74027525e-02, 8.68608151e-03, 1.55435954e-03,
 -2.45900229e-03, 2.75477723e-02, 8.74115731e-03, 1.64159264e-03,
  0.00000000e+00,-1.38436999e-03, 0.00000000e+00,-5.19140080e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006094532503792341
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.10835264e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.10835264e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0042479 , -0.06310779,  0.06194168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.51122707e-05,-5.58808368e-05, 3.33914428e-06, 3.95524252e-05,
 -3.39200724e-06,-2.31048102e-06, 4.12851557e-05, 5.16037981e-05,
  5.09154244e-06, 1.05271011e-04, 9.21250933e-05, 2.05275030e-05,
  3.27760735e-03, 3.48900805e-05,-9.92516504e-06, 1.16171562e-05,
  7.10303925e-05, 1.01992191e-05,-1.21644264e+00,-1.04543841e-05,
  7.63844098e-03, 1.78284213e-03]


--- Step 2651 ---
qpos:
[-2.50184583e-03, 8.65851598e-01,-2.37017912e-02, 4.04811734e-04,
 -2.93157873e-03, 8.61864446e-01,-2.71337100e-02, 3.12487546e-03,
 -1.17697874e-03, 8.70687780e-01,-1.92812377e-02,-2.13269061e-02,
  1.39622706e+00, 1.85466018e-02, 1.42072199e+00, 2.40611109e-02,
  4.08991569e-03,-5.77063139e-02, 8.05060687e-02, 7.04106688e-01,
 -4.75642345e-02,-7.06785554e-01,-4.92503322e-02]

qacc:
[-1.67437796e-01, 2.11681379e+00,-4.46728138e+00,-4.19097986e+00,
 -1.26433318e-01, 2.12244837e+00,-1.02008445e+01, 2.14393645e+01,
 -1.86623332e-01, 6.88756042e-01,-2.80359410e+00, 7.05859312e+00,
  1.60311859e-02, 2.76729938e-01, 2.64178167e+00,-9.11515839e+00,
  6.83744828e-01, 4.61288967e-01, 1.76232249e+00,-4.82618218e-01,
  3.30393874e+01, 2.83966146e+01]

qfrc_actuator:
[ 2.33040636e-03, 2.72758282e-02, 8.77152024e-03, 1.63643152e-03,
 -1.05324058e-05, 2.73873762e-02, 8.66206730e-03, 1.58279392e-03,
 -2.49572085e-03, 2.75314870e-02, 8.73216802e-03, 1.65136478e-03,
  0.00000000e+00,-1.36110723e-03, 0.00000000e+00,-5.63527547e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006242604048485728
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.77846139e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.77846139e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00423732, -0.06310399,  0.06194028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.03745553e-05, 6.44087030e-06,-5.86288604e-05,-3.14680491e-05,
 -2.28233111e-05,-5.95987930e-06,-1.76285446e-05, 3.07691166e-05,
 -3.42694560e-05, 6.24831948e-05, 2.48101833e-05, 1.78663507e-05,
  3.26671765e-03, 4.24096651e-05,-3.71053306e-06,-4.51426689e-05,
  3.85089332e-05,-1.15097365e-06,-1.21644128e+00,-1.37441703e-05,
  7.63843604e-03, 1.78294884e-03]


--- Step 2652 ---
qpos:
[-2.50288058e-03, 8.65850904e-01,-2.37007872e-02, 4.04413932e-04,
 -2.93144573e-03, 8.61865776e-01,-2.71344850e-02, 3.12446670e-03,
 -1.17899288e-03, 8.70688056e-01,-1.92818229e-02,-2.13268291e-02,
  1.39622742e+00, 1.85469448e-02, 1.42079022e+00, 2.40619586e-02,
  4.08701114e-03,-5.77029176e-02, 8.05074735e-02, 7.04048058e-01,
 -4.76284885e-02,-7.06844389e-01,-4.91819977e-02]

qacc:
[-9.08606920e-02, 2.83637812e+00,-7.55409559e+00, 2.31519103e+00,
  6.62299571e-02, 4.38633324e+00,-1.82565677e+01, 3.19672270e+01,
 -2.04738461e-01, 4.13384379e-01, 1.11630758e-01,-6.86957671e+00,
  2.10509402e-04, 2.17198586e-02, 4.87727764e+00,-1.68349405e+01,
  6.58201305e-01, 4.40277724e-01, 1.34077195e+00,-4.52341119e-01,
  3.18118561e+01, 2.73858739e+01]

qfrc_actuator:
[ 2.32848948e-03, 2.73150426e-02, 8.72424867e-03, 1.61881362e-03,
  1.23873515e-05, 2.73954571e-02, 8.61226769e-03, 1.61768348e-03,
 -2.51688851e-03, 2.74502712e-02, 8.67343011e-03, 1.62134463e-03,
  0.00000000e+00,-1.38301082e-03, 0.00000000e+00,-6.43873569e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006302015780808023
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.80847544e-14, -8.80847544e-14,  1.00000000e+00,  7.75892396e-27,
        1.00000000e+00,  8.80847544e-14, -1.00000000e+00,  0.00000000e+00,
        8.80847544e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00423312, -0.06310269,  0.06193972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.63977531e-05, 2.93696328e-05,-5.42594067e-05,-1.99844215e-05,
  1.20848803e-05, 2.39631394e-06,-5.21457963e-05, 3.46230948e-05,
 -3.75681632e-05,-4.04063357e-05,-4.21640175e-05,-2.61398557e-05,
  3.24916208e-03, 3.16396827e-06,-7.52973090e-06,-8.35523028e-05,
  1.66189604e-05,-6.08027969e-06,-1.21644050e+00,-1.47226500e-05,
  7.63844263e-03, 1.78299371e-03]


--- Step 2653 ---
qpos:
[-2.50400378e-03, 8.65850409e-01,-2.36998089e-02, 4.04464842e-04,
 -2.93092277e-03, 8.61866930e-01,-2.71349526e-02, 3.12547727e-03,
 -1.18094585e-03, 8.70687817e-01,-1.92823946e-02,-2.13264131e-02,
  1.39622750e+00, 1.85468936e-02, 1.42085831e+00, 2.40628362e-02,
  4.08665488e-03,-5.76978284e-02, 8.05128232e-02, 7.04035517e-01,
 -4.77278427e-02,-7.06857281e-01,-4.90798138e-02]

qacc:
[-4.64309195e-02, 1.25908407e+00,-6.00033475e+00, 1.36607272e+01,
  2.05707427e-01, 1.82831100e+00,-1.28498274e+01, 3.70541166e+01,
  3.21407978e-02,-1.98540618e-02,-2.34433668e+00, 8.56115691e+00,
  5.71163529e-04,-3.05947640e-01,-3.27209741e-01, 7.91329026e-01,
  6.37071212e-01, 4.23216289e-01, 9.86250356e-01,-4.25246128e-01,
  3.07928722e+01, 2.65484496e+01]

qfrc_actuator:
[ 2.32785625e-03, 2.73385490e-02, 8.73162479e-03, 1.64413498e-03,
  4.37624603e-05, 2.73996494e-02, 8.63652480e-03, 1.69161080e-03,
 -2.49304328e-03, 2.74192798e-02, 8.67425938e-03, 1.63907630e-03,
  0.00000000e+00,-1.43177964e-03, 0.00000000e+00,-6.38226645e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006290310438209906
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.82486672e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.82486672e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00423403, -0.06310338,  0.06193984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.44700373e-06, 2.78763461e-05, 6.06447536e-06, 2.43130348e-05,
  3.71120991e-05,-3.77759803e-06, 1.95215112e-05, 7.28986447e-05,
  5.85347672e-06,-6.34231084e-05,-1.36125546e-05, 1.40343233e-05,
  3.24144163e-03,-4.42777262e-05,-1.39373146e-05,-2.57448678e-07,
  4.09255460e-06,-5.31920113e-06,-1.21644022e+00,-1.36062045e-05,
  7.63845546e-03, 1.78298251e-03]


--- Step 2654 ---
qpos:
[-2.50516788e-03, 8.65850120e-01,-2.36987872e-02, 4.05157598e-04,
 -2.93002159e-03, 8.61867817e-01,-2.71347561e-02, 3.12700660e-03,
 -1.18215748e-03, 8.70687125e-01,-1.92835279e-02,-2.13257559e-02,
  1.39622735e+00, 1.85467269e-02, 1.42092614e+00, 2.40650906e-02,
  4.08877751e-03,-5.76911014e-02, 8.05209288e-02, 7.04067797e-01,
 -4.78613761e-02,-7.06825472e-01,-4.89446430e-02]

qacc:
[-2.14514562e-02, 1.47194137e+00,-7.56263442e+00, 1.84505641e+01,
  1.99746345e-01,-1.13893147e+00, 1.35966596e+00, 6.75167886e+00,
  3.86893818e-01, 1.46750329e+00,-7.11694281e+00, 1.25191835e+01,
  1.48972994e-02,-1.39271802e-01,-4.55078313e+00, 1.53587905e+01,
  6.19724093e-01, 4.09453136e-01, 6.88984448e-01,-4.00497464e-01,
  2.99505197e+01, 2.58585602e+01]

qfrc_actuator:
[ 2.32797866e-03, 2.73527307e-02, 8.73567452e-03, 1.67679083e-03,
  6.21443781e-05, 2.73840565e-02, 8.66883422e-03, 1.71695873e-03,
 -2.42473376e-03, 2.73833369e-02, 8.63947224e-03, 1.64934554e-03,
  0.00000000e+00,-1.42527858e-03, 0.00000000e+00,-5.64196868e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006222219988188255
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.92143822e-14, -1.78428764e-13,  1.00000000e+00,  1.59184120e-26,
        1.00000000e+00,  1.78428764e-13, -1.00000000e+00,  0.00000000e+00,
        8.92143822e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00423898, -0.06310564,  0.06194048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.90215482e-06, 3.20690156e-05, 1.13927238e-05, 3.45326219e-05,
  3.59967493e-05,-1.05716942e-05, 3.64502207e-05, 2.72776435e-05,
  7.11036016e-05,-7.36118411e-05,-4.90721286e-05, 7.35656141e-06,
  3.25566240e-03,-1.80469274e-05,-7.69143442e-06, 7.19521296e-05,
 -3.76770136e-08, 5.80443031e-07,-1.21644038e+00,-1.05603442e-05,
  7.63846981e-03, 1.78291977e-03]


--- Step 2655 ---
qpos:
[-2.50615988e-03, 8.65850337e-01,-2.36984046e-02, 4.06245109e-04,
 -2.92864464e-03, 8.61868501e-01,-2.71343552e-02, 3.12781585e-03,
 -1.18277165e-03, 8.70686227e-01,-1.92854448e-02,-2.13256872e-02,
  1.39622739e+00, 1.85470027e-02, 1.42099386e+00, 2.40685280e-02,
  4.09332253e-03,-5.76827807e-02, 8.05307964e-02, 7.04143840e-01,
 -4.80283317e-02,-7.06749969e-01,-4.87771860e-02]

qacc:
[ 8.96653946e-02, 3.26432638e+00,-1.23381414e+01, 1.98237470e+01,
  2.50727440e-01,-2.31940982e+00, 1.09229385e+01,-2.35662452e+01,
  3.11513134e-01, 7.04564069e-01,-4.26715270e-01,-8.34644141e+00,
  1.75031744e-02, 2.93232910e-01,-3.74963426e+00, 1.28807069e+01,
  6.05596537e-01, 3.98435761e-01, 4.40468682e-01,-3.77393153e-01,
  2.92576910e+01, 2.52942320e+01]

qfrc_actuator:
[ 2.34629491e-03, 2.73789842e-02, 8.70216435e-03, 1.69572213e-03,
  9.03387461e-05, 2.73567537e-02, 8.66999028e-03, 1.67798660e-03,
 -2.40146083e-03, 2.73800723e-02, 8.60163758e-03, 1.61959416e-03,
  0.00000000e+00,-1.36798411e-03, 0.00000000e+00,-5.03754199e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006110075341741461
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.08518277e-14, -9.08518277e-14,  1.00000000e+00,  8.25405460e-27,
        1.00000000e+00,  9.08518277e-14, -1.00000000e+00,  0.00000000e+00,
        9.08518277e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00424708, -0.06310914,  0.06194155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.64586304e-05, 4.80178571e-05,-2.42940610e-05, 2.13696035e-05,
  4.52793946e-05,-2.45385039e-05, 4.39655140e-06,-3.76369403e-05,
  5.73073332e-05,-5.42158527e-05,-5.88158361e-05,-3.44570961e-05,
  3.26684115e-03, 4.50359393e-05, 3.38377942e-06, 6.32189515e-05,
  3.49436386e-06, 1.12054206e-05,-1.21644095e+00,-5.71080645e-06,
  7.63848127e-03, 1.78280908e-03]


--- Step 2656 ---
qpos:
[-2.50676605e-03, 8.65851117e-01,-2.36984509e-02, 4.06838482e-04,
 -2.92724596e-03, 8.61869186e-01,-2.71342889e-02, 3.12816396e-03,
 -1.18314069e-03, 8.70685807e-01,-1.92874096e-02,-2.13254252e-02,
  1.39622780e+00, 1.85475801e-02, 1.42106181e+00, 2.40706506e-02,
  4.10024431e-03,-5.76729012e-02, 8.05415973e-02, 7.04262765e-01,
 -4.82280913e-02,-7.06631578e-01,-4.85780056e-02]

qacc:
[ 2.01789612e-01, 9.23626387e-01,-1.29665131e-01,-8.14815446e+00,
  1.12041975e-02,-1.39190867e-02, 1.99688563e+00,-9.44250828e+00,
  1.27799345e-01, 1.16298007e+00,-4.04560819e+00, 7.11443559e+00,
  3.19777529e-03, 2.67042015e-01, 4.34578829e+00,-1.46645459e+01,
  5.94191752e-01, 3.89698026e-01, 2.33357675e-01,-3.55344228e-01,
  2.86914355e+01, 2.48368033e+01]

qfrc_actuator:
[ 2.37533083e-03, 2.74120991e-02, 8.68228871e-03, 1.67090379e-03,
  7.09138634e-05, 2.73579723e-02, 8.65264819e-03, 1.65471168e-03,
 -2.40536252e-03, 2.74851118e-02, 8.63343161e-03, 1.63757426e-03,
  0.00000000e+00,-1.35173593e-03, 0.00000000e+00,-5.76089235e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005964162343140289
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.30745141e-14, -2.79223542e-13,  1.00000000e+00,  2.59885955e-26,
        1.00000000e+00,  2.79223542e-13, -1.00000000e+00,  0.00000000e+00,
        9.30745141e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00425758, -0.06311359,  0.06194292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.68891718e-05, 5.58577155e-05,-1.22177771e-05,-2.31889134e-05,
  2.06620657e-06,-1.32222152e-05,-2.31813151e-05,-2.49101071e-05,
  2.35290402e-05, 6.11432048e-05, 1.21804119e-05, 1.29559920e-05,
  3.25712630e-03, 3.91658253e-05, 7.68637851e-06,-6.86118209e-05,
  1.41364679e-05, 2.62501635e-05,-1.21644191e+00, 8.47836966e-07,
  7.63848542e-03, 1.78265328e-03]


--- Step 2657 ---
qpos:
[-2.50719155e-03, 8.65852190e-01,-2.36986388e-02, 4.06799275e-04,
 -2.92633836e-03, 8.61869497e-01,-2.71343293e-02, 3.12895374e-03,
 -1.18341677e-03, 8.70685788e-01,-1.92890588e-02,-2.13246225e-02,
  1.39622873e+00, 1.85489460e-02, 1.42112970e+00, 2.40725718e-02,
  4.10948238e-03,-5.76615263e-02, 8.05527324e-02, 7.04423444e-01,
 -4.84594131e-02,-7.06471332e-01,-4.83482614e-02]

qacc:
[ 9.45014195e-02,-5.18705312e-01, 5.08264095e+00,-1.60197727e+01,
 -2.58539024e-01, 7.13059289e-01,-5.12398029e+00, 1.32140666e+01,
  4.86143951e-02, 7.61600594e-01,-4.22551157e+00, 1.27766181e+01,
 -2.67391048e-02, 6.24269661e-01, 5.42776706e-01,-1.97576755e+00,
  5.79070325e-01, 3.73838412e-01, 8.35296797e-02,-3.25116897e-01,
  2.79867289e+01, 2.39373903e+01]

qfrc_actuator:
[ 2.37501073e-03, 2.74135659e-02, 8.67063921e-03, 1.63831929e-03,
  2.31811625e-05, 2.73229239e-02, 8.64241720e-03, 1.67638942e-03,
 -2.40770299e-03, 2.75125117e-02, 8.65332270e-03, 1.66589419e-03,
  0.00000000e+00,-1.28914092e-03, 0.00000000e+00,-5.84045114e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.25946424,  2.85203926,  5.57196237,  2.85203926, 13.22013784,
       -3.56285866,  5.57196237, -3.56285866,  8.08313283,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005792739332358718
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.11301364e-07, -3.11301608e-07,  1.00000000e+00, -9.69086153e-14,
        1.00000000e+00,  3.11301608e-07, -1.00000000e+00,  0.00000000e+00,
       -3.11301364e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00408978, -0.06294786,  0.06194454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72759667e-05, 2.91714855e-05,-2.42765538e-06,-3.10684448e-05,
 -4.67528347e-05,-4.83137649e-05,-1.66866106e-05, 1.98223850e-05,
  8.93029566e-06, 6.46867670e-05, 3.44847477e-05, 3.16141601e-05,
  3.23860957e-03, 8.66926138e-05,-5.57719721e-06,-1.11602265e-05,
  3.14781074e-05, 4.54929356e-05,-1.21644325e+00, 9.04550627e-06,
  7.63847773e-03, 1.78245467e-03]


--- Step 2658 ---
qpos:
[-2.50771781e-03, 8.65852734e-01,-2.36982961e-02, 4.06084681e-04,
 -2.92577899e-03, 8.61869552e-01,-2.71345712e-02, 3.13067925e-03,
 -1.18403232e-03, 8.70685260e-01,-1.92894143e-02,-2.13241280e-02,
  1.39623036e+00, 1.85509925e-02, 1.42119787e+00, 2.40716890e-02,
  4.12050685e-03,-5.76518110e-02, 8.05658546e-02, 7.04620168e-01,
 -4.86608414e-02,-7.06274943e-01,-4.81481697e-02]

qacc:
[ -0.05234467, -3.5704346 , 14.56810951,-26.71919874, -0.18338605,
   2.14863079,-12.10387885, 28.81164157, -0.17627114, -4.92057235,
  17.86722034,-24.89063594, -0.06413719,  0.64131303,  8.93042591,
 -30.57524422,  0.44660285, -0.4148972 ,  0.49677433,  0.05418372,
  26.90386502,-19.25636259]

qfrc_actuator:
[ 2.35712783e-03, 2.73428300e-02, 8.68156223e-03, 1.60141119e-03,
  1.22257766e-05, 2.73197474e-02, 8.63635886e-03, 1.72432043e-03,
 -2.44455787e-03, 2.74399557e-02, 8.70123286e-03, 1.64673537e-03,
  0.00000000e+00,-1.25260345e-03, 0.00000000e+00,-7.31487265e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000561957617505035
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.11438507e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.11438507e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00106848, -0.04941842,  0.06194617])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.64298733e-06,-5.62770254e-05, 1.55666639e-05,-3.63487514e-05,
 -3.31544559e-05,-3.28035808e-05,-1.74089934e-05, 4.56687102e-05,
 -3.25731315e-05,-2.78969209e-05, 6.66227327e-05,-1.45793702e-05,
  3.21239907e-03, 8.37868684e-05,-3.98972337e-06,-1.48863491e-04,
  5.49359304e-05, 6.83802220e-05,-1.21644495e+00, 1.87398917e-05,
  7.63845019e-03, 1.78221703e-03]


--- Step 2659 ---
qpos:
[-2.50803016e-03, 8.65853225e-01,-2.36982554e-02, 4.04930642e-04,
 -2.92564088e-03, 8.61870225e-01,-2.71358337e-02, 3.13256390e-03,
 -1.18540626e-03, 8.70684075e-01,-1.92889618e-02,-2.13241577e-02,
  1.39623207e+00, 1.85530009e-02, 1.42126607e+00, 2.40687153e-02,
  4.13223732e-03,-5.76466736e-02, 8.05784443e-02, 7.04835833e-01,
 -4.87753903e-02,-7.06059580e-01,-4.80341562e-02]

qacc:
[  0.11195087, -0.13099727,  2.22042461, -9.30343264, -0.22271428,
   3.99199167,-13.72343321, 17.66040447, -0.39527217, -4.20503168,
  15.94235393,-25.81772065, -0.09523461,  0.09012808,  6.40233712,
 -22.28232955,  0.17649813, -1.14447345, -0.13312138,  0.21506421,
  17.55918338,-60.08892456]

qfrc_actuator:
[ 2.38217431e-03, 2.73537463e-02, 8.66990798e-03, 1.57995740e-03,
 -1.21148909e-05, 2.73889840e-02, 8.59743620e-03, 1.73407474e-03,
 -2.50172617e-03, 2.73791858e-02, 8.72934499e-03, 1.61747451e-03,
  0.00000000e+00,-1.30291843e-03, 0.00000000e+00,-8.35669737e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005587563058854326
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.91389447e-07, -7.91389497e-07,  1.00000000e+00, -6.26297296e-13,
        1.00000000e+00,  7.91389497e-07, -1.00000000e+00,  0.00000000e+00,
       -7.91389447e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00465965, -0.03637407,  0.06194649])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.04404589e-05,-1.89094171e-05,-2.26228307e-05,-2.40333684e-05,
 -4.00832302e-05, 4.92484151e-05,-4.62624588e-05, 8.63362391e-06,
 -7.27698120e-05,-6.32252737e-05, 3.00593967e-05,-2.84324740e-05,
  3.17722565e-03,-5.81322733e-07,-1.90319666e-05,-1.13173771e-04,
  7.58941107e-05, 6.75509358e-05,-1.21644493e+00, 2.40899967e-05,
  7.63819386e-03, 1.78208955e-03]


--- Step 2660 ---
qpos:
[-2.50808338e-03, 8.65853900e-01,-2.36988249e-02, 4.04209776e-04,
 -2.92604056e-03, 8.61871095e-01,-2.71366562e-02, 3.13484771e-03,
 -1.18749056e-03, 8.70683049e-01,-1.92895982e-02,-2.13241647e-02,
  1.39623348e+00, 1.85551992e-02, 1.42133373e+00, 2.40681773e-02,
  4.13802757e-03,-5.76442524e-02, 8.05833293e-02, 7.04943916e-01,
 -4.88271948e-02,-7.05951306e-01,-4.79868077e-02]

qacc:
[  0.13543472,  2.83759638,-11.59558769, 19.93600099, -0.28300292,
  -0.14550859, -0.78570054,  6.84361264, -0.37163879,  3.29849574,
 -11.55090021, 13.56664406, -0.09938879,  0.13810361, -8.18329196,
  27.46300411, -1.48505559, -0.67904694, -1.92616605, -1.4741462 ,
 -72.58696202,-50.8400856 ]

qfrc_actuator:
[ 2.39719880e-03, 2.73778839e-02, 8.64532768e-03, 1.60331567e-03,
 -4.42744166e-05, 2.74121334e-02, 8.62845790e-03, 1.75683063e-03,
 -2.53502254e-03, 2.73968499e-02, 8.67453600e-03, 1.61799707e-03,
  0.00000000e+00,-1.29838275e-03, 0.00000000e+00,-7.00456243e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005814912009301926
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.54634415e-14,  9.54634415e-14,  1.00000000e+00, -9.11326866e-27,
        1.00000000e+00, -9.54634415e-14, -1.00000000e+00,  0.00000000e+00,
        9.54634415e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05362531, -0.04387406,  0.0619444 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47688660e-05, 7.85484124e-06,-3.21071446e-05, 2.12981200e-05,
 -5.11800854e-05, 4.14895337e-05, 3.57938528e-05, 2.34310241e-05,
 -6.81487878e-05,-1.26864401e-05,-6.51414944e-05,-1.69550112e-06,
  3.17333645e-03, 5.82764663e-06,-2.22077525e-05, 1.26272593e-04,
  8.23185290e-05, 3.66609774e-05,-1.21644364e+00, 2.08927305e-05,
  7.63790325e-03, 1.78212136e-03]


--- Step 2661 ---
qpos:
[-2.50829144e-03, 8.65853995e-01,-2.36991650e-02, 4.04850191e-04,
 -2.92670654e-03, 8.61871599e-01,-2.71362637e-02, 3.13740472e-03,
 -1.18974016e-03, 8.70682659e-01,-1.92914723e-02,-2.13242167e-02,
  1.39623457e+00, 1.85570985e-02, 1.42140141e+00, 2.40678792e-02,
  4.13811097e-03,-5.76444425e-02, 8.05792721e-02, 7.04948786e-01,
 -4.88188008e-02,-7.05945891e-01,-4.80034747e-02]

qacc:
[ -0.08075819,  1.39653649,-11.83543288, 35.45335217, -0.13933255,
  -3.3136688 ,  9.96084369, -6.91049295, -0.08730391,  4.20534673,
 -13.58499887, 14.31927286, -0.08158037, -0.17788642, -0.68812746,
   2.4626251 , -1.42671301, -0.65284124, -2.2355557 , -1.4295596 ,
 -69.67960917,-48.79984261]

qfrc_actuator:
[ 2.37057404e-03, 2.73209758e-02, 8.64892605e-03, 1.67061697e-03,
 -4.53349513e-05, 2.73722981e-02, 8.68264113e-03, 1.76933114e-03,
 -2.51823516e-03, 2.74610214e-02, 8.62480579e-03, 1.61829982e-03,
  0.00000000e+00,-1.33215973e-03, 0.00000000e+00,-6.91584942e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005942588861542683
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.34124041e-14,  1.86824808e-13,  1.00000000e+00,  1.74517545e-26,
        1.00000000e+00, -1.86824808e-13, -1.00000000e+00,  0.00000000e+00,
       -9.34124041e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05359922, -0.04388217,  0.06194322])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.48136956e-05,-5.82418579e-05, 2.00210282e-06, 6.69416967e-05,
 -2.53508852e-05,-8.26338693e-06, 6.79698575e-05, 1.59700319e-05,
 -1.58459107e-05, 4.35687201e-05,-6.04208512e-05,-2.52441459e-06,
  3.18794074e-03,-3.74691085e-05, 3.67822112e-06, 1.30346906e-05,
  2.04333113e-05, 7.69875198e-06,-1.21644098e+00, 1.33486588e-05,
  7.63798487e-03, 1.78186381e-03]


--- Step 2662 ---
qpos:
[-2.50855275e-03, 8.65853062e-01,-2.36991790e-02, 4.06344204e-04,
 -2.92712813e-03, 8.61872020e-01,-2.71357126e-02, 3.13874770e-03,
 -1.19139832e-03, 8.70682387e-01,-1.92926934e-02,-2.13246759e-02,
  1.39623501e+00, 1.85579394e-02, 1.42146928e+00, 2.40663578e-02,
  4.13268564e-03,-5.76471559e-02, 8.05652211e-02, 7.04854043e-01,
 -4.87523243e-02,-7.06039742e-01,-4.80819277e-02]

qacc:
[-2.73116278e-02,-5.12360725e-01,-3.74756634e+00, 1.87536144e+01,
  1.28766024e-01,-3.04831359e+00, 1.58381898e+01,-3.70459756e+01,
  3.09163908e-01,-2.50800750e+00, 1.08825921e+01,-1.90529292e+01,
 -5.34600506e-02,-7.36091265e-01, 3.96891086e+00,-1.35162174e+01,
 -1.37718037e+00,-6.30805917e-01,-2.49845200e+00,-1.38504871e+00,
 -6.72471725e+01,-4.70934338e+01]

qfrc_actuator:
[ 2.37252793e-03, 2.72338823e-02, 8.65108352e-03, 1.70992482e-03,
 -1.00398376e-05, 2.73484159e-02, 8.67875982e-03, 1.70463420e-03,
 -2.45390582e-03, 2.74815462e-02, 8.66747051e-03, 1.60077664e-03,
  0.00000000e+00,-1.42401686e-03, 0.00000000e+00,-7.57297283e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005984141768162199
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.27637636e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.27637636e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05359044, -0.04388495,  0.06194282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.11813484e-06,-1.16382191e-04,-7.30650637e-06, 3.81849404e-05,
  2.32591748e-05,-1.38034818e-05, 3.32879477e-06,-6.23923896e-05,
  5.67462525e-05, 3.23186449e-05, 4.41485965e-05,-1.77946186e-05,
  3.20415578e-03,-1.14409274e-04, 9.71593013e-07,-6.49893190e-05,
  4.49993307e-08,-6.16250052e-08,-1.21643992e+00, 1.06676491e-05,
  7.63784980e-03, 1.78193270e-03]


--- Step 2663 ---
qpos:
[-2.50901162e-03, 8.65851506e-01,-2.36987174e-02, 4.08235720e-04,
 -2.92739763e-03, 8.61872866e-01,-2.71356677e-02, 3.13859606e-03,
 -1.19218261e-03, 8.70681981e-01,-1.92932828e-02,-2.13249630e-02,
  1.39623475e+00, 1.85577220e-02, 1.42153712e+00, 2.40644029e-02,
  4.12192157e-03,-5.76523179e-02, 8.05402828e-02, 7.04662639e-01,
 -4.86295157e-02,-7.06229806e-01,-4.82202913e-02]

qacc:
[-1.03039053e-01,-1.33352030e+00, 1.88165717e+00, 4.69409531e+00,
  7.95465100e-02,-1.10105792e+00, 1.10496255e+01,-3.64204383e+01,
  4.56718947e-01,-1.58694900e+00, 4.67616349e+00,-2.61106536e+00,
 -1.39230513e-02,-7.88238427e-01, 1.24320972e+00,-4.47199285e+00,
 -1.33468575e+00,-6.12141076e-01,-2.72182740e+00,-1.33990455e+00,
 -6.52163169e+01,-4.56696172e+01]

qfrc_actuator:
[ 2.35608412e-03, 2.72358744e-02, 8.68769314e-03, 1.73239976e-03,
 -6.59339100e-06, 2.73872252e-02, 8.65836281e-03, 1.63050199e-03,
 -2.39724719e-03, 2.74583942e-02, 8.69316595e-03, 1.60844336e-03,
  0.00000000e+00,-1.47883241e-03, 0.00000000e+00,-7.77629596e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005956216950091103
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.31986724e-14, -9.31986724e-14,  1.00000000e+00,  8.68599254e-27,
        1.00000000e+00,  9.31986724e-14, -1.00000000e+00,  0.00000000e+00,
        9.31986724e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05359548, -0.04388348,  0.06194305])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.88973295e-05,-6.29400951e-05, 1.29998393e-05, 1.79791679e-05,
  1.44865270e-05, 2.90917198e-05,-2.50072271e-05,-7.58266769e-05,
  8.38311740e-05, 3.29557070e-06, 3.72029228e-05, 1.02335180e-05,
  3.23633313e-03,-1.16307408e-04,-9.83763128e-06,-2.44799813e-05,
  1.66098269e-05, 1.10613249e-05,-1.21644032e+00, 1.22439041e-05,
  7.63752462e-03, 1.78229945e-03]


--- Step 2664 ---
qpos:
[-2.50966496e-03, 8.65850047e-01,-2.36978496e-02, 4.09946768e-04,
 -2.92775949e-03, 8.61873954e-01,-2.71361850e-02, 3.13827511e-03,
 -1.19256650e-03, 8.70681653e-01,-1.92935313e-02,-2.13261986e-02,
  1.39623419e+00, 1.85569363e-02, 1.42160493e+00, 2.40618687e-02,
  4.10596664e-03,-5.76598645e-02, 8.05036977e-02, 7.04376973e-01,
 -4.84518146e-02,-7.06513480e-01,-4.84169895e-02]

qacc:
[-1.01742413e-01,-1.37658235e+00, 5.85849068e+00,-9.70497786e+00,
 -4.90913254e-02, 1.54021051e+00,-4.31443793e+00, 2.10755569e+00,
  2.09211410e-01,-2.80344321e+00, 1.41411886e+01,-3.11446849e+01,
  1.92097593e-02,-4.32909528e-01, 1.70140557e+00,-6.04261993e+00,
 -1.29771694e+00,-5.96168220e-01,-2.91169990e+00,-1.29343771e+00,
 -6.35252380e+01,-4.44852325e+01]

qfrc_actuator:
[ 2.34651991e-03, 2.72913246e-02, 8.72694164e-03, 1.72713699e-03,
 -2.22616129e-05, 2.73921648e-02, 8.62865773e-03, 1.62248536e-03,
 -2.39896786e-03, 2.74624982e-02, 8.70843991e-03, 1.55979703e-03,
  0.00000000e+00,-1.47549454e-03, 0.00000000e+00,-8.06539561e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005872806700932751
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.45223537e-14,  1.89044707e-13,  1.00000000e+00,  1.78689507e-26,
        1.00000000e+00, -1.89044707e-13, -1.00000000e+00,  0.00000000e+00,
       -9.45223537e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05361141, -0.04387867,  0.06194377])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.85807922e-05, 2.37394824e-05, 2.84795230e-05,-7.15990405e-06,
 -8.78656078e-06, 1.27755446e-05,-2.94096045e-05,-9.11329140e-06,
  3.84165220e-05, 1.40910746e-05, 2.08980882e-05,-4.70178650e-05,
  3.27118431e-03,-6.00389013e-05,-9.62335562e-06,-3.20300109e-05,
  6.66774659e-05, 3.93076423e-05,-1.21644197e+00, 1.76199733e-05,
  7.63702929e-03, 1.78293974e-03]


--- Step 2665 ---
qpos:
[-2.50990985e-03, 8.65848789e-01,-2.36971036e-02, 4.10913163e-04,
 -2.92844823e-03, 8.61874660e-01,-2.71362924e-02, 3.13856400e-03,
 -1.19295548e-03, 8.70681604e-01,-1.92930861e-02,-2.13287488e-02,
  1.39623354e+00, 1.85560523e-02, 1.42167259e+00, 2.40596621e-02,
  4.09287937e-03,-5.76661155e-02, 8.04805076e-02, 7.04141750e-01,
 -4.83084232e-02,-7.06746550e-01,-4.85798977e-02]

qacc:
[ 2.13954703e-01,-9.26602217e-01, 6.83282003e+00,-1.96732571e+01,
 -1.71724642e-01,-3.93667133e-01,-1.90233815e+00, 1.20812443e+01,
 -2.38014588e-03,-4.27704128e+00, 2.13233062e+01,-4.53670637e+01,
  3.22388950e-02,-1.08965041e-01,-1.22019557e+00, 3.93144475e+00,
  7.16916514e-01, 3.23913300e-01, 3.34875423e+00,-1.49976825e-01,
  3.39921420e+01, 2.64676597e+01]

qfrc_actuator:
[ 2.39441730e-03, 2.72896144e-02, 8.71439455e-03, 1.68789792e-03,
 -4.92150226e-05, 2.73590429e-02, 8.64688417e-03, 1.65341061e-03,
 -2.41783959e-03, 2.75005502e-02, 8.75300447e-03, 1.49616736e-03,
  0.00000000e+00,-1.45508396e-03, 0.00000000e+00,-7.87018940e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006121612762815254
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.0680599e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        9.0680599e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00272745, -0.06166305,  0.06194137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.90420707e-05, 1.71640201e-05,-4.38047769e-06,-3.73771581e-05,
 -3.11222153e-05,-3.24648580e-05, 1.69219778e-05, 3.02769588e-05,
 -4.76646182e-07, 4.82498261e-05, 4.84274582e-05,-6.32166596e-05,
  3.28646999e-03,-1.11864427e-05,-9.65340773e-06, 1.61475672e-05,
  1.47642156e-04, 8.33488149e-05,-1.21644466e+00, 2.64525679e-05,
  7.63637853e-03, 1.78383229e-03]


--- Step 2666 ---
qpos:
[-2.51021800e-03, 8.65847603e-01,-2.36964984e-02, 4.12111102e-04,
 -2.92945721e-03, 8.61875409e-01,-2.71360701e-02, 3.13951688e-03,
 -1.19346319e-03, 8.70681680e-01,-1.92926907e-02,-2.13302436e-02,
  1.39623306e+00, 1.85553839e-02, 1.42174017e+00, 2.40576862e-02,
  4.08276399e-03,-5.76707395e-02, 8.04678751e-02, 7.03958839e-01,
 -4.82049699e-02,-7.06927286e-01,-4.87036669e-02]

qacc:
[-3.32687482e-02, 9.64849290e-01,-4.28009752e+00, 8.46052768e+00,
 -1.68427297e-01, 5.01884547e-01,-4.51059362e+00, 1.54436093e+01,
 -6.20194827e-02, 2.47733696e+00,-1.30412738e+01, 3.12781774e+01,
  3.22072562e-02, 1.34896253e-01,-8.10971668e-01, 2.67535216e+00,
  7.42972216e-01, 4.06738305e-01, 2.63942039e+00,-2.37982941e-01,
  3.49956503e+01, 3.04275220e+01]

qfrc_actuator:
[ 2.36975073e-03, 2.72889706e-02, 8.70664099e-03, 1.69991998e-03,
 -6.49154445e-05, 2.73923745e-02, 8.67536971e-03, 1.68923693e-03,
 -2.42900398e-03, 2.74877279e-02, 8.74364365e-03, 1.54856151e-03,
  0.00000000e+00,-1.42467237e-03, 0.00000000e+00,-7.74620507e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006424380735133043
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.99057249e-07, -6.99057055e-07,  1.00000000e+00, -4.88680902e-13,
        1.00000000e+00,  6.99057055e-07, -1.00000000e+00,  1.00974196e-28,
       -6.99057249e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00404596, -0.06292397,  0.06193851])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.04486056e-06, 6.47590582e-06,-6.03975830e-06, 1.18768993e-05,
 -3.04785430e-05, 1.99494618e-05, 2.49088616e-05, 3.56097583e-05,
 -1.13866113e-05, 2.14534071e-05, 4.38207348e-06, 5.49078419e-05,
  3.29012774e-03, 2.41742733e-05,-3.60024432e-06, 1.18505047e-05,
  9.98532819e-05, 5.60552883e-05,-1.21644270e+00, 1.66573303e-05,
  7.63690073e-03, 1.78370074e-03]


--- Step 2667 ---
qpos:
[-2.51126669e-03, 8.65846350e-01,-2.36956902e-02, 4.14128314e-04,
 -2.93052443e-03, 8.61876443e-01,-2.71364247e-02, 3.14057761e-03,
 -1.19390955e-03, 8.70681591e-01,-1.92928301e-02,-2.13303365e-02,
  1.39623310e+00, 1.85552747e-02, 1.42180787e+00, 2.40545222e-02,
  4.07550242e-03,-5.76737336e-02, 8.04635068e-02, 7.03826414e-01,
 -4.81404963e-02,-7.07057616e-01,-4.87893431e-02]

qacc:
[-3.88053639e-01, 1.02981798e+00,-7.25946394e+00, 2.11629106e+01,
 -3.11326760e-02, 2.20834116e+00,-7.78429329e+00, 1.03665858e+01,
  3.18205078e-02, 4.16504414e+00,-2.10715756e+01, 4.62871397e+01,
  1.45944582e-02, 4.49814030e-01, 3.78120436e+00,-1.29473816e+01,
  7.13454668e-01, 4.07481598e-01, 2.06601904e+00,-2.66248062e-01,
  3.37194514e+01, 2.96301648e+01]

qfrc_actuator:
[ 2.30185410e-03, 2.72890154e-02, 8.71958396e-03, 1.74202037e-03,
 -5.59873264e-05, 2.73942958e-02, 8.63891637e-03, 1.69220055e-03,
 -2.41767567e-03, 2.74444246e-02, 8.70239360e-03, 1.61546797e-03,
  0.00000000e+00,-1.37078212e-03, 0.00000000e+00,-8.37540058e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006614372966200488
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.39250395e-14, -1.67850079e-13,  1.00000000e+00,  1.40868245e-26,
        1.00000000e+00,  1.67850079e-13, -1.00000000e+00,  0.00000000e+00,
        8.39250395e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00421272, -0.06308826,  0.06193672])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.07764981e-05, 2.94893301e-06, 1.39504407e-05, 4.23991541e-05,
 -5.53816542e-06, 1.97214379e-05,-2.80404563e-05, 5.37102843e-06,
  5.87833911e-06,-2.80564965e-05,-3.43811185e-05, 6.90474493e-05,
  3.28220917e-03, 6.73135288e-05,-1.18486775e-06,-6.29196028e-05,
  5.99009213e-05, 3.20160340e-05,-1.21644124e+00, 8.51121723e-06,
  7.63742332e-03, 1.78353968e-03]


--- Step 2668 ---
qpos:
[-2.51271414e-03, 8.65845027e-01,-2.36954959e-02, 4.16000899e-04,
 -2.93155813e-03, 8.61877687e-01,-2.71374772e-02, 3.14168454e-03,
 -1.19388411e-03, 8.70681327e-01,-1.92930939e-02,-2.13306891e-02,
  1.39623322e+00, 1.85553456e-02, 1.42187543e+00, 2.40516344e-02,
  4.07096713e-03,-5.76751364e-02, 8.04654965e-02, 7.03742458e-01,
 -4.81133774e-02,-7.07139624e-01,-4.88385926e-02]

qacc:
[-2.09435142e-01, 1.32538451e+00,-4.24852105e+00, 2.77960969e+00,
  1.71372638e-02, 2.32076693e+00,-8.06871191e+00, 9.83334513e+00,
  2.46308463e-01,-4.18432077e-01, 2.25095001e+00,-6.41358302e+00,
 -7.16409651e-03, 1.32189992e-01,-1.02776374e+00, 3.32137009e+00,
  6.81567276e-01, 3.97808612e-01, 1.58951316e+00,-2.79819365e-01,
  3.23524324e+01, 2.83705468e+01]

qfrc_actuator:
[ 2.29748519e-03, 2.72540792e-02, 8.67364671e-03, 1.73047690e-03,
 -5.01686237e-05, 2.73948640e-02, 8.59977969e-03, 1.69348972e-03,
 -2.37523168e-03, 2.74363294e-02, 8.69577286e-03, 1.60154999e-03,
  0.00000000e+00,-1.39199782e-03, 0.00000000e+00,-8.20055456e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006702317888690607
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.28238113e-14, -1.65647623e-13,  1.00000000e+00,  1.37195674e-26,
        1.00000000e+00,  1.65647623e-13, -1.00000000e+00,  0.00000000e+00,
        8.28238113e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00420678, -0.06308501,  0.0619359 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.81169572e-05,-2.85758667e-05,-4.21399418e-05,-1.01101865e-05,
  3.19250236e-06, 6.01075360e-06,-3.83396196e-05, 1.26543683e-06,
  4.52542941e-05,-2.79249517e-05,-1.42591450e-05,-1.49639429e-05,
  3.25543348e-03, 1.81503617e-05,-8.17808853e-06, 1.36599871e-05,
  3.10034314e-05, 1.50324669e-05,-1.21644037e+00, 2.84137309e-06,
  7.63790922e-03, 1.78335076e-03]


--- Step 2669 ---
qpos:
[-2.51437052e-03, 8.65843493e-01,-2.36963100e-02, 4.17077455e-04,
 -2.93272173e-03, 8.61879451e-01,-2.71391991e-02, 3.14310157e-03,
 -1.19337025e-03, 8.70680075e-01,-1.92916832e-02,-2.13312257e-02,
  1.39623314e+00, 1.85554562e-02, 1.42194274e+00, 2.40506372e-02,
  4.06905299e-03,-5.76749813e-02, 8.04722415e-02, 7.03705286e-01,
 -4.81222648e-02,-7.07175030e-01,-4.88527890e-02]

qacc:
[-1.10137155e-01, 8.97958387e-01,-2.48430554e-01,-1.17579700e+01,
 -6.89964974e-02, 3.19292100e+00,-1.16981918e+01, 1.77568111e+01,
  2.56409612e-01,-6.36376406e+00, 2.15683546e+01,-2.67010746e+01,
 -6.04950083e-03,-1.96945123e-02,-6.11889268e+00, 2.08313756e+01,
  6.55288992e-01, 3.89500899e-01, 1.18882461e+00,-2.88381110e-01,
  3.12165505e+01, 2.73283919e+01]

qfrc_actuator:
[ 2.29568208e-03, 2.72159354e-02, 8.61086975e-03, 1.68738329e-03,
 -6.40366621e-05, 2.74478391e-02, 8.57713753e-03, 1.71154536e-03,
 -2.35005854e-03, 2.73784246e-02, 8.78074368e-03, 1.59349603e-03,
  0.00000000e+00,-1.40486359e-03, 0.00000000e+00,-7.19812103e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000670874258167406
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.27444943e-14, -8.27444943e-14,  1.00000000e+00,  6.84665134e-27,
        1.00000000e+00,  8.27444943e-14, -1.00000000e+00,  0.00000000e+00,
        8.27444943e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00420664, -0.0630843 ,  0.06193585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.99794089e-05,-6.32338465e-05,-7.42128884e-05,-4.59733576e-05,
 -1.23513674e-05, 4.84494989e-05,-2.60840988e-05, 1.70087170e-05,
  4.68372958e-05,-7.70908329e-05, 7.69335062e-05,-1.00335985e-05,
  3.25164531e-03,-3.70283630e-06,-2.99607711e-06, 9.97857847e-05,
  1.21961393e-05, 4.63500060e-06,-1.21644003e+00,-5.12246897e-07,
  7.63836025e-03, 1.78313238e-03]


--- Step 2670 ---
qpos:
[-2.51650111e-03, 8.65841716e-01,-2.36970302e-02, 4.16521096e-04,
 -2.93421510e-03, 8.61881236e-01,-2.71404691e-02, 3.14470955e-03,
 -1.19302558e-03, 8.70678424e-01,-1.92894149e-02,-2.13318745e-02,
  1.39623354e+00, 1.85562432e-02, 1.42201014e+00, 2.40494907e-02,
  4.06967398e-03,-5.76732962e-02, 8.04823981e-02, 7.03713492e-01,
 -4.81660432e-02,-7.07165246e-01,-4.88330600e-02]

qacc:
[-2.48562450e-01,-3.94362958e+00, 2.04891549e+01,-4.87234373e+01,
 -1.73395040e-01,-8.41449807e-01, 2.23428271e+00, 3.31328822e-01,
 -8.76756659e-02,-3.15334367e+00, 1.09514722e+01,-1.39698074e+01,
 -1.05441475e-02, 5.29555881e-01, 6.17227744e-01,-1.90314607e+00,
  6.33780861e-01, 3.82489895e-01, 8.52897466e-01,-2.92912453e-01,
  3.02764154e+01, 2.64695325e+01]

qfrc_actuator:
[ 2.25988286e-03, 2.72292949e-02, 8.62739215e-03, 1.60831623e-03,
 -8.95667488e-05, 2.74431009e-02, 8.60014783e-03, 1.72162587e-03,
 -2.38871115e-03, 2.73802814e-02, 8.83015718e-03, 1.58898868e-03,
  0.00000000e+00,-1.32388798e-03, 0.00000000e+00,-7.31412154e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006650340620919307
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.34711399e-14,  8.34711399e-14,  1.00000000e+00, -6.96743120e-27,
        1.00000000e+00, -8.34711399e-14, -1.00000000e+00,  0.00000000e+00,
        8.34711399e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0042111 , -0.06308561,  0.06193641])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.53288316e-05,-3.92541582e-05,-7.25350987e-06,-8.52368051e-05,
 -3.13871052e-05, 1.76629406e-05, 3.03888794e-05, 1.15822040e-05,
 -1.62386336e-05,-2.57658307e-05, 4.26219369e-05,-5.34064420e-06,
  3.26149296e-03, 7.52967587e-05, 8.61809743e-06,-6.66493127e-06,
  2.32250451e-06, 5.37140762e-08,-1.21644013e+00,-1.76853244e-06,
  7.63878303e-03, 1.78288264e-03]


--- Step 2671 ---
qpos:
[-2.51907081e-03, 8.65840313e-01,-2.36978798e-02, 4.14610680e-04,
 -2.93545802e-03, 8.61882794e-01,-2.71410429e-02, 3.14678590e-03,
 -1.19300439e-03, 8.70677623e-01,-1.92874026e-02,-2.13323115e-02,
  1.39623441e+00, 1.85570444e-02, 1.42207810e+00, 2.40438704e-02,
  4.07276018e-03,-5.76701043e-02, 8.04948431e-02, 7.03765905e-01,
 -4.82437944e-02,-7.07111425e-01,-4.87803260e-02]

qacc:
[-2.30499582e-01,-1.93050515e+00, 1.33175126e+01,-3.68209156e+01,
  1.32458844e-01,-1.27889226e+00, 2.14958675e+00, 5.00774105e+00,
 -1.69342720e-01, 2.27452548e+00,-7.37212073e+00, 1.08190156e+01,
 -3.63780402e-02, 1.62593202e-01, 1.44026522e+01,-4.91289159e+01,
  6.16305073e-01, 3.76675735e-01, 5.72091521e-01,-2.94125995e-01,
  2.95019187e+01, 2.57651936e+01]

qfrc_actuator:
[ 2.23954009e-03, 2.72914252e-02, 8.63753729e-03, 1.54432565e-03,
 -5.08316801e-05, 2.74217793e-02, 8.63194349e-03, 1.74466905e-03,
 -2.41193907e-03, 2.74888108e-02, 8.84063081e-03, 1.60436372e-03,
  0.00000000e+00,-1.34703369e-03, 0.00000000e+00,-9.68608141e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006541087023293202
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.69730661e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.69730661e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00421916, -0.0630885 ,  0.06193745])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.19567617e-05, 3.50783196e-05,-1.78329489e-06,-6.75767668e-05,
  2.38374703e-05,-4.71167643e-06, 3.95825132e-05, 2.50743183e-05,
 -3.10085631e-05, 1.02716391e-04, 1.02146843e-05, 1.56433177e-05,
  3.23766210e-03, 1.83351445e-05, 2.25280301e-06,-2.36708567e-04,
  5.03656614e-07, 7.06877155e-07,-1.21644064e+00,-1.09466238e-06,
  7.63918194e-03, 1.78260029e-03]


--- Step 2672 ---
qpos:
[-2.52122108e-03, 8.65839399e-01,-2.36990786e-02, 4.12983536e-04,
 -2.93614768e-03, 8.61884204e-01,-2.71417089e-02, 3.14847686e-03,
 -1.19309619e-03, 8.70676982e-01,-1.92850728e-02,-2.13318222e-02,
  1.39623493e+00, 1.85572100e-02, 1.42214594e+00, 2.40368129e-02,
  4.07825527e-03,-5.76654248e-02, 8.05086404e-02, 7.03861554e-01,
 -4.83547658e-02,-7.07014493e-01,-4.86953323e-02]

qacc:
[  0.21952398,  2.20355122, -8.11647114, 13.22025096,  0.29134105,
  -0.73172117,  3.95087476,-10.36435414, -0.05881582,  1.23279253,
  -7.99161019, 23.38310264, -0.04811402, -0.41857728,  4.16847097,
 -14.8569272 ,  0.60222003,  0.3719437 ,  0.33807833, -0.29253657,
  28.86755732, 25.19121535]

qfrc_actuator:
[ 2.29963630e-03, 2.73290396e-02, 8.62628921e-03, 1.56076580e-03,
 -9.49112367e-06, 2.73907463e-02, 8.61532740e-03, 1.72187813e-03,
 -2.40793758e-03, 2.74649757e-02, 8.84626364e-03, 1.64914175e-03,
  0.00000000e+00,-1.43226071e-03, 0.00000000e+00,-1.03498289e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006392642849794988
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.73671993e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.73671993e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00422998, -0.0630926 ,  0.06193886])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.00985327e-05, 5.40095933e-05,-6.53895247e-06, 1.65729259e-05,
  5.26545813e-05,-2.44516827e-05,-1.18556054e-05,-2.11396808e-05,
 -1.08337771e-05, 3.63808109e-05, 2.86370129e-05, 4.98327360e-05,
  3.21363047e-03,-6.76073486e-05,-2.71260563e-05,-7.96975049e-05,
  6.07602244e-06, 6.15788825e-06,-1.21644152e+00, 1.38242965e-06,
  7.63955956e-03, 1.78228447e-03]


--- Step 2673 ---
qpos:
[-2.52241607e-03, 8.65838397e-01,-2.36993235e-02, 4.11203928e-04,
 -2.93687423e-03, 8.61885408e-01,-2.71424863e-02, 3.14920056e-03,
 -1.19321577e-03, 8.70675957e-01,-1.92832121e-02,-2.13303286e-02,
  1.39623491e+00, 1.85570018e-02, 1.42221331e+00, 2.40316555e-02,
  4.08611424e-03,-5.76592725e-02, 8.05230125e-02, 7.03999635e-01,
 -4.84983445e-02,-7.06875191e-01,-4.85786765e-02]

qacc:
[ 5.01461361e-01,-3.09437460e+00, 1.15081807e+01,-1.56098390e+01,
 -1.94786584e-02,-1.94910094e+00, 1.06412338e+01,-2.70549544e+01,
 -1.46185342e-02, 2.87351825e+00,-1.52105736e+01, 3.36066545e+01,
 -2.62680745e-02,-3.26767692e-01,-6.47091468e+00, 2.15858496e+01,
  5.90972301e-01, 3.68174692e-01, 1.43707259e-01,-2.88512116e-01,
  2.83517826e+01, 2.47273441e+01]

qfrc_actuator:
[ 2.37180774e-03, 2.73161751e-02, 8.67348731e-03, 1.55335815e-03,
 -3.80007660e-05, 2.73716520e-02, 8.60567949e-03, 1.67225316e-03,
 -2.40543217e-03, 2.73798246e-02, 8.79526309e-03, 1.69300974e-03,
  0.00000000e+00,-1.44757655e-03, 0.00000000e+00,-9.29101248e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006214704174088148
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.93222745e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.93222745e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00424288, -0.06309763,  0.06194055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.13015699e-05, 1.67389636e-05, 5.81407318e-05,-4.99239855e-06,
 -3.51739547e-06,-3.61458480e-05,-1.68994012e-05,-5.14987695e-05,
 -2.67819219e-06,-5.67656178e-05,-3.82488747e-05, 4.73837058e-05,
  3.23138047e-03,-5.11339571e-05,-2.24163785e-05, 9.77597528e-05,
  1.85433203e-05, 1.60823896e-05,-1.21644276e+00, 5.56723215e-06,
  7.63991701e-03, 1.78193463e-03]


--- Step 2674 ---
qpos:
[-2.52288922e-03, 8.65837590e-01,-2.36993382e-02, 4.09363246e-04,
 -2.93760819e-03, 8.61886347e-01,-2.71434034e-02, 3.15002474e-03,
 -1.19296244e-03, 8.70675612e-01,-1.92832793e-02,-2.13276641e-02,
  1.39623481e+00, 1.85567647e-02, 1.42228061e+00, 2.40270914e-02,
  4.09627620e-03,-5.76516939e-02, 8.05373985e-02, 7.04179084e-01,
 -4.86732956e-02,-7.06694497e-01,-4.84315485e-02]

qacc:
[ 3.78523312e-01,-5.11039502e-01, 2.45396915e+00,-4.02267177e+00,
 -3.88955617e-03, 2.45295389e-01,-1.80929596e+00, 3.96787808e+00,
  1.93318265e-01, 8.69525678e+00,-3.46335444e+01, 5.74642934e+01,
 -4.37732059e-03,-3.57202479e-02,-1.90557804e+00, 6.50650203e+00,
  5.75746295e-01, 3.56577413e-01, 3.48029317e-03,-2.75282438e-01,
  2.76901826e+01, 2.38228647e+01]

qfrc_actuator:
[ 2.39726281e-03, 2.73266630e-02, 8.68357916e-03, 1.54971689e-03,
 -3.70411684e-05, 2.73598363e-02, 8.60026855e-03, 1.67827432e-03,
 -2.36835916e-03, 2.74536419e-02, 8.71094204e-03, 1.75363579e-03,
  0.00000000e+00,-1.42095317e-03, 0.00000000e+00,-9.00154687e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.44461088, -6.42035185,  0.55865152, -6.42035185,  6.52350489,
        0.90669626,  0.55865152,  0.90669626, 16.8648977 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006014500223159927
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.61566885e-07, -8.61566972e-07,  1.00000000e+00, -7.42297572e-13,
        1.00000000e+00,  8.61566972e-07, -1.00000000e+00,  1.00974196e-28,
       -8.61566885e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00407721, -0.06293257,  0.06194244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.89953045e-05, 3.16840169e-05, 2.05512840e-05,-1.00575160e-06,
 -7.13577157e-07,-3.77480603e-05,-1.67450912e-05, 2.88367884e-06,
  3.57829763e-05, 3.62114891e-05,-9.91249871e-05, 5.77914260e-05,
  3.25766709e-03,-5.80133390e-06,-1.51542194e-07, 3.13985689e-05,
  3.75395905e-05, 3.02431223e-05,-1.21644437e+00, 1.13888570e-05,
  7.64025415e-03, 1.78155043e-03]


--- Step 2675 ---
qpos:
[-2.52341822e-03, 8.65837343e-01,-2.36996785e-02, 4.07830392e-04,
 -2.93814997e-03, 8.61886953e-01,-2.71441235e-02, 3.15159003e-03,
 -1.19211716e-03, 8.70676220e-01,-1.92845852e-02,-2.13254142e-02,
  1.39623476e+00, 1.85568460e-02, 1.42234776e+00, 2.40239090e-02,
  4.10751324e-03,-5.76486176e-02, 8.05501450e-02, 7.04387846e-01,
 -4.87629532e-02,-7.06484583e-01,-4.83680741e-02]

qacc:
[-2.96670513e-02, 2.28182283e+00,-8.36335640e+00, 1.38021372e+01,
  1.01494766e-01, 5.35069547e-01,-5.67484344e+00, 1.84314023e+01,
  3.07958230e-01, 3.86529493e+00,-1.02083838e+01, 4.32226390e+00,
 -3.55263685e-03, 2.06744844e-01,-4.40462018e+00, 1.50930304e+01,
  2.68767894e-01,-1.12558432e+00,-4.09892048e-01, 4.77948098e-01,
  2.47470192e+01,-5.81707921e+01]

qfrc_actuator:
[ 2.35903410e-03, 2.73686668e-02, 8.67174938e-03, 1.56605767e-03,
 -1.84147504e-05, 2.73525311e-02, 8.61522530e-03, 1.71700232e-03,
 -2.32868780e-03, 2.75331681e-02, 8.66153298e-03, 1.73498516e-03,
  0.00000000e+00,-1.38711442e-03, 0.00000000e+00,-8.28059200e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000584956456887227
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.89795841e-13, -9.48979203e-14,  1.00000000e+00,  1.80112306e-26,
        1.00000000e+00,  9.48979203e-14, -1.00000000e+00,  0.00000000e+00,
        1.89795841e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00082949, -0.03580616,  0.061944  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.32338037e-06, 6.39537109e-05,-2.78024750e-06, 1.83928172e-05,
  1.82831897e-05,-3.17643305e-05, 5.19602486e-06, 3.65862192e-05,
  5.68087671e-05, 8.17871268e-05,-5.21426094e-05,-1.94093066e-05,
  3.26218857e-03, 2.94946890e-05, 2.03355612e-06, 7.35285856e-05,
  6.24974542e-05, 4.81217104e-05,-1.21644630e+00, 1.87063959e-05,
  7.64055923e-03, 1.78113562e-03]


--- Step 2676 ---
qpos:
[-2.52421127e-03, 8.65837477e-01,-2.36995143e-02, 4.05779381e-04,
 -2.93885499e-03, 8.61886925e-01,-2.71444423e-02, 3.15259561e-03,
 -1.19130244e-03, 8.70676573e-01,-1.92854573e-02,-2.13240568e-02,
  1.39623464e+00, 1.85567309e-02, 1.42241506e+00, 2.40202712e-02,
  4.11983946e-03,-5.76499543e-02, 8.05604307e-02, 7.04625266e-01,
 -4.87692089e-02,-7.06246096e-01,-4.83864848e-02]

qacc:
[-1.38280125e-01,-1.97043320e+00, 9.94633024e+00,-2.00033538e+01,
 -8.55215052e-02,-3.10760837e+00, 1.22307665e+01,-2.20974343e+01,
 -1.56361342e-02,-3.38810550e+00, 1.53515267e+01,-3.12918858e+01,
 -1.04348841e-03,-1.33970968e-01, 1.60388192e+00,-5.28788393e+00,
  2.72297413e-01,-1.10322492e+00,-6.15188074e-01, 4.56109776e-01,
  2.42000605e+01,-5.69107776e+01]

qfrc_actuator:
[ 2.33634199e-03, 2.73936323e-02, 8.70048830e-03, 1.54078533e-03,
 -4.26427552e-05, 2.72948475e-02, 8.62436919e-03, 1.68591045e-03,
 -2.35883616e-03, 2.74735532e-02, 8.66865843e-03, 1.68763828e-03,
  0.00000000e+00,-1.42029258e-03, 0.00000000e+00,-8.55368529e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005739967395001488
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.93419744e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.93419744e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00082508, -0.03579481,  0.06194504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.52219597e-05, 6.09522380e-05, 4.22488039e-05,-2.22675917e-05,
 -1.55535902e-05,-7.28139890e-05, 4.48856319e-06,-3.15630719e-05,
 -2.93669710e-06,-2.54798346e-05, 1.69230109e-05,-4.60311016e-05,
  3.25922268e-03,-1.95873856e-05, 8.11916775e-06,-2.31736581e-05,
  7.52626714e-05, 2.15564701e-05,-1.21644378e+00, 1.53546220e-05,
  7.63930708e-03, 1.78101949e-03]


--- Step 2677 ---
qpos:
[-2.52471042e-03, 8.65838042e-01,-2.36998427e-02, 4.03504803e-04,
 -2.93978618e-03, 8.61886006e-01,-2.71439051e-02, 3.15287798e-03,
 -1.19087915e-03, 8.70676593e-01,-1.92858899e-02,-2.13229218e-02,
  1.39623417e+00, 1.85555924e-02, 1.42248273e+00, 2.40136695e-02,
  4.12622366e-03,-5.76537403e-02, 8.05627782e-02, 7.04755805e-01,
 -4.87118759e-02,-7.06113986e-01,-4.84710933e-02]

qacc:
[ 1.53614704e-01, 1.48392857e+00,-3.52247034e+00, 1.26201135e-01,
 -1.18294474e-01,-5.05316634e+00, 1.93655749e+01,-3.26025437e+01,
 -2.03996305e-01,-2.12454391e+00, 7.87500077e+00,-1.21783842e+01,
  1.45235050e-02,-7.06981615e-01, 9.51124467e+00,-3.25126113e+01,
 -1.48550489e+00,-6.12360325e-01,-1.98455896e+00,-1.00546510e+00,
 -7.20676735e+01,-5.09567548e+01]

qfrc_actuator:
[ 2.37646027e-03, 2.73905759e-02, 8.66410538e-03, 1.52675322e-03,
 -5.67996090e-05, 2.72428759e-02, 8.66524753e-03, 1.64943628e-03,
 -2.39498536e-03, 2.74555488e-02, 8.69077484e-03, 1.67697539e-03,
  0.00000000e+00,-1.51104615e-03, 0.00000000e+00,-1.01204678e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005626909354847637
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.86530042e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.86530042e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0536687 , -0.04388128,  0.06194611])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.80985997e-05, 3.87960692e-05,-1.93582740e-05,-1.03891724e-05,
 -2.15486740e-05,-9.31128470e-05, 2.53023994e-05,-4.00531707e-05,
 -3.75575977e-05,-3.07300256e-05, 1.73485809e-05,-1.20655630e-05,
  3.26280627e-03,-1.00506717e-04,-9.21827587e-07,-1.57383862e-04,
  8.88663769e-05,-8.53923158e-06,-1.21644248e+00, 7.97381306e-06,
  7.63823839e-03, 1.78103488e-03]


--- Step 2678 ---
qpos:
[-2.52481736e-03, 8.65839125e-01,-2.37006577e-02, 4.01069098e-04,
 -2.94090887e-03, 8.61885024e-01,-2.71426582e-02, 3.15262368e-03,
 -1.19068367e-03, 8.70676377e-01,-1.92855156e-02,-2.13219617e-02,
  1.39623324e+00, 1.85538712e-02, 1.42255007e+00, 2.40079299e-02,
  4.12690038e-03,-5.76599260e-02, 8.05559913e-02, 7.04783648e-01,
 -4.85936431e-02,-7.06084149e-01,-4.86193558e-02]

qacc:
[ 2.05136178e-01, 1.70966773e+00,-4.42614680e+00, 2.03818541e+00,
 -1.00416502e-01,-3.16799487e+00, 1.34425435e+01,-2.38234060e+01,
 -1.18374218e-01,-2.92712102e+00, 1.07192292e+01,-1.48599197e+01,
  3.64501142e-02,-4.99061553e-01,-3.11768205e+00, 1.01513502e+01,
 -1.42687127e+00,-5.99900071e-01,-2.28358112e+00,-1.03641416e+00,
 -6.92699535e+01,-4.89112009e+01]

qfrc_actuator:
[ 2.40055456e-03, 2.74237627e-02, 8.64270248e-03, 1.51937793e-03,
 -6.47855461e-05, 2.73013582e-02, 8.72455130e-03, 1.62787276e-03,
 -2.39885671e-03, 2.74626899e-02, 8.73945927e-03, 1.67025703e-03,
  0.00000000e+00,-1.52892351e-03, 0.00000000e+00,-9.59613705e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.22592258, -6.21920417,  0.28915646, -6.21920417,  6.33884104,
        2.42866083,  0.28915646,  2.42866083, 58.46178674,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005752534936354844
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.64985904e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.64985904e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05364306, -0.04389069,  0.06194494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.74973045e-05, 5.04347733e-05,-1.61332705e-05,-6.58287554e-06,
 -1.82262702e-05, 9.94029030e-06, 4.18076980e-05,-2.54556866e-05,
 -2.18578730e-05,-6.97865789e-06, 4.40598782e-05,-7.66900608e-06,
  3.27977332e-03,-6.71737290e-05,-2.07546540e-05, 4.29489231e-05,
  2.40889547e-05,-1.51776248e-05,-1.21643935e+00, 1.68278528e-06,
  7.63734047e-03, 1.78142948e-03]


--- Step 2679 ---
qpos:
[-2.52477388e-03, 8.65840845e-01,-2.37010210e-02, 3.98827530e-04,
 -2.94198048e-03, 8.61884385e-01,-2.71411972e-02, 3.15209324e-03,
 -1.19080588e-03, 8.70675784e-01,-1.92844772e-02,-2.13207169e-02,
  1.39623196e+00, 1.85525607e-02, 1.42261662e+00, 2.40081824e-02,
  4.12236012e-03,-5.76639054e-02, 8.05429338e-02, 7.04707171e-01,
 -4.85085946e-02,-7.06158624e-01,-4.87310623e-02]

qacc:
[ 7.89312095e-02,-1.89117431e-02, 4.71950378e-01, 1.69586778e+00,
  2.69059719e-02,-7.13623899e-01, 4.36721759e+00,-9.74159534e+00,
 -1.65317805e-01,-1.76568712e+00, 4.37507080e+00,-2.38358660e-01,
  5.88359428e-02, 1.02406394e-01,-1.93464219e+01, 6.59257022e+01,
 -1.30424433e+00, 5.51585387e-01,-1.56767946e+00, 1.21306020e+00,
 -7.52828670e+01, 1.95270481e+01]

qfrc_actuator:
[ 2.39706595e-03, 2.74961897e-02, 8.68373664e-03, 1.53377634e-03,
 -5.12604941e-05, 2.73368782e-02, 8.74145635e-03, 1.61535837e-03,
 -2.41887366e-03, 2.74316980e-02, 8.76803618e-03, 1.68369955e-03,
  0.00000000e+00,-1.46760136e-03, 0.00000000e+00,-6.42333147e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005880800970320815
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17992327e-14, -2.83181585e-13,  1.00000000e+00, -3.34132541e-27,
        1.00000000e+00,  2.83181585e-13, -1.00000000e+00,  0.00000000e+00,
       -1.17992327e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05014156, -0.06980569,  0.06194373])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.43966667e-05, 9.70043587e-05, 4.92362395e-05, 1.58751169e-05,
  4.87417912e-06, 4.86341161e-05, 2.32265997e-05,-1.11367690e-05,
 -3.04839136e-05,-2.61248657e-05, 3.22955140e-05, 1.45178101e-05,
  3.30331213e-03, 2.33268532e-05,-5.74898682e-06, 3.16831676e-04,
  4.59453249e-07,-1.53384530e-06,-1.21643786e+00, 6.82516752e-08,
  7.63632935e-03, 1.78206110e-03]


--- Step 2680 ---
qpos:
[-2.52449600e-03, 8.65843316e-01,-2.37012903e-02, 3.97820940e-04,
 -2.94256539e-03, 8.61884286e-01,-2.71401770e-02, 3.15109127e-03,
 -1.19083285e-03, 8.70675259e-01,-1.92840883e-02,-2.13189406e-02,
  1.39623081e+00, 1.85516595e-02, 1.42268324e+00, 2.40108587e-02,
  4.11276222e-03,-5.76657812e-02, 8.05224461e-02, 7.04530076e-01,
 -4.84556650e-02,-7.06333665e-01,-4.88075184e-02]

qacc:
[ 1.22752724e-01, 3.27013078e+00,-1.54349096e+01, 3.61081774e+01,
  2.55818342e-01, 9.74718304e-01,-4.48561056e-01,-7.40325927e+00,
  4.93206710e-02, 2.99740418e+00,-1.27982483e+01, 2.29772920e+01,
  7.43190474e-02, 2.01656580e-01,-7.24292656e+00, 2.54758357e+01,
 -1.26440958e+00, 5.25867971e-01,-1.85752414e+00, 1.13893454e+00,
 -7.25985604e+01, 1.88703906e+01]

qfrc_actuator:
[ 2.41261777e-03, 2.75385748e-02, 8.69047878e-03, 1.59645343e-03,
 -7.24221281e-06, 2.73582407e-02, 8.71538124e-03, 1.59047496e-03,
 -2.39513906e-03, 2.74313181e-02, 8.73111055e-03, 1.70884894e-03,
  0.00000000e+00,-1.43053031e-03, 0.00000000e+00,-5.26671570e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005934813809672229
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.67673907e-14, -4.67673907e-14,  1.00000000e+00,  2.18718883e-27,
        1.00000000e+00,  4.67673907e-14, -1.00000000e+00,  0.00000000e+00,
        4.67673907e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05013002, -0.06980302,  0.0619432 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.24246592e-05, 1.07444126e-04, 3.33845817e-05, 6.88466912e-05,
  4.63379293e-05, 5.28824268e-05,-1.35604021e-05,-2.22133985e-05,
  9.13468373e-06,-7.69713430e-06,-3.78452495e-05, 2.54291630e-05,
  3.32012323e-03, 3.99010443e-05, 3.25247951e-05, 1.32570238e-04,
  1.20462964e-05, 1.35030833e-05,-1.21643911e+00, 2.97547543e-06,
  7.63681710e-03, 1.78285988e-03]


--- Step 2681 ---
qpos:
[-2.52401131e-03, 8.65846348e-01,-2.37021907e-02, 3.97648546e-04,
 -2.94264237e-03, 8.61884699e-01,-2.71400694e-02, 3.15018159e-03,
 -1.19029624e-03, 8.70675093e-01,-1.92846237e-02,-2.13162045e-02,
  1.39622993e+00, 1.85509291e-02, 1.42275020e+00, 2.40132643e-02,
  4.10044202e-03,-5.76654401e-02, 8.05046979e-02, 7.04296795e-01,
 -4.84417794e-02,-7.06564770e-01,-4.88430515e-02]

qacc:
[  0.10788084,  4.21985153,-17.49331853, 32.53079663,  0.26674953,
   3.41100604,-11.57560076, 14.26176137,  0.29360965,  5.03491405,
 -21.30578403, 39.11593044,  0.06885451,  0.09812586,  1.32483179,
  -3.90265578, -0.68057468,  0.55424241,  0.68485651,  0.70568386,
 -41.53651275, 25.47532625]

qfrc_actuator:
[ 2.42169707e-03, 2.75270621e-02, 8.64131752e-03, 1.63372133e-03,
  1.91107076e-05, 2.73707728e-02, 8.66408733e-03, 1.59398126e-03,
 -2.34543940e-03, 2.74667657e-02, 8.69143665e-03, 1.75841445e-03,
  0.00000000e+00,-1.42592541e-03, 0.00000000e+00,-5.48562558e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005917835544947869
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.74754302e-08, -1.47117022e-13,  1.00000000e+00,  5.51327371e-21,
        1.00000000e+00,  1.47117022e-13, -1.00000000e+00,  0.00000000e+00,
        3.74754302e-08])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0276462 , -0.06703366,  0.06194331])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.97790893e-05, 5.83594100e-05,-2.04910264e-05, 4.43639141e-05,
  4.83563893e-05, 3.83520538e-05,-4.28183809e-05, 4.86935013e-06,
  5.40719852e-05, 2.44241376e-05,-4.50472519e-05, 4.84188394e-05,
  3.31357660e-03, 2.40741483e-05, 2.75479831e-05,-1.08416335e-05,
  5.32150732e-05, 1.55871171e-05,-1.21644139e+00, 4.56385246e-06,
  7.63733073e-03, 1.78359793e-03]


--- Step 2682 ---
qpos:
[-2.52374553e-03, 8.65848568e-01,-2.37024215e-02, 3.97322177e-04,
 -2.94250144e-03, 8.61885278e-01,-2.71402529e-02, 3.15035836e-03,
 -1.18955481e-03, 8.70674988e-01,-1.92843939e-02,-2.13140116e-02,
  1.39622877e+00, 1.85499073e-02, 1.42281710e+00, 2.40171067e-02,
  4.09095834e-03,-5.76635213e-02, 8.04956801e-02, 7.04114072e-01,
 -4.84664027e-02,-7.06745319e-01,-4.88409278e-02]

qacc:
[ -0.11408006, -3.25764754, 10.71183086,-13.85451012,  0.11458284,
   3.2676414 ,-15.91897888, 35.06870009,  0.10737241, -3.17612885,
  13.72972168,-24.3905426 ,  0.06844211, -0.3069862 , -4.46347351,
  15.43535303,  0.70912896,  0.39441907,  2.18262609, -0.26747806,
  33.81168098, 29.32447494]

qfrc_actuator:
[ 2.39132142e-03, 2.74120893e-02, 8.64806485e-03, 1.62014525e-03,
  1.68958615e-05, 2.73778207e-02, 8.65156817e-03, 1.64965143e-03,
 -2.35167766e-03, 2.74878848e-02, 8.73941161e-03, 1.73322553e-03,
  0.00000000e+00,-1.47623062e-03, 0.00000000e+00,-4.73733823e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006154436660382506
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.97506370e-07, -1.97506659e-07,  1.00000000e+00, -3.90088233e-14,
        1.00000000e+00,  1.97506659e-07, -1.00000000e+00,  0.00000000e+00,
       -1.97506370e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00406942, -0.06292262,  0.06194107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.09431423e-05,-8.47341464e-05, 1.77942750e-05,-1.09250862e-05,
  2.07449403e-05, 1.98556097e-05,-9.70901299e-06, 5.59257196e-05,
  1.96540265e-05, 2.75577383e-05, 4.91463995e-05,-2.47631872e-05,
  3.30038111e-03,-3.47379435e-05, 9.06281769e-06, 7.71886841e-05,
  8.71836388e-05, 3.40570267e-06,-1.21644335e+00, 3.31202103e-06,
  7.63793874e-03, 1.78402389e-03]


--- Step 2683 ---
qpos:
[-2.52377451e-03, 8.65849412e-01,-2.37010542e-02, 3.96500641e-04,
 -2.94227303e-03, 8.61886072e-01,-2.71403158e-02, 3.15082029e-03,
 -1.18931373e-03, 8.70674465e-01,-1.92833047e-02,-2.13127734e-02,
  1.39622752e+00, 1.85485538e-02, 1.42288414e+00, 2.40208163e-02,
  4.08418655e-03,-5.76600572e-02, 8.04934497e-02, 7.03979838e-01,
 -4.85279184e-02,-7.06877440e-01,-4.88028029e-02]

qacc:
[ -0.15307021, -7.29987959, 25.4814894 ,-35.60164337,  0.04608646,
   0.53373044, -2.69547855,  7.28062191, -0.26060671, -4.91993775,
  20.76252911,-38.33685315,  0.08526642, -0.30444652,  0.60121346,
  -1.82932828,  0.67797227,  0.38634696,  1.69682652, -0.27388803,
  32.41084691, 28.06895101]

qfrc_actuator:
[ 2.37312107e-03, 2.73249514e-02, 8.72281434e-03, 1.59446990e-03,
  1.53798332e-05, 2.73994700e-02, 8.66205725e-03, 1.66457832e-03,
 -2.40909797e-03, 2.74295510e-02, 8.76764557e-03, 1.68205571e-03,
  0.00000000e+00,-1.48807755e-03, 0.00000000e+00,-4.84493574e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006284557674269464
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05734329e-06, -1.05734330e-06,  1.00000000e+00, -1.11797484e-12,
        1.00000000e+00,  1.05734330e-06, -1.00000000e+00,  0.00000000e+00,
       -1.05734329e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00406032, -0.06291802,  0.06193985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.82016909e-05,-1.31366138e-04, 5.90483362e-05,-2.89041545e-05,
  8.33324564e-06, 3.31325079e-05, 1.53255370e-05, 1.65288408e-05,
 -4.80066437e-05,-3.38333954e-05, 3.91182101e-05,-4.87752575e-05,
  3.31369043e-03,-3.19817237e-05, 1.07525433e-05,-5.75261380e-06,
  5.13002663e-05,-7.17970576e-06,-1.21644265e+00, 4.76637039e-07,
  7.63853696e-03, 1.78371897e-03]


--- Step 2684 ---
qpos:
[-2.52405664e-03, 8.65850247e-01,-2.37004194e-02, 3.95363419e-04,
 -2.94220073e-03, 8.61887257e-01,-2.71403313e-02, 3.15143948e-03,
 -1.18948424e-03, 8.70674049e-01,-1.92828531e-02,-2.13124656e-02,
  1.39622653e+00, 1.85470499e-02, 1.42295147e+00, 2.40223721e-02,
  4.08005368e-03,-5.76550346e-02, 8.04963132e-02, 7.03892855e-01,
 -4.86258512e-02,-7.06962404e-01,-4.87292006e-02]

qacc:
[-1.33194471e-01, 1.38419551e+00,-3.62041810e+00,-6.63475059e-01,
 -8.23116216e-02, 7.07333518e-01,-2.43656379e+00, 4.79568562e+00,
 -2.15383670e-01, 5.49812048e-03, 4.10593552e+00,-1.92548374e+01,
  8.69871783e-02,-1.12952059e-01, 6.93669205e+00,-2.36712928e+01,
  6.59731703e-01, 3.89602411e-01, 1.27349395e+00,-2.83656924e-01,
  3.15497057e+01, 2.76561031e+01]

qfrc_actuator:
[ 2.36238931e-03, 2.73619208e-02, 8.69514773e-03, 1.57969041e-03,
 -3.42626510e-06, 2.74297658e-02, 8.66830362e-03, 1.67317859e-03,
 -2.42559375e-03, 2.74305159e-02, 8.73037668e-03, 1.63367866e-03,
  0.00000000e+00,-1.47669274e-03, 0.00000000e+00,-5.98869352e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006330665542353814
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.76861222e-14, -1.75372244e-13,  1.00000000e+00,  1.53777121e-26,
        1.00000000e+00,  1.75372244e-13, -1.00000000e+00,  0.00000000e+00,
        8.76861222e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00423735, -0.06308669,  0.06193942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.41984632e-05,-2.55638696e-05,-4.85391186e-05,-1.89274775e-05,
 -1.48467070e-05, 5.26776542e-05, 1.55428258e-05, 1.08698411e-05,
 -3.94855173e-05,-1.19667530e-05,-4.11308343e-05,-4.94235808e-05,
  3.31828983e-03,-3.97537736e-06, 2.11339843e-06,-1.13824734e-04,
  2.58289406e-05,-1.15159716e-05,-1.21644247e+00,-9.10893427e-08,
  7.63909751e-03, 1.78338697e-03]


--- Step 2685 ---
qpos:
[-2.52433839e-03, 8.65851280e-01,-2.37009195e-02, 3.95094729e-04,
 -2.94232040e-03, 8.61888916e-01,-2.71405518e-02, 3.15147305e-03,
 -1.19013697e-03, 8.70674530e-01,-1.92835153e-02,-2.13134995e-02,
  1.39622552e+00, 1.85454708e-02, 1.42301860e+00, 2.40242295e-02,
  4.07847324e-03,-5.76484785e-02, 8.05028942e-02, 7.03851656e-01,
 -4.87590630e-02,-7.07001677e-01,-4.86212694e-02]

qacc:
[-5.42889970e-04, 5.21869613e+00,-2.18951142e+01, 3.86000437e+01,
 -1.01436956e-01,-7.92817549e-03, 3.40763143e+00,-1.35632103e+01,
 -2.52853969e-01, 1.53204286e+00, 1.90886479e+00,-2.39831667e+01,
  7.86723962e-02,-1.23259056e-01,-1.20751622e+00, 3.78736052e+00,
  6.38105463e-01, 3.83381449e-01, 9.29361458e-01,-2.81717905e-01,
  3.05705136e+01, 2.67787731e+01]

qfrc_actuator:
[ 2.37396762e-03, 2.73837736e-02, 8.64322808e-03, 1.62472491e-03,
 -1.46451844e-05, 2.74472347e-02, 8.65427655e-03, 1.64249145e-03,
 -2.45292869e-03, 2.75199603e-02, 8.69046467e-03, 1.56958240e-03,
  0.00000000e+00,-1.48692264e-03, 0.00000000e+00,-5.78061693e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006307334202994563
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.80104803e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.80104803e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00423922, -0.06308689,  0.06193965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.52255082e-08,-3.30310659e-06,-6.38438796e-05, 4.18909221e-05,
 -1.82604646e-05, 5.05695340e-05,-8.66554824e-07,-2.76834951e-05,
 -4.62413965e-05, 7.21434650e-05,-4.91607975e-05,-6.69943860e-05,
  3.30556582e-03,-6.63513515e-06,-1.33229619e-05, 1.43437099e-05,
  9.39925062e-06,-1.03327268e-05,-1.21644277e+00, 1.39175615e-06,
  7.63963663e-03, 1.78302296e-03]


--- Step 2686 ---
qpos:
[-2.52454584e-03, 8.65851251e-01,-2.37007403e-02, 3.96094825e-04,
 -2.94260005e-03, 8.61890523e-01,-2.71409698e-02, 3.15086124e-03,
 -1.19118578e-03, 8.70675668e-01,-1.92845224e-02,-2.13135908e-02,
  1.39622460e+00, 1.85439679e-02, 1.42308561e+00, 2.40266312e-02,
  4.07937442e-03,-5.76404096e-02, 8.05120392e-02, 7.03855019e-01,
 -4.89266159e-02,-7.06996459e-01,-4.84799459e-02]

qacc:
[ 3.98216073e-02,-6.89143535e-01,-4.93455997e+00, 2.65854971e+01,
 -8.43966634e-02,-8.42891346e-01, 5.63300428e+00,-1.64502271e+01,
 -2.07211705e-01, 3.77513977e+00,-1.61689417e+01, 3.25340126e+01,
  7.90664820e-02,-1.26879887e-02,-1.84953545e+00, 6.17072379e+00,
  6.20406020e-01, 3.78208149e-01, 6.40997785e-01,-2.76566210e-01,
  2.97610055e+01, 2.60592736e+01]

qfrc_actuator:
[ 2.38102708e-03, 2.72898369e-02, 8.66621518e-03, 1.68683722e-03,
 -2.12134796e-05, 2.74035109e-02, 8.62831880e-03, 1.60666448e-03,
 -2.46877923e-03, 2.75728968e-02, 8.68520318e-03, 1.62110626e-03,
  0.00000000e+00,-1.47463115e-03, 0.00000000e+00,-5.48748412e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006229864675058872
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.68286802e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.68286802e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00424495, -0.06308878,  0.06194039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.07430113e-06,-1.07194683e-04, 1.58855103e-05, 6.05762405e-05,
 -1.52298067e-05,-1.68516646e-05,-1.65900273e-05,-3.42315129e-05,
 -3.79802622e-05, 8.02452249e-05, 1.26636847e-06, 5.16088923e-05,
  3.30564704e-03, 9.46427982e-06,-5.17555347e-06, 2.82454610e-05,
  1.39819283e-06,-3.98178227e-06,-1.21644350e+00, 4.82221221e-06,
  7.64014730e-03, 1.78262750e-03]


--- Step 2687 ---
qpos:
[-2.52485885e-03, 8.65850031e-01,-2.36998173e-02, 3.97498941e-04,
 -2.94318134e-03, 8.61892004e-01,-2.71416857e-02, 3.15053336e-03,
 -1.19251641e-03, 8.70676868e-01,-1.92845161e-02,-2.13130829e-02,
  1.39622403e+00, 1.85422746e-02, 1.42315301e+00, 2.40256677e-02,
  4.08141251e-03,-5.76370712e-02, 8.05212346e-02, 7.03888943e-01,
 -4.90053099e-02,-7.06960942e-01,-4.84258354e-02]

qacc:
[-5.44383250e-02,-2.81797237e+00, 6.06012017e+00, 6.15200927e-01,
 -1.58987624e-01, 1.24825819e+00,-5.89288618e+00, 1.13778255e+01,
 -1.46504053e-01,-1.51550724e+00, 2.99512408e+00, 5.70288902e+00,
  7.35530558e-02,-1.00656220e-01, 1.07899261e+01,-3.68790880e+01,
  2.84227020e-01,-1.18264358e+00, 1.26098350e-02, 4.55420137e-01,
  2.57538834e+01,-6.06221489e+01]

qfrc_actuator:
[ 2.36754853e-03, 2.72163714e-02, 8.69728071e-03, 1.70519068e-03,
 -4.26992413e-05, 2.73944166e-02, 8.61302994e-03, 1.62130552e-03,
 -2.47763238e-03, 2.75683031e-02, 8.73591401e-03, 1.65149163e-03,
  0.00000000e+00,-1.48445350e-03, 0.00000000e+00,-7.27726578e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000621206619904828
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.93602055e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.93602055e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00085502, -0.03583741,  0.06194058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.01196223e-05,-1.27531965e-04, 1.29774598e-05, 1.54886846e-05,
 -2.87166540e-05,-2.34461193e-05,-2.20063468e-05, 1.26779520e-05,
 -2.70275449e-05, 4.27228172e-05, 6.92238972e-05, 3.48698725e-05,
  3.30148822e-03,-4.12609824e-06,-7.11206527e-08,-1.78275623e-04,
  1.09419384e-06, 7.11429740e-06,-1.21644461e+00, 1.00716154e-05,
  7.64063109e-03, 1.78219985e-03]


--- Step 2688 ---
qpos:
[-2.52530514e-03, 8.65848736e-01,-2.36986687e-02, 3.98658475e-04,
 -2.94366390e-03, 8.61893325e-01,-2.71426010e-02, 3.15072609e-03,
 -1.19403006e-03, 8.70678649e-01,-1.92851217e-02,-2.13128592e-02,
  1.39622373e+00, 1.85406777e-02, 1.42322034e+00, 2.40232468e-02,
  4.08458826e-03,-5.76383299e-02, 8.05293713e-02, 7.03952544e-01,
 -4.89976748e-02,-7.06896038e-01,-4.84565259e-02]

qacc:
[-6.97171821e-02,-1.23187697e+00, 5.28256917e+00,-9.82280341e+00,
  5.19620188e-02, 1.41621127e+00,-7.55485682e+00, 1.70032844e+01,
 -9.61627915e-02, 1.89198069e+00,-4.43221652e+00, 6.67463098e-02,
  5.34902341e-02, 7.21346286e-02, 4.29924135e+00,-1.52053800e+01,
  2.84415496e-01,-1.14925993e+00,-2.64684553e-01, 4.23218419e-01,
  2.50011074e+01,-5.89222665e+01]

qfrc_actuator:
[ 2.35964994e-03, 2.72800107e-02, 8.73285730e-03, 1.69764606e-03,
 -1.96719320e-05, 2.73884436e-02, 8.60432169e-03, 1.64780356e-03,
 -2.48224293e-03, 2.75827830e-02, 8.69471949e-03, 1.63365481e-03,
  0.00000000e+00,-1.47180271e-03, 0.00000000e+00,-7.97203773e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006156738183445282
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.80326496e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.80326496e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0008531 , -0.03583144,  0.06194111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27383529e-05,-4.31144771e-06, 1.13726613e-05,-1.22585479e-05,
  9.39278664e-06,-2.31180980e-05,-1.58282748e-05, 2.49785219e-05,
 -1.75450449e-05, 5.41232702e-05,-2.26481007e-05,-1.29356206e-05,
  3.28415212e-03, 1.80958884e-05,-2.15338190e-05,-7.98161580e-05,
  3.10516943e-06, 4.57423693e-06,-1.21644151e+00, 1.26024610e-05,
  7.63947979e-03, 1.78190944e-03]


--- Step 2689 ---
qpos:
[-2.52604769e-03, 8.65847712e-01,-2.36972966e-02, 3.99327129e-04,
 -2.94357996e-03, 8.61894294e-01,-2.71432361e-02, 3.15088088e-03,
 -1.19546758e-03, 8.70680836e-01,-1.92864751e-02,-2.13121270e-02,
  1.39622337e+00, 1.85395558e-02, 1.42328701e+00, 2.40243351e-02,
  4.08890062e-03,-5.76440759e-02, 8.05355180e-02, 7.04045064e-01,
 -4.89057977e-02,-7.06802464e-01,-4.85700291e-02]

qacc:
[-1.55306767e-01,-1.27723739e+00, 7.14435418e+00,-1.61965957e+01,
  2.98638187e-01,-1.32534929e+00, 4.21088086e+00,-5.05789332e+00,
  3.91661632e-02, 3.67257337e+00,-1.44602488e+01, 2.41535352e+01,
  4.08798257e-02, 2.29989327e-01,-1.16007592e+01, 3.91670133e+01,
  2.84153117e-01,-1.12184039e+00,-4.97491981e-01, 3.95013752e-01,
  2.43818013e+01,-5.75202597e+01]

qfrc_actuator:
[ 2.33741663e-03, 2.73187569e-02, 8.75360836e-03, 1.67504959e-03,
  2.97834934e-05, 2.73666746e-02, 8.61733508e-03, 1.64556030e-03,
 -2.46654135e-03, 2.75904093e-02, 8.65285942e-03, 1.65853914e-03,
  0.00000000e+00,-1.44587873e-03, 0.00000000e+00,-6.06263095e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006054151667400087
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.16910482e-14, -9.16910482e-14,  1.00000000e+00,  8.40724832e-27,
        1.00000000e+00,  9.16910482e-14, -1.00000000e+00,  0.00000000e+00,
        9.16910482e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00084885, -0.03582072,  0.06194209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.83062645e-05, 3.81783042e-05, 2.08373304e-05,-2.26274555e-05,
  5.39111382e-05,-3.69184797e-05, 7.14962739e-06,-3.29628305e-06,
  7.31132948e-06, 3.26168193e-05,-3.39304474e-05, 2.61635919e-05,
  3.27034976e-03, 3.92460934e-05,-1.89386510e-05, 1.83683616e-04,
  6.25598567e-06,-2.29648265e-06,-1.21643971e+00, 1.07473073e-05,
  7.63852830e-03, 1.78176335e-03]


--- Step 2690 ---
qpos:
[-2.52688035e-03, 8.65847023e-01,-2.36962891e-02, 3.99751654e-04,
 -2.94310595e-03, 8.61895428e-01,-2.71439489e-02, 3.15131076e-03,
 -1.19694982e-03, 8.70682790e-01,-1.92874850e-02,-2.13114408e-02,
  1.39622321e+00, 1.85389269e-02, 1.42335358e+00, 2.40273208e-02,
  4.09434729e-03,-5.76542194e-02, 8.05388943e-02, 7.04165845e-01,
 -4.87313917e-02,-7.06680774e-01,-4.87647171e-02]

qacc:
[-4.76030642e-02, 9.59457654e-01,-1.74612672e+00,-2.14221002e+00,
  2.05345562e-01, 1.00098487e+00,-4.41421873e+00, 9.17939731e+00,
 -2.30507330e-02,-1.36247720e+00, 4.60556181e+00,-5.78168438e+00,
  4.01692436e-02, 2.98090816e-01,-5.89640240e+00, 2.04119313e+01,
  2.83577649e-01,-1.09935629e+00,-6.92608890e-01, 3.69465825e-01,
  2.38749952e+01,-5.63708075e+01]

qfrc_actuator:
[ 2.34230406e-03, 2.73244998e-02, 8.72987091e-03, 1.66151877e-03,
  4.13306547e-05, 2.74066950e-02, 8.62522906e-03, 1.66192783e-03,
 -2.47434370e-03, 2.75583619e-02, 8.66423870e-03, 1.65511901e-03,
  0.00000000e+00,-1.41240787e-03, 0.00000000e+00,-5.11992127e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000591498586340361
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.38483244e-14,  9.38483244e-14,  1.00000000e+00, -8.80750800e-27,
        1.00000000e+00, -9.38483244e-14, -1.00000000e+00,  0.00000000e+00,
        9.38483244e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00084282, -0.03580636,  0.06194339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.60439958e-06, 3.04364949e-05,-1.40712199e-05,-1.16156610e-05,
  3.71341087e-05, 2.07000830e-05, 1.03260959e-06, 1.49677627e-05,
 -4.29397036e-06,-1.97402937e-05, 1.48322864e-05,-2.69120917e-06,
  3.27264271e-03, 4.90087663e-05, 1.21912734e-05, 1.02172579e-04,
  1.04621341e-05,-1.31746047e-05,-1.21643911e+00, 4.73630555e-06,
  7.63775102e-03, 1.78175235e-03]


--- Step 2691 ---
qpos:
[-2.52734949e-03, 8.65845737e-01,-2.36951730e-02, 4.00444704e-04,
 -2.94237846e-03, 8.61896960e-01,-2.71452771e-02, 3.15228546e-03,
 -1.19831074e-03, 8.70684798e-01,-1.92889790e-02,-2.13111254e-02,
  1.39622357e+00, 1.85385898e-02, 1.42342064e+00, 2.40277366e-02,
  4.10221544e-03,-5.76630033e-02, 8.05455783e-02, 7.04329164e-01,
 -4.85872626e-02,-7.06516498e-01,-4.89300000e-02]

qacc:
[ 1.90881352e-01,-5.40007320e-01,-3.54032168e-01, 5.26669879e+00,
  1.32989847e-01, 3.36261389e+00,-1.35304788e+01, 2.36563169e+01,
  6.29977828e-02, 6.60829726e-01,-6.89965984e-01,-4.98540022e+00,
  2.41370124e-02, 2.82578325e-01, 8.50964224e+00,-2.87029355e+01,
  6.05368772e-01, 3.39893142e-01, 8.26911867e-01,-2.71794388e-01,
  2.85693697e+01, 2.31258590e+01]

qfrc_actuator:
[ 2.38112891e-03, 2.72392559e-02, 8.71544407e-03, 1.67112958e-03,
  4.78352943e-05, 2.74301545e-02, 8.59479196e-03, 1.68916397e-03,
 -2.46065277e-03, 2.75562444e-02, 8.63575886e-03, 1.63506754e-03,
  0.00000000e+00,-1.39236958e-03, 0.00000000e+00,-6.53041217e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005810661681349238
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95862382e-07, -1.43439847e-13,  1.00000000e+00,  2.80944700e-20,
        1.00000000e+00,  1.43439847e-13, -1.00000000e+00,  0.00000000e+00,
        1.95862382e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00332221, -0.06219621,  0.06194437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.47266708e-05,-7.16196515e-05,-1.02788162e-05, 1.02006177e-05,
  2.41344763e-05, 3.58712695e-05,-2.55211867e-05, 2.84481310e-05,
  1.16358439e-05,-1.02507399e-05,-3.08319697e-05,-2.04383082e-05,
  3.26345920e-03, 4.44236416e-05, 1.58193145e-05,-1.34079894e-04,
  1.56618904e-05,-2.78211327e-05,-1.21643962e+00,-5.25565568e-06,
  7.63712608e-03, 1.78186875e-03]


--- Step 2692 ---
qpos:
[-2.52758749e-03, 8.65843554e-01,-2.36940658e-02, 4.01986490e-04,
 -2.94130780e-03, 8.61898771e-01,-2.71465896e-02, 3.15216873e-03,
 -1.19933787e-03, 8.70686540e-01,-1.92909660e-02,-2.13110099e-02,
  1.39622439e+00, 1.85385518e-02, 1.42348785e+00, 2.40258197e-02,
  4.11234658e-03,-5.76705785e-02, 8.05547211e-02, 7.04532574e-01,
 -4.84700629e-02,-7.06312058e-01,-4.90691541e-02]

qacc:
[ 1.21531381e-01, 5.86934523e-01,-7.39515792e+00, 2.27576009e+01,
  1.80582394e-01,-1.91865986e+00, 1.19872712e+01,-3.11100476e+01,
  1.74065945e-01, 6.12349516e-01,-1.85248227e+00,-6.21210265e-01,
 -8.27202683e-03, 2.96614242e-01, 7.32016217e+00,-2.52229220e+01,
  5.65747241e-01, 3.02164636e-01, 6.14727339e-01,-2.62062179e-01,
  2.70134757e+01, 2.06713040e+01]

qfrc_actuator:
[ 2.38664073e-03, 2.71712300e-02, 8.70627640e-03, 1.71196300e-03,
  6.90476333e-05, 2.74433792e-02, 8.59518286e-03, 1.63377835e-03,
 -2.43421398e-03, 2.75186327e-02, 8.60180647e-03, 1.62313290e-03,
  0.00000000e+00,-1.38038694e-03, 0.00000000e+00,-7.71800239e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005732522669396611
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68354674e-14,  9.68354674e-14,  1.00000000e+00,  9.37710775e-27,
        1.00000000e+00, -9.68354674e-14, -1.00000000e+00,  0.00000000e+00,
       -9.68354674e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00275837, -0.06165889,  0.06194511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.20640376e-05,-1.09734287e-04,-2.48725711e-05, 3.76070033e-05,
  3.26732769e-05, 2.92063613e-05, 5.63597291e-06,-5.41807152e-05,
  3.20126732e-05,-5.06236952e-05,-4.05802758e-05,-1.38401022e-05,
  3.23640714e-03, 4.18341431e-05,-9.53292767e-06,-1.24663594e-04,
  3.35361736e-05,-3.63687772e-05,-1.21643998e+00,-9.80893627e-06,
  7.63720401e-03, 1.78183535e-03]


--- Step 2693 ---
qpos:
[-2.52749568e-03, 8.65841657e-01,-2.36935865e-02, 4.03895801e-04,
 -2.93994728e-03, 8.61901106e-01,-2.71474708e-02, 3.15132864e-03,
 -1.19985218e-03, 8.70686608e-01,-1.92923910e-02,-2.13116196e-02,
  1.39622529e+00, 1.85388741e-02, 1.42355472e+00, 2.40248297e-02,
  4.11704232e-03,-5.76758135e-02, 8.05584167e-02, 7.04628997e-01,
 -4.83865924e-02,-7.06214513e-01,-4.91708782e-02]

qacc:
[ 1.72444555e-01, 2.88704104e+00,-1.12985779e+01, 1.84559814e+01,
  1.52700417e-01,-2.00170834e+00, 1.11946509e+01,-2.47905650e+01,
  2.68657754e-01,-5.27465700e+00, 1.86545640e+01,-3.08648202e+01,
 -3.17003307e-02, 2.64937453e-01,-3.29885771e+00, 1.08346709e+01,
 -1.35884900e+00, 5.85076591e-01,-1.36180670e+00, 1.36682936e+00,
 -7.71740944e+01, 1.98813921e+01]

qfrc_actuator:
[ 2.40765697e-03, 2.72560944e-02, 8.70033828e-03, 1.73533709e-03,
  8.11408640e-05, 2.75036789e-02, 8.63143824e-03, 1.60124853e-03,
 -2.40038751e-03, 2.73535082e-02, 8.60027824e-03, 1.58054064e-03,
  0.00000000e+00,-1.37336157e-03, 0.00000000e+00,-7.16620909e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005643962524668061
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47532388e-13, -7.37661939e-14,  1.00000000e+00,  1.08829027e-26,
        1.00000000e+00,  7.37661939e-14, -1.00000000e+00,  0.00000000e+00,
        1.47532388e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05018013, -0.06983793,  0.06194595])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.15272595e-05, 2.00209029e-05,-3.03585119e-05, 1.85435954e-05,
  2.76075434e-05, 7.54453815e-05, 4.11021490e-05,-3.21393246e-05,
  4.91510997e-05,-2.02429176e-04,-1.74602149e-05,-4.64337319e-05,
  3.21384047e-03, 3.39243193e-05,-1.89349518e-05, 4.68330203e-05,
  5.63761100e-05,-4.11592426e-05,-1.21644066e+00,-1.30665641e-05,
  7.63723730e-03, 1.78177932e-03]


--- Step 2694 ---
qpos:
[-2.52711718e-03, 8.65840126e-01,-2.36922219e-02, 4.05952303e-04,
 -2.93875342e-03, 8.61903727e-01,-2.71478051e-02, 3.14978139e-03,
 -1.20028056e-03, 8.70684922e-01,-1.92928461e-02,-2.13127510e-02,
  1.39622594e+00, 1.85391154e-02, 1.42362141e+00, 2.40251441e-02,
  4.11649527e-03,-5.76788350e-02, 8.05553917e-02, 7.04622612e-01,
 -4.83357229e-02,-7.06219788e-01,-4.92366137e-02]

qacc:
[ 1.50738520e-01,-1.68518965e+00, 6.09088467e+00,-5.23065783e+00,
 -8.75711963e-02,-2.60294265e+00, 1.28169782e+01,-2.61443689e+01,
  4.60571103e-02,-6.10214368e+00, 2.05914283e+01,-2.98756572e+01,
 -3.02182098e-02,-7.86459558e-02,-4.23995359e+00, 1.44097024e+01,
 -1.31069841e+00, 5.53342930e-01,-1.68016165e+00, 1.26254988e+00,
 -7.41987866e+01, 1.91758858e+01]

qfrc_actuator:
[ 2.42003210e-03, 2.73253529e-02, 8.76797095e-03, 1.74837731e-03,
  5.21734137e-05, 2.75031058e-02, 8.65328509e-03, 1.56474805e-03,
 -2.41569886e-03, 2.72731626e-02, 8.65285193e-03, 1.55566427e-03,
  0.00000000e+00,-1.40499666e-03, 0.00000000e+00,-6.48168177e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005762648698803552
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.63292301e-14,  4.81646150e-14,  1.00000000e+00, -4.63966028e-27,
        1.00000000e+00, -4.81646150e-14, -1.00000000e+00,  0.00000000e+00,
        9.63292301e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05015736, -0.06983191,  0.06194485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.74146198e-05, 7.50202261e-05, 6.86769544e-05, 1.32068784e-05,
 -1.58529685e-05, 4.86818012e-05, 4.13694675e-05,-3.24728735e-05,
  8.19790266e-06,-1.99117660e-04, 7.02097901e-06,-3.50486463e-05,
  3.20973886e-03,-1.57154820e-05,-3.49953898e-06, 6.86255528e-05,
  1.17766114e-05,-1.28640047e-05,-1.21643952e+00,-9.30470464e-06,
  7.63746334e-03, 1.78228179e-03]


--- Step 2695 ---
qpos:
[-2.52708484e-03, 8.65838825e-01,-2.36902197e-02, 4.07491838e-04,
 -2.93801155e-03, 8.61905988e-01,-2.71478080e-02, 3.14790809e-03,
 -1.20094786e-03, 8.70683108e-01,-1.92929006e-02,-2.13129624e-02,
  1.39622648e+00, 1.85394612e-02, 1.42368797e+00, 2.40269339e-02,
  4.11086925e-03,-5.76797474e-02, 8.05445655e-02, 7.04516871e-01,
 -4.83164992e-02,-7.06324431e-01,-4.92675661e-02]

qacc:
[-1.81193440e-01,-2.54125479e+00, 1.16841798e+01,-2.18218892e+01,
 -2.37714674e-01,-2.07009892e+00, 8.06947245e+00,-1.39805203e+01,
 -1.24413486e-01, 6.07348942e-01,-6.28684887e+00, 2.16487332e+01,
 -2.07359231e-02, 5.34821398e-02,-4.65314367e+00, 1.60097825e+01,
 -1.26974176e+00, 5.27305366e-01,-1.95029740e+00, 1.17815397e+00,
 -7.17116875e+01, 1.85814550e+01]

qfrc_actuator:
[ 2.37387587e-03, 2.73140426e-02, 8.78972089e-03, 1.71978526e-03,
  1.66627719e-05, 2.74305313e-02, 8.64844618e-03, 1.54389097e-03,
 -2.44251851e-03, 2.73864561e-02, 8.71950158e-03, 1.61251455e-03,
  0.00000000e+00,-1.38852045e-03, 0.00000000e+00,-5.72499704e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005800231644078752
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.57050591e-14, -7.17787943e-14,  1.00000000e+00,  6.86959375e-27,
        1.00000000e+00,  7.17787943e-14, -1.00000000e+00,  0.00000000e+00,
        9.57050591e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0501498 , -0.06983051,  0.06194449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.30737433e-05, 4.54144544e-05, 4.61597852e-05,-2.27477113e-05,
 -4.30301432e-05,-3.82597296e-05, 9.17276237e-06,-1.79727659e-05,
 -2.29220927e-05, 1.94629057e-06, 2.51980587e-05, 4.78913055e-05,
  3.22184977e-03, 4.81309481e-06, 4.70000193e-06, 7.87512096e-05,
  2.98634823e-07, 1.40291850e-06,-1.21643953e+00,-6.99025295e-06,
  7.63771070e-03, 1.78270984e-03]


--- Step 2696 ---
qpos:
[-2.52750522e-03, 8.65837838e-01,-2.36890103e-02, 4.08076057e-04,
 -2.93752180e-03, 8.61907773e-01,-2.71475184e-02, 3.14685465e-03,
 -1.20152322e-03, 8.70681998e-01,-1.92923454e-02,-2.13126167e-02,
  1.39622690e+00, 1.85399636e-02, 1.42375441e+00, 2.40306210e-02,
  4.10030478e-03,-5.76786363e-02, 8.05250218e-02, 7.04314608e-01,
 -4.83281156e-02,-7.06525520e-01,-4.92647411e-02]

qacc:
[-2.38014571e-01, 6.63397241e-01, 2.26940160e+00,-1.77643595e+01,
 -1.32376942e-01, 2.40231600e-01,-5.23139498e+00, 1.93029014e+01,
  4.81675009e-02, 3.74370933e-01,-2.33251873e+00, 1.04726263e+01,
 -1.54176791e-02, 7.90142257e-02,-5.92805631e+00, 2.04740791e+01,
 -1.23461342e+00, 5.05844047e-01,-2.17936676e+00, 1.10930286e+00,
 -6.96379041e+01, 1.80822413e+01]

qfrc_actuator:
[ 2.34637690e-03, 2.72898868e-02, 8.73057689e-03, 1.66681913e-03,
  1.30834579e-05, 2.74040506e-02, 8.66309787e-03, 1.58557956e-03,
 -2.42269476e-03, 2.74907398e-02, 8.77702536e-03, 1.64615722e-03,
  0.00000000e+00,-1.37883571e-03, 0.00000000e+00,-4.75441847e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005772482065773549
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.61651342e-14, -4.80825671e-14,  1.00000000e+00,  4.62386651e-27,
        1.00000000e+00,  4.80825671e-14, -1.00000000e+00,  0.00000000e+00,
        9.61651342e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05015437, -0.0698328 ,  0.06194473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.32635168e-05, 9.80691359e-06,-4.48722410e-05,-4.98688081e-05,
 -2.40103175e-05,-4.68067780e-05, 7.24369138e-06, 4.00173146e-05,
  8.84390119e-06, 1.12665547e-04, 6.27018381e-05, 3.55340572e-05,
  3.22760629e-03, 9.28193329e-06, 9.46336947e-06, 1.01713801e-04,
  1.84449525e-05, 3.10774664e-06,-1.21644061e+00,-5.89284227e-06,
  7.63798912e-03, 1.78308072e-03]


--- Step 2697 ---
qpos:
[-2.52793805e-03, 8.65837236e-01,-2.36883418e-02, 4.08686308e-04,
 -2.93736123e-03, 8.61908852e-01,-2.71463923e-02, 3.14699103e-03,
 -1.20211376e-03, 8.70681255e-01,-1.92903483e-02,-2.13129229e-02,
  1.39622726e+00, 1.85405701e-02, 1.42382088e+00, 2.40354477e-02,
  4.09258378e-03,-5.76757324e-02, 8.05140987e-02, 7.04163493e-01,
 -4.83788490e-02,-7.06675498e-01,-4.92240079e-02]

qacc:
[-6.99466749e-03, 2.07144941e+00,-6.75935442e+00, 7.79404757e+00,
 -1.72513566e-01,-8.17922639e-01,-3.45721711e+00, 2.32286323e+01,
 -7.18434656e-03,-4.88537885e+00, 2.08691197e+01,-3.47146173e+01,
 -1.01657137e-02, 5.79578891e-02,-3.41706240e+00, 1.20037275e+01,
  7.10868763e-01, 4.48215359e-01, 2.15514639e+00,-4.06885757e-01,
  3.41886388e+01, 2.96632128e+01]

qfrc_actuator:
[ 2.36582256e-03, 2.73288572e-02, 8.71283512e-03, 1.67088422e-03,
 -6.86139017e-06, 2.73699818e-02, 8.70710268e-03, 1.64602745e-03,
 -2.42837816e-03, 2.75000739e-02, 8.84645705e-03, 1.61261248e-03,
  0.00000000e+00,-1.37331980e-03, 0.00000000e+00,-4.19820428e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005991531154814281
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.26493576e-14, -1.85298715e-13,  1.00000000e+00,  1.71678069e-26,
        1.00000000e+00,  1.85298715e-13, -1.00000000e+00,  0.00000000e+00,
        9.26493576e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00426456, -0.06309358,  0.06194264])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18050709e-06, 3.30591052e-05,-2.29724139e-05, 1.96089371e-06,
 -3.13490460e-05,-5.70781193e-05, 3.66010775e-05, 5.94712520e-05,
 -1.43843030e-06, 8.68255355e-05, 1.01656190e-04,-2.58595262e-05,
  3.23341022e-03, 6.96917361e-06, 1.40717412e-05, 6.21299843e-05,
  6.35640274e-05,-6.62731276e-06,-1.21644263e+00,-5.83762598e-06,
  7.63830358e-03, 1.78340647e-03]


--- Step 2698 ---
qpos:
[-2.52806717e-03, 8.65837342e-01,-2.36884259e-02, 4.10002990e-04,
 -2.93766771e-03, 8.61909174e-01,-2.71449508e-02, 3.14858435e-03,
 -1.20329961e-03, 8.70680635e-01,-1.92876058e-02,-2.13132025e-02,
  1.39622801e+00, 1.85414810e-02, 1.42388767e+00, 2.40385717e-02,
  4.08758683e-03,-5.76711054e-02, 8.05098725e-02, 7.04061438e-01,
 -4.84671172e-02,-7.06776493e-01,-4.91469163e-02]

qacc:
[ 1.58543563e-01, 4.49110700e+00,-1.76387072e+01, 3.05514685e+01,
 -2.45416131e-01, 1.11773243e+00,-1.15868240e+01, 3.68549167e+01,
 -3.10404904e-01,-1.86558606e+00, 6.77453180e+00,-7.59692943e+00,
 -1.74620406e-02, 2.94851870e-01, 5.65831948e+00,-1.90528273e+01,
  6.81010887e-01, 4.30770459e-01, 1.67423793e+00,-3.87322685e-01,
  3.27771311e+01, 2.84558957e+01]

qfrc_actuator:
[ 2.39542319e-03, 2.73877548e-02, 8.68449445e-03, 1.70856882e-03,
 -3.64476493e-05, 2.73140268e-02, 8.71480066e-03, 1.71703299e-03,
 -2.48480077e-03, 2.74702454e-02, 8.86869942e-03, 1.61075183e-03,
  0.00000000e+00,-1.33481002e-03, 0.00000000e+00,-5.13330402e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006128486764780255
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.05788874e-14, -9.05788874e-14,  1.00000000e+00,  8.20453483e-27,
        1.00000000e+00,  9.05788874e-14, -1.00000000e+00,  0.00000000e+00,
        9.05788874e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00425477, -0.06308949,  0.06194135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.90427394e-05, 7.27319548e-05,-2.42764180e-05, 3.83428919e-05,
 -4.44761435e-05,-7.78039087e-05, 2.46067451e-06, 7.09817976e-05,
 -5.71019587e-05, 3.86101801e-05, 5.17914030e-05, 4.86924143e-06,
  3.23610261e-03, 4.02764997e-05, 1.14528567e-05,-8.86986217e-05,
  3.32867220e-05,-1.26093056e-05,-1.21644198e+00,-6.98096758e-06,
  7.63865299e-03, 1.78323984e-03]


--- Step 2699 ---
qpos:
[-2.52805255e-03, 8.65837514e-01,-2.36894479e-02, 4.11856931e-04,
 -2.93837814e-03, 8.61908831e-01,-2.71439617e-02, 3.15140405e-03,
 -1.20529969e-03, 8.70680245e-01,-1.92859479e-02,-2.13133870e-02,
  1.39622903e+00, 1.85426266e-02, 1.42395456e+00, 2.40402374e-02,
  4.08521447e-03,-5.76648130e-02, 8.05107203e-02, 7.04006691e-01,
 -4.85916033e-02,-7.06830268e-01,-4.90347486e-02]

qacc:
[  0.07477414,  3.81112029,-15.73278378, 26.48635956, -0.21272306,
   2.90712753,-16.81959715, 39.26023305, -0.42589011,  3.52969172,
 -12.54481466, 15.75486105, -0.04086394,  0.24606423,  4.5754575 ,
 -15.76246376,  0.65614954,  0.41637407,  1.2684792 , -0.36822763,
  31.60088392, 27.45362258]

qfrc_actuator:
[ 2.39530035e-03, 2.73338624e-02, 8.61471740e-03, 1.73022904e-03,
 -5.37965845e-05, 2.72630264e-02, 8.68314837e-03, 1.77587746e-03,
 -2.53557544e-03, 2.74347701e-02, 8.79173747e-03, 1.60973134e-03,
  0.00000000e+00,-1.33000379e-03, 0.00000000e+00,-5.87416993e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006180346360678754
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00425112, -0.06308792,  0.06194086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37342385e-05,-1.65933635e-05,-5.64218899e-05, 2.46795682e-05,
 -3.84726302e-05,-9.09847144e-05,-4.49766029e-05, 5.69738992e-05,
 -7.81108039e-05,-2.99661267e-06,-6.24559543e-05, 2.51741422e-06,
  3.21635998e-03, 2.98586515e-05,-6.31674881e-06,-7.79852072e-05,
  1.33856740e-05,-1.24177773e-05,-1.21644188e+00,-5.86326339e-06,
  7.63898815e-03, 1.78302820e-03]


--- Step 2700 ---
qpos:
[-2.52759944e-03, 8.65836965e-01,-2.36903754e-02, 4.13987596e-04,
 -2.93919777e-03, 8.61908116e-01,-2.71431806e-02, 3.15450737e-03,
 -1.20762354e-03, 8.70679625e-01,-1.92850092e-02,-2.13138918e-02,
  1.39623013e+00, 1.85441852e-02, 1.42402116e+00, 2.40430046e-02,
  4.08538451e-03,-5.76569021e-02, 8.05152768e-02, 7.03997785e-01,
 -4.87512156e-02,-7.06838274e-01,-4.88885597e-02]

qacc:
[ 0.23021721,-0.64702576,-0.2435374 , 5.41106314,-0.05748544, 0.67195496,
 -4.30827203, 9.82445323,-0.16943138, 1.04653598,-2.82076479,-1.40006768,
 -0.05781883, 0.31970477,-3.74645354,12.52136389, 0.63559966, 0.40459598,
  0.92718714,-0.3493534 ,30.62429777,26.62565508]

qfrc_actuator:
[ 2.43063983e-03, 2.72659136e-02, 8.60932802e-03, 1.74216125e-03,
 -4.59267628e-05, 2.72684675e-02, 8.68178538e-03, 1.79156780e-03,
 -2.52924641e-03, 2.73957507e-02, 8.74554793e-03, 1.59138312e-03,
  0.00000000e+00,-1.30996651e-03, 0.00000000e+00,-5.25144468e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006163993485933106
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.00571218e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.00571218e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00425236, -0.06308835,  0.06194102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.18869591e-05,-8.78204585e-05,-1.49098608e-05, 9.74729521e-06,
 -1.04048422e-05,-5.22921465e-05,-2.37321906e-05, 1.13403176e-05,
 -3.10700367e-05,-5.35024906e-05,-5.44248128e-05,-2.05896439e-05,
  3.20278642e-03, 3.81507064e-05,-1.25451140e-05, 5.68728040e-05,
  2.66004308e-06,-6.73398890e-06,-1.21644224e+00,-2.68915182e-06,
  7.63930806e-03, 1.78277379e-03]


--- Step 2701 ---
qpos:
[-2.52634869e-03, 8.65836250e-01,-2.36913023e-02, 4.16179694e-04,
 -2.93982915e-03, 8.61907465e-01,-2.71419692e-02, 3.15525536e-03,
 -1.20968114e-03, 8.70679188e-01,-1.92845822e-02,-2.13146799e-02,
  1.39623104e+00, 1.85455320e-02, 1.42408781e+00, 2.40454671e-02,
  4.08800233e-03,-5.76474492e-02, 8.05224717e-02, 7.04033053e-01,
 -4.89442532e-02,-7.06802135e-01,-4.87099844e-02]

qacc:
[ 4.18255858e-01,-9.48319503e-02,-2.39879731e-01, 1.42450985e+00,
  9.92538346e-02,-5.96125776e+00, 3.13246605e+01,-7.28303867e+01,
  1.38617331e-01, 1.08665187e+00,-2.33083991e+00,-1.88378664e+00,
 -5.64984845e-02,-1.14064137e-01, 9.94948426e-01,-3.37445628e+00,
  6.11944738e-01, 3.85504424e-01, 6.59602663e-01,-3.22046549e-01,
  2.95439003e+01, 2.53689597e+01]

qfrc_actuator:
[ 2.48690444e-03, 2.72968072e-02, 8.62416129e-03, 1.74830227e-03,
 -2.30588769e-05, 2.73077473e-02, 8.71628522e-03, 1.67530208e-03,
 -2.48881994e-03, 2.74437350e-02, 8.73564287e-03, 1.58076828e-03,
  0.00000000e+00,-1.35207327e-03, 0.00000000e+00,-5.42806566e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006092738068301755
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.33913479e-07, -9.33913625e-07,  1.00000000e+00, -8.72194522e-13,
        1.00000000e+00,  9.33913625e-07, -1.00000000e+00,  1.00974196e-28,
       -9.33913479e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00407729, -0.0629198 ,  0.06194169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.62288659e-05,-2.08545771e-05,-4.79650318e-06, 2.05108421e-06,
  1.79223159e-05, 5.62867901e-06, 2.11635140e-05,-1.19111160e-04,
  2.55437420e-05, 5.94528403e-06,-2.83740588e-05,-1.51892664e-05,
  3.19913945e-03,-2.46238440e-05, 2.44125162e-07,-1.61938045e-05,
  1.93810545e-07, 3.93169567e-06,-1.21644303e+00, 2.38557587e-06,
  7.63961111e-03, 1.78247849e-03]


--- Step 2702 ---
qpos:
[-2.52474619e-03, 8.65835728e-01,-2.36922520e-02, 4.18382347e-04,
 -2.94022565e-03, 8.61907430e-01,-2.71414565e-02, 3.15392011e-03,
 -1.21135169e-03, 8.70679577e-01,-1.92849262e-02,-2.13160009e-02,
  1.39623131e+00, 1.85460692e-02, 1.42415440e+00, 2.40483730e-02,
  4.09184463e-03,-5.76427468e-02, 8.05301252e-02, 7.04099089e-01,
 -4.90474029e-02,-7.06735408e-01,-4.86198364e-02]

qacc:
[ 1.84333979e-01, 3.40092083e-01,-8.87789329e-01, 9.65783277e-01,
  1.22912887e-01,-1.52047704e+00, 1.53985618e+01,-5.07902647e+01,
  2.01298010e-01, 2.14707628e+00,-3.82720487e+00,-4.76003520e+00,
 -3.53276927e-02,-6.05982650e-01,-1.46445564e+00, 4.93053707e+00,
  3.06119014e-01,-1.18760954e+00, 1.14648680e-01, 3.99698321e-01,
  2.59946040e+01,-6.13964249e+01]

qfrc_actuator:
[ 2.48417906e-03, 2.73334816e-02, 8.63343162e-03, 1.75107319e-03,
 -9.19854153e-06, 2.73492898e-02, 8.68298446e-03, 1.57115138e-03,
 -2.46390076e-03, 2.75258487e-02, 8.71208335e-03, 1.55713197e-03,
  0.00000000e+00,-1.43100689e-03, 0.00000000e+00,-5.18700751e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006014367651295885
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.22975688e-14, -9.22975688e-14,  1.00000000e+00,  8.51884121e-27,
        1.00000000e+00,  9.22975688e-14, -1.00000000e+00,  0.00000000e+00,
        9.22975688e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0008527 , -0.03581675,  0.06194243])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.36229940e-05, 2.41378393e-05, 4.45097759e-06, 1.74936183e-06,
  2.23703606e-05, 4.39652761e-05,-3.36592160e-05,-1.05497875e-04,
  3.71502088e-05, 7.89351291e-05,-2.63530799e-05,-2.46589376e-05,
  3.20791483e-03,-9.29836338e-05,-3.53692424e-06, 2.28138953e-05,
  5.19639680e-06, 1.89579852e-05,-1.21644419e+00, 9.19094141e-06,
  7.63988755e-03, 1.78214630e-03]


--- Step 2703 ---
qpos:
[-2.52318758e-03, 8.65834721e-01,-2.36922234e-02, 4.20272888e-04,
 -2.94042306e-03, 8.61907870e-01,-2.71417412e-02, 3.15275358e-03,
 -1.21267640e-03, 8.70680241e-01,-1.92854466e-02,-2.13168754e-02,
  1.39623129e+00, 1.85461871e-02, 1.42422098e+00, 2.40512013e-02,
  4.09689484e-03,-5.76426610e-02, 8.05370732e-02, 7.04195000e-01,
 -4.90633411e-02,-7.06639032e-01,-4.86155174e-02]

qacc:
[-2.22385963e-02,-4.01327206e+00, 1.47007269e+01,-2.13148487e+01,
  1.04189955e-01, 3.19840066e+00,-1.12097307e+01, 1.50605068e+01,
  1.80396126e-01, 1.77666451e+00,-7.68739950e+00, 1.54873550e+01,
 -5.67908207e-03,-3.13656929e-01, 2.32504989e-01,-8.26094765e-01,
  3.01978449e-01,-1.15416462e+00,-1.76397574e-01, 3.85525381e-01,
  2.52199044e+01,-5.95804204e+01]

qfrc_actuator:
[ 2.46393915e-03, 2.72845689e-02, 8.67489269e-03, 1.73409571e-03,
 -8.64660929e-07, 2.73738588e-02, 8.64546561e-03, 1.58145554e-03,
 -2.44851325e-03, 2.75212081e-02, 8.69854791e-03, 1.57930359e-03,
  0.00000000e+00,-1.42483825e-03, 0.00000000e+00,-5.23418362e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005988893669822415
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.26901600e-14, -1.85380320e-13,  1.00000000e+00,  1.71829315e-26,
        1.00000000e+00,  1.85380320e-13, -1.00000000e+00,  0.00000000e+00,
        9.26901600e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00085186, -0.03581404,  0.06194269])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.20281966e-06,-3.44037004e-05, 4.70618930e-05,-1.57571928e-05,
  1.89606553e-05, 3.76840992e-05,-3.62396368e-05, 8.96994277e-06,
  3.31858698e-05, 3.29964666e-05,-1.33347369e-06, 2.41598512e-05,
  3.24018395e-03,-4.63322099e-05,-1.44344299e-06,-4.41057049e-06,
  9.54133746e-06, 1.18628289e-05,-1.21644169e+00, 1.17410647e-05,
  7.63913068e-03, 1.78196100e-03]


--- Step 2704 ---
qpos:
[-2.52178323e-03, 8.65833549e-01,-2.36919937e-02, 4.21268038e-04,
 -2.94047372e-03, 8.61908154e-01,-2.71417113e-02, 3.15206840e-03,
 -1.21392073e-03, 8.70680525e-01,-1.92864031e-02,-2.13166832e-02,
  1.39623155e+00, 1.85461463e-02, 1.42428795e+00, 2.40505960e-02,
  4.10313810e-03,-5.76470814e-02, 8.05423365e-02, 7.04320020e-01,
 -4.89942817e-02,-7.06513750e-01,-4.86948816e-02]

qacc:
[-8.07442856e-02,-2.62284277e+00, 1.28152228e+01,-2.85134147e+01,
  7.75672025e-02,-9.45458788e-02,-1.99452028e+00, 9.93695051e+00,
  4.18679994e-02, 2.91321747e+00,-1.56104480e+01, 3.50312837e+01,
 -4.05493192e-04,-2.48656056e-02, 1.09705650e+01,-3.75421800e+01,
  2.98262596e-01,-1.12654640e+00,-4.21143508e-01, 3.71938502e-01,
  2.45811157e+01,-5.80792898e+01]

qfrc_actuator:
[ 2.45119809e-03, 2.72736671e-02, 8.68141829e-03, 1.68783501e-03,
  4.09517110e-06, 2.73526345e-02, 8.65905186e-03, 1.60575605e-03,
 -2.45671101e-03, 2.74469820e-02, 8.65523537e-03, 1.62819376e-03,
  0.00000000e+00,-1.40318003e-03, 0.00000000e+00,-7.04859958e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005911969012414864
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.38962148e-14, -2.81688644e-13,  1.00000000e+00,  2.64494975e-26,
        1.00000000e+00,  2.81688644e-13, -1.00000000e+00,  0.00000000e+00,
        9.38962148e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00084856, -0.03580611,  0.06194342])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47478986e-05,-2.10779470e-05, 4.67667667e-06,-4.64138796e-05,
  1.39655466e-05,-7.25660229e-06, 1.72146225e-05, 2.48363585e-05,
  7.69633121e-06,-5.50253795e-05,-3.58274485e-05, 5.07275390e-05,
  3.25428915e-03,-3.70024273e-06,-3.05745943e-06,-1.82301305e-04,
  1.49683078e-05, 5.05612826e-07,-1.21644049e+00, 9.85010519e-06,
  7.63855347e-03, 1.78191573e-03]


--- Step 2705 ---
qpos:
[-2.52035163e-03, 8.65832532e-01,-2.36924038e-02, 4.22064087e-04,
 -2.94042414e-03, 8.61908189e-01,-2.71411772e-02, 3.15202372e-03,
 -1.21480306e-03, 8.70680455e-01,-1.92881327e-02,-2.13155396e-02,
  1.39623216e+00, 1.85461623e-02, 1.42435502e+00, 2.40468215e-02,
  4.11056108e-03,-5.76559169e-02, 8.05450935e-02, 7.04473483e-01,
 -4.88420475e-02,-7.06360136e-01,-4.88561676e-02]

qacc:
[ 1.38267438e-02, 1.58088257e+00,-4.50116917e+00, 1.96711996e+00,
  5.32308334e-02,-4.17307311e-01,-1.69105911e+00, 1.21514105e+01,
  1.88698342e-01, 3.65168545e+00,-1.77069730e+01, 3.56534474e+01,
 -2.10056113e-02, 1.40484947e-01, 9.77547100e+00,-3.39281273e+01,
  2.94928300e-01,-1.10378511e+00,-6.26593097e-01, 3.58364521e-01,
  2.40572142e+01,-5.68450731e+01]

qfrc_actuator:
[ 2.46083691e-03, 2.72854465e-02, 8.64961576e-03, 1.67797040e-03,
  7.00328308e-06, 2.73398803e-02, 8.68475547e-03, 1.63807424e-03,
 -2.42567489e-03, 2.74203138e-02, 8.61213949e-03, 1.67456360e-03,
  0.00000000e+00,-1.39007350e-03, 0.00000000e+00,-8.64680542e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005794849223522414
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.57939527e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.57939527e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00084335, -0.03579412,  0.06194452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.60662750e-06,-1.00952920e-06,-3.71809153e-05,-1.15091964e-05,
  9.53614589e-06,-1.21969553e-05, 2.71839863e-05, 3.30869744e-05,
  3.47141352e-05,-6.26656694e-05,-5.71135669e-05, 4.37626310e-05,
  3.24016317e-03, 1.73603120e-05,-2.33383280e-05,-1.70760822e-04,
  2.14050023e-05,-1.48032784e-05,-1.21644047e+00, 3.75934908e-06,
  7.63813736e-03, 1.78200283e-03]


--- Step 2706 ---
qpos:
[-2.51885251e-03, 8.65831006e-01,-2.36923640e-02, 4.22400166e-04,
 -2.93993656e-03, 8.61908275e-01,-2.71403673e-02, 3.15130790e-03,
 -1.21476140e-03, 8.70679892e-01,-1.92897369e-02,-2.13145842e-02,
  1.39623280e+00, 1.85460140e-02, 1.42442198e+00, 2.40411349e-02,
  4.12025756e-03,-5.76635009e-02, 8.05510888e-02, 7.04667867e-01,
 -4.87172723e-02,-7.06165506e-01,-4.89908443e-02]

qacc:
[  0.03583323, -2.87399685, 11.21569497,-19.5244614 ,  0.23079193,
  -2.08352991, 10.36039806,-22.45639502,  0.4826891 , -1.38961554,
   4.8016539 , -7.89376067, -0.0367308 , -0.05434902,  5.63181645,
 -19.92863871,  0.56837741,  0.31289083,  0.80959285, -0.27679995,
  27.57930203, 21.07201601]

qfrc_actuator:
[ 2.46603120e-03, 2.72395705e-02, 8.66658746e-03, 1.65410004e-03,
  4.41734442e-05, 2.73501152e-02, 8.69966150e-03, 1.60384084e-03,
 -2.35365959e-03, 2.74045534e-02, 8.62294285e-03, 1.66585196e-03,
  0.00000000e+00,-1.41775534e-03, 0.00000000e+00,-9.57161601e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005686419553550676
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46430853e-13,  7.32154267e-14,  1.00000000e+00, -1.07209974e-26,
        1.00000000e+00, -7.32154267e-14, -1.00000000e+00,  0.00000000e+00,
        1.46430853e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00276241, -0.0616591 ,  0.06194553])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.44005363e-06,-5.45890904e-05, 1.17930922e-05,-2.54237516e-05,
  4.16946730e-05, 1.04423899e-05, 1.68770436e-05,-3.31718974e-05,
  8.86278802e-05,-6.07072970e-05,-7.64814794e-06,-1.25182716e-05,
  3.22259522e-03,-1.31489063e-05,-3.01135254e-05,-1.05086847e-04,
  2.87997819e-05,-3.38362781e-05,-1.21644158e+00,-6.34763776e-06,
  7.63786587e-03, 1.78221580e-03]


--- Step 2707 ---
qpos:
[-2.51748120e-03, 8.65829752e-01,-2.36926641e-02, 4.21365964e-04,
 -2.93919791e-03, 8.61907989e-01,-2.71397164e-02, 3.14992765e-03,
 -1.21438791e-03, 8.70678268e-01,-1.92906650e-02,-2.13137058e-02,
  1.39623313e+00, 1.85455426e-02, 1.42448862e+00, 2.40356838e-02,
  4.12441025e-03,-5.76688353e-02, 8.05520816e-02, 7.04754045e-01,
 -4.86273076e-02,-7.06078982e-01,-4.90876032e-02]

qacc:
[-6.73865170e-02,-1.51317939e+00, 1.16987684e+01,-3.50693924e+01,
  1.32214792e-01,-1.41426094e+00, 7.13462666e+00,-1.81072108e+01,
  1.74046694e-01,-3.44830030e+00, 1.05863364e+01,-1.22200765e+01,
 -3.29084422e-02,-2.37213209e-01,-1.18652477e+00, 3.45883396e+00,
 -1.38595072e+00, 5.62385807e-01,-1.25064080e+00, 1.13555337e+00,
 -7.80716522e+01, 2.03668844e+01]

qfrc_actuator:
[ 2.45075499e-03, 2.72839706e-02, 8.65873200e-03, 1.58666148e-03,
  4.82650708e-05, 2.72851808e-02, 8.67261041e-03, 1.56623718e-03,
 -2.36427937e-03, 2.73246080e-02, 8.64774400e-03, 1.66035574e-03,
  0.00000000e+00,-1.45195922e-03, 0.00000000e+00,-9.38217715e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000582877049723346
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.14273507e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.14273507e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05014172, -0.06983852,  0.06194421])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.22086625e-05, 1.52544724e-05,-1.85468040e-05,-6.98622789e-05,
  2.38858873e-05,-5.70329621e-05,-2.39697255e-05,-3.72187818e-05,
  3.18064475e-05,-1.15971847e-04, 1.09028771e-05,-8.60299547e-06,
  3.22104249e-03,-3.91230763e-05,-2.58325907e-05, 9.17347280e-06,
  5.07033135e-05,-3.91890401e-05,-1.21644202e+00,-9.75329143e-06,
  7.63774652e-03, 1.78227427e-03]


--- Step 2708 ---
qpos:
[-2.51664326e-03, 8.65829343e-01,-2.36942393e-02, 4.19522055e-04,
 -2.93887833e-03, 8.61906806e-01,-2.71392005e-02, 3.14955666e-03,
 -1.21448094e-03, 8.70676246e-01,-1.92918191e-02,-2.13125770e-02,
  1.39623314e+00, 1.85449099e-02, 1.42455495e+00, 2.40317994e-02,
  4.12323399e-03,-5.76720276e-02, 8.05467201e-02, 7.04736429e-01,
 -4.85708148e-02,-7.06096253e-01,-4.91479743e-02]

qacc:
[-2.80782103e-01, 3.01065374e+00,-5.69768083e+00,-6.89419368e+00,
 -2.20411761e-01, 1.26825661e+00,-1.05034518e+01, 2.88473706e+01,
 -2.43577573e-01, 6.21701980e-01,-4.03414977e+00, 9.01620568e+00,
 -1.56000426e-02,-1.59291934e-01,-5.21811036e+00, 1.75602856e+01,
 -1.33223372e+00, 5.35533371e-01,-1.58859012e+00, 1.07553033e+00,
 -7.49244599e+01, 1.95679174e+01]

qfrc_actuator:
[ 2.40561216e-03, 2.73464551e-02, 8.60108479e-03, 1.54743419e-03,
 -2.98394749e-06, 2.72110525e-02, 8.65621479e-03, 1.61563626e-03,
 -2.42425762e-03, 2.73311842e-02, 8.64483758e-03, 1.67450544e-03,
  0.00000000e+00,-1.45434646e-03, 0.00000000e+00,-8.53801801e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005960284826232801
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39702597e-13,  2.32837661e-14,  1.00000000e+00, -3.25280260e-27,
        1.00000000e+00, -2.32837661e-14, -1.00000000e+00,  0.00000000e+00,
        1.39702597e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05011664, -0.06983103,  0.06194299])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.09583327e-05, 6.42206827e-05,-5.91866460e-05,-4.05717366e-05,
 -3.99163843e-05,-1.12557744e-04,-3.24170198e-05, 4.54029867e-05,
 -4.47670782e-05,-5.63403628e-05,-2.57930752e-05, 9.39684888e-06,
  3.23667241e-03,-2.53308183e-05,-1.14359086e-05, 8.15153032e-05,
  8.96424494e-06,-1.11647106e-05,-1.21644041e+00,-5.91339341e-06,
  7.63780503e-03, 1.78243487e-03]


--- Step 2709 ---
qpos:
[-2.51634303e-03, 8.65828794e-01,-2.36945671e-02, 4.18209244e-04,
 -2.93889304e-03, 8.61905024e-01,-2.71386900e-02, 3.14938778e-03,
 -1.21535451e-03, 8.70674607e-01,-1.92930659e-02,-2.13124345e-02,
  1.39623292e+00, 1.85439490e-02, 1.42462132e+00, 2.40279267e-02,
  4.11691105e-03,-5.76731669e-02, 8.05338570e-02, 7.04618666e-01,
 -4.85466680e-02,-7.06213671e-01,-4.91732378e-02]

qacc:
[-2.81058465e-01,-2.57427069e+00, 6.67091393e+00, 6.24811675e-01,
 -1.75825701e-01,-3.58943460e-01,-7.20239970e-01, 4.66632244e+00,
 -4.07781535e-01,-1.26827541e+00, 9.41041129e+00,-2.65974088e+01,
  3.16791934e-03,-2.51680363e-01, 1.56721586e-02, 1.21156978e-02,
 -1.28667251e+00, 5.13265121e-01,-1.87537303e+00, 1.02583818e+00,
 -7.22931779e+01, 1.88974310e+01]

qfrc_actuator:
[ 2.37851130e-03, 2.73480968e-02, 8.67440740e-03, 1.57837910e-03,
 -1.58571122e-05, 2.72030925e-02, 8.66400465e-03, 1.62706593e-03,
 -2.47768009e-03, 2.74071880e-02, 8.66144370e-03, 1.62913563e-03,
  0.00000000e+00,-1.47318161e-03, 0.00000000e+00,-8.55796346e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006005547768953984
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.24331191e-14, -4.62165596e-14,  1.00000000e+00,  4.27194076e-27,
        1.00000000e+00,  4.62165596e-14, -1.00000000e+00,  0.00000000e+00,
        9.24331191e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05010769, -0.06982862,  0.06194255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.13883868e-05, 2.36076803e-05, 7.79085489e-05, 3.08641513e-05,
 -3.18358287e-05,-7.56297386e-05,-1.78724307e-05, 6.37187721e-06,
 -7.48685486e-05, 3.96244892e-05, 2.14218708e-06,-4.84875868e-05,
  3.25255038e-03,-3.60779123e-05, 2.84960114e-06, 8.90349032e-07,
  9.08985041e-07, 2.42535693e-06,-1.21644005e+00,-3.59440584e-06,
  7.63791053e-03, 1.78256955e-03]


--- Step 2710 ---
qpos:
[-2.51609565e-03, 8.65827803e-01,-2.36932402e-02, 4.17286874e-04,
 -2.93895906e-03, 8.61903245e-01,-2.71386656e-02, 3.14931240e-03,
 -1.21692732e-03, 8.70672821e-01,-1.92936493e-02,-2.13131677e-02,
  1.39623210e+00, 1.85422708e-02, 1.42468754e+00, 2.40254059e-02,
  4.10559717e-03,-5.76723273e-02, 8.05125197e-02, 7.04403749e-01,
 -4.85539240e-02,-7.06428149e-01,-4.91644619e-02]

qacc:
[-2.64865843e-02,-4.39996977e+00, 1.31967910e+01,-8.76687128e+00,
 -2.73267540e-02, 1.55258924e+00,-5.92691814e+00, 8.32291757e+00,
 -3.64680008e-01,-3.85018545e+00, 1.71367408e+01,-3.32317788e+01,
  2.70693527e-02,-6.02743434e-01,-4.34014473e+00, 1.48031222e+01,
 -1.24773319e+00, 4.94707035e-01,-2.11855389e+00, 9.84202791e-01,
 -7.00986240e+01, 1.83362753e+01]

qfrc_actuator:
[ 2.39795860e-03, 2.73138801e-02, 8.75328899e-03, 1.59715251e-03,
 -5.62192913e-06, 2.72348934e-02, 8.65072500e-03, 1.63387001e-03,
 -2.50891582e-03, 2.73822063e-02, 8.68971424e-03, 1.58469589e-03,
  0.00000000e+00,-1.53715926e-03, 0.00000000e+00,-7.84440573e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005981287800629481
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39212039e-13, -2.32020064e-14,  1.00000000e+00,  3.22999862e-27,
        1.00000000e+00,  2.32020064e-14, -1.00000000e+00,  0.00000000e+00,
        1.39212039e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0501116 , -0.06983025,  0.06194275])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.05369352e-06,-3.59228361e-06, 9.44333241e-05, 2.30859569e-05,
 -4.88667608e-06,-1.38726546e-05,-3.08698915e-05, 3.07236838e-06,
 -6.70817786e-05,-4.42065574e-06, 3.50623185e-05,-4.36083088e-05,
  3.26329620e-03,-8.36099888e-05,-5.23288514e-07, 7.13565148e-05,
  2.28425678e-05, 3.17511438e-06,-1.21644085e+00,-2.54169108e-06,
  7.63806604e-03, 1.78268236e-03]


--- Step 2711 ---
qpos:
[-2.51575203e-03, 8.65826635e-01,-2.36922950e-02, 4.16014906e-04,
 -2.93917095e-03, 8.61901872e-01,-2.71390756e-02, 3.14960777e-03,
 -1.21864922e-03, 8.70670516e-01,-1.92931936e-02,-2.13130243e-02,
  1.39623069e+00, 1.85398520e-02, 1.42475366e+00, 2.40244228e-02,
  4.09712250e-03,-5.76696326e-02, 8.05003532e-02, 7.04239951e-01,
 -4.85996457e-02,-7.06591491e-01,-4.91185390e-02]

qacc:
[ 0.05026166, 0.11080242, 0.73804511,-6.04597565,-0.07722153, 2.51088202,
 -9.74110042,16.55677948,-0.07697231,-1.78208204, 1.6669512 ,12.20841893,
  0.06663987,-0.6511434 ,-4.8398451 ,16.6392781 , 0.7098005 , 0.46378491,
  2.29269224,-0.44286528,34.21839233,29.16788958]

qfrc_actuator:
[ 2.40955973e-03, 2.72585060e-02, 8.71033111e-03, 1.57304598e-03,
 -1.71762573e-05, 2.72901892e-02, 8.64303917e-03, 1.65567914e-03,
 -2.49110331e-03, 2.73502667e-02, 8.74201723e-03, 1.62986126e-03,
  0.00000000e+00,-1.57444426e-03, 0.00000000e+00,-7.05924566e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006065717327605299
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.57580976e-07, -1.57581200e-07,  1.00000000e+00, -2.48317992e-14,
        1.00000000e+00,  1.57581200e-07, -1.00000000e+00,  3.15544362e-30,
       -1.57580976e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00407988, -0.06292114,  0.06194191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.19058892e-06,-3.68771157e-05,-3.12678037e-05,-2.05417398e-05,
 -1.38754195e-05, 4.13367322e-05,-1.42339628e-05, 2.02090583e-05,
 -1.43109521e-05,-2.90008079e-05, 5.42194858e-05, 4.53458312e-05,
  3.29361772e-03,-8.49882911e-05, 5.55062246e-06, 8.19788706e-05,
  7.19686601e-05,-7.69985608e-06,-1.21644263e+00,-2.56300560e-06,
  7.63827162e-03, 1.78277590e-03]


--- Step 2712 ---
qpos:
[-2.51566310e-03, 8.65824932e-01,-2.36916950e-02, 4.14855003e-04,
 -2.93952318e-03, 8.61901111e-01,-2.71397362e-02, 3.15012165e-03,
 -1.21976806e-03, 8.70668420e-01,-1.92920766e-02,-2.13124090e-02,
  1.39622966e+00, 1.85377115e-02, 1.42481996e+00, 2.40227097e-02,
  4.09136370e-03,-5.76651728e-02, 8.04953481e-02, 7.04125112e-01,
 -4.86822470e-02,-7.06705907e-01,-4.90369925e-02]

qacc:
[-0.13355807, 0.48924631,-3.24161859, 6.12615167,-0.07427463, 1.95641989,
 -6.72685936,10.46212459, 0.31524202,-0.60024425, 0.55001357, 6.40125399,
  0.08194677, 0.17894185, 2.48385322,-8.29265936, 0.6789684 , 0.4412683 ,
  1.79035662,-0.41231631,32.75384314,27.96455453]

qfrc_actuator:
[ 2.38081995e-03, 2.72081034e-02, 8.68440736e-03, 1.57705324e-03,
 -2.39365738e-05, 2.73414250e-02, 8.63885227e-03, 1.66842403e-03,
 -2.42637971e-03, 2.74033463e-02, 8.79034583e-03, 1.65637721e-03,
  0.00000000e+00,-1.48888759e-03, 0.00000000e+00,-7.48107619e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006217650773931429
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.43156276e-07, -7.43156442e-07,  1.00000000e+00, -5.52281374e-13,
        1.00000000e+00,  7.43156442e-07, -1.00000000e+00, -1.00974196e-28,
       -7.43156276e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00406904, -0.06291701,  0.06194048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.43592114e-05,-7.83386273e-05,-3.80999186e-05, 9.47587042e-07,
 -1.33420727e-05, 7.23103351e-05, 3.30974818e-06, 1.44188508e-05,
  5.78621807e-05, 5.00469414e-05, 5.06008818e-05, 2.80364018e-05,
  3.32304165e-03, 3.76604211e-05, 9.29399296e-06,-3.74080571e-05,
  3.94497797e-05,-1.40559938e-05,-1.21644166e+00,-3.82828322e-06,
  7.63844366e-03, 1.78273484e-03]


--- Step 2713 ---
qpos:
[-2.51606066e-03, 8.65823122e-01,-2.36916307e-02, 4.14055764e-04,
 -2.93960929e-03, 8.61900967e-01,-2.71404255e-02, 3.14973143e-03,
 -1.22019258e-03, 8.70667036e-01,-1.92913551e-02,-2.13128542e-02,
  1.39622930e+00, 1.85363798e-02, 1.42488629e+00, 2.40205152e-02,
  4.08821798e-03,-5.76590215e-02, 8.04958088e-02, 7.04057423e-01,
 -4.88004071e-02,-7.06773225e-01,-4.89210858e-02]

qacc:
[ -0.25534014,  2.09782726, -9.20674582, 16.38502239,  0.13986739,
  -0.96390096,  8.43897756,-24.49601237,  0.36199074, -0.13983518,
   6.33055884,-24.55676848,  0.05248375,  0.59314761,  1.50197131,
  -5.17510811,  0.65327058,  0.42286053,  1.36644214, -0.38466393,
  31.53328079, 26.9641036 ]

qfrc_actuator:
[ 2.34594069e-03, 2.72321214e-02, 8.66882022e-03, 1.59760695e-03,
  7.73760013e-06, 2.73721042e-02, 8.63675475e-03, 1.62247640e-03,
 -2.38745984e-03, 2.74359077e-02, 8.76524155e-03, 1.60074695e-03,
  0.00000000e+00,-1.41911169e-03, 0.00000000e+00,-7.72294090e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006280385547774506
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.74051511e-07, -8.74051733e-07,  1.00000000e+00, -7.63966238e-13,
        1.00000000e+00,  8.74051733e-07, -1.00000000e+00,  0.00000000e+00,
       -8.74051511e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00406461, -0.06291543,  0.06193988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.65004269e-05,-2.75815175e-05,-3.64170610e-05, 1.59014812e-05,
  2.53492986e-05, 7.24356666e-05, 1.37539275e-05,-4.24531952e-05,
  6.66258479e-05, 7.22411458e-05,-7.55998790e-06,-5.11910943e-05,
  3.30379244e-03, 9.35829362e-05,-1.20405163e-06,-2.53959844e-05,
  1.73975869e-05,-1.43663050e-05,-1.21644124e+00,-2.86568870e-06,
  7.63861014e-03, 1.78264133e-03]


--- Step 2714 ---
qpos:
[-2.51653294e-03, 8.65821304e-01,-2.36918843e-02, 4.13825751e-04,
 -2.93955710e-03, 8.61901014e-01,-2.71409359e-02, 3.14848962e-03,
 -1.22041383e-03, 8.70665962e-01,-1.92910481e-02,-2.13142537e-02,
  1.39622921e+00, 1.85354211e-02, 1.42495255e+00, 2.40183792e-02,
  4.08760030e-03,-5.76512386e-02, 8.05003088e-02, 7.04035368e-01,
 -4.89530298e-02,-7.06794954e-01,-4.87718604e-02]

qacc:
[-3.93459536e-02, 2.04735299e+00,-9.72034513e+00, 2.00880514e+01,
  7.28267066e-02,-2.00020416e+00, 1.10918295e+01,-2.62579838e+01,
  1.05730081e-01,-3.97965184e-01, 6.03449680e+00,-2.21000914e+01,
  2.28096483e-02, 2.65818507e-01,-2.57668455e-01, 7.90142431e-01,
  6.32009995e-01, 4.07912530e-01, 1.00983044e+00,-3.59145965e-01,
  3.05196688e+01, 2.61364716e+01]

qfrc_actuator:
[ 2.36096932e-03, 2.72473196e-02, 8.65976364e-03, 1.62779510e-03,
  8.86423600e-06, 2.73546930e-02, 8.63578910e-03, 1.57785374e-03,
 -2.39985997e-03, 2.74200659e-02, 8.73237505e-03, 1.55043052e-03,
  0.00000000e+00,-1.43045665e-03, 0.00000000e+00,-7.67886795e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006271533300481749
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.66863895e-07, -5.66863915e-07,  1.00000000e+00, -3.21334687e-13,
        1.00000000e+00,  5.66863915e-07, -1.00000000e+00,  0.00000000e+00,
       -5.66863895e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00406532, -0.06291588,  0.06193997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.14379643e-06,-7.02620034e-06,-1.86735505e-05, 2.80603640e-05,
  1.31694351e-05, 2.41275765e-05, 1.42262630e-05,-4.18684893e-05,
  1.95074674e-05, 2.08358481e-05,-2.06454750e-05,-4.84816034e-05,
  3.27033001e-03, 4.18409714e-05,-3.53139779e-06, 2.76802350e-06,
  4.55939350e-06,-9.31205779e-06,-1.21644131e+00, 1.17888391e-07,
  7.63876761e-03, 1.78249968e-03]


--- Step 2715 ---
qpos:
[-2.51694391e-03, 8.65818917e-01,-2.36914596e-02, 4.13961943e-04,
 -2.94017913e-03, 8.61900724e-01,-2.71412639e-02, 3.14817267e-03,
 -1.22080069e-03, 8.70664969e-01,-1.92904971e-02,-2.13162608e-02,
  1.39622921e+00, 1.85348215e-02, 1.42501861e+00, 2.40176431e-02,
  4.08829812e-03,-5.76482362e-02, 8.05057215e-02, 7.04044290e-01,
 -4.90148551e-02,-7.06785898e-01,-4.87121788e-02]

qacc:
[ 3.27938673e-02,-1.89183265e+00, 4.10941344e+00, 1.55990605e+00,
 -3.54784471e-01, 9.49690070e-01,-7.93508521e+00, 2.38976082e+01,
 -8.63804380e-02,-1.82644942e+00, 9.22856867e+00,-2.01868815e+01,
  9.76733623e-03, 2.26797228e-01,-4.53432010e+00, 1.54381711e+01,
  3.28872624e-01,-1.19512341e+00, 2.28170321e-01, 3.25229341e-01,
  2.61896363e+01,-6.20997066e+01]

qfrc_actuator:
[ 2.37022024e-03, 2.72039131e-02, 8.69012710e-03, 1.64565847e-03,
 -6.15741572e-05, 2.73086085e-02, 8.63530661e-03, 1.62309835e-03,
 -2.42508615e-03, 2.74285568e-02, 8.74828636e-03, 1.52137303e-03,
  0.00000000e+00,-1.41935134e-03, 0.00000000e+00,-6.93412497e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006218629801546388
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.92658882e-14,  8.92658882e-14,  1.00000000e+00, -7.96839879e-27,
        1.00000000e+00, -8.92658882e-14, -1.00000000e+00,  0.00000000e+00,
        8.92658882e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00086407, -0.03584025,  0.06194047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.84745567e-06,-4.99444647e-05, 2.75999021e-05, 1.74659503e-05,
 -6.41834053e-05,-3.14419066e-05, 4.80954693e-06, 4.59580072e-05,
 -1.58847247e-05, 1.38295980e-05, 1.60010376e-05,-2.98210783e-05,
  3.25668235e-03, 3.43293071e-05,-1.96609963e-06, 7.40157724e-05,
 -2.10209135e-08, 5.95815539e-07,-1.21644180e+00, 4.96479507e-06,
  7.63891268e-03, 1.78231332e-03]


--- Step 2716 ---
qpos:
[-2.51726629e-03, 8.65816469e-01,-2.36910976e-02, 4.13951878e-04,
 -2.94137165e-03, 8.61899288e-01,-2.71406013e-02, 3.14844948e-03,
 -1.22123707e-03, 8.70664510e-01,-1.92900149e-02,-2.13179472e-02,
  1.39622927e+00, 1.85342608e-02, 1.42508476e+00, 2.40167890e-02,
  4.09027519e-03,-5.76498739e-02, 8.05107979e-02, 7.04083243e-01,
 -4.89887316e-02,-7.06747041e-01,-4.87392263e-02]

qacc:
[ 4.64199989e-02,-2.06217963e-01, 1.23633190e+00,-3.62277819e+00,
 -2.99378349e-01,-3.05675215e+00, 6.19781069e+00, 3.33219096e+00,
 -2.60651399e-02, 1.55792412e+00,-5.88424297e+00, 1.11505100e+01,
  6.79659896e-03, 3.00946765e-02, 4.90076817e-01,-1.52101843e+00,
  3.19815768e-01,-1.16000907e+00,-8.40714688e-02, 3.20611592e-01,
  2.53708410e+01,-6.01493058e+01]

qfrc_actuator:
[ 2.37589839e-03, 2.72146710e-02, 8.69001576e-03, 1.63834965e-03,
 -8.54312205e-05, 2.72102650e-02, 8.67054417e-03, 1.64981698e-03,
 -2.42221510e-03, 2.74872574e-02, 8.75746626e-03, 1.54061131e-03,
  0.00000000e+00,-1.43041638e-03, 0.00000000e+00,-7.02531348e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006201299372571578
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.95153546e-14,  8.95153546e-14,  1.00000000e+00, -8.01299871e-27,
        1.00000000e+00, -8.95153546e-14, -1.00000000e+00,  0.00000000e+00,
        8.95153546e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00086328, -0.03583847,  0.06194065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.46434710e-06,-1.06670056e-05,-6.40620855e-06,-8.15033053e-06,
 -5.43297540e-05,-1.12960855e-04, 3.09335249e-05, 2.64351705e-05,
 -4.73457391e-06, 6.84811386e-05, 1.29815178e-05, 1.98072801e-05,
  3.25187485e-03, 5.33689478e-06, 6.62734084e-06,-5.41415918e-06,
  3.96993482e-07, 1.77929506e-06,-1.21644033e+00, 8.28087929e-06,
  7.63865747e-03, 1.78220574e-03]


--- Step 2717 ---
qpos:
[-2.51751014e-03, 8.65814870e-01,-2.36920313e-02, 4.14167896e-04,
 -2.94260389e-03, 8.61897261e-01,-2.71393334e-02, 3.14830950e-03,
 -1.22167706e-03, 8.70664615e-01,-1.92900286e-02,-2.13193650e-02,
  1.39622911e+00, 1.85333434e-02, 1.42515094e+00, 2.40158425e-02,
  4.09350107e-03,-5.76560353e-02, 8.05144874e-02, 7.04151411e-01,
 -4.88770163e-02,-7.06679163e-01,-4.88506793e-02]

qacc:
[ 4.00703628e-02, 5.20348942e+00,-1.78837871e+01, 2.32502577e+01,
 -2.03509524e-02,-3.32589025e+00, 1.24886211e+01,-2.02401171e+01,
 -2.38073156e-03, 2.68475374e+00,-9.62122625e+00, 1.46437194e+01,
  1.10138935e-02,-2.76219681e-01, 3.14227061e-01,-1.05809717e+00,
  3.12200883e-01,-1.13093571e+00,-3.46716872e-01, 3.13595936e-01,
  2.46937420e+01,-5.85372843e+01]

qfrc_actuator:
[ 2.37938108e-03, 2.72931518e-02, 8.63658384e-03, 1.65180877e-03,
 -6.34208919e-05, 2.72057790e-02, 8.70857985e-03, 1.62987592e-03,
 -2.42028822e-03, 2.75045889e-02, 8.72731742e-03, 1.55263634e-03,
  0.00000000e+00,-1.47235974e-03, 0.00000000e+00,-7.07590232e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006128296435904748
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.05817005e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.05817005e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0008599 , -0.03583101,  0.06194134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.52251908e-06, 7.09007640e-05,-5.66898522e-05, 1.26248989e-05,
 -3.79495444e-06,-6.01079809e-05, 1.94391538e-05,-2.31932587e-05,
 -3.33026178e-07, 5.91616670e-05,-1.37194192e-05, 1.57942496e-05,
  3.24898278e-03,-3.85272239e-05, 7.99932865e-07,-4.88671402e-06,
  2.01996847e-06,-1.59702409e-06,-1.21644010e+00, 7.05477228e-06,
  7.63855593e-03, 1.78223509e-03]


--- Step 2718 ---
qpos:
[-2.51769417e-03, 8.65814196e-01,-2.36937450e-02, 4.14151430e-04,
 -2.94371111e-03, 8.61895832e-01,-2.71387296e-02, 3.14821120e-03,
 -1.22247475e-03, 8.70664460e-01,-1.92900551e-02,-2.13202084e-02,
  1.39622904e+00, 1.85330978e-02, 1.42521669e+00, 2.40181886e-02,
  4.09907011e-03,-5.76607848e-02, 8.05217018e-02, 7.04262466e-01,
 -4.87956670e-02,-7.06568431e-01,-4.89327452e-02]

qacc:
[ 3.05385229e-02, 2.92188560e+00,-7.66357457e+00, 4.21012380e+00,
  6.52133024e-02, 2.72751228e+00,-8.75829029e+00, 1.01063923e+01,
 -1.86666916e-01, 8.74112128e-01,-6.03673749e+00, 1.61801828e+01,
  1.20609265e-02, 4.09985800e-01,-1.06154851e+01, 3.62063333e+01,
  5.85791444e-01, 3.52961882e-01, 8.81212517e-01,-3.06113422e-01,
  2.87817880e+01, 2.31708331e+01]

qfrc_actuator:
[ 2.38152112e-03, 2.73581236e-02, 8.60567560e-03, 1.64190956e-03,
 -4.96979630e-05, 2.72930154e-02, 8.69502571e-03, 1.63596998e-03,
 -2.45445919e-03, 2.74435963e-02, 8.70953114e-03, 1.57800997e-03,
  0.00000000e+00,-1.39042900e-03, 0.00000000e+00,-5.32665220e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006051711340164838
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.28831063e-07,  3.80707123e-15,  1.00000000e+00, -1.25188328e-21,
        1.00000000e+00, -3.80707123e-15, -1.00000000e+00,  0.00000000e+00,
        3.28831063e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00330768, -0.06219089,  0.06194206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.74018342e-06, 9.34972164e-05,-2.27927063e-05,-8.57490192e-06,
  1.19140995e-05, 5.66847614e-05,-2.43693218e-05, 3.74195506e-06,
 -3.43232892e-05,-3.00691066e-05,-6.71055192e-06, 2.77411207e-05,
  3.25972487e-03, 6.12696332e-05,-2.04176766e-06, 1.74345147e-04,
  4.75092928e-06,-9.15783182e-06,-1.21644104e+00, 1.55272049e-06,
  7.63859379e-03, 1.78239420e-03]


--- Step 2719 ---
qpos:
[-2.51746411e-03, 8.65813618e-01,-2.36952030e-02, 4.13360683e-04,
 -2.94448206e-03, 8.61894708e-01,-2.71379844e-02, 3.14816693e-03,
 -1.22328162e-03, 8.70663671e-01,-1.92908535e-02,-2.13213291e-02,
  1.39622940e+00, 1.85339737e-02, 1.42528225e+00, 2.40235952e-02,
  4.10684205e-03,-5.76642866e-02, 8.05315525e-02, 7.04413881e-01,
 -4.87413242e-02,-7.06417353e-01,-4.89886710e-02]

qacc:
[ 2.17188424e-01,-2.18107802e+00, 1.12290325e+01,-2.51096448e+01,
  1.77080230e-01, 1.19671581e-01,-6.90377236e-02, 5.53362326e-01,
 -5.06207737e-03, 7.49387587e-01,-2.71666902e+00,-3.79346134e-01,
 -2.94635879e-03, 7.74619752e-01,-9.52877666e+00, 3.29747851e+01,
  5.50721538e-01, 3.11935349e-01, 6.59081333e-01,-2.77402432e-01,
  2.71670230e+01, 2.07175157e+01]

qfrc_actuator:
[ 2.41834812e-03, 2.73258103e-02, 8.60603672e-03, 1.60061084e-03,
 -2.33437005e-05, 2.73100653e-02, 8.70480278e-03, 1.63964072e-03,
 -2.43892280e-03, 2.73539618e-02, 8.64561965e-03, 1.55772160e-03,
  0.00000000e+00,-1.30607006e-03, 0.00000000e+00,-3.77366292e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005969508921338379
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.29911521e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.29911521e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00274449, -0.06165487,  0.06194284])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.95785415e-05, 1.49243379e-05, 1.65851905e-05,-3.82457658e-05,
  3.20171956e-05, 4.39051812e-05, 1.86173898e-05, 5.32959704e-06,
 -9.01918085e-07,-1.06647356e-04,-6.99853155e-05,-2.12656680e-05,
  3.25497212e-03, 1.12060946e-04, 1.82752627e-05, 1.64689542e-04,
  1.61910580e-05,-1.37553455e-05,-1.21644106e+00,-8.52194603e-07,
  7.63845022e-03, 1.78248454e-03]


--- Step 2720 ---
qpos:
[-2.51718030e-03, 8.65812707e-01,-2.36967059e-02, 4.12504092e-04,
 -2.94492613e-03, 8.61893812e-01,-2.71367696e-02, 3.14746323e-03,
 -1.22380725e-03, 8.70662357e-01,-1.92930148e-02,-2.13226548e-02,
  1.39622965e+00, 1.85346816e-02, 1.42534810e+00, 2.40291634e-02,
  4.11677647e-03,-5.76665687e-02, 8.05431482e-02, 7.04604817e-01,
 -4.87134136e-02,-7.06226729e-01,-4.90190056e-02]

qacc:
[ 2.82670878e-02,-4.49761772e-01, 1.24317791e+00,-2.06624503e+00,
  1.72330074e-01,-2.36643901e+00, 1.16594577e+01,-2.39933140e+01,
  1.46166020e-01, 2.69094500e+00,-9.73667703e+00, 8.75568766e+00,
 -1.14689485e-02,-1.17528346e-01,-6.86664922e-02, 8.48154923e-01,
  5.40623773e-01, 3.04929462e-01, 4.36236588e-01,-2.76099350e-01,
  2.66167230e+01, 2.02813015e+01]

qfrc_actuator:
[ 2.40459859e-03, 2.72710907e-02, 8.58893056e-03, 1.59436511e-03,
 -7.42452512e-06, 2.73205615e-02, 8.72803868e-03, 1.60632320e-03,
 -2.41152009e-03, 2.73186289e-02, 8.57255014e-03, 1.54616323e-03,
  0.00000000e+00,-1.38074642e-03, 0.00000000e+00,-3.76949080e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005848533835083186
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.49146449e-14, -1.89829290e-13,  1.00000000e+00,  1.80175796e-26,
        1.00000000e+00,  1.89829290e-13, -1.00000000e+00,  0.00000000e+00,
        9.49146449e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00275228, -0.06165762,  0.06194399])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.12723582e-06,-4.45563914e-05,-1.32876981e-05,-5.77321164e-06,
  3.11229133e-05, 3.91451345e-05, 3.47844163e-05,-3.06884243e-05,
  2.69568138e-05,-1.10306464e-04,-1.04437734e-04,-1.89559748e-05,
  3.23343400e-03,-1.86974000e-05, 2.60694864e-05, 1.17389748e-05,
  3.30471786e-05,-1.47141062e-05,-1.21644142e+00,-1.93197795e-06,
  7.63829633e-03, 1.78254239e-03]


--- Step 2721 ---
qpos:
[-2.51733013e-03, 8.65811048e-01,-2.36970857e-02, 4.11897744e-04,
 -2.94511486e-03, 8.61893306e-01,-2.71362262e-02, 3.14746054e-03,
 -1.22384160e-03, 8.70660993e-01,-1.92955672e-02,-2.13235472e-02,
  1.39622962e+00, 1.85348607e-02, 1.42541417e+00, 2.40340633e-02,
  4.12133903e-03,-5.76667494e-02, 8.05484973e-02, 7.04691511e-01,
 -4.87193746e-02,-7.06140243e-01,-4.90127945e-02]

qacc:
[-2.26368717e-01,-3.60917614e+00, 1.03801984e+01,-7.29991013e+00,
  1.33950286e-01, 3.83071469e+00,-1.58727584e+01, 2.87968639e+01,
  2.56315895e-01, 1.91771463e+00,-8.76150074e+00, 1.69170766e+01,
  4.91783659e-04,-3.81272184e-01, 2.33058614e+00,-7.71803002e+00,
 -1.34296784e+00, 5.25326334e-01,-1.56163018e+00, 9.85163433e-01,
 -7.52183354e+01, 1.97442102e+01]

qfrc_actuator:
[ 2.36069783e-03, 2.72388232e-02, 8.65030555e-03, 1.60875245e-03,
  2.10847968e-06, 2.73270810e-02, 8.68795470e-03, 1.64026771e-03,
 -2.37728432e-03, 2.73870328e-02, 8.58364844e-03, 1.57538674e-03,
  0.00000000e+00,-1.42573462e-03, 0.00000000e+00,-4.14528243e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005828167244718296
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.76231626e-14, -4.76231626e-14,  1.00000000e+00,  2.26796561e-27,
        1.00000000e+00,  4.76231626e-14, -1.00000000e+00,  0.00000000e+00,
        4.76231626e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05014088, -0.06984247,  0.0619442 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.14580771e-05,-6.01395416e-05, 5.03557731e-05, 1.19112392e-05,
  2.43119363e-05, 3.42945026e-05,-2.87777554e-05, 3.62281337e-05,
  4.71265043e-05,-1.56047570e-05,-2.51748321e-05, 2.05248071e-05,
  3.23920472e-03,-5.52883804e-05, 1.03616641e-05,-3.42610516e-05,
  5.53145072e-05,-1.24195858e-05,-1.21644209e+00,-1.72861872e-06,
  7.63812493e-03, 1.78256778e-03]


--- Step 2722 ---
qpos:
[-2.51740182e-03, 8.65809192e-01,-2.36969258e-02, 4.11782456e-04,
 -2.94530949e-03, 8.61892639e-01,-2.71356510e-02, 3.14788745e-03,
 -1.22324469e-03, 8.70660038e-01,-1.92977201e-02,-2.13245453e-02,
  1.39622955e+00, 1.85348246e-02, 1.42548031e+00, 2.40381556e-02,
  4.12071672e-03,-5.76649078e-02, 8.05464447e-02, 7.04677694e-01,
 -4.87580372e-02,-7.06154239e-01,-4.89713285e-02]

qacc:
[ 4.13996305e-02,-7.54965409e-01, 2.44013754e-01, 7.53433199e+00,
 -3.00264880e-03, 5.82650252e-01,-4.20003304e+00, 1.17035777e+01,
  3.29706112e-01,-7.92239503e-01, 4.05548889e+00,-6.82190079e+00,
  1.09136490e-02,-1.48968652e-01, 2.56483271e+00,-8.80357152e+00,
 -1.29621470e+00, 5.05605116e-01,-1.85044067e+00, 9.39229610e-01,
 -7.25512739e+01, 1.90570858e+01]

qfrc_actuator:
[ 2.38793538e-03, 2.72560806e-02, 8.68660853e-03, 1.63522988e-03,
 -1.00020613e-05, 2.72954557e-02, 8.68184239e-03, 1.66021490e-03,
 -2.33927126e-03, 2.74641571e-02, 8.62706839e-03, 1.57526519e-03,
  0.00000000e+00,-1.41697659e-03, 0.00000000e+00,-4.56387332e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005890426253077896
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.42396167e-14, -1.17799521e-13,  1.00000000e+00,  1.11013817e-26,
        1.00000000e+00,  1.17799521e-13, -1.00000000e+00,  0.00000000e+00,
        9.42396167e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05012929, -0.0698389 ,  0.06194363])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.46467641e-06,-5.42263639e-06, 3.05159756e-05, 2.58805502e-05,
 -5.65581324e-07,-1.68291747e-05,-1.32203923e-06, 2.11250126e-05,
  6.05705514e-05, 6.41371838e-05, 3.78376565e-05,-1.25442978e-06,
  3.25261490e-03,-2.00783275e-05,-1.69621562e-06,-4.30439836e-05,
  1.19996942e-05, 1.28650881e-08,-1.21644045e+00,-2.44948146e-07,
  7.63804568e-03, 1.78248441e-03]


--- Step 2723 ---
qpos:
[-2.51707959e-03, 8.65807254e-01,-2.36977415e-02, 4.12076345e-04,
 -2.94558246e-03, 8.61891931e-01,-2.71346020e-02, 3.14815873e-03,
 -1.22229916e-03, 8.70658876e-01,-1.92991246e-02,-2.13247922e-02,
  1.39622961e+00, 1.85344845e-02, 1.42554672e+00, 2.40393676e-02,
  4.11506771e-03,-5.76611097e-02, 8.05360113e-02, 7.04566442e-01,
 -4.88284268e-02,-7.06265620e-01,-4.88956849e-02]

qacc:
[ 2.05963431e-01, 3.45641391e+00,-1.42118193e+01, 2.29177822e+01,
 -4.09541749e-02,-1.69721795e+00, 6.63102000e+00,-1.00546639e+01,
  1.82607023e-01,-8.16356578e-01,-6.50435056e-01, 1.25933257e+01,
  1.11714583e-02,-1.59975648e-01, 9.12444690e+00,-3.13370181e+01,
 -1.25667765e+00, 4.89107347e-01,-2.09520506e+00, 8.97780322e-01,
 -7.03251797e+01, 1.84842076e+01]

qfrc_actuator:
[ 2.42201234e-03, 2.72140370e-02, 8.61923945e-03, 1.65086781e-03,
 -1.71869994e-05, 2.73123492e-02, 8.71343120e-03, 1.65400205e-03,
 -2.33483357e-03, 2.74218044e-02, 8.65374181e-03, 1.61116016e-03,
  0.00000000e+00,-1.42933086e-03, 0.00000000e+00,-6.06923538e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005881620462252213
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.43807095e-14,  4.71903548e-14,  1.00000000e+00, -4.45385916e-27,
        1.00000000e+00, -4.71903548e-14, -1.00000000e+00,  0.00000000e+00,
        9.43807095e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05013086, -0.06983954,  0.0619437 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.76386521e-05,-3.76207033e-05,-6.38202501e-05, 1.69682349e-05,
 -7.45579433e-06, 8.12564401e-06, 2.86815279e-05,-6.56883378e-06,
  3.34423244e-05, 1.32119606e-06, 4.45619712e-05, 3.99311921e-05,
  3.25461193e-03,-2.16599962e-05,-7.18923268e-06,-1.53535518e-04,
  1.30002167e-07,-4.81129963e-07,-1.21644002e+00, 1.80076233e-08,
  7.63802714e-03, 1.78239715e-03]


--- Step 2724 ---
qpos:
[-2.51654514e-03, 8.65805156e-01,-2.36990035e-02, 4.11494120e-04,
 -2.94556343e-03, 8.61891884e-01,-2.71337357e-02, 3.14761700e-03,
 -1.22116505e-03, 8.70657415e-01,-1.93003087e-02,-2.13249026e-02,
  1.39622991e+00, 1.85338885e-02, 1.42561334e+00, 2.40367539e-02,
  4.10452701e-03,-5.76554108e-02, 8.05163676e-02, 7.04360264e-01,
 -4.89297350e-02,-7.06471763e-01,-4.87867606e-02]

qacc:
[ 1.11003173e-01,-7.68904197e-01, 6.13121610e+00,-2.04612940e+01,
  1.53384721e-01,-2.89020581e-01, 5.73047093e+00,-1.99950666e+01,
  9.87123642e-02,-7.31048945e-01, 1.45554837e+00, 7.74304164e-01,
  8.02105621e-04,-9.37591715e-02, 1.19076956e+01,-4.11857186e+01,
 -1.22292160e+00, 4.75197545e-01,-2.30254996e+00, 8.59626057e-01,
 -6.84723584e+01, 1.80083872e+01]

qfrc_actuator:
[ 2.42434064e-03, 2.72073883e-02, 8.59748218e-03, 1.60662962e-03,
  1.41634961e-05, 2.73760512e-02, 8.71392786e-03, 1.61475395e-03,
 -2.33275834e-03, 2.73792288e-02, 8.65210604e-03, 1.61459264e-03,
  0.00000000e+00,-1.43642501e-03, 0.00000000e+00,-8.02517738e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005815977537261124
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.77229760e-14, -1.19307440e-13,  1.00000000e+00,  5.69370608e-27,
        1.00000000e+00,  1.19307440e-13, -1.00000000e+00,  0.00000000e+00,
        4.77229760e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05014285, -0.06984351,  0.06194429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.02760485e-05,-4.00836875e-05,-3.67821779e-05,-4.77251704e-05,
  2.78119564e-05, 7.38950126e-05, 5.47831415e-06,-3.80359798e-05,
  1.80828410e-05,-3.08797753e-05, 5.52892107e-06, 5.81272564e-06,
  3.24808137e-03,-1.35342698e-05,-2.19624151e-05,-2.05442867e-04,
  1.66530106e-05,-1.26683415e-05,-1.21644068e+00,-7.54116965e-07,
  7.63806968e-03, 1.78230696e-03]


--- Step 2725 ---
qpos:
[-2.51608444e-03, 8.65803921e-01,-2.37007584e-02, 4.09911121e-04,
 -2.94521010e-03, 8.61892650e-01,-2.71335334e-02, 3.14627743e-03,
 -1.22011879e-03, 8.70656031e-01,-1.93013293e-02,-2.13253602e-02,
  1.39622996e+00, 1.85329313e-02, 1.42567962e+00, 2.40338066e-02,
  4.09551916e-03,-5.76549140e-02, 8.05017031e-02, 7.04188114e-01,
 -4.89309083e-02,-7.06643958e-01,-4.87768606e-02]

qacc:
[-3.93381548e-02, 4.58068740e-01, 4.24732761e+00,-2.14129659e+01,
  1.75301259e-01, 1.28372562e+00, 3.46246426e-01,-1.36876030e+01,
 -4.58088614e-02,-1.06922345e+00, 5.42438715e+00,-1.17471533e+01,
 -4.91304738e-03,-2.71225968e-01, 5.00281621e-01,-2.49800843e+00,
  3.83214321e-01,-1.30051078e+00, 1.24477630e+00, 2.90988034e-01,
  2.88404172e+01,-6.85851130e+01]

qfrc_actuator:
[ 2.40764387e-03, 2.73286033e-02, 8.60295311e-03, 1.56309263e-03,
  3.27909809e-05, 2.74138943e-02, 8.67848379e-03, 1.57415695e-03,
 -2.34983263e-03, 2.74077060e-02, 8.66921854e-03, 1.59886167e-03,
  0.00000000e+00,-1.47579481e-03, 0.00000000e+00,-8.10017559e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005999586783308475
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.85049915e-13, -9.25249575e-14,  1.00000000e+00,  1.71217355e-26,
        1.00000000e+00,  9.25249575e-14, -1.00000000e+00,  0.00000000e+00,
        1.85049915e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00085355, -0.0358197 ,  0.06194254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.02697105e-06, 8.92218325e-05,-8.96442270e-06,-4.74505016e-05,
  3.18394325e-05, 7.86639147e-05,-2.08304212e-05,-3.79830980e-05,
 -8.42403505e-06, 1.26490497e-05, 1.16388198e-05,-1.67442918e-05,
  3.23597084e-03,-4.00808622e-05,-3.38009777e-05,-2.19634015e-05,
  5.92507612e-05,-3.56149317e-05,-1.21644231e+00,-2.42355901e-06,
  7.63817181e-03, 1.78221499e-03]


--- Step 2726 ---
qpos:
[-2.51595100e-03, 8.65803635e-01,-2.37021256e-02, 4.08779982e-04,
 -2.94495718e-03, 8.61893957e-01,-2.71342884e-02, 3.14520816e-03,
 -1.21959550e-03, 8.70655225e-01,-1.93021152e-02,-2.13260732e-02,
  1.39622967e+00, 1.85317993e-02, 1.42574548e+00, 2.40327492e-02,
  4.08815006e-03,-5.76585567e-02, 8.04919778e-02, 7.04051353e-01,
 -4.88529286e-02,-7.06780890e-01,-4.88452382e-02]

qacc:
[-1.71642567e-01, 1.09908713e+00,-4.00862448e+00, 1.05118757e+01,
 -5.36598113e-02, 3.94372142e+00,-1.41660911e+01, 1.99817644e+01,
 -2.73133228e-01,-4.18129102e-01, 3.67546758e+00,-8.89199979e+00,
  1.06217456e-02,-1.98320783e-01,-6.37501598e+00, 2.13453455e+01,
  4.09685192e-01,-1.03487789e+00, 1.23480787e+00, 2.17845343e-01,
  2.87656160e+01,-5.38016919e+01]

qfrc_actuator:
[ 2.37973316e-03, 2.74190601e-02, 8.64273864e-03, 1.59146199e-03,
  8.12030145e-06, 2.74180541e-02, 8.62202949e-03, 1.58631855e-03,
 -2.39594826e-03, 2.74785570e-02, 8.69754886e-03, 1.58981448e-03,
  0.00000000e+00,-1.48106450e-03, 0.00000000e+00,-7.06622571e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000617297056107101
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12764495e-06,  1.12764513e-06,  1.00000000e+00,  1.27158333e-12,
        1.00000000e+00, -1.12764513e-06, -1.00000000e+00,  2.01948392e-28,
       -1.12764495e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00028425, -0.03998549,  0.0619409 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.12457002e-05, 1.36507576e-04, 5.54915786e-05, 3.09644169e-05,
 -9.54598119e-06, 4.22037615e-05,-4.40954541e-05, 1.40711521e-05,
 -5.01509977e-05, 7.96533417e-05, 3.18171188e-05,-8.42432011e-06,
  3.24835393e-03,-2.72603655e-05,-1.81894213e-05, 9.78088853e-05,
  4.63648295e-05,-4.75195836e-06,-1.21644147e+00, 6.43639161e-06,
  7.63849092e-03, 1.78207361e-03]


--- Step 2727 ---
qpos:
[-2.51614726e-03, 8.65803946e-01,-2.37020485e-02, 4.08312716e-04,
 -2.94472119e-03, 8.61895139e-01,-2.71351726e-02, 3.14432216e-03,
 -1.21923985e-03, 8.70655210e-01,-1.93038165e-02,-2.13264920e-02,
  1.39622951e+00, 1.85309820e-02, 1.42581124e+00, 2.40325647e-02,
  4.08347699e-03,-5.76603687e-02, 8.04892453e-02, 7.03963972e-01,
 -4.88126747e-02,-7.06868494e-01,-4.88772077e-02]

qacc:
[-1.72133487e-01,-1.87660334e+00, 5.03711996e+00, 3.69971774e+00,
 -8.94766174e-03, 5.72451024e-01,-3.05518032e+00, 6.52635764e+00,
 -8.83697175e-02, 4.20834327e+00,-1.47290832e+01, 2.07019531e+01,
  1.99890027e-02, 2.01907506e-01,-2.77701822e+00, 9.52433834e+00,
  6.74008765e-01, 4.57671536e-01, 1.74821969e+00,-4.12686812e-01,
  3.30037200e+01, 2.85593440e+01]

qfrc_actuator:
[ 2.36312970e-03, 2.74551275e-02, 8.72018203e-03, 1.62641758e-03,
  1.10295968e-05, 2.73841965e-02, 8.60678592e-03, 1.59388103e-03,
 -2.38800791e-03, 2.75032903e-02, 8.64371000e-03, 1.60257728e-03,
  0.00000000e+00,-1.43041066e-03, 0.00000000e+00,-6.63049142e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006300722530202529
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.20257085e-14,  8.81028342e-14,  1.00000000e+00,  1.94052735e-27,
        1.00000000e+00, -8.81028342e-14, -1.00000000e+00,  0.00000000e+00,
       -2.20257085e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00424317, -0.06308876,  0.06193969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.14850669e-05, 1.25202225e-04, 1.13559873e-04, 4.33311571e-05,
 -1.61661840e-06,-1.87872401e-05,-1.14760591e-05, 8.11899971e-06,
 -1.60645494e-05, 7.55049995e-05,-3.37465811e-05, 1.71141381e-05,
  3.26529980e-03, 3.21738251e-05, 1.95087322e-06, 4.65792672e-05,
  3.32825587e-05, 1.48763202e-05,-1.21644176e+00, 9.21561943e-06,
  7.63888399e-03, 1.78209071e-03]


--- Step 2728 ---
qpos:
[-2.51623042e-03, 8.65804449e-01,-2.37012545e-02, 4.07680602e-04,
 -2.94428908e-03, 8.61895273e-01,-2.71347344e-02, 3.14458838e-03,
 -1.21872997e-03, 8.70655083e-01,-1.93057733e-02,-2.13266828e-02,
  1.39622942e+00, 1.85304786e-02, 1.42587686e+00, 2.40339064e-02,
  4.08140570e-03,-5.76604308e-02, 8.04918248e-02, 7.03924160e-01,
 -4.88087799e-02,-7.06908625e-01,-4.88740771e-02]

qacc:
[ 5.96774890e-02,-2.08710602e+00, 8.50743600e+00,-1.26504871e+01,
  1.04562579e-01,-2.70463031e+00, 2.77224248e+00, 1.58211983e+01,
  8.04252604e-02, 1.03511259e+00,-4.86566744e+00, 9.29746883e+00,
  1.32239214e-02, 1.88314808e-01,-4.81813941e+00, 1.65722900e+01,
  6.50443674e-01, 4.37466704e-01, 1.32796696e+00,-3.91350466e-01,
  3.17772675e+01, 2.75263565e+01]

qfrc_actuator:
[ 2.38894922e-03, 2.74052742e-02, 8.73024544e-03, 1.61167425e-03,
  3.04435747e-05, 2.73102262e-02, 8.66908156e-03, 1.65192086e-03,
 -2.36553274e-03, 2.74466516e-02, 8.61263653e-03, 1.61022586e-03,
  0.00000000e+00,-1.41763296e-03, 0.00000000e+00,-5.84097179e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006355122753261278
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.73486688e-14, -2.62046006e-13,  1.00000000e+00,  2.28893698e-26,
        1.00000000e+00,  2.62046006e-13, -1.00000000e+00,  0.00000000e+00,
        8.73486688e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0042392 , -0.06308752,  0.06193918])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08192082e-05, 4.54567523e-05, 5.14103175e-05,-4.60560938e-06,
  1.86442838e-05,-8.65181129e-05, 5.72816429e-05, 5.69967748e-05,
  1.47916664e-05,-2.06417352e-05,-1.90305971e-05, 1.00499408e-05,
  3.25815808e-03, 2.92422781e-05, 5.12138128e-06, 8.15685039e-05,
  1.32623527e-05, 4.39727157e-06,-1.21644065e+00, 5.84362833e-06,
  7.63878222e-03, 1.78222861e-03]


--- Step 2729 ---
qpos:
[-2.51609751e-03, 8.65803903e-01,-2.37004497e-02, 4.06744394e-04,
 -2.94401762e-03, 8.61894740e-01,-2.71341245e-02, 3.14523391e-03,
 -1.21819375e-03, 8.70654459e-01,-1.93073400e-02,-2.13264291e-02,
  1.39622946e+00, 1.85305789e-02, 1.42594228e+00, 2.40378566e-02,
  4.08185805e-03,-5.76588090e-02, 8.04983029e-02, 7.03930406e-01,
 -4.88401090e-02,-7.06902809e-01,-4.88369279e-02]

qacc:
[ 1.13644777e-01,-2.04212197e+00, 6.55304075e+00,-1.10628583e+01,
 -8.42350504e-02,-5.80477804e-01,-8.10852112e-01, 7.59078236e+00,
  1.41864786e-02,-8.30093244e-01, 1.34948928e-01, 7.29107764e+00,
  6.41670341e-03, 3.84430251e-01,-8.20656369e+00, 2.82697687e+01,
  6.30911289e-01, 4.20985809e-01, 9.74684695e-01,-3.72219759e-01,
  3.07601003e+01, 2.66701210e+01]

qfrc_actuator:
[ 2.40440633e-03, 2.72330245e-02, 8.68227781e-03, 1.58542738e-03,
  6.29618189e-06, 2.72664194e-02, 8.66998498e-03, 1.66819430e-03,
 -2.37009676e-03, 2.74127864e-02, 8.63043367e-03, 1.63250719e-03,
  0.00000000e+00,-1.37444804e-03, 0.00000000e+00,-4.49415210e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006338862899063769
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.75727273e-14, -2.62718182e-13,  1.00000000e+00,  2.30069477e-26,
        1.00000000e+00,  2.62718182e-13, -1.00000000e+00,  0.00000000e+00,
        8.75727273e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00424035, -0.06308829,  0.06193934])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.06194206e-05,-1.36426358e-04,-3.24142416e-05,-2.26111218e-05,
 -1.53091877e-05,-7.79187397e-05,-7.93945397e-06, 1.56577255e-05,
  2.51408123e-06,-4.88860861e-05, 1.15544363e-05, 2.09381278e-05,
  3.25501481e-03, 5.67578273e-05, 1.03303841e-05, 1.39621605e-04,
  2.54099203e-06,-1.56925810e-07,-1.21644006e+00, 4.61075906e-06,
  7.63868336e-03, 1.78231326e-03]


--- Step 2730 ---
qpos:
[-2.51595216e-03, 8.65802376e-01,-2.37004054e-02, 4.05549614e-04,
 -2.94397490e-03, 8.61894185e-01,-2.71342230e-02, 3.14432140e-03,
 -1.21730578e-03, 8.70653396e-01,-1.93087035e-02,-2.13252140e-02,
  1.39623014e+00, 1.85314297e-02, 1.42600804e+00, 2.40407101e-02,
  4.08476983e-03,-5.76555566e-02, 8.05074954e-02, 7.03981448e-01,
 -4.89057226e-02,-7.06852293e-01,-4.87666485e-02]

qacc:
[ 6.37056453e-03, 2.94843927e-01,-1.84278434e+00,-6.93220996e-01,
 -1.21000084e-01,-1.25515385e+00, 1.10126379e+01,-3.68300982e+01,
  1.83986541e-01, 8.31965625e-01,-7.85978054e+00, 2.44813597e+01,
 -1.23165797e-02, 6.15490609e-01, 3.83971084e+00,-1.26582333e+01,
  6.14856243e-01, 4.07634076e-01, 6.78584140e-01,-3.54680768e-01,
  2.99200824e+01, 2.59640218e+01]

qfrc_actuator:
[ 2.39574516e-03, 2.71660280e-02, 8.63541622e-03, 1.57023620e-03,
 -8.20445344e-06, 2.72762545e-02, 8.63467472e-03, 1.58870941e-03,
 -2.33756020e-03, 2.73930148e-02, 8.64150462e-03, 1.68101311e-03,
  0.00000000e+00,-1.31343410e-03, 0.00000000e+00,-5.13772244e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006266637528867663
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00424553, -0.06309064,  0.06194003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15547091e-06,-1.50936409e-04,-7.98149997e-05,-2.25965939e-05,
 -2.17776466e-05,-3.46990742e-05,-5.18401231e-05,-8.27936567e-05,
  3.37316014e-05,-4.37969923e-05, 3.13999226e-06, 4.72236984e-05,
  3.24835187e-03, 8.76017186e-05, 1.93448796e-05,-5.54923350e-05,
  1.60500468e-07, 6.18456626e-07,-1.21643992e+00, 5.34353654e-06,
  7.63858388e-03, 1.78234854e-03]


--- Step 2731 ---
qpos:
[-2.51567044e-03, 8.65800906e-01,-2.37017484e-02, 4.04436880e-04,
 -2.94375794e-03, 8.61893580e-01,-2.71342865e-02, 3.14276088e-03,
 -1.21605196e-03, 8.70652288e-01,-1.93097593e-02,-2.13241764e-02,
  1.39623133e+00, 1.85326533e-02, 1.42607413e+00, 2.40407915e-02,
  4.08999661e-03,-5.76514325e-02, 8.05190050e-02, 7.04075493e-01,
 -4.89908873e-02,-7.06758856e-01,-4.86776359e-02]

qacc:
[  0.07061312,  4.11905379,-14.92416082, 18.5246096 ,  0.09177315,
  -1.49739058,  7.97831553,-19.21380737,  0.19123174, -1.28321214,
   5.23812056, -8.76577698, -0.04856164,  0.39483422,  8.92068194,
 -30.4238942 ,  0.57875206,  0.21794737,  0.57927376, -0.25600276,
  29.37126398, 15.60187658]

qfrc_actuator:
[ 2.40823549e-03, 2.72335460e-02, 8.58998524e-03, 1.57950717e-03,
  1.87205915e-05, 2.73001424e-02, 8.64945829e-03, 1.56007093e-03,
 -2.31860450e-03, 2.74173463e-02, 8.66632322e-03, 1.67354851e-03,
  0.00000000e+00,-1.31312171e-03, 0.00000000e+00,-6.59385688e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006149717948413138
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10115997e-06, -1.10115965e-06,  1.00000000e+00, -1.21255293e-12,
        1.00000000e+00,  1.10115965e-06, -1.00000000e+00,  0.00000000e+00,
       -1.10115997e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00367011, -0.0599821 ,  0.06194114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30275345e-05,-3.42975919e-05,-8.72062184e-05,-3.92955259e-07,
  1.65847992e-05,-9.75521402e-06,-1.62874465e-06,-3.35281004e-05,
  3.50971018e-05, 2.55113137e-06, 1.78119701e-05,-8.30979290e-06,
  3.21621571e-03, 5.03813082e-05, 1.27106320e-06,-1.46603057e-04,
  5.39590575e-06, 6.27433205e-06,-1.21644020e+00, 7.90970517e-06,
  7.63848038e-03, 1.78233751e-03]


--- Step 2732 ---
qpos:
[-2.51524740e-03, 8.65799749e-01,-2.37036248e-02, 4.03004228e-04,
 -2.94347715e-03, 8.61893374e-01,-2.71347669e-02, 3.14187736e-03,
 -1.21469694e-03, 8.70650979e-01,-1.93109764e-02,-2.13235287e-02,
  1.39623250e+00, 1.85340431e-02, 1.42613999e+00, 2.40411477e-02,
  4.09650163e-03,-5.76518188e-02, 8.05290214e-02, 7.04198629e-01,
 -4.89907075e-02,-7.06636509e-01,-4.86728442e-02]

qacc:
[ 7.36358625e-02, 1.24275371e+00,-2.48344552e+00,-2.42794240e+00,
  3.32396328e-02, 3.08148360e+00,-1.30841200e+01, 2.51788004e+01,
  5.27924046e-02,-6.19430507e-01, 3.46485210e+00,-9.80147313e+00,
 -7.19124610e-02, 1.63253572e-01,-1.16207235e+00, 3.59556606e+00,
  3.19559265e-01,-1.12760161e+00,-3.73309091e-01, 2.91547525e-01,
  2.45972011e+01,-5.83917490e+01]

qfrc_actuator:
[ 2.41553517e-03, 2.72923624e-02, 8.58184887e-03, 1.56771299e-03,
  1.69316471e-05, 2.73502528e-02, 8.64058025e-03, 1.59715876e-03,
 -2.32570476e-03, 2.73791567e-02, 8.64594692e-03, 1.65100854e-03,
  0.00000000e+00,-1.33139996e-03, 0.00000000e+00,-6.38607297e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006067640617331838
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.14872102e-14, -9.14872102e-14,  1.00000000e+00,  8.36990962e-27,
        1.00000000e+00,  9.14872102e-14, -1.00000000e+00,  0.00000000e+00,
        9.14872102e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00085527, -0.03582813,  0.06194193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35126227e-05, 2.16582300e-05,-2.59540725e-05,-1.62835551e-05,
  6.08320426e-06, 4.29022374e-05,-1.22464266e-05, 3.59640811e-05,
  9.70121963e-06,-3.34006594e-05,-1.79271721e-05,-2.19747811e-05,
  3.19054110e-03, 1.34578453e-05,-1.69548010e-05, 1.24616420e-05,
  1.69363943e-05, 1.36954021e-05,-1.21644073e+00, 1.14329942e-05,
  7.63837919e-03, 1.78230554e-03]


--- Step 2733 ---
qpos:
[-2.51489972e-03, 8.65799603e-01,-2.37060159e-02, 4.01347887e-04,
 -2.94336553e-03, 8.61893784e-01,-2.71354663e-02, 3.14071128e-03,
 -1.21334422e-03, 8.70649674e-01,-1.93130671e-02,-2.13231320e-02,
  1.39623322e+00, 1.85347162e-02, 1.42620593e+00, 2.40403832e-02,
  4.10425436e-03,-5.76566228e-02, 8.05366874e-02, 7.04350217e-01,
 -4.89070931e-02,-7.06485858e-01,-4.87503812e-02]

qacc:
[-4.02074126e-02, 2.31308212e+00,-5.36466521e+00, 1.57527957e+00,
 -8.94589381e-02, 8.45096390e-01,-6.37292866e-01,-4.35564462e+00,
 -1.75780348e-03, 1.92878006e+00,-5.81130735e+00, 2.86475004e+00,
 -6.00955558e-02,-4.74697123e-01, 3.50125328e+00,-1.21006062e+01,
  3.11926074e-01,-1.10443609e+00,-5.87592123e-01, 2.97147894e-01,
  2.40663968e+01,-5.70810623e+01]

qfrc_actuator:
[ 2.40190834e-03, 2.73989386e-02, 8.57803758e-03, 1.56140150e-03,
 -2.04495092e-06, 2.73979156e-02, 8.63569569e-03, 1.58385340e-03,
 -2.33056763e-03, 2.73746402e-02, 8.59879942e-03, 1.63745943e-03,
  0.00000000e+00,-1.41403316e-03, 0.00000000e+00,-6.97458121e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005951325708438357
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.000000e+00, -9.327527e-14,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  9.327527e-14, -1.000000e+00,  0.000000e+00,
        0.000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00084969, -0.03581616,  0.06194303])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.17658139e-06, 1.12674266e-04,-3.07384316e-06,-6.59246202e-06,
 -1.60839887e-05, 7.06750147e-05, 3.71846207e-06,-1.11890292e-05,
 -2.24928286e-07,-2.77930325e-05,-5.69946930e-05,-1.60243950e-05,
  3.19167692e-03,-7.75059116e-05,-6.88599967e-06,-6.04444206e-05,
  2.38402426e-05,-1.18119676e-06,-1.21644093e+00, 8.30493777e-06,
  7.63843886e-03, 1.78243619e-03]


--- Step 2734 ---
qpos:
[-2.51467460e-03, 8.65800697e-01,-2.37083942e-02, 3.99905989e-04,
 -2.94345316e-03, 8.61894517e-01,-2.71358452e-02, 3.13939515e-03,
 -1.21221381e-03, 8.70648651e-01,-1.93162007e-02,-2.13225792e-02,
  1.39623337e+00, 1.85343696e-02, 1.42627192e+00, 2.40382449e-02,
  4.11322935e-03,-5.76657685e-02, 8.05412854e-02, 7.04529706e-01,
 -4.87416101e-02,-7.06307360e-01,-4.89087026e-02]

qacc:
[-6.46687808e-02, 2.04369981e+00,-5.81487479e+00, 8.59556043e+00,
 -1.04860657e-01,-7.77618250e-01, 4.02460270e+00,-7.37222073e+00,
 -1.16825096e-01, 3.60725995e+00,-1.29787566e+01, 1.71375869e+01,
 -3.03705610e-02,-7.19643047e-01, 4.22473526e+00,-1.47026491e+01,
  3.05566498e-01,-1.08543478e+00,-7.67006811e-01, 2.99065925e-01,
  2.36333791e+01,-5.60087577e+01]

qfrc_actuator:
[ 2.39363839e-03, 2.74978408e-02, 8.59476873e-03, 1.57616398e-03,
 -1.33740672e-05, 2.74082260e-02, 8.65092872e-03, 1.57650614e-03,
 -2.35177770e-03, 2.74079552e-02, 8.55411871e-03, 1.64707452e-03,
  0.00000000e+00,-1.48120488e-03, 0.00000000e+00,-7.67295631e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005802457111548642
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.56683525e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.56683525e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00084265, -0.03580091,  0.06194443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16758730e-05, 1.61013460e-04, 3.94173505e-05, 1.93608151e-05,
 -1.89553711e-05, 5.01143917e-05, 2.99043769e-05,-4.40631653e-06,
 -2.13241661e-05, 5.36647186e-06,-5.79691533e-05, 6.14561174e-06,
  3.21351135e-03,-1.08840841e-04,-1.20739062e-05,-7.45580441e-05,
  3.16885462e-05,-1.97713275e-05,-1.21644223e+00, 1.11938947e-06,
  7.63862084e-03, 1.78268910e-03]


--- Step 2735 ---
qpos:
[-2.51455989e-03, 8.65802423e-01,-2.37094808e-02, 3.98640522e-04,
 -2.94389158e-03, 8.61895192e-01,-2.71358380e-02, 3.13804591e-03,
 -1.21132574e-03, 8.70647090e-01,-1.93184582e-02,-2.13219441e-02,
  1.39623309e+00, 1.85336857e-02, 1.42633756e+00, 2.40376162e-02,
  4.11923891e-03,-5.76728703e-02, 8.05485839e-02, 7.04651345e-01,
 -4.86123517e-02,-7.06186557e-01,-4.90292558e-02]

qacc:
[-5.72934163e-02,-2.40970572e+00, 9.06017297e+00,-8.54035845e+00,
 -1.84472183e-01,-1.22136761e+00, 4.38605826e+00,-5.53659143e+00,
 -1.25795861e-01,-2.98753372e+00, 9.27497982e+00,-8.85724072e+00,
 -2.44511137e-03,-3.01631088e-01,-5.11387873e+00, 1.70907145e+01,
 -7.41359182e-01, 5.10998723e-01, 6.75132484e-01, 5.78319839e-01,
 -4.25597064e+01, 2.32765576e+01]

qfrc_actuator:
[ 2.38865990e-03, 2.75204950e-02, 8.65900903e-03, 1.58546956e-03,
 -3.77695571e-05, 2.73784207e-02, 8.66002785e-03, 1.57271428e-03,
 -2.36482252e-03, 2.73749267e-02, 8.60020006e-03, 1.65252885e-03,
  0.00000000e+00,-1.46749958e-03, 0.00000000e+00,-6.83250156e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005723392172421875
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.95473247e-08, -4.84949743e-14,  1.00000000e+00, -3.85764546e-21,
        1.00000000e+00,  4.84949743e-14, -1.00000000e+00,  0.00000000e+00,
       -7.95473247e-08])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02824209, -0.06645754,  0.06194517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05274142e-05, 1.21653226e-04, 1.03033300e-04, 1.79483143e-05,
 -3.33877535e-05, 4.18985904e-06, 2.29805038e-05,-6.94039633e-07,
 -2.32574178e-05,-4.16888308e-05, 4.02939762e-05, 3.80363171e-06,
  3.24263587e-03,-4.41338453e-05,-1.61087472e-05, 7.78686819e-05,
  4.04489011e-05,-4.19110310e-05,-1.21644457e+00,-9.97430681e-06,
  7.63891820e-03, 1.78306025e-03]


--- Step 2736 ---
qpos:
[-2.51452850e-03, 8.65803484e-01,-2.37094312e-02, 3.99057002e-04,
 -2.94445955e-03, 8.61895307e-01,-2.71357445e-02, 3.13743943e-03,
 -1.21026749e-03, 8.70645222e-01,-1.93193609e-02,-2.13213123e-02,
  1.39623266e+00, 1.85332593e-02, 1.42640284e+00, 2.40399750e-02,
  4.11988780e-03,-5.76779913e-02, 8.05492998e-02, 7.04669881e-01,
 -4.85170997e-02,-7.06168745e-01,-4.91136755e-02]

qacc:
[-4.26491448e-02,-5.88370656e-01,-6.27469968e+00, 3.40527579e+01,
 -6.79360305e-02, 5.47097940e-01,-6.16082776e+00, 1.92903540e+01,
  8.98090008e-02,-4.19762108e+00, 1.43908002e+01,-1.63883312e+01,
  1.50226578e-02, 1.01863984e-01,-9.58988871e+00, 3.27576936e+01,
 -1.34016488e+00, 4.95195624e-01,-1.64565291e+00, 7.95965774e-01,
 -7.44037160e+01, 1.97072472e+01]

qfrc_actuator:
[ 2.38569318e-03, 2.73909971e-02, 8.67946007e-03, 1.66246377e-03,
 -3.42683890e-05, 2.73070439e-02, 8.64750012e-03, 1.60650399e-03,
 -2.33735398e-03, 2.73915615e-02, 8.68148407e-03, 1.65549797e-03,
  0.00000000e+00,-1.42329519e-03, 0.00000000e+00,-5.26961271e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.30483087, -6.22508545,  0.99960163, -6.22508545,  7.45637046,
        7.17128921,  0.99960163,  7.17128921, 50.96451009,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005847090656298862
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.49380718e-14, -4.74690359e-14,  1.00000000e+00,  4.50661873e-27,
        1.00000000e+00,  4.74690359e-14, -1.00000000e+00,  0.00000000e+00,
        9.49380718e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05013952, -0.06983869,  0.06194403])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.97585140e-06,-3.94552026e-05, 5.88883158e-05, 8.61219491e-05,
 -1.23477741e-05,-6.43358847e-05,-8.85790776e-06, 3.47526064e-05,
  1.63228995e-05, 1.86010541e-06, 7.77994104e-05, 2.65825363e-06,
  3.26359736e-03, 1.69619984e-05, 3.22526599e-07, 1.58371107e-04,
  1.79819250e-05,-2.11763334e-05,-1.21644283e+00,-7.85304937e-06,
  7.63867490e-03, 1.78293587e-03]


--- Step 2737 ---
qpos:
[-2.51455514e-03, 8.65804236e-01,-2.37093718e-02, 4.00773316e-04,
 -2.94506375e-03, 8.61894923e-01,-2.71357998e-02, 3.13794279e-03,
 -1.20951682e-03, 8.70643802e-01,-1.93201405e-02,-2.13203172e-02,
  1.39623224e+00, 1.85329778e-02, 1.42646816e+00, 2.40435052e-02,
  4.11536390e-03,-5.76811869e-02, 8.05423284e-02, 7.04588838e-01,
 -4.84546034e-02,-7.06250452e-01,-4.91631975e-02]

qacc:
[-3.02428992e-02, 2.23886220e+00,-1.40626397e+01, 3.67705576e+01,
 -1.89368252e-02, 2.04037591e+00,-1.29171008e+01, 3.27320548e+01,
 -1.60666406e-01, 9.96556750e-01,-4.22430067e+00, 9.97888687e+00,
  2.29993017e-02, 6.61464409e-02,-3.47696486e+00, 1.22643664e+01,
 -1.29319975e+00, 4.81339636e-01,-1.92180950e+00, 8.09055901e-01,
 -7.18748266e+01, 1.90017224e+01]

qfrc_actuator:
[ 2.38395058e-03, 2.73665307e-02, 8.67327665e-03, 1.72523716e-03,
 -3.18627645e-05, 2.72822607e-02, 8.63989424e-03, 1.66208001e-03,
 -2.37465615e-03, 2.74379791e-02, 8.69429740e-03, 1.67478132e-03,
  0.00000000e+00,-1.41450913e-03, 0.00000000e+00,-4.71429271e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005888045429101041
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.71388612e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.71388612e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05013201, -0.06983583,  0.06194365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.55480764e-06,-3.07047356e-05,-4.10559073e-06, 6.47956132e-05,
 -3.46422341e-06,-6.11030125e-05,-2.07819636e-05, 5.31906797e-05,
 -2.94922163e-05, 6.36929404e-05, 2.28943451e-05, 2.21103031e-05,
  3.27086285e-03, 1.28937915e-05, 1.69222312e-05, 6.42002711e-05,
  1.47296414e-07,-5.16321641e-07,-1.21644131e+00,-4.73334095e-06,
  7.63853184e-03, 1.78264872e-03]


--- Step 2738 ---
qpos:
[-2.51443437e-03, 8.65805252e-01,-2.37089933e-02, 4.02097270e-04,
 -2.94548080e-03, 8.61894197e-01,-2.71353928e-02, 3.13800940e-03,
 -1.20933309e-03, 8.70643125e-01,-1.93211569e-02,-2.13194575e-02,
  1.39623207e+00, 1.85327209e-02, 1.42653384e+00, 2.40453478e-02,
  4.10582631e-03,-5.76825044e-02, 8.05267337e-02, 7.04411110e-01,
 -4.84238215e-02,-7.06428738e-01,-4.91788534e-02]

qacc:
[ 7.73755781e-02,-1.34982410e+00, 6.97502523e+00,-1.44702826e+01,
  9.89558122e-02,-2.64154754e+00, 1.06065332e+01,-1.86558910e+01,
 -2.96445557e-01, 1.36458435e+00,-2.87066932e+00, 3.64149718e-01,
  1.99309692e-02, 5.60996272e-02, 5.63508869e+00,-1.89489071e+01,
 -1.25342310e+00, 4.69519135e-01,-2.15584662e+00, 8.17825910e-01,
 -6.97656097e+01, 1.84135181e+01]

qfrc_actuator:
[ 2.40070312e-03, 2.74227462e-02, 8.70504207e-03, 1.70817688e-03,
 -1.24033357e-05, 2.72855959e-02, 8.67094742e-03, 1.64130047e-03,
 -2.41490581e-03, 2.74838814e-02, 8.68447076e-03, 1.66798277e-03,
  0.00000000e+00,-1.40921174e-03, 0.00000000e+00,-5.64493450e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005862108768871083
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.89389701e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.89389701e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0501368 , -0.06983702,  0.06194388])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.40974083e-05, 4.09521497e-05, 2.71518311e-05,-1.72601323e-05,
  1.78068813e-05,-3.28371400e-05, 1.77170839e-05,-2.30810359e-05,
 -5.43663751e-05, 8.72285309e-05, 6.92905904e-06,-2.84661298e-06,
  3.27018679e-03, 1.09700690e-05, 1.30170282e-05,-8.77655271e-05,
  1.22276231e-05, 7.14678761e-06,-1.21644101e+00,-2.93160232e-06,
  7.63846762e-03, 1.78239010e-03]


--- Step 2739 ---
qpos:
[-2.51413960e-03, 8.65806589e-01,-2.37085866e-02, 4.03563636e-04,
 -2.94493983e-03, 8.61893426e-01,-2.71344350e-02, 3.13709043e-03,
 -1.20929956e-03, 8.70642690e-01,-1.93217994e-02,-2.13186636e-02,
  1.39623166e+00, 1.85318932e-02, 1.42659959e+00, 2.40460879e-02,
  4.09906901e-03,-5.76818687e-02, 8.05189085e-02, 7.04283671e-01,
 -4.84312192e-02,-7.06556746e-01,-4.91578238e-02]

qacc:
[ 9.11431199e-02, 6.39250508e-01,-2.26331459e+00, 4.44651858e+00,
  5.04847969e-01,-3.62298959e+00, 1.69958335e+01,-3.49053164e+01,
 -7.82785187e-02,-8.60843327e-01, 3.80934636e+00,-5.72162913e+00,
  1.84723975e-02,-4.17378706e-01, 3.44547272e+00,-1.19103863e+01,
  6.95075470e-01, 4.88314724e-01, 1.94236975e+00,-5.07897069e-01,
  3.36433069e+01, 2.88602966e+01]

qfrc_actuator:
[ 2.41061790e-03, 2.74381584e-02, 8.70600598e-03, 1.71539917e-03,
  7.03373732e-05, 2.73058461e-02, 8.70689178e-03, 1.59356290e-03,
 -2.40328366e-03, 2.74757424e-02, 8.69687606e-03, 1.66364094e-03,
  0.00000000e+00,-1.47695593e-03, 0.00000000e+00,-6.20056399e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005935565822362404
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.35229309e-14, -9.35229309e-14,  1.00000000e+00,  8.74653861e-27,
        1.00000000e+00,  9.35229309e-14, -1.00000000e+00,  0.00000000e+00,
        9.35229309e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00426847, -0.06310335,  0.06194316])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.66390917e-05, 4.31526840e-05, 1.21563878e-05, 9.57597775e-06,
  9.11897134e-05, 4.57492432e-06, 3.05489099e-05,-4.89801813e-05,
 -1.43991080e-05, 4.19626357e-05, 3.11873976e-05,-4.21105183e-07,
  3.25766776e-03,-5.79912594e-05,-5.82017795e-06,-5.92693921e-05,
  5.15087045e-05, 3.04851038e-06,-1.21644180e+00,-2.24626230e-06,
  7.63847469e-03, 1.78214730e-03]


--- Step 2740 ---
qpos:
[-2.51388773e-03, 8.65808424e-01,-2.37090575e-02, 4.04800439e-04,
 -2.94361736e-03, 8.61892793e-01,-2.71334553e-02, 3.13631000e-03,
 -1.20944939e-03, 8.70642065e-01,-1.93220607e-02,-2.13175267e-02,
  1.39623057e+00, 1.85303368e-02, 1.42666500e+00, 2.40488317e-02,
  4.09495476e-03,-5.76794277e-02, 8.05171235e-02, 7.04204080e-01,
 -4.84744952e-02,-7.06636967e-01,-4.91022807e-02]

qacc:
[-2.32318430e-02, 2.63463332e+00,-7.47312599e+00, 4.54113204e+00,
  4.11543536e-01, 4.05039293e-01,-1.76594207e+00, 4.02832492e+00,
 -9.54248735e-02,-6.09217330e-01, 3.63218256e-01, 5.09672412e+00,
  4.39106256e-02,-6.43280095e-01,-6.61666849e+00, 2.23252302e+01,
  6.60758856e-01, 4.51331274e-01, 1.51008217e+00,-4.57317636e-01,
  3.20142660e+01, 2.71618815e+01]

qfrc_actuator:
[ 0.00239859, 0.02744668, 0.00865315, 0.00170131, 0.00010144, 0.02731833,
  0.00870999, 0.00160138,-0.00241399, 0.02743538, 0.00870435, 0.00167851,
  0.        ,-0.00153468, 0.        ,-0.00051101, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000604061762589051
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12174696e-06, -1.12174713e-06,  1.00000000e+00, -1.25831643e-12,
        1.00000000e+00,  1.12174713e-06, -1.00000000e+00, -2.01948392e-28,
       -1.12174696e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00408066, -0.06293037,  0.06194217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.09047122e-06, 3.55344893e-05,-4.21340284e-05,-1.16407206e-05,
  7.43893286e-05, 1.92773994e-05, 6.11267981e-06, 8.12133372e-06,
 -1.75932525e-05,-1.04598011e-05, 1.99765914e-05, 1.77375936e-05,
  3.26979179e-03,-8.71444535e-05,-1.11281946e-05, 1.04586975e-04,
  2.50993782e-05,-4.59724898e-06,-1.21644058e+00,-4.22691775e-06,
  7.63834073e-03, 1.78230875e-03]


--- Step 2741 ---
qpos:
[-2.51336109e-03, 8.65810636e-01,-2.37103706e-02, 4.04836704e-04,
 -2.94248441e-03, 8.61892436e-01,-2.71330842e-02, 3.13600057e-03,
 -1.20956715e-03, 8.70641422e-01,-1.93225178e-02,-2.13162016e-02,
  1.39622961e+00, 1.85291860e-02, 1.42673022e+00, 2.40535002e-02,
  4.09342334e-03,-5.76752225e-02, 8.05198171e-02, 7.04171220e-01,
 -4.85533553e-02,-7.06670533e-01,-4.90124723e-02]

qacc:
[ 1.43334386e-01, 3.78739312e-01, 4.43879900e+00,-2.41442869e+01,
 -1.00260475e-01, 3.03254841e+00,-1.22730524e+01, 2.11984675e+01,
  1.66362158e-02, 9.10429314e-01,-4.07397511e+00, 7.65477587e+00,
  6.58206265e-02, 2.10887474e-01,-6.11012610e+00, 2.09643205e+01,
  6.45710336e-01, 4.41033843e-01, 1.11962149e+00,-4.35437082e-01,
  3.12336726e+01, 2.69155221e+01]

qfrc_actuator:
[ 2.42680643e-03, 2.74507567e-02, 8.60439349e-03, 1.63923830e-03,
  4.80899136e-05, 2.73259924e-02, 8.67594218e-03, 1.62405923e-03,
 -2.40248531e-03, 2.74292839e-02, 8.69096060e-03, 1.68677149e-03,
  0.00000000e+00,-1.44398866e-03, 0.00000000e+00,-4.12372947e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006069817159091995
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.85908032e-14, -1.82908809e-13,  1.00000000e+00,  1.25458621e-26,
        1.00000000e+00,  1.82908809e-13, -1.00000000e+00,  0.00000000e+00,
        6.85908032e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00425886, -0.06310075,  0.0619419 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.62655848e-05, 1.47059842e-05,-4.70208290e-05,-6.22362107e-05,
 -1.80332284e-05, 2.00691405e-05,-2.90370359e-05, 2.38696903e-05,
  3.07454584e-06,-7.05043896e-06,-1.24715298e-05, 8.84991857e-06,
  3.30372180e-03, 4.00228090e-05, 4.95248071e-06, 1.02704103e-04,
  8.70288433e-06,-6.24464952e-06,-1.21643991e+00,-4.02394361e-06,
  7.63822325e-03, 1.78240581e-03]


--- Step 2742 ---
qpos:
[-2.51253040e-03, 8.65813619e-01,-2.37125195e-02, 4.04077678e-04,
 -2.94178138e-03, 8.61892931e-01,-2.71342513e-02, 3.13595608e-03,
 -1.20941224e-03, 8.70640519e-01,-1.93227238e-02,-2.13151327e-02,
  1.39622892e+00, 1.85283775e-02, 1.42679552e+00, 2.40586421e-02,
  4.09437390e-03,-5.76693618e-02, 8.05257933e-02, 7.04183276e-01,
 -4.86660023e-02,-7.06659249e-01,-4.88900904e-02]

qacc:
[  0.15858115,  1.71486087, -1.28121408,-11.70969927, -0.22768529,
   5.96165052,-20.74781566, 27.17495665,  0.14261214, -1.57120409,
   6.18551585,-10.82820967,  0.05794064,  0.21106165, -1.31476788,
   4.77328574,  0.62049538,  0.41387976,  0.82066181, -0.39524462,
  30.04313599, 25.59631601]

qfrc_actuator:
[ 2.44335968e-03, 2.75231037e-02, 8.57617209e-03, 1.60270234e-03,
  1.57416042e-05, 2.73838240e-02, 8.60247098e-03, 1.63750521e-03,
 -2.37780421e-03, 2.74081401e-02, 8.70097866e-03, 1.67333255e-03,
  0.00000000e+00,-1.42486122e-03, 0.00000000e+00,-3.91719562e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006035089422468101
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.55637351e-07, -9.55637430e-07,  1.00000000e+00, -9.13242822e-13,
        1.00000000e+00,  9.55637430e-07, -1.00000000e+00, -2.01948392e-28,
       -9.55637351e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00408114, -0.06293159,  0.06194223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.90769374e-05, 6.81528338e-05,-3.31390085e-05,-3.87467454e-05,
 -4.09062017e-05, 6.40832226e-05,-7.20773236e-05, 1.37660141e-05,
  2.61508518e-05,-2.72661216e-05, 7.33839671e-06,-1.40004357e-05,
  3.29655173e-03, 3.89111783e-05, 1.28738443e-05, 2.67927419e-05,
  8.63549815e-07,-2.67653512e-06,-1.21643971e+00,-1.86812151e-06,
  7.63810705e-03, 1.78244824e-03]


--- Step 2743 ---
qpos:
[-2.51164197e-03, 8.65817173e-01,-2.37147837e-02, 4.03551720e-04,
 -2.94130006e-03, 8.61893975e-01,-2.71360184e-02, 3.13639172e-03,
 -1.20934492e-03, 8.70639404e-01,-1.93227886e-02,-2.13145766e-02,
  1.39622806e+00, 1.85274103e-02, 1.42686076e+00, 2.40650145e-02,
  4.09774655e-03,-5.76618993e-02, 8.05339931e-02, 7.04239128e-01,
 -4.88116508e-02,-7.06604196e-01,-4.87358547e-02]

qacc:
[  0.03001073,  1.55546767, -5.43618067,  9.23594749, -0.11730445,
   3.38864236,-13.05667591, 21.92536356, -0.0455901 , -1.73227256,
   7.92809949,-16.86341008,  0.05524761, -0.19087416, -3.82819619,
  13.23297023,  0.60552009,  0.40044204,  0.5559043 , -0.36884967,
  29.30338003, 25.0114959 ]

qfrc_actuator:
[ 2.43502429e-03, 2.75648562e-02, 8.57835293e-03, 1.61706681e-03,
  1.40620009e-05, 2.74178145e-02, 8.57753063e-03, 1.66318425e-03,
 -2.39872638e-03, 2.73959700e-02, 8.70692130e-03, 1.64724278e-03,
  0.00000000e+00,-1.46652468e-03, 0.00000000e+00,-3.28410405e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005952609061858618
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.38137566e-07, -2.38138132e-07,  1.00000000e+00, -5.67096351e-14,
        1.00000000e+00,  2.38138132e-07, -1.00000000e+00,  6.31088724e-30,
       -2.38137566e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00408708, -0.06293436,  0.06194301])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.53388361e-06, 7.13073267e-05, 1.08264076e-05, 1.53821080e-05,
 -2.10891704e-05, 5.55206832e-05,-2.01038598e-05, 2.61991612e-05,
 -8.40664847e-06,-2.64758201e-05, 7.37904397e-07,-2.72760149e-05,
  3.28328848e-03,-1.98393211e-05, 7.48979600e-06, 6.60957968e-05,
  9.59646818e-07, 5.64430142e-06,-1.21643994e+00, 2.11023270e-06,
  7.63799310e-03, 1.78243849e-03]


--- Step 2744 ---
qpos:
[-2.51133970e-03, 8.65820896e-01,-2.37157776e-02, 4.03846777e-04,
 -2.94093511e-03, 8.61895096e-01,-2.71370324e-02, 3.13640745e-03,
 -1.20963525e-03, 8.70638215e-01,-1.93225474e-02,-2.13147124e-02,
  1.39622759e+00, 1.85266839e-02, 1.42692625e+00, 2.40700880e-02,
  4.10338379e-03,-5.76530425e-02, 8.05438655e-02, 7.04336002e-01,
 -4.89863068e-02,-7.06508095e-01,-4.85535743e-02]

qacc:
[ -0.30654032, -1.63294584,  2.6842544 ,  9.36504827, -0.06086724,
  -2.86534066, 12.13696456,-20.66833494, -0.18656892, -2.37761487,
  11.25073407,-23.64872362,  0.055124  ,  0.18443816,  4.3098691 ,
 -14.52717433,  0.56615008,  0.34857823,  0.41813346, -0.30498688,
  27.5553422 , 22.12485612]

qfrc_actuator:
[ 2.37637514e-03, 2.75881438e-02, 8.65164685e-03, 1.66126130e-03,
  1.29947266e-05, 2.74197083e-02, 8.61689116e-03, 1.64262409e-03,
 -2.42900670e-03, 2.74069945e-02, 8.72818074e-03, 1.61392150e-03,
  0.00000000e+00,-1.42003007e-03, 0.00000000e+00,-4.00228007e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.29538351,  5.64904398,  2.77851682,  5.64904398,  8.05822097,
       -3.58405111,  2.77851682, -3.58405111, 13.58217127,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005835774262188137
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.87729722e-07,  1.07384012e-13,  1.00000000e+00, -9.53279794e-20,
        1.00000000e+00, -1.07384012e-13, -1.00000000e+00,  0.00000000e+00,
        8.87729722e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00332146, -0.06220525,  0.06194412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.60079080e-05, 6.59893270e-05, 8.98773637e-05, 4.79218593e-05,
 -1.10716027e-05, 2.98957020e-05, 4.92620804e-05,-1.83668828e-05,
 -3.43103566e-05,-4.77036069e-06, 1.49471592e-05,-3.49592558e-05,
  3.29178174e-03, 3.46264990e-05, 9.02712761e-06,-6.75927117e-05,
  8.25211620e-06, 1.83536929e-05,-1.21644056e+00, 7.78861987e-06,
  7.63787285e-03, 1.78238204e-03]


--- Step 2745 ---
qpos:
[-2.51168274e-03, 8.65824468e-01,-2.37145374e-02, 4.04642336e-04,
 -2.94063299e-03, 8.61896471e-01,-2.71376067e-02, 3.13617516e-03,
 -1.20991252e-03, 8.70636436e-01,-1.93217993e-02,-2.13155391e-02,
  1.39622790e+00, 1.85264258e-02, 1.42699213e+00, 2.40712605e-02,
  4.11037063e-03,-5.76488159e-02, 8.05532787e-02, 7.04462767e-01,
 -4.90732123e-02,-7.06382231e-01,-4.84579576e-02]

qacc:
[-3.36852078e-01,-5.40744851e+00, 1.68821835e+01,-1.16891741e+01,
 -3.29058883e-02,-1.40068201e+00, 6.53132964e+00,-1.17165127e+01,
  7.30788900e-03,-3.61977143e+00, 1.46855047e+01,-2.70106430e+01,
  2.36917852e-02, 4.48044889e-01, 1.24260649e+01,-4.25628614e+01,
  3.37397615e-01,-1.15752894e+00,-1.14783450e-01, 2.98225843e-01,
  2.52937959e+01,-6.00636747e+01]

qfrc_actuator:
[ 2.34141644e-03, 2.75827727e-02, 8.76626910e-03, 1.68716736e-03,
  1.22782162e-05, 2.74381035e-02, 8.64046123e-03, 1.63053364e-03,
 -2.41133890e-03, 2.73431186e-02, 8.74065633e-03, 1.57664550e-03,
  0.00000000e+00,-1.37423460e-03, 0.00000000e+00,-6.04342303e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005819858877861434
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.53822977e-14, -2.86146893e-13,  1.00000000e+00,  2.72933482e-26,
        1.00000000e+00,  2.86146893e-13, -1.00000000e+00,  0.00000000e+00,
        9.53822977e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00083932, -0.03580675,  0.06194429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.16656340e-05, 5.20557314e-05, 1.40961429e-04, 3.27725697e-05,
 -5.96888933e-06, 4.44790504e-05, 3.51774806e-05,-9.46226031e-06,
  1.23805031e-06,-6.49315219e-05, 1.21297186e-05,-3.76416099e-05,
  3.27222968e-03, 6.84106532e-05,-4.83479877e-06,-2.07098978e-04,
  2.14639524e-05, 3.39326036e-05,-1.21644148e+00, 1.47896967e-05,
  7.63774377e-03, 1.78228486e-03]


--- Step 2746 ---
qpos:
[-2.51199030e-03, 8.65828186e-01,-2.37127020e-02, 4.05472644e-04,
 -2.94017947e-03, 8.61897868e-01,-2.71380379e-02, 3.13585077e-03,
 -1.21025704e-03, 8.70634121e-01,-1.93211686e-02,-2.13164234e-02,
  1.39622832e+00, 1.85265481e-02, 1.42705760e+00, 2.40733331e-02,
  4.11866439e-03,-5.76491088e-02, 8.05612258e-02, 7.04618704e-01,
 -4.90746581e-02,-7.06227354e-01,-4.84467151e-02]

qacc:
[ 1.89298673e-02,-1.39629801e+00, 5.11404500e+00,-5.57379466e+00,
  7.98069099e-02,-5.60556053e-01, 2.42930744e+00,-4.26883310e+00,
 -3.50033559e-02,-4.97325389e-01, 9.90500377e-01,-1.40628921e+00,
 -1.22945276e-02, 2.65447361e-01,-3.33647378e+00, 1.07925874e+01,
  3.26730490e-01,-1.12988902e+00,-3.66531840e-01, 3.14158027e-01,
  2.46634374e+01,-5.84842102e+01]

qfrc_actuator:
[ 2.37422352e-03, 2.75604594e-02, 8.77994795e-03, 1.68433984e-03,
  2.95177775e-05, 2.74129322e-02, 8.63681656e-03, 1.62352110e-03,
 -2.41838778e-03, 2.73058590e-02, 8.72978563e-03, 1.57277780e-03,
  0.00000000e+00,-1.38244030e-03, 0.00000000e+00,-5.47412948e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005764749811302261
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92588241e-13, -9.62941204e-14,  1.00000000e+00,  1.85451152e-26,
        1.00000000e+00,  9.62941204e-14, -1.00000000e+00,  0.00000000e+00,
        1.92588241e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00083643, -0.03580109,  0.06194482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.39896296e-06, 3.72096002e-05, 4.28930500e-05, 4.91151723e-06,
  1.44112878e-05, 6.53126077e-06, 9.54219828e-06,-4.07455377e-06,
 -6.46686715e-06,-7.26372204e-05,-2.40796331e-05,-6.95788420e-06,
  3.23280871e-03, 3.68124296e-05,-2.59585880e-05, 4.45595503e-05,
  2.94706539e-05, 1.83702268e-05,-1.21644095e+00, 1.48922831e-05,
  7.63783527e-03, 1.78235925e-03]


--- Step 2747 ---
qpos:
[-2.51207380e-03, 8.65831677e-01,-2.37118497e-02, 4.06768566e-04,
 -2.93954820e-03, 8.61899051e-01,-2.71383215e-02, 3.13478540e-03,
 -1.21067608e-03, 8.70631436e-01,-1.93208040e-02,-2.13163217e-02,
  1.39622866e+00, 1.85268528e-02, 1.42712280e+00, 2.40770301e-02,
  4.12126251e-03,-5.76521113e-02, 8.05601940e-02, 7.04671232e-01,
 -4.90164312e-02,-7.06175364e-01,-4.84994806e-02]

qacc:
[ 1.16957551e-01, 3.40108152e+00,-1.45322499e+01, 2.43340362e+01,
  9.37376958e-02,-2.21944374e+00, 1.06311030e+01,-2.35356139e+01,
 -3.89024882e-02, 2.28431122e+00,-1.30101594e+01, 3.07563571e+01,
 -1.54740541e-02, 1.01796707e-01,-5.32581530e+00, 1.80424333e+01,
 -1.42390806e+00,-6.77408375e-01,-2.24474047e+00,-1.62390366e+00,
 -6.97473145e+01,-4.86513513e+01]

qfrc_actuator:
[ 2.39400950e-03, 2.74744854e-02, 8.69830093e-03, 1.70004299e-03,
  3.95892727e-05, 2.73795050e-02, 8.63471631e-03, 1.58399333e-03,
 -2.42243895e-03, 2.73025025e-02, 8.72308139e-03, 1.62410335e-03,
  0.00000000e+00,-1.38764099e-03, 0.00000000e+00,-4.61366560e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005688269201752083
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.95177652e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.95177652e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05366125, -0.04391641,  0.06194554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.14015365e-05,-5.62007575e-05,-6.85522312e-05, 1.88675681e-05,
  1.69132744e-05,-2.80066761e-05, 2.75943084e-07,-3.89982170e-05,
 -7.16023677e-06,-4.91946523e-05,-2.48979063e-05, 4.72511217e-05,
  3.22711504e-03, 1.25973391e-05,-6.55044005e-06, 8.52757368e-05,
  3.84327159e-05,-1.03403276e-06,-1.21644158e+00, 1.07543709e-05,
  7.63805310e-03, 1.78256060e-03]


--- Step 2748 ---
qpos:
[-2.51211295e-03, 8.65834197e-01,-2.37113343e-02, 4.08295936e-04,
 -2.93895941e-03, 8.61900269e-01,-2.71387252e-02, 3.13324144e-03,
 -1.21115411e-03, 8.70628901e-01,-1.93210609e-02,-2.13156492e-02,
  1.39622936e+00, 1.85272131e-02, 1.42718842e+00, 2.40776906e-02,
  4.11835816e-03,-5.76577146e-02, 8.05491461e-02, 7.04623945e-01,
 -4.89005040e-02,-7.06222706e-01,-4.86140532e-02]

qacc:
[ 2.33921116e-02, 1.36096634e-01,-3.32185026e+00, 8.57933476e+00,
 -2.24881846e-02,-6.01408258e-01, 4.23471793e+00,-1.23532052e+01,
 -3.12197996e-02, 3.11162505e+00,-1.32101738e+01, 2.39642599e+01,
 -1.87336612e-02, 1.41750847e-01, 9.84554779e+00,-3.34884760e+01,
 -1.37561880e+00,-6.50193012e-01,-2.50400798e+00,-1.53102682e+00,
 -6.73279728e+01,-4.70050458e+01]

qfrc_actuator:
[ 2.38802743e-03, 2.73861368e-02, 8.66731425e-03, 1.70866714e-03,
  2.75203825e-05, 2.73946098e-02, 8.63348109e-03, 1.56114740e-03,
 -2.42465732e-03, 2.73372910e-02, 8.70132007e-03, 1.65426643e-03,
  0.00000000e+00,-1.37323999e-03, 0.00000000e+00,-6.25223763e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005744409736200273
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05364951, -0.04391948,  0.06194502])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.20854261e-06,-1.33213674e-04,-5.04228962e-05, 4.20248948e-06,
 -4.04301295e-06,-2.19180773e-06,-8.34082788e-06,-2.47952406e-05,
 -5.65817378e-06, 4.21956414e-06,-3.33350547e-05, 2.81190246e-05,
  3.23139740e-03, 1.78913525e-05, 5.71460741e-06,-1.60132229e-04,
  3.32351798e-06,-4.02050401e-06,-1.21644063e+00, 7.16736752e-06,
  7.63825365e-03, 1.78219549e-03]


--- Step 2749 ---
qpos:
[-2.51216886e-03, 8.65836373e-01,-2.37114300e-02, 4.09162850e-04,
 -2.93846916e-03, 8.61901834e-01,-2.71393593e-02, 3.13209342e-03,
 -1.21185714e-03, 8.70626962e-01,-1.93221241e-02,-2.13146657e-02,
  1.39623056e+00, 1.85276406e-02, 1.42725440e+00, 2.40737204e-02,
  4.11011684e-03,-5.76658276e-02, 8.05272007e-02, 7.04479790e-01,
 -4.87285115e-02,-7.06366358e-01,-4.87885819e-02]

qacc:
[-9.08398585e-03,-1.07194334e-01, 2.50978096e+00,-1.27088637e+01,
 -5.21405706e-02, 1.91436687e+00,-7.83510215e+00, 1.48040696e+01,
 -1.18183328e-01, 3.68102987e+00,-1.32907702e+01, 1.95180841e+01,
 -4.57290861e-02, 2.07476762e-01, 1.45786079e+01,-5.01771483e+01,
 -1.33424348e+00,-6.27429523e-01,-2.72436819e+00,-1.44609722e+00,
 -6.53066215e+01,-4.56298926e+01]

qfrc_actuator:
[ 2.38442723e-03, 2.74037119e-02, 8.64871819e-03, 1.67758655e-03,
  2.00690215e-05, 2.74386687e-02, 8.63297346e-03, 1.58384985e-03,
 -2.44351437e-03, 2.73945928e-02, 8.67098628e-03, 1.67175273e-03,
  0.00000000e+00,-1.36477689e-03, 0.00000000e+00,-8.64001417e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005731153794361274
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.68585964e-14,  1.93717193e-13,  1.00000000e+00, -1.87631754e-26,
        1.00000000e+00, -1.93717193e-13, -1.00000000e+00,  0.00000000e+00,
        9.68585964e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05365164, -0.04391843,  0.06194511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61490164e-06,-6.72149825e-05,-5.22017934e-05,-3.84573866e-05,
 -9.37037324e-06, 4.00243274e-05,-2.85024496e-06, 2.18383910e-05,
 -2.15708577e-05, 5.40398375e-05,-3.25751651e-05, 1.70641752e-05,
  3.21289931e-03, 2.35796822e-05,-1.69906350e-05,-2.47401360e-04,
  5.74694675e-06, 1.16255493e-05,-1.21644106e+00, 7.82584186e-06,
  7.63822335e-03, 1.78216862e-03]


--- Step 2750 ---
qpos:
[-2.51225512e-03, 8.65838350e-01,-2.37119115e-02, 4.09615230e-04,
 -2.93826063e-03, 8.61903922e-01,-2.71406730e-02, 3.13123404e-03,
 -1.21241142e-03, 8.70625501e-01,-1.93232950e-02,-2.13135143e-02,
  1.39623182e+00, 1.85281325e-02, 1.42732010e+00, 2.40685835e-02,
  4.10447375e-03,-5.76725832e-02, 8.05148424e-02, 7.04382680e-01,
 -4.85881559e-02,-7.06462925e-01,-4.89322688e-02]

qacc:
[-1.61103444e-02,-3.98201121e-02, 1.50826546e+00,-7.91801999e+00,
 -1.48967156e-01, 3.18084437e+00,-1.15598227e+01, 1.72617195e+01,
  7.74423990e-02, 1.27707413e+00,-4.34674863e+00, 7.07342501e+00,
 -7.13876882e-02, 1.20596974e-01, 3.13828705e+00,-1.15417261e+01,
  6.49557046e-01, 3.39353015e-01, 2.39676104e+00,-2.53381083e-01,
  3.16768696e+01, 2.43321466e+01]

qfrc_actuator:
[ 2.38229953e-03, 2.74135929e-02, 8.63796553e-03, 1.65898771e-03,
 -2.29140415e-06, 2.74642705e-02, 8.59755551e-03, 1.59769296e-03,
 -2.41890713e-03, 2.74293914e-02, 8.67144767e-03, 1.68166458e-03,
  0.00000000e+00,-1.37766296e-03, 0.00000000e+00,-9.14138344e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000586832728967715
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00274985, -0.06166547,  0.06194379])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.90927100e-06,-4.01854298e-05,-3.24146238e-05,-2.40378881e-05,
 -2.68039223e-05, 4.82975053e-05,-2.67527324e-05, 1.58845815e-05,
  1.42817021e-05, 5.90679767e-05, 8.22109264e-06, 1.14336086e-05,
  3.18781096e-03, 7.34143099e-06,-3.61422754e-05,-6.63009165e-05,
  4.21913392e-05, 4.42228010e-05,-1.21644271e+00, 1.22820035e-05,
  7.63799611e-03, 1.78244369e-03]


--- Step 2751 ---
qpos:
[-2.51218278e-03, 8.65839232e-01,-2.37111143e-02, 4.10875885e-04,
 -2.93832580e-03, 8.61906254e-01,-2.71428124e-02, 3.12955787e-03,
 -1.21255432e-03, 8.70624985e-01,-1.93246348e-02,-2.13133460e-02,
  1.39623279e+00, 1.85289007e-02, 1.42738516e+00, 2.40665161e-02,
  4.10131707e-03,-5.76780248e-02, 8.05100682e-02, 7.04330669e-01,
 -4.84780685e-02,-7.06514420e-01,-4.90464981e-02]

qacc:
[  0.08438468, -3.35156736,  6.44370637,  6.29945566, -0.14479467,
   0.94805898,  0.53662656,-13.53090184,  0.21433795, -0.30429926,
   7.03958847,-24.46218148, -0.07347282,  0.16755662,-10.24891609,
  34.47485728,  0.62160508,  0.32850343,  1.89604887, -0.26195188,
  30.34802874, 23.26473967]

qfrc_actuator:
[ 2.39882826e-03, 2.73478402e-02, 8.70294854e-03, 1.70115406e-03,
 -1.56220375e-05, 2.74429777e-02, 8.54173274e-03, 1.55291150e-03,
 -2.38625768e-03, 2.75038268e-02, 8.67225749e-03, 1.63379245e-03,
  0.00000000e+00,-1.36787743e-03, 0.00000000e+00,-7.46186730e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006029468344341676
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.20664113e-14,  9.20664113e-14,  1.00000000e+00, -8.47622408e-27,
        1.00000000e+00, -9.20664113e-14, -1.00000000e+00,  0.00000000e+00,
        9.20664113e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00273948, -0.0616615 ,  0.06194226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.51335253e-05,-9.59919730e-05, 5.18456398e-05, 3.88522436e-05,
 -2.60484451e-05, 8.27773693e-07,-4.85990230e-05,-4.33287324e-05,
  3.94904348e-05, 1.09694542e-04, 1.44350508e-05,-4.48342745e-05,
  3.18519931e-03, 1.39066615e-05,-2.37077686e-05, 1.59696692e-04,
  2.01130696e-05, 2.55403963e-05,-1.21644141e+00, 5.06077040e-06,
  7.63808079e-03, 1.78254349e-03]


--- Step 2752 ---
qpos:
[-2.51156081e-03, 8.65838929e-01,-2.37096024e-02, 4.11647182e-04,
 -2.93841626e-03, 8.61907954e-01,-2.71435784e-02, 3.12731926e-03,
 -1.21248291e-03, 8.70624779e-01,-1.93259957e-02,-2.13136808e-02,
  1.39623357e+00, 1.85298125e-02, 1.42745007e+00, 2.40664270e-02,
  4.10078423e-03,-5.76818666e-02, 8.05108708e-02, 7.04325994e-01,
 -4.84037679e-02,-7.06518654e-01,-4.91259716e-02]

qacc:
[ 2.89004232e-01,-4.56922102e+00, 1.60846022e+01,-2.48281392e+01,
 -1.22625345e-02,-5.82518151e+00, 2.19359381e+01,-3.34091548e+01,
  1.11757891e-01,-5.68866605e-01, 4.74095904e+00,-1.36337088e+01,
 -6.00076005e-02, 9.64867699e-02,-6.22104569e+00, 2.14327123e+01,
  6.55958276e-01, 3.99943424e-01, 1.39415978e+00,-3.36731909e-01,
  3.16456530e+01, 2.71881627e+01]

qfrc_actuator:
[ 2.44412667e-03, 2.72554339e-02, 8.72309954e-03, 1.67220676e-03,
 -5.67750605e-06, 2.74113692e-02, 8.61610600e-03, 1.52720316e-03,
 -2.38461032e-03, 2.74771163e-02, 8.65562800e-03, 1.60559173e-03,
  0.00000000e+00,-1.36247910e-03, 0.00000000e+00,-6.46430551e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006105180136508696
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49260359e-07, -4.49260353e-07,  1.00000000e+00, -2.01834868e-13,
        1.00000000e+00,  4.49260353e-07, -1.00000000e+00, -2.52435490e-29,
       -4.49260359e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0040758 , -0.06292933,  0.06194154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.24990937e-05,-1.33738594e-04, 8.04243679e-06,-3.05133334e-05,
 -2.41934503e-06,-4.30782510e-05, 6.70579647e-05,-2.81957485e-05,
  2.05662440e-05, 3.57166765e-05, 6.26472351e-06,-2.38762259e-05,
  3.19903641e-03, 5.48983362e-06, 7.05188127e-06, 1.05672081e-04,
  6.54274673e-06, 1.19572889e-05,-1.21644056e+00,-3.27634540e-07,
  7.63813935e-03, 1.78261196e-03]


--- Step 2753 ---
qpos:
[-2.51058417e-03, 8.65837640e-01,-2.37086937e-02, 4.12133125e-04,
 -2.93864194e-03, 8.61908773e-01,-2.71430536e-02, 3.12620855e-03,
 -1.21267006e-03, 8.70623467e-01,-1.93254888e-02,-2.13139532e-02,
  1.39623419e+00, 1.85305951e-02, 1.42751511e+00, 2.40665320e-02,
  4.10278990e-03,-5.76841506e-02, 8.05158187e-02, 7.04367153e-01,
 -4.83640819e-02,-7.06477146e-01,-4.91718573e-02]

qacc:
[  0.18590041, -0.20478519,  0.04449703, -3.2931408 , -0.07001364,
  -2.44618599,  2.27317608, 15.82735773, -0.1334533 , -6.55056874,
  20.97144512,-22.06553273, -0.04922996, -0.06647398, -0.38310276,
   1.63907224,  0.634628  ,  0.38944103,  1.03634906, -0.33909879,
  30.63681606, 26.28920107]

qfrc_actuator:
[ 2.45297451e-03, 2.71830707e-02, 8.68089874e-03, 1.65482347e-03,
 -1.74120515e-05, 2.73565984e-02, 8.67796498e-03, 1.58402160e-03,
 -2.41928432e-03, 2.73722237e-02, 8.73497051e-03, 1.60685974e-03,
  0.00000000e+00,-1.37744364e-03, 0.00000000e+00,-6.40986023e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006111262905039762
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.02331370e-07, -9.02331563e-07,  1.00000000e+00, -8.14202075e-13,
        1.00000000e+00,  9.02331563e-07, -1.00000000e+00,  0.00000000e+00,
       -9.02331370e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00407545, -0.06292894,  0.06194149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.38648891e-05,-1.46794144e-04,-6.98990380e-05,-2.34317241e-05,
 -1.28887776e-05,-6.62493664e-05, 6.02446290e-05, 5.67472562e-05,
 -2.48241891e-05,-8.46304283e-05, 8.66766406e-05, 2.55152548e-06,
  3.20862374e-03,-1.66638509e-05, 1.34525413e-05, 1.18938702e-05,
  2.58604269e-07, 2.03839063e-06,-1.21644004e+00,-4.04690726e-06,
  7.63817887e-03, 1.78264007e-03]


--- Step 2754 ---
qpos:
[-2.50994659e-03, 8.65835999e-01,-2.37086527e-02, 4.13034608e-04,
 -2.93919040e-03, 8.61908756e-01,-2.71428053e-02, 3.12623661e-03,
 -1.21301048e-03, 8.70621506e-01,-1.93245958e-02,-2.13145086e-02,
  1.39623495e+00, 1.85310978e-02, 1.42758061e+00, 2.40633693e-02,
  4.10726411e-03,-5.76849118e-02, 8.05237107e-02, 7.04452894e-01,
 -4.83580393e-02,-7.06391142e-01,-4.91851161e-02]

qacc:
[ -0.17816258,  2.81406482,-12.46269396, 21.30281837, -0.16980681,
   2.01087936,-13.58081194, 34.34857375, -0.07958618, -2.51808232,
   8.92892293,-13.96647539, -0.04574827, -0.08866755, 10.58890287,
 -36.03064906,  0.61713455,  0.38071203,  0.73602642, -0.33946286,
  29.80254128, 25.54680443]

qfrc_actuator:
[ 2.40442187e-03, 2.72117702e-02, 8.65557669e-03, 1.67987559e-03,
 -4.20340121e-05, 2.72706795e-02, 8.64308544e-03, 1.63563283e-03,
 -2.42210609e-03, 2.73282296e-02, 8.74574735e-03, 1.58993936e-03,
  0.00000000e+00,-1.38665795e-03, 0.00000000e+00,-8.15404140e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006059436288792432
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.28994426e-07, -9.28994544e-07,  1.00000000e+00, -8.63030753e-13,
        1.00000000e+00,  9.28994544e-07, -1.00000000e+00,  0.00000000e+00,
       -9.28994426e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00407925, -0.06293028,  0.06194199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.24191900e-05,-6.88003364e-05,-6.50612117e-05, 1.58877662e-05,
 -3.07501108e-05,-1.08114658e-04,-3.91835619e-05, 5.19628846e-05,
 -1.47207901e-05,-7.32838677e-05, 4.07151889e-06,-1.74921705e-05,
  3.21625555e-03,-1.94247065e-05, 5.20763515e-06,-1.72545410e-04,
  2.08676034e-06,-2.47963745e-06,-1.21643997e+00,-5.81191253e-06,
  7.63820591e-03, 1.78262599e-03]


--- Step 2755 ---
qpos:
[-2.50996197e-03, 8.65834651e-01,-2.37089909e-02, 4.13074213e-04,
 -2.93967008e-03, 8.61908446e-01,-2.71434070e-02, 3.12616368e-03,
 -1.21362482e-03, 8.70619738e-01,-1.93252511e-02,-2.13162712e-02,
  1.39623616e+00, 1.85319037e-02, 1.42764625e+00, 2.40571516e-02,
  4.11417673e-03,-5.76841407e-02, 8.05334754e-02, 7.04582614e-01,
 -4.83856309e-02,-7.06261211e-01,-4.91657681e-02]

qacc:
[ -0.34272719, -0.3292025 ,  5.37173732,-19.89605727,  0.03578543,
   1.77844329, -6.47706703,  6.30617533, -0.14411177,  2.09325423,
  -2.00768748,-16.53106119, -0.06580504,  0.35569877,  9.48539335,
 -32.82324671,  0.60960233,  0.38309631,  0.4681778 , -0.34714255,
  29.39031507, 25.50818988]

qfrc_actuator:
[ 2.35748605e-03, 2.72831148e-02, 8.65864033e-03, 1.64103905e-03,
 -2.08888680e-05, 2.72728944e-02, 8.60447170e-03, 1.63039982e-03,
 -2.44132365e-03, 2.73385112e-02, 8.66286137e-03, 1.52692128e-03,
  0.00000000e+00,-1.33896172e-03, 0.00000000e+00,-9.70087208e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005962669286634775
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.30978201e-14, -4.65489100e-14,  1.00000000e+00,  4.33360205e-27,
        1.00000000e+00,  4.65489100e-14, -1.00000000e+00,  0.00000000e+00,
        9.30978201e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00426652, -0.06310362,  0.0619429 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.23990456e-05, 2.01480141e-05,-1.86004162e-05,-4.37248142e-05,
  6.53430767e-06,-6.41120161e-05,-6.39729318e-05,-1.02090946e-05,
 -2.62776894e-05,-3.05672771e-05,-9.81151513e-05,-6.63524510e-05,
  3.20947864e-03, 4.22735396e-05,-1.90767624e-05,-1.64142144e-04,
  1.13306024e-05,-2.08608572e-06,-1.21644030e+00,-5.76133046e-06,
  7.63822134e-03, 1.78257043e-03]


--- Step 2756 ---
qpos:
[-2.51039348e-03, 8.65833800e-01,-2.37097928e-02, 4.12971231e-04,
 -2.93979592e-03, 8.61908382e-01,-2.71442456e-02, 3.12591576e-03,
 -1.21504157e-03, 8.70618359e-01,-1.93263493e-02,-2.13178415e-02,
  1.39623746e+00, 1.85333118e-02, 1.42771139e+00, 2.40524561e-02,
  4.11589988e-03,-5.76812886e-02, 8.05360113e-02, 7.04611246e-01,
 -4.84457573e-02,-7.06232333e-01,-4.91110231e-02]

qacc:
[ -0.21864682,  1.65828136, -4.35778386,  2.26749013,  0.18609609,
   0.62551454, -1.02132348, -1.80783037, -0.41940192,  2.14658469,
  -7.71854152, 11.4661685 , -0.0923832 ,  0.47060352, -5.34751974,
  17.65428222, -1.29736577,  0.52022985, -1.80720436,  1.07656715,
 -72.95388887, 19.02928452]

qfrc_actuator:
[ 2.34747511e-03, 2.73262856e-02, 8.64308865e-03, 1.63599105e-03,
  9.70144849e-06, 2.73455330e-02, 8.61755935e-03, 1.62734978e-03,
 -2.50570200e-03, 2.74162823e-02, 8.66757886e-03, 1.54379764e-03,
  0.00000000e+00,-1.31084822e-03, 0.00000000e+00,-8.81050614e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005948442375305549
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.66602412e-14, -2.33301206e-14,  1.00000000e+00,  1.08858906e-27,
        1.00000000e+00,  2.33301206e-14, -1.00000000e+00,  0.00000000e+00,
        4.66602412e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0501205 , -0.06982837,  0.06194305])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.97588108e-05, 4.87495981e-05,-1.51814236e-05,-5.67640541e-06,
  3.36852412e-05, 2.31524645e-05,-8.38138068e-06,-8.20801280e-06,
 -7.69652515e-05, 3.76204411e-05,-1.59562588e-05, 1.08869493e-05,
  3.18673707e-03, 5.52274516e-05,-2.73653717e-05, 7.73613139e-05,
  2.76908697e-05, 3.01978993e-06,-1.21644104e+00,-3.93909183e-06,
  7.63822766e-03, 1.78247182e-03]


--- Step 2757 ---
qpos:
[-2.51089617e-03, 8.65833794e-01,-2.37112578e-02, 4.12431399e-04,
 -2.93956262e-03, 8.61908164e-01,-2.71442337e-02, 3.12491667e-03,
 -1.21667920e-03, 8.70617537e-01,-1.93268161e-02,-2.13179154e-02,
  1.39623864e+00, 1.85348349e-02, 1.42777640e+00, 2.40484784e-02,
  4.11259140e-03,-5.76764335e-02, 8.05303114e-02, 7.04541982e-01,
 -4.85374767e-02,-7.06301319e-01,-4.90219886e-02]

qacc:
[-3.80532370e-02, 2.06885875e+00,-3.91340984e+00,-3.20526325e+00,
  1.89696265e-01,-4.12300440e+00, 1.75782346e+01,-3.18303171e+01,
 -1.15070310e-01, 2.05521309e+00,-1.25648115e+01, 3.70211679e+01,
 -9.46340153e-02, 1.30785173e-01,-2.34593220e+00, 7.96580847e+00,
 -1.25790814e+00, 5.00751092e-01,-2.05894459e+00, 1.00960160e+00,
 -7.06531992e+01, 1.84619100e+01]

qfrc_actuator:
[ 2.35964347e-03, 2.73877353e-02, 8.61660395e-03, 1.61533636e-03,
  2.78936767e-05, 2.73357364e-02, 8.66139478e-03, 1.59021866e-03,
 -2.49002296e-03, 2.74987688e-02, 8.72437214e-03, 1.62544671e-03,
  0.00000000e+00,-1.33041000e-03, 0.00000000e+00,-8.44416468e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005947053678745581
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.33422737e-14, -1.40013411e-13,  1.00000000e+00,  1.30691701e-26,
        1.00000000e+00,  1.40013411e-13, -1.00000000e+00,  0.00000000e+00,
        9.33422737e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05012078, -0.06982891,  0.06194307])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.78155971e-06, 8.53535898e-05,-1.84692655e-05,-1.91990247e-05,
  3.41858740e-05, 1.07982307e-06, 4.73073226e-05,-3.65879388e-05,
 -2.11691240e-05, 1.00725163e-04, 6.29955936e-05, 8.29265709e-05,
  3.18207027e-03, 5.53520948e-06,-3.30389560e-06, 3.75918616e-05,
  1.98144031e-06, 3.31714934e-06,-1.21644047e+00,-3.83035222e-06,
  7.63825644e-03, 1.78256817e-03]


--- Step 2758 ---
qpos:
[-2.51116783e-03, 8.65833422e-01,-2.37114363e-02, 4.11668770e-04,
 -2.93904739e-03, 8.61907938e-01,-2.71439957e-02, 3.12350488e-03,
 -1.21813139e-03, 8.70617867e-01,-1.93276768e-02,-2.13173630e-02,
  1.39623962e+00, 1.85362945e-02, 1.42784138e+00, 2.40449619e-02,
  4.10438563e-03,-5.76696403e-02, 8.05155231e-02, 7.04377436e-01,
 -4.86600065e-02,-7.06465471e-01,-4.88995863e-02]

qacc:
[ 1.22049263e-01,-4.53451917e+00, 1.64081753e+01,-2.20564670e+01,
  1.48590510e-01,-1.49065537e+00, 7.04266667e+00,-1.45424445e+01,
  9.62170945e-02, 3.91329336e+00,-1.43815396e+01, 2.49941659e+01,
 -8.78194826e-02,-1.04955987e-03,-1.44000458e+00, 4.98065133e+00,
 -1.22432476e+00, 4.84509776e-01,-2.27210647e+00, 9.50458293e-01,
 -6.87377196e+01, 1.79902134e+01]

qfrc_actuator:
[ 2.38494090e-03, 2.73353370e-02, 8.67270756e-03, 1.60342159e-03,
  3.85001988e-05, 2.73300386e-02, 8.66942839e-03, 1.56879033e-03,
 -2.46207532e-03, 2.75660083e-02, 8.70499819e-03, 1.65581524e-03,
  0.00000000e+00,-1.34282529e-03, 0.00000000e+00,-8.21275492e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005886747391638109
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.07238831e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.07238831e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05013189, -0.06983283,  0.06194362])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.20757938e-05,-9.29439857e-06, 7.08046810e-05,-9.26821086e-06,
  2.68347867e-05, 3.11968424e-06, 1.28217412e-05,-2.04555378e-05,
  1.78206606e-05, 1.40139663e-04, 1.20669500e-05, 3.84777119e-05,
  3.18812190e-03,-1.26482326e-05, 1.45313040e-06, 2.45551241e-05,
  5.41010857e-06,-8.16402703e-06,-1.21644100e+00,-4.74909731e-06,
  7.63833821e-03, 1.78263783e-03]


--- Step 2759 ---
qpos:
[-2.51117060e-03, 8.65831821e-01,-2.37096261e-02, 4.11523121e-04,
 -2.93852202e-03, 8.61908069e-01,-2.71441135e-02, 3.12218606e-03,
 -1.21912994e-03, 8.70619141e-01,-1.93292569e-02,-2.13160554e-02,
  1.39624031e+00, 1.85374627e-02, 1.42790639e+00, 2.40414145e-02,
  4.09866427e-03,-5.76614235e-02, 8.05083772e-02, 7.04258031e-01,
 -4.88127135e-02,-7.06584444e-01,-4.87480184e-02]

qacc:
[ 1.42693594e-01,-5.90701722e+00, 1.61038259e+01,-7.70954780e+00,
  5.00133738e-03, 1.65665022e+00,-5.61438320e+00, 7.53115701e+00,
  2.36131454e-01, 4.81256880e+00,-1.85319214e+01, 3.20494372e+01,
 -7.51921256e-02,-1.68889874e-01, 1.46135109e-01,-4.34726560e-01,
  6.21104951e-01, 3.55912018e-01, 1.91058702e+00,-3.32205725e-01,
  3.04090679e+01, 2.31342764e+01]

qfrc_actuator:
[ 2.40008941e-03, 2.72332562e-02, 8.75892717e-03, 1.63221672e-03,
  2.67362435e-05, 2.73622205e-02, 8.65626506e-03, 1.57449829e-03,
 -2.42708451e-03, 2.75877755e-02, 8.65844914e-03, 1.69119231e-03,
  0.00000000e+00,-1.36857282e-03, 0.00000000e+00,-8.24013735e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006016604525124203
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.22632541e-14, -9.22632541e-14,  1.00000000e+00,  8.51250806e-27,
        1.00000000e+00,  9.22632541e-14, -1.00000000e+00,  0.00000000e+00,
        9.22632541e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00274061, -0.06166121,  0.06194238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.56741260e-05,-9.30369670e-05, 9.27078777e-05, 3.06688421e-05,
  9.75165136e-07, 3.57071460e-05,-1.16455463e-05, 5.88895095e-06,
  4.35393610e-05, 1.04266563e-04,-1.47874575e-05, 4.25428779e-05,
  3.19807354e-03,-3.52378392e-05, 1.72071669e-06,-1.54319171e-06,
  3.54897739e-05,-3.04650058e-05,-1.21644250e+00,-6.55771884e-06,
  7.63847467e-03, 1.78268834e-03]


--- Step 2760 ---
qpos:
[-2.51076623e-03, 8.65830233e-01,-2.37074457e-02, 4.11676169e-04,
 -2.93825463e-03, 8.61908204e-01,-2.71448159e-02, 3.12100768e-03,
 -1.21950589e-03, 8.70620518e-01,-1.93295969e-02,-2.13147065e-02,
  1.39624082e+00, 1.85386974e-02, 1.42797123e+00, 2.40392017e-02,
  4.09542930e-03,-5.76517048e-02, 8.05069748e-02, 7.04183680e-01,
 -4.89973372e-02,-7.06658326e-01,-4.85655841e-02]

qacc:
[  0.21369882, -0.40021876,  0.19352699,  4.37301923, -0.13623355,
   1.92565645, -7.45299211, 10.81830617,  0.32584305, -3.24389282,
  11.58791566,-12.93141886, -0.0639345 ,  0.05621273, -4.29745431,
  14.66675197,  0.62159655,  0.37548697,  1.43589438, -0.33326859,
  30.26362586, 24.3435171 ]

qfrc_actuator:
[ 2.42677091e-03, 2.72799019e-02, 8.79098893e-03, 1.64918187e-03,
  1.70899407e-06, 2.73280045e-02, 8.61312238e-03, 1.57839482e-03,
 -2.38821014e-03, 2.75820073e-02, 8.72034656e-03, 1.69368972e-03,
  0.00000000e+00,-1.34880858e-03, 0.00000000e+00,-7.53208604e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006088666540033256
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.56206055e-07,  1.59549737e-13,  1.00000000e+00, -1.52562425e-19,
        1.00000000e+00, -1.59549737e-13, -1.00000000e+00,  2.40741243e-35,
        9.56206055e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00330416, -0.06219768,  0.06194169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.89129268e-05, 1.51092192e-05, 2.53281533e-05, 1.67848798e-05,
 -2.45598780e-05,-1.64023507e-05,-3.69973842e-05, 5.13968584e-06,
  5.97337123e-05, 5.12860074e-05, 8.30802125e-05, 7.27548980e-06,
  3.21213767e-03,-9.20163428e-07,-1.37029391e-06, 7.05153306e-05,
  1.61997890e-05,-2.38902182e-05,-1.21644237e+00,-2.57284175e-06,
  7.63867054e-03, 1.78251254e-03]


--- Step 2761 ---
qpos:
[-2.51019047e-03, 8.65829584e-01,-2.37052700e-02, 4.10900973e-04,
 -2.93826678e-03, 8.61907648e-01,-2.71457489e-02, 3.12064248e-03,
 -1.21989813e-03, 8.70622120e-01,-1.93288546e-02,-2.13136887e-02,
  1.39624073e+00, 1.85398451e-02, 1.42803564e+00, 2.40411967e-02,
  4.09356918e-03,-5.76469579e-02, 8.05080324e-02, 7.04141519e-01,
 -4.90877247e-02,-7.06700208e-01,-4.84761004e-02]

qacc:
[ 8.94838642e-02,-6.58692666e-01, 8.06475538e+00,-2.48112211e+01,
 -1.47069616e-01, 1.40267418e+00,-9.76177669e+00, 2.47146467e+01,
 -7.92041693e-03,-3.40732972e+00, 1.39761082e+01,-2.15963239e+01,
 -4.55217006e-02,-1.51412190e-01,-1.33939261e+01, 4.59017660e+01,
  3.43713533e-01,-1.24295953e+00, 6.14976351e-01, 3.49123230e-01,
  2.72069461e+01,-6.44579132e+01]

qfrc_actuator:
[ 2.42462116e-03, 2.73795265e-02, 8.80913176e-03, 1.60586262e-03,
 -1.32595150e-05, 2.72541606e-02, 8.58786849e-03, 1.61662509e-03,
 -2.41836660e-03, 2.75956868e-02, 8.77462961e-03, 1.67687122e-03,
  0.00000000e+00,-1.37298902e-03, 0.00000000e+00,-5.33114913e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006210173606105776
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.93874387e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.93874387e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00085854, -0.03584653,  0.06194056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.64083618e-05, 1.14047661e-04, 2.49590967e-05,-4.14704227e-05,
 -2.66288035e-05,-9.04353815e-05,-3.30153715e-05, 3.63501474e-05,
 -1.54987697e-06, 5.98009913e-05, 7.53494014e-05,-1.16107338e-05,
  3.22137162e-03,-2.84354318e-05, 5.94983983e-06, 2.23574793e-04,
  4.32008863e-06,-1.32063655e-05,-1.21644268e+00, 2.98633104e-06,
  7.63885521e-03, 1.78229815e-03]


--- Step 2762 ---
qpos:
[-2.50973557e-03, 8.65829458e-01,-2.37033032e-02, 4.09334375e-04,
 -2.93813126e-03, 8.61906728e-01,-2.71468378e-02, 3.12103642e-03,
 -1.22048472e-03, 8.70623200e-01,-1.93281448e-02,-2.13127049e-02,
  1.39624011e+00, 1.85401473e-02, 1.42810039e+00, 2.40431274e-02,
  4.09303748e-03,-5.76470089e-02, 8.05100537e-02, 7.04130415e-01,
 -4.90873091e-02,-7.06711296e-01,-4.84761686e-02]

qacc:
[-6.37255092e-02,-3.53564009e-01, 5.60579341e+00,-1.93532370e+01,
  7.78436760e-02, 1.51824096e+00,-9.31434238e+00, 2.29709124e+01,
 -1.01324195e-01,-6.70134317e-01, 1.53016880e+00,-1.68330589e+00,
 -5.01342347e-03,-6.30210536e-01, 6.64584797e-01,-1.66054672e+00,
  3.32102878e-01,-1.19948705e+00, 2.40960481e-01, 3.41833535e-01,
  2.62135941e+01,-6.21053487e+01]

qfrc_actuator:
[ 2.40524553e-03, 2.73679878e-02, 8.78364474e-03, 1.56298547e-03,
  1.34372236e-05, 2.72637500e-02, 8.59098031e-03, 1.65697405e-03,
 -2.43629381e-03, 2.74788494e-02, 8.73524254e-03, 1.66657160e-03,
  0.00000000e+00,-1.44116207e-03, 0.00000000e+00,-5.46402337e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006261984331025275
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.86478603e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.86478603e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00086097, -0.03585185,  0.06194009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.15374081e-05, 5.56133954e-05,-3.04264657e-07,-3.79365472e-05,
  1.40446655e-05,-4.62232112e-05,-1.83623565e-05, 3.60429746e-05,
 -1.86588564e-05,-6.83802354e-05,-1.81770097e-05,-5.36323319e-06,
  3.25066253e-03,-9.22729817e-05, 2.59781135e-05,-4.15052018e-07,
  1.55392972e-06,-4.01850614e-06,-1.21644066e+00, 9.56391025e-06,
  7.63860956e-03, 1.78211145e-03]


--- Step 2763 ---
qpos:
[-2.50927531e-03, 8.65830049e-01,-2.37031811e-02, 4.08392558e-04,
 -2.93757258e-03, 8.61906258e-01,-2.71482883e-02, 3.12181904e-03,
 -1.22108756e-03, 8.70623181e-01,-1.93275017e-02,-2.13124631e-02,
  1.39623923e+00, 1.85397115e-02, 1.42816546e+00, 2.40432493e-02,
  4.09379518e-03,-5.76517134e-02, 8.05117777e-02, 7.04149390e-01,
 -4.89989412e-02,-7.06692563e-01,-4.85629713e-02]

qacc:
[ 1.42967436e-03, 7.38378841e+00,-2.75934237e+01, 4.08365812e+01,
  2.22486496e-01, 2.40174843e+00,-9.34437134e+00, 1.63220046e+01,
 -8.17872664e-03,-2.79361437e+00, 1.09810276e+01,-2.28980521e+01,
  2.42090879e-02,-5.24413805e-01, 5.95205997e+00,-2.01473358e+01,
  3.22353239e-01,-1.16336076e+00,-7.43599859e-02, 3.32262706e-01,
  2.53884766e+01,-6.01536006e+01]

qfrc_actuator:
[ 2.41126334e-03, 2.73785530e-02, 8.67892790e-03, 1.59161856e-03,
  4.70650860e-05, 2.73410995e-02, 8.59337661e-03, 1.68057036e-03,
 -2.42894625e-03, 2.73731238e-02, 8.71134597e-03, 1.62451349e-03,
  0.00000000e+00,-1.46392690e-03, 0.00000000e+00,-6.43871680e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006243210709123981
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.89144285e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.89144285e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00086011, -0.03584996,  0.06194027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.22836063e-07, 3.99628215e-05,-9.45936284e-05, 3.02661020e-05,
  4.02889358e-05, 4.92860577e-05,-8.14974301e-06, 2.16844966e-05,
 -1.59091036e-06,-1.47981697e-04,-4.04587326e-05,-4.57230285e-05,
  3.27765983e-03,-7.27615726e-05, 8.12754561e-06,-9.49915078e-05,
  1.94937971e-07,-9.32881719e-09,-1.21644001e+00, 1.12622906e-05,
  7.63853401e-03, 1.78207117e-03]


--- Step 2764 ---
qpos:
[-2.50859097e-03, 8.65831329e-01,-2.37041807e-02, 4.08791151e-04,
 -2.93660617e-03, 8.61906541e-01,-2.71498995e-02, 3.12247832e-03,
 -1.22164984e-03, 8.70622853e-01,-1.93268909e-02,-2.13135213e-02,
  1.39623827e+00, 1.85387421e-02, 1.42823068e+00, 2.40412143e-02,
  4.09580956e-03,-5.76609516e-02, 8.05121428e-02, 7.04197601e-01,
 -4.88249792e-02,-7.06644776e-01,-4.87341837e-02]

qacc:
[ 1.16606450e-01, 6.79846043e+00,-2.85827909e+01, 5.30748240e+01,
  2.14353168e-01, 1.18857709e+00,-2.27498163e+00,-1.54474203e-01,
  2.12067156e-02,-2.99636037e+00, 1.55685404e+01,-3.77698282e+01,
  3.78769903e-02,-3.73390564e-01, 6.76095663e+00,-2.33294808e+01,
  3.14168193e-01,-1.13341512e+00,-3.39698155e-01, 3.20460234e-01,
  2.47057031e+01,-5.85412953e+01]

qfrc_actuator:
[ 2.43243934e-03, 2.74374831e-02, 8.63490848e-03, 1.66205816e-03,
  6.67644384e-05, 2.74051800e-02, 8.59561147e-03, 1.67642927e-03,
 -2.42428683e-03, 2.74168708e-02, 8.73229602e-03, 1.56412179e-03,
  0.00000000e+00,-1.47696864e-03, 0.00000000e+00,-7.54574712e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006168382883892307
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.69979113e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.69979113e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00085666, -0.03584237,  0.06194097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.14297820e-05, 6.30220553e-05,-4.63768894e-05, 6.94670099e-05,
  3.88305275e-05, 9.09124438e-05, 1.21736007e-05,-1.88863281e-06,
  3.88140315e-06,-4.93201217e-05,-1.61828185e-05,-6.90187349e-05,
  3.29026284e-03,-4.88792320e-05,-9.60630936e-06,-1.15569552e-04,
  1.01004280e-07,-6.57799856e-07,-1.21644059e+00, 8.42695873e-06,
  7.63861100e-03, 1.78216831e-03]


--- Step 2765 ---
qpos:
[-2.50767119e-03, 8.65833320e-01,-2.37054703e-02, 4.08932512e-04,
 -2.93532857e-03, 8.61907148e-01,-2.71510393e-02, 3.12309367e-03,
 -1.22197643e-03, 8.70622279e-01,-1.93264143e-02,-2.13156429e-02,
  1.39623740e+00, 1.85373999e-02, 1.42829602e+00, 2.40365189e-02,
  4.10020359e-03,-5.76687499e-02, 8.05169670e-02, 7.04289638e-01,
 -4.86820710e-02,-7.06553156e-01,-4.88753431e-02]

qacc:
[  0.12299605,  1.22034779, -1.90171501, -2.60784102,  0.16406846,
  -0.97851739,  4.29606001, -6.04953019,  0.12302784, -2.14159983,
  11.6434874 ,-29.63489679,  0.04148817, -0.24200126,  8.2156442 ,
 -28.51630795,  0.59491149,  0.35996513,  1.1147739 , -0.31375492,
  29.42851302, 23.69173599]

qfrc_actuator:
[ 2.44473676e-03, 2.74896695e-02, 8.62732230e-03, 1.65010034e-03,
  7.79528484e-05, 2.74075582e-02, 8.61544593e-03, 1.67375490e-03,
 -2.40353797e-03, 2.74079302e-02, 8.72688849e-03, 1.51133746e-03,
  0.00000000e+00,-1.48408573e-03, 0.00000000e+00,-8.89898941e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006061854615706262
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.18035487e-07,  2.50399117e-15,  1.00000000e+00, -1.79795452e-21,
        1.00000000e+00, -2.50399117e-15, -1.00000000e+00,  0.00000000e+00,
        7.18035487e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00330578, -0.06219884,  0.06194196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.25211134e-05, 8.08027790e-05, 2.11689794e-06,-9.51246473e-06,
  2.96324292e-05, 5.56573324e-05, 4.00537634e-05, 1.60516590e-06,
  2.26020031e-05,-4.28120943e-05,-1.99760738e-05,-5.67987428e-05,
  3.29410173e-03,-2.92816633e-05,-1.88845228e-05,-1.43351549e-04,
  1.16378909e-06,-5.56806017e-06,-1.21644232e+00, 1.32330162e-06,
  7.63882430e-03, 1.78239517e-03]


--- Step 2766 ---
qpos:
[-2.50656703e-03, 8.65835016e-01,-2.37063801e-02, 4.08322412e-04,
 -2.93402648e-03, 8.61907835e-01,-2.71517734e-02, 3.12370858e-03,
 -1.22206046e-03, 8.70621288e-01,-1.93260227e-02,-2.13173260e-02,
  1.39623653e+00, 1.85358891e-02, 1.42836117e+00, 2.40308864e-02,
  4.10682822e-03,-5.76752813e-02, 8.05251881e-02, 7.04422767e-01,
 -4.85666664e-02,-7.06420438e-01,-4.89898878e-02]

qacc:
[ 9.69696646e-02,-2.99629711e+00, 1.32915241e+01,-2.66898076e+01,
  1.31256392e-02,-1.02710827e+00, 3.81929371e+00,-4.53660022e+00,
  1.26761842e-01, 5.89590963e-01,-4.74928230e+00, 1.27725502e+01,
  3.89167531e-02,-1.35181837e-01, 2.56664243e+00,-9.37757779e+00,
  5.57650732e-01, 3.16709503e-01, 8.49210919e-01,-2.87090292e-01,
  2.76687058e+01, 2.10931173e+01]

qfrc_actuator:
[ 2.45160603e-03, 2.74132422e-02, 8.62346049e-03, 1.60751818e-03,
  6.62155087e-05, 2.73907955e-02, 8.62751971e-03, 1.67193050e-03,
 -2.39109944e-03, 2.73851907e-02, 8.72353380e-03, 1.53441142e-03,
  0.00000000e+00,-1.48759543e-03, 0.00000000e+00,-9.32113711e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006016349927870923
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.22671585e-14, -1.84534317e-13,  1.00000000e+00,  1.70264571e-26,
        1.00000000e+00,  1.84534317e-13, -1.00000000e+00,  0.00000000e+00,
        9.22671585e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00274033, -0.0616619 ,  0.06194239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.76147929e-05,-3.12506720e-05, 1.27514677e-05,-3.92344333e-05,
  2.33552904e-06, 2.26976736e-05, 2.85619570e-05, 1.97685789e-06,
  2.32545312e-05,-5.32208773e-05,-1.66190616e-05, 1.94468148e-05,
  3.28991402e-03,-1.41117575e-05,-2.55812684e-05,-5.28306307e-05,
  8.90721464e-06,-1.60898835e-05,-1.21644193e+00,-3.57299795e-06,
  7.63863222e-03, 1.78257218e-03]


--- Step 2767 ---
qpos:
[-2.50533736e-03, 8.65835265e-01,-2.37056455e-02, 4.07960016e-04,
 -2.93297891e-03, 8.61908703e-01,-2.71523302e-02, 3.12395516e-03,
 -1.22195189e-03, 8.70620165e-01,-1.93250165e-02,-2.13181155e-02,
  1.39623551e+00, 1.85343596e-02, 1.42842594e+00, 2.40267631e-02,
  4.11563808e-03,-5.76805781e-02, 8.05357896e-02, 7.04596025e-01,
 -4.84780951e-02,-7.06247563e-01,-4.90784674e-02]

qacc:
[  0.06735893, -5.99251009, 17.55024613,-14.83588261, -0.134011  ,
  -1.01482294,  5.51917336,-12.3111104 ,  0.1010452 , -0.04858463,
  -3.84319034, 18.41013544,  0.04258446, -0.09025029, -5.15578264,
  17.17770773,  0.54630643,  0.30865943,  0.59509364, -0.28899235,
  27.03052886, 20.58112341]

qfrc_actuator:
[ 2.45517530e-03, 2.72958735e-02, 8.69228993e-03, 1.61816907e-03,
  4.08849444e-05, 2.73981674e-02, 8.63481417e-03, 1.65283753e-03,
 -2.38374823e-03, 2.74254519e-02, 8.77467329e-03, 1.58417125e-03,
  0.00000000e+00,-1.48899579e-03, 0.00000000e+00,-8.48111612e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005923072518235484
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.37201952e-14,  9.37201952e-14,  1.00000000e+00, -8.78347498e-27,
        1.00000000e+00, -9.37201952e-14, -1.00000000e+00,  0.00000000e+00,
        9.37201952e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00274629, -0.06166402,  0.06194327])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19624121e-05,-1.33922909e-04, 6.25820488e-05, 8.98913321e-06,
 -2.42195092e-05, 2.60360254e-05, 1.55690730e-05,-1.70944812e-05,
  1.84763508e-05, 7.92721282e-06, 3.87810374e-05, 4.72881613e-05,
  3.28917993e-03,-7.03926965e-06,-1.78899244e-05, 7.77354900e-05,
  2.25092937e-05,-2.23537945e-05,-1.21644193e+00,-7.01598285e-06,
  7.63843618e-03, 1.78271313e-03]


--- Step 2768 ---
qpos:
[-2.50440289e-03, 8.65834372e-01,-2.37046731e-02, 4.08823581e-04,
 -2.93221443e-03, 8.61909018e-01,-2.71521658e-02, 3.12402819e-03,
 -1.22189191e-03, 8.70619151e-01,-1.93237421e-02,-2.13190013e-02,
  1.39623457e+00, 1.85331373e-02, 1.42849050e+00, 2.40243107e-02,
  4.11905233e-03,-5.76837996e-02, 8.05402482e-02, 7.04664766e-01,
 -4.84235859e-02,-7.06179101e-01,-4.91304473e-02]

qacc:
[-1.54156434e-01, 3.50194027e-01,-8.61366076e+00, 3.02896474e+01,
 -1.48448265e-01,-3.09822045e+00, 1.07238148e+01,-1.44790180e+01,
 -2.52482187e-02,-8.05033645e-01, 3.48365724e+00,-5.65846327e+00,
  4.82777687e-02, 1.53781704e-01,-5.37400654e+00, 1.83430407e+01,
 -1.34890057e+00, 5.18841081e-01,-1.53571332e+00, 9.53003871e-01,
 -7.54156949e+01, 1.98264415e+01]

qfrc_actuator:
[ 2.42124443e-03, 2.72262208e-02, 8.69680185e-03, 1.67781383e-03,
  2.54202845e-05, 2.73311251e-02, 8.65705980e-03, 1.64150411e-03,
 -2.39724914e-03, 2.74323833e-02, 8.78683311e-03, 1.57830143e-03,
  0.00000000e+00,-1.45370771e-03, 0.00000000e+00,-7.61461202e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005920157910297985
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.68831677e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.68831677e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0501263 , -0.06983158,  0.06194332])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.82449884e-05,-1.31241976e-04,-1.51342477e-05, 5.62475789e-05,
 -2.69584798e-05,-5.00201359e-05, 2.89468087e-05,-1.00124519e-05,
 -4.65689143e-06, 2.14199028e-05, 2.02126150e-05,-3.26638010e-06,
  3.29668934e-03, 2.92279154e-05, 1.38066899e-07, 8.86407477e-05,
  4.17373265e-05,-2.51341529e-05,-1.21644226e+00,-9.11827289e-06,
  7.63822353e-03, 1.78281955e-03]


--- Step 2769 ---
qpos:
[-2.50419584e-03, 8.65832700e-01,-2.37037560e-02, 4.10369043e-04,
 -2.93168317e-03, 8.61908521e-01,-2.71512650e-02, 3.12434373e-03,
 -1.22193969e-03, 8.70618913e-01,-1.93240437e-02,-2.13192171e-02,
  1.39623411e+00, 1.85325410e-02, 1.42855514e+00, 2.40218995e-02,
  4.11726346e-03,-5.76850199e-02, 8.05373885e-02, 7.04632780e-01,
 -4.84019010e-02,-7.06211342e-01,-4.91471435e-02]

qacc:
[-3.81104059e-01, 5.29641204e-01,-6.25912676e+00, 1.87206699e+01,
 -1.22054296e-01,-2.62905980e+00, 6.79498889e+00,-3.18209478e+00,
 -5.74975438e-02, 6.80868371e+00,-2.56102023e+01, 3.91443689e+01,
  3.66705060e-02, 4.51981536e-01, 8.93296043e-03, 1.72859653e-01,
 -1.30078014e+00, 5.00275591e-01,-1.82958000e+00, 9.28280773e-01,
 -7.27065905e+01, 1.91089632e+01]

qfrc_actuator:
[ 2.36518397e-03, 2.72032247e-02, 8.69897738e-03, 1.71251969e-03,
  1.60055550e-05, 2.72733522e-02, 8.68766139e-03, 1.65253161e-03,
 -2.40534452e-03, 2.74723882e-02, 8.70469513e-03, 1.61069695e-03,
  0.00000000e+00,-1.39672500e-03, 0.00000000e+00,-7.62750556e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005982453014675565
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.63949747e-14,  6.95924620e-14,  1.00000000e+00, -3.22874051e-27,
        1.00000000e+00, -6.95924620e-14, -1.00000000e+00,  0.00000000e+00,
        4.63949747e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05011474, -0.06982785,  0.06194275])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.95442376e-05,-9.70935613e-05,-2.48501306e-05, 2.96537925e-05,
 -2.22183700e-05,-8.02059487e-05, 2.34876055e-05, 9.69130540e-06,
 -1.03239430e-05, 5.60317409e-05,-7.53380821e-05, 3.39494302e-05,
  3.29276470e-03, 7.08889475e-05, 9.19516352e-06, 3.50155377e-06,
  6.14109823e-06,-5.47305718e-06,-1.21644058e+00,-6.45269889e-06,
  7.63814734e-03, 1.78270874e-03]


--- Step 2770 ---
qpos:
[-2.50431279e-03, 8.65831702e-01,-2.37031658e-02, 4.11112477e-04,
 -2.93132293e-03, 8.61908054e-01,-2.71505937e-02, 3.12474749e-03,
 -1.22190369e-03, 8.70619090e-01,-1.93255749e-02,-2.13183294e-02,
  1.39623430e+00, 1.85327334e-02, 1.42861993e+00, 2.40184948e-02,
  4.11043420e-03,-5.76843014e-02, 8.05262144e-02, 7.04503189e-01,
 -4.84120076e-02,-7.06341144e-01,-4.91296546e-02]

qacc:
[-1.70355184e-01, 1.52835562e-01, 4.13304152e+00,-1.79856325e+01,
 -9.02182231e-02, 8.61769652e-01,-3.38794629e+00, 5.26066508e+00,
  4.28879612e-02, 6.25670607e+00,-2.61623294e+01, 4.69069252e+01,
  4.40202636e-03, 6.24914139e-01, 3.23830138e+00,-1.09746777e+01,
 -1.26009847e+00, 4.84705179e-01,-2.07859542e+00, 9.05579552e-01,
 -7.04457840e+01, 1.85101553e+01]

qfrc_actuator:
[ 2.36740659e-03, 2.73325840e-02, 8.71770163e-03, 1.67905798e-03,
  1.02841441e-05, 2.73103853e-02, 8.68746752e-03, 1.65887639e-03,
 -2.39236534e-03, 2.74782680e-02, 8.63872602e-03, 1.66532392e-03,
  0.00000000e+00,-1.34491988e-03, 0.00000000e+00,-8.15842167e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005972540442117508
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.64719760e-14, -9.29439520e-14,  1.00000000e+00,  4.31928911e-27,
        1.00000000e+00,  9.29439520e-14, -1.00000000e+00,  0.00000000e+00,
        4.64719760e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05011654, -0.06982842,  0.06194284])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.09479898e-05, 7.12255310e-05,-3.35956616e-06,-3.79039477e-05,
 -1.62788574e-05,-2.54869125e-06,-1.35324617e-05, 3.90975571e-06,
  8.04289727e-06, 2.31130158e-05,-6.24985090e-05, 5.50809311e-05,
  3.26896918e-03, 9.14174287e-05, 3.73439828e-06,-5.19395852e-05,
  1.86705562e-06, 9.36975582e-07,-1.21644014e+00,-5.10622967e-06,
  7.63813447e-03, 1.78260165e-03]


--- Step 2771 ---
qpos:
[-2.50438211e-03, 8.65831812e-01,-2.37032129e-02, 4.10721792e-04,
 -2.93108051e-03, 8.61908111e-01,-2.71505233e-02, 3.12587589e-03,
 -1.22211698e-03, 8.70618694e-01,-1.93269111e-02,-2.13171103e-02,
  1.39623537e+00, 1.85343386e-02, 1.42868461e+00, 2.40151515e-02,
  4.10610183e-03,-5.76820527e-02, 8.05219183e-02, 7.04418942e-01,
 -4.84530668e-02,-7.06425635e-01,-4.90823378e-02]

qacc:
[ 2.41255035e-02, 9.07893833e-01, 3.67201066e+00,-2.30924689e+01,
 -6.25724622e-02, 3.86024801e+00,-1.58198056e+01, 2.89410760e+01,
 -1.29837485e-01,-6.19515368e-01,-2.85502475e-01, 6.12235889e+00,
 -4.49900300e-02, 1.10070875e+00,-2.91121509e-01, 9.01302208e-01,
  6.24222831e-01, 3.82569422e-01, 1.71950633e+00,-3.84197439e-01,
  3.04923062e+01, 2.36491586e+01]

qfrc_actuator:
[ 2.38673398e-03, 2.74101940e-02, 8.69339096e-03, 1.62365954e-03,
  6.80981407e-06, 2.73682792e-02, 8.66946773e-03, 1.69797408e-03,
 -2.42014777e-03, 2.74104658e-02, 8.63600006e-03, 1.67933019e-03,
  0.00000000e+00,-1.24337645e-03, 0.00000000e+00,-8.10233988e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005916284964392868
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15943848e-08, -2.31887697e-08,  1.00000000e+00,  2.68859520e-16,
        1.00000000e+00,  2.31887697e-08, -1.00000000e+00, -4.93038066e-32,
        1.15943848e-08])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00301555, -0.06191988,  0.06194334])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.58110885e-06, 1.15134838e-04,-1.13235611e-05,-5.32014873e-05,
 -1.12021556e-05, 5.38446226e-05,-2.00602116e-05, 3.85955468e-05,
 -2.39294643e-05,-6.54195959e-05,-3.73629220e-06, 1.39061102e-05,
  3.23604603e-03, 1.53538663e-04,-4.59598265e-06, 3.04269633e-06,
  2.58598087e-05,-4.59581346e-06,-1.21644079e+00,-4.87278075e-06,
  7.63818298e-03, 1.78249417e-03]


--- Step 2772 ---
qpos:
[-2.50430708e-03, 8.65831809e-01,-2.37028380e-02, 4.10444774e-04,
 -2.93110260e-03, 8.61908322e-01,-2.71506373e-02, 3.12886345e-03,
 -1.22243586e-03, 8.70617623e-01,-1.93284042e-02,-2.13163848e-02,
  1.39623677e+00, 1.85370489e-02, 1.42874893e+00, 2.40145692e-02,
  4.10438244e-03,-5.76780474e-02, 8.05225249e-02, 7.04381920e-01,
 -4.85301082e-02,-7.06462955e-01,-4.90003241e-02]

qacc:
[ 7.59921176e-02,-1.09363619e+00, 3.20329158e+00,-1.82889147e+00,
 -1.39374689e-01, 4.54192485e+00,-2.37508133e+01, 5.61142912e+01,
 -5.50166711e-02,-1.46964028e+00, 6.02639727e+00,-1.38148152e+01,
 -9.01609512e-02, 8.23192852e-01,-8.88390061e+00, 3.03460305e+01,
  6.53245821e-01, 4.39120806e-01, 1.22567432e+00,-4.31457784e-01,
  3.15710388e+01, 2.72316501e+01]

qfrc_actuator:
[ 2.39832956e-03, 2.73495358e-02, 8.69695841e-03, 1.62676248e-03,
 -1.30536960e-05, 2.73671725e-02, 8.65900022e-03, 1.79155708e-03,
 -2.41882970e-03, 2.73525343e-02, 8.61702929e-03, 1.65154229e-03,
  0.00000000e+00,-1.21944532e-03, 0.00000000e+00,-6.63547525e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005971402212703869
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.64808342e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.64808342e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00426554, -0.0631059 ,  0.06194282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37948812e-05,-8.95508764e-07, 2.41101380e-05, 6.60790697e-06,
 -2.51748963e-05, 2.65073302e-05,-4.85590885e-07, 9.59447933e-05,
 -1.01483395e-05,-9.46742947e-05,-3.24483640e-05,-3.04459154e-05,
  3.19152057e-03, 1.06817803e-04,-1.13559113e-06, 1.46366598e-04,
  9.89553710e-06,-6.09702659e-06,-1.21644025e+00,-4.67444235e-06,
  7.63818385e-03, 1.78251875e-03]


--- Step 2773 ---
qpos:
[-2.50409148e-03, 8.65831162e-01,-2.37021294e-02, 4.10973691e-04,
 -2.93156018e-03, 8.61908375e-01,-2.71500864e-02, 3.13189430e-03,
 -1.22279507e-03, 8.70615807e-01,-1.93297973e-02,-2.13160059e-02,
  1.39623781e+00, 1.85398297e-02, 1.42881311e+00, 2.40167416e-02,
  4.10496010e-03,-5.76726993e-02, 8.05272376e-02, 7.04386684e-01,
 -4.86349821e-02,-7.06458537e-01,-4.88914433e-02]

qacc:
[ 7.41777579e-02,-1.23605966e-01,-4.19502474e+00, 1.80816166e+01,
 -2.28863517e-01,-1.97557113e+00, 6.55962487e+00,-6.76037927e+00,
 -2.07593861e-02,-1.97691575e+00, 7.08172765e+00,-1.26884777e+01,
 -9.43489273e-02, 4.47841170e-02,-8.55558784e+00, 2.96237938e+01,
  5.74261794e-01, 3.35724024e-01, 1.02650669e+00,-3.20689815e-01,
  2.81261908e+01, 2.13302799e+01]

qfrc_actuator:
[ 2.40517029e-03, 2.72777049e-02, 8.69869580e-03, 1.66417212e-03,
 -4.25568809e-05, 2.73485793e-02, 8.68838124e-03, 1.79213847e-03,
 -2.41784797e-03, 2.73186086e-02, 8.62409084e-03, 1.63487547e-03,
  0.00000000e+00,-1.27784444e-03, 0.00000000e+00,-5.23701425e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005960946934475894
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.31247197e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.31247197e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00274388, -0.06166512,  0.06194292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.34178883e-05,-6.70700286e-05, 4.74881759e-06, 3.83340037e-05,
 -4.14519476e-05, 2.27037035e-07, 3.81114586e-05, 3.56336251e-06,
 -3.89074311e-06,-9.48360590e-05,-1.75224675e-05,-2.24327297e-05,
  3.17536666e-03,-6.88544209e-06, 1.58676169e-05, 1.47857165e-04,
  1.21067257e-06,-3.14763143e-06,-1.21644013e+00,-2.76330423e-06,
  7.63817030e-03, 1.78250024e-03]


--- Step 2774 ---
qpos:
[-2.50413945e-03, 8.65830921e-01,-2.37020291e-02, 4.10841373e-04,
 -2.93221942e-03, 8.61908679e-01,-2.71487007e-02, 3.13380778e-03,
 -1.22316585e-03, 8.70613449e-01,-1.93304242e-02,-2.13148668e-02,
  1.39623886e+00, 1.85424719e-02, 1.42887774e+00, 2.40172349e-02,
  4.10777593e-03,-5.76660524e-02, 8.05349291e-02, 7.04432147e-01,
 -4.87670105e-02,-7.06413441e-01,-4.87563227e-02]

qacc:
[-1.38745301e-01, 8.74555429e-01, 4.51253573e-01,-1.12193684e+01,
 -1.05826215e-01,-4.29564386e+00, 2.05194069e+01,-4.13835307e+01,
 -5.34059739e-03,-1.29192320e+00, 3.62854021e-01, 1.19541541e+01,
 -8.06877449e-02, 2.40669634e-03, 5.77418406e+00,-1.91900673e+01,
  5.59541450e-01, 3.24686795e-01, 7.44706682e-01,-2.99652135e-01,
  2.74005363e+01, 2.08172868e+01]

qfrc_actuator:
[ 2.37359888e-03, 2.73417672e-02, 8.68150187e-03, 1.63266488e-03,
 -4.20618397e-05, 2.73907553e-02, 8.74089582e-03, 1.73799109e-03,
 -2.41709103e-03, 2.73349313e-02, 8.68208295e-03, 1.67818966e-03,
  0.00000000e+00,-1.27853322e-03, 0.00000000e+00,-6.19841847e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005898972304906602
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.41030884e-14, -9.41030884e-14,  1.00000000e+00, -8.85539125e-27,
        1.00000000e+00,  9.41030884e-14, -1.00000000e+00,  0.00000000e+00,
       -9.41030884e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00274793, -0.06166678,  0.06194351])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51813070e-05, 2.91911259e-05,-2.91358029e-05,-3.34708917e-05,
 -1.91828492e-05, 5.03111455e-05, 5.73716753e-05,-5.27541067e-05,
 -1.12143244e-06,-4.12345124e-05, 3.54960841e-05, 3.82153594e-05,
  3.19348183e-03,-1.11420974e-05, 2.16339050e-05,-8.63359356e-05,
  4.06532838e-07, 3.67116390e-06,-1.21644035e+00, 7.51366108e-07,
  7.63815382e-03, 1.78243538e-03]


--- Step 2775 ---
qpos:
[-2.50432381e-03, 8.65831419e-01,-2.37020741e-02, 4.09565758e-04,
 -2.93259415e-03, 8.61909190e-01,-2.71472341e-02, 3.13546075e-03,
 -1.22316590e-03, 8.70611113e-01,-1.93305352e-02,-2.13143109e-02,
  1.39624001e+00, 1.85445985e-02, 1.42894294e+00, 2.40129265e-02,
  4.11278207e-03,-5.76581419e-02, 8.05446570e-02, 7.04517404e-01,
 -4.89256367e-02,-7.06328528e-01,-4.85954709e-02]

qacc:
[ -0.0719223 , -0.97256685,  9.70870629,-29.80551811,  0.14979698,
  -0.48941408,  3.24058762, -8.03077595,  0.19387494, -2.61215743,
  11.81394817,-22.73865134, -0.08372999, -0.20090596, 15.39014153,
 -52.5989574 ,  0.54757899,  0.31590145,  0.50912212, -0.28013226,
  26.80405619, 20.39845485]

qfrc_actuator:
[ 2.37258599e-03, 2.74155623e-02, 8.68926304e-03, 1.57870494e-03,
 -5.87486114e-06, 2.73802826e-02, 8.73584418e-03, 1.72316033e-03,
 -2.38097635e-03, 2.73637467e-02, 8.71666914e-03, 1.65000856e-03,
  0.00000000e+00,-1.31542546e-03, 0.00000000e+00,-8.71994944e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000579571614684693
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.91559248e-13, -4.78898119e-14,  1.00000000e+00,  9.17373634e-27,
        1.00000000e+00,  4.78898119e-14, -1.00000000e+00,  0.00000000e+00,
        1.91559248e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00275464, -0.06166931,  0.06194448])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30153599e-05, 8.26691138e-05, 9.04370816e-06,-5.43686171e-05,
  2.70870839e-05, 2.72254360e-05, 1.05657068e-05,-1.17218870e-05,
  3.55666082e-05, 1.47824903e-05, 3.17868556e-05,-2.79709769e-05,
  3.19221011e-03,-4.11469426e-05,-2.55142110e-06,-2.54848625e-04,
  5.73303795e-06, 1.37411922e-05,-1.21644089e+00, 5.59462650e-06,
  7.63812102e-03, 1.78233600e-03]


--- Step 2776 ---
qpos:
[-2.50457760e-03, 8.65831270e-01,-2.37012381e-02, 4.08796189e-04,
 -2.93241931e-03, 8.61909547e-01,-2.71459193e-02, 3.13698673e-03,
 -1.22313520e-03, 8.70609233e-01,-1.93301132e-02,-2.13148454e-02,
  1.39624064e+00, 1.85460905e-02, 1.42900782e+00, 2.40083244e-02,
  4.11909484e-03,-5.76548399e-02, 8.05537015e-02, 7.04632470e-01,
 -4.89969573e-02,-7.06213930e-01,-4.85207634e-02]

qacc:
[-3.55882705e-02,-2.27079319e+00, 4.72439870e+00, 3.09633764e+00,
  2.89381173e-01,-4.13109281e-02, 3.87507186e-01,-2.22887571e+00,
  1.61869238e-02,-3.13422678e+00, 1.66410693e+01,-3.66806064e+01,
 -8.03227889e-02,-4.27756238e-01, 4.21661328e-01,-2.16057999e+00,
  3.26658247e-01,-1.15211918e+00,-1.70868131e-01, 3.39007634e-01,
  2.52127655e+01,-5.97278149e+01]

qfrc_actuator:
[ 2.37213384e-03, 2.73171765e-02, 8.71177752e-03, 1.60078309e-03,
  3.35691462e-05, 2.73381656e-02, 8.71442536e-03, 1.71375698e-03,
 -2.39503523e-03, 2.74174616e-02, 8.75490847e-03, 1.59772217e-03,
  0.00000000e+00,-1.37360742e-03, 0.00000000e+00,-8.76661331e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005753841158539358
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08536269e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.08536269e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00083581, -0.03580194,  0.06194489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.64837881e-06,-5.26306825e-05, 3.88194349e-05, 2.48756059e-05,
  5.23057387e-05,-2.52363189e-05,-1.49185497e-05,-8.10548485e-06,
  2.96634242e-06, 6.74075082e-05, 4.42576335e-05,-5.10958272e-05,
  3.18737268e-03,-7.35832994e-05,-3.18915722e-05,-1.97200594e-05,
  1.67813914e-05, 2.68760150e-05,-1.21644172e+00, 1.17043158e-05,
  7.63806901e-03, 1.78220409e-03]


--- Step 2777 ---
qpos:
[-2.50523727e-03, 8.65830369e-01,-2.36999673e-02, 4.08688742e-04,
 -2.93211225e-03, 8.61910103e-01,-2.71449913e-02, 3.13801431e-03,
 -1.22373322e-03, 8.70607691e-01,-1.93292530e-02,-2.13149453e-02,
  1.39624080e+00, 1.85477017e-02, 1.42907203e+00, 2.40076700e-02,
  4.11979218e-03,-5.76541378e-02, 8.05533517e-02, 7.04645590e-01,
 -4.90090638e-02,-7.06200796e-01,-4.85091718e-02]

qacc:
[-2.12230167e-01,-8.45474969e-01,-1.22217279e+00, 1.25371885e+01,
  6.92852666e-02, 3.16979058e-01, 1.35417387e+00,-9.50656372e+00,
 -3.28127633e-01, 1.17928138e-01,-1.60315366e+00, 8.16847133e+00,
 -5.61257302e-02, 1.34684874e-02,-1.29638446e+01, 4.38839553e+01,
 -1.40385945e+00,-6.49961049e-01,-2.34858058e+00,-1.46053255e+00,
 -6.87624463e+01,-4.81046329e+01]

qfrc_actuator:
[ 2.33650046e-03, 2.72585917e-02, 8.72442328e-03, 1.63178682e-03,
  2.13306044e-05, 2.73661030e-02, 8.70113917e-03, 1.68982814e-03,
 -2.45675919e-03, 2.74324169e-02, 8.77736343e-03, 1.62047624e-03,
  0.00000000e+00,-1.33772207e-03, 0.00000000e+00,-6.64412573e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005744904008628815
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.6626769e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -9.6626769e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05364904, -0.04392154,  0.061945  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.88110419e-05,-7.89340321e-05, 7.41545648e-06, 3.05772081e-05,
  1.25883961e-05, 1.03827036e-05,-2.06330711e-05,-2.56897110e-05,
 -6.02991059e-05, 5.96429040e-05, 4.00716865e-05, 2.61793918e-05,
  3.21368889e-03,-5.98518690e-06,-1.76535337e-05, 2.06921470e-04,
  2.39041659e-05, 1.29895574e-05,-1.21644096e+00, 1.15333552e-05,
  7.63797259e-03, 1.78224042e-03]


--- Step 2778 ---
qpos:
[-2.50612336e-03, 8.65829706e-01,-2.36991801e-02, 4.08199497e-04,
 -2.93200817e-03, 8.61910497e-01,-2.71432679e-02, 3.13836525e-03,
 -1.22501191e-03, 8.70606465e-01,-1.93280764e-02,-2.13147606e-02,
  1.39624078e+00, 1.85494934e-02, 1.42913610e+00, 2.40095193e-02,
  4.11505466e-03,-5.76559480e-02, 8.05426343e-02, 7.04560117e-01,
 -4.89638897e-02,-7.06285805e-01,-4.85586316e-02]

qacc:
[-1.19119377e-01, 8.77929835e-01,-1.06466670e+00,-4.94257954e+00,
 -1.06371120e-01,-3.82420710e+00, 1.61865012e+01,-2.90561451e+01,
 -3.55329407e-01, 1.20840612e-01,-1.02273165e+00, 5.20463471e+00,
 -3.40752169e-02, 9.40479083e-02,-7.78239465e+00, 2.69359150e+01,
 -1.35871467e+00,-6.28086989e-01,-2.59189492e+00,-1.41156626e+00,
 -6.65059308e+01,-4.65318916e+01]

qfrc_actuator:
[ 2.33338046e-03, 2.73130159e-02, 8.71348881e-03, 1.61452949e-03,
 -3.96730379e-06, 2.73647713e-02, 8.74628633e-03, 1.65760622e-03,
 -2.49317712e-03, 2.74418041e-02, 8.79022938e-03, 1.63390789e-03,
  0.00000000e+00,-1.31690688e-03, 0.00000000e+00,-5.39170071e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005772726937580963
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.9232211e-13,  9.6161055e-14,  1.0000000e+00, -1.8493897e-26,
        1.0000000e+00, -9.6161055e-14, -1.0000000e+00,  0.0000000e+00,
        1.9232211e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05364324, -0.04392321,  0.06194474])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.16357045e-05, 1.31353386e-05,-2.52667368e-05,-1.97865043e-05,
 -1.93202102e-05,-9.08338614e-07, 4.38465587e-05,-3.29953881e-05,
 -6.52835345e-05, 5.21557395e-05, 3.10314059e-05, 1.78835210e-05,
  3.23646903e-03, 8.84540153e-06, 1.46870709e-05, 1.34480409e-04,
  3.30637696e-07, 2.58956993e-07,-1.21644002e+00, 8.28787032e-06,
  7.63812149e-03, 1.78209540e-03]


--- Step 2779 ---
qpos:
[-2.50657472e-03, 8.65829760e-01,-2.36996680e-02, 4.07499669e-04,
 -2.93197248e-03, 8.61910526e-01,-2.71408854e-02, 3.13836291e-03,
 -1.22646462e-03, 8.70605793e-01,-1.93268631e-02,-2.13137368e-02,
  1.39624029e+00, 1.85507863e-02, 1.42920029e+00, 2.40125352e-02,
  4.11166571e-03,-5.76626948e-02, 8.05331125e-02, 7.04505957e-01,
 -4.88273489e-02,-7.06339679e-01,-4.86980918e-02]

qacc:
[ 2.26863122e-01, 4.07426202e+00,-1.22651970e+01, 1.01373250e+01,
 -3.54938443e-02,-3.04971319e+00, 1.16656088e+01,-1.85687387e+01,
 -9.10029429e-02, 2.35771371e+00,-1.08806278e+01, 2.49261838e+01,
 -1.27738717e-02,-3.97332428e-01,-3.39337778e+00, 1.20609281e+01,
  3.37143993e-01,-1.23417326e+00, 2.98898085e-01, 4.14356740e-01,
  2.64481151e+01,-6.24483397e+01]

qfrc_actuator:
[ 2.38525664e-03, 2.73635463e-02, 8.65364554e-03, 1.60459988e-03,
 -1.31326778e-06, 2.73284056e-02, 8.77220798e-03, 1.63853867e-03,
 -2.47860274e-03, 2.74832421e-02, 8.79728851e-03, 1.67722754e-03,
  0.00000000e+00,-1.37625320e-03, 0.00000000e+00,-4.84019202e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005791446851743168
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31794066e-13, -1.91700460e-13,  1.00000000e+00,  2.52649831e-26,
        1.00000000e+00,  1.91700460e-13, -1.00000000e+00,  0.00000000e+00,
        1.31794066e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00083754, -0.03580546,  0.06194454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.15626361e-05, 5.18189279e-05,-6.09274590e-05,-1.06255921e-05,
 -6.51755049e-06,-2.92576918e-05, 2.99773060e-05,-1.82345902e-05,
 -1.66772881e-05, 7.77853656e-05, 2.22718624e-05, 4.69751740e-05,
  3.24581991e-03,-5.95476472e-05, 1.99390636e-05, 6.41256028e-05,
  1.29495802e-05, 6.07147577e-06,-1.21644045e+00, 9.21853620e-06,
  7.63806650e-03, 1.78225404e-03]


--- Step 2780 ---
qpos:
[-2.50649384e-03, 8.65830115e-01,-2.37010690e-02, 4.06714817e-04,
 -2.93195226e-03, 8.61910509e-01,-2.71394211e-02, 3.13854659e-03,
 -1.22753226e-03, 8.70605812e-01,-1.93256297e-02,-2.13122188e-02,
  1.39623953e+00, 1.85515789e-02, 1.42926467e+00, 2.40152089e-02,
  4.10958352e-03,-5.76742096e-02, 8.05235066e-02, 7.04482062e-01,
 -4.86022795e-02,-7.06363370e-01,-4.89247712e-02]

qacc:
[ 2.78365701e-01, 2.77257937e+00,-8.95075588e+00, 8.72137565e+00,
 -8.70032253e-03, 2.88561818e+00,-1.11634525e+01, 1.58886538e+01,
  2.00871541e-01, 1.87505994e+00,-7.44221945e+00, 1.54465522e+01,
  1.35808409e-02,-3.75890618e-01, 1.33203666e+00,-4.24184451e+00,
  3.26687590e-01,-1.19197390e+00,-2.10191433e-02, 3.85165259e-01,
  2.56056251e+01,-6.05150362e+01]

qfrc_actuator:
[ 2.41630206e-03, 2.73579072e-02, 8.60094717e-03, 1.59904839e-03,
  3.05917740e-07, 2.73067944e-02, 8.71540193e-03, 1.64506368e-03,
 -2.43366734e-03, 2.75257941e-02, 8.80101658e-03, 1.70230628e-03,
  0.00000000e+00,-1.39432627e-03, 0.00000000e+00,-5.06092902e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005807940614410839
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.55780283e-14, -9.55780283e-14,  1.00000000e+00,  9.13515949e-27,
        1.00000000e+00,  9.55780283e-14, -1.00000000e+00,  0.00000000e+00,
        9.55780283e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00083844, -0.03580707,  0.06194436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.08715892e-05, 1.03080676e-05,-4.98660173e-05,-5.64610735e-06,
 -1.47845319e-06,-3.25818384e-05,-5.98051416e-05, 5.95072007e-06,
  3.69589298e-05, 9.26582083e-05, 2.41548775e-05, 3.00919181e-05,
  3.26889918e-03,-5.26997418e-05, 1.33437511e-05,-1.66001495e-05,
  7.63130528e-06, 1.61425178e-05,-1.21644103e+00, 7.17806679e-06,
  7.63806653e-03, 1.78228431e-03]


--- Step 2781 ---
qpos:
[-2.50652500e-03, 8.65829927e-01,-2.37021981e-02, 4.05896836e-04,
 -2.93192913e-03, 8.61910367e-01,-2.71389441e-02, 3.13916840e-03,
 -1.22794735e-03, 8.70606739e-01,-1.93255625e-02,-2.13103572e-02,
  1.39623886e+00, 1.85523000e-02, 1.42932919e+00, 2.40169459e-02,
  4.10999049e-03,-5.76843424e-02, 8.05206962e-02, 7.04503378e-01,
 -4.84083770e-02,-7.06341794e-01,-4.91211677e-02]

qacc:
[-5.83836316e-02,-1.54547665e+00, 4.60859128e+00,-5.21864735e+00,
  9.73924394e-04, 3.49130098e+00,-1.45410484e+01, 2.37997135e+01,
  3.39714412e-01, 5.16425407e+00,-1.81220386e+01, 2.52639761e+01,
  2.28256411e-02,-4.32529903e-02, 3.03167072e+00,-1.03241245e+01,
  6.22290568e-01, 3.45490426e-01, 1.69887214e+00,-2.91452046e-01,
  3.04141279e+01, 2.38804518e+01]

qfrc_actuator:
[ 2.38131971e-03, 2.73009427e-02, 8.60594167e-03, 1.59608245e-03,
  1.27861998e-06, 2.72938616e-02, 8.66353091e-03, 1.66654624e-03,
 -2.38875747e-03, 2.75509029e-02, 8.73173751e-03, 1.71644990e-03,
  0.00000000e+00,-1.36968181e-03, 0.00000000e+00,-5.55706577e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005920434542315729
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.10823753e-07, -1.02164779e-06,  1.00000000e+00,  5.21881956e-13,
        1.00000000e+00,  1.02164779e-06, -1.00000000e+00, -1.00974196e-28,
        5.10823753e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00301557, -0.06192025,  0.06194329])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07226280e-05,-6.17313717e-05, 7.93124203e-07,-4.35814513e-06,
  2.67544428e-07,-4.32598687e-05,-6.57744101e-05, 1.81302105e-05,
  6.26161661e-05, 8.31875640e-05,-4.61398258e-05, 1.95273144e-05,
  3.28216848e-03,-3.04994629e-06, 1.62857430e-06,-4.94263534e-05,
  3.73586174e-06, 2.12947119e-05,-1.21644283e+00, 5.84433990e-07,
  7.63822578e-03, 1.78245769e-03]


--- Step 2782 ---
qpos:
[-2.50682842e-03, 8.65829403e-01,-2.37030565e-02, 4.05368371e-04,
 -2.93189859e-03, 8.61909931e-01,-2.71388162e-02, 3.14036557e-03,
 -1.22814139e-03, 8.70607910e-01,-1.93266233e-02,-2.13082564e-02,
  1.39623813e+00, 1.85530175e-02, 1.42939355e+00, 2.40194186e-02,
  4.11280098e-03,-5.76931345e-02, 8.05231129e-02, 7.04568376e-01,
 -4.82445198e-02,-7.06276520e-01,-4.92884078e-02]

qacc:
[-1.42441210e-01,-6.02023203e-01, 2.83167111e-01, 4.53956429e+00,
  3.81871984e-03, 1.76898460e+00,-9.30253973e+00, 2.00376449e+01,
  1.14651162e-01, 3.96811911e+00,-1.46854961e+01, 2.04455432e+01,
  2.17565686e-02,-3.97837042e-02,-2.47214413e+00, 8.28988456e+00,
  6.00880755e-01, 3.35185646e-01, 1.30677399e+00,-3.02346817e-01,
  2.93764431e+01, 2.30120436e+01]

qfrc_actuator:
[ 2.36040999e-03, 2.73026709e-02, 8.62697949e-03, 1.61240259e-03,
  1.85124697e-06, 2.72862338e-02, 8.65056249e-03, 1.69667680e-03,
 -2.39754229e-03, 2.75117955e-02, 8.65533765e-03, 1.72398524e-03,
  0.00000000e+00,-1.37289320e-03, 0.00000000e+00,-5.14597002e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000597117792445641
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78355519e-08, -3.56711038e-08,  1.00000000e+00,  6.36213824e-16,
        1.00000000e+00,  3.56711038e-08, -1.00000000e+00,  0.00000000e+00,
        1.78355519e-08])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00301223, -0.06191884,  0.06194281])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.60288655e-05,-3.28004205e-05, 8.24694348e-06, 1.36217602e-05,
  6.94884105e-07,-4.46263905e-05,-2.93828915e-05, 2.63522577e-05,
  2.12062742e-05,-1.30225812e-06,-6.42397276e-05, 9.87478107e-06,
  3.27764260e-03,-2.68184278e-06,-6.27925404e-06, 3.82032059e-05,
 -1.36285544e-07, 3.12697092e-06,-1.21644194e+00,-7.19952709e-06,
  7.63814422e-03, 1.78264045e-03]


--- Step 2783 ---
qpos:
[-2.50701860e-03, 8.65829225e-01,-2.37042847e-02, 4.05686217e-04,
 -2.93204754e-03, 8.61908817e-01,-2.71381190e-02, 3.14155416e-03,
 -1.22847015e-03, 8.70609105e-01,-1.93276274e-02,-2.13071702e-02,
  1.39623740e+00, 1.85532647e-02, 1.42945823e+00, 2.40193356e-02,
  4.11031952e-03,-5.76998750e-02, 8.05189172e-02, 7.04530373e-01,
 -4.81140964e-02,-7.06314157e-01,-4.94196168e-02]

qacc:
[ 5.90582401e-02, 3.22983650e+00,-1.44282073e+01, 2.94151835e+01,
 -9.39261450e-02,-2.50080610e+00, 7.65669035e+00,-8.22133310e+00,
 -7.03697300e-02,-2.21890351e+00, 1.22293846e+01,-2.98809399e+01,
  2.96202285e-02,-3.05557656e-01, 8.21239916e+00,-2.80500522e+01,
 -1.32298579e+00, 5.12890577e-01,-1.65309971e+00, 9.97283529e-01,
 -7.43205316e+01, 1.94791512e+01]

qfrc_actuator:
[ 2.38365415e-03, 2.73573759e-02, 8.62203052e-03, 1.65773761e-03,
 -1.55744702e-05, 2.72465033e-02, 8.67844506e-03, 1.69617841e-03,
 -2.42062084e-03, 2.75232204e-02, 8.66385674e-03, 1.67426467e-03,
  0.00000000e+00,-1.41061012e-03, 0.00000000e+00,-6.51135469e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006066461612959512
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.57524953e-14,  4.57524953e-14,  1.00000000e+00, -2.09329082e-27,
        1.00000000e+00, -4.57524953e-14, -1.00000000e+00,  0.00000000e+00,
        4.57524953e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0500978 , -0.06982192,  0.06194193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08300877e-05, 3.86677979e-05,-1.02236262e-05, 4.44838519e-05,
 -1.71013628e-05,-6.96162467e-05, 1.59585123e-05,-2.91549467e-06,
 -1.29231900e-05,-2.16769752e-06, 6.74005365e-07,-5.18108643e-05,
  3.28086189e-03,-4.02216812e-05, 4.07078501e-07,-1.35441849e-04,
  3.23370559e-06,-1.02808700e-05,-1.21644145e+00,-1.32776301e-05,
  7.63804141e-03, 1.78278593e-03]


--- Step 2784 ---
qpos:
[-2.50719460e-03, 8.65829631e-01,-2.37057241e-02, 4.06501855e-04,
 -2.93238990e-03, 8.61907282e-01,-2.71363142e-02, 3.14231127e-03,
 -1.22900561e-03, 8.70610474e-01,-1.93281133e-02,-2.13060504e-02,
  1.39623615e+00, 1.85524544e-02, 1.42952289e+00, 2.40179650e-02,
  4.10272430e-03,-5.77046359e-02, 8.05069980e-02, 7.04392890e-01,
 -4.80159310e-02,-7.06451193e-01,-4.95160354e-02]

qacc:
[ 7.12543888e-03, 2.38561131e+00,-9.48807775e+00, 1.80132852e+01,
 -1.01025818e-01,-4.53492039e+00, 1.71864367e+01,-2.61213693e+01,
 -1.07665604e-01,-1.14670670e+00, 4.28334362e+00,-4.65981303e+00,
  4.51284272e-02,-8.02013235e-01, 3.85286399e+00,-1.35706784e+01,
 -1.27844308e+00, 4.94902106e-01,-1.93086601e+00, 9.86088104e-01,
 -7.17812125e+01, 1.87981751e+01]

qfrc_actuator:
[ 2.37985615e-03, 2.74078158e-02, 8.61977429e-03, 1.68430370e-03,
 -2.58626259e-05, 2.72590221e-02, 8.74781195e-03, 1.67765647e-03,
 -2.43425563e-03, 2.75650894e-02, 8.70484115e-03, 1.68011191e-03,
  0.00000000e+00,-1.50406753e-03, 0.00000000e+00,-7.13739263e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006091283813088183
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.55660522e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.55660522e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05009289, -0.06982041,  0.06194169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37154427e-06, 7.18714042e-05, 6.02047134e-06, 2.87360825e-05,
 -1.84150413e-05,-2.32208253e-05, 5.68564310e-05,-2.10094801e-05,
 -1.98195706e-05, 3.85538203e-05, 3.88235648e-05, 4.76701083e-06,
  3.28021455e-03,-1.10158613e-04,-1.69432689e-05,-7.05679264e-05,
  4.35007252e-06, 1.19064096e-05,-1.21644103e+00,-9.59932019e-06,
  7.63814014e-03, 1.78287804e-03]


--- Step 2785 ---
qpos:
[-2.50757276e-03, 8.65830540e-01,-2.37074098e-02, 4.06951402e-04,
 -2.93269977e-03, 8.61905540e-01,-2.71340468e-02, 3.14320203e-03,
 -1.22953660e-03, 8.70611561e-01,-1.93273171e-02,-2.13052100e-02,
  1.39623421e+00, 1.85508308e-02, 1.42958714e+00, 2.40185132e-02,
  4.09788698e-03,-5.77076023e-02, 8.05024846e-02, 7.04305260e-01,
 -4.79557093e-02,-7.06538458e-01,-4.95757751e-02]

qacc:
[-1.06339232e-01, 5.99388932e-01, 3.73052008e-01,-6.68417661e+00,
  1.74770975e-02,-1.28907792e+00, 3.63734722e+00,-1.91429560e+00,
  3.22227589e-03,-4.53068959e+00, 1.67884588e+01,-2.34602639e+01,
  8.26037496e-02,-7.31959229e-01,-6.45744668e+00, 2.16199217e+01,
  6.89476214e-01, 4.48625999e-01, 1.85143554e+00,-4.43114025e-01,
  3.33185492e+01, 2.87500135e+01]

qfrc_actuator:
[ 2.35988660e-03, 2.74198143e-02, 8.60137040e-03, 1.66411316e-03,
 -1.40299064e-05, 2.72496477e-02, 8.77029307e-03, 1.68425197e-03,
 -2.42434567e-03, 2.75362997e-02, 8.76482044e-03, 1.66539955e-03,
  0.00000000e+00,-1.54143079e-03, 0.00000000e+00,-6.07959728e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006202883071928095
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.94924998e-14,  4.47462499e-14,  1.00000000e+00, -4.00445376e-27,
        1.00000000e+00, -4.47462499e-14, -1.00000000e+00,  0.00000000e+00,
        8.94924998e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0042493 , -0.06309905,  0.06194063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93072218e-05, 5.46629722e-05,-1.81689804e-06,-1.63437104e-05,
  3.08768323e-06,-1.14975597e-05, 2.39605334e-05, 7.15844116e-06,
  4.27746195e-07, 9.56850127e-07, 7.28801310e-05,-1.16283361e-05,
  3.30664266e-03,-9.46226921e-05,-1.74981888e-05, 9.92859849e-05,
  3.46971418e-05, 2.11478293e-05,-1.21644173e+00,-7.26158588e-06,
  7.63829605e-03, 1.78295846e-03]


--- Step 2786 ---
qpos:
[-2.50798404e-03, 8.65831833e-01,-2.37095559e-02, 4.07532000e-04,
 -2.93291848e-03, 8.61903375e-01,-2.71313807e-02, 3.14419757e-03,
 -1.22963104e-03, 8.70612301e-01,-1.93262041e-02,-2.13048214e-02,
  1.39623221e+00, 1.85491815e-02, 1.42965123e+00, 2.40206211e-02,
  4.09570218e-03,-5.77088481e-02, 8.05036362e-02, 7.04265616e-01,
 -4.79320035e-02,-7.06577868e-01,-4.96002254e-02]

qacc:
[-1.77815839e-02, 2.06102566e+00,-7.16834172e+00, 9.89294658e+00,
  4.84236694e-02,-1.45577818e+00, 3.93806223e+00,-2.45288474e+00,
  2.28250256e-01,-2.27564742e+00, 9.35064290e+00,-1.74158258e+01,
  1.13243342e-01,-1.39609435e-01,-4.99453205e+00, 1.70640535e+01,
  6.63131917e-01, 4.30146293e-01, 1.41626827e+00,-4.28091938e-01,
  3.20529396e+01, 2.76641301e+01]

qfrc_actuator:
[ 2.36593006e-03, 2.74263475e-02, 8.57339754e-03, 1.66979130e-03,
 -6.82580939e-06, 2.72093384e-02, 8.78259715e-03, 1.68777279e-03,
 -2.38268472e-03, 2.74832554e-02, 8.76421497e-03, 1.63865089e-03,
  0.00000000e+00,-1.49170077e-03, 0.00000000e+00,-5.28109871e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006279251010177372
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.84040965e-14, -1.76808193e-13,  1.00000000e+00,  1.56305686e-26,
        1.00000000e+00,  1.76808193e-13, -1.00000000e+00,  0.00000000e+00,
        8.84040965e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00424388, -0.06309699,  0.06193991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.15672603e-06, 3.60137756e-05,-1.74668078e-05, 7.63955137e-06,
  8.66800500e-06,-4.14605882e-05, 1.31239366e-05, 3.99473616e-06,
  4.18679801e-05,-3.79901478e-05, 8.15112050e-06,-2.44162674e-05,
  3.34086276e-03,-4.18202464e-06, 1.76304588e-06, 8.28895827e-05,
  1.40139378e-05, 8.25047179e-06,-1.21644066e+00,-1.16079431e-05,
  7.63831149e-03, 1.78303586e-03]


--- Step 2787 ---
qpos:
[-2.50818544e-03, 8.65833163e-01,-2.37113665e-02, 4.08856188e-04,
 -2.93304824e-03, 8.61901159e-01,-2.71286832e-02, 3.14486013e-03,
 -1.22925824e-03, 8.70613078e-01,-1.93263329e-02,-2.13046961e-02,
  1.39623062e+00, 1.85476837e-02, 1.42971557e+00, 2.40213178e-02,
  4.09608271e-03,-5.77084341e-02, 8.05089882e-02, 7.04272395e-01,
 -4.79436259e-02,-7.06571002e-01,-4.95905357e-02]

qacc:
[  0.11027181,  0.64301947, -5.35946497, 17.66424463,  0.04686008,
  -0.84032548,  4.30418294,-10.08059513,  0.2431798 ,  2.97645589,
  -9.43098322,  6.83692161,  0.11245045,  0.08048172,  4.66060016,
 -15.74598367,  0.64133113,  0.41495396,  1.05008454, -0.41404401,
  31.00184054, 26.76322819]

qfrc_actuator:
[ 2.38749316e-03, 2.74295206e-02, 8.59325373e-03, 1.70839258e-03,
 -2.47057241e-06, 2.72217780e-02, 8.78867399e-03, 1.67167156e-03,
 -2.35791230e-03, 2.74690944e-02, 8.69220589e-03, 1.62271743e-03,
  0.00000000e+00,-1.46118758e-03, 0.00000000e+00,-6.06247422e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006281317662291952
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.83750102e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.83750102e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0042438 , -0.06309707,  0.0619399 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.00610921e-05, 2.00168381e-05, 2.54127856e-05, 3.96886961e-05,
  8.46464841e-06,-7.83238585e-06,-7.36149835e-07,-1.73477211e-05,
  4.48154525e-05,-3.47879442e-05,-7.97112813e-05,-1.77572859e-05,
  3.34350336e-03, 2.76645040e-05, 8.92267975e-06,-7.35536014e-05,
  2.81645796e-06, 1.46059640e-06,-1.21644011e+00,-1.37717120e-05,
  7.63832880e-03, 1.78306129e-03]


--- Step 2788 ---
qpos:
[-2.50815176e-03, 8.65833955e-01,-2.37120502e-02, 4.10306263e-04,
 -2.93329490e-03, 8.61899244e-01,-2.71268844e-02, 3.14430780e-03,
 -1.22888130e-03, 8.70613483e-01,-1.93269321e-02,-2.13047628e-02,
  1.39622945e+00, 1.85462603e-02, 1.42978011e+00, 2.40197488e-02,
  4.09895695e-03,-5.77064098e-02, 8.05173117e-02, 7.04324295e-01,
 -4.79895928e-02,-7.06519155e-01,-4.95476520e-02]

qacc:
[ 1.24156813e-01,-3.59754589e+00, 1.12672483e+01,-1.04995346e+01,
 -6.23115040e-02, 4.06915484e-01, 4.25423597e+00,-2.40632804e+01,
  1.98646549e-03, 4.28091582e-01,-1.42845416e+00,-8.68084413e-01,
  9.22320072e-02, 5.58254836e-02, 7.16127438e+00,-2.46177693e+01,
  6.23427024e-01, 4.02558753e-01, 7.42875274e-01,-4.00668550e-01,
  3.01325557e+01, 2.60192912e+01]

qfrc_actuator:
[ 2.40038565e-03, 2.73776120e-02, 8.64119566e-03, 1.71282489e-03,
 -1.76115228e-05, 2.72301589e-02, 8.73796432e-03, 1.60868769e-03,
 -2.37898357e-03, 2.74425119e-02, 8.66754972e-03, 1.61326518e-03,
  0.00000000e+00,-1.46012405e-03, 0.00000000e+00,-7.23572374e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006224319728791797
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78368572e-13, -2.67552859e-13,  1.00000000e+00,  4.77230215e-26,
        1.00000000e+00,  2.67552859e-13, -1.00000000e+00,  0.00000000e+00,
        1.78368572e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00424797, -0.06309884,  0.06194044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.24581524e-05,-3.37833012e-05, 5.65822139e-05, 6.94033342e-06,
 -1.11234279e-05, 3.13775216e-06,-5.30233379e-05,-6.36844234e-05,
  3.83594059e-07,-6.32685628e-05,-4.22798720e-05,-1.40476417e-05,
  3.32285963e-03, 2.11994849e-05,-5.48300984e-06,-1.20625825e-04,
  1.03841276e-07, 1.36773741e-07,-1.21644002e+00,-1.39377048e-05,
  7.63834606e-03, 1.78303775e-03]


--- Step 2789 ---
qpos:
[-2.50811244e-03, 8.65834469e-01,-2.37126751e-02, 4.11149365e-04,
 -2.93387726e-03, 8.61897573e-01,-2.71252838e-02, 3.14434509e-03,
 -1.22882081e-03, 8.70613234e-01,-1.93269563e-02,-2.13039429e-02,
  1.39622888e+00, 1.85456294e-02, 1.42984444e+00, 2.40181193e-02,
  4.10426656e-03,-5.77028155e-02, 8.05275788e-02, 7.04420229e-01,
 -4.80690930e-02,-7.06423379e-01,-4.94723469e-02]

qacc:
[ 3.05791202e-03,-1.78146825e+00, 8.37980333e+00,-1.87744816e+01,
 -1.76969313e-01, 2.08865156e+00,-9.46918790e+00, 1.98134095e+01,
 -1.64612964e-01,-6.44723266e-01,-2.69219200e+00, 1.75848372e+01,
  6.17824806e-02, 5.56666497e-01,-1.16537907e-01,-1.53783529e-02,
  6.08840748e-01, 3.92531500e-01, 4.85911919e-01,-3.87676446e-01,
  2.94172717e+01, 2.54085266e+01]

qfrc_actuator:
[ 2.39021398e-03, 2.73464725e-02, 8.63405282e-03, 1.67932345e-03,
 -4.42799178e-05, 2.72712778e-02, 8.74286346e-03, 1.64285776e-03,
 -2.40953223e-03, 2.74266227e-02, 8.70653583e-03, 1.66099366e-03,
  0.00000000e+00,-1.38795079e-03, 0.00000000e+00,-7.20969850e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006121019227430385
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.0689392e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        9.0689392e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00425546, -0.06310194,  0.06194142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.30829951e-07,-3.80601976e-05,-6.91229468e-06,-3.28578922e-05,
 -3.19467263e-05, 2.92258301e-05,-3.18822690e-06, 3.12307825e-05,
 -3.03714588e-05,-6.06043920e-05, 2.02274287e-05, 4.32836647e-05,
  3.30196520e-03, 8.96898624e-05,-1.68225887e-05,-5.04329523e-06,
  5.11781941e-06, 3.79359139e-06,-1.21644035e+00,-1.22471320e-05,
  7.63836111e-03, 1.78296763e-03]


--- Step 2790 ---
qpos:
[-2.50832046e-03, 8.65835626e-01,-2.37143284e-02, 4.11196302e-04,
 -2.93459620e-03, 8.61896741e-01,-2.71237191e-02, 3.14539217e-03,
 -1.22873125e-03, 8.70613077e-01,-1.93267871e-02,-2.13033192e-02,
  1.39622911e+00, 1.85461599e-02, 1.42990865e+00, 2.40165003e-02,
  4.11196441e-03,-5.76976831e-02, 8.05389325e-02, 7.04559295e-01,
 -4.81814612e-02,-7.06284517e-01,-4.93652456e-02]

qacc:
[-1.30595468e-01, 2.08309378e+00,-2.83447125e+00,-9.76977170e+00,
 -7.21921837e-02, 3.28401734e+00,-1.43665905e+01, 3.12873975e+01,
  1.52591525e-02,-8.23244743e-01, 3.93777852e+00,-7.70742996e+00,
  2.02183161e-02, 8.65581674e-01,-1.85802007e-01, 4.49895441e-01,
  5.97061490e-01, 3.84500229e-01, 2.71645717e-01,-3.74797482e-01,
  2.88324132e+01, 2.49107974e+01]

qfrc_actuator:
[ 2.36633925e-03, 2.74165138e-02, 8.59447657e-03, 1.64149689e-03,
 -4.20939641e-05, 2.73674815e-02, 8.76303429e-03, 1.69849638e-03,
 -2.39219049e-03, 2.74708397e-02, 8.72959211e-03, 1.65326548e-03,
  0.00000000e+00,-1.30936459e-03, 0.00000000e+00,-7.18720271e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005982069286626437
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.27959015e-14, -9.27959015e-14,  1.00000000e+00,  8.61107934e-27,
        1.00000000e+00,  9.27959015e-14, -1.00000000e+00,  0.00000000e+00,
        9.27959015e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00426549, -0.06310606,  0.06194274])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.36264421e-05, 4.59150228e-05,-4.94261577e-05,-4.03368998e-05,
 -1.29761385e-05, 1.13248826e-04, 2.68957622e-05, 5.73886865e-05,
  2.79215903e-06, 1.63599841e-05, 1.45312543e-05,-8.78015805e-06,
  3.27189982e-03, 1.28686308e-04,-7.61890818e-06,-7.04364977e-08,
  1.72886199e-05, 1.20669339e-05,-1.21644108e+00,-8.80705800e-06,
  7.63837149e-03, 1.78285284e-03]


--- Step 2791 ---
qpos:
[-2.50860820e-03, 8.65837424e-01,-2.37163383e-02, 4.11432719e-04,
 -2.93517577e-03, 8.61896621e-01,-2.71221617e-02, 3.14676539e-03,
 -1.22814988e-03, 8.70613469e-01,-1.93262474e-02,-2.13039015e-02,
  1.39622937e+00, 1.85470002e-02, 1.42997266e+00, 2.40162478e-02,
  4.11452810e-03,-5.76905021e-02, 8.05426615e-02, 7.04598499e-01,
 -4.83259431e-02,-7.06245449e-01,-4.92232042e-02]

qacc:
[-4.22276665e-02, 2.23163897e+00,-7.52914555e+00, 1.09093832e+01,
  7.31603460e-02, 1.63179661e+00,-5.83032932e+00, 1.09648453e+01,
  2.56796440e-01,-2.79379725e+00, 1.60953340e+01,-3.79435277e+01,
 -9.78792298e-03, 2.02756796e-01,-4.43929809e+00, 1.50980705e+01,
 -1.28353940e+00, 5.12151409e-01,-1.90619003e+00, 1.08329162e+00,
 -7.20549305e+01, 1.87804173e+01]

qfrc_actuator:
[ 2.36999865e-03, 2.74754422e-02, 8.58976188e-03, 1.65476515e-03,
 -2.26602357e-05, 2.73895285e-02, 8.75677979e-03, 1.71310221e-03,
 -2.34633344e-03, 2.75328830e-02, 8.76099485e-03, 1.59523895e-03,
  0.00000000e+00,-1.35188517e-03, 0.00000000e+00,-6.45718574e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005914951597054754
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.38488681e-14,  4.69244341e-14,  1.00000000e+00, -4.40380502e-27,
        1.00000000e+00, -4.69244341e-14, -1.00000000e+00,  0.00000000e+00,
        9.38488681e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05012704, -0.06983323,  0.06194338])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.60093685e-06, 7.26502440e-05,-2.71296444e-06, 1.27403403e-05,
  1.32866998e-05, 9.33904438e-05, 2.24272104e-05, 2.15026676e-05,
  4.71956367e-05, 7.38185160e-05, 3.62665392e-05,-5.69952668e-05,
  3.23180942e-03, 2.80937060e-05,-2.89902774e-06, 7.21132026e-05,
  3.61932252e-05, 2.46872179e-05,-1.21644219e+00,-3.69772781e-06,
  7.63837437e-03, 1.78269495e-03]


--- Step 2792 ---
qpos:
[-2.50853764e-03, 8.65839201e-01,-2.37175890e-02, 4.11832965e-04,
 -2.93537847e-03, 8.61896723e-01,-2.71204356e-02, 3.14835485e-03,
 -1.22705151e-03, 8.70613746e-01,-1.93253528e-02,-2.13047427e-02,
  1.39622961e+00, 1.85479010e-02, 1.43003667e+00, 2.40165250e-02,
  4.11210602e-03,-5.76813440e-02, 8.05378222e-02, 7.04540816e-01,
 -4.85016815e-02,-7.06303187e-01,-4.90472489e-02]

qacc:
[ 1.88338699e-01,-1.81010169e+00, 5.72350681e+00,-4.08886947e+00,
  1.98515113e-01, 2.67092689e-01,-1.43954524e+00, 4.74922663e+00,
  2.70212895e-01,-1.67721968e+00, 6.84920674e+00,-1.18080170e+01,
 -1.01045604e-02, 3.95627516e-02,-1.59733337e+00, 5.59842628e+00,
 -1.24644103e+00, 4.94281897e-01,-2.14205642e+00, 1.00560732e+00,
 -6.99068399e+01, 1.82615116e+01]

qfrc_actuator:
[ 2.40786248e-03, 2.74564377e-02, 8.62345617e-03, 1.66251785e-03,
  6.90083763e-06, 2.73668722e-02, 8.75240856e-03, 1.72112074e-03,
 -2.31934685e-03, 2.74808591e-02, 8.76164564e-03, 1.57913218e-03,
  0.00000000e+00,-1.36016686e-03, 0.00000000e+00,-6.20389222e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005893318396272829
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.41933687e-14, -7.06450265e-14,  1.00000000e+00,  6.65429302e-27,
        1.00000000e+00,  7.06450265e-14, -1.00000000e+00,  0.00000000e+00,
        9.41933687e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05013122, -0.06983497,  0.06194359])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.42457798e-05, 2.15779995e-05, 4.88071699e-05, 1.10190388e-05,
  3.58792546e-05, 3.51083191e-05, 1.84101210e-05, 1.32094950e-05,
  4.95928054e-05,-5.70224740e-06, 1.83842155e-05,-1.28025752e-05,
  3.22979312e-03, 4.31983858e-06, 5.95683987e-06, 2.88032223e-05,
  4.82523969e-06, 1.37850043e-05,-1.21644159e+00,-5.20076777e-06,
  7.63831979e-03, 1.78267460e-03]


--- Step 2793 ---
qpos:
[-2.50843260e-03, 8.65840951e-01,-2.37183303e-02, 4.11996130e-04,
 -2.93521736e-03, 8.61896741e-01,-2.71185559e-02, 3.14972435e-03,
 -1.22609967e-03, 8.70613689e-01,-1.93254506e-02,-2.13046106e-02,
  1.39622996e+00, 1.85489156e-02, 1.43010077e+00, 2.40164380e-02,
  4.10482439e-03,-5.76702687e-02, 8.05236161e-02, 7.04388676e-01,
 -4.87079701e-02,-7.06455203e-01,-4.88382324e-02]

qacc:
[ 1.84008799e-02,-1.94606875e+00, 7.88875272e+00,-1.27885869e+01,
  1.91713079e-01,-9.92329284e-01, 4.30638492e+00,-8.29821462e+00,
 -7.69771820e-02, 4.33561776e+00,-2.01996087e+01, 3.88600504e+01,
 -1.20762114e-02, 1.05913085e-01, 1.24407077e+00,-4.14251037e+00,
 -1.21488929e+00, 4.79306748e-01,-2.34170491e+00, 9.35006543e-01,
 -6.81198372e+01, 1.78325715e+01]

qfrc_actuator:
[ 2.39483232e-03, 2.74443366e-02, 8.64371755e-03, 1.64915844e-03,
  2.44924420e-05, 2.73353517e-02, 8.74899419e-03, 1.70741370e-03,
 -2.35716234e-03, 2.74140979e-02, 8.69045488e-03, 1.62321783e-03,
  0.00000000e+00,-1.34777984e-03, 0.00000000e+00,-6.41125507e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00058175589761994
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.77100030e-14, -1.19275007e-13,  1.00000000e+00,  5.69061096e-27,
        1.00000000e+00,  1.19275007e-13, -1.00000000e+00,  0.00000000e+00,
        4.77100030e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05014531, -0.06983981,  0.06194429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.29839418e-06, 1.04883120e-05, 3.11071899e-05,-1.05332664e-05,
  3.46275105e-05,-7.53485299e-06, 6.54452831e-06,-1.13144889e-05,
 -1.40716276e-05,-6.67050611e-05,-7.05544990e-05, 4.42273523e-05,
  3.23094845e-03, 1.36761059e-05, 4.39471703e-06,-1.87214594e-05,
  2.10255205e-06,-8.29481568e-06,-1.21644204e+00,-7.59366186e-06,
  7.63832453e-03, 1.78262684e-03]


--- Step 2794 ---
qpos:
[-2.50876494e-03, 8.65842036e-01,-2.37179409e-02, 4.12383051e-04,
 -2.93533503e-03, 8.61896290e-01,-2.71164902e-02, 3.15062223e-03,
 -1.22564280e-03, 8.70613864e-01,-1.93266640e-02,-2.13040148e-02,
  1.39623027e+00, 1.85499149e-02, 1.43016484e+00, 2.40164444e-02,
  4.10010202e-03,-5.76576112e-02, 8.05163578e-02, 7.04282804e-01,
 -4.89469755e-02,-7.06560821e-01,-4.85976543e-02]

qacc:
[-2.28360843e-01,-3.57444706e+00, 1.05278314e+01,-7.97900539e+00,
 -1.46562736e-01,-2.10856202e+00, 8.61079078e+00,-1.67282058e+01,
 -2.59213552e-01, 4.37969224e+00,-1.71223163e+01, 2.67532409e+01,
 -1.60489948e-02,-3.69192014e-03,-3.22673649e-01, 1.07171177e+00,
  6.39815021e-01, 3.95536125e-01, 1.73695289e+00,-3.80421147e-01,
  3.11168332e+01, 2.49321888e+01]

qfrc_actuator:
[ 2.35144625e-03, 2.73831343e-02, 8.69137047e-03, 1.65897241e-03,
 -1.84932208e-05, 2.72809772e-02, 8.74610142e-03, 1.68102101e-03,
 -2.39789708e-03, 2.74630281e-02, 8.64837498e-03, 1.64903243e-03,
  0.00000000e+00,-1.35857436e-03, 0.00000000e+00,-6.35561330e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005923163965572668
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07990626e-06,  6.31503284e-14,  1.00000000e+00, -6.81964348e-20,
        1.00000000e+00, -6.31503284e-14, -1.00000000e+00,  0.00000000e+00,
        1.07990626e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00331571, -0.06220539,  0.06194327])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.18153968e-05,-4.93998406e-05, 5.32787121e-05, 1.11330130e-05,
 -2.65487001e-05,-5.77340049e-05,-4.05176006e-06,-2.67146943e-05,
 -4.74797171e-05,-1.04501284e-06,-6.30146343e-05, 2.13789311e-05,
  3.22541039e-03,-2.81562508e-06,-1.51984642e-06, 4.74508060e-06,
  2.56945880e-05,-4.07299429e-05,-1.21644346e+00,-1.07686109e-05,
  7.63839065e-03, 1.78256157e-03]


--- Step 2795 ---
qpos:
[-2.50920256e-03, 8.65842362e-01,-2.37168585e-02, 4.13618535e-04,
 -2.93585374e-03, 8.61895335e-01,-2.71144181e-02, 3.15121455e-03,
 -1.22549143e-03, 8.70613898e-01,-1.93271483e-02,-2.13042316e-02,
  1.39623080e+00, 1.85511291e-02, 1.43022901e+00, 2.40155054e-02,
  4.09683498e-03,-5.76500976e-02, 8.05131702e-02, 7.04210324e-01,
 -4.90880249e-02,-7.06633154e-01,-4.84537946e-02]

qacc:
[-5.44473559e-02,-1.19173854e+00,-7.87475531e-01, 1.49208972e+01,
 -2.11034403e-01,-1.31052774e+00, 4.99894466e+00,-9.92909437e+00,
 -1.59054953e-01,-3.89688109e+00, 1.70477021e+01,-3.21612484e+01,
 -2.08729913e-02, 2.03283424e-01, 3.00844099e+00,-1.03036536e+01,
  3.63832369e-01,-1.28596752e+00, 1.01766360e+00, 3.34120864e-01,
  2.82647551e+01,-6.70385879e+01]

qfrc_actuator:
[ 2.36131524e-03, 2.73286253e-02, 8.71912809e-03, 1.70007703e-03,
 -4.40702775e-05, 2.72488147e-02, 8.74342794e-03, 1.66510923e-03,
 -2.40447106e-03, 2.74744237e-02, 8.69529222e-03, 1.61074672e-03,
  0.00000000e+00,-1.32993640e-03, 0.00000000e+00,-6.85539279e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006076405004886432
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.13552523e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.13552523e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00085135, -0.03583618,  0.06194183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00795767e-05,-7.06856677e-05, 2.44929610e-05, 4.10470257e-05,
 -3.81865033e-05,-6.64374631e-05,-1.60347156e-05,-1.90486796e-05,
 -2.93058517e-05,-1.28762819e-06, 3.96869218e-05,-4.00934114e-05,
  3.22740625e-03, 2.65760359e-05,-1.48804083e-06,-5.02084335e-05,
  9.40283424e-06,-2.60756890e-05,-1.21644380e+00,-3.38414241e-06,
  7.63858960e-03, 1.78232962e-03]


--- Step 2796 ---
qpos:
[-2.50944045e-03, 8.65843089e-01,-2.37167120e-02, 4.14955399e-04,
 -2.93653283e-03, 8.61893912e-01,-2.71124436e-02, 3.15230520e-03,
 -1.22534101e-03, 8.70613538e-01,-1.93272150e-02,-2.13048516e-02,
  1.39623141e+00, 1.85524821e-02, 1.43029312e+00, 2.40143088e-02,
  4.09496258e-03,-5.76475264e-02, 8.05123073e-02, 7.04169925e-01,
 -4.91351678e-02,-7.06673643e-01,-4.84026224e-02]

qacc:
[ 1.03988676e-01, 3.35200214e+00,-1.16121676e+01, 1.45721775e+01,
 -8.43334391e-02, 6.78062497e-01,-5.42146206e+00, 1.45478942e+01,
 -1.15394284e-04,-2.51856556e+00, 9.92214692e+00,-1.72717217e+01,
 -3.29443940e-02, 1.32878019e-01, 7.04587707e-01,-2.56808759e+00,
  3.48660607e-01,-1.23559551e+00, 5.81177152e-01, 3.32825582e-01,
  2.70973052e+01,-6.42556343e+01]

qfrc_actuator:
[ 2.38522747e-03, 2.73850085e-02, 8.68167596e-03, 1.70598384e-03,
 -4.12157799e-05, 2.72302007e-02, 8.74099117e-03, 1.69101382e-03,
 -2.39054006e-03, 2.74280739e-02, 8.70544626e-03, 1.58834959e-03,
  0.00000000e+00,-1.33112089e-03, 0.00000000e+00,-6.96830677e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006207952342305034
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.94194223e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.94194223e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0008574 , -0.03584984,  0.0619406 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.90947687e-05, 2.36556067e-05,-4.76252240e-05, 4.52176466e-06,
 -1.52805312e-05,-5.98909429e-05,-1.88020314e-05, 2.21307253e-05,
 -1.00153756e-07,-4.05900445e-05, 1.33937842e-05,-2.18581171e-05,
  3.21599959e-03, 1.46342156e-05,-7.35594648e-06,-1.45391177e-05,
  4.85820825e-06,-1.14743971e-05,-1.21644118e+00, 6.76026302e-06,
  7.63842873e-03, 1.78208460e-03]


--- Step 2797 ---
qpos:
[-2.50943317e-03, 8.65843720e-01,-2.37165635e-02, 4.15660552e-04,
 -2.93726632e-03, 8.61892445e-01,-2.71107138e-02, 3.15365233e-03,
 -1.22473447e-03, 8.70613113e-01,-1.93275953e-02,-2.13046900e-02,
  1.39623186e+00, 1.85533574e-02, 1.43035739e+00, 2.40113001e-02,
  4.09443404e-03,-5.76497293e-02, 8.05122938e-02, 7.04160480e-01,
 -4.90917773e-02,-7.06683455e-01,-4.84407859e-02]

qacc:
[ 1.28544470e-01,-1.43189616e+00, 7.58930768e+00,-1.84558704e+01,
 -2.87750176e-02, 1.15404463e+00,-5.28013684e+00, 1.01431336e+01,
  2.38034834e-01, 2.39910998e+00,-1.19730067e+01, 2.60367431e+01,
 -3.07835924e-02,-2.92515391e-01, 5.72851580e+00,-1.96939062e+01,
  3.35964536e-01,-1.19352226e+00, 2.12350436e-01, 3.27911267e-01,
  2.61242845e+01,-6.19397690e+01]

qfrc_actuator:
[ 2.39955014e-03, 2.73650490e-02, 8.67746032e-03, 1.67342709e-03,
 -3.91352129e-05, 2.72553887e-02, 8.73879791e-03, 1.70582132e-03,
 -2.34673580e-03, 2.74361500e-02, 8.69356213e-03, 1.62865910e-03,
  0.00000000e+00,-1.38571392e-03, 0.00000000e+00,-7.91735439e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006253186310066564
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.87725849e-14, -8.87725849e-14,  1.00000000e+00,  7.88057182e-27,
        1.00000000e+00,  8.87725849e-14, -1.00000000e+00,  0.00000000e+00,
        8.87725849e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00085945, -0.0358546 ,  0.06194018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.34294297e-05,-1.63917676e-05,-5.04996945e-06,-3.31073152e-05,
 -5.18067139e-06,-1.12218181e-05,-1.61187113e-05, 1.20196279e-05,
  4.37506773e-05,-1.27803348e-05,-1.93688827e-05, 3.86113242e-05,
  3.21214761e-03,-4.69115900e-05,-5.88213185e-06,-9.68625147e-05,
  1.89636284e-06,-2.66299601e-06,-1.21644006e+00, 1.16456616e-05,
  7.63844182e-03, 1.78199246e-03]


--- Step 2798 ---
qpos:
[-2.50940614e-03, 8.65843247e-01,-2.37154610e-02, 4.16380022e-04,
 -2.93782250e-03, 8.61890570e-01,-2.71089098e-02, 3.15553634e-03,
 -1.22401097e-03, 8.70611997e-01,-1.93269908e-02,-2.13044021e-02,
  1.39623173e+00, 1.85534107e-02, 1.43042152e+00, 2.40081816e-02,
  4.09520692e-03,-5.76565661e-02, 8.05118857e-02, 7.04181020e-01,
 -4.89606531e-02,-7.06663524e-01,-4.85655090e-02]

qacc:
[ 1.13390710e-02,-4.09254632e+00, 1.24164794e+01,-1.28865764e+01,
  9.36056270e-02, 3.57570074e-01,-4.32516567e+00, 1.37991501e+01,
  6.19313038e-02,-3.40221889e+00, 1.02753432e+01,-9.15891860e+00,
 -1.21766539e-02,-6.16557397e-01, 1.06295871e-01,-7.17632070e-01,
  3.25354767e-01,-1.15849742e+00,-9.86447892e-02, 3.19771714e-01,
  2.53159762e+01,-6.00195750e+01]

qfrc_actuator:
[ 2.39024108e-03, 2.72641147e-02, 8.71037555e-03, 1.67174264e-03,
 -1.98082038e-05, 2.72178556e-02, 8.73693681e-03, 1.73176571e-03,
 -2.35647480e-03, 2.73879476e-02, 8.74002980e-03, 1.63455861e-03,
  0.00000000e+00,-1.45403853e-03, 0.00000000e+00,-7.93129654e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006229158149253303
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.91150135e-14, -1.78230027e-13,  1.00000000e+00,  1.58829712e-26,
        1.00000000e+00,  1.78230027e-13, -1.00000000e+00,  0.00000000e+00,
        8.91150135e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00085829, -0.03585228,  0.0619404 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.86003776e-06,-1.12575834e-04, 2.77542958e-05,-3.20846156e-06,
  1.68663577e-05,-4.66033230e-05,-5.75275148e-06, 2.51373545e-05,
  1.12045616e-05,-5.76766273e-05, 4.27844209e-05, 5.43442732e-06,
  3.22001501e-03,-9.13590928e-05,-1.53211546e-05,-7.94513362e-06,
  3.35564644e-07, 1.02328235e-06,-1.21644027e+00, 1.17051333e-05,
  7.63861192e-03, 1.78204327e-03]


--- Step 2799 ---
qpos:
[-2.50961430e-03, 8.65842451e-01,-2.37144973e-02, 4.17049437e-04,
 -2.93817136e-03, 8.61887925e-01,-2.71066587e-02, 3.15773784e-03,
 -1.22348123e-03, 8.70610378e-01,-1.93263277e-02,-2.13050408e-02,
  1.39623084e+00, 1.85529304e-02, 1.43048512e+00, 2.40087318e-02,
  4.09724574e-03,-5.76679206e-02, 8.05100360e-02, 7.04230703e-01,
 -4.87441100e-02,-7.06614588e-01,-4.87745032e-02]

qacc:
[-1.23282180e-01,-1.42347143e-01, 9.93509809e-02,-5.06347104e-01,
  1.09754006e-01,-1.61209626e+00, 2.93118973e+00, 2.41342595e+00,
 -1.01004102e-01,-2.73747701e+00, 1.27005132e+01,-2.84488509e+01,
  2.49114379e-02,-5.26856512e-01,-1.19341509e+01, 4.05291720e+01,
  3.16485007e-01,-1.12940498e+00,-3.60397024e-01, 3.08644688e-01,
  2.46471152e+01,-5.84345160e+01]

qfrc_actuator:
[ 2.36688036e-03, 2.72754165e-02, 8.71135872e-03, 1.67043559e-03,
 -8.09591888e-06, 2.71608258e-02, 8.75280663e-03, 1.74625662e-03,
 -2.38043040e-03, 2.73421337e-02, 8.73157250e-03, 1.58464944e-03,
  0.00000000e+00,-1.47680874e-03, 0.00000000e+00,-5.97373946e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006150176266033758
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.02594476e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.02594476e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00085461, -0.03584437,  0.06194114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24877172e-05,-4.60522308e-05,-1.89650487e-05,-5.23341399e-06,
  1.97127694e-05,-8.31707998e-05, 6.40376505e-06, 1.27816877e-05,
 -1.86006395e-05,-6.89727762e-05,-1.49062572e-05,-5.07915866e-05,
  3.24859935e-03,-7.30178263e-05,-9.60702410e-06, 1.93008344e-04,
  3.63634958e-08, 9.21631134e-08,-1.21644167e+00, 7.27251982e-06,
  7.63892322e-03, 1.78222855e-03]


--- Step 2800 ---
qpos:
[-2.51007897e-03, 8.65841639e-01,-2.37142785e-02, 4.18045430e-04,
 -2.93834801e-03, 8.61885302e-01,-2.71050182e-02, 3.15868599e-03,
 -1.22338043e-03, 8.70609261e-01,-1.93265213e-02,-2.13059928e-02,
  1.39622970e+00, 1.85524861e-02, 1.43054850e+00, 2.40125963e-02,
  4.10167013e-03,-5.76778061e-02, 8.05132266e-02, 7.04324815e-01,
 -4.85590155e-02,-7.06521176e-01,-4.89530973e-02]

qacc:
[ -0.13492819,  2.731048  ,-11.14804638, 18.0055318 ,  0.09023092,
  -0.84400786,  8.34418017,-29.07661919, -0.22470701,  2.41136373,
  -6.3154747 ,  1.90107205,  0.06087374, -0.10240951,-10.37884398,
  35.79911348,  0.59639147,  0.36723696,  1.26006782, -0.33478252,
  29.84951081, 23.98277299]

qfrc_actuator:
[ 2.35308831e-03, 2.72827098e-02, 8.67614111e-03, 1.68716626e-03,
 -1.05338939e-06, 2.71813864e-02, 8.72565465e-03, 1.68286954e-03,
 -2.41265203e-03, 2.74221105e-02, 8.70844506e-03, 1.57326809e-03,
  0.00000000e+00,-1.43670071e-03, 0.00000000e+00,-4.29083905e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006085174809343523
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.41782372e-07, -9.59451270e-14,  1.00000000e+00,  5.19813784e-20,
        1.00000000e+00,  9.59451270e-14, -1.00000000e+00,  0.00000000e+00,
        5.41782372e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00330391, -0.06220234,  0.06194173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.45194806e-05,-2.25912892e-05,-4.72484075e-05, 1.39987607e-05,
  1.63897344e-05,-2.40317764e-05,-4.30979399e-05,-6.64825473e-05,
 -4.11374188e-05, 3.61888505e-05,-4.09565431e-05,-1.58362491e-05,
  3.28643160e-03,-6.21242096e-06, 1.57703645e-05, 1.77556969e-04,
  8.92123359e-07,-5.07027556e-06,-1.21644418e+00,-1.39609870e-06,
  7.63936060e-03, 1.78254099e-03]


--- Step 2801 ---
qpos:
[-2.51037725e-03, 8.65839942e-01,-2.37138558e-02, 4.19280606e-04,
 -2.93821252e-03, 8.61883393e-01,-2.71046172e-02, 3.15778559e-03,
 -1.22386945e-03, 8.70608803e-01,-1.93269170e-02,-2.13071413e-02,
  1.39622874e+00, 1.85521514e-02, 1.43061216e+00, 2.40164466e-02,
  4.10854382e-03,-5.76860941e-02, 8.05199379e-02, 7.04464130e-01,
 -4.84080339e-02,-7.06382521e-01,-4.90987327e-02]

qacc:
[  0.08768301, -1.24659809,  1.73822315,  2.72464132,  0.16324025,
   0.59955486,  7.03299054,-37.5666026 , -0.30835086,  1.02967769,
  -1.58113579, -1.97664013,  0.07131087,  0.04200345,  0.46347278,
  -1.01484245,  0.61232817,  0.39938714,  0.88017223, -0.3801346 ,
  30.26619322, 25.86245204]

qfrc_actuator:
[ 2.38065811e-03, 2.71986570e-02, 8.67312261e-03, 1.69661031e-03,
  2.08920878e-05, 2.72480160e-02, 8.67356825e-03, 1.59195215e-03,
 -2.44952060e-03, 2.74879948e-02, 8.71291273e-03, 1.56700799e-03,
  0.00000000e+00,-1.41247972e-03, 0.00000000e+00,-4.38160079e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006060231499356347
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.01826438e-09,  6.01814809e-09,  1.00000000e+00, -3.62188063e-17,
        1.00000000e+00, -6.01814809e-09, -1.00000000e+00,  0.00000000e+00,
        6.01826438e-09])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00407856, -0.06293515,  0.06194197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.58769962e-05,-1.05830057e-04,-1.30171132e-05, 7.11334064e-06,
  2.97243453e-05, 4.14931183e-05,-6.46546693e-05,-9.47328758e-05,
 -5.65613416e-05, 7.70085554e-05, 6.36035812e-06,-6.43251667e-06,
  3.29943436e-03, 1.62317422e-05, 2.52638995e-05, 2.44191311e-06,
  8.28969066e-06,-1.90716088e-05,-1.21644352e+00,-7.80598701e-06,
  7.63906871e-03, 1.78280895e-03]


--- Step 2802 ---
qpos:
[-2.51023732e-03, 8.65838044e-01,-2.37136760e-02, 4.19526525e-04,
 -2.93779290e-03, 8.61881430e-01,-2.71041350e-02, 3.15649997e-03,
 -1.22412546e-03, 8.70608901e-01,-1.93275670e-02,-2.13079947e-02,
  1.39622850e+00, 1.85520200e-02, 1.43067646e+00, 2.40158377e-02,
  4.11784253e-03,-5.76927902e-02, 8.05290127e-02, 7.04647960e-01,
 -4.82910775e-02,-7.06199301e-01,-4.92114958e-02]

qacc:
[  0.22962046, -1.6224525 ,  9.57616206,-26.16111047,  0.14968482,
  -1.09142199,  5.41332516,-12.1709512 ,  0.12133542,  2.05325197,
  -7.49676182, 12.59596607,  0.05195795,  0.24615348, 14.4635154 ,
 -49.19321982,  0.60625301,  0.39798618,  0.59089728, -0.39118373,
  29.78912396, 25.7676462 ]

qfrc_actuator:
[ 2.41497211e-03, 2.72204460e-02, 8.67102003e-03, 1.64838127e-03,
  3.38178973e-05, 2.72350709e-02, 8.67840503e-03, 1.57437627e-03,
 -2.40008171e-03, 2.75095612e-02, 8.69812025e-03, 1.58158185e-03,
  0.00000000e+00,-1.38012642e-03, 0.00000000e+00,-6.75921549e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005986094777658685
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.27334987e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.27334987e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00426399, -0.06310807,  0.06194267])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.18749623e-05,-3.97352877e-05,-2.53092483e-05,-5.30746869e-05,
  2.70434462e-05,-7.10654239e-06, 2.17405269e-06,-1.98769992e-05,
  2.23670338e-05, 6.56737339e-05, 1.68097057e-06, 1.79692872e-05,
  3.28979461e-03, 4.31214608e-05, 9.60219497e-06,-2.34930288e-04,
  2.33571532e-05,-2.85771013e-05,-1.21644320e+00,-1.23784811e-05,
  7.63874286e-03, 1.78303007e-03]


--- Step 2803 ---
qpos:
[-2.51023354e-03, 8.65835923e-01,-2.37135994e-02, 4.19530622e-04,
 -2.93734683e-03, 8.61878799e-01,-2.71030784e-02, 3.15574890e-03,
 -1.22396089e-03, 8.70608835e-01,-1.93278227e-02,-2.13079280e-02,
  1.39622881e+00, 1.85520652e-02, 1.43074094e+00, 2.40114073e-02,
  4.12162490e-03,-5.76974142e-02, 8.05326168e-02, 7.04725275e-01,
 -4.82090141e-02,-7.06122490e-01,-4.92869859e-02]

qacc:
[-7.13889653e-02,-5.04624732e-01, 2.39140286e+00,-6.24725011e+00,
  1.45621945e-02,-1.38391090e+00, 1.40019595e+00, 7.42123823e+00,
  2.19958194e-01, 5.78166270e-01,-6.25270668e+00, 2.16543772e+01,
  1.19836528e-02, 2.26280318e-01, 1.18606545e+01,-4.10623247e+01,
 -1.37908443e+00, 5.17995064e-01,-1.36770972e+00, 9.13906788e-01,
 -7.68601752e+01, 2.02625942e+01]

qfrc_actuator:
[ 2.38198370e-03, 2.72166461e-02, 8.66983233e-03, 1.63769167e-03,
  2.34824258e-05, 2.71748641e-02, 8.69881808e-03, 1.60008138e-03,
 -2.37045578e-03, 2.74688700e-02, 8.70740990e-03, 1.62599581e-03,
  0.00000000e+00,-1.37853651e-03, 0.00000000e+00,-8.68917318e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006097588629219164
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.10378751e-14, -2.27594688e-14,  1.00000000e+00,  2.07197368e-27,
        1.00000000e+00,  2.27594688e-14, -1.00000000e+00,  0.00000000e+00,
        9.10378751e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05009338, -0.06982074,  0.06194165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30207344e-05,-3.34717657e-05,-1.43369143e-05,-1.42992528e-05,
  2.50153473e-06,-6.45345979e-05, 1.85386166e-05, 2.50928379e-05,
  4.03418686e-05,-2.84541642e-06, 2.36865845e-05, 4.76353622e-05,
  3.25367180e-03, 3.45638150e-05,-2.34028879e-05,-2.05275836e-04,
  4.56385373e-05,-3.31059616e-05,-1.21644330e+00,-1.51126931e-05,
  7.63840766e-03, 1.78320130e-03]


--- Step 2804 ---
qpos:
[-2.51068646e-03, 8.65832829e-01,-2.37132502e-02, 4.20167806e-04,
 -2.93714199e-03, 8.61875943e-01,-2.71022068e-02, 3.15565337e-03,
 -1.22359805e-03, 8.70608565e-01,-1.93272927e-02,-2.13076963e-02,
  1.39622873e+00, 1.85515479e-02, 1.43080508e+00, 2.40066868e-02,
  4.12010626e-03,-5.77000391e-02, 8.05294613e-02, 7.04700236e-01,
 -4.81604340e-02,-7.06148024e-01,-4.93266484e-02]

qacc:
[-2.38891515e-01,-7.42451138e-01,-1.88864144e+00, 1.31225380e+01,
 -1.27045949e-01, 1.56596438e+00,-8.78533588e+00, 2.05944468e+01,
  1.04099899e-01,-2.12605113e+00, 6.49300714e+00,-4.74779742e+00,
 -1.11673043e-04,-4.27591593e-01, 3.64562394e-01,-2.03425163e+00,
 -1.32525477e+00, 4.99779616e-01,-1.68987951e+00, 9.05945958e-01,
 -7.38878684e+01, 1.94566667e+01]

qfrc_actuator:
[ 2.34451821e-03, 2.71265857e-02, 8.66915104e-03, 1.66692662e-03,
 -6.65789045e-07, 2.71756977e-02, 8.69254611e-03, 1.63323678e-03,
 -2.37075103e-03, 2.74623324e-02, 8.74835476e-03, 1.63431274e-03,
  0.00000000e+00,-1.46646972e-03, 0.00000000e+00,-8.74133921e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006186534211986283
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.97289974e-14,  1.12161247e-13,  1.00000000e+00, -1.00641162e-26,
        1.00000000e+00, -1.12161247e-13, -1.00000000e+00,  0.00000000e+00,
        8.97289974e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05007684, -0.06981514,  0.06194083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.36736164e-05,-1.12302608e-04,-9.83930650e-06, 2.70298538e-05,
 -2.29692875e-05,-3.02929355e-05,-1.64337420e-05, 3.15244819e-05,
  1.90174936e-05,-1.18898239e-06, 4.49255453e-05, 9.94227770e-06,
  3.22634558e-03,-6.21826980e-05,-3.37264157e-05,-1.97042174e-05,
  7.29013517e-06,-8.50248110e-06,-1.21644121e+00,-1.17345385e-05,
  7.63826853e-03, 1.78297379e-03]


--- Step 2805 ---
qpos:
[-2.51121633e-03, 8.65829914e-01,-2.37133559e-02, 4.20707252e-04,
 -2.93701680e-03, 8.61873196e-01,-2.71018576e-02, 3.15593600e-03,
 -1.22296011e-03, 8.70609110e-01,-1.93263757e-02,-2.13081621e-02,
  1.39622845e+00, 1.85509383e-02, 1.43086887e+00, 2.40032259e-02,
  4.11346822e-03,-5.77007264e-02, 8.05184541e-02, 7.04576278e-01,
 -4.81441621e-02,-7.06272463e-01,-4.93316912e-02]

qacc:
[-4.07004803e-02, 1.30508254e+00,-3.89844949e+00, 2.80419706e+00,
 -4.22960658e-02, 2.38015513e+00,-9.87534463e+00, 1.71783723e+01,
  1.43579461e-01,-1.43999379e+00, 9.63583196e+00,-2.29111840e+01,
  1.70702787e-02,-1.21590170e-01,-4.35325149e+00, 1.44398370e+01,
 -1.27984878e+00, 4.84410734e-01,-1.96290887e+00, 8.96903484e-01,
 -7.14060462e+01, 1.87840695e+01]

qfrc_actuator:
[ 2.35799937e-03, 2.71986390e-02, 8.66843902e-03, 1.66608024e-03,
  2.66072076e-06, 2.71952288e-02, 8.67079256e-03, 1.65277490e-03,
 -2.35343965e-03, 2.75651565e-02, 8.78999075e-03, 1.60360603e-03,
  0.00000000e+00,-1.44767470e-03, 0.00000000e+00,-8.04191039e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006195326568834494
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.96016548e-14, -1.34402482e-13,  1.00000000e+00,  1.20426848e-26,
        1.00000000e+00,  1.34402482e-13, -1.00000000e+00,  0.00000000e+00,
        8.96016548e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05007515, -0.06981438,  0.06194075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.35200855e-06, 8.44677590e-06,-2.41613240e-05,-5.46758990e-06,
 -7.58104123e-06, 6.07270055e-07,-2.89273093e-05, 1.82887904e-05,
  2.64153077e-05, 1.11867843e-04, 4.72662922e-05,-2.90102620e-05,
  3.24540770e-03,-1.52416278e-05,-1.81018976e-05, 6.44620018e-05,
  1.49026105e-06, 2.15884378e-06,-1.21644044e+00,-9.80221358e-06,
  7.63820135e-03, 1.78276434e-03]


--- Step 2806 ---
qpos:
[-2.51132439e-03, 8.65828534e-01,-2.37141447e-02, 4.20034936e-04,
 -2.93672205e-03, 8.61870761e-01,-2.71018722e-02, 3.15572231e-03,
 -1.22171656e-03, 8.70611205e-01,-1.93264829e-02,-2.13086448e-02,
  1.39622852e+00, 1.85510188e-02, 1.43093247e+00, 2.40009267e-02,
  4.10186524e-03,-5.76995283e-02, 8.04986704e-02, 7.04356213e-01,
 -4.81592208e-02,-7.06492900e-01,-4.93031209e-02]

qacc:
[ 2.20119198e-01, 1.44095532e+00, 2.91861270e+00,-2.39230290e+01,
  8.89363390e-02, 4.07019491e-01, 1.24254580e+00,-9.47943206e+00,
  3.15056798e-01, 4.87335984e+00,-1.43346257e+01, 1.45437203e+01,
  1.47569256e-02, 4.80604714e-01,-3.76952409e+00, 1.28333743e+01,
 -1.24123439e+00, 4.71361344e-01,-2.19415081e+00, 8.86927183e-01,
 -6.93391704e+01, 1.82241309e+01]

qfrc_actuator:
[ 2.40185144e-03, 2.73671979e-02, 8.66832695e-03, 1.61215737e-03,
  2.24069742e-05, 2.72257335e-02, 8.65791422e-03, 1.62865257e-03,
 -2.30796779e-03, 2.76616486e-02, 8.74336288e-03, 1.60353938e-03,
  0.00000000e+00,-1.36508799e-03, 0.00000000e+00,-7.43844082e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006139849303430783
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.04112601e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.04112601e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05008525, -0.06981745,  0.06194124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.03538468e-05, 1.68127321e-04,-1.51016797e-06,-5.44997520e-05,
  1.61477041e-05, 2.57151815e-05,-1.56653897e-05,-2.47382093e-05,
  5.81336407e-05, 1.67550578e-04,-1.87170794e-05, 5.79138642e-06,
  3.25554496e-03, 7.19809948e-05,-1.58075526e-06, 6.15386441e-05,
  2.48260025e-05, 3.74577103e-07,-1.21644083e+00,-9.07512353e-06,
  7.63820163e-03, 1.78256336e-03]


--- Step 2807 ---
qpos:
[-2.51132964e-03, 8.65828536e-01,-2.37156260e-02, 4.19430720e-04,
 -2.93641113e-03, 8.61868601e-01,-2.71020971e-02, 3.15556044e-03,
 -1.22009237e-03, 8.70613926e-01,-1.93273641e-02,-2.13090222e-02,
  1.39622861e+00, 1.85514752e-02, 1.43099589e+00, 2.40006998e-02,
  4.09311624e-03,-5.76963414e-02, 8.04879083e-02, 7.04187668e-01,
 -4.82133940e-02,-7.06661813e-01,-4.92369644e-02]

qacc:
[ 5.29919886e-02, 3.89795673e+00,-1.15390701e+01, 1.28132830e+01,
  8.27998714e-03, 1.05661475e+00,-3.45962544e+00, 4.49179729e+00,
  1.98059711e-01, 3.20479932e+00,-1.06707686e+01, 1.32681479e+01,
  1.13898112e-03, 2.28040970e-01,-6.55660068e+00, 2.25318320e+01,
  7.13494999e-01, 4.97192409e-01, 2.25539232e+00,-5.27563632e-01,
  3.44752715e+01, 2.95647324e+01]

qfrc_actuator:
[ 2.39244757e-03, 2.74324589e-02, 8.63347991e-03, 1.61630490e-03,
  1.62824464e-05, 2.72448227e-02, 8.65041132e-03, 1.63231507e-03,
 -2.29929810e-03, 2.76290131e-02, 8.68053837e-03, 1.60370260e-03,
  0.00000000e+00,-1.36924013e-03, 0.00000000e+00,-6.36402792e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006264352522563493
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.86143477e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.86143477e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0042437 , -0.0631024 ,  0.06194003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.86317312e-06, 1.56673246e-04,-2.17815759e-06, 1.02401900e-05,
  1.54452653e-06, 2.92342295e-05,-4.95889827e-06, 3.74415953e-06,
  3.65266951e-05, 5.73990824e-05,-3.03420407e-05, 6.79814969e-06,
  3.23797247e-03, 3.33362726e-05, 5.88305201e-06, 1.10596891e-04,
  7.47154566e-05,-1.27179678e-05,-1.21644222e+00,-9.37275353e-06,
  7.63826405e-03, 1.78236386e-03]


--- Step 2808 ---
qpos:
[-2.51190259e-03, 8.65829392e-01,-2.37179145e-02, 4.19648023e-04,
 -2.93594603e-03, 8.61866573e-01,-2.71021293e-02, 3.15612440e-03,
 -1.21879584e-03, 8.70616562e-01,-1.93283953e-02,-2.13089994e-02,
  1.39622858e+00, 1.85521152e-02, 1.43105920e+00, 2.40027659e-02,
  4.08709825e-03,-5.76912774e-02, 8.04841602e-02, 7.04068464e-01,
 -4.83050944e-02,-7.06781435e-01,-4.91347092e-02]

qacc:
[-2.98410233e-01, 5.07196665e+00,-1.99171638e+01, 3.48021027e+01,
  8.13183429e-02, 1.12982256e+00,-6.83970265e+00, 1.89976623e+01,
 -1.71138983e-01, 1.13280486e+00,-5.88656506e+00, 1.31092847e+01,
  3.22678281e-03, 7.68106416e-02,-7.12408124e+00, 2.46594818e+01,
  6.82753315e-01, 4.69272497e-01, 1.75351504e+00,-4.82406200e-01,
  3.29946728e+01, 2.83726222e+01]

qfrc_actuator:
[ 2.33348775e-03, 2.74352806e-02, 8.57807440e-03, 1.65449951e-03,
  3.02263032e-05, 2.72569751e-02, 8.66387836e-03, 1.67005149e-03,
 -2.34823224e-03, 2.75902157e-02, 8.66141306e-03, 1.62164105e-03,
  0.00000000e+00,-1.37213948e-03, 0.00000000e+00,-5.19832655e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006401498576547524
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.67158691e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.67158691e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00423388, -0.06309911,  0.06193874])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.42366050e-05, 9.04330405e-05,-2.29490590e-05, 4.50329881e-05,
  1.46806494e-05, 2.76897077e-05, 1.90423865e-05, 3.88938688e-05,
 -3.14341745e-05,-1.27252769e-05,-1.07868441e-05, 1.94755111e-05,
  3.23661621e-03, 1.16468415e-05, 1.40061873e-05, 1.23254455e-04,
  4.12408361e-05,-1.80356329e-05,-1.21644103e+00,-1.01797859e-05,
  7.63822917e-03, 1.78246487e-03]


--- Step 2809 ---
qpos:
[-2.51292473e-03, 8.65831169e-01,-2.37205343e-02, 4.18898868e-04,
 -2.93494990e-03, 8.61865136e-01,-2.71018780e-02, 3.15637927e-03,
 -1.21815069e-03, 8.70619282e-01,-1.93291453e-02,-2.13088133e-02,
  1.39622790e+00, 1.85520001e-02, 1.43112252e+00, 2.40065628e-02,
  4.08370884e-03,-5.76844268e-02, 8.04857336e-02, 7.03996772e-01,
 -4.84330001e-02,-7.06853610e-01,-4.89975902e-02]

qacc:
[-2.36088645e-01, 1.54747574e-01, 5.29618215e+00,-2.21697823e+01,
  2.79626128e-01,-6.47874479e-01, 4.74751565e+00,-1.09853206e+01,
 -3.39981280e-01,-3.38035285e-01, 6.77891111e-01, 1.63570196e+00,
  2.68352368e-02,-6.34326000e-01,-5.23077306e+00, 1.82904080e+01,
  6.57144500e-01, 4.46624498e-01, 1.33039436e+00,-4.43011483e-01,
  3.17619287e+01, 2.73810908e+01]

qfrc_actuator:
[ 2.31643430e-03, 2.74893772e-02, 8.56398341e-03, 1.60582592e-03,
  7.38193308e-05, 2.73182562e-02, 8.68960854e-03, 1.65652700e-03,
 -2.39566737e-03, 2.76191912e-02, 8.68594569e-03, 1.63215483e-03,
  0.00000000e+00,-1.46300842e-03, 0.00000000e+00,-4.34340259e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000645032266639825
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72118990e-13, -1.72118990e-13,  1.00000000e+00,  2.96249468e-26,
        1.00000000e+00,  1.72118990e-13, -1.00000000e+00,  0.00000000e+00,
        1.72118990e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00423044, -0.06309826,  0.06193828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.29048058e-05, 1.01846378e-04, 3.32955526e-06,-4.47146648e-05,
  5.05644738e-05, 8.24132146e-05, 3.51565152e-05,-1.09200795e-05,
 -6.24817320e-05, 2.04105763e-05, 2.12385495e-05, 9.97310941e-06,
  3.24243028e-03,-8.84045780e-05, 1.85052929e-05, 9.37784726e-05,
  1.84248342e-05,-1.72200550e-05,-1.21644041e+00,-8.72438620e-06,
  7.63820508e-03, 1.78249986e-03]


--- Step 2810 ---
qpos:
[-2.51407532e-03, 8.65833922e-01,-2.37231086e-02, 4.17539112e-04,
 -2.93343445e-03, 8.61864464e-01,-2.71016360e-02, 3.15543143e-03,
 -1.21792759e-03, 8.70621990e-01,-1.93292394e-02,-2.13092078e-02,
  1.39622712e+00, 1.85505112e-02, 1.43118682e+00, 2.40040066e-02,
  4.08286331e-03,-5.76758629e-02, 8.04912062e-02, 7.03971063e-01,
 -4.85960145e-02,-7.06879855e-01,-4.88266257e-02]

qacc:
[-6.76930256e-02,-9.66410022e-02, 4.79033831e+00,-1.61466948e+01,
  2.73149797e-01,-1.43766892e+00, 1.16708199e+01,-3.30351487e+01,
 -2.19993097e-01,-3.04357273e+00, 1.32766345e+01,-2.43584363e+01,
  6.30720924e-02,-9.03047790e-01, 2.06728810e+01,-7.02589460e+01,
  6.35969219e-01, 4.28353231e-01, 9.74768833e-01,-4.07991138e-01,
  3.07391251e+01, 2.65607324e+01]

qfrc_actuator:
[ 2.32463323e-03, 2.75560757e-02, 8.57452819e-03, 1.57750130e-03,
  9.92580698e-05, 2.73552454e-02, 8.68702326e-03, 1.59523790e-03,
 -2.40624304e-03, 2.76176856e-02, 8.71854916e-03, 1.60278534e-03,
  0.00000000e+00,-1.53478328e-03, 0.00000000e+00,-7.76159878e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006428419520231876
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.63527202e-14, -2.59058161e-13,  1.00000000e+00,  2.23703769e-26,
        1.00000000e+00,  2.59058161e-13, -1.00000000e+00,  0.00000000e+00,
        8.63527202e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00423207, -0.06309935,  0.06193849])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.22481683e-05, 1.22397749e-04, 3.04509142e-05,-2.47138008e-05,
  4.94513380e-05, 8.99038678e-05, 1.83972094e-05,-5.67537397e-05,
 -4.04828229e-05, 1.46557337e-05, 3.97656451e-05,-2.75688221e-05,
  3.27500043e-03,-1.22410629e-04, 1.58602483e-05,-3.34897701e-04,
  4.99040225e-06,-1.09486502e-05,-1.21644029e+00,-5.21351723e-06,
  7.63818461e-03, 1.78247602e-03]


--- Step 2811 ---
qpos:
[-2.51541573e-03, 8.65837092e-01,-2.37250945e-02, 4.16920073e-04,
 -2.93189475e-03, 8.61864383e-01,-2.71013861e-02, 3.15412349e-03,
 -1.21778575e-03, 8.70624251e-01,-1.93286985e-02,-2.13098931e-02,
  1.39622673e+00, 1.85487806e-02, 1.43125130e+00, 2.39967489e-02,
  4.08449214e-03,-5.76656442e-02, 8.04993857e-02, 7.03990060e-01,
 -4.87932330e-02,-7.06861410e-01,-4.86226487e-02]

qacc:
[-9.92528105e-02, 4.32881019e-01,-3.86926437e+00, 1.54400381e+01,
  1.25503241e-02, 1.70129693e-02, 2.59208436e+00,-9.27124807e+00,
 -4.18866532e-02,-2.96497933e+00, 1.09375223e+01,-1.66513150e+01,
  5.51065753e-02,-9.86350506e-02, 1.45020545e+01,-5.03481535e+01,
  6.18591570e-01, 4.13705051e-01, 6.76746412e-01,-3.76204724e-01,
  2.98939515e+01, 2.58862922e+01]

qfrc_actuator:
[ 2.31233726e-03, 2.75589039e-02, 8.59961011e-03, 1.61467468e-03,
  7.80982876e-05, 2.73772485e-02, 8.68538097e-03, 1.57731785e-03,
 -2.39467182e-03, 2.75624477e-02, 8.73775537e-03, 1.58566989e-03,
  0.00000000e+00,-1.48766527e-03, 0.00000000e+00,-1.01192264e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006350554806202058
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.74114986e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.74114986e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00423772, -0.063102  ,  0.06193923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.81250429e-05, 7.64589652e-05, 5.32587996e-05, 4.29915157e-05,
  2.32616076e-06, 7.36653029e-05, 1.72317570e-05,-1.45353511e-05,
 -7.80360870e-06,-4.00776656e-05, 2.61582640e-05,-1.56515297e-05,
  3.28022514e-03,-6.56323365e-06,-3.40913816e-05,-2.53305846e-04,
 -3.65968006e-08, 2.71205159e-07,-1.21644062e+00, 1.95255680e-07,
  7.63816153e-03, 1.78239892e-03]


--- Step 2812 ---
qpos:
[-2.51635956e-03, 8.65839695e-01,-2.37259748e-02, 4.17188310e-04,
 -2.93048354e-03, 8.61864770e-01,-2.71005294e-02, 3.15223958e-03,
 -1.21761030e-03, 8.70625575e-01,-1.93276241e-02,-2.13107068e-02,
  1.39622607e+00, 1.85469493e-02, 1.43131504e+00, 2.39913744e-02,
  4.08846116e-03,-5.76545283e-02, 8.05101013e-02, 7.04052196e-01,
 -4.90100670e-02,-7.06799808e-01,-4.83999001e-02]

qacc:
[ 2.08858591e-01,-2.00938274e+00, 2.33490360e+00, 1.16660061e+01,
 -6.74843551e-02,-2.25972629e+00, 1.13884056e+01,-2.26744449e+01,
  1.81950524e-02,-2.99190255e+00, 9.41397450e+00,-1.18017963e+01,
  4.31069219e-02,-1.69939362e-01,-6.79986448e+00, 2.21836147e+01,
  5.85046867e-01, 2.24296351e-01, 6.34018212e-01,-2.66876760e-01,
  2.95030454e+01, 1.56418745e+01]

qfrc_actuator:
[ 2.35886763e-03, 2.74703193e-02, 8.63285325e-03, 1.65453453e-03,
  6.47719831e-05, 2.74078810e-02, 8.71979611e-03, 1.54955242e-03,
 -2.38773708e-03, 2.74754115e-02, 8.74868166e-03, 1.57584917e-03,
  0.00000000e+00,-1.51181502e-03, 0.00000000e+00,-8.99119488e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006229487698360562
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.38942229e-07,  4.38942140e-07,  1.00000000e+00, -1.92670241e-13,
        1.00000000e+00, -4.38942140e-07, -1.00000000e+00, -2.52435490e-29,
        4.38942229e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00366375, -0.0599933 ,  0.06194037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.78907138e-05,-3.30469775e-05, 5.70766863e-05, 4.58148806e-05,
 -1.22130803e-05, 7.47628078e-05, 5.12495781e-05,-2.42945684e-05,
  3.19858808e-06,-1.04771651e-04, 5.30956151e-06,-1.09391132e-05,
  3.25993859e-03,-1.85728501e-05,-4.39364415e-05, 9.42979085e-05,
  2.60487946e-06, 1.60636554e-05,-1.21644136e+00, 7.38292837e-06,
  7.63813008e-03, 1.78227297e-03]


--- Step 2813 ---
qpos:
[-2.51607796e-03, 8.65842631e-01,-2.37272191e-02, 4.17229100e-04,
 -2.92903588e-03, 8.61865526e-01,-2.70994730e-02, 3.15007874e-03,
 -1.21700623e-03, 8.70626304e-01,-1.93270567e-02,-2.13116023e-02,
  1.39622571e+00, 1.85457093e-02, 1.43137851e+00, 2.39873113e-02,
  4.09379104e-03,-5.76481253e-02, 8.05212033e-02, 7.04144815e-01,
 -4.91374096e-02,-7.06707885e-01,-4.82655155e-02]

qacc:
[ 6.42126547e-01, 9.87617429e-01,-1.92468482e+00,-1.67192197e+00,
  1.91745250e-02,-6.41138897e-01, 4.16183705e+00,-9.54607987e+00,
  2.23704214e-01, 4.61159540e-01,-2.44136202e+00, 2.27562109e+00,
  4.64697936e-02, 3.78039050e-01,-4.37615255e+00, 1.47270725e+01,
  3.40213990e-01,-1.17823324e+00, 9.65750808e-02, 2.88760329e-01,
  2.57771173e+01,-6.12520082e+01]

qfrc_actuator:
[ 2.45793597e-03, 2.75052303e-02, 8.61698256e-03, 1.64230552e-03,
  7.40414420e-05, 2.74080721e-02, 8.72198590e-03, 1.53399230e-03,
 -2.34816131e-03, 2.74409745e-02, 8.71898235e-03, 1.57035933e-03,
  0.00000000e+00,-1.43674877e-03, 0.00000000e+00,-8.30417674e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006254469035732318
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.77508757e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.77508757e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00085565, -0.03585956,  0.06194017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17125594e-04, 3.01337037e-05,-1.40921084e-05,-1.07808462e-05,
  3.48082244e-06, 5.15255406e-05, 2.30969888e-05,-1.10553266e-05,
  4.10979544e-05,-9.24322807e-05,-5.10785143e-05,-1.00068612e-05,
  3.27374617e-03, 6.15766587e-05,-8.76532728e-06, 6.85628044e-05,
  1.17979848e-05, 3.30726758e-05,-1.21644213e+00, 1.57426891e-05,
  7.63807723e-03, 1.78211966e-03]


--- Step 2814 ---
qpos:
[-2.51478489e-03, 8.65846310e-01,-2.37285618e-02, 4.16360714e-04,
 -2.92751889e-03, 8.61867029e-01,-2.70988604e-02, 3.14843513e-03,
 -1.21613966e-03, 8.70626428e-01,-1.93265781e-02,-2.13129296e-02,
  1.39622602e+00, 1.85456996e-02, 1.43144180e+00, 2.39847485e-02,
  4.10043670e-03,-5.76463059e-02, 8.05315275e-02, 7.04267086e-01,
 -4.91779163e-02,-7.06586541e-01,-4.82168466e-02]

qacc:
[ 5.29926800e-01,-6.16270034e-01, 7.45778844e+00,-2.35801456e+01,
  3.60002375e-02, 3.29037696e+00,-1.24835295e+01, 2.15990627e+01,
  1.37198286e-01,-1.44113123e+00, 5.79702646e+00,-1.26763325e+01,
  1.76212323e-02, 8.80070372e-01,-4.77554454e+00, 1.63917448e+01,
  3.28945015e-01,-1.14590341e+00,-1.94410435e-01, 3.02991077e-01,
  2.50378872e+01,-5.94234628e+01]

qfrc_actuator:
[ 2.49877643e-03, 2.75780606e-02, 8.62592898e-03, 1.59958300e-03,
  7.90021873e-05, 2.74609214e-02, 8.70500463e-03, 1.56119199e-03,
 -2.34266728e-03, 2.74203780e-02, 8.71899266e-03, 1.54972004e-03,
  0.00000000e+00,-1.33830998e-03, 0.00000000e+00,-7.52852928e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000621220093248033
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.93582674e-14, -1.78716535e-13,  1.00000000e+00,  1.59697999e-26,
        1.00000000e+00,  1.78716535e-13, -1.00000000e+00,  0.00000000e+00,
        8.93582674e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00085339, -0.03585514,  0.06194059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.66887105e-05, 8.62619717e-05, 1.30456203e-05,-4.21336633e-05,
  6.61924043e-06, 8.59349796e-05,-3.88789031e-06, 2.99916566e-05,
  2.51620697e-05,-8.32735404e-05,-2.57259759e-05,-2.65599891e-05,
  3.25882405e-03, 1.30484611e-04, 3.68253436e-06, 8.02720869e-05,
  1.80907172e-05, 2.22601058e-05,-1.21644088e+00, 1.86290288e-05,
  7.63807766e-03, 1.78210534e-03]


--- Step 2815 ---
qpos:
[-2.51332204e-03, 8.65849951e-01,-2.37289174e-02, 4.14666055e-04,
 -2.92613096e-03, 8.61869008e-01,-2.70983856e-02, 3.14748925e-03,
 -1.21567359e-03, 8.70626384e-01,-1.93268909e-02,-2.13145018e-02,
  1.39622658e+00, 1.85460379e-02, 1.43150522e+00, 2.39821279e-02,
  4.10836094e-03,-5.76489636e-02, 8.05400967e-02, 7.04418297e-01,
 -4.91337835e-02,-7.06436485e-01,-4.82517102e-02]

qacc:
[ 8.96071604e-02,-4.50560241e+00, 1.94836083e+01,-3.53388149e+01,
 -6.81923029e-02, 2.44691919e+00,-1.07610730e+01, 2.27108739e+01,
 -2.09571096e-01, 1.48487123e+00,-4.58304604e+00, 1.73529466e+00,
 -1.12125852e-02, 2.76102341e-01, 3.67499662e-01,-9.97389916e-01,
  3.19646327e-01,-1.11926455e+00,-4.38771007e-01, 3.12390785e-01,
  2.44286149e+01,-5.79135377e+01]

qfrc_actuator:
[ 2.46889871e-03, 2.75488314e-02, 8.66739819e-03, 1.55708971e-03,
  6.35776015e-05, 2.74738282e-02, 8.69483717e-03, 1.59561155e-03,
 -2.39313288e-03, 2.74260864e-02, 8.68335542e-03, 1.53812640e-03,
  0.00000000e+00,-1.36874407e-03, 0.00000000e+00,-7.59447063e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000611939784591925
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.07134209e-14, -9.07134209e-14,  1.00000000e+00,  8.22892473e-27,
        1.00000000e+00,  9.07134209e-14, -1.00000000e+00,  0.00000000e+00,
        9.07134209e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00084884, -0.0358456 ,  0.06194147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.62311568e-05, 1.98300223e-05, 5.94149004e-05,-3.91705373e-05,
 -1.22723470e-05, 6.14038803e-05, 8.12499073e-06, 3.85492461e-05,
 -3.84275442e-05,-4.73058976e-05,-5.69253931e-05,-1.65652327e-05,
  3.22452721e-03, 3.85564304e-05, 1.08657398e-05,-1.62994762e-06,
  2.53923408e-05, 7.38311680e-06,-1.21644082e+00, 1.71178084e-05,
  7.63820961e-03, 1.78222094e-03]


--- Step 2816 ---
qpos:
[-2.51178714e-03, 8.65852950e-01,-2.37281328e-02, 4.12543627e-04,
 -2.92527952e-03, 8.61871325e-01,-2.70984934e-02, 3.14666696e-03,
 -1.21571452e-03, 8.70626811e-01,-1.93285617e-02,-2.13162441e-02,
  1.39622711e+00, 1.85464169e-02, 1.43156865e+00, 2.39797985e-02,
  4.11753296e-03,-5.76560107e-02, 8.05460915e-02, 7.04597828e-01,
 -4.90068183e-02,-7.06258266e-01,-4.83683164e-02]

qacc:
[ 3.86957368e-02,-4.91325613e+00, 1.80935719e+01,-2.68522027e+01,
 -2.83017741e-01, 2.32756919e+00,-8.17272259e+00, 1.09968573e+01,
 -2.65756352e-01, 4.06537099e+00,-1.28744865e+01, 1.17573133e+01,
 -2.04672971e-02, 3.75091333e-02,-8.74316863e-01, 3.07213811e+00,
  3.11944337e-01,-1.09737266e+00,-6.43606063e-01, 3.17567094e-01,
  2.39294817e+01,-5.66732227e+01]

qfrc_actuator:
[ 2.46803770e-03, 2.74766015e-02, 8.70958233e-03, 1.53276737e-03,
  1.83398604e-05, 2.74627435e-02, 8.65312424e-03, 1.59847036e-03,
 -2.42335838e-03, 2.74828875e-02, 8.62706780e-03, 1.53194608e-03,
  0.00000000e+00,-1.38734872e-03, 0.00000000e+00,-7.44567922e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000598730901191169
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.27146922e-14, -9.27146922e-14,  1.00000000e+00,  8.59601415e-27,
        1.00000000e+00,  9.27146922e-14, -1.00000000e+00,  0.00000000e+00,
        9.27146922e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00084252, -0.03583209,  0.06194271])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.87367721e-06,-5.06302474e-05, 5.22195651e-05,-2.21818378e-05,
 -5.10565149e-05, 2.65289884e-05,-2.67139701e-05, 6.51870083e-06,
 -4.86288679e-05, 1.78856474e-05,-7.36368045e-05,-1.04944916e-05,
  3.21243880e-03, 2.55282815e-06, 3.38809554e-06, 1.58513625e-05,
  3.36484398e-05,-1.12903941e-05,-1.21644188e+00, 1.14433495e-05,
  7.63846843e-03, 1.78246180e-03]


--- Step 2817 ---
qpos:
[-2.51004428e-03, 8.65854671e-01,-2.37264687e-02, 4.10938437e-04,
 -2.92515459e-03, 8.61873934e-01,-2.70990488e-02, 3.14519230e-03,
 -1.21581373e-03, 8.70627269e-01,-1.93300040e-02,-2.13181017e-02,
  1.39622732e+00, 1.85461887e-02, 1.43163221e+00, 2.39766642e-02,
  4.12792708e-03,-5.76673755e-02, 8.05488262e-02, 7.04805142e-01,
 -4.87984993e-02,-7.06052292e-01,-4.85652091e-02]

qacc:
[ 1.10060041e-01,-3.07850772e+00, 6.34554164e+00, 2.13524782e+00,
 -3.83049037e-01, 2.93581366e-01, 2.26777141e+00,-1.30574353e+01,
 -3.03074226e-02,-8.34135713e-01, 3.51949997e+00,-5.89987033e+00,
 -1.03349373e-02,-4.30491246e-01, 2.62708220e+00,-8.92617899e+00,
  3.05523060e-01,-1.07940447e+00,-8.15008641e-01, 3.18943525e-01,
  2.35237291e+01,-5.56612950e+01]

qfrc_actuator:
[ 2.48461654e-03, 2.73614396e-02, 8.73389484e-03, 1.55478486e-03,
 -2.65741114e-05, 2.74727152e-02, 8.62848914e-03, 1.56493515e-03,
 -2.40566784e-03, 2.74987622e-02, 8.64803619e-03, 1.52903693e-03,
  0.00000000e+00,-1.45194543e-03, 0.00000000e+00,-7.88141370e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005825303219396533
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.14698649e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.14698649e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00083486, -0.03581559,  0.06194423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.98434515e-05,-1.33715114e-04, 1.94939854e-05, 2.12213702e-05,
 -6.91467148e-05, 1.95084764e-05,-2.22376345e-05,-3.31978613e-05,
 -5.58897231e-06, 1.02189264e-05, 1.52409606e-05,-4.89085756e-06,
  3.21368039e-03,-6.40743171e-05, 1.85941605e-06,-4.25803338e-05,
  4.28214861e-05,-3.35664323e-05,-1.21644403e+00, 1.78369408e-06,
  7.63884833e-03, 1.78282371e-03]


--- Step 2818 ---
qpos:
[-2.50847848e-03, 8.65855889e-01,-2.37250488e-02, 4.09934044e-04,
 -2.92546692e-03, 8.61876130e-01,-2.70993719e-02, 3.14406211e-03,
 -1.21582942e-03, 8.70627538e-01,-1.93299675e-02,-2.13203848e-02,
  1.39622690e+00, 1.85451736e-02, 1.43169561e+00, 2.39743784e-02,
  4.13251091e-03,-5.76815222e-02, 8.05431003e-02, 7.04907406e-01,
 -4.85296450e-02,-7.05950658e-01,-4.88271556e-02]

qacc:
[-9.27808715e-02, 1.25504516e+00,-7.97405099e+00, 1.91321505e+01,
 -2.29967401e-01,-4.85310566e-01,-5.15289980e-01, 6.40832098e+00,
  4.45798557e-02,-5.25791660e+00, 2.01763308e+01,-2.97590260e+01,
  1.58567881e-02,-6.32716585e-01,-2.81844989e+00, 9.47755773e+00,
 -1.45257090e+00,-6.95464286e-01,-2.11517165e+00,-1.66236669e+00,
 -7.07977346e+01,-4.93923172e+01]

qfrc_actuator:
[ 2.45823665e-03, 2.73634312e-02, 8.72953638e-03, 1.58607972e-03,
 -3.53839194e-05, 2.74242210e-02, 8.63195140e-03, 1.58130057e-03,
 -2.39497886e-03, 2.75080849e-02, 8.73206762e-03, 1.51035096e-03,
  0.00000000e+00,-1.50800045e-03, 0.00000000e+00,-7.41538172e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005968081873269221
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.86026775e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.86026775e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05360008, -0.04393045,  0.0619429 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.69390682e-05,-6.78968706e-05,-2.88642550e-05, 2.66514604e-05,
 -4.16302541e-05,-4.36646512e-05, 3.58915188e-06, 1.57853760e-05,
  8.01393767e-06, 1.79774553e-05, 8.78605589e-05,-1.78118695e-05,
  3.22996775e-03,-8.97508895e-05,-6.15255068e-06, 4.39828315e-05,
  5.28867626e-05,-5.93079450e-05,-1.21644722e+00,-1.17275749e-05,
  7.63934238e-03, 1.78330277e-03]


--- Step 2819 ---
qpos:
[-2.50716834e-03, 8.65857075e-01,-2.37239960e-02, 4.10295661e-04,
 -2.92566515e-03, 8.61877508e-01,-2.70991174e-02, 3.14282042e-03,
 -1.21610885e-03, 8.70627613e-01,-1.93285658e-02,-2.13228661e-02,
  1.39622645e+00, 1.85442396e-02, 1.43175887e+00, 2.39733212e-02,
  4.13135190e-03,-5.76935675e-02, 8.05331457e-02, 7.04899348e-01,
 -4.82972684e-02,-7.05959160e-01,-4.90504587e-02]

qacc:
[-1.34184012e-01, 3.79286913e+00,-1.93540152e+01, 4.36087271e+01,
  6.07385729e-02,-2.92284108e+00, 9.32361715e+00,-1.15783388e+01,
 -1.36798654e-01,-4.47982944e+00, 1.64338998e+01,-2.19016968e+01,
  3.82252249e-02, 1.36036412e-03,-3.94886606e+00, 1.34779833e+01,
 -1.43571002e+00, 5.25318204e-01,-1.05713559e+00, 7.95307930e-01,
 -7.95871567e+01, 2.11299058e+01]

qfrc_actuator:
[ 2.44188864e-03, 2.73999453e-02, 8.72649983e-03, 1.65815581e-03,
 -4.77725549e-06, 2.73589886e-02, 8.65177119e-03, 1.57361258e-03,
 -2.42411457e-03, 2.74959318e-02, 8.79933721e-03, 1.50030791e-03,
  0.00000000e+00,-1.45199214e-03, 0.00000000e+00,-6.77665856e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006219545282635935
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.33879123e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.33879123e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05007353, -0.06980816,  0.06194055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.44368676e-05,-6.31620537e-06,-1.97131558e-05, 6.86849412e-05,
  1.08392590e-05,-8.82845715e-05, 1.17779203e-05,-9.12750750e-06,
 -2.52972754e-05, 1.52795552e-05, 8.11899847e-05,-6.57682815e-06,
  3.26058416e-03, 5.63218147e-06, 1.12144264e-07, 6.51317742e-05,
  7.85487843e-06,-2.52991389e-05,-1.21644651e+00,-1.36870493e-05,
  7.63912536e-03, 1.78285262e-03]


--- Step 2820 ---
qpos:
[-2.50590091e-03, 8.65858140e-01,-2.37227292e-02, 4.11832966e-04,
 -2.92561627e-03, 8.61878391e-01,-2.70984348e-02, 3.14146502e-03,
 -1.21650878e-03, 8.70627482e-01,-1.93276999e-02,-2.13242781e-02,
  1.39622630e+00, 1.85438020e-02, 1.43182209e+00, 2.39730284e-02,
  4.12470832e-03,-5.77035888e-02, 8.05174687e-02, 7.04785767e-01,
 -4.80996319e-02,-7.06073073e-01,-4.92368109e-02]

qacc:
[-2.21534715e-02, 1.66366199e+00,-1.11243469e+01, 3.12176584e+01,
  1.30583043e-01,-2.08039765e+00, 6.95281639e+00,-9.24484026e+00,
 -6.31414496e-02, 3.42975740e+00,-1.71255545e+01, 3.66221313e+01,
  3.28295397e-02, 3.34371100e-01,-2.36036419e+00, 8.19750346e+00,
 -1.37114082e+00, 5.06033392e-01,-1.43064858e+00, 8.35721291e-01,
 -7.61436140e+01, 2.01524006e+01]

qfrc_actuator:
[ 2.44946181e-03, 2.74036467e-02, 8.74222970e-03, 1.71818984e-03,
  1.35975791e-05, 2.73552952e-02, 8.68096738e-03, 1.56956338e-03,
 -2.42357336e-03, 2.74354693e-02, 8.74955600e-03, 1.54865147e-03,
  0.00000000e+00,-1.40030961e-03, 0.00000000e+00,-6.39656720e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006367376302041788
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.35902863e-14,  4.35902863e-14,  1.00000000e+00, -1.90011306e-27,
        1.00000000e+00, -4.35902863e-14, -1.00000000e+00,  0.00000000e+00,
        4.35902863e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05004535, -0.06979852,  0.06193915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.08410937e-06,-1.00231993e-06, 1.43551932e-05, 6.04144345e-05,
  2.35092940e-05,-5.10504224e-05, 1.20872444e-05,-7.60190752e-06,
 -1.15688145e-05,-3.54453238e-05,-3.68594574e-05, 5.16811802e-05,
  3.26240732e-03, 5.32894134e-05, 6.24207449e-06, 4.14150739e-05,
  1.80574201e-06, 1.61526531e-05,-1.21644480e+00,-7.00268183e-06,
  7.63901158e-03, 1.78265197e-03]


--- Step 2821 ---
qpos:
[-2.50442574e-03, 8.65859454e-01,-2.37211084e-02, 4.13329179e-04,
 -2.92533616e-03, 8.61879291e-01,-2.70976558e-02, 3.14037334e-03,
 -1.21677557e-03, 8.70627382e-01,-1.93280942e-02,-2.13243872e-02,
  1.39622635e+00, 1.85437619e-02, 1.43188529e+00, 2.39735318e-02,
  4.11279902e-03,-5.77116516e-02, 8.04948008e-02, 7.04570629e-01,
 -4.79352810e-02,-7.06288397e-01,-4.93876291e-02]

qacc:
[ 1.09045373e-01,-7.45816254e-01, 3.30801597e+00,-4.76811199e+00,
  1.21848410e-01, 2.95213057e-01,-2.13432507e+00, 6.53253438e+00,
  6.87830306e-02, 6.24526050e+00,-2.76978348e+01, 5.22194057e+01,
  1.74526771e-02, 2.69202448e-01,-2.45169292e+00, 8.52319000e+00,
 -1.31643230e+00, 4.89599958e-01,-1.74769823e+00, 8.69409873e-01,
 -7.32644657e+01, 1.93338628e+01]

qfrc_actuator:
[ 2.47127699e-03, 2.74410184e-02, 8.76878509e-03, 1.71738466e-03,
  2.44546579e-05, 2.73885271e-02, 8.69795521e-03, 1.58549686e-03,
 -2.40526372e-03, 2.74348718e-02, 8.68415708e-03, 1.61308605e-03,
  0.00000000e+00,-1.38717543e-03, 0.00000000e+00,-5.99440127e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006420099670763138
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.64646253e-14, -6.48484690e-14,  1.00000000e+00,  5.60709857e-27,
        1.00000000e+00,  6.48484690e-14, -1.00000000e+00,  0.00000000e+00,
        8.64646253e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05003483, -0.06979469,  0.06193862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.98632031e-05, 4.23233455e-05, 3.01864824e-05, 8.18761608e-07,
  2.20105710e-05, 6.83479591e-06, 7.66012164e-06, 1.40163088e-05,
  1.27663424e-05,-2.58210416e-05,-7.54747695e-05, 6.26491541e-05,
  3.24758608e-03, 4.16318047e-05, 6.61860709e-06, 4.31099932e-05,
  2.90766938e-05, 4.19558226e-05,-1.21644453e+00,-2.18940987e-06,
  7.63899940e-03, 1.78249374e-03]


--- Step 2822 ---
qpos:
[-2.50309362e-03, 8.65861138e-01,-2.37191947e-02, 4.14101292e-04,
 -2.92488040e-03, 8.61879989e-01,-2.70968346e-02, 3.13882186e-03,
 -1.21704900e-03, 8.70627556e-01,-1.93288743e-02,-2.13241610e-02,
  1.39622690e+00, 1.85442652e-02, 1.43194869e+00, 2.39728401e-02,
  4.09581075e-03,-5.77178123e-02, 8.04640665e-02, 7.04257189e-01,
 -4.78029988e-02,-7.06601748e-01,-4.95040966e-02]

qacc:
[-7.49764018e-02,-1.81867126e+00, 1.02519617e+01,-2.35256736e+01,
  9.25725040e-02,-1.33033407e+00, 6.29776837e+00,-1.41758521e+01,
 -3.78960299e-03, 2.12997279e+00,-8.48230891e+00, 1.46953858e+01,
 -1.96061148e-03, 4.48445889e-01, 3.94312663e+00,-1.33084199e+01,
 -1.26974221e+00, 4.75544344e-01,-2.01658448e+00, 8.97981421e-01,
 -7.08631315e+01, 1.86491760e+01]

qfrc_actuator:
[ 2.44814613e-03, 2.74627675e-02, 8.78385762e-03, 1.68082246e-03,
  3.07181202e-05, 2.73548384e-02, 8.69002584e-03, 1.55983013e-03,
 -2.41200374e-03, 2.74877930e-02, 8.68133687e-03, 1.63325603e-03,
  0.00000000e+00,-1.34401221e-03, 0.00000000e+00,-6.64752374e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006396143933338899
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.33942324e-14,  2.16971162e-14,  1.00000000e+00, -9.41529702e-28,
        1.00000000e+00, -2.16971162e-14, -1.00000000e+00,  0.00000000e+00,
        4.33942324e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05003843, -0.06979551,  0.06193879])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.36585684e-05, 5.16382634e-05, 2.75344658e-05,-3.36956868e-05,
  1.67123964e-05,-2.77077735e-05,-5.10079971e-06,-2.48372026e-05,
 -6.31368468e-07, 2.55842666e-05,-1.52783745e-05, 1.76733616e-05,
  3.23718922e-03, 6.49271274e-05, 6.79459693e-06,-6.23158644e-05,
  8.58493564e-05, 5.40290330e-05,-1.21644545e+00, 1.08989919e-06,
  7.63907436e-03, 1.78235477e-03]


--- Step 2823 ---
qpos:
[-2.50235113e-03, 8.65863312e-01,-2.37176971e-02, 4.14117911e-04,
 -2.92467772e-03, 8.61880162e-01,-2.70962383e-02, 3.13738167e-03,
 -1.21736675e-03, 8.70628413e-01,-1.93293897e-02,-2.13237946e-02,
  1.39622774e+00, 1.85447685e-02, 1.43201236e+00, 2.39693740e-02,
  4.08187284e-03,-5.77218441e-02, 8.04459308e-02, 7.03998927e-01,
 -4.77125539e-02,-7.06859828e-01,-4.95803119e-02]

qacc:
[-3.09608300e-01, 2.55077130e-01, 3.21971042e+00,-1.59891651e+01,
 -1.33227339e-01, 1.63646995e-01,-2.05995708e+00, 4.73193902e+00,
 -2.32059008e-02, 4.51396116e-01,-8.90673007e-01, 2.38948811e+00,
 -2.67832840e-02, 9.41934245e-02, 8.82635388e+00,-3.02514720e+01,
  7.62591068e-01, 5.32214808e-01, 3.14962429e+00,-5.60223481e-01,
  3.69595005e+01, 3.16419879e+01]

qfrc_actuator:
[ 2.39831532e-03, 2.74749211e-02, 8.75645469e-03, 1.64125813e-03,
 -1.31675149e-06, 2.72989618e-02, 8.66716180e-03, 1.56307920e-03,
 -2.41593440e-03, 2.75725700e-02, 8.71569355e-03, 1.64506638e-03,
  0.00000000e+00,-1.37189954e-03, 0.00000000e+00,-8.09461769e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006683714588599995
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0042118 , -0.06309604,  0.06193605])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.63423215e-05, 4.52115246e-05,-1.45420461e-05,-3.70618302e-05,
 -2.41044734e-05,-7.35062948e-05,-3.00844378e-05, 1.40190802e-06,
 -4.23004365e-06, 9.66854372e-05, 3.83740683e-05, 1.27216076e-05,
  3.21169472e-03, 9.87410967e-06,-4.83095196e-06,-1.47571762e-04,
  1.69265538e-04, 5.38369488e-05,-1.21644736e+00, 3.09174346e-06,
  7.63922306e-03, 1.78221734e-03]


--- Step 2824 ---
qpos:
[-2.50201633e-03, 8.65865896e-01,-2.37165898e-02, 4.14705223e-04,
 -2.92479641e-03, 8.61879971e-01,-2.70957409e-02, 3.13665327e-03,
 -1.21772863e-03, 8.70629750e-01,-1.93294292e-02,-2.13232795e-02,
  1.39622840e+00, 1.85446455e-02, 1.43207615e+00, 2.39631985e-02,
  4.07082532e-03,-5.77238870e-02, 8.04377796e-02, 7.03793012e-01,
 -4.76618267e-02,-7.07065605e-01,-4.96183029e-02]

qacc:
[-2.14101578e-01, 2.80517302e+00,-1.16261600e+01, 2.18276165e+01,
 -1.69146115e-01, 1.25911282e+00,-8.19346629e+00, 2.09397725e+01,
 -2.29089461e-02,-3.88421499e-01, 1.67818113e+00,-2.18623246e-01,
 -3.35407521e-02,-3.81823542e-01, 8.37114524e+00,-2.90479778e+01,
  7.22597571e-01, 4.97226315e-01, 2.49613336e+00,-5.18738129e-01,
  3.50147895e+01, 3.00377046e+01]

qfrc_actuator:
[ 2.38622626e-03, 2.74988018e-02, 8.73966358e-03, 1.67122407e-03,
 -2.04669087e-05, 2.73011869e-02, 8.67109244e-03, 1.60104320e-03,
 -2.41813910e-03, 2.75871784e-02, 8.73635483e-03, 1.65192198e-03,
  0.00000000e+00,-1.44209111e-03, 0.00000000e+00,-9.46494246e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006940813804846707
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.99778712e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.99778712e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00419343, -0.06308935,  0.06193363])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.89548619e-05, 4.44993055e-05,-1.05564374e-05, 3.06730786e-05,
 -3.06012388e-05,-4.50407377e-05,-1.49120725e-05, 3.38025396e-05,
 -4.21745060e-06, 7.71243045e-05, 4.57926263e-05, 1.25693767e-05,
  3.19765114e-03,-6.03111589e-05,-1.99382730e-05,-1.46175034e-04,
  1.13020411e-04, 2.79345922e-05,-1.21644455e+00,-5.31888253e-06,
  7.63908963e-03, 1.78251380e-03]


--- Step 2825 ---
qpos:
[-2.50195072e-03, 8.65868780e-01,-2.37156849e-02, 4.15992999e-04,
 -2.92518599e-03, 8.61879885e-01,-2.70954365e-02, 3.13633039e-03,
 -1.21830857e-03, 8.70631267e-01,-1.93292688e-02,-2.13233184e-02,
  1.39622867e+00, 1.85442734e-02, 1.43213947e+00, 2.39584214e-02,
  4.06253413e-03,-5.77240556e-02, 8.04374063e-02, 7.03637074e-01,
 -4.76490477e-02,-7.07221546e-01,-4.96197601e-02]

qacc:
[-1.41321199e-01, 2.40303927e+00,-1.09505505e+01, 2.31780792e+01,
 -1.42798610e-01, 1.51173275e+00,-6.90125318e+00, 1.41525977e+01,
 -1.13827059e-01,-1.46188898e+00, 7.89193398e+00,-1.79235255e+01,
 -2.32507645e-02,-2.19226224e-01,-4.93761113e+00, 1.62451684e+01,
  6.89081354e-01, 4.68549373e-01, 1.94446260e+00,-4.83365769e-01,
  3.33937891e+01, 2.86996779e+01]

qfrc_actuator:
[ 2.37908351e-03, 2.75118507e-02, 8.72938006e-03, 1.70637892e-03,
 -3.17166990e-05, 2.73383223e-02, 8.67331118e-03, 1.62368589e-03,
 -2.43704332e-03, 2.75596155e-02, 8.73072932e-03, 1.62023477e-03,
  0.00000000e+00,-1.44827580e-03, 0.00000000e+00,-8.64844235e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007078788350739218
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.84190012e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.84190012e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00418368, -0.06308599,  0.06193234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.57192624e-05, 3.69894428e-05,-1.36153463e-06, 3.72868392e-05,
 -2.57820906e-05, 1.03159848e-05,-7.75159233e-06, 2.08561790e-05,
 -2.09120617e-05, 2.55249972e-05, 1.63669754e-05,-2.65587720e-05,
  3.20631639e-03,-3.51666198e-05,-2.68012882e-05, 7.06670767e-05,
  7.01631212e-05, 1.00512925e-05,-1.21644253e+00,-1.09564662e-05,
  7.63898265e-03, 1.78273472e-03]


--- Step 2826 ---
qpos:
[-2.50224271e-03, 8.65872078e-01,-2.37154579e-02, 4.16674510e-04,
 -2.92577172e-03, 8.61879858e-01,-2.70951248e-02, 3.13627266e-03,
 -1.21910737e-03, 8.70633093e-01,-1.93291907e-02,-2.13237327e-02,
  1.39622861e+00, 1.85437393e-02, 1.43220251e+00, 2.39556155e-02,
  4.05688778e-03,-5.77224437e-02, 8.04429543e-02, 7.03529133e-01,
 -4.76727455e-02,-7.07329688e-01,-4.95860861e-02]

qacc:
[-1.88087362e-01, 1.19221381e+00,-8.98824193e-01,-8.81199865e+00,
 -1.03306803e-01, 6.02992997e-01,-3.15638921e+00, 7.69061218e+00,
 -1.14451287e-01,-1.34225781e-01, 2.65367841e+00,-9.23948470e+00,
 -1.90927696e-03,-1.77778963e-01,-6.40499753e+00, 2.17664990e+01,
  6.61211960e-01, 4.45171224e-01, 1.48034630e+00,-4.52793032e-01,
  3.20466491e+01, 2.75879254e+01]

qfrc_actuator:
[ 2.35718050e-03, 2.75183466e-02, 8.68746422e-03, 1.67327855e-03,
 -3.81482090e-05, 2.73428222e-02, 8.67463645e-03, 1.63715734e-03,
 -2.44802304e-03, 2.75778680e-02, 8.72716988e-03, 1.60157043e-03,
  0.00000000e+00,-1.45168834e-03, 0.00000000e+00,-7.61524447e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007120635283960758
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00418085, -0.06308532,  0.06193196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.41699361e-05, 2.84149333e-05,-3.31849619e-05,-3.08444764e-05,
 -1.86692336e-05, 9.55789713e-06, 3.22167114e-06, 1.40515828e-05,
 -2.09853748e-05, 3.47279355e-05, 2.79587536e-06,-1.75246875e-05,
  3.22546437e-03,-2.61079845e-05,-4.73738817e-06, 1.03790943e-04,
  3.87517242e-05,-9.43942504e-07,-1.21644116e+00,-1.41503674e-05,
  7.63889475e-03, 1.78288903e-03]


--- Step 2827 ---
qpos:
[-2.50283910e-03, 8.65874940e-01,-2.37154005e-02, 4.17374948e-04,
 -2.92648738e-03, 8.61879691e-01,-2.70943865e-02, 3.13568258e-03,
 -1.21988974e-03, 8.70635022e-01,-1.93294301e-02,-2.13229429e-02,
  1.39622840e+00, 1.85428276e-02, 1.43226574e+00, 2.39520438e-02,
  4.05379429e-03,-5.77191268e-02, 8.04528666e-02, 7.03467538e-01,
 -4.77317003e-02,-7.07391710e-01,-4.95184391e-02]

qacc:
[-1.59543205e-01,-6.37173455e-02,-6.89022362e-01, 1.60827348e+00,
 -6.81338071e-02,-2.46979467e+00, 1.07876064e+01,-2.05834434e+01,
  8.39435716e-03, 3.50267956e+00,-1.73654944e+01, 3.86178840e+01,
  1.68682748e-02,-2.74054587e-01, 2.60157114e+00,-8.69953978e+00,
  6.38213828e-01, 4.26221441e-01, 1.09107219e+00,-4.25913710e-01,
  3.09306909e+01, 2.66680561e+01]

qfrc_actuator:
[ 2.34437005e-03, 2.74496658e-02, 8.66263072e-03, 1.67126212e-03,
 -4.16551260e-05, 2.73277450e-02, 8.69305519e-03, 1.60959896e-03,
 -2.43640741e-03, 2.75701504e-02, 8.70729971e-03, 1.66177327e-03,
  0.00000000e+00,-1.47117764e-03, 0.00000000e+00,-8.06108843e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007085681274215314
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.56685431e-13, -1.56685431e-13,  1.00000000e+00,  2.45503243e-26,
        1.00000000e+00,  1.56685431e-13, -1.00000000e+00,  0.00000000e+00,
        1.56685431e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00418352, -0.06308677,  0.06193231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.91070121e-05,-6.10513048e-05,-2.41489294e-05,-2.55399754e-06,
 -1.23682914e-05,-8.46939026e-06, 2.12740612e-05,-2.67639814e-05,
  1.57655628e-06, 1.14813803e-05,-1.29747342e-05, 6.14429442e-05,
  3.24243644e-03,-3.74738644e-05, 8.19519666e-06,-3.96495085e-05,
  1.73008525e-05,-5.91035939e-06,-1.21644032e+00,-1.51533758e-05,
  7.63881996e-03, 1.78298367e-03]


--- Step 2828 ---
qpos:
[-2.50347086e-03, 8.65876975e-01,-2.37157032e-02, 4.18110761e-04,
 -2.92728308e-03, 8.61879790e-01,-2.70938690e-02, 3.13475979e-03,
 -1.22058818e-03, 8.70636211e-01,-1.93294604e-02,-2.13220558e-02,
  1.39622808e+00, 1.85416199e-02, 1.43232900e+00, 2.39479797e-02,
  4.05317834e-03,-5.77141661e-02, 8.04658410e-02, 7.03450916e-01,
 -4.78249056e-02,-7.07408984e-01,-4.94177699e-02]

qacc:
[-1.84714853e-02,-1.39206881e-02,-1.68550691e+00, 3.48180378e+00,
 -4.24065178e-02, 2.82320661e-01, 9.06630415e-01,-6.50668498e+00,
  4.42212048e-02,-1.36064275e+00, 3.02384365e+00,-1.13372876e+00,
  2.50156870e-02,-2.28341131e-01, 1.53222279e+00,-5.30814128e+00,
  6.19383227e-01, 4.10959464e-01, 7.65505279e-01,-4.01799884e-01,
  3.00096806e+01, 2.59107614e+01]

qfrc_actuator:
[ 2.35485761e-03, 2.73720691e-02, 8.63005674e-03, 1.66976072e-03,
 -4.33950590e-05, 2.73543544e-02, 8.68580255e-03, 1.59361936e-03,
 -2.42913493e-03, 2.74759238e-02, 8.69566384e-03, 1.66135133e-03,
  0.00000000e+00,-1.48228001e-03, 0.00000000e+00,-8.30971226e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006990116640636923
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.94137696e-14, -7.94137696e-14,  1.00000000e+00,  6.30654680e-27,
        1.00000000e+00,  7.94137696e-14, -1.00000000e+00,  0.00000000e+00,
        7.94137696e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0041905 , -0.06308991,  0.06193323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.40526725e-06,-1.16904138e-04,-4.82697530e-05,-5.00714005e-06,
 -7.61209556e-06, 2.51181206e-05,-7.31041028e-06,-1.61268309e-05,
  8.03187649e-06,-8.79018944e-05,-8.75165312e-06, 8.13157240e-07,
  3.24918871e-03,-2.96677058e-05,-2.85009394e-06,-2.65017071e-05,
  4.67758900e-06,-5.49779447e-06,-1.21643994e+00,-1.41588584e-05,
  7.63875325e-03, 1.78302406e-03]


--- Step 2829 ---
qpos:
[-2.50386515e-03, 8.65878427e-01,-2.37161607e-02, 4.17741829e-04,
 -2.92831037e-03, 8.61880118e-01,-2.70940335e-02, 3.13403488e-03,
 -1.22119854e-03, 8.70636709e-01,-1.93292176e-02,-2.13225711e-02,
  1.39622754e+00, 1.85402635e-02, 1.43239203e+00, 2.39453190e-02,
  4.05497876e-03,-5.77076103e-02, 8.04807914e-02, 7.03478126e-01,
 -4.79515350e-02,-7.07382627e-01,-4.92848522e-02]

qacc:
[ 1.24542885e-01,-2.61171486e+00, 1.28573654e+01,-3.13014390e+01,
 -1.22466200e-01, 2.61233043e+00,-9.71347675e+00, 1.40641891e+01,
  4.63353529e-02,-4.56559500e+00, 2.08613116e+01,-4.50386580e+01,
  3.40835115e-02,-1.76541791e-01,-4.60614715e+00, 1.55865291e+01,
  6.04093763e-01, 3.98759745e-01, 4.94005755e-01,-3.79675132e-01,
  2.92530219e+01, 2.52912134e+01]

qfrc_actuator:
[ 2.37917670e-03, 2.73606986e-02, 8.62860213e-03, 1.61528644e-03,
 -6.18253459e-05, 2.73523686e-02, 8.64587118e-03, 1.60235298e-03,
 -2.42454244e-03, 2.74371085e-02, 8.70632165e-03, 1.58967445e-03,
  0.00000000e+00,-1.48828075e-03, 0.00000000e+00,-7.55204441e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006847462163899615
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.62136423e-13, -1.62136423e-13,  1.00000000e+00,  2.62882198e-26,
        1.00000000e+00,  1.62136423e-13, -1.00000000e+00,  0.00000000e+00,
        1.62136423e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00420084, -0.06309435,  0.06193459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.26775502e-05,-8.69710294e-05,-3.17334571e-05,-6.12538135e-05,
 -2.20403153e-05, 9.85300609e-06,-3.62061206e-05, 9.24326847e-06,
  8.42995172e-06,-8.97702144e-05,-8.55649629e-06,-7.57303549e-05,
  3.25486396e-03,-2.08310464e-05,-5.77625321e-06, 7.35990966e-05,
  2.13457184e-08,-1.94564843e-07,-1.21643997e+00,-1.13139993e-05,
  7.63869011e-03, 1.78301444e-03]


--- Step 2830 ---
qpos:
[-2.50362205e-03, 8.65879680e-01,-2.37165906e-02, 4.16659747e-04,
 -2.92955787e-03, 8.61880280e-01,-2.70948022e-02, 3.13346637e-03,
 -1.22173615e-03, 8.70636990e-01,-1.93288338e-02,-2.13233027e-02,
  1.39622695e+00, 1.85387358e-02, 1.43245513e+00, 2.39425645e-02,
  4.05914636e-03,-5.76994982e-02, 8.04968149e-02, 7.03548222e-01,
 -4.81109143e-02,-7.07313533e-01,-4.91203099e-02]

qacc:
[  0.33421699, -1.80716485,  9.07324274,-21.3142752 , -0.11629275,
   1.79027296, -7.36100875, 11.15749898,  0.03814683, -1.12675583,
   4.51239815, -8.31970613,  0.04617606, -0.15721373,  0.37258195,
  -1.18259538,  0.59179523,  0.38909657,  0.26829368, -0.35889057,
  28.63496144, 24.78845572]

qfrc_actuator:
[ 2.42928865e-03, 2.73891509e-02, 8.64575790e-03, 1.58341229e-03,
 -7.23336518e-05, 2.73154037e-02, 8.60463473e-03, 1.60776438e-03,
 -2.42159563e-03, 2.74672928e-02, 8.73020796e-03, 1.58322108e-03,
  0.00000000e+00,-1.49124931e-03, 0.00000000e+00,-7.62780022e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006668972550321062
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.66475873e-13, -2.49713809e-13,  1.00000000e+00,  4.15713242e-26,
        1.00000000e+00,  2.49713809e-13, -1.00000000e+00,  0.00000000e+00,
        1.66475873e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00421371, -0.06309978,  0.06193628])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.09138099e-05,-2.93849624e-05,-6.84339851e-06,-3.78916146e-05,
 -2.09693213e-05,-3.85449230e-05,-4.33424969e-05, 4.76143611e-06,
  6.97431798e-06,-2.50353233e-05, 1.66674476e-06,-1.20678527e-05,
  3.26600698e-03,-1.63202787e-05, 4.48014720e-06,-4.43583910e-06,
  2.68238547e-06, 9.63585581e-06,-1.21644038e+00,-6.72999308e-06,
  7.63862625e-03, 1.78295819e-03]


--- Step 2831 ---
qpos:
[-2.50295132e-03, 8.65881184e-01,-2.37171394e-02, 4.16190572e-04,
 -2.93059642e-03, 8.61879830e-01,-2.70953109e-02, 3.13296553e-03,
 -1.22258885e-03, 8.70637279e-01,-1.93288474e-02,-2.13244442e-02,
  1.39622619e+00, 1.85369687e-02, 1.43251815e+00, 2.39404166e-02,
  4.06564199e-03,-5.76898599e-02, 8.05131636e-02, 7.03660423e-01,
 -4.83024982e-02,-7.07202416e-01,-4.89246382e-02]

qacc:
[ 0.22405699, 1.92461558,-8.96894519,19.58334556, 0.11043264,-1.39476987,
  3.51448098,-2.31046141,-0.16480156, 0.27668957, 0.75672381,-7.21572632,
  0.05325797,-0.23439493,-1.95316149, 6.65217833, 0.58200889, 0.38152969,
  0.08129337,-0.33890397,28.13385557,24.38483038]

qfrc_actuator:
[ 2.44112352e-03, 2.74413453e-02, 8.65620675e-03, 1.61840642e-03,
 -4.25022393e-05, 2.72755061e-02, 8.61606807e-03, 1.61114480e-03,
 -2.45516143e-03, 2.74676688e-02, 8.70879635e-03, 1.56201890e-03,
  0.00000000e+00,-1.51006928e-03, 0.00000000e+00,-7.30662045e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006463982508648491
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.71755264e-13, -1.71755264e-13,  1.00000000e+00,  2.94998708e-26,
        1.00000000e+00,  1.71755264e-13, -1.00000000e+00,  0.00000000e+00,
        1.71755264e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00422846, -0.06310595,  0.06193822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.08766848e-05, 3.27085872e-05, 2.21959091e-06, 3.27603847e-05,
  1.98729548e-05,-7.01979039e-05,-1.69667418e-06, 3.23849636e-07,
 -3.02287882e-05,-1.38043350e-05,-2.67986944e-05,-2.24513456e-05,
  3.26805833e-03,-2.65362265e-05,-8.00497782e-08, 3.20818658e-05,
  1.21746664e-05, 2.37267699e-05,-1.21644115e+00,-4.89891741e-07,
  7.63855740e-03, 1.78285801e-03]


--- Step 2832 ---
qpos:
[-2.50237942e-03, 8.65882936e-01,-2.37173809e-02, 4.17149601e-04,
 -2.93115818e-03, 8.61878770e-01,-2.70953963e-02, 3.13284283e-03,
 -1.22398195e-03, 8.70637870e-01,-1.93298069e-02,-2.13265211e-02,
  1.39622546e+00, 1.85359322e-02, 1.43258062e+00, 2.39430171e-02,
  4.07443491e-03,-5.76787189e-02, 8.05292203e-02, 7.03814084e-01,
 -4.85258502e-02,-7.07049829e-01,-4.86982232e-02]

qacc:
[-5.16293274e-02, 2.40843369e+00,-1.41413783e+01, 3.81860807e+01,
  2.51603154e-01,-1.21019337e+00, 1.54821160e+00, 4.76716061e+00,
 -2.82909606e-01, 1.11454786e+00, 5.45939670e-01,-1.54281345e+01,
  5.55329429e-02, 3.84212987e-01,-1.52260696e+01, 5.20365287e+01,
  5.74320978e-01, 3.75691350e-01,-7.30230755e-02,-3.19261779e-01,
  2.77315194e+01, 2.40654654e+01]

qfrc_actuator:
[ 2.41219431e-03, 2.74719097e-02, 8.68051951e-03, 1.69248072e-03,
 -6.56071579e-06, 2.72521147e-02, 8.64072818e-03, 1.63108541e-03,
 -2.49252340e-03, 2.74855264e-02, 8.66068801e-03, 1.51449489e-03,
  0.00000000e+00,-1.43174767e-03, 0.00000000e+00,-4.80111823e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.63265812,  2.10500706,  6.28976145,  2.10500706, 13.31767265,
       -2.2372872 ,  6.28976145, -2.2372872 ,  7.38141551,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006240202151776217
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.89572964e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.89572964e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00424454, -0.06311263,  0.06194033])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.43623954e-06, 5.06891370e-05, 3.24676528e-05, 7.61885349e-05,
  4.53665658e-05,-6.29629121e-05, 9.97272044e-06, 1.68829874e-05,
 -5.18354370e-05, 3.63265177e-06,-5.50379424e-05,-4.94779293e-05,
  3.27621835e-03, 6.38011533e-05, 2.07809588e-06, 2.52011676e-04,
  2.81396216e-05, 4.18867507e-05,-1.21644227e+00, 7.34534496e-06,
  7.63847914e-03, 1.78271610e-03]


--- Step 2833 ---
qpos:
[-2.50166658e-03, 8.65884897e-01,-2.37172218e-02, 4.17950671e-04,
 -2.93145443e-03, 8.61877910e-01,-2.70955337e-02, 3.13288754e-03,
 -1.22530287e-03, 8.70637762e-01,-1.93301511e-02,-2.13287852e-02,
  1.39622541e+00, 1.85358874e-02, 1.43264331e+00, 2.39462326e-02,
  4.08550133e-03,-5.76660928e-02, 8.05444778e-02, 7.04008676e-01,
 -4.87806261e-02,-7.06856188e-01,-4.84413571e-02]

qacc:
[  0.07406552, -1.16770327,  5.23171213, -8.76099958,  0.13973822,
   0.75520708, -3.0141613 ,  5.84772556,  0.03830484, -3.0278093 ,
  10.24474802,-13.95349853,  0.04212409,  0.71366965, -1.50284915,
   5.79642649,  0.56837568,  0.3712748 , -0.19978251, -0.29958408,
  27.41266526, 23.81782882]

qfrc_actuator:
[ 2.43017258e-03, 2.74716465e-02, 8.69501944e-03, 1.68242687e-03,
 -2.80979797e-06, 2.73098811e-02, 8.65530445e-03, 1.64287197e-03,
 -2.46080122e-03, 2.74248130e-02, 8.68603226e-03, 1.50512506e-03,
  0.00000000e+00,-1.34927315e-03, 0.00000000e+00,-4.57939417e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006003968403447829
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.2457434e-14, -9.2457434e-14,  1.0000000e+00,  8.5483771e-27,
        1.0000000e+00,  9.2457434e-14, -1.0000000e+00,  0.0000000e+00,
        9.2457434e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00426149, -0.06311967,  0.06194256])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.34795863e-05, 3.80070551e-05, 3.15922476e-05,-5.27937622e-06,
  2.52783330e-05, 2.53737753e-05, 3.39459488e-06, 9.76442829e-06,
  6.90662856e-06,-7.21790029e-05, 1.76081609e-05,-1.20781775e-05,
  3.27510289e-03, 1.09782201e-04, 2.89291347e-05, 3.64488201e-05,
  5.03182605e-05, 6.39831205e-05,-1.21644376e+00, 1.67321710e-05,
  7.63838674e-03, 1.78253427e-03]


--- Step 2834 ---
qpos:
[-2.50077750e-03, 8.65886928e-01,-2.37170577e-02, 4.18671337e-04,
 -2.93178812e-03, 8.61877690e-01,-2.70948979e-02, 3.13261205e-03,
 -1.22601542e-03, 8.70636048e-01,-1.93291913e-02,-2.13303836e-02,
  1.39622594e+00, 1.85360426e-02, 1.43270663e+00, 2.39457094e-02,
  4.09787078e-03,-5.76580710e-02, 8.05589361e-02, 7.04232847e-01,
 -4.89483879e-02,-7.06632956e-01,-4.82702679e-02]

qacc:
[ 9.23635855e-02,-8.61407613e-02, 7.81803381e-01,-2.23307628e+00,
 -1.94695420e-02,-1.97281153e+00, 9.61306450e+00,-1.68640963e+01,
  3.19070136e-01,-4.39429960e+00, 9.78323820e+00, 8.20431336e-01,
  7.53326730e-03, 2.54875952e-01, 1.22687127e+01,-4.15320594e+01,
  3.25757185e-01,-1.15107371e+00,-1.99799203e-01, 3.18118842e-01,
  2.50700841e+01,-5.95089573e+01]

qfrc_actuator:
[ 2.44058984e-03, 2.74528262e-02, 8.68566270e-03, 1.67616891e-03,
 -1.83526888e-05, 2.73980219e-02, 8.71739429e-03, 1.63207295e-03,
 -2.40577758e-03, 2.73000843e-02, 8.73651262e-03, 1.53602641e-03,
  0.00000000e+00,-1.37137614e-03, 0.00000000e+00,-6.59322705e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005833097754966779
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.90331634e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.90331634e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00082999, -0.0358212 ,  0.06194418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.68450495e-05, 8.68236469e-06, 2.18392656e-06,-3.64391745e-06,
 -3.54028936e-06, 1.03473219e-04, 6.80938964e-05,-9.40342364e-06,
  5.83207849e-05,-1.61963414e-04, 3.73311108e-05, 2.81894000e-05,
  3.24094903e-03, 3.81059391e-05, 1.60288371e-05,-1.95996998e-04,
  7.85295970e-05, 8.99292115e-05,-1.21644564e+00, 2.76408216e-05,
  7.63827505e-03, 1.78231406e-03]


--- Step 2835 ---
qpos:
[-2.50011537e-03, 8.65889204e-01,-2.37176362e-02, 4.19687100e-04,
 -2.93204940e-03, 8.61878120e-01,-2.70935573e-02, 3.13255633e-03,
 -1.22646373e-03, 8.70633651e-01,-1.93281841e-02,-2.13316304e-02,
  1.39622693e+00, 1.85370045e-02, 1.43276970e+00, 2.39454905e-02,
  4.11151171e-03,-5.76545459e-02, 8.05716427e-02, 7.04485939e-01,
 -4.90313216e-02,-7.06380853e-01,-4.81827995e-02]

qacc:
[-1.19514229e-01, 3.00392607e+00,-1.14888275e+01, 1.76066336e+01,
  3.83593353e-02,-6.57569606e-01, 2.66343659e+00,-4.66177081e-01,
  1.38254630e-01,-3.09147812e-01,-1.68729667e+00, 8.19259214e+00,
 -3.15469001e-02, 6.19817577e-01,-1.26630882e+00, 3.94960993e+00,
  3.17867845e-01,-1.12419662e+00,-4.37924158e-01, 3.35758527e-01,
  2.44784147e+01,-5.80107938e+01]

qfrc_actuator:
[ 2.41087356e-03, 2.74584317e-02, 8.64447478e-03, 1.68992674e-03,
 -9.76985768e-06, 2.74328583e-02, 8.75392998e-03, 1.64364848e-03,
 -2.40834866e-03, 2.72979071e-02, 8.74788178e-03, 1.55480721e-03,
  0.00000000e+00,-1.31380940e-03, 0.00000000e+00,-6.35679097e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005762573336389881
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.63304899e-14,  9.63304899e-14,  1.00000000e+00, -9.27956328e-27,
        1.00000000e+00, -9.63304899e-14, -1.00000000e+00,  0.00000000e+00,
        9.63304899e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00082653, -0.03581382,  0.06194486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.16869863e-05, 1.07051393e-05,-3.92709236e-05, 1.41296318e-05,
  6.91428783e-06, 1.06356744e-04, 6.59671435e-05, 1.81817745e-05,
  2.53280330e-05,-8.37859564e-05,-1.64981048e-05, 1.36906249e-05,
  3.21142989e-03, 8.56896862e-05,-1.64856723e-05, 1.42811566e-05,
  9.30747424e-05, 6.09246650e-05,-1.21644426e+00, 2.72124717e-05,
  7.63803386e-03, 1.78235534e-03]


--- Step 2836 ---
qpos:
[-2.49974941e-03, 8.65891687e-01,-2.37184317e-02, 4.20482813e-04,
 -2.93240816e-03, 8.61879717e-01,-2.70927653e-02, 3.13196936e-03,
 -1.22698677e-03, 8.70631547e-01,-1.93278130e-02,-2.13323762e-02,
  1.39622825e+00, 1.85387427e-02, 1.43283258e+00, 2.39461940e-02,
  4.12639770e-03,-5.76554296e-02, 8.05817987e-02, 7.04767388e-01,
 -4.90312325e-02,-7.06100437e-01,-4.81771779e-02]

qacc:
[-1.55496622e-01, 4.26251722e-01,-1.94203672e-01,-3.41897978e+00,
 -5.21313211e-02, 1.98137196e+00,-2.58322822e+00,-6.59010871e+00,
 -3.94915351e-02, 3.19516506e+00,-1.29429116e+01, 2.24092767e+01,
 -5.99429630e-02, 6.01551928e-01,-3.05698306e+00, 1.03319468e+01,
  3.11266673e-01,-1.10218585e+00,-6.37633846e-01, 3.49757602e-01,
  2.39948797e+01,-5.67755661e+01]

qfrc_actuator:
[ 2.39291511e-03, 2.74784906e-02, 8.63819168e-03, 1.67984544e-03,
 -2.23117195e-05, 2.74887040e-02, 8.72163430e-03, 1.61497896e-03,
 -2.42762315e-03, 2.73689794e-02, 8.73651941e-03, 1.58411605e-03,
  0.00000000e+00,-1.28013820e-03, 0.00000000e+00,-5.86082733e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005652532338010219
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.82058092e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.82058092e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00082125, -0.03580246,  0.06194591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.83028719e-05, 1.84845044e-05,-8.43639025e-06,-1.07107315e-05,
 -9.24764701e-06, 1.29700560e-04,-1.58717820e-06,-2.14789698e-05,
 -7.16253047e-06, 2.14528181e-05,-3.02121810e-05, 2.54212309e-05,
  3.18872684e-03, 7.90149525e-05,-5.49940225e-06, 4.83577060e-05,
  1.08427255e-04, 2.84730652e-05,-1.21644403e+00, 2.26452714e-05,
  7.63792263e-03, 1.78252365e-03]


--- Step 2837 ---
qpos:
[-2.49945136e-03, 8.65894000e-01,-2.37182859e-02, 4.20428328e-04,
 -2.93288999e-03, 8.61882001e-01,-2.70924192e-02, 3.13040891e-03,
 -1.22729347e-03, 8.70629875e-01,-1.93277612e-02,-2.13324612e-02,
  1.39622969e+00, 1.85407094e-02, 1.43289555e+00, 2.39464678e-02,
  4.13519544e-03,-5.76591663e-02, 8.05849852e-02, 7.04938644e-01,
 -4.89673345e-02,-7.05929624e-01,-4.82397726e-02]

qacc:
[-3.49917868e-02,-4.60174110e+00, 1.96732857e+01,-3.57718587e+01,
 -6.53950223e-02, 1.46901793e-01, 4.89978703e+00,-2.15386897e+01,
  1.12644239e-01, 2.82494577e+00,-1.20267629e+01, 2.36447139e+01,
 -7.66927699e-02, 2.37807117e-01, 1.43492698e+00,-4.81265935e+00,
 -1.52206121e+00,-7.13246479e-01,-1.74240743e+00,-1.65980129e+00,
 -7.43167381e+01,-5.19074522e+01]

qfrc_actuator:
[ 2.39992399e-03, 2.74716559e-02, 8.68812803e-03, 1.63810514e-03,
 -2.96348418e-05, 2.74853658e-02, 8.68451669e-03, 1.56282552e-03,
 -2.40342854e-03, 2.74122892e-02, 8.72993514e-03, 1.61945164e-03,
  0.00000000e+00,-1.29660173e-03, 0.00000000e+00,-6.10417635e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005732435152937393
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.93673892e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.93673892e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05364716, -0.0439087 ,  0.06194518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.48971768e-06, 1.24212721e-06, 5.23295752e-05,-4.14523432e-05,
 -1.16966222e-05, 6.78946394e-05,-1.12880604e-05,-4.70729876e-05,
  2.07637718e-05, 5.02006184e-05,-4.98141037e-06, 3.57073326e-05,
  3.17171340e-03, 2.37184870e-05, 2.72684231e-06,-2.24015487e-05,
  1.24582885e-04,-7.30333079e-06,-1.21644492e+00, 1.41090618e-05,
  7.63793899e-03, 1.78281565e-03]


--- Step 2838 ---
qpos:
[-2.49932813e-03, 8.65895607e-01,-2.37172437e-02, 4.19946633e-04,
 -2.93328685e-03, 8.61884091e-01,-2.70922030e-02, 3.12970989e-03,
 -1.22716036e-03, 8.70628736e-01,-1.93275760e-02,-2.13325128e-02,
  1.39623130e+00, 1.85428262e-02, 1.43295867e+00, 2.39451113e-02,
  4.13816246e-03,-5.76656247e-02, 8.05798506e-02, 7.05004499e-01,
 -4.88423022e-02,-7.05863763e-01,-4.83676921e-02]

qacc:
[-9.08671132e-02,-4.31589361e+00, 1.58385775e+01,-2.41502846e+01,
  4.47883785e-02, 1.87948893e+00,-1.07098322e+01, 2.59709400e+01,
  2.29550742e-01, 4.00354844e-01,-5.46282941e-01, 5.19611187e-01,
 -8.83117250e-02, 2.18215924e-01, 5.20025650e+00,-1.77943427e+01,
 -1.45768083e+00,-6.80414041e-01,-2.08026475e+00,-1.55854252e+00,
 -7.11210885e+01,-4.97151139e+01]

qfrc_actuator:
[ 2.38629821e-03, 2.73957210e-02, 8.71746680e-03, 1.61359288e-03,
 -1.60095093e-05, 2.74287803e-02, 8.66237515e-03, 1.60375226e-03,
 -2.37116627e-03, 2.74564370e-02, 8.74390817e-03, 1.62253795e-03,
  0.00000000e+00,-1.28965105e-03, 0.00000000e+00,-6.95880758e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005909274677960222
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.39390268e-14,  9.39390268e-14,  1.00000000e+00, -8.82454076e-27,
        1.00000000e+00, -9.39390268e-14, -1.00000000e+00,  0.00000000e+00,
        9.39390268e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05361077, -0.04391951,  0.06194354])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.67252678e-05,-6.62656789e-05, 3.45884027e-05,-2.34583966e-05,
  8.08218366e-06,-2.30246985e-05,-1.11579906e-05, 4.25267512e-05,
  4.22057042e-05, 7.27597105e-05, 2.49747518e-05, 5.76063335e-06,
  3.16598795e-03, 1.92122291e-05,-2.60134999e-06,-8.66812751e-05,
  4.22088142e-05,-1.89925055e-05,-1.21644211e+00, 6.11778091e-06,
  7.63798969e-03, 1.78227347e-03]


--- Step 2839 ---
qpos:
[-2.49900154e-03, 8.65895812e-01,-2.37160784e-02, 4.21046777e-04,
 -2.93355633e-03, 8.61885836e-01,-2.70915582e-02, 3.12914274e-03,
 -1.22661828e-03, 8.70628326e-01,-1.93272665e-02,-2.13335881e-02,
  1.39623275e+00, 1.85447729e-02, 1.43302175e+00, 2.39430775e-02,
  4.13551710e-03,-5.76746946e-02, 8.05652455e-02, 7.04968916e-01,
 -4.86583595e-02,-7.05898905e-01,-4.85585023e-02]

qacc:
[ 1.07270867e-01, 1.06175305e+00,-1.31487088e+01, 4.13579259e+01,
  6.74822060e-02,-1.38049064e+00, 3.70511717e+00,-1.85627646e+00,
  2.13330675e-01,-1.49396829e+00, 1.10358739e+01,-2.94692713e+01,
 -9.51833462e-02,-4.88069851e-02, 1.98501199e+00,-7.03326489e+00,
 -1.40309548e+00,-6.52889909e-01,-2.36760607e+00,-1.46471869e+00,
 -6.84438972e+01,-4.78801640e+01]

qfrc_actuator:
[ 2.41368361e-03, 2.72611785e-02, 8.69861000e-03, 1.68809768e-03,
 -7.72655451e-06, 2.74118617e-02, 8.68458702e-03, 1.61031842e-03,
 -2.35212603e-03, 2.75008138e-02, 8.75213783e-03, 1.57113245e-03,
  0.00000000e+00,-1.32192267e-03, 0.00000000e+00,-7.27885236e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005990192295975139
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.26700655e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.26700655e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05359379, -0.04392447,  0.06194277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.93976407e-05,-1.65506173e-04,-2.91132267e-05, 7.24036064e-05,
  1.21162372e-05,-3.03259062e-05, 1.75365056e-05, 6.01885400e-06,
  3.92535094e-05, 9.04975379e-05, 2.65388376e-05,-4.73132352e-05,
  3.15705545e-03,-2.05945401e-05,-1.21334945e-05,-3.74693809e-05,
  4.07646040e-06,-9.36909037e-06,-1.21644094e+00, 3.12233655e-06,
  7.63778912e-03, 1.78210931e-03]


--- Step 2840 ---
qpos:
[-2.49822299e-03, 8.65894702e-01,-2.37148146e-02, 4.23368683e-04,
 -2.93371287e-03, 8.61887445e-01,-2.70903991e-02, 3.12793485e-03,
 -1.22558095e-03, 8.70628304e-01,-1.93269963e-02,-2.13352154e-02,
  1.39623382e+00, 1.85460908e-02, 1.43308489e+00, 2.39396548e-02,
  4.12750890e-03,-5.76817207e-02, 8.05446100e-02, 7.04828494e-01,
 -4.85087628e-02,-7.06038796e-01,-4.87125407e-02]

qacc:
[ 2.37529872e-01, 5.01654480e-01,-9.46809068e+00, 3.14218911e+01,
  5.98152432e-02,-2.93281132e+00, 1.29038179e+01,-2.47197532e+01,
  2.58415924e-01,-5.14757944e-01, 4.90399117e+00,-1.46687835e+01,
 -8.20850828e-02,-3.85101371e-01, 4.29508262e+00,-1.48998798e+01,
 -1.34071019e+00, 5.10959075e-01,-1.50762496e+00, 8.64791185e-01,
 -7.56537677e+01, 1.99899194e+01]

qfrc_actuator:
[ 2.44761483e-03, 2.71989641e-02, 8.70450864e-03, 1.74916403e-03,
 -2.72541337e-06, 2.74189720e-02, 8.71515169e-03, 1.57890058e-03,
 -2.32341147e-03, 2.74916614e-02, 8.73912456e-03, 1.54133348e-03,
  0.00000000e+00,-1.37746757e-03, 0.00000000e+00,-7.99125999e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006022854009887502
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72814098e-13, -1.84335038e-13,  1.00000000e+00,  3.18556935e-26,
        1.00000000e+00,  1.84335038e-13, -1.00000000e+00,  0.00000000e+00,
        1.72814098e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05011359, -0.0698148 ,  0.06194243])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.31589077e-05,-1.57687643e-04,-2.93774062e-05, 5.43742484e-05,
  1.07486766e-05,-6.01212638e-06, 2.66523686e-05,-3.19957690e-05,
  4.75186838e-05, 4.49217447e-05, 7.31031329e-06,-2.59263978e-05,
  3.16527891e-03,-6.76653387e-05,-1.09447176e-05,-7.51428005e-05,
  4.97384438e-06, 1.91415421e-05,-1.21644125e+00, 4.46769899e-06,
  7.63738147e-03, 1.78227737e-03]


--- Step 2841 ---
qpos:
[-2.49720811e-03, 8.65893599e-01,-2.37139574e-02, 4.24196043e-04,
 -2.93397091e-03, 8.61889321e-01,-2.70896300e-02, 3.12671598e-03,
 -1.22431922e-03, 8.70627944e-01,-1.93260530e-02,-2.13357607e-02,
  1.39623411e+00, 1.85465108e-02, 1.43314777e+00, 2.39370703e-02,
  4.11433027e-03,-5.76867720e-02, 8.05167373e-02, 7.04587018e-01,
 -4.83921796e-02,-7.06279583e-01,-4.88311621e-02]

qacc:
[ 1.23563628e-01,-1.93125444e+00, 1.32078080e+01,-3.84282540e+01,
 -5.37947284e-02, 1.41735773e+00,-4.49826813e+00, 4.73840029e+00,
  1.17762121e-01,-9.90136298e-02,-4.85440038e+00, 2.27338194e+01,
 -5.26528130e-02,-6.72081054e-01,-2.92721783e+00, 9.65820237e+00,
 -1.29260672e+00, 4.93684561e-01,-1.80927177e+00, 8.74841697e-01,
 -7.28946098e+01, 1.92274325e+01]

qfrc_actuator:
[ 2.44963833e-03, 2.72693847e-02, 8.70748316e-03, 1.67762624e-03,
 -1.74825051e-05, 2.74404286e-02, 8.69721297e-03, 1.57867012e-03,
 -2.32464744e-03, 2.74504407e-02, 8.76673743e-03, 1.59544668e-03,
  0.00000000e+00,-1.44644963e-03, 0.00000000e+00,-7.50904821e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006078998583914363
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.56581380e-14,  9.13162760e-14,  1.00000000e+00, -4.16933113e-27,
        1.00000000e+00, -9.13162760e-14, -1.00000000e+00,  0.00000000e+00,
        4.56581380e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0501018 , -0.0698109 ,  0.06194186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.25857974e-05,-2.14769911e-05,-3.13362225e-05,-7.82554936e-05,
 -9.65527901e-06, 2.21838853e-05,-1.70242099e-05,-1.90867712e-07,
  2.15204167e-05,-1.56928531e-05, 3.68940185e-05, 5.57859783e-05,
  3.18401289e-03,-1.05222081e-04,-1.52505080e-05, 4.22409441e-05,
  3.90599696e-05, 3.68969985e-05,-1.21644212e+00, 8.22996937e-06,
  7.63760896e-03, 1.78255220e-03]


--- Step 2842 ---
qpos:
[-2.49588797e-03, 8.65893128e-01,-2.37137883e-02, 4.24442131e-04,
 -2.93436829e-03, 8.61890798e-01,-2.70882516e-02, 3.12552009e-03,
 -1.22333466e-03, 8.70627527e-01,-1.93245269e-02,-2.13360288e-02,
  1.39623375e+00, 1.85464337e-02, 1.43321032e+00, 2.39370659e-02,
  4.09614753e-03,-5.76899076e-02, 8.04806029e-02, 7.04247589e-01,
 -4.83074936e-02,-7.06617997e-01,-4.89154981e-02]

qacc:
[ 1.59348126e-01, 1.56081698e+00,-1.89959377e+00,-7.52252581e+00,
 -7.28490471e-02,-2.17975184e+00, 6.91217947e+00,-7.19867508e+00,
 -1.44328847e-01,-1.13123625e+00, 2.75693534e+00, 1.14666898e+00,
 -1.07198518e-02,-4.42294355e-01,-8.34117936e+00, 2.83971719e+01,
 -1.25102646e+00, 4.78940211e-01,-2.06544711e+00, 8.83933731e-01,
 -7.05925262e+01, 1.85889160e+01]

qfrc_actuator:
[ 2.46805731e-03, 2.73475793e-02, 8.69141634e-03, 1.65302197e-03,
 -2.61726459e-05, 2.73991348e-02, 8.72188138e-03, 1.57902597e-03,
 -2.36153362e-03, 2.74615610e-02, 8.80027652e-03, 1.60973097e-03,
  0.00000000e+00,-1.45196281e-03, 0.00000000e+00,-6.14925449e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006061662793007822
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.2894358e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.2894358e-14, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05010363, -0.06981142,  0.06194195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.91898226e-05, 5.63797884e-05,-2.70719352e-05,-2.81334728e-05,
 -1.32705717e-05,-3.24635698e-05, 2.71267920e-05, 7.11172639e-07,
 -2.65861067e-05, 1.23598921e-05, 3.67704534e-05, 1.59754026e-05,
  3.22295025e-03,-6.58377817e-05,-4.10967652e-06, 1.36020368e-04,
  1.02108934e-04, 4.13892949e-05,-1.21644411e+00, 1.05644075e-05,
  7.63790496e-03, 1.78282608e-03]


--- Step 2843 ---
qpos:
[-2.49468558e-03, 8.65893366e-01,-2.37142630e-02, 4.24722417e-04,
 -2.93469747e-03, 8.61891800e-01,-2.70867834e-02, 3.12472952e-03,
 -1.22253085e-03, 8.70627462e-01,-1.93238871e-02,-2.13357287e-02,
  1.39623362e+00, 1.85459597e-02, 1.43327350e+00, 2.39329767e-02,
  4.08104885e-03,-5.76911158e-02, 8.04578574e-02, 7.03963518e-01,
 -4.82646774e-02,-7.06900901e-01,-4.89591935e-02]

qacc:
[-6.23832829e-02, 2.80278066e+00,-8.78189912e+00, 9.88560129e+00,
  3.61589473e-02,-4.33999134e-02,-2.46582685e+00, 9.68568400e+00,
 -9.50375409e-02, 4.11260368e+00,-1.63802715e+01, 2.73625511e+01,
  1.31237073e-02,-1.92610127e-01, 1.33130579e+01,-4.52042271e+01,
  7.71012570e-01, 4.81825645e-01, 3.34721153e+00,-4.05215857e-01,
  3.70990241e+01, 3.17982077e+01]

qfrc_actuator:
[ 2.44289223e-03, 2.73943044e-02, 8.66436886e-03, 1.65626237e-03,
 -1.33915504e-05, 2.73562545e-02, 8.71801287e-03, 1.59745668e-03,
 -2.36614023e-03, 2.74684339e-02, 8.74842940e-03, 1.63599507e-03,
  0.00000000e+00,-1.43718900e-03, 0.00000000e+00,-8.36678874e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006424877259908416
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03916206e-06, -1.03916255e-06,  1.00000000e+00, -1.07985830e-12,
        1.00000000e+00,  1.03916255e-06, -1.00000000e+00,  0.00000000e+00,
       -1.03916206e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0040506 , -0.06293461,  0.0619385 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12371449e-05, 7.14655850e-05,-1.97115624e-05, 4.17042267e-06,
  6.47713199e-06,-5.54463940e-05,-7.22677548e-06, 1.79904587e-05,
 -1.73344514e-05, 2.20590986e-05,-4.42193675e-05, 2.83760499e-05,
  3.25516717e-03,-2.61991412e-05, 1.16126024e-05,-2.15038313e-04,
  1.91433694e-04, 3.39564006e-05,-1.21644698e+00, 1.17009976e-05,
  7.63826047e-03, 1.78308894e-03]


--- Step 2844 ---
qpos:
[-2.49407311e-03, 8.65894366e-01,-2.37156447e-02, 4.24014342e-04,
 -2.93509920e-03, 8.61892138e-01,-2.70854812e-02, 3.12351853e-03,
 -1.22184458e-03, 8.70627570e-01,-1.93238437e-02,-2.13347671e-02,
  1.39623365e+00, 1.85456608e-02, 1.43333649e+00, 2.39283032e-02,
  4.06889991e-03,-5.76904507e-02, 8.04457475e-02, 7.03732468e-01,
 -4.82625147e-02,-7.07130767e-01,-4.89634720e-02]

qacc:
[-3.10156432e-01, 1.50553861e+00, 2.64394155e-01,-1.64771481e+01,
 -3.80990156e-02,-1.27808010e+00, 5.05926289e+00,-1.15829718e+01,
 -6.17762594e-02, 3.25729708e+00,-1.40703344e+01, 2.63369512e+01,
 -2.86646482e-03, 1.45185920e-01, 1.51110951e+00,-5.65592272e+00,
  7.37436709e-01, 4.68340762e-01, 2.65893434e+00,-3.96207462e-01,
  3.54623516e+01, 3.08209267e+01]

qfrc_actuator:
[ 2.39187761e-03, 2.74218196e-02, 8.61321123e-03, 1.60481609e-03,
 -2.33847641e-05, 2.72949048e-02, 8.69729794e-03, 1.57308289e-03,
 -2.36911726e-03, 2.74723716e-02, 8.71759691e-03, 1.66904521e-03,
  0.00000000e+00,-1.41014438e-03, 0.00000000e+00,-8.59128524e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006728080555417487
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.25066685e-14, -8.25066685e-14,  1.00000000e+00,  6.80735035e-27,
        1.00000000e+00,  8.25066685e-14, -1.00000000e+00,  0.00000000e+00,
        8.25066685e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00420908, -0.06309638,  0.06193563])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.63645062e-05, 6.35788048e-05,-3.86811248e-05,-4.89860133e-05,
 -6.92550710e-06,-9.31094450e-05,-3.24522246e-05,-2.66516091e-05,
 -1.12731527e-05, 8.35089235e-06,-3.07462197e-05, 3.30158211e-05,
  3.24365447e-03, 2.07109316e-05,-2.11802130e-05,-3.35285440e-05,
  1.31055376e-04, 1.08607740e-05,-1.21644460e+00, 4.51842970e-06,
  7.63851966e-03, 1.78310623e-03]


--- Step 2845 ---
qpos:
[-2.49406100e-03, 8.65895849e-01,-2.37175777e-02, 4.22707258e-04,
 -2.93578268e-03, 8.61891684e-01,-2.70843059e-02, 3.12100381e-03,
 -1.22123540e-03, 8.70628028e-01,-1.93239669e-02,-2.13341605e-02,
  1.39623359e+00, 1.85455165e-02, 1.43339916e+00, 2.39250372e-02,
  4.05955708e-03,-5.76879995e-02, 8.04419743e-02, 7.03551960e-01,
 -4.82991111e-02,-7.07310166e-01,-4.89301982e-02]

qacc:
[-3.15294946e-01, 9.43855496e-01, 8.75149626e-02,-9.92608971e+00,
 -1.48256989e-01,-3.37306983e+00, 1.60141766e+01,-3.77963932e+01,
 -4.04966661e-02, 1.95770077e-01, 1.46890448e+00,-7.60016311e+00,
 -8.17653241e-03, 7.97910802e-02,-4.74967526e+00, 1.59089788e+01,
  7.01525339e-01, 4.46531883e-01, 2.08415828e+00,-3.76648608e-01,
  3.37729486e+01, 2.93724552e+01]

qfrc_actuator:
[ 2.36137780e-03, 2.74374712e-02, 8.58361357e-03, 1.57482456e-03,
 -4.69291052e-05, 2.72406055e-02, 8.68444773e-03, 1.50593736e-03,
 -2.37110746e-03, 2.75100928e-02, 8.71719062e-03, 1.65258842e-03,
  0.00000000e+00,-1.41165575e-03, 0.00000000e+00,-7.81615192e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006904282790926586
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.04010393e-14, -8.04010393e-14,  1.00000000e+00,  6.46432713e-27,
        1.00000000e+00,  8.04010393e-14, -1.00000000e+00,  0.00000000e+00,
        8.04010393e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00419662, -0.06309123,  0.06193398])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.73698890e-05, 4.10963861e-05,-2.29232638e-05,-2.95579070e-05,
 -2.68426025e-05,-1.14225234e-04,-3.70116793e-05,-7.27767089e-05,
 -7.38619213e-06, 3.74502369e-05,-1.32862516e-06,-1.65218260e-05,
  3.23565539e-03, 1.04633027e-05,-1.35277957e-05, 7.29180895e-05,
  8.39186969e-05,-4.58925938e-06,-1.21644298e+00, 4.45159015e-08,
  7.63876908e-03, 1.78307322e-03]


--- Step 2846 ---
qpos:
[-2.49452298e-03, 8.65897860e-01,-2.37196503e-02, 4.21016109e-04,
 -2.93674382e-03, 8.61891004e-01,-2.70838943e-02, 3.11836636e-03,
 -1.22086289e-03, 8.70629625e-01,-1.93250410e-02,-2.13341493e-02,
  1.39623312e+00, 1.85449484e-02, 1.43346171e+00, 2.39230342e-02,
  4.05290063e-03,-5.76838341e-02, 8.04446004e-02, 7.03419922e-01,
 -4.83728906e-02,-7.07441226e-01,-4.88609168e-02]

qacc:
[-2.48841785e-01, 2.96951075e-01, 1.57506761e+00,-8.38676941e+00,
 -1.46633140e-01, 1.57930704e+00,-5.55022537e+00, 4.81706468e+00,
 -1.24592706e-01, 2.93463185e+00,-5.77196754e+00,-3.83626134e+00,
  6.99215512e-03,-3.60537221e-01,-4.02170276e+00, 1.37699393e+01,
  6.71598337e-01, 4.28541817e-01, 1.59980922e+00,-3.58010906e-01,
  3.23663528e+01, 2.81697265e+01]

qfrc_actuator:
[ 2.34343328e-03, 2.74814849e-02, 8.58471158e-03, 1.55771188e-03,
 -6.06132639e-05, 2.72619403e-02, 8.65859094e-03, 1.50294344e-03,
 -2.39025163e-03, 2.76033429e-02, 8.68159080e-03, 1.62493219e-03,
  0.00000000e+00,-1.46585548e-03, 0.00000000e+00,-7.16892682e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006978423849305915
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.95468324e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.95468324e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0041915 , -0.06308907,  0.06193329])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.52977740e-05, 6.09683890e-05, 5.74476917e-06,-1.67174660e-05,
 -2.64390900e-05,-5.32966088e-05,-5.65279172e-05,-1.05816311e-05,
 -2.26747708e-05, 1.13199341e-04,-2.86040991e-05,-2.64219507e-05,
  3.23961904e-03,-5.14504493e-05, 1.52942907e-06, 6.69793403e-05,
  4.87487427e-05,-1.29747214e-05,-1.21644201e+00,-1.90848300e-06,
  7.63900858e-03, 1.78299139e-03]


--- Step 2847 ---
qpos:
[-2.49531878e-03, 8.65900299e-01,-2.37217513e-02, 4.20173463e-04,
 -2.93791739e-03, 8.61890505e-01,-2.70835710e-02, 3.11630262e-03,
 -1.22090851e-03, 8.70632100e-01,-1.93259418e-02,-2.13352058e-02,
  1.39623257e+00, 1.85445135e-02, 1.43352412e+00, 2.39228217e-02,
  4.04883156e-03,-5.76780135e-02, 8.04519982e-02, 7.03334620e-01,
 -4.84825472e-02,-7.07525703e-01,-4.87569018e-02]

qacc:
[-1.75132252e-01, 2.39202168e+00,-1.12889785e+01, 2.57052986e+01,
 -1.11966097e-01, 1.66721700e+00,-8.01754326e+00, 1.79553933e+01,
 -2.18582868e-01,-1.52371422e+00, 1.16146561e+01,-3.09987480e+01,
  2.40201205e-02, 3.65468711e-02,-5.64495314e+00, 1.94208326e+01,
  6.46842744e-01, 4.13819877e-01, 1.19294701e+00,-3.39982449e-01,
  3.11988975e+01, 2.71751381e+01]

qfrc_actuator:
[ 2.33313582e-03, 2.75067718e-02, 8.58628313e-03, 1.60160907e-03,
 -6.82727140e-05, 2.73284078e-02, 8.67887580e-03, 1.53778096e-03,
 -2.41949778e-03, 2.76579710e-02, 8.69673634e-03, 1.57318586e-03,
  0.00000000e+00,-1.42688323e-03, 0.00000000e+00,-6.24757870e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006970683000141475
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.96351681e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.96351681e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00419224, -0.06308933,  0.06193338])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.18930738e-05, 5.98162228e-05, 1.42965765e-05, 4.63856931e-05,
 -2.02160027e-05, 2.45513490e-05, 1.95316744e-06, 3.03967244e-05,
 -4.00852569e-05, 1.10856745e-04, 3.40818298e-05,-4.84051074e-05,
  3.26046077e-03, 8.73588702e-06, 6.31742088e-06, 9.56746227e-05,
  2.39464794e-05,-1.52098231e-05,-1.21644157e+00,-1.61146142e-06,
  7.63923740e-03, 1.78286391e-03]


--- Step 2848 ---
qpos:
[-2.49633292e-03, 8.65902877e-01,-2.37239343e-02, 4.19559278e-04,
 -2.93923404e-03, 8.61890914e-01,-2.70833519e-02, 3.11354154e-03,
 -1.22114908e-03, 8.70634331e-01,-1.93253085e-02,-2.13371698e-02,
  1.39623214e+00, 1.85443245e-02, 1.43358656e+00, 2.39233792e-02,
  4.04726856e-03,-5.76705853e-02, 8.04628047e-02, 7.03294610e-01,
 -4.86270030e-02,-7.07565035e-01,-4.86191973e-02]

qacc:
[-1.14559189e-01, 8.81766428e-01,-3.84325908e+00, 7.82700830e+00,
 -7.57780716e-02, 5.50001796e-02, 4.48803758e+00,-1.70575393e+01,
 -1.00791190e-01,-6.47761215e+00, 2.64504251e+01,-4.44141389e+01,
  2.58822041e-02, 1.50496556e-01,-2.27040284e+00, 8.03340485e+00,
  6.26517660e-01, 4.01875600e-01, 8.52169462e-01,-3.22257933e-01,
  3.02333612e+01, 2.63566697e+01]

qfrc_actuator:
[ 2.32747596e-03, 2.74852057e-02, 8.57033093e-03, 1.61002271e-03,
 -7.22714925e-05, 2.74216361e-02, 8.69097031e-03, 1.50590685e-03,
 -2.41902370e-03, 2.76004678e-02, 8.75933792e-03, 1.52544870e-03,
  0.00000000e+00,-1.40340592e-03, 0.00000000e+00,-5.88218911e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006897989804368204
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.04743886e-14,  8.04743886e-14,  1.00000000e+00, -6.47612723e-27,
        1.00000000e+00, -8.04743886e-14, -1.00000000e+00,  0.00000000e+00,
        8.04743886e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00419761, -0.06309149,  0.06193408])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.08654577e-05, 1.67794053e-05,-2.31872898e-07, 1.23750689e-05,
 -1.35929045e-05, 1.08672404e-04, 1.84625384e-05,-3.01593733e-05,
 -1.86997079e-05, 9.39690479e-06, 8.80086702e-05,-4.27547502e-05,
  3.26427005e-03, 2.55683523e-05, 1.22663092e-05, 4.23906088e-05,
  8.28954811e-06,-1.19826179e-05,-1.21644160e+00, 7.28780826e-07,
  7.63945431e-03, 1.78269340e-03]


--- Step 2849 ---
qpos:
[-2.49710953e-03, 8.65905061e-01,-2.37257177e-02, 4.18741834e-04,
 -2.94045080e-03, 8.61891982e-01,-2.70832607e-02, 3.11114373e-03,
 -1.22147762e-03, 8.70636026e-01,-1.93239302e-02,-2.13395966e-02,
  1.39623161e+00, 1.85438780e-02, 1.43364914e+00, 2.39237154e-02,
  4.04814540e-03,-5.76615880e-02, 8.04758814e-02, 7.03298691e-01,
 -4.88053730e-02,-7.07560396e-01,-4.84486529e-02]

qacc:
[ 1.24911835e-01,-2.05446563e+00, 7.42871635e+00,-1.12976371e+01,
  5.23145200e-02, 1.97288116e+00,-7.30742050e+00, 1.33173935e+01,
 -4.53015444e-02,-3.74344864e+00, 1.42692640e+01,-2.30713316e+01,
  2.71736044e-02,-2.04789998e-01, 8.61504557e-01,-2.74379839e+00,
  6.09961665e-01, 3.92279260e-01, 5.67561701e-01,-3.04550698e-01,
  2.94382177e+01, 2.56872206e+01]

qfrc_actuator:
[ 2.36012197e-03, 2.74356467e-02, 8.57943461e-03, 1.59742686e-03,
 -5.63056213e-05, 2.74413595e-02, 8.68044929e-03, 1.52381048e-03,
 -2.41852605e-03, 2.75297146e-02, 8.77797244e-03, 1.49813642e-03,
  0.00000000e+00,-1.44264929e-03, 0.00000000e+00,-6.02485861e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006774502813318706
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.19412919e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.19412919e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00420659, -0.06309514,  0.06193525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.26942066e-05,-3.97376496e-05, 1.29677022e-05,-1.16434321e-05,
  9.52690901e-06, 8.30024343e-05, 1.31529264e-05, 2.26143514e-05,
 -8.44991967e-06,-4.92108214e-05, 2.99176818e-05,-2.46980503e-05,
  3.25803199e-03,-2.59487124e-05, 8.86732194e-06,-1.06816036e-05,
  8.46947941e-07,-3.80752744e-06,-1.21644203e+00, 4.95513672e-06,
  7.63965761e-03, 1.78248199e-03]


--- Step 2850 ---
qpos:
[-2.49756625e-03, 8.65907021e-01,-2.37271655e-02, 4.18453518e-04,
 -2.94132831e-03, 8.61893019e-01,-2.70830047e-02, 3.10973884e-03,
 -1.22165827e-03, 8.70637802e-01,-1.93228627e-02,-2.13413010e-02,
  1.39623107e+00, 1.85432197e-02, 1.43371184e+00, 2.39232201e-02,
  4.05027177e-03,-5.76572645e-02, 8.04889465e-02, 7.03332976e-01,
 -4.88952156e-02,-7.07525815e-01,-4.83653140e-02]

qacc:
[ 1.68022658e-01,-1.43336228e-01,-2.15106308e+00, 1.09358496e+01,
  1.78832259e-01, 1.54318235e+00,-9.75204831e+00, 2.66968136e+01,
  7.70343166e-02, 2.46374277e+00,-1.16728068e+01, 2.46026639e+01,
  3.30648746e-02,-1.59413801e-01, 2.68149002e+00,-9.14940054e+00,
  3.12381130e-01,-1.16844176e+00,-2.90906137e-03, 2.90670178e-01,
  2.54872945e+01,-6.05226359e+01]

qfrc_actuator:
[ 2.37987769e-03, 2.74407794e-02, 8.60312304e-03, 1.62582354e-03,
 -2.85467007e-05, 2.73991138e-02, 8.67417690e-03, 1.57079909e-03,
 -2.40029064e-03, 2.75579172e-02, 8.77040220e-03, 1.53625544e-03,
  0.00000000e+00,-1.44810966e-03, 0.00000000e+00,-6.46552975e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006625489972778981
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.67568441e-13,  2.51352661e-13,  1.00000000e+00, -4.21187736e-26,
        1.00000000e+00, -2.51352661e-13, -1.00000000e+00,  0.00000000e+00,
        1.67568441e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00086796, -0.03590168,  0.06193667])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.05696593e-05,-1.49406441e-05, 1.66743291e-05, 2.69170074e-05,
  3.22911918e-05, 7.83104511e-06, 1.32673764e-05, 5.14414500e-05,
  1.41879177e-05, 5.75753656e-06,-1.49228529e-05, 3.65657718e-05,
  3.26316618e-03,-1.85183610e-05, 8.56696392e-07,-4.39832142e-05,
  9.13415225e-07, 8.93458994e-06,-1.21644284e+00, 1.09491213e-05,
  7.63984508e-03, 1.78223146e-03]


--- Step 2851 ---
qpos:
[-2.49774653e-03, 8.65908885e-01,-2.37289150e-02, 4.18535320e-04,
 -2.94205471e-03, 8.61893839e-01,-2.70823471e-02, 3.10822618e-03,
 -1.22165434e-03, 8.70640406e-01,-1.93231247e-02,-2.13422163e-02,
  1.39623051e+00, 1.85424452e-02, 1.43377448e+00, 2.39225374e-02,
  4.05362385e-03,-5.76574881e-02, 8.05008806e-02, 7.03396628e-01,
 -4.88990657e-02,-7.07462174e-01,-4.83666977e-02]

qacc:
[ 1.44785334e-01, 1.47618776e+00,-7.01164070e+00, 1.39718495e+01,
  7.99051847e-02,-1.63047592e+00, 5.85180840e+00,-8.20117359e+00,
  9.52909713e-02, 6.43441802e+00,-2.46775777e+01, 3.98393048e+01,
  3.46511901e-02,-1.07855444e-01, 4.93303224e-01,-1.83864860e+00,
  3.06425518e-01,-1.13677972e+00,-2.82775936e-01, 2.84278278e-01,
  2.47587266e+01,-5.87944739e+01]

qfrc_actuator:
[ 2.39172188e-03, 2.74254566e-02, 8.58220869e-03, 1.64265940e-03,
 -2.94965237e-05, 2.73733694e-02, 8.68796489e-03, 1.56345319e-03,
 -2.38936587e-03, 2.76273376e-02, 8.71236161e-03, 1.57712775e-03,
  0.00000000e+00,-1.45099546e-03, 0.00000000e+00,-6.54543534e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006544197591266121
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.48249926e-14, -8.48249926e-14,  1.00000000e+00,  7.19527937e-27,
        1.00000000e+00,  8.48249926e-14, -1.00000000e+00,  0.00000000e+00,
        8.48249926e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00086428, -0.03589311,  0.06193746])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.64162311e-05,-1.91105969e-05,-2.10178247e-05, 1.72961769e-05,
  1.43790517e-05,-1.64425667e-05, 1.88119347e-05,-5.55020772e-06,
  1.77221386e-05, 7.10772373e-05,-5.74442614e-05, 4.13124467e-05,
  3.26336519e-03,-1.07865950e-05,-6.09509199e-06,-1.06938021e-05,
  3.11768946e-06, 6.41816306e-06,-1.21644092e+00, 1.42388940e-05,
  7.63940516e-03, 1.78208695e-03]


--- Step 2852 ---
qpos:
[-2.49716434e-03, 8.65910376e-01,-2.37310316e-02, 4.18513998e-04,
 -2.94271330e-03, 8.61894604e-01,-2.70815588e-02, 3.10663552e-03,
 -1.22149472e-03, 8.70643281e-01,-1.93238727e-02,-2.13436576e-02,
  1.39623001e+00, 1.85415729e-02, 1.43383716e+00, 2.39210826e-02,
  4.05818138e-03,-5.76621550e-02, 8.05107454e-02, 7.03488927e-01,
 -4.88190115e-02,-7.07370170e-01,-4.84507619e-02]

qacc:
[ 3.99627631e-01, 3.20427831e-01,-1.42259056e+00, 5.00091347e-01,
  3.58090185e-02,-5.96717180e-01, 2.35379706e+00,-3.87382284e+00,
  8.08793192e-02, 6.31974922e-01, 4.82385926e-01,-8.99960641e+00,
  3.58875838e-02,-7.81824764e-02, 2.38703178e+00,-8.28338673e+00,
  3.01366586e-01,-1.11083551e+00,-5.17297390e-01, 2.76743943e-01,
  2.41597042e+01,-5.73718848e+01]

qfrc_actuator:
[ 2.45199254e-03, 2.73800701e-02, 8.55278820e-03, 1.63475350e-03,
 -2.98665213e-05, 2.73754784e-02, 8.69573366e-03, 1.55971538e-03,
 -2.38292331e-03, 2.76141932e-02, 8.67843978e-03, 1.54828592e-03,
  0.00000000e+00,-1.45234741e-03, 0.00000000e+00,-6.94457650e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006416564587788248
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.73024523e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.73024523e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00085843, -0.03587987,  0.06193867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.28625870e-05,-5.96997125e-05,-3.53594824e-05,-9.11596500e-06,
  6.45364531e-06,-3.45872292e-06, 6.48909934e-06,-3.89925234e-06,
  1.49413357e-05, 1.64497378e-05,-2.49067197e-05,-2.69848952e-05,
  3.26430976e-03,-6.30005861e-06,-5.07687966e-06,-4.15377654e-05,
  6.41880016e-06,-3.25965309e-07,-1.21644018e+00, 1.31689704e-05,
  7.63911164e-03, 1.78207408e-03]


--- Step 2853 ---
qpos:
[-2.49603326e-03, 8.65911699e-01,-2.37330694e-02, 4.19031588e-04,
 -2.94333978e-03, 8.61895681e-01,-2.70812035e-02, 3.10638563e-03,
 -1.22103653e-03, 8.70645280e-01,-1.93234015e-02,-2.13454030e-02,
  1.39622968e+00, 1.85406084e-02, 1.43389997e+00, 2.39178131e-02,
  4.06392715e-03,-5.76711805e-02, 8.05177563e-02, 7.03609253e-01,
 -4.86567648e-02,-7.07250336e-01,-4.86158387e-02]

qacc:
[ 2.87892932e-01, 6.67952117e-01,-4.97722420e+00, 1.43012115e+01,
  1.66059733e-02, 4.37784716e+00,-2.06752963e+01, 4.43488905e+01,
  1.56951669e-01,-5.19092013e+00, 1.81081049e+01,-2.46719728e+01,
  3.14396528e-02,-4.27472891e-02, 5.68238491e+00,-1.96080650e+01,
  2.97056502e-01,-1.08962759e+00,-7.13466707e-01, 2.67813295e-01,
  2.36700033e+01,-5.62077285e+01]

qfrc_actuator:
[ 2.46971195e-03, 2.74057233e-02, 8.57170810e-03, 1.66558562e-03,
 -2.98657690e-05, 2.74119752e-02, 8.68224848e-03, 1.62916628e-03,
 -2.36146242e-03, 2.75339834e-02, 8.72968804e-03, 1.53187297e-03,
  0.00000000e+00,-1.45275100e-03, 0.00000000e+00,-7.88371451e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006253358734493661
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.87701371e-14, -1.77540274e-13,  1.00000000e+00,  1.57602745e-26,
        1.00000000e+00,  1.77540274e-13, -1.00000000e+00,  0.00000000e+00,
        8.87701371e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00085094, -0.03586309,  0.06194021])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.24565998e-05,-1.54341398e-05, 1.92175729e-06, 2.68733388e-05,
  3.06389242e-06, 3.57145398e-05,-1.35449092e-05, 6.94513974e-05,
  2.86224242e-05,-7.73681127e-05, 5.06289965e-05,-1.70974076e-05,
  3.26116605e-03,-1.78399062e-06,-8.09418447e-06,-9.71392070e-05,
  1.07415402e-05,-1.09918662e-05,-1.21644055e+00, 7.96861626e-06,
  7.63895119e-03, 1.78218645e-03]


--- Step 2854 ---
qpos:
[-2.49453742e-03, 8.65912952e-01,-2.37352129e-02, 4.19913920e-04,
 -2.94413508e-03, 8.61897098e-01,-2.70814076e-02, 3.10835569e-03,
 -1.22030488e-03, 8.70646454e-01,-1.93222672e-02,-2.13466085e-02,
  1.39622939e+00, 1.85396642e-02, 1.43396260e+00, 2.39144403e-02,
  4.07213317e-03,-5.76786172e-02, 8.05274028e-02, 7.03774206e-01,
 -4.85288379e-02,-7.07085907e-01,-4.87477042e-02]

qacc:
[ 1.91208635e-01, 9.51947911e-01,-5.07038867e+00, 1.16049057e+01,
 -8.92588076e-02, 6.57624240e+00,-3.21716327e+01, 7.12443325e+01,
  1.43512864e-01,-1.82934400e+00, 2.66681527e+00, 6.21485536e+00,
  2.34418893e-02,-1.78596679e-03, 6.11297062e-02,-5.80727993e-01,
  6.15063995e-01, 3.97169303e-01, 6.58876282e-01,-3.27891690e-01,
  2.98277984e+01, 2.59899760e+01]

qfrc_actuator:
[ 2.47956183e-03, 2.74029335e-02, 8.56607519e-03, 1.68355451e-03,
 -4.73866304e-05, 2.74332558e-02, 8.65652251e-03, 1.74114285e-03,
 -2.34894830e-03, 2.74855841e-02, 8.75951696e-03, 1.55841108e-03,
  0.00000000e+00,-1.45255200e-03, 0.00000000e+00,-7.89065201e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006147801718635743
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.58015042e-13, -9.02943097e-14,  1.00000000e+00,  1.42678591e-26,
        1.00000000e+00,  9.02943097e-14, -1.00000000e+00,  0.00000000e+00,
        1.58015042e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00425182, -0.06311365,  0.0619412 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.48608324e-05,-9.88442054e-06,-7.65031993e-06, 1.78967322e-05,
 -1.60628534e-05, 4.14012217e-05,-1.76260532e-05, 1.14387729e-04,
  2.62124088e-05,-8.19815733e-05, 1.94793640e-05, 2.46436491e-05,
  3.25232268e-03, 3.05918232e-06,-1.55752001e-05,-7.38292901e-06,
  1.60310468e-05,-2.53534845e-05,-1.21644197e+00,-1.18805876e-06,
  7.63891127e-03, 1.78241853e-03]


